From 32ad26e4682a1492b94aa75f5cb97b6ea7524d6d Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 19 Dec 2023 10:28:40 +0100 Subject: [PATCH 001/456] Delete estimated GNSS position value --- data/sample/initialize_files/sample_gnss.ini | 38 -------------- src/environment/global/gnss_satellites.cpp | 49 ++++--------------- src/environment/global/gnss_satellites.hpp | 31 ++++-------- .../global/initialize_gnss_satellites.cpp | 33 +------------ 4 files changed, 20 insertions(+), 131 deletions(-) diff --git a/data/sample/initialize_files/sample_gnss.ini b/data/sample/initialize_files/sample_gnss.ini index 12eba4b07..66474bfc4 100644 --- a/data/sample/initialize_files/sample_gnss.ini +++ b/data/sample/initialize_files/sample_gnss.ini @@ -27,41 +27,3 @@ true_clock_first = igs21610.clk_30s true_clock_last = igs21613.clk_30s // The method is fixed with Lagrange interpolation, 3 (quadratic) recommended true_clock_interpolation_number = 3 - -// -// Estimated value -// -// choose from IGS, IGR, IGU, -// CODE_Final, CODE_Rapid -// JAXA_Final, JAXA_Rapid, JAXA_Ultra_rapid, madocaRT, -// QZSS_Final, QZSS_Rapid, QZSS_Ultra_rapid -estimate_position_file_sort = madocaRT - -// As small as possible within the range. -estimate_position_first = madoca21610.sp3 -estimate_position_last = madoca21613.sp3 - -// choose from 0: Lagrange, 1: Trigonometric : temporarily, only Trigonometric is valid, Lagrange is not yet implemented. -estimate_position_interpolation_method = 1 - -// if you chose Trigonometric as interpolation method, you must choose odds number here. -estimate_position_interpolation_number = 9 - -// choose from IGS, IGR, IGU, -// CODE_Final, CODE_Rapid -// JAXA_Final, JAXA_Rapid, JAXA_Ultra_rapid, madocaRT, -// QZSS_Final, QZSS_Rapid, QZSS_Ultra_rapid -estimate_clock_file_sort = madocaRT - -// choose frome .sp3, .clk_30s or .clk -estimate_clock_file_extension = .sp3 - -// As small as possible within the range. -estimate_clock_first = madoca21610.sp3 -estimate_clock_last = madoca21613.sp3 - -// The method is fixed with Lagrange interpolation, 3 (quadratic) recommended -estimate_clock_interpolation_number = 3 - -// when you use Ultra Rapid Product, you can choose "observe" or "predict" -estimate_ur_observe_or_predict = observe diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index 8f6eef65c..9cb78995f 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -866,25 +866,11 @@ GnssSatellites::GnssSatellites(bool is_calc_enabled) bool GnssSatellites::IsCalcEnabled() const { return is_calc_enabled_; } void GnssSatellites::Initialize(vector>& true_position_file, int true_position_interpolation_method, - int true_position_interpolation_number, UltraRapidMode true_position_ur_flag, - - vector>& true_clock_file, string true_clock_file_extension, int true_clock_interpolation_number, - UltraRapidMode true_clock_ur_flag, - - vector>& estimate_position_file, int estimate_position_interpolation_method, - int estimate_position_interpolation_number, UltraRapidMode estimate_position_ur_flag, - - vector>& estimate_clock_file, string estimate_clock_file_extension, - int estimate_clock_interpolation_number, UltraRapidMode estimate_clock_ur_flag) { + int true_position_interpolation_number, UltraRapidMode true_position_ur_flag, vector>& true_clock_file, + string true_clock_file_extension, int true_clock_interpolation_number, UltraRapidMode true_clock_ur_flag) { true_info_.Initialize(true_position_file, true_position_interpolation_method, true_position_interpolation_number, true_position_ur_flag, true_clock_file, true_clock_file_extension, true_clock_interpolation_number, true_clock_ur_flag); - - estimate_info_.Initialize(estimate_position_file, estimate_position_interpolation_method, estimate_position_interpolation_number, - estimate_position_ur_flag, - - estimate_clock_file, estimate_clock_file_extension, estimate_clock_interpolation_number, estimate_clock_ur_flag); - return; } @@ -902,7 +888,6 @@ void GnssSatellites::SetUp(const SimulationTime* simulation_time) { double unix_time = (double)mktime(start_tm) + start_sec - floor(start_sec); std::free(start_tm); true_info_.SetUp(unix_time, simulation_time->GetSimulationStep_s()); - estimate_info_.SetUp(unix_time, simulation_time->GetSimulationStep_s()); start_unix_time_ = unix_time; @@ -915,7 +900,6 @@ void GnssSatellites::Update(const SimulationTime* simulation_time) { double elapsed_sec = simulation_time->GetElapsedTime_s(); true_info_.Update(elapsed_sec + start_unix_time_); - estimate_info_.Update(elapsed_sec + start_unix_time_); #ifdef GNSS_SATELLITES_DEBUG_OUTPUT DebugOutput(); @@ -924,16 +908,16 @@ void GnssSatellites::Update(const SimulationTime* simulation_time) { return; } -int GnssSatellites::GetNumberOfSatellites() const { return estimate_info_.GetNumberOfSatellites(); } +int GnssSatellites::GetNumberOfSatellites() const { return true_info_.GetNumberOfSatellites(); } -string GnssSatellites::GetIdFromIndex(int index) const { return estimate_info_.GetGnssSatPos().GetIdFromIndex(index); } +string GnssSatellites::GetIdFromIndex(int index) const { return true_info_.GetGnssSatPos().GetIdFromIndex(index); } -int GnssSatellites::GetIndexFromId(string sat_num) const { return estimate_info_.GetGnssSatPos().GetIndexFromId(sat_num); } +int GnssSatellites::GetIndexFromId(string sat_num) const { return true_info_.GetGnssSatPos().GetIndexFromId(sat_num); } bool GnssSatellites::GetWhetherValid(int gnss_satellite_id) const { if (gnss_satellite_id >= GetNumberOfSatellites()) return false; - if (true_info_.GetWhetherValid(gnss_satellite_id) && estimate_info_.GetWhetherValid(gnss_satellite_id)) + if (true_info_.GetWhetherValid(gnss_satellite_id) && true_info_.GetWhetherValid(gnss_satellite_id)) return true; else return false; @@ -946,7 +930,7 @@ libra::Vector<3> GnssSatellites::GetSatellitePositionEcef(const int gnss_satelli return res; } - return estimate_info_.GetSatellitePositionEcef(gnss_satellite_id); + return true_info_.GetSatellitePositionEcef(gnss_satellite_id); } libra::Vector<3> GnssSatellites::GetSatellitePositionEci(const int gnss_satellite_id) const { @@ -956,7 +940,7 @@ libra::Vector<3> GnssSatellites::GetSatellitePositionEci(const int gnss_satellit return res; } - return estimate_info_.GetSatellitePositionEci(gnss_satellite_id); + return true_info_.GetSatellitePositionEci(gnss_satellite_id); } double GnssSatellites::GetSatelliteClock(const int gnss_satellite_id) const { @@ -964,7 +948,7 @@ double GnssSatellites::GetSatelliteClock(const int gnss_satellite_id) const { return 0.0; } - return estimate_info_.GetSatelliteClock(gnss_satellite_id); + return true_info_.GetSatelliteClock(gnss_satellite_id); } double GnssSatellites::GetPseudoRangeECEF(const int gnss_satellite_id, libra::Vector<3> rec_position, double rec_clock, @@ -1142,24 +1126,9 @@ void GnssSatellites::DebugOutput() { } } - if (estimate_info_.GetWhetherValid(gnss_satellite_id)) { - auto estimation_pos = estimate_info_.GetSatellitePositionEcef(gnss_satellite_id); - for (int i = 0; i < 3; ++i) { - ofs_estimation << fixed << setprecision(10) << estimation_pos[i] << ","; - } - auto estimation_clock = estimate_info_.GetSatelliteClock(gnss_satellite_id); - ofs_estimation << estimation_clock << ","; - } else { - for (int i = 0; i < 4; ++i) { - ofs_estimation << 0.0 << ","; - } - } - if (GetWhetherValid(gnss_satellite_id)) { auto true_pos = true_info_.GetSatellitePositionEcef(gnss_satellite_id); auto true_clock = true_info_.GetSatelliteClock(gnss_satellite_id); - auto estimation_pos = estimate_info_.GetSatellitePositionEcef(gnss_satellite_id); - auto estimation_clock = estimate_info_.GetSatelliteClock(gnss_satellite_id); for (int i = 0; i < 3; ++i) { ofs_sa << fixed << setprecision(10) << estimation_pos[i] - true_pos[i] << ","; diff --git a/src/environment/global/gnss_satellites.hpp b/src/environment/global/gnss_satellites.hpp index 2777150e9..c024776db 100644 --- a/src/environment/global/gnss_satellites.hpp +++ b/src/environment/global/gnss_satellites.hpp @@ -333,15 +333,12 @@ class GnssSatellites : public ILoggable { /** * @fn Initialize * @brief Initialize function - * @note Parameters are defined in GNSSSat_Info for true and estimated information + * @note Parameters are defined in GNSSSat_Info for true information */ void Initialize(std::vector>& true_position_file, int true_position_interpolation_method, int true_position_interpolation_number, UltraRapidMode true_position_ur_flag, std::vector>& true_clock_file, std::string true_clock_file_extension, int true_clock_interpolation_number, - UltraRapidMode true_clock_ur_flag, std::vector>& estimate_position_file, - int estimate_position_interpolation_method, int estimate_position_interpolation_number, UltraRapidMode estimate_position_ur_flag, - std::vector>& estimate_clock_file, std::string estimate_clock_file_extension, - int estimate_clock_interpolation_number, UltraRapidMode estimate_clock_ur_flag); + UltraRapidMode true_clock_ur_flag); /** * @fn IsCalcEnabled * @brief Return calculated enabled flag @@ -350,13 +347,13 @@ class GnssSatellites : public ILoggable { /** * @fn SetUp - * @brief Setup both true and estimated GNSS satellite information + * @brief Setup both true GNSS satellite information * @param [in] simulation_time: Simulation time information */ void SetUp(const SimulationTime* simulation_time); /** * @fn Update - * @brief Update both true and estimated GNSS satellite information + * @brief Update both true GNSS satellite information * @param [in] simulation_time: Simulation time information */ void Update(const SimulationTime* simulation_time); @@ -377,13 +374,13 @@ class GnssSatellites : public ILoggable { std::string GetIdFromIndex(int index) const; /** * @fn GetNumberOfSatellites - * @brief Return total number of GNSS satellite for estimated information + * @brief Return total number of GNSS satellite for true information * @note TODO: Is this function really needed? This is just called other accessible function. */ int GetNumberOfSatellites() const; /** * @fn GetWhetherValid - * @brief Return true the GNSS satellite information is available for both position and clock for both true and estimated value + * @brief Return true the GNSS satellite information is available for both position and clock for both true value * @param [in] gnss_satellite_id: Index of GNSS satellite */ bool GetWhetherValid(int gnss_satellite_id) const; @@ -397,11 +394,6 @@ class GnssSatellites : public ILoggable { * @brief Return GNSS satellite information class for true value system */ inline const GnssSatelliteInformation& GetTrueInformation() const { return true_info_; } - /** - * @fn GetEstimationInformation - * @brief Return GNSS satellite information class for estimated value system - */ - inline const GnssSatelliteInformation& GetEstimationInformation() const { return estimate_info_; } /** * @fn GetSatellitePositionEcef @@ -503,15 +495,12 @@ class GnssSatellites : public ILoggable { double AddIonosphericDelay(const int gnss_satellite_id, const libra::Vector<3> rec_position, const double frequency, const GnssFrameDefinition flag) const; - bool is_calc_enabled_ = true; //!< Flag to manage the GNSS satellite position calculation - GnssSatelliteInformation true_info_; //!< True information of GNSS satellites - GnssSatelliteInformation estimate_info_; //!< Estimated information of GNSS satellites TODO: should be move out from GlobalEnvironment - double start_unix_time_; //!< Start unix time + bool is_calc_enabled_ = true; //!< Flag to manage the GNSS satellite position calculation + GnssSatelliteInformation true_info_; //!< True information of GNSS satellites + double start_unix_time_; //!< Start unix time #ifdef GNSS_SATELLITES_DEBUG_OUTPUT - ofstream ofs_true; //!< Debug output for true value - ofstream ofs_estimation; //!< Debug output for estimated value - ofstream ofs_sa; //!< Debug output for difference between true and estimated value + ofstream ofs_true; //!< Debug output for true value #endif }; diff --git a/src/environment/global/initialize_gnss_satellites.cpp b/src/environment/global/initialize_gnss_satellites.cpp index 23e98467c..f44995f53 100644 --- a/src/environment/global/initialize_gnss_satellites.cpp +++ b/src/environment/global/initialize_gnss_satellites.cpp @@ -318,40 +318,9 @@ GnssSatellites* InitGnssSatellites(std::string file_name) { } int true_clock_interpolation_number = ini_file.ReadInt(section, "true_clock_interpolation_number"); - // Estimated position - std::vector> estimate_position_file; - UltraRapidMode estimate_position_ur_flag = kNotUse; - ReadSp3Files(directory_path, ini_file.ReadString(section, "estimate_position_file_sort"), ini_file.ReadString(section, "estimate_position_first"), - ini_file.ReadString(section, "estimate_position_last"), estimate_position_file, estimate_position_ur_flag); - int estimate_position_interpolation_method = ini_file.ReadInt(section, "estimate_position_interpolation_method"); - int estimate_position_interpolation_number = ini_file.ReadInt(section, "estimate_position_interpolation_number"); - if (estimate_position_ur_flag != kNotUse) { - std::string ur_flag = ini_file.ReadString(section, "estimate_ur_observe_or_predict"); - if (ur_flag.find("observe") != std::string::npos) { - estimate_position_ur_flag = (UltraRapidMode)((int)kObserve1 + (ur_flag.back() - '1')); - } else { - estimate_position_ur_flag = (UltraRapidMode)((int)kPredict1 + (ur_flag.back() - '1')); - } - } - - // Estimated clock - std::vector> estimate_clock_file; - UltraRapidMode estimate_clock_ur_flag = estimate_position_ur_flag; - std::string estimate_clock_file_extension = ini_file.ReadString(section, "estimate_clock_file_extension"); - if (estimate_clock_file_extension == ".sp3") { - ReadSp3Files(directory_path, ini_file.ReadString(section, "estimate_clock_file_sort"), ini_file.ReadString(section, "estimate_clock_first"), - ini_file.ReadString(section, "estimate_clock_last"), estimate_clock_file, estimate_clock_ur_flag); - } else { - ReadClockFiles(directory_path, estimate_clock_file_extension, ini_file.ReadString(section, "estimate_clock_file_sort"), - ini_file.ReadString(section, "estimate_clock_first"), ini_file.ReadString(section, "estimate_clock_last"), estimate_clock_file); - } - int estimate_clock_interpolation_number = ini_file.ReadInt(section, "estimate_clock_interpolation_number"); - // Initialize GNSS satellites gnss_satellites->Initialize(true_position_file, true_position_interpolation_method, true_position_interpolation_number, true_position_ur_flag, - true_clock_file, true_clock_file_extension, true_clock_interpolation_number, true_clock_ur_flag, estimate_position_file, - estimate_position_interpolation_method, estimate_position_interpolation_number, estimate_position_ur_flag, - estimate_clock_file, estimate_clock_file_extension, estimate_clock_interpolation_number, estimate_clock_ur_flag); + true_clock_file, true_clock_file_extension, true_clock_interpolation_number, true_clock_ur_flag); return gnss_satellites; } From 8a34119364757e339fb2a67c8492de7fd7375a2b Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 19 Dec 2023 10:37:09 +0100 Subject: [PATCH 002/456] Delete debug output --- src/environment/global/gnss_satellites.cpp | 50 +--------------------- src/environment/global/gnss_satellites.hpp | 12 ------ 2 files changed, 1 insertion(+), 61 deletions(-) diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index 9cb78995f..cc7a2350d 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -847,13 +847,7 @@ libra::Vector<3> GnssSatelliteInformation::GetSatellitePositionEci(int gnss_sate double GnssSatelliteInformation::GetSatelliteClock(int gnss_satellite_id) const { return clock_.GetSatClock(gnss_satellite_id); } // GnssSatellites -GnssSatellites::GnssSatellites(bool is_calc_enabled) -#ifdef GNSS_SATELLITES_DEBUG_OUTPUT - : ofs_true("true.csv"), - ofs_estimation("estimation.csv"), - ofs_sa("sa.csv") -#endif -{ +GnssSatellites::GnssSatellites(bool is_calc_enabled) { // TODO: Add log enable flag in ini file is_calc_enabled_ = is_calc_enabled; if (is_calc_enabled_) { @@ -901,10 +895,6 @@ void GnssSatellites::Update(const SimulationTime* simulation_time) { true_info_.Update(elapsed_sec + start_unix_time_); -#ifdef GNSS_SATELLITES_DEBUG_OUTPUT - DebugOutput(); -#endif - return; } @@ -1109,41 +1099,3 @@ std::string GnssSatellites::GetLogValue() const { return str_tmp; } - -void GnssSatellites::DebugOutput() { -#ifdef GNSS_SATELLITES_DEBUG_OUTPUT - for (int gnss_satellite_id = 0; gnss_satellite_id < gps_sat_num_; ++gnss_satellite_id) { - if (true_info_.GetWhetherValid(gnss_satellite_id)) { - auto true_pos = true_info_.GetSatellitePositionEcef(gnss_satellite_id); - for (int i = 0; i < 3; ++i) { - ofs_true << fixed << setprecision(10) << true_pos[i] << ","; - } - auto true_clock = true_info_.GetSatelliteClock(gnss_satellite_id); - ofs_true << true_clock << ","; - } else { - for (int i = 0; i < 4; ++i) { - ofs_true << 0.0 << ","; - } - } - - if (GetWhetherValid(gnss_satellite_id)) { - auto true_pos = true_info_.GetSatellitePositionEcef(gnss_satellite_id); - auto true_clock = true_info_.GetSatelliteClock(gnss_satellite_id); - - for (int i = 0; i < 3; ++i) { - ofs_sa << fixed << setprecision(10) << estimation_pos[i] - true_pos[i] << ","; - } - ofs_sa << fixed << setprecision(10) << estimation_clock - true_clock << ","; - } else { - for (int i = 0; i < 4; ++i) { - ofs_sa << 0.0 << ","; - } - } - } - - ofs_true << endl; - ofs_estimation << endl; - ofs_sa << endl; -#endif - return; -} diff --git a/src/environment/global/gnss_satellites.hpp b/src/environment/global/gnss_satellites.hpp index c024776db..49bdec474 100644 --- a/src/environment/global/gnss_satellites.hpp +++ b/src/environment/global/gnss_satellites.hpp @@ -24,8 +24,6 @@ enum class GnssFrameDefinition { kEci = 1 //!< Use ECI frame for GNSS satellite position frame in Add_IonosphericDelay }; -// #define GNSS_SATELLITES_DEBUG_OUTPUT //!< For debug output, uncomment this - /** * @enum UltraRapidMode * @brief Ultra Rapid mode @@ -469,12 +467,6 @@ class GnssSatellites : public ILoggable { */ std::string GetLogValue() const override; - /** - * @fn DebugOutput - * @brief Debug output - */ - void DebugOutput(void); - private: /** * @fn TrigonometricInterpolation @@ -498,10 +490,6 @@ class GnssSatellites : public ILoggable { bool is_calc_enabled_ = true; //!< Flag to manage the GNSS satellite position calculation GnssSatelliteInformation true_info_; //!< True information of GNSS satellites double start_unix_time_; //!< Start unix time - -#ifdef GNSS_SATELLITES_DEBUG_OUTPUT - ofstream ofs_true; //!< Debug output for true value -#endif }; #endif // S2E_ENVIRONMENT_GLOBAL_GNSS_SATELLITES_HPP_ From 3c128caf958fff83ba3a164bb6d0ef235ef17401 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 19 Dec 2023 10:57:11 +0100 Subject: [PATCH 003/456] Remove true prefix --- data/sample/initialize_files/sample_gnss.ini | 20 +++---- src/environment/global/gnss_satellites.cpp | 53 +++++++++---------- src/environment/global/gnss_satellites.hpp | 25 +++++---- .../global/initialize_gnss_satellites.cpp | 40 +++++++------- 4 files changed, 68 insertions(+), 70 deletions(-) diff --git a/data/sample/initialize_files/sample_gnss.ini b/data/sample/initialize_files/sample_gnss.ini index 66474bfc4..8072899d4 100644 --- a/data/sample/initialize_files/sample_gnss.ini +++ b/data/sample/initialize_files/sample_gnss.ini @@ -3,27 +3,27 @@ directory_path = EXT_LIB_DIR_FROM_EXE/sp3/ calculation = DISABLE // Choose from IGS, CODE_Final, JAXA_Final, QZSS_Final -true_position_file_sort = IGS +position_file_sort = IGS // As small as possible within the range. -true_position_first = igs21610.sp3 -true_position_last = igs21613.sp3 +position_first = igs21610.sp3 +position_last = igs21613.sp3 // Choose from 0: Lagrange, 1: Trigonometric : temporarily, only Trigonometric is valid, Lagrange is not yet implemented. -true_position_interpolation_method = 1 +position_interpolation_method = 1 // If you chose Trigonometric as interpolation method, you must choose odds number here. -true_position_interpolation_number = 9 +position_interpolation_number = 9 // Choose frome .sp3, .clk_30s or .clk -true_clock_file_extension = .clk_30s +clock_file_extension = .clk_30s // Choose from IGS, CODE_Final, JAXA_Final, QZSS_Final // If you choose clk_30s, should choose the one equivalent to final, if you choose clk should choose the one equivalent to rapid. -true_clock_file_sort = IGS +clock_file_sort = IGS // As small as possible within the range. -true_clock_first = igs21610.clk_30s -true_clock_last = igs21613.clk_30s +clock_first = igs21610.clk_30s +clock_last = igs21613.clk_30s // The method is fixed with Lagrange interpolation, 3 (quadratic) recommended -true_clock_interpolation_number = 3 +clock_interpolation_number = 3 diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index cc7a2350d..249d980e8 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -859,12 +859,11 @@ GnssSatellites::GnssSatellites(bool is_calc_enabled) { bool GnssSatellites::IsCalcEnabled() const { return is_calc_enabled_; } -void GnssSatellites::Initialize(vector>& true_position_file, int true_position_interpolation_method, - int true_position_interpolation_number, UltraRapidMode true_position_ur_flag, vector>& true_clock_file, - string true_clock_file_extension, int true_clock_interpolation_number, UltraRapidMode true_clock_ur_flag) { - true_info_.Initialize(true_position_file, true_position_interpolation_method, true_position_interpolation_number, true_position_ur_flag, - - true_clock_file, true_clock_file_extension, true_clock_interpolation_number, true_clock_ur_flag); +void GnssSatellites::Initialize(vector>& position_file, int position_interpolation_method, int position_interpolation_number, + UltraRapidMode position_ur_flag, vector>& clock_file, string clock_file_extension, + int clock_interpolation_number, UltraRapidMode clock_ur_flag) { + gnss_info_.Initialize(position_file, position_interpolation_method, position_interpolation_number, position_ur_flag, clock_file, + clock_file_extension, clock_interpolation_number, clock_ur_flag); return; } @@ -881,7 +880,7 @@ void GnssSatellites::SetUp(const SimulationTime* simulation_time) { start_tm->tm_sec = (int)start_sec; double unix_time = (double)mktime(start_tm) + start_sec - floor(start_sec); std::free(start_tm); - true_info_.SetUp(unix_time, simulation_time->GetSimulationStep_s()); + gnss_info_.SetUp(unix_time, simulation_time->GetSimulationStep_s()); start_unix_time_ = unix_time; @@ -893,21 +892,21 @@ void GnssSatellites::Update(const SimulationTime* simulation_time) { double elapsed_sec = simulation_time->GetElapsedTime_s(); - true_info_.Update(elapsed_sec + start_unix_time_); + gnss_info_.Update(elapsed_sec + start_unix_time_); return; } -int GnssSatellites::GetNumberOfSatellites() const { return true_info_.GetNumberOfSatellites(); } +int GnssSatellites::GetNumberOfSatellites() const { return gnss_info_.GetNumberOfSatellites(); } -string GnssSatellites::GetIdFromIndex(int index) const { return true_info_.GetGnssSatPos().GetIdFromIndex(index); } +string GnssSatellites::GetIdFromIndex(int index) const { return gnss_info_.GetGnssSatPos().GetIdFromIndex(index); } -int GnssSatellites::GetIndexFromId(string sat_num) const { return true_info_.GetGnssSatPos().GetIndexFromId(sat_num); } +int GnssSatellites::GetIndexFromId(string sat_num) const { return gnss_info_.GetGnssSatPos().GetIndexFromId(sat_num); } bool GnssSatellites::GetWhetherValid(int gnss_satellite_id) const { if (gnss_satellite_id >= GetNumberOfSatellites()) return false; - if (true_info_.GetWhetherValid(gnss_satellite_id) && true_info_.GetWhetherValid(gnss_satellite_id)) + if (gnss_info_.GetWhetherValid(gnss_satellite_id) && gnss_info_.GetWhetherValid(gnss_satellite_id)) return true; else return false; @@ -920,7 +919,7 @@ libra::Vector<3> GnssSatellites::GetSatellitePositionEcef(const int gnss_satelli return res; } - return true_info_.GetSatellitePositionEcef(gnss_satellite_id); + return gnss_info_.GetSatellitePositionEcef(gnss_satellite_id); } libra::Vector<3> GnssSatellites::GetSatellitePositionEci(const int gnss_satellite_id) const { @@ -930,7 +929,7 @@ libra::Vector<3> GnssSatellites::GetSatellitePositionEci(const int gnss_satellit return res; } - return true_info_.GetSatellitePositionEci(gnss_satellite_id); + return gnss_info_.GetSatellitePositionEci(gnss_satellite_id); } double GnssSatellites::GetSatelliteClock(const int gnss_satellite_id) const { @@ -938,7 +937,7 @@ double GnssSatellites::GetSatelliteClock(const int gnss_satellite_id) const { return 0.0; } - return true_info_.GetSatelliteClock(gnss_satellite_id); + return gnss_info_.GetSatelliteClock(gnss_satellite_id); } double GnssSatellites::GetPseudoRangeECEF(const int gnss_satellite_id, libra::Vector<3> rec_position, double rec_clock, @@ -947,14 +946,14 @@ double GnssSatellites::GetPseudoRangeECEF(const int gnss_satellite_id, libra::Ve if (gnss_satellite_id >= GetNumberOfSatellites() || !GetWhetherValid(gnss_satellite_id)) return 0.0; double res = 0.0; - auto gnss_position = true_info_.GetSatellitePositionEcef(gnss_satellite_id); + auto gnss_position = gnss_info_.GetSatellitePositionEcef(gnss_satellite_id); for (int i = 0; i < 3; ++i) { res += pow(rec_position(i) - gnss_position(i), 2.0); } res = sqrt(res); // clock bias - res += rec_clock - true_info_.GetSatelliteClock(gnss_satellite_id); + res += rec_clock - gnss_info_.GetSatelliteClock(gnss_satellite_id); // ionospheric delay const double ionospheric_delay = AddIonosphericDelay(gnss_satellite_id, rec_position, frequency, GnssFrameDefinition::kEcef); @@ -969,14 +968,14 @@ double GnssSatellites::GetPseudoRangeECI(const int gnss_satellite_id, libra::Vec if (gnss_satellite_id >= GetNumberOfSatellites() || !GetWhetherValid(gnss_satellite_id)) return 0.0; double res = 0.0; - auto gnss_position = true_info_.GetSatellitePositionEci(gnss_satellite_id); + auto gnss_position = gnss_info_.GetSatellitePositionEci(gnss_satellite_id); for (int i = 0; i < 3; ++i) { res += pow(rec_position(i) - gnss_position(i), 2.0); } res = sqrt(res); // clock bias - res += rec_clock - true_info_.GetSatelliteClock(gnss_satellite_id); + res += rec_clock - gnss_info_.GetSatelliteClock(gnss_satellite_id); // ionospheric delay const double ionospheric_delay = AddIonosphericDelay(gnss_satellite_id, rec_position, frequency, GnssFrameDefinition::kEci); @@ -992,14 +991,14 @@ pair GnssSatellites::GetCarrierPhaseECEF(const int gnss_satellit if (gnss_satellite_id >= GetNumberOfSatellites() || !GetWhetherValid(gnss_satellite_id)) return {0.0, 0.0}; double res = 0.0; - auto gnss_position = true_info_.GetSatellitePositionEcef(gnss_satellite_id); + auto gnss_position = gnss_info_.GetSatellitePositionEcef(gnss_satellite_id); for (int i = 0; i < 3; ++i) { res += pow(rec_position(i) - gnss_position(i), 2.0); } res = sqrt(res); // clock bias - res += rec_clock - true_info_.GetSatelliteClock(gnss_satellite_id); + res += rec_clock - gnss_info_.GetSatelliteClock(gnss_satellite_id); // ionospheric delay const double ionospheric_delay = AddIonosphericDelay(gnss_satellite_id, rec_position, frequency, GnssFrameDefinition::kEcef); @@ -1022,14 +1021,14 @@ pair GnssSatellites::GetCarrierPhaseECI(const int gnss_satellite if (gnss_satellite_id >= GetNumberOfSatellites() || !GetWhetherValid(gnss_satellite_id)) return {0.0, 0.0}; double res = 0.0; - auto gnss_position = true_info_.GetSatellitePositionEci(gnss_satellite_id); + auto gnss_position = gnss_info_.GetSatellitePositionEci(gnss_satellite_id); for (int i = 0; i < 3; ++i) { res += pow(rec_position(i) - gnss_position(i), 2.0); } res = sqrt(res); // clock bias - res += rec_clock - true_info_.GetSatelliteClock(gnss_satellite_id); + res += rec_clock - gnss_info_.GetSatelliteClock(gnss_satellite_id); // ionospheric delay const double ionospheric_delay = AddIonosphericDelay(gnss_satellite_id, rec_position, frequency, GnssFrameDefinition::kEci); @@ -1062,9 +1061,9 @@ double GnssSatellites::AddIonosphericDelay(const int gnss_satellite_id, const li libra::Vector<3> gnss_position; if (flag == GnssFrameDefinition::kEcef) - gnss_position = true_info_.GetSatellitePositionEcef(gnss_satellite_id); + gnss_position = gnss_info_.GetSatellitePositionEcef(gnss_satellite_id); else if (flag == GnssFrameDefinition::kEci) - gnss_position = true_info_.GetSatellitePositionEci(gnss_satellite_id); + gnss_position = gnss_info_.GetSatellitePositionEci(gnss_satellite_id); double angle_rad = CalcAngleTwoVectors_rad(rec_position, gnss_position - rec_position); const double default_delay = 20.0; //[m] default delay @@ -1093,8 +1092,8 @@ std::string GnssSatellites::GetLogValue() const { std::string str_tmp = ""; for (size_t gps_index = 0; gps_index < gps_sat_num_; gps_index++) { - str_tmp += WriteVector(true_info_.GetSatellitePositionEcef((int)gps_index), 16); - str_tmp += WriteScalar(true_info_.GetSatelliteClock((int)gps_index)); + str_tmp += WriteVector(gnss_info_.GetSatellitePositionEcef((int)gps_index), 16); + str_tmp += WriteScalar(gnss_info_.GetSatelliteClock((int)gps_index)); } return str_tmp; diff --git a/src/environment/global/gnss_satellites.hpp b/src/environment/global/gnss_satellites.hpp index 49bdec474..442c132a9 100644 --- a/src/environment/global/gnss_satellites.hpp +++ b/src/environment/global/gnss_satellites.hpp @@ -331,12 +331,11 @@ class GnssSatellites : public ILoggable { /** * @fn Initialize * @brief Initialize function - * @note Parameters are defined in GNSSSat_Info for true information + * @note Parameters are defined in GNSSSat_Info */ - void Initialize(std::vector>& true_position_file, int true_position_interpolation_method, - int true_position_interpolation_number, UltraRapidMode true_position_ur_flag, - std::vector>& true_clock_file, std::string true_clock_file_extension, int true_clock_interpolation_number, - UltraRapidMode true_clock_ur_flag); + void Initialize(std::vector>& position_file, int position_interpolation_method, int position_interpolation_number, + UltraRapidMode position_ur_flag, std::vector>& clock_file, std::string clock_file_extension, + int clock_interpolation_number, UltraRapidMode clock_ur_flag); /** * @fn IsCalcEnabled * @brief Return calculated enabled flag @@ -345,13 +344,13 @@ class GnssSatellites : public ILoggable { /** * @fn SetUp - * @brief Setup both true GNSS satellite information + * @brief Setup both GNSS satellite information * @param [in] simulation_time: Simulation time information */ void SetUp(const SimulationTime* simulation_time); /** * @fn Update - * @brief Update both true GNSS satellite information + * @brief Update both GNSS satellite information * @param [in] simulation_time: Simulation time information */ void Update(const SimulationTime* simulation_time); @@ -372,13 +371,13 @@ class GnssSatellites : public ILoggable { std::string GetIdFromIndex(int index) const; /** * @fn GetNumberOfSatellites - * @brief Return total number of GNSS satellite for true information + * @brief Return total number of GNSS satellite * @note TODO: Is this function really needed? This is just called other accessible function. */ int GetNumberOfSatellites() const; /** * @fn GetWhetherValid - * @brief Return true the GNSS satellite information is available for both position and clock for both true value + * @brief Return true the GNSS satellite information is available for both position and clock * @param [in] gnss_satellite_id: Index of GNSS satellite */ bool GetWhetherValid(int gnss_satellite_id) const; @@ -388,10 +387,10 @@ class GnssSatellites : public ILoggable { */ inline double GetStartUnixTime() const { return start_unix_time_; } /** - * @fn GetTrueInformation - * @brief Return GNSS satellite information class for true value system + * @fn GetInformation + * @brief Return GNSS satellite information class */ - inline const GnssSatelliteInformation& GetTrueInformation() const { return true_info_; } + inline const GnssSatelliteInformation& GetInformation() const { return gnss_info_; } /** * @fn GetSatellitePositionEcef @@ -488,7 +487,7 @@ class GnssSatellites : public ILoggable { const GnssFrameDefinition flag) const; bool is_calc_enabled_ = true; //!< Flag to manage the GNSS satellite position calculation - GnssSatelliteInformation true_info_; //!< True information of GNSS satellites + GnssSatelliteInformation gnss_info_; //!< GNSS satellites information double start_unix_time_; //!< Start unix time }; diff --git a/src/environment/global/initialize_gnss_satellites.cpp b/src/environment/global/initialize_gnss_satellites.cpp index f44995f53..6bf8bc2ea 100644 --- a/src/environment/global/initialize_gnss_satellites.cpp +++ b/src/environment/global/initialize_gnss_satellites.cpp @@ -297,30 +297,30 @@ GnssSatellites* InitGnssSatellites(std::string file_name) { std::string directory_path = ini_file.ReadString(section, "directory_path"); - // True position - std::vector> true_position_file; - UltraRapidMode true_position_ur_flag = kNotUse; - ReadSp3Files(directory_path, ini_file.ReadString(section, "true_position_file_sort"), ini_file.ReadString(section, "true_position_first"), - ini_file.ReadString(section, "true_position_last"), true_position_file, true_position_ur_flag); - int true_position_interpolation_method = ini_file.ReadInt(section, "true_position_interpolation_method"); - int true_position_interpolation_number = ini_file.ReadInt(section, "true_position_interpolation_number"); - - // True clock - std::vector> true_clock_file; - UltraRapidMode true_clock_ur_flag = kNotUse; - std::string true_clock_file_extension = ini_file.ReadString(section, "true_clock_file_extension"); - if (true_clock_file_extension == ".sp3") { - ReadSp3Files(directory_path, ini_file.ReadString(section, "true_clock_file_sort"), ini_file.ReadString(section, "true_clock_first"), - ini_file.ReadString(section, "true_clock_last"), true_clock_file, true_clock_ur_flag); + // Position + std::vector> position_file; + UltraRapidMode position_ur_flag = kNotUse; + ReadSp3Files(directory_path, ini_file.ReadString(section, "position_file_sort"), ini_file.ReadString(section, "position_first"), + ini_file.ReadString(section, "position_last"), position_file, position_ur_flag); + int position_interpolation_method = ini_file.ReadInt(section, "position_interpolation_method"); + int position_interpolation_number = ini_file.ReadInt(section, "position_interpolation_number"); + + // Clock + std::vector> clock_file; + UltraRapidMode clock_ur_flag = kNotUse; + std::string clock_file_extension = ini_file.ReadString(section, "clock_file_extension"); + if (clock_file_extension == ".sp3") { + ReadSp3Files(directory_path, ini_file.ReadString(section, "clock_file_sort"), ini_file.ReadString(section, "clock_first"), + ini_file.ReadString(section, "clock_last"), clock_file, clock_ur_flag); } else { - ReadClockFiles(directory_path, true_clock_file_extension, ini_file.ReadString(section, "true_clock_file_sort"), - ini_file.ReadString(section, "true_clock_first"), ini_file.ReadString(section, "true_clock_last"), true_clock_file); + ReadClockFiles(directory_path, clock_file_extension, ini_file.ReadString(section, "clock_file_sort"), ini_file.ReadString(section, "clock_first"), + ini_file.ReadString(section, "clock_last"), clock_file); } - int true_clock_interpolation_number = ini_file.ReadInt(section, "true_clock_interpolation_number"); + int clock_interpolation_number = ini_file.ReadInt(section, "clock_interpolation_number"); // Initialize GNSS satellites - gnss_satellites->Initialize(true_position_file, true_position_interpolation_method, true_position_interpolation_number, true_position_ur_flag, - true_clock_file, true_clock_file_extension, true_clock_interpolation_number, true_clock_ur_flag); + gnss_satellites->Initialize(position_file, position_interpolation_method, position_interpolation_number, position_ur_flag, clock_file, + clock_file_extension, clock_interpolation_number, clock_ur_flag); return gnss_satellites; } From 46631c04e8eb8b141e015e17858273dd8a7a97a1 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 19 Dec 2023 14:56:34 +0100 Subject: [PATCH 004/456] Replace GNSS satellite number/index convert function --- src/components/real/aocs/gnss_receiver.cpp | 5 +- src/environment/global/gnss_satellites.cpp | 175 +++++---------------- src/environment/global/gnss_satellites.hpp | 43 ----- 3 files changed, 43 insertions(+), 180 deletions(-) diff --git a/src/components/real/aocs/gnss_receiver.cpp b/src/components/real/aocs/gnss_receiver.cpp index b1eb49110..c8085dcf5 100644 --- a/src/components/real/aocs/gnss_receiver.cpp +++ b/src/components/real/aocs/gnss_receiver.cpp @@ -6,6 +6,7 @@ #include "gnss_receiver.hpp" #include +#include #include #include #include @@ -112,11 +113,11 @@ void GnssReceiver::CheckAntennaCone(const libra::Vector<3> pos_true_eci_, libra: // initialize visible_satellite_number_ = 0; - int gnss_num = gnss_satellites_->GetNumberOfSatellites(); + int gnss_num = kTotalNumberOfGnssSatellite; for (int i = 0; i < gnss_num; i++) { // check if gnss ID is compatible with the receiver - std::string id_tmp = gnss_satellites_->GetIdFromIndex(i); + std::string id_tmp = ConvertIndexToSatelliteNumber(i); if (gnss_id_.find(id_tmp[0]) == std::string::npos) continue; // compute direction from sat to gnss in body-fixed frame diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index 249d980e8..4d1b19778 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -13,28 +13,13 @@ #include "environment/global/physical_constants.hpp" #include "library/external/sgp4/sgp4ext.h" //for jday() #include "library/external/sgp4/sgp4unit.h" //for gstime() +#include "library/gnss/gnss_satellite_number.hpp" #include "library/logger/log_utility.hpp" #include "library/math/constants.hpp" #include "library/utilities/macros.hpp" const double nan99 = 999999.999999; -// GNSS satellite number definition -// TODO: Move to other library to define GNSS constants -const int gps_sat_num_ = 32; //!< Number of GPS satellites -const int glonass_sat_num_ = 26; //!< Number of GLONASS satellites -const int galileo_sat_num_ = 36; //!< Number of Galileo satellites -const int beidou_sat_num_ = 16; //!< Number of BeiDou satellites -const int qzss_sat_num_ = 7; //!< Number of QZSS satellites TODO: 5 at this moment? - -const int gps_index_bias_ = -1; //!< Bias of index for GPS satellites -const int glonass_index_bias_ = gps_index_bias_ + gps_sat_num_; //!< Bias of index for GLONASS satellites -const int galileo_index_bias_ = glonass_index_bias_ + glonass_sat_num_; //!< Bias of index for GALILEO satellites -const int beidou_index_bias_ = galileo_index_bias_ + galileo_sat_num_; //!< Bias of index for BeiDou satellites -const int qzss_index_bias_ = beidou_index_bias_ + beidou_sat_num_; //!< Bias of index for QZSS satellites - -const int all_sat_num_ = gps_sat_num_ + glonass_sat_num_ + galileo_sat_num_ + beidou_sat_num_ + qzss_sat_num_; //& time_vecto return res; } -int GnssSatelliteBase::GetIndexFromId(string sat_num) const { - if (sat_num.front() == 'P') { - switch (sat_num.at(1)) { - case 'G': - return stoi(sat_num.substr(2)) + gps_index_bias_; - case 'R': - return stoi(sat_num.substr(2)) + glonass_index_bias_; - case 'E': - return stoi(sat_num.substr(2)) + galileo_index_bias_; - case 'C': - return stoi(sat_num.substr(2)) + beidou_index_bias_; - case 'J': - return stoi(sat_num.substr(2)) + qzss_index_bias_; - default: - return INT32_MAX; - break; - } - } else { - switch (sat_num.front()) { - case 'G': - return stoi(sat_num.substr(1)) + gps_index_bias_; - case 'R': - return stoi(sat_num.substr(1)) + glonass_index_bias_; - case 'E': - return stoi(sat_num.substr(1)) + galileo_index_bias_; - case 'C': - return stoi(sat_num.substr(1)) + beidou_index_bias_; - case 'J': - return stoi(sat_num.substr(1)) + qzss_index_bias_; - default: - return INT32_MAX; - break; - } - } -} - -string GnssSatelliteBase::GetIdFromIndex(int index) const { - string res; - if (index < glonass_index_bias_) { - res = 'G'; - if (index - gps_index_bias_ < 10) res += '0'; - res += to_string(index - gps_index_bias_); - } else if (index < galileo_index_bias_) { - res = 'R'; - if (index - glonass_index_bias_ < 10) res += '0'; - res += to_string(index - glonass_index_bias_); - } else if (index < beidou_index_bias_) { - res = 'E'; - if (index - galileo_index_bias_ < 10) res += '0'; - res += to_string(index - galileo_index_bias_); - } else if (index < qzss_index_bias_) { - res = 'C'; - if (index - beidou_index_bias_ < 10) res += '0'; - res += to_string(index - beidou_index_bias_); - } else { - res = 'J'; - if (index - qzss_index_bias_ < 10) res += '0'; - res += to_string(index - qzss_index_bias_); - } - - return res; -} - -int GnssSatelliteBase::GetNumberOfSatellites() const { return all_sat_num_; } - bool GnssSatelliteBase::GetWhetherValid(int gnss_satellite_id) const { - if (gnss_satellite_id >= all_sat_num_) return false; + if (gnss_satellite_id >= kTotalNumberOfGnssSatellite) return false; return validate_.at(gnss_satellite_id); } @@ -235,9 +155,9 @@ pair GnssSatellitePosition::Initialize(vector>& f interpolation_number_ = interpolation_number; // Expansion - time_series_position_ecef_m_.resize(all_sat_num_); // first vector size is the satellite number - time_series_position_eci_m_.resize(all_sat_num_); - unix_time_list.resize(all_sat_num_); + time_series_position_ecef_m_.resize(kTotalNumberOfGnssSatellite); // first vector size is the satellite number + time_series_position_eci_m_.resize(kTotalNumberOfGnssSatellite); + unix_time_list.resize(kTotalNumberOfGnssSatellite); // for using min and max, set the sup & inf before double start_unix_time = 1e16; @@ -322,7 +242,7 @@ pair GnssSatellitePosition::Initialize(vector>& f iss >> tmp; s.push_back(tmp); } - int gnss_satellite_id = GetIndexFromId(s.front()); + int gnss_satellite_id = ConvertSatelliteNumberToIndex(s.front()); bool available_flag = true; libra::Vector<3> ecef_position_m(0.0); @@ -368,17 +288,17 @@ pair GnssSatellitePosition::Initialize(vector>& f void GnssSatellitePosition::SetUp(const double start_unix_time, const double step_width_s) { step_width_s_ = step_width_s; - position_ecef_m_.assign(all_sat_num_, libra::Vector<3>(0.0)); - position_eci_m_.assign(all_sat_num_, libra::Vector<3>(0.0)); - validate_.assign(all_sat_num_, false); + position_ecef_m_.assign(kTotalNumberOfGnssSatellite, libra::Vector<3>(0.0)); + position_eci_m_.assign(kTotalNumberOfGnssSatellite, libra::Vector<3>(0.0)); + validate_.assign(kTotalNumberOfGnssSatellite, false); - nearest_index_.resize(all_sat_num_); - time_period_list_.resize(all_sat_num_); + nearest_index_.resize(kTotalNumberOfGnssSatellite); + time_period_list_.resize(kTotalNumberOfGnssSatellite); - ecef_.resize(all_sat_num_); - eci_.resize(all_sat_num_); + ecef_.resize(kTotalNumberOfGnssSatellite); + eci_.resize(kTotalNumberOfGnssSatellite); - for (int gnss_satellite_id = 0; gnss_satellite_id < all_sat_num_; ++gnss_satellite_id) { + for (int gnss_satellite_id = 0; gnss_satellite_id < kTotalNumberOfGnssSatellite; ++gnss_satellite_id) { if (unix_time_list.at(gnss_satellite_id).empty()) { validate_.at(gnss_satellite_id) = false; continue; @@ -439,7 +359,7 @@ void GnssSatellitePosition::SetUp(const double start_unix_time, const double ste } void GnssSatellitePosition::Update(const double current_unix_time) { - for (int gnss_satellite_id = 0; gnss_satellite_id < all_sat_num_; ++gnss_satellite_id) { + for (int gnss_satellite_id = 0; gnss_satellite_id < kTotalNumberOfGnssSatellite; ++gnss_satellite_id) { if (unix_time_list.at(gnss_satellite_id).empty()) { validate_.at(gnss_satellite_id) = false; continue; @@ -506,12 +426,12 @@ void GnssSatellitePosition::Update(const double current_unix_time) { } libra::Vector<3> GnssSatellitePosition::GetPosition_ecef_m(int gnss_satellite_id) const { - if (gnss_satellite_id >= all_sat_num_) return libra::Vector<3>(0.0); + if (gnss_satellite_id >= kTotalNumberOfGnssSatellite) return libra::Vector<3>(0.0); return position_ecef_m_.at(gnss_satellite_id); } libra::Vector<3> GnssSatellitePosition::GetPosition_eci_m(int gnss_satellite_id) const { - if (gnss_satellite_id >= all_sat_num_) return libra::Vector<3>(0.0); + if (gnss_satellite_id >= kTotalNumberOfGnssSatellite) return libra::Vector<3>(0.0); return position_eci_m_.at(gnss_satellite_id); } @@ -519,8 +439,8 @@ libra::Vector<3> GnssSatellitePosition::GetPosition_eci_m(int gnss_satellite_id) void GnssSatelliteClock::Initialize(vector>& file, string file_extension, int interpolation_number, UltraRapidMode ur_flag, pair unix_time_period) { interpolation_number_ = interpolation_number; - time_series_clock_offset_m_.resize(all_sat_num_); // first vector size is the sat num - unix_time_list.resize(all_sat_num_); + time_series_clock_offset_m_.resize(kTotalNumberOfGnssSatellite); // first vector size is the sat num + unix_time_list.resize(kTotalNumberOfGnssSatellite); if (file_extension == ".sp3") { for (int page = 0; page < (int)file.size(); ++page) { @@ -589,7 +509,7 @@ void GnssSatelliteClock::Initialize(vector>& file, string file_ex iss >> tmp; s.push_back(tmp); } - int gnss_satellite_id = GetIndexFromId(s.front()); + int gnss_satellite_id = ConvertSatelliteNumberToIndex(s.front()); double clock = stod(s.at(4)); if (std::abs(clock - nan99) < 1.0) continue; @@ -649,7 +569,7 @@ void GnssSatelliteClock::Initialize(vector>& file, string file_ex std::free(time_tm); - int gnss_satellite_id = GetIndexFromId(s.at(1)); + int gnss_satellite_id = ConvertSatelliteNumberToIndex(s.at(1)); double clock_bias = stod(s.at(9)) * environment::speed_of_light_m_s; // [s] -> [m] if (start_unix_time - unix_time > 1e-4) continue; // for the numerical error if (end_unix_time - unix_time < 1e-4) break; @@ -671,15 +591,15 @@ void GnssSatelliteClock::Initialize(vector>& file, string file_ex void GnssSatelliteClock::SetUp(const double start_unix_time, const double step_width_s) { step_width_s_ = step_width_s; - clock_offset_m_.resize(all_sat_num_); - validate_.assign(all_sat_num_, false); + clock_offset_m_.resize(kTotalNumberOfGnssSatellite); + validate_.assign(kTotalNumberOfGnssSatellite, false); - nearest_index_.resize(all_sat_num_); - time_period_list_.resize(all_sat_num_); + nearest_index_.resize(kTotalNumberOfGnssSatellite); + time_period_list_.resize(kTotalNumberOfGnssSatellite); - clock_bias_.resize(all_sat_num_); + clock_bias_.resize(kTotalNumberOfGnssSatellite); - for (int gnss_satellite_id = 0; gnss_satellite_id < all_sat_num_; ++gnss_satellite_id) { + for (int gnss_satellite_id = 0; gnss_satellite_id < kTotalNumberOfGnssSatellite; ++gnss_satellite_id) { if (unix_time_list.at(gnss_satellite_id).empty()) { validate_.at(gnss_satellite_id) = false; continue; @@ -736,7 +656,7 @@ void GnssSatelliteClock::SetUp(const double start_unix_time, const double step_w } void GnssSatelliteClock::Update(const double current_unix_time) { - for (int gnss_satellite_id = 0; gnss_satellite_id < all_sat_num_; ++gnss_satellite_id) { + for (int gnss_satellite_id = 0; gnss_satellite_id < kTotalNumberOfGnssSatellite; ++gnss_satellite_id) { if (unix_time_list.at(gnss_satellite_id).empty()) { validate_.at(gnss_satellite_id) = false; continue; @@ -799,7 +719,7 @@ void GnssSatelliteClock::Update(const double current_unix_time) { } double GnssSatelliteClock::GetSatClock(int gnss_satellite_id) const { - if (gnss_satellite_id >= all_sat_num_) return 0.0; + if (gnss_satellite_id >= kTotalNumberOfGnssSatellite) return 0.0; return clock_offset_m_.at(gnss_satellite_id); } @@ -822,15 +742,6 @@ void GnssSatelliteInformation::Update(const double current_unix_time) { clock_.Update(current_unix_time); } -int GnssSatelliteInformation::GetNumberOfSatellites() const { - if (position_.GetNumberOfSatellites() == clock_.GetNumberOfSatellites()) { - return position_.GetNumberOfSatellites(); - } else { - cout << "Num Of Gnss Satellites has something wrong" << endl; - return 0; - } -} - bool GnssSatelliteInformation::GetWhetherValid(int gnss_satellite_id) const { if (position_.GetWhetherValid(gnss_satellite_id) && clock_.GetWhetherValid(gnss_satellite_id)) return true; return false; @@ -897,14 +808,8 @@ void GnssSatellites::Update(const SimulationTime* simulation_time) { return; } -int GnssSatellites::GetNumberOfSatellites() const { return gnss_info_.GetNumberOfSatellites(); } - -string GnssSatellites::GetIdFromIndex(int index) const { return gnss_info_.GetGnssSatPos().GetIdFromIndex(index); } - -int GnssSatellites::GetIndexFromId(string sat_num) const { return gnss_info_.GetGnssSatPos().GetIndexFromId(sat_num); } - bool GnssSatellites::GetWhetherValid(int gnss_satellite_id) const { - if (gnss_satellite_id >= GetNumberOfSatellites()) return false; + if (gnss_satellite_id >= kTotalNumberOfGnssSatellite) return false; if (gnss_info_.GetWhetherValid(gnss_satellite_id) && gnss_info_.GetWhetherValid(gnss_satellite_id)) return true; @@ -914,7 +819,7 @@ bool GnssSatellites::GetWhetherValid(int gnss_satellite_id) const { libra::Vector<3> GnssSatellites::GetSatellitePositionEcef(const int gnss_satellite_id) const { // gnss_satellite_id is wrong or not valid - if (gnss_satellite_id >= GetNumberOfSatellites() || !GetWhetherValid(gnss_satellite_id)) { + if (gnss_satellite_id >= kTotalNumberOfGnssSatellite || !GetWhetherValid(gnss_satellite_id)) { libra::Vector<3> res(0); return res; } @@ -924,7 +829,7 @@ libra::Vector<3> GnssSatellites::GetSatellitePositionEcef(const int gnss_satelli libra::Vector<3> GnssSatellites::GetSatellitePositionEci(const int gnss_satellite_id) const { // gnss_satellite_id is wrong or not valid - if (gnss_satellite_id >= GetNumberOfSatellites() || !GetWhetherValid(gnss_satellite_id)) { + if (gnss_satellite_id >= kTotalNumberOfGnssSatellite || !GetWhetherValid(gnss_satellite_id)) { libra::Vector<3> res(0); return res; } @@ -933,7 +838,7 @@ libra::Vector<3> GnssSatellites::GetSatellitePositionEci(const int gnss_satellit } double GnssSatellites::GetSatelliteClock(const int gnss_satellite_id) const { - if (gnss_satellite_id >= GetNumberOfSatellites() || !GetWhetherValid(gnss_satellite_id)) { + if (gnss_satellite_id >= kTotalNumberOfGnssSatellite || !GetWhetherValid(gnss_satellite_id)) { return 0.0; } @@ -943,7 +848,7 @@ double GnssSatellites::GetSatelliteClock(const int gnss_satellite_id) const { double GnssSatellites::GetPseudoRangeECEF(const int gnss_satellite_id, libra::Vector<3> rec_position, double rec_clock, const double frequency) const { // gnss_satellite_id is wrong or not validate - if (gnss_satellite_id >= GetNumberOfSatellites() || !GetWhetherValid(gnss_satellite_id)) return 0.0; + if (gnss_satellite_id >= kTotalNumberOfGnssSatellite || !GetWhetherValid(gnss_satellite_id)) return 0.0; double res = 0.0; auto gnss_position = gnss_info_.GetSatellitePositionEcef(gnss_satellite_id); @@ -965,7 +870,7 @@ double GnssSatellites::GetPseudoRangeECEF(const int gnss_satellite_id, libra::Ve double GnssSatellites::GetPseudoRangeECI(const int gnss_satellite_id, libra::Vector<3> rec_position, double rec_clock, const double frequency) const { // gnss_satellite_id is wrong or not validate - if (gnss_satellite_id >= GetNumberOfSatellites() || !GetWhetherValid(gnss_satellite_id)) return 0.0; + if (gnss_satellite_id >= kTotalNumberOfGnssSatellite || !GetWhetherValid(gnss_satellite_id)) return 0.0; double res = 0.0; auto gnss_position = gnss_info_.GetSatellitePositionEci(gnss_satellite_id); @@ -988,7 +893,7 @@ double GnssSatellites::GetPseudoRangeECI(const int gnss_satellite_id, libra::Vec pair GnssSatellites::GetCarrierPhaseECEF(const int gnss_satellite_id, libra::Vector<3> rec_position, double rec_clock, const double frequency) const { // gnss_satellite_id is wrong or not validate - if (gnss_satellite_id >= GetNumberOfSatellites() || !GetWhetherValid(gnss_satellite_id)) return {0.0, 0.0}; + if (gnss_satellite_id >= kTotalNumberOfGnssSatellite || !GetWhetherValid(gnss_satellite_id)) return {0.0, 0.0}; double res = 0.0; auto gnss_position = gnss_info_.GetSatellitePositionEcef(gnss_satellite_id); @@ -1018,7 +923,7 @@ pair GnssSatellites::GetCarrierPhaseECEF(const int gnss_satellit pair GnssSatellites::GetCarrierPhaseECI(const int gnss_satellite_id, libra::Vector<3> rec_position, double rec_clock, const double frequency) const { // gnss_satellite_id is wrong or not validate - if (gnss_satellite_id >= GetNumberOfSatellites() || !GetWhetherValid(gnss_satellite_id)) return {0.0, 0.0}; + if (gnss_satellite_id >= kTotalNumberOfGnssSatellite || !GetWhetherValid(gnss_satellite_id)) return {0.0, 0.0}; double res = 0.0; auto gnss_position = gnss_info_.GetSatellitePositionEci(gnss_satellite_id); @@ -1049,7 +954,7 @@ pair GnssSatellites::GetCarrierPhaseECI(const int gnss_satellite double GnssSatellites::AddIonosphericDelay(const int gnss_satellite_id, const libra::Vector<3> rec_position, const double frequency, const GnssFrameDefinition flag) const { // gnss_satellite_id is wrong or not validate - if (gnss_satellite_id >= GetNumberOfSatellites() || !GetWhetherValid(gnss_satellite_id)) return 0.0; + if (gnss_satellite_id >= kTotalNumberOfGnssSatellite || !GetWhetherValid(gnss_satellite_id)) return 0.0; const double earth_hemisphere_km = environment::earth_equatorial_radius_m / 1000.0; @@ -1080,7 +985,7 @@ std::string GnssSatellites::GetLogHeader() const { std::string str_tmp = ""; // TODO: Add log output for other navigation systems - for (size_t gps_index = 0; gps_index < gps_sat_num_; gps_index++) { + for (size_t gps_index = 0; gps_index < kNumberOfGpsSatellite; gps_index++) { str_tmp += WriteVector("GPS" + std::to_string(gps_index) + "_position", "ecef", "m", 3); str_tmp += WriteScalar("GPS" + std::to_string(gps_index) + "_clock_offset", "m"); } @@ -1091,7 +996,7 @@ std::string GnssSatellites::GetLogHeader() const { std::string GnssSatellites::GetLogValue() const { std::string str_tmp = ""; - for (size_t gps_index = 0; gps_index < gps_sat_num_; gps_index++) { + for (size_t gps_index = 0; gps_index < kNumberOfGpsSatellite; gps_index++) { str_tmp += WriteVector(gnss_info_.GetSatellitePositionEcef((int)gps_index), 16); str_tmp += WriteScalar(gnss_info_.GetSatelliteClock((int)gps_index)); } diff --git a/src/environment/global/gnss_satellites.hpp b/src/environment/global/gnss_satellites.hpp index 442c132a9..19cef61f9 100644 --- a/src/environment/global/gnss_satellites.hpp +++ b/src/environment/global/gnss_satellites.hpp @@ -52,23 +52,6 @@ enum UltraRapidMode { */ class GnssSatelliteBase { public: - /** - * @fn GetIndexFromId - * @brief Calculate index of GNSS satellite defined in this class from GNSS satellite number defined in GNSS system - * @return Index of GNSS satellite defined in this class - */ - int GetIndexFromId(std::string sat_num) const; - /** - * @fn GetIdFromIndex - * @brief Calculate GNSS satellite number defined in GNSS system from index of GNSS satellite defined in this class - * @return GNSS satellite number defined in GNSS system - */ - std::string GetIdFromIndex(int index) const; - /** - * @fn GetNumberOfSatellites - * @brief Return total satellite number in all GNSS system (Constant value) - */ - int GetNumberOfSatellites() const; /** * @fn GetWhetherValid * @brief Return true the GNSS satellite information is available @@ -264,12 +247,6 @@ class GnssSatelliteInformation { */ void Update(const double current_unix_time); - /** - * @fn GetNumberOfSatellites - * @brief Get total number of GNSS satellite (constant value) - * @note TODO: Consider this function is really needed. - */ - int GetNumberOfSatellites() const; /** * @fn GetWhetherValid * @brief Return true the GNSS satellite information is available for both position and clock information @@ -355,26 +332,6 @@ class GnssSatellites : public ILoggable { */ void Update(const SimulationTime* simulation_time); - /** - * @fn GetIndexFromId - * @brief Calculate index of GNSS satellite defined in this class from GNSS satellite number defined in GNSS system - * @note TODO: Is this function really needed? This is just called other accessible function. - * @return Index of GNSS satellite defined in this class - */ - int GetIndexFromId(std::string sat_num) const; - /** - * @fn GetIdFromIndex - * @brief Calculate GNSS satellite number defined in GNSS system from index of GNSS satellite defined in this class - * @note TODO: Is this function really needed? This is just called other accessible function. - * @return GNSS satellite number defined in GNSS system - */ - std::string GetIdFromIndex(int index) const; - /** - * @fn GetNumberOfSatellites - * @brief Return total number of GNSS satellite - * @note TODO: Is this function really needed? This is just called other accessible function. - */ - int GetNumberOfSatellites() const; /** * @fn GetWhetherValid * @brief Return true the GNSS satellite information is available for both position and clock From 8dee5878bfa469e012515b4dcf59de7cd9fd56cc Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 19 Dec 2023 15:01:55 +0100 Subject: [PATCH 005/456] Fix int to size_t --- src/environment/global/gnss_satellites.cpp | 43 +++++++++++----------- src/environment/global/gnss_satellites.hpp | 34 ++++++++--------- 2 files changed, 39 insertions(+), 38 deletions(-) diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index 4d1b19778..e4c75b945 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -142,7 +142,7 @@ double GnssSatelliteBase::LagrangeInterpolation(const vector& time_vecto return res; } -bool GnssSatelliteBase::GetWhetherValid(int gnss_satellite_id) const { +bool GnssSatelliteBase::GetWhetherValid(const size_t gnss_satellite_id) const { if (gnss_satellite_id >= kTotalNumberOfGnssSatellite) return false; return validate_.at(gnss_satellite_id); } @@ -298,7 +298,7 @@ void GnssSatellitePosition::SetUp(const double start_unix_time, const double ste ecef_.resize(kTotalNumberOfGnssSatellite); eci_.resize(kTotalNumberOfGnssSatellite); - for (int gnss_satellite_id = 0; gnss_satellite_id < kTotalNumberOfGnssSatellite; ++gnss_satellite_id) { + for (size_t gnss_satellite_id = 0; gnss_satellite_id < kTotalNumberOfGnssSatellite; ++gnss_satellite_id) { if (unix_time_list.at(gnss_satellite_id).empty()) { validate_.at(gnss_satellite_id) = false; continue; @@ -359,7 +359,7 @@ void GnssSatellitePosition::SetUp(const double start_unix_time, const double ste } void GnssSatellitePosition::Update(const double current_unix_time) { - for (int gnss_satellite_id = 0; gnss_satellite_id < kTotalNumberOfGnssSatellite; ++gnss_satellite_id) { + for (size_t gnss_satellite_id = 0; gnss_satellite_id < kTotalNumberOfGnssSatellite; ++gnss_satellite_id) { if (unix_time_list.at(gnss_satellite_id).empty()) { validate_.at(gnss_satellite_id) = false; continue; @@ -425,12 +425,12 @@ void GnssSatellitePosition::Update(const double current_unix_time) { } } -libra::Vector<3> GnssSatellitePosition::GetPosition_ecef_m(int gnss_satellite_id) const { +libra::Vector<3> GnssSatellitePosition::GetPosition_ecef_m(const size_t gnss_satellite_id) const { if (gnss_satellite_id >= kTotalNumberOfGnssSatellite) return libra::Vector<3>(0.0); return position_ecef_m_.at(gnss_satellite_id); } -libra::Vector<3> GnssSatellitePosition::GetPosition_eci_m(int gnss_satellite_id) const { +libra::Vector<3> GnssSatellitePosition::GetPosition_eci_m(const size_t gnss_satellite_id) const { if (gnss_satellite_id >= kTotalNumberOfGnssSatellite) return libra::Vector<3>(0.0); return position_eci_m_.at(gnss_satellite_id); } @@ -599,7 +599,7 @@ void GnssSatelliteClock::SetUp(const double start_unix_time, const double step_w clock_bias_.resize(kTotalNumberOfGnssSatellite); - for (int gnss_satellite_id = 0; gnss_satellite_id < kTotalNumberOfGnssSatellite; ++gnss_satellite_id) { + for (size_t gnss_satellite_id = 0; gnss_satellite_id < kTotalNumberOfGnssSatellite; ++gnss_satellite_id) { if (unix_time_list.at(gnss_satellite_id).empty()) { validate_.at(gnss_satellite_id) = false; continue; @@ -656,7 +656,7 @@ void GnssSatelliteClock::SetUp(const double start_unix_time, const double step_w } void GnssSatelliteClock::Update(const double current_unix_time) { - for (int gnss_satellite_id = 0; gnss_satellite_id < kTotalNumberOfGnssSatellite; ++gnss_satellite_id) { + for (size_t gnss_satellite_id = 0; gnss_satellite_id < kTotalNumberOfGnssSatellite; ++gnss_satellite_id) { if (unix_time_list.at(gnss_satellite_id).empty()) { validate_.at(gnss_satellite_id) = false; continue; @@ -718,7 +718,7 @@ void GnssSatelliteClock::Update(const double current_unix_time) { } } -double GnssSatelliteClock::GetSatClock(int gnss_satellite_id) const { +double GnssSatelliteClock::GetSatClock(const size_t gnss_satellite_id) const { if (gnss_satellite_id >= kTotalNumberOfGnssSatellite) return 0.0; return clock_offset_m_.at(gnss_satellite_id); } @@ -742,20 +742,20 @@ void GnssSatelliteInformation::Update(const double current_unix_time) { clock_.Update(current_unix_time); } -bool GnssSatelliteInformation::GetWhetherValid(int gnss_satellite_id) const { +bool GnssSatelliteInformation::GetWhetherValid(const size_t gnss_satellite_id) const { if (position_.GetWhetherValid(gnss_satellite_id) && clock_.GetWhetherValid(gnss_satellite_id)) return true; return false; } -libra::Vector<3> GnssSatelliteInformation::GetSatellitePositionEcef(int gnss_satellite_id) const { +libra::Vector<3> GnssSatelliteInformation::GetSatellitePositionEcef(const size_t gnss_satellite_id) const { return position_.GetPosition_ecef_m(gnss_satellite_id); } -libra::Vector<3> GnssSatelliteInformation::GetSatellitePositionEci(int gnss_satellite_id) const { +libra::Vector<3> GnssSatelliteInformation::GetSatellitePositionEci(const size_t gnss_satellite_id) const { return position_.GetPosition_eci_m(gnss_satellite_id); } -double GnssSatelliteInformation::GetSatelliteClock(int gnss_satellite_id) const { return clock_.GetSatClock(gnss_satellite_id); } +double GnssSatelliteInformation::GetSatelliteClock(const size_t gnss_satellite_id) const { return clock_.GetSatClock(gnss_satellite_id); } // GnssSatellites GnssSatellites::GnssSatellites(bool is_calc_enabled) { @@ -808,7 +808,7 @@ void GnssSatellites::Update(const SimulationTime* simulation_time) { return; } -bool GnssSatellites::GetWhetherValid(int gnss_satellite_id) const { +bool GnssSatellites::GetWhetherValid(const size_t gnss_satellite_id) const { if (gnss_satellite_id >= kTotalNumberOfGnssSatellite) return false; if (gnss_info_.GetWhetherValid(gnss_satellite_id) && gnss_info_.GetWhetherValid(gnss_satellite_id)) @@ -817,7 +817,7 @@ bool GnssSatellites::GetWhetherValid(int gnss_satellite_id) const { return false; } -libra::Vector<3> GnssSatellites::GetSatellitePositionEcef(const int gnss_satellite_id) const { +libra::Vector<3> GnssSatellites::GetSatellitePositionEcef(const size_t gnss_satellite_id) const { // gnss_satellite_id is wrong or not valid if (gnss_satellite_id >= kTotalNumberOfGnssSatellite || !GetWhetherValid(gnss_satellite_id)) { libra::Vector<3> res(0); @@ -827,7 +827,7 @@ libra::Vector<3> GnssSatellites::GetSatellitePositionEcef(const int gnss_satelli return gnss_info_.GetSatellitePositionEcef(gnss_satellite_id); } -libra::Vector<3> GnssSatellites::GetSatellitePositionEci(const int gnss_satellite_id) const { +libra::Vector<3> GnssSatellites::GetSatellitePositionEci(const size_t gnss_satellite_id) const { // gnss_satellite_id is wrong or not valid if (gnss_satellite_id >= kTotalNumberOfGnssSatellite || !GetWhetherValid(gnss_satellite_id)) { libra::Vector<3> res(0); @@ -837,7 +837,7 @@ libra::Vector<3> GnssSatellites::GetSatellitePositionEci(const int gnss_satellit return gnss_info_.GetSatellitePositionEci(gnss_satellite_id); } -double GnssSatellites::GetSatelliteClock(const int gnss_satellite_id) const { +double GnssSatellites::GetSatelliteClock(const size_t gnss_satellite_id) const { if (gnss_satellite_id >= kTotalNumberOfGnssSatellite || !GetWhetherValid(gnss_satellite_id)) { return 0.0; } @@ -845,7 +845,7 @@ double GnssSatellites::GetSatelliteClock(const int gnss_satellite_id) const { return gnss_info_.GetSatelliteClock(gnss_satellite_id); } -double GnssSatellites::GetPseudoRangeECEF(const int gnss_satellite_id, libra::Vector<3> rec_position, double rec_clock, +double GnssSatellites::GetPseudoRangeECEF(const size_t gnss_satellite_id, libra::Vector<3> rec_position, double rec_clock, const double frequency) const { // gnss_satellite_id is wrong or not validate if (gnss_satellite_id >= kTotalNumberOfGnssSatellite || !GetWhetherValid(gnss_satellite_id)) return 0.0; @@ -868,7 +868,8 @@ double GnssSatellites::GetPseudoRangeECEF(const int gnss_satellite_id, libra::Ve return res; } -double GnssSatellites::GetPseudoRangeECI(const int gnss_satellite_id, libra::Vector<3> rec_position, double rec_clock, const double frequency) const { +double GnssSatellites::GetPseudoRangeECI(const size_t gnss_satellite_id, libra::Vector<3> rec_position, double rec_clock, + const double frequency) const { // gnss_satellite_id is wrong or not validate if (gnss_satellite_id >= kTotalNumberOfGnssSatellite || !GetWhetherValid(gnss_satellite_id)) return 0.0; @@ -890,7 +891,7 @@ double GnssSatellites::GetPseudoRangeECI(const int gnss_satellite_id, libra::Vec return res; } -pair GnssSatellites::GetCarrierPhaseECEF(const int gnss_satellite_id, libra::Vector<3> rec_position, double rec_clock, +pair GnssSatellites::GetCarrierPhaseECEF(const size_t gnss_satellite_id, libra::Vector<3> rec_position, double rec_clock, const double frequency) const { // gnss_satellite_id is wrong or not validate if (gnss_satellite_id >= kTotalNumberOfGnssSatellite || !GetWhetherValid(gnss_satellite_id)) return {0.0, 0.0}; @@ -920,7 +921,7 @@ pair GnssSatellites::GetCarrierPhaseECEF(const int gnss_satellit return {cycle, bias}; } -pair GnssSatellites::GetCarrierPhaseECI(const int gnss_satellite_id, libra::Vector<3> rec_position, double rec_clock, +pair GnssSatellites::GetCarrierPhaseECI(const size_t gnss_satellite_id, libra::Vector<3> rec_position, double rec_clock, const double frequency) const { // gnss_satellite_id is wrong or not validate if (gnss_satellite_id >= kTotalNumberOfGnssSatellite || !GetWhetherValid(gnss_satellite_id)) return {0.0, 0.0}; @@ -951,7 +952,7 @@ pair GnssSatellites::GetCarrierPhaseECI(const int gnss_satellite } // for Ionospheric delay I[m] -double GnssSatellites::AddIonosphericDelay(const int gnss_satellite_id, const libra::Vector<3> rec_position, const double frequency, +double GnssSatellites::AddIonosphericDelay(const size_t gnss_satellite_id, const libra::Vector<3> rec_position, const double frequency, const GnssFrameDefinition flag) const { // gnss_satellite_id is wrong or not validate if (gnss_satellite_id >= kTotalNumberOfGnssSatellite || !GetWhetherValid(gnss_satellite_id)) return 0.0; diff --git a/src/environment/global/gnss_satellites.hpp b/src/environment/global/gnss_satellites.hpp index 19cef61f9..78726018f 100644 --- a/src/environment/global/gnss_satellites.hpp +++ b/src/environment/global/gnss_satellites.hpp @@ -57,7 +57,7 @@ class GnssSatelliteBase { * @brief Return true the GNSS satellite information is available * @param [in] gnss_satellite_id: Index of GNSS satellite */ - bool GetWhetherValid(int gnss_satellite_id) const; + bool GetWhetherValid(const size_t gnss_satellite_id) const; protected: /** @@ -138,13 +138,13 @@ class GnssSatellitePosition : public GnssSatelliteBase { * @brief Return GNSS satellite position vector in the ECEF frame [m] * @param [in] gnss_satellite_id: GNSS satellite ID defined in this class */ - libra::Vector<3> GetPosition_ecef_m(int gnss_satellite_id) const; + libra::Vector<3> GetPosition_ecef_m(const size_t gnss_satellite_id) const; /** * @fn GetPosition_eci_m * @brief Return GNSS satellite position vector in the ECI frame [m] * @param [in] gnss_satellite_id: GNSS satellite ID defined in this class */ - libra::Vector<3> GetPosition_eci_m(int gnss_satellite_id) const; + libra::Vector<3> GetPosition_eci_m(const size_t gnss_satellite_id) const; private: std::vector> position_ecef_m_; //!< List of GNSS satellite position at specific time in the ECEF frame [m] @@ -197,7 +197,7 @@ class GnssSatelliteClock : public GnssSatelliteBase { * @brief Return GNSS satellite clock in distance expression [m] * @param [in] gnss_satellite_id: GNSS satellite ID defined in this class */ - double GetSatClock(int gnss_satellite_id) const; + double GetSatClock(const size_t gnss_satellite_id) const; private: std::vector clock_offset_m_; //!< List of clock bias of all GNSS satellites at specific time expressed in distance [m] @@ -252,25 +252,25 @@ class GnssSatelliteInformation { * @brief Return true the GNSS satellite information is available for both position and clock information * @param [in] gnss_satellite_id: Index of GNSS satellite */ - bool GetWhetherValid(int gnss_satellite_id) const; + bool GetWhetherValid(const size_t gnss_satellite_id) const; /** * @fn GetSatellitePositionEcef * @brief Return GNSS satellite position vector in the ECEF frame [m] * @param [in] gnss_satellite_id: GNSS satellite ID defined in this class */ - libra::Vector<3> GetSatellitePositionEcef(int gnss_satellite_id) const; + libra::Vector<3> GetSatellitePositionEcef(const size_t gnss_satellite_id) const; /** * @fn GetSatellitePositionEci * @brief Return GNSS satellite position vector in the ECEF frame [m] * @param [in] gnss_satellite_id: GNSS satellite ID defined in this class */ - libra::Vector<3> GetSatellitePositionEci(int gnss_satellite_id) const; + libra::Vector<3> GetSatellitePositionEci(const size_t gnss_satellite_id) const; /** * @fn GetSatelliteClock * @brief Return GNSS satellite clock in distance expression [m] * @param [in] gnss_satellite_id: GNSS satellite ID defined in this class */ - double GetSatelliteClock(int gnss_satellite_id) const; + double GetSatelliteClock(const size_t gnss_satellite_id) const; /** * @fn GetGnssSatPos * @brief Return GNSS satellite position information class @@ -337,7 +337,7 @@ class GnssSatellites : public ILoggable { * @brief Return true the GNSS satellite information is available for both position and clock * @param [in] gnss_satellite_id: Index of GNSS satellite */ - bool GetWhetherValid(int gnss_satellite_id) const; + bool GetWhetherValid(const size_t gnss_satellite_id) const; /** * @fn GetStartUnixTime * @brief Return start unix time @@ -354,19 +354,19 @@ class GnssSatellites : public ILoggable { * @brief Return GNSS satellite position in the ECEF frame [m] * @param [in] gnss_satellite_id: GNSS satellite ID */ - libra::Vector<3> GetSatellitePositionEcef(const int gnss_satellite_id) const; + libra::Vector<3> GetSatellitePositionEcef(const size_t gnss_satellite_id) const; /** * @fn GetSatellitePositionEci * @brief Return GNSS satellite position in the ECI frame [m] * @param [in] gnss_satellite_id: GNSS satellite ID */ - libra::Vector<3> GetSatellitePositionEci(const int gnss_satellite_id) const; + libra::Vector<3> GetSatellitePositionEci(const size_t gnss_satellite_id) const; /** * @fn GetSatelliteClock * @brief Return GNSS satellite clock * @param [in] gnss_satellite_id: GNSS satellite ID */ - double GetSatelliteClock(const int gnss_satellite_id) const; + double GetSatelliteClock(const size_t gnss_satellite_id) const; /** * @fn GetPseudoRangeECEF @@ -377,7 +377,7 @@ class GnssSatellites : public ILoggable { * @param [in] frequency: Frequency of the signal [MHz] * @return Pseudo range [m] */ - double GetPseudoRangeECEF(const int gnss_satellite_id, libra::Vector<3> rec_position, double rec_clock, const double frequency) const; + double GetPseudoRangeECEF(const size_t gnss_satellite_id, libra::Vector<3> rec_position, double rec_clock, const double frequency) const; /** * @fn GetPseudoRangeECI * @brief Calculate pseudo range between receiver and a GNSS satellite @@ -387,7 +387,7 @@ class GnssSatellites : public ILoggable { * @param [in] frequency: Frequency of the signal [MHz] * @return Pseudo range [m] */ - double GetPseudoRangeECI(const int gnss_satellite_id, libra::Vector<3> rec_position, double rec_clock, const double frequency) const; + double GetPseudoRangeECI(const size_t gnss_satellite_id, libra::Vector<3> rec_position, double rec_clock, const double frequency) const; /** * @fn GetCarrierPhaseECEF * @brief Calculate carrier phase observed by a receiver for a GNSS satellite @@ -397,7 +397,7 @@ class GnssSatellites : public ILoggable { * @param [in] frequency: Frequency of the signal [MHz] * @return Carrier phase cycle and bias [-] */ - std::pair GetCarrierPhaseECEF(const int gnss_satellite_id, libra::Vector<3> rec_position, double rec_clock, + std::pair GetCarrierPhaseECEF(const size_t gnss_satellite_id, libra::Vector<3> rec_position, double rec_clock, const double frequency) const; /** * @fn GetCarrierPhaseECI @@ -408,7 +408,7 @@ class GnssSatellites : public ILoggable { * @param [in] frequency: Frequency of the signal [MHz] * @return Carrier phase cycle and bias [-] */ - std::pair GetCarrierPhaseECI(const int gnss_satellite_id, libra::Vector<3> rec_position, double rec_clock, + std::pair GetCarrierPhaseECI(const size_t gnss_satellite_id, libra::Vector<3> rec_position, double rec_clock, const double frequency) const; // Override ILoggable @@ -440,7 +440,7 @@ class GnssSatellites : public ILoggable { * @param [in] flag: The frame definition of the receiver position (ECI or ECEF) * @return Ionospheric delay [m] */ - double AddIonosphericDelay(const int gnss_satellite_id, const libra::Vector<3> rec_position, const double frequency, + double AddIonosphericDelay(const size_t gnss_satellite_id, const libra::Vector<3> rec_position, const double frequency, const GnssFrameDefinition flag) const; bool is_calc_enabled_ = true; //!< Flag to manage the GNSS satellite position calculation From e17cf62a9a0eaecfee46d6b48009166c60310f2a Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 19 Dec 2023 15:06:14 +0100 Subject: [PATCH 006/456] Rename function to show GNSS satellite functions --- src/components/real/aocs/gnss_receiver.cpp | 2 +- src/environment/global/gnss_satellites.cpp | 6 ++-- src/library/gnss/antex_file_reader.cpp | 2 +- src/library/gnss/gnss_satellite_number.cpp | 4 +-- src/library/gnss/gnss_satellite_number.hpp | 8 +++--- .../gnss/test_gnss_satellite_number.cpp | 28 +++++++++---------- 6 files changed, 25 insertions(+), 25 deletions(-) diff --git a/src/components/real/aocs/gnss_receiver.cpp b/src/components/real/aocs/gnss_receiver.cpp index c8085dcf5..98b404a01 100644 --- a/src/components/real/aocs/gnss_receiver.cpp +++ b/src/components/real/aocs/gnss_receiver.cpp @@ -117,7 +117,7 @@ void GnssReceiver::CheckAntennaCone(const libra::Vector<3> pos_true_eci_, libra: for (int i = 0; i < gnss_num; i++) { // check if gnss ID is compatible with the receiver - std::string id_tmp = ConvertIndexToSatelliteNumber(i); + std::string id_tmp = ConvertIndexToGnssSatelliteNumber(i); if (gnss_id_.find(id_tmp[0]) == std::string::npos) continue; // compute direction from sat to gnss in body-fixed frame diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index e4c75b945..0f8d38e48 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -242,7 +242,7 @@ pair GnssSatellitePosition::Initialize(vector>& f iss >> tmp; s.push_back(tmp); } - int gnss_satellite_id = ConvertSatelliteNumberToIndex(s.front()); + int gnss_satellite_id = ConvertGnssSatelliteNumberToIndex(s.front()); bool available_flag = true; libra::Vector<3> ecef_position_m(0.0); @@ -509,7 +509,7 @@ void GnssSatelliteClock::Initialize(vector>& file, string file_ex iss >> tmp; s.push_back(tmp); } - int gnss_satellite_id = ConvertSatelliteNumberToIndex(s.front()); + int gnss_satellite_id = ConvertGnssSatelliteNumberToIndex(s.front()); double clock = stod(s.at(4)); if (std::abs(clock - nan99) < 1.0) continue; @@ -569,7 +569,7 @@ void GnssSatelliteClock::Initialize(vector>& file, string file_ex std::free(time_tm); - int gnss_satellite_id = ConvertSatelliteNumberToIndex(s.at(1)); + int gnss_satellite_id = ConvertGnssSatelliteNumberToIndex(s.at(1)); double clock_bias = stod(s.at(9)) * environment::speed_of_light_m_s; // [s] -> [m] if (start_unix_time - unix_time > 1e-4) continue; // for the numerical error if (end_unix_time - unix_time < 1e-4) break; diff --git a/src/library/gnss/antex_file_reader.cpp b/src/library/gnss/antex_file_reader.cpp index 73d91d87c..7b0e85e54 100644 --- a/src/library/gnss/antex_file_reader.cpp +++ b/src/library/gnss/antex_file_reader.cpp @@ -95,7 +95,7 @@ void AntexFileReader::ReadAntexData(std::ifstream& antex_file) { if (line.find("TYPE / SERIAL NO") == ANTEX_LINE_TYPE_POSITION) { std::string antenna_type = line.substr(0, 20); std::string serial_number = line.substr(20, 20); - size_t satellite_index = ConvertSatelliteNumberToIndex(serial_number); + size_t satellite_index = ConvertGnssSatelliteNumberToIndex(serial_number); if (satellite_index == UINT32_MAX) { // receiver diff --git a/src/library/gnss/gnss_satellite_number.cpp b/src/library/gnss/gnss_satellite_number.cpp index 0c77ee5c4..b3c53efba 100644 --- a/src/library/gnss/gnss_satellite_number.cpp +++ b/src/library/gnss/gnss_satellite_number.cpp @@ -5,7 +5,7 @@ #include "gnss_satellite_number.hpp" -size_t ConvertSatelliteNumberToIndex(const std::string satellite_number) { +size_t ConvertGnssSatelliteNumberToIndex(const std::string satellite_number) { switch (satellite_number.front()) { case 'G': return stoi(satellite_number.substr(1)) + kGpsIndexBegin - 1; @@ -25,7 +25,7 @@ size_t ConvertSatelliteNumberToIndex(const std::string satellite_number) { } } -std::string ConvertIndexToSatelliteNumber(const size_t index) { +std::string ConvertIndexToGnssSatelliteNumber(const size_t index) { std::string output; size_t prn_number = 0; diff --git a/src/library/gnss/gnss_satellite_number.hpp b/src/library/gnss/gnss_satellite_number.hpp index 95a192694..08fd91576 100644 --- a/src/library/gnss/gnss_satellite_number.hpp +++ b/src/library/gnss/gnss_satellite_number.hpp @@ -31,17 +31,17 @@ const size_t kQzssIndexBegin = kBeidouIndexBegin + kNumberOfBeidouSatellite; const size_t kNavicIndexBegin = kQzssIndexBegin + kNumberOfQzssSatellite; //!< Begin value of index for NavIC satellites /** - * @fn ConvertSatelliteNumberToIndex + * @fn ConvertGnssSatelliteNumberToIndex * @brief Calculate index of GNSS satellite defined in S2E from GNSS satellite number defined in RINEX v4 * @return Index of GNSS satellite defined in this class. or INT32_MAX when the input is wrong. */ -size_t ConvertSatelliteNumberToIndex(const std::string satellite_number); +size_t ConvertGnssSatelliteNumberToIndex(const std::string satellite_number); /** - * @fn ConvertIndexToSatelliteNumber + * @fn ConvertIndexToGnssSatelliteNumber * @brief Calculate GNSS satellite number defined in RINEX v4 from index of GNSS satellite defined in this class * @return GNSS satellite number defined in RINEX v4. or err when the input is wrong. */ -std::string ConvertIndexToSatelliteNumber(const size_t index); +std::string ConvertIndexToGnssSatelliteNumber(const size_t index); #endif // S2E_LIBRARY_GNSS_GNSS_SATELLITE_NUMBER_HPP_ diff --git a/src/library/gnss/test_gnss_satellite_number.cpp b/src/library/gnss/test_gnss_satellite_number.cpp index a8df3d610..5bbf535ee 100644 --- a/src/library/gnss/test_gnss_satellite_number.cpp +++ b/src/library/gnss/test_gnss_satellite_number.cpp @@ -10,24 +10,24 @@ * @brief Test satellite number to index */ TEST(GnssSatelliteNumber, SatelliteNumberToIndex) { - EXPECT_EQ(ConvertSatelliteNumberToIndex("G01"), 0); - EXPECT_EQ(ConvertSatelliteNumberToIndex("R02"), kGlonassIndexBegin + 1); - EXPECT_EQ(ConvertSatelliteNumberToIndex("E10"), kGalileoIndexBegin + 9); - EXPECT_EQ(ConvertSatelliteNumberToIndex("C40"), kBeidouIndexBegin + 39); - EXPECT_EQ(ConvertSatelliteNumberToIndex("J03"), kQzssIndexBegin + 2); - EXPECT_EQ(ConvertSatelliteNumberToIndex("I04"), kNavicIndexBegin + 3); - EXPECT_EQ(ConvertSatelliteNumberToIndex("err"), UINT32_MAX); + EXPECT_EQ(ConvertGnssSatelliteNumberToIndex("G01"), 0); + EXPECT_EQ(ConvertGnssSatelliteNumberToIndex("R02"), kGlonassIndexBegin + 1); + EXPECT_EQ(ConvertGnssSatelliteNumberToIndex("E10"), kGalileoIndexBegin + 9); + EXPECT_EQ(ConvertGnssSatelliteNumberToIndex("C40"), kBeidouIndexBegin + 39); + EXPECT_EQ(ConvertGnssSatelliteNumberToIndex("J03"), kQzssIndexBegin + 2); + EXPECT_EQ(ConvertGnssSatelliteNumberToIndex("I04"), kNavicIndexBegin + 3); + EXPECT_EQ(ConvertGnssSatelliteNumberToIndex("err"), UINT32_MAX); } /** * @brief Test index to satellite number */ TEST(GnssSatelliteNumber, IndexToSatelliteNumber) { - EXPECT_EQ(ConvertIndexToSatelliteNumber(0), "G01"); - EXPECT_EQ(ConvertIndexToSatelliteNumber(kGlonassIndexBegin + 9), "R10"); - EXPECT_EQ(ConvertIndexToSatelliteNumber(kGalileoIndexBegin + 21), "E22"); - EXPECT_EQ(ConvertIndexToSatelliteNumber(kBeidouIndexBegin + 50), "C51"); - EXPECT_EQ(ConvertIndexToSatelliteNumber(kQzssIndexBegin + 0), "J01"); - EXPECT_EQ(ConvertIndexToSatelliteNumber(kNavicIndexBegin + 5), "I06"); - EXPECT_EQ(ConvertIndexToSatelliteNumber(5000), "err"); + EXPECT_EQ(ConvertIndexToGnssSatelliteNumber(0), "G01"); + EXPECT_EQ(ConvertIndexToGnssSatelliteNumber(kGlonassIndexBegin + 9), "R10"); + EXPECT_EQ(ConvertIndexToGnssSatelliteNumber(kGalileoIndexBegin + 21), "E22"); + EXPECT_EQ(ConvertIndexToGnssSatelliteNumber(kBeidouIndexBegin + 50), "C51"); + EXPECT_EQ(ConvertIndexToGnssSatelliteNumber(kQzssIndexBegin + 0), "J01"); + EXPECT_EQ(ConvertIndexToGnssSatelliteNumber(kNavicIndexBegin + 5), "I06"); + EXPECT_EQ(ConvertIndexToGnssSatelliteNumber(5000), "err"); } From b068c99027a2011be6274961e06d3081d77ae79e Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 19 Dec 2023 15:21:50 +0100 Subject: [PATCH 007/456] Rename satellite clock offset getter functions --- src/environment/global/gnss_satellites.cpp | 16 ++++++++-------- src/environment/global/gnss_satellites.hpp | 8 ++++---- 2 files changed, 12 insertions(+), 12 deletions(-) diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index 0f8d38e48..8d75ad343 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -755,7 +755,7 @@ libra::Vector<3> GnssSatelliteInformation::GetSatellitePositionEci(const size_t return position_.GetPosition_eci_m(gnss_satellite_id); } -double GnssSatelliteInformation::GetSatelliteClock(const size_t gnss_satellite_id) const { return clock_.GetSatClock(gnss_satellite_id); } +double GnssSatelliteInformation::GetClockOffset_m(const size_t gnss_satellite_id) const { return clock_.GetSatClock(gnss_satellite_id); } // GnssSatellites GnssSatellites::GnssSatellites(bool is_calc_enabled) { @@ -837,12 +837,12 @@ libra::Vector<3> GnssSatellites::GetSatellitePositionEci(const size_t gnss_satel return gnss_info_.GetSatellitePositionEci(gnss_satellite_id); } -double GnssSatellites::GetSatelliteClock(const size_t gnss_satellite_id) const { +double GnssSatellites::GetClockOffset_m(const size_t gnss_satellite_id) const { if (gnss_satellite_id >= kTotalNumberOfGnssSatellite || !GetWhetherValid(gnss_satellite_id)) { return 0.0; } - return gnss_info_.GetSatelliteClock(gnss_satellite_id); + return gnss_info_.GetClockOffset_m(gnss_satellite_id); } double GnssSatellites::GetPseudoRangeECEF(const size_t gnss_satellite_id, libra::Vector<3> rec_position, double rec_clock, @@ -858,7 +858,7 @@ double GnssSatellites::GetPseudoRangeECEF(const size_t gnss_satellite_id, libra: res = sqrt(res); // clock bias - res += rec_clock - gnss_info_.GetSatelliteClock(gnss_satellite_id); + res += rec_clock - gnss_info_.GetClockOffset_m(gnss_satellite_id); // ionospheric delay const double ionospheric_delay = AddIonosphericDelay(gnss_satellite_id, rec_position, frequency, GnssFrameDefinition::kEcef); @@ -881,7 +881,7 @@ double GnssSatellites::GetPseudoRangeECI(const size_t gnss_satellite_id, libra:: res = sqrt(res); // clock bias - res += rec_clock - gnss_info_.GetSatelliteClock(gnss_satellite_id); + res += rec_clock - gnss_info_.GetClockOffset_m(gnss_satellite_id); // ionospheric delay const double ionospheric_delay = AddIonosphericDelay(gnss_satellite_id, rec_position, frequency, GnssFrameDefinition::kEci); @@ -904,7 +904,7 @@ pair GnssSatellites::GetCarrierPhaseECEF(const size_t gnss_satel res = sqrt(res); // clock bias - res += rec_clock - gnss_info_.GetSatelliteClock(gnss_satellite_id); + res += rec_clock - gnss_info_.GetClockOffset_m(gnss_satellite_id); // ionospheric delay const double ionospheric_delay = AddIonosphericDelay(gnss_satellite_id, rec_position, frequency, GnssFrameDefinition::kEcef); @@ -934,7 +934,7 @@ pair GnssSatellites::GetCarrierPhaseECI(const size_t gnss_satell res = sqrt(res); // clock bias - res += rec_clock - gnss_info_.GetSatelliteClock(gnss_satellite_id); + res += rec_clock - gnss_info_.GetClockOffset_m(gnss_satellite_id); // ionospheric delay const double ionospheric_delay = AddIonosphericDelay(gnss_satellite_id, rec_position, frequency, GnssFrameDefinition::kEci); @@ -999,7 +999,7 @@ std::string GnssSatellites::GetLogValue() const { for (size_t gps_index = 0; gps_index < kNumberOfGpsSatellite; gps_index++) { str_tmp += WriteVector(gnss_info_.GetSatellitePositionEcef((int)gps_index), 16); - str_tmp += WriteScalar(gnss_info_.GetSatelliteClock((int)gps_index)); + str_tmp += WriteScalar(gnss_info_.GetClockOffset_m((int)gps_index)); } return str_tmp; diff --git a/src/environment/global/gnss_satellites.hpp b/src/environment/global/gnss_satellites.hpp index 78726018f..ca751e1c1 100644 --- a/src/environment/global/gnss_satellites.hpp +++ b/src/environment/global/gnss_satellites.hpp @@ -266,11 +266,11 @@ class GnssSatelliteInformation { */ libra::Vector<3> GetSatellitePositionEci(const size_t gnss_satellite_id) const; /** - * @fn GetSatelliteClock + * @fn GetClockOffset_m * @brief Return GNSS satellite clock in distance expression [m] * @param [in] gnss_satellite_id: GNSS satellite ID defined in this class */ - double GetSatelliteClock(const size_t gnss_satellite_id) const; + double GetClockOffset_m(const size_t gnss_satellite_id) const; /** * @fn GetGnssSatPos * @brief Return GNSS satellite position information class @@ -362,11 +362,11 @@ class GnssSatellites : public ILoggable { */ libra::Vector<3> GetSatellitePositionEci(const size_t gnss_satellite_id) const; /** - * @fn GetSatelliteClock + * @fn GetClockOffset_m * @brief Return GNSS satellite clock * @param [in] gnss_satellite_id: GNSS satellite ID */ - double GetSatelliteClock(const size_t gnss_satellite_id) const; + double GetClockOffset_m(const size_t gnss_satellite_id) const; /** * @fn GetPseudoRangeECEF From bfd1bbe1fa1b6534f56a13f7def032ffa74783d3 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 19 Dec 2023 15:22:26 +0100 Subject: [PATCH 008/456] Rename satellite clock offset getter functions --- src/environment/global/gnss_satellites.cpp | 4 ++-- src/environment/global/gnss_satellites.hpp | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index 8d75ad343..ec2c99b7d 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -718,7 +718,7 @@ void GnssSatelliteClock::Update(const double current_unix_time) { } } -double GnssSatelliteClock::GetSatClock(const size_t gnss_satellite_id) const { +double GnssSatelliteClock::GetClockOffset_m(const size_t gnss_satellite_id) const { if (gnss_satellite_id >= kTotalNumberOfGnssSatellite) return 0.0; return clock_offset_m_.at(gnss_satellite_id); } @@ -755,7 +755,7 @@ libra::Vector<3> GnssSatelliteInformation::GetSatellitePositionEci(const size_t return position_.GetPosition_eci_m(gnss_satellite_id); } -double GnssSatelliteInformation::GetClockOffset_m(const size_t gnss_satellite_id) const { return clock_.GetSatClock(gnss_satellite_id); } +double GnssSatelliteInformation::GetClockOffset_m(const size_t gnss_satellite_id) const { return clock_.GetClockOffset_m(gnss_satellite_id); } // GnssSatellites GnssSatellites::GnssSatellites(bool is_calc_enabled) { diff --git a/src/environment/global/gnss_satellites.hpp b/src/environment/global/gnss_satellites.hpp index ca751e1c1..564e62363 100644 --- a/src/environment/global/gnss_satellites.hpp +++ b/src/environment/global/gnss_satellites.hpp @@ -193,11 +193,11 @@ class GnssSatelliteClock : public GnssSatelliteBase { */ void Update(const double current_unix_time); /** - * @fn GetSatClock + * @fn GetClockOffset_m * @brief Return GNSS satellite clock in distance expression [m] * @param [in] gnss_satellite_id: GNSS satellite ID defined in this class */ - double GetSatClock(const size_t gnss_satellite_id) const; + double GetClockOffset_m(const size_t gnss_satellite_id) const; private: std::vector clock_offset_m_; //!< List of clock bias of all GNSS satellites at specific time expressed in distance [m] From 9f4b7b718e21c97455c3ce50bcdac1ea9dd1aa5f Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 19 Dec 2023 15:24:52 +0100 Subject: [PATCH 009/456] Rename satellite position getter functions --- src/components/real/aocs/gnss_receiver.cpp | 2 +- src/environment/global/gnss_satellites.cpp | 26 +++++++++++----------- src/environment/global/gnss_satellites.hpp | 16 ++++++------- 3 files changed, 22 insertions(+), 22 deletions(-) diff --git a/src/components/real/aocs/gnss_receiver.cpp b/src/components/real/aocs/gnss_receiver.cpp index 98b404a01..c379daa26 100644 --- a/src/components/real/aocs/gnss_receiver.cpp +++ b/src/components/real/aocs/gnss_receiver.cpp @@ -121,7 +121,7 @@ void GnssReceiver::CheckAntennaCone(const libra::Vector<3> pos_true_eci_, libra: if (gnss_id_.find(id_tmp[0]) == std::string::npos) continue; // compute direction from sat to gnss in body-fixed frame - gnss_sat_pos_i = gnss_satellites_->GetSatellitePositionEci(i); + gnss_sat_pos_i = gnss_satellites_->GetPosition_eci_m(i); antenna_to_satellite_i_m = gnss_sat_pos_i - ant_pos_i; double normalizer = 1 / antenna_to_satellite_i_m.CalcNorm(); ant2gnss_i_n = normalizer * antenna_to_satellite_i_m; diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index ec2c99b7d..86fdd21be 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -747,11 +747,11 @@ bool GnssSatelliteInformation::GetWhetherValid(const size_t gnss_satellite_id) c return false; } -libra::Vector<3> GnssSatelliteInformation::GetSatellitePositionEcef(const size_t gnss_satellite_id) const { +libra::Vector<3> GnssSatelliteInformation::GetPosition_ecef_m(const size_t gnss_satellite_id) const { return position_.GetPosition_ecef_m(gnss_satellite_id); } -libra::Vector<3> GnssSatelliteInformation::GetSatellitePositionEci(const size_t gnss_satellite_id) const { +libra::Vector<3> GnssSatelliteInformation::GetPosition_eci_m(const size_t gnss_satellite_id) const { return position_.GetPosition_eci_m(gnss_satellite_id); } @@ -817,24 +817,24 @@ bool GnssSatellites::GetWhetherValid(const size_t gnss_satellite_id) const { return false; } -libra::Vector<3> GnssSatellites::GetSatellitePositionEcef(const size_t gnss_satellite_id) const { +libra::Vector<3> GnssSatellites::GetPosition_ecef_m(const size_t gnss_satellite_id) const { // gnss_satellite_id is wrong or not valid if (gnss_satellite_id >= kTotalNumberOfGnssSatellite || !GetWhetherValid(gnss_satellite_id)) { libra::Vector<3> res(0); return res; } - return gnss_info_.GetSatellitePositionEcef(gnss_satellite_id); + return gnss_info_.GetPosition_ecef_m(gnss_satellite_id); } -libra::Vector<3> GnssSatellites::GetSatellitePositionEci(const size_t gnss_satellite_id) const { +libra::Vector<3> GnssSatellites::GetPosition_eci_m(const size_t gnss_satellite_id) const { // gnss_satellite_id is wrong or not valid if (gnss_satellite_id >= kTotalNumberOfGnssSatellite || !GetWhetherValid(gnss_satellite_id)) { libra::Vector<3> res(0); return res; } - return gnss_info_.GetSatellitePositionEci(gnss_satellite_id); + return gnss_info_.GetPosition_eci_m(gnss_satellite_id); } double GnssSatellites::GetClockOffset_m(const size_t gnss_satellite_id) const { @@ -851,7 +851,7 @@ double GnssSatellites::GetPseudoRangeECEF(const size_t gnss_satellite_id, libra: if (gnss_satellite_id >= kTotalNumberOfGnssSatellite || !GetWhetherValid(gnss_satellite_id)) return 0.0; double res = 0.0; - auto gnss_position = gnss_info_.GetSatellitePositionEcef(gnss_satellite_id); + auto gnss_position = gnss_info_.GetPosition_ecef_m(gnss_satellite_id); for (int i = 0; i < 3; ++i) { res += pow(rec_position(i) - gnss_position(i), 2.0); } @@ -874,7 +874,7 @@ double GnssSatellites::GetPseudoRangeECI(const size_t gnss_satellite_id, libra:: if (gnss_satellite_id >= kTotalNumberOfGnssSatellite || !GetWhetherValid(gnss_satellite_id)) return 0.0; double res = 0.0; - auto gnss_position = gnss_info_.GetSatellitePositionEci(gnss_satellite_id); + auto gnss_position = gnss_info_.GetPosition_eci_m(gnss_satellite_id); for (int i = 0; i < 3; ++i) { res += pow(rec_position(i) - gnss_position(i), 2.0); } @@ -897,7 +897,7 @@ pair GnssSatellites::GetCarrierPhaseECEF(const size_t gnss_satel if (gnss_satellite_id >= kTotalNumberOfGnssSatellite || !GetWhetherValid(gnss_satellite_id)) return {0.0, 0.0}; double res = 0.0; - auto gnss_position = gnss_info_.GetSatellitePositionEcef(gnss_satellite_id); + auto gnss_position = gnss_info_.GetPosition_ecef_m(gnss_satellite_id); for (int i = 0; i < 3; ++i) { res += pow(rec_position(i) - gnss_position(i), 2.0); } @@ -927,7 +927,7 @@ pair GnssSatellites::GetCarrierPhaseECI(const size_t gnss_satell if (gnss_satellite_id >= kTotalNumberOfGnssSatellite || !GetWhetherValid(gnss_satellite_id)) return {0.0, 0.0}; double res = 0.0; - auto gnss_position = gnss_info_.GetSatellitePositionEci(gnss_satellite_id); + auto gnss_position = gnss_info_.GetPosition_eci_m(gnss_satellite_id); for (int i = 0; i < 3; ++i) { res += pow(rec_position(i) - gnss_position(i), 2.0); } @@ -967,9 +967,9 @@ double GnssSatellites::AddIonosphericDelay(const size_t gnss_satellite_id, const libra::Vector<3> gnss_position; if (flag == GnssFrameDefinition::kEcef) - gnss_position = gnss_info_.GetSatellitePositionEcef(gnss_satellite_id); + gnss_position = gnss_info_.GetPosition_ecef_m(gnss_satellite_id); else if (flag == GnssFrameDefinition::kEci) - gnss_position = gnss_info_.GetSatellitePositionEci(gnss_satellite_id); + gnss_position = gnss_info_.GetPosition_eci_m(gnss_satellite_id); double angle_rad = CalcAngleTwoVectors_rad(rec_position, gnss_position - rec_position); const double default_delay = 20.0; //[m] default delay @@ -998,7 +998,7 @@ std::string GnssSatellites::GetLogValue() const { std::string str_tmp = ""; for (size_t gps_index = 0; gps_index < kNumberOfGpsSatellite; gps_index++) { - str_tmp += WriteVector(gnss_info_.GetSatellitePositionEcef((int)gps_index), 16); + str_tmp += WriteVector(gnss_info_.GetPosition_ecef_m((int)gps_index), 16); str_tmp += WriteScalar(gnss_info_.GetClockOffset_m((int)gps_index)); } diff --git a/src/environment/global/gnss_satellites.hpp b/src/environment/global/gnss_satellites.hpp index 564e62363..c950c7581 100644 --- a/src/environment/global/gnss_satellites.hpp +++ b/src/environment/global/gnss_satellites.hpp @@ -254,17 +254,17 @@ class GnssSatelliteInformation { */ bool GetWhetherValid(const size_t gnss_satellite_id) const; /** - * @fn GetSatellitePositionEcef + * @fn GetPosition_ecef_m * @brief Return GNSS satellite position vector in the ECEF frame [m] * @param [in] gnss_satellite_id: GNSS satellite ID defined in this class */ - libra::Vector<3> GetSatellitePositionEcef(const size_t gnss_satellite_id) const; + libra::Vector<3> GetPosition_ecef_m(const size_t gnss_satellite_id) const; /** - * @fn GetSatellitePositionEci + * @fn GetPosition_eci_m * @brief Return GNSS satellite position vector in the ECEF frame [m] * @param [in] gnss_satellite_id: GNSS satellite ID defined in this class */ - libra::Vector<3> GetSatellitePositionEci(const size_t gnss_satellite_id) const; + libra::Vector<3> GetPosition_eci_m(const size_t gnss_satellite_id) const; /** * @fn GetClockOffset_m * @brief Return GNSS satellite clock in distance expression [m] @@ -350,17 +350,17 @@ class GnssSatellites : public ILoggable { inline const GnssSatelliteInformation& GetInformation() const { return gnss_info_; } /** - * @fn GetSatellitePositionEcef + * @fn GetPosition_ecef_m * @brief Return GNSS satellite position in the ECEF frame [m] * @param [in] gnss_satellite_id: GNSS satellite ID */ - libra::Vector<3> GetSatellitePositionEcef(const size_t gnss_satellite_id) const; + libra::Vector<3> GetPosition_ecef_m(const size_t gnss_satellite_id) const; /** - * @fn GetSatellitePositionEci + * @fn GetPosition_eci_m * @brief Return GNSS satellite position in the ECI frame [m] * @param [in] gnss_satellite_id: GNSS satellite ID */ - libra::Vector<3> GetSatellitePositionEci(const size_t gnss_satellite_id) const; + libra::Vector<3> GetPosition_eci_m(const size_t gnss_satellite_id) const; /** * @fn GetClockOffset_m * @brief Return GNSS satellite clock From abd73dd7e35f1c074a5d59e7149fcd936a5ee2e0 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 19 Dec 2023 15:27:11 +0100 Subject: [PATCH 010/456] Change to inline function --- src/environment/global/gnss_satellites.cpp | 10 ---------- src/environment/global/gnss_satellites.hpp | 6 +++--- 2 files changed, 3 insertions(+), 13 deletions(-) diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index 86fdd21be..78e653152 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -747,16 +747,6 @@ bool GnssSatelliteInformation::GetWhetherValid(const size_t gnss_satellite_id) c return false; } -libra::Vector<3> GnssSatelliteInformation::GetPosition_ecef_m(const size_t gnss_satellite_id) const { - return position_.GetPosition_ecef_m(gnss_satellite_id); -} - -libra::Vector<3> GnssSatelliteInformation::GetPosition_eci_m(const size_t gnss_satellite_id) const { - return position_.GetPosition_eci_m(gnss_satellite_id); -} - -double GnssSatelliteInformation::GetClockOffset_m(const size_t gnss_satellite_id) const { return clock_.GetClockOffset_m(gnss_satellite_id); } - // GnssSatellites GnssSatellites::GnssSatellites(bool is_calc_enabled) { // TODO: Add log enable flag in ini file diff --git a/src/environment/global/gnss_satellites.hpp b/src/environment/global/gnss_satellites.hpp index c950c7581..003b4c2c1 100644 --- a/src/environment/global/gnss_satellites.hpp +++ b/src/environment/global/gnss_satellites.hpp @@ -258,19 +258,19 @@ class GnssSatelliteInformation { * @brief Return GNSS satellite position vector in the ECEF frame [m] * @param [in] gnss_satellite_id: GNSS satellite ID defined in this class */ - libra::Vector<3> GetPosition_ecef_m(const size_t gnss_satellite_id) const; + inline libra::Vector<3> GetPosition_ecef_m(const size_t gnss_satellite_id) const { return position_.GetPosition_ecef_m(gnss_satellite_id); } /** * @fn GetPosition_eci_m * @brief Return GNSS satellite position vector in the ECEF frame [m] * @param [in] gnss_satellite_id: GNSS satellite ID defined in this class */ - libra::Vector<3> GetPosition_eci_m(const size_t gnss_satellite_id) const; + inline libra::Vector<3> GetPosition_eci_m(const size_t gnss_satellite_id) const { return position_.GetPosition_eci_m(gnss_satellite_id); } /** * @fn GetClockOffset_m * @brief Return GNSS satellite clock in distance expression [m] * @param [in] gnss_satellite_id: GNSS satellite ID defined in this class */ - double GetClockOffset_m(const size_t gnss_satellite_id) const; + inline double GetClockOffset_m(const size_t gnss_satellite_id) const { return clock_.GetClockOffset_m(gnss_satellite_id); } /** * @fn GetGnssSatPos * @brief Return GNSS satellite position information class From c60e39742d67cc21b141dce1ee0b3931e7eff35a Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 19 Dec 2023 15:40:45 +0100 Subject: [PATCH 011/456] Rename pseudorange functions --- src/environment/global/gnss_satellites.cpp | 4 ++-- src/environment/global/gnss_satellites.hpp | 8 ++++---- 2 files changed, 6 insertions(+), 6 deletions(-) diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index 78e653152..609fdebde 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -835,7 +835,7 @@ double GnssSatellites::GetClockOffset_m(const size_t gnss_satellite_id) const { return gnss_info_.GetClockOffset_m(gnss_satellite_id); } -double GnssSatellites::GetPseudoRangeECEF(const size_t gnss_satellite_id, libra::Vector<3> rec_position, double rec_clock, +double GnssSatellites::GetPseudoRangeEcef(const size_t gnss_satellite_id, libra::Vector<3> rec_position, double rec_clock, const double frequency) const { // gnss_satellite_id is wrong or not validate if (gnss_satellite_id >= kTotalNumberOfGnssSatellite || !GetWhetherValid(gnss_satellite_id)) return 0.0; @@ -858,7 +858,7 @@ double GnssSatellites::GetPseudoRangeECEF(const size_t gnss_satellite_id, libra: return res; } -double GnssSatellites::GetPseudoRangeECI(const size_t gnss_satellite_id, libra::Vector<3> rec_position, double rec_clock, +double GnssSatellites::GetPseudoRangeEci(const size_t gnss_satellite_id, libra::Vector<3> rec_position, double rec_clock, const double frequency) const { // gnss_satellite_id is wrong or not validate if (gnss_satellite_id >= kTotalNumberOfGnssSatellite || !GetWhetherValid(gnss_satellite_id)) return 0.0; diff --git a/src/environment/global/gnss_satellites.hpp b/src/environment/global/gnss_satellites.hpp index 003b4c2c1..efb369b50 100644 --- a/src/environment/global/gnss_satellites.hpp +++ b/src/environment/global/gnss_satellites.hpp @@ -369,7 +369,7 @@ class GnssSatellites : public ILoggable { double GetClockOffset_m(const size_t gnss_satellite_id) const; /** - * @fn GetPseudoRangeECEF + * @fn GetPseudoRangeEcef * @brief Calculate pseudo range between receiver and a GNSS satellite * @param [in] gnss_satellite_id: GNSS satellite ID * @param [in] rec_position: Receiver position vector in the ECEF frame [m] @@ -377,9 +377,9 @@ class GnssSatellites : public ILoggable { * @param [in] frequency: Frequency of the signal [MHz] * @return Pseudo range [m] */ - double GetPseudoRangeECEF(const size_t gnss_satellite_id, libra::Vector<3> rec_position, double rec_clock, const double frequency) const; + double GetPseudoRangeEcef(const size_t gnss_satellite_id, libra::Vector<3> rec_position, double rec_clock, const double frequency) const; /** - * @fn GetPseudoRangeECI + * @fn GetPseudoRangeEci * @brief Calculate pseudo range between receiver and a GNSS satellite * @param [in] gnss_satellite_id: GNSS satellite ID * @param [in] rec_position: Receiver position vector in the ECI frame [m] @@ -387,7 +387,7 @@ class GnssSatellites : public ILoggable { * @param [in] frequency: Frequency of the signal [MHz] * @return Pseudo range [m] */ - double GetPseudoRangeECI(const size_t gnss_satellite_id, libra::Vector<3> rec_position, double rec_clock, const double frequency) const; + double GetPseudoRangeEci(const size_t gnss_satellite_id, libra::Vector<3> rec_position, double rec_clock, const double frequency) const; /** * @fn GetCarrierPhaseECEF * @brief Calculate carrier phase observed by a receiver for a GNSS satellite From ab24b268feb4fc28957689a472891d8a18d8d0bb Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 19 Dec 2023 15:42:15 +0100 Subject: [PATCH 012/456] Rename carrier phase functions --- src/environment/global/gnss_satellites.cpp | 4 ++-- src/environment/global/gnss_satellites.hpp | 8 ++++---- 2 files changed, 6 insertions(+), 6 deletions(-) diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index 609fdebde..27a4261f6 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -881,7 +881,7 @@ double GnssSatellites::GetPseudoRangeEci(const size_t gnss_satellite_id, libra:: return res; } -pair GnssSatellites::GetCarrierPhaseECEF(const size_t gnss_satellite_id, libra::Vector<3> rec_position, double rec_clock, +pair GnssSatellites::GetCarrierPhaseEcef(const size_t gnss_satellite_id, libra::Vector<3> rec_position, double rec_clock, const double frequency) const { // gnss_satellite_id is wrong or not validate if (gnss_satellite_id >= kTotalNumberOfGnssSatellite || !GetWhetherValid(gnss_satellite_id)) return {0.0, 0.0}; @@ -911,7 +911,7 @@ pair GnssSatellites::GetCarrierPhaseECEF(const size_t gnss_satel return {cycle, bias}; } -pair GnssSatellites::GetCarrierPhaseECI(const size_t gnss_satellite_id, libra::Vector<3> rec_position, double rec_clock, +pair GnssSatellites::GetCarrierPhaseEci(const size_t gnss_satellite_id, libra::Vector<3> rec_position, double rec_clock, const double frequency) const { // gnss_satellite_id is wrong or not validate if (gnss_satellite_id >= kTotalNumberOfGnssSatellite || !GetWhetherValid(gnss_satellite_id)) return {0.0, 0.0}; diff --git a/src/environment/global/gnss_satellites.hpp b/src/environment/global/gnss_satellites.hpp index efb369b50..7e0c9c2c3 100644 --- a/src/environment/global/gnss_satellites.hpp +++ b/src/environment/global/gnss_satellites.hpp @@ -389,7 +389,7 @@ class GnssSatellites : public ILoggable { */ double GetPseudoRangeEci(const size_t gnss_satellite_id, libra::Vector<3> rec_position, double rec_clock, const double frequency) const; /** - * @fn GetCarrierPhaseECEF + * @fn GetCarrierPhaseEcef * @brief Calculate carrier phase observed by a receiver for a GNSS satellite * @param [in] gnss_satellite_id: GNSS satellite ID * @param [in] rec_position: Receiver position vector in the ECEF frame [m] @@ -397,10 +397,10 @@ class GnssSatellites : public ILoggable { * @param [in] frequency: Frequency of the signal [MHz] * @return Carrier phase cycle and bias [-] */ - std::pair GetCarrierPhaseECEF(const size_t gnss_satellite_id, libra::Vector<3> rec_position, double rec_clock, + std::pair GetCarrierPhaseEcef(const size_t gnss_satellite_id, libra::Vector<3> rec_position, double rec_clock, const double frequency) const; /** - * @fn GetCarrierPhaseECI + * @fn GetCarrierPhaseEci * @brief Calculate carrier phase observed by a receiver for a GNSS satellite * @param [in] gnss_satellite_id: GNSS satellite ID * @param [in] rec_position: Receiver position vector in the ECI frame [m] @@ -408,7 +408,7 @@ class GnssSatellites : public ILoggable { * @param [in] frequency: Frequency of the signal [MHz] * @return Carrier phase cycle and bias [-] */ - std::pair GetCarrierPhaseECI(const size_t gnss_satellite_id, libra::Vector<3> rec_position, double rec_clock, + std::pair GetCarrierPhaseEci(const size_t gnss_satellite_id, libra::Vector<3> rec_position, double rec_clock, const double frequency) const; // Override ILoggable From badeac03df6759b905833819f2bf1212aff01d11 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 19 Dec 2023 15:43:47 +0100 Subject: [PATCH 013/456] Rename receiver position --- src/environment/global/gnss_satellites.cpp | 30 +++++++++++----------- src/environment/global/gnss_satellites.hpp | 20 +++++++-------- 2 files changed, 25 insertions(+), 25 deletions(-) diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index 27a4261f6..6f60cacf1 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -835,7 +835,7 @@ double GnssSatellites::GetClockOffset_m(const size_t gnss_satellite_id) const { return gnss_info_.GetClockOffset_m(gnss_satellite_id); } -double GnssSatellites::GetPseudoRangeEcef(const size_t gnss_satellite_id, libra::Vector<3> rec_position, double rec_clock, +double GnssSatellites::GetPseudoRangeEcef(const size_t gnss_satellite_id, libra::Vector<3> receiver_position_m, double rec_clock, const double frequency) const { // gnss_satellite_id is wrong or not validate if (gnss_satellite_id >= kTotalNumberOfGnssSatellite || !GetWhetherValid(gnss_satellite_id)) return 0.0; @@ -843,7 +843,7 @@ double GnssSatellites::GetPseudoRangeEcef(const size_t gnss_satellite_id, libra: double res = 0.0; auto gnss_position = gnss_info_.GetPosition_ecef_m(gnss_satellite_id); for (int i = 0; i < 3; ++i) { - res += pow(rec_position(i) - gnss_position(i), 2.0); + res += pow(receiver_position_m(i) - gnss_position(i), 2.0); } res = sqrt(res); @@ -851,14 +851,14 @@ double GnssSatellites::GetPseudoRangeEcef(const size_t gnss_satellite_id, libra: res += rec_clock - gnss_info_.GetClockOffset_m(gnss_satellite_id); // ionospheric delay - const double ionospheric_delay = AddIonosphericDelay(gnss_satellite_id, rec_position, frequency, GnssFrameDefinition::kEcef); + const double ionospheric_delay = AddIonosphericDelay(gnss_satellite_id, receiver_position_m, frequency, GnssFrameDefinition::kEcef); res += ionospheric_delay; return res; } -double GnssSatellites::GetPseudoRangeEci(const size_t gnss_satellite_id, libra::Vector<3> rec_position, double rec_clock, +double GnssSatellites::GetPseudoRangeEci(const size_t gnss_satellite_id, libra::Vector<3> receiver_position_m, double rec_clock, const double frequency) const { // gnss_satellite_id is wrong or not validate if (gnss_satellite_id >= kTotalNumberOfGnssSatellite || !GetWhetherValid(gnss_satellite_id)) return 0.0; @@ -866,7 +866,7 @@ double GnssSatellites::GetPseudoRangeEci(const size_t gnss_satellite_id, libra:: double res = 0.0; auto gnss_position = gnss_info_.GetPosition_eci_m(gnss_satellite_id); for (int i = 0; i < 3; ++i) { - res += pow(rec_position(i) - gnss_position(i), 2.0); + res += pow(receiver_position_m(i) - gnss_position(i), 2.0); } res = sqrt(res); @@ -874,14 +874,14 @@ double GnssSatellites::GetPseudoRangeEci(const size_t gnss_satellite_id, libra:: res += rec_clock - gnss_info_.GetClockOffset_m(gnss_satellite_id); // ionospheric delay - const double ionospheric_delay = AddIonosphericDelay(gnss_satellite_id, rec_position, frequency, GnssFrameDefinition::kEci); + const double ionospheric_delay = AddIonosphericDelay(gnss_satellite_id, receiver_position_m, frequency, GnssFrameDefinition::kEci); res += ionospheric_delay; return res; } -pair GnssSatellites::GetCarrierPhaseEcef(const size_t gnss_satellite_id, libra::Vector<3> rec_position, double rec_clock, +pair GnssSatellites::GetCarrierPhaseEcef(const size_t gnss_satellite_id, libra::Vector<3> receiver_position_m, double rec_clock, const double frequency) const { // gnss_satellite_id is wrong or not validate if (gnss_satellite_id >= kTotalNumberOfGnssSatellite || !GetWhetherValid(gnss_satellite_id)) return {0.0, 0.0}; @@ -889,7 +889,7 @@ pair GnssSatellites::GetCarrierPhaseEcef(const size_t gnss_satel double res = 0.0; auto gnss_position = gnss_info_.GetPosition_ecef_m(gnss_satellite_id); for (int i = 0; i < 3; ++i) { - res += pow(rec_position(i) - gnss_position(i), 2.0); + res += pow(receiver_position_m(i) - gnss_position(i), 2.0); } res = sqrt(res); @@ -897,7 +897,7 @@ pair GnssSatellites::GetCarrierPhaseEcef(const size_t gnss_satel res += rec_clock - gnss_info_.GetClockOffset_m(gnss_satellite_id); // ionospheric delay - const double ionospheric_delay = AddIonosphericDelay(gnss_satellite_id, rec_position, frequency, GnssFrameDefinition::kEcef); + const double ionospheric_delay = AddIonosphericDelay(gnss_satellite_id, receiver_position_m, frequency, GnssFrameDefinition::kEcef); res -= ionospheric_delay; @@ -911,7 +911,7 @@ pair GnssSatellites::GetCarrierPhaseEcef(const size_t gnss_satel return {cycle, bias}; } -pair GnssSatellites::GetCarrierPhaseEci(const size_t gnss_satellite_id, libra::Vector<3> rec_position, double rec_clock, +pair GnssSatellites::GetCarrierPhaseEci(const size_t gnss_satellite_id, libra::Vector<3> receiver_position_m, double rec_clock, const double frequency) const { // gnss_satellite_id is wrong or not validate if (gnss_satellite_id >= kTotalNumberOfGnssSatellite || !GetWhetherValid(gnss_satellite_id)) return {0.0, 0.0}; @@ -919,7 +919,7 @@ pair GnssSatellites::GetCarrierPhaseEci(const size_t gnss_satell double res = 0.0; auto gnss_position = gnss_info_.GetPosition_eci_m(gnss_satellite_id); for (int i = 0; i < 3; ++i) { - res += pow(rec_position(i) - gnss_position(i), 2.0); + res += pow(receiver_position_m(i) - gnss_position(i), 2.0); } res = sqrt(res); @@ -927,7 +927,7 @@ pair GnssSatellites::GetCarrierPhaseEci(const size_t gnss_satell res += rec_clock - gnss_info_.GetClockOffset_m(gnss_satellite_id); // ionospheric delay - const double ionospheric_delay = AddIonosphericDelay(gnss_satellite_id, rec_position, frequency, GnssFrameDefinition::kEci); + const double ionospheric_delay = AddIonosphericDelay(gnss_satellite_id, receiver_position_m, frequency, GnssFrameDefinition::kEci); res -= ionospheric_delay; @@ -942,7 +942,7 @@ pair GnssSatellites::GetCarrierPhaseEci(const size_t gnss_satell } // for Ionospheric delay I[m] -double GnssSatellites::AddIonosphericDelay(const size_t gnss_satellite_id, const libra::Vector<3> rec_position, const double frequency, +double GnssSatellites::AddIonosphericDelay(const size_t gnss_satellite_id, const libra::Vector<3> receiver_position_m, const double frequency, const GnssFrameDefinition flag) const { // gnss_satellite_id is wrong or not validate if (gnss_satellite_id >= kTotalNumberOfGnssSatellite || !GetWhetherValid(gnss_satellite_id)) return 0.0; @@ -950,7 +950,7 @@ double GnssSatellites::AddIonosphericDelay(const size_t gnss_satellite_id, const const double earth_hemisphere_km = environment::earth_equatorial_radius_m / 1000.0; double altitude = 0.0; - for (int i = 0; i < 3; ++i) altitude += pow(rec_position[i], 2.0); + for (int i = 0; i < 3; ++i) altitude += pow(receiver_position_m[i], 2.0); altitude = sqrt(altitude); altitude = altitude / 1000.0 - earth_hemisphere_km; //[m -> km] if (altitude >= 1000.0) return 0.0; // there is no Ionosphere above 1000km @@ -961,7 +961,7 @@ double GnssSatellites::AddIonosphericDelay(const size_t gnss_satellite_id, const else if (flag == GnssFrameDefinition::kEci) gnss_position = gnss_info_.GetPosition_eci_m(gnss_satellite_id); - double angle_rad = CalcAngleTwoVectors_rad(rec_position, gnss_position - rec_position); + double angle_rad = CalcAngleTwoVectors_rad(receiver_position_m, gnss_position - receiver_position_m); const double default_delay = 20.0; //[m] default delay // Assume the maximum height as 1000.0. Divide by cos because the slope makes it longer. double delay = default_delay * (1000.0 - altitude) / 1000.0 / cos(angle_rad); diff --git a/src/environment/global/gnss_satellites.hpp b/src/environment/global/gnss_satellites.hpp index 7e0c9c2c3..583c7b00f 100644 --- a/src/environment/global/gnss_satellites.hpp +++ b/src/environment/global/gnss_satellites.hpp @@ -372,43 +372,43 @@ class GnssSatellites : public ILoggable { * @fn GetPseudoRangeEcef * @brief Calculate pseudo range between receiver and a GNSS satellite * @param [in] gnss_satellite_id: GNSS satellite ID - * @param [in] rec_position: Receiver position vector in the ECEF frame [m] + * @param [in] receiver_position_m: Receiver position vector in the ECEF frame [m] * @param [in] rec_clock: Receiver clock * @param [in] frequency: Frequency of the signal [MHz] * @return Pseudo range [m] */ - double GetPseudoRangeEcef(const size_t gnss_satellite_id, libra::Vector<3> rec_position, double rec_clock, const double frequency) const; + double GetPseudoRangeEcef(const size_t gnss_satellite_id, libra::Vector<3> receiver_position_m, double rec_clock, const double frequency) const; /** * @fn GetPseudoRangeEci * @brief Calculate pseudo range between receiver and a GNSS satellite * @param [in] gnss_satellite_id: GNSS satellite ID - * @param [in] rec_position: Receiver position vector in the ECI frame [m] + * @param [in] receiver_position_m: Receiver position vector in the ECI frame [m] * @param [in] rec_clock: Receiver clock * @param [in] frequency: Frequency of the signal [MHz] * @return Pseudo range [m] */ - double GetPseudoRangeEci(const size_t gnss_satellite_id, libra::Vector<3> rec_position, double rec_clock, const double frequency) const; + double GetPseudoRangeEci(const size_t gnss_satellite_id, libra::Vector<3> receiver_position_m, double rec_clock, const double frequency) const; /** * @fn GetCarrierPhaseEcef * @brief Calculate carrier phase observed by a receiver for a GNSS satellite * @param [in] gnss_satellite_id: GNSS satellite ID - * @param [in] rec_position: Receiver position vector in the ECEF frame [m] + * @param [in] receiver_position_m: Receiver position vector in the ECEF frame [m] * @param [in] rec_clock: Receiver clock * @param [in] frequency: Frequency of the signal [MHz] * @return Carrier phase cycle and bias [-] */ - std::pair GetCarrierPhaseEcef(const size_t gnss_satellite_id, libra::Vector<3> rec_position, double rec_clock, + std::pair GetCarrierPhaseEcef(const size_t gnss_satellite_id, libra::Vector<3> receiver_position_m, double rec_clock, const double frequency) const; /** * @fn GetCarrierPhaseEci * @brief Calculate carrier phase observed by a receiver for a GNSS satellite * @param [in] gnss_satellite_id: GNSS satellite ID - * @param [in] rec_position: Receiver position vector in the ECI frame [m] + * @param [in] receiver_position_m: Receiver position vector in the ECI frame [m] * @param [in] rec_clock: Receiver clock * @param [in] frequency: Frequency of the signal [MHz] * @return Carrier phase cycle and bias [-] */ - std::pair GetCarrierPhaseEci(const size_t gnss_satellite_id, libra::Vector<3> rec_position, double rec_clock, + std::pair GetCarrierPhaseEci(const size_t gnss_satellite_id, libra::Vector<3> receiver_position_m, double rec_clock, const double frequency) const; // Override ILoggable @@ -435,12 +435,12 @@ class GnssSatellites : public ILoggable { * @brief Calculation of ionospheric delay * @note TODO: Ionospheric delay very Miscellaneous need to fix * @param [in] gnss_satellite_id: GNSS satellite ID - * @param [in] rec_position: Receiver position [m] + * @param [in] receiver_position_m: Receiver position [m] * @param [in] frequency: Frequency [MHz] * @param [in] flag: The frame definition of the receiver position (ECI or ECEF) * @return Ionospheric delay [m] */ - double AddIonosphericDelay(const size_t gnss_satellite_id, const libra::Vector<3> rec_position, const double frequency, + double AddIonosphericDelay(const size_t gnss_satellite_id, const libra::Vector<3> receiver_position_m, const double frequency, const GnssFrameDefinition flag) const; bool is_calc_enabled_ = true; //!< Flag to manage the GNSS satellite position calculation From 6bdeabc7e0befd26cf97a915f9059a89c39818c5 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 19 Dec 2023 15:50:19 +0100 Subject: [PATCH 014/456] Rename frequency argument name --- src/environment/global/gnss_satellites.cpp | 32 +++++++++++----------- src/environment/global/gnss_satellites.hpp | 20 +++++++------- 2 files changed, 26 insertions(+), 26 deletions(-) diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index 6f60cacf1..8d7a9c8f2 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -836,7 +836,7 @@ double GnssSatellites::GetClockOffset_m(const size_t gnss_satellite_id) const { } double GnssSatellites::GetPseudoRangeEcef(const size_t gnss_satellite_id, libra::Vector<3> receiver_position_m, double rec_clock, - const double frequency) const { + const double frequency_MHz) const { // gnss_satellite_id is wrong or not validate if (gnss_satellite_id >= kTotalNumberOfGnssSatellite || !GetWhetherValid(gnss_satellite_id)) return 0.0; @@ -851,7 +851,7 @@ double GnssSatellites::GetPseudoRangeEcef(const size_t gnss_satellite_id, libra: res += rec_clock - gnss_info_.GetClockOffset_m(gnss_satellite_id); // ionospheric delay - const double ionospheric_delay = AddIonosphericDelay(gnss_satellite_id, receiver_position_m, frequency, GnssFrameDefinition::kEcef); + const double ionospheric_delay = AddIonosphericDelay(gnss_satellite_id, receiver_position_m, frequency_MHz, GnssFrameDefinition::kEcef); res += ionospheric_delay; @@ -859,7 +859,7 @@ double GnssSatellites::GetPseudoRangeEcef(const size_t gnss_satellite_id, libra: } double GnssSatellites::GetPseudoRangeEci(const size_t gnss_satellite_id, libra::Vector<3> receiver_position_m, double rec_clock, - const double frequency) const { + const double frequency_MHz) const { // gnss_satellite_id is wrong or not validate if (gnss_satellite_id >= kTotalNumberOfGnssSatellite || !GetWhetherValid(gnss_satellite_id)) return 0.0; @@ -874,7 +874,7 @@ double GnssSatellites::GetPseudoRangeEci(const size_t gnss_satellite_id, libra:: res += rec_clock - gnss_info_.GetClockOffset_m(gnss_satellite_id); // ionospheric delay - const double ionospheric_delay = AddIonosphericDelay(gnss_satellite_id, receiver_position_m, frequency, GnssFrameDefinition::kEci); + const double ionospheric_delay = AddIonosphericDelay(gnss_satellite_id, receiver_position_m, frequency_MHz, GnssFrameDefinition::kEci); res += ionospheric_delay; @@ -882,7 +882,7 @@ double GnssSatellites::GetPseudoRangeEci(const size_t gnss_satellite_id, libra:: } pair GnssSatellites::GetCarrierPhaseEcef(const size_t gnss_satellite_id, libra::Vector<3> receiver_position_m, double rec_clock, - const double frequency) const { + const double frequency_MHz) const { // gnss_satellite_id is wrong or not validate if (gnss_satellite_id >= kTotalNumberOfGnssSatellite || !GetWhetherValid(gnss_satellite_id)) return {0.0, 0.0}; @@ -897,12 +897,12 @@ pair GnssSatellites::GetCarrierPhaseEcef(const size_t gnss_satel res += rec_clock - gnss_info_.GetClockOffset_m(gnss_satellite_id); // ionospheric delay - const double ionospheric_delay = AddIonosphericDelay(gnss_satellite_id, receiver_position_m, frequency, GnssFrameDefinition::kEcef); + const double ionospheric_delay = AddIonosphericDelay(gnss_satellite_id, receiver_position_m, frequency_MHz, GnssFrameDefinition::kEcef); res -= ionospheric_delay; - // wavelength frequency is thought to be given by MHz - double lambda = environment::speed_of_light_m_s * 1e-6 / frequency; + // wavelength frequency_MHz is thought to be given by MHz + double lambda = environment::speed_of_light_m_s * 1e-6 / frequency_MHz; double cycle = res / lambda; double bias = floor(cycle); @@ -912,7 +912,7 @@ pair GnssSatellites::GetCarrierPhaseEcef(const size_t gnss_satel } pair GnssSatellites::GetCarrierPhaseEci(const size_t gnss_satellite_id, libra::Vector<3> receiver_position_m, double rec_clock, - const double frequency) const { + const double frequency_MHz) const { // gnss_satellite_id is wrong or not validate if (gnss_satellite_id >= kTotalNumberOfGnssSatellite || !GetWhetherValid(gnss_satellite_id)) return {0.0, 0.0}; @@ -927,12 +927,12 @@ pair GnssSatellites::GetCarrierPhaseEci(const size_t gnss_satell res += rec_clock - gnss_info_.GetClockOffset_m(gnss_satellite_id); // ionospheric delay - const double ionospheric_delay = AddIonosphericDelay(gnss_satellite_id, receiver_position_m, frequency, GnssFrameDefinition::kEci); + const double ionospheric_delay = AddIonosphericDelay(gnss_satellite_id, receiver_position_m, frequency_MHz, GnssFrameDefinition::kEci); res -= ionospheric_delay; - // wavelength frequency is thought to be given by MHz - double lambda = environment::speed_of_light_m_s * 1e-6 / frequency; + // wavelength frequency_MHz is thought to be given by MHz + double lambda = environment::speed_of_light_m_s * 1e-6 / frequency_MHz; double cycle = res / lambda; double bias = floor(cycle); @@ -942,7 +942,7 @@ pair GnssSatellites::GetCarrierPhaseEci(const size_t gnss_satell } // for Ionospheric delay I[m] -double GnssSatellites::AddIonosphericDelay(const size_t gnss_satellite_id, const libra::Vector<3> receiver_position_m, const double frequency, +double GnssSatellites::AddIonosphericDelay(const size_t gnss_satellite_id, const libra::Vector<3> receiver_position_m, const double frequency_MHz, const GnssFrameDefinition flag) const { // gnss_satellite_id is wrong or not validate if (gnss_satellite_id >= kTotalNumberOfGnssSatellite || !GetWhetherValid(gnss_satellite_id)) return 0.0; @@ -965,9 +965,9 @@ double GnssSatellites::AddIonosphericDelay(const size_t gnss_satellite_id, const const double default_delay = 20.0; //[m] default delay // Assume the maximum height as 1000.0. Divide by cos because the slope makes it longer. double delay = default_delay * (1000.0 - altitude) / 1000.0 / cos(angle_rad); - const double default_frequency = 1500.0; //[MHz] - // Ionospheric delay is inversely proportional to the square of the frequency - delay *= pow(default_frequency / frequency, 2.0); + const double default_frequency_MHz = 1500.0; //[MHz] + // Ionospheric delay is inversely proportional to the square of the frequency_MHz + delay *= pow(default_frequency_MHz / frequency_MHz, 2.0); return delay; } diff --git a/src/environment/global/gnss_satellites.hpp b/src/environment/global/gnss_satellites.hpp index 583c7b00f..09486e71d 100644 --- a/src/environment/global/gnss_satellites.hpp +++ b/src/environment/global/gnss_satellites.hpp @@ -374,42 +374,42 @@ class GnssSatellites : public ILoggable { * @param [in] gnss_satellite_id: GNSS satellite ID * @param [in] receiver_position_m: Receiver position vector in the ECEF frame [m] * @param [in] rec_clock: Receiver clock - * @param [in] frequency: Frequency of the signal [MHz] + * @param [in] frequency_MHz: Frequency of the signal [MHz] * @return Pseudo range [m] */ - double GetPseudoRangeEcef(const size_t gnss_satellite_id, libra::Vector<3> receiver_position_m, double rec_clock, const double frequency) const; + double GetPseudoRangeEcef(const size_t gnss_satellite_id, libra::Vector<3> receiver_position_m, double rec_clock, const double frequency_MHz) const; /** * @fn GetPseudoRangeEci * @brief Calculate pseudo range between receiver and a GNSS satellite * @param [in] gnss_satellite_id: GNSS satellite ID * @param [in] receiver_position_m: Receiver position vector in the ECI frame [m] * @param [in] rec_clock: Receiver clock - * @param [in] frequency: Frequency of the signal [MHz] + * @param [in] frequency_MHz: Frequency of the signal [MHz] * @return Pseudo range [m] */ - double GetPseudoRangeEci(const size_t gnss_satellite_id, libra::Vector<3> receiver_position_m, double rec_clock, const double frequency) const; + double GetPseudoRangeEci(const size_t gnss_satellite_id, libra::Vector<3> receiver_position_m, double rec_clock, const double frequency_MHz) const; /** * @fn GetCarrierPhaseEcef * @brief Calculate carrier phase observed by a receiver for a GNSS satellite * @param [in] gnss_satellite_id: GNSS satellite ID * @param [in] receiver_position_m: Receiver position vector in the ECEF frame [m] * @param [in] rec_clock: Receiver clock - * @param [in] frequency: Frequency of the signal [MHz] + * @param [in] frequency_MHz: Frequency of the signal [MHz] * @return Carrier phase cycle and bias [-] */ std::pair GetCarrierPhaseEcef(const size_t gnss_satellite_id, libra::Vector<3> receiver_position_m, double rec_clock, - const double frequency) const; + const double frequency_MHz) const; /** * @fn GetCarrierPhaseEci * @brief Calculate carrier phase observed by a receiver for a GNSS satellite * @param [in] gnss_satellite_id: GNSS satellite ID * @param [in] receiver_position_m: Receiver position vector in the ECI frame [m] * @param [in] rec_clock: Receiver clock - * @param [in] frequency: Frequency of the signal [MHz] + * @param [in] frequency_MHz: Frequency of the signal [MHz] * @return Carrier phase cycle and bias [-] */ std::pair GetCarrierPhaseEci(const size_t gnss_satellite_id, libra::Vector<3> receiver_position_m, double rec_clock, - const double frequency) const; + const double frequency_MHz) const; // Override ILoggable /** @@ -436,11 +436,11 @@ class GnssSatellites : public ILoggable { * @note TODO: Ionospheric delay very Miscellaneous need to fix * @param [in] gnss_satellite_id: GNSS satellite ID * @param [in] receiver_position_m: Receiver position [m] - * @param [in] frequency: Frequency [MHz] + * @param [in] frequency_MHz: Frequency [MHz] * @param [in] flag: The frame definition of the receiver position (ECI or ECEF) * @return Ionospheric delay [m] */ - double AddIonosphericDelay(const size_t gnss_satellite_id, const libra::Vector<3> receiver_position_m, const double frequency, + double AddIonosphericDelay(const size_t gnss_satellite_id, const libra::Vector<3> receiver_position_m, const double frequency_MHz, const GnssFrameDefinition flag) const; bool is_calc_enabled_ = true; //!< Flag to manage the GNSS satellite position calculation From 28223578e3ae7e509df8816626d7c5aac599dcab Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 19 Dec 2023 15:51:08 +0100 Subject: [PATCH 015/456] Rename receiver clock name argument name --- src/environment/global/gnss_satellites.cpp | 20 ++++++++++---------- src/environment/global/gnss_satellites.hpp | 18 ++++++++++-------- 2 files changed, 20 insertions(+), 18 deletions(-) diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index 8d7a9c8f2..aafb8749c 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -835,7 +835,7 @@ double GnssSatellites::GetClockOffset_m(const size_t gnss_satellite_id) const { return gnss_info_.GetClockOffset_m(gnss_satellite_id); } -double GnssSatellites::GetPseudoRangeEcef(const size_t gnss_satellite_id, libra::Vector<3> receiver_position_m, double rec_clock, +double GnssSatellites::GetPseudoRangeEcef(const size_t gnss_satellite_id, libra::Vector<3> receiver_position_m, double receiver_clock_offset_m, const double frequency_MHz) const { // gnss_satellite_id is wrong or not validate if (gnss_satellite_id >= kTotalNumberOfGnssSatellite || !GetWhetherValid(gnss_satellite_id)) return 0.0; @@ -848,7 +848,7 @@ double GnssSatellites::GetPseudoRangeEcef(const size_t gnss_satellite_id, libra: res = sqrt(res); // clock bias - res += rec_clock - gnss_info_.GetClockOffset_m(gnss_satellite_id); + res += receiver_clock_offset_m - gnss_info_.GetClockOffset_m(gnss_satellite_id); // ionospheric delay const double ionospheric_delay = AddIonosphericDelay(gnss_satellite_id, receiver_position_m, frequency_MHz, GnssFrameDefinition::kEcef); @@ -858,7 +858,7 @@ double GnssSatellites::GetPseudoRangeEcef(const size_t gnss_satellite_id, libra: return res; } -double GnssSatellites::GetPseudoRangeEci(const size_t gnss_satellite_id, libra::Vector<3> receiver_position_m, double rec_clock, +double GnssSatellites::GetPseudoRangeEci(const size_t gnss_satellite_id, libra::Vector<3> receiver_position_m, double receiver_clock_offset_m, const double frequency_MHz) const { // gnss_satellite_id is wrong or not validate if (gnss_satellite_id >= kTotalNumberOfGnssSatellite || !GetWhetherValid(gnss_satellite_id)) return 0.0; @@ -871,7 +871,7 @@ double GnssSatellites::GetPseudoRangeEci(const size_t gnss_satellite_id, libra:: res = sqrt(res); // clock bias - res += rec_clock - gnss_info_.GetClockOffset_m(gnss_satellite_id); + res += receiver_clock_offset_m - gnss_info_.GetClockOffset_m(gnss_satellite_id); // ionospheric delay const double ionospheric_delay = AddIonosphericDelay(gnss_satellite_id, receiver_position_m, frequency_MHz, GnssFrameDefinition::kEci); @@ -881,8 +881,8 @@ double GnssSatellites::GetPseudoRangeEci(const size_t gnss_satellite_id, libra:: return res; } -pair GnssSatellites::GetCarrierPhaseEcef(const size_t gnss_satellite_id, libra::Vector<3> receiver_position_m, double rec_clock, - const double frequency_MHz) const { +pair GnssSatellites::GetCarrierPhaseEcef(const size_t gnss_satellite_id, libra::Vector<3> receiver_position_m, + double receiver_clock_offset_m, const double frequency_MHz) const { // gnss_satellite_id is wrong or not validate if (gnss_satellite_id >= kTotalNumberOfGnssSatellite || !GetWhetherValid(gnss_satellite_id)) return {0.0, 0.0}; @@ -894,7 +894,7 @@ pair GnssSatellites::GetCarrierPhaseEcef(const size_t gnss_satel res = sqrt(res); // clock bias - res += rec_clock - gnss_info_.GetClockOffset_m(gnss_satellite_id); + res += receiver_clock_offset_m - gnss_info_.GetClockOffset_m(gnss_satellite_id); // ionospheric delay const double ionospheric_delay = AddIonosphericDelay(gnss_satellite_id, receiver_position_m, frequency_MHz, GnssFrameDefinition::kEcef); @@ -911,8 +911,8 @@ pair GnssSatellites::GetCarrierPhaseEcef(const size_t gnss_satel return {cycle, bias}; } -pair GnssSatellites::GetCarrierPhaseEci(const size_t gnss_satellite_id, libra::Vector<3> receiver_position_m, double rec_clock, - const double frequency_MHz) const { +pair GnssSatellites::GetCarrierPhaseEci(const size_t gnss_satellite_id, libra::Vector<3> receiver_position_m, + double receiver_clock_offset_m, const double frequency_MHz) const { // gnss_satellite_id is wrong or not validate if (gnss_satellite_id >= kTotalNumberOfGnssSatellite || !GetWhetherValid(gnss_satellite_id)) return {0.0, 0.0}; @@ -924,7 +924,7 @@ pair GnssSatellites::GetCarrierPhaseEci(const size_t gnss_satell res = sqrt(res); // clock bias - res += rec_clock - gnss_info_.GetClockOffset_m(gnss_satellite_id); + res += receiver_clock_offset_m - gnss_info_.GetClockOffset_m(gnss_satellite_id); // ionospheric delay const double ionospheric_delay = AddIonosphericDelay(gnss_satellite_id, receiver_position_m, frequency_MHz, GnssFrameDefinition::kEci); diff --git a/src/environment/global/gnss_satellites.hpp b/src/environment/global/gnss_satellites.hpp index 09486e71d..c58c74545 100644 --- a/src/environment/global/gnss_satellites.hpp +++ b/src/environment/global/gnss_satellites.hpp @@ -373,42 +373,44 @@ class GnssSatellites : public ILoggable { * @brief Calculate pseudo range between receiver and a GNSS satellite * @param [in] gnss_satellite_id: GNSS satellite ID * @param [in] receiver_position_m: Receiver position vector in the ECEF frame [m] - * @param [in] rec_clock: Receiver clock + * @param [in] receiver_clock_offset_m: Receiver clock * @param [in] frequency_MHz: Frequency of the signal [MHz] * @return Pseudo range [m] */ - double GetPseudoRangeEcef(const size_t gnss_satellite_id, libra::Vector<3> receiver_position_m, double rec_clock, const double frequency_MHz) const; + double GetPseudoRangeEcef(const size_t gnss_satellite_id, libra::Vector<3> receiver_position_m, double receiver_clock_offset_m, + const double frequency_MHz) const; /** * @fn GetPseudoRangeEci * @brief Calculate pseudo range between receiver and a GNSS satellite * @param [in] gnss_satellite_id: GNSS satellite ID * @param [in] receiver_position_m: Receiver position vector in the ECI frame [m] - * @param [in] rec_clock: Receiver clock + * @param [in] receiver_clock_offset_m: Receiver clock * @param [in] frequency_MHz: Frequency of the signal [MHz] * @return Pseudo range [m] */ - double GetPseudoRangeEci(const size_t gnss_satellite_id, libra::Vector<3> receiver_position_m, double rec_clock, const double frequency_MHz) const; + double GetPseudoRangeEci(const size_t gnss_satellite_id, libra::Vector<3> receiver_position_m, double receiver_clock_offset_m, + const double frequency_MHz) const; /** * @fn GetCarrierPhaseEcef * @brief Calculate carrier phase observed by a receiver for a GNSS satellite * @param [in] gnss_satellite_id: GNSS satellite ID * @param [in] receiver_position_m: Receiver position vector in the ECEF frame [m] - * @param [in] rec_clock: Receiver clock + * @param [in] receiver_clock_offset_m: Receiver clock * @param [in] frequency_MHz: Frequency of the signal [MHz] * @return Carrier phase cycle and bias [-] */ - std::pair GetCarrierPhaseEcef(const size_t gnss_satellite_id, libra::Vector<3> receiver_position_m, double rec_clock, + std::pair GetCarrierPhaseEcef(const size_t gnss_satellite_id, libra::Vector<3> receiver_position_m, double receiver_clock_offset_m, const double frequency_MHz) const; /** * @fn GetCarrierPhaseEci * @brief Calculate carrier phase observed by a receiver for a GNSS satellite * @param [in] gnss_satellite_id: GNSS satellite ID * @param [in] receiver_position_m: Receiver position vector in the ECI frame [m] - * @param [in] rec_clock: Receiver clock + * @param [in] receiver_clock_offset_m: Receiver clock * @param [in] frequency_MHz: Frequency of the signal [MHz] * @return Carrier phase cycle and bias [-] */ - std::pair GetCarrierPhaseEci(const size_t gnss_satellite_id, libra::Vector<3> receiver_position_m, double rec_clock, + std::pair GetCarrierPhaseEci(const size_t gnss_satellite_id, libra::Vector<3> receiver_position_m, double receiver_clock_offset_m, const double frequency_MHz) const; // Override ILoggable From 0c032b62fa6b7fbb19b7830bd2ff1ba014561c45 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 19 Dec 2023 15:53:25 +0100 Subject: [PATCH 016/456] Add frame information for argument name --- src/environment/global/gnss_satellites.cpp | 24 +++++++++++----------- src/environment/global/gnss_satellites.hpp | 20 +++++++++--------- 2 files changed, 22 insertions(+), 22 deletions(-) diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index aafb8749c..f1170a52c 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -835,7 +835,7 @@ double GnssSatellites::GetClockOffset_m(const size_t gnss_satellite_id) const { return gnss_info_.GetClockOffset_m(gnss_satellite_id); } -double GnssSatellites::GetPseudoRangeEcef(const size_t gnss_satellite_id, libra::Vector<3> receiver_position_m, double receiver_clock_offset_m, +double GnssSatellites::GetPseudoRangeEcef(const size_t gnss_satellite_id, libra::Vector<3> receiver_position_ecef_m, double receiver_clock_offset_m, const double frequency_MHz) const { // gnss_satellite_id is wrong or not validate if (gnss_satellite_id >= kTotalNumberOfGnssSatellite || !GetWhetherValid(gnss_satellite_id)) return 0.0; @@ -843,7 +843,7 @@ double GnssSatellites::GetPseudoRangeEcef(const size_t gnss_satellite_id, libra: double res = 0.0; auto gnss_position = gnss_info_.GetPosition_ecef_m(gnss_satellite_id); for (int i = 0; i < 3; ++i) { - res += pow(receiver_position_m(i) - gnss_position(i), 2.0); + res += pow(receiver_position_ecef_m(i) - gnss_position(i), 2.0); } res = sqrt(res); @@ -851,14 +851,14 @@ double GnssSatellites::GetPseudoRangeEcef(const size_t gnss_satellite_id, libra: res += receiver_clock_offset_m - gnss_info_.GetClockOffset_m(gnss_satellite_id); // ionospheric delay - const double ionospheric_delay = AddIonosphericDelay(gnss_satellite_id, receiver_position_m, frequency_MHz, GnssFrameDefinition::kEcef); + const double ionospheric_delay = AddIonosphericDelay(gnss_satellite_id, receiver_position_ecef_m, frequency_MHz, GnssFrameDefinition::kEcef); res += ionospheric_delay; return res; } -double GnssSatellites::GetPseudoRangeEci(const size_t gnss_satellite_id, libra::Vector<3> receiver_position_m, double receiver_clock_offset_m, +double GnssSatellites::GetPseudoRangeEci(const size_t gnss_satellite_id, libra::Vector<3> receiver_position_eci_m, double receiver_clock_offset_m, const double frequency_MHz) const { // gnss_satellite_id is wrong or not validate if (gnss_satellite_id >= kTotalNumberOfGnssSatellite || !GetWhetherValid(gnss_satellite_id)) return 0.0; @@ -866,7 +866,7 @@ double GnssSatellites::GetPseudoRangeEci(const size_t gnss_satellite_id, libra:: double res = 0.0; auto gnss_position = gnss_info_.GetPosition_eci_m(gnss_satellite_id); for (int i = 0; i < 3; ++i) { - res += pow(receiver_position_m(i) - gnss_position(i), 2.0); + res += pow(receiver_position_eci_m(i) - gnss_position(i), 2.0); } res = sqrt(res); @@ -874,14 +874,14 @@ double GnssSatellites::GetPseudoRangeEci(const size_t gnss_satellite_id, libra:: res += receiver_clock_offset_m - gnss_info_.GetClockOffset_m(gnss_satellite_id); // ionospheric delay - const double ionospheric_delay = AddIonosphericDelay(gnss_satellite_id, receiver_position_m, frequency_MHz, GnssFrameDefinition::kEci); + const double ionospheric_delay = AddIonosphericDelay(gnss_satellite_id, receiver_position_eci_m, frequency_MHz, GnssFrameDefinition::kEci); res += ionospheric_delay; return res; } -pair GnssSatellites::GetCarrierPhaseEcef(const size_t gnss_satellite_id, libra::Vector<3> receiver_position_m, +pair GnssSatellites::GetCarrierPhaseEcef(const size_t gnss_satellite_id, libra::Vector<3> receiver_position_ecef_m, double receiver_clock_offset_m, const double frequency_MHz) const { // gnss_satellite_id is wrong or not validate if (gnss_satellite_id >= kTotalNumberOfGnssSatellite || !GetWhetherValid(gnss_satellite_id)) return {0.0, 0.0}; @@ -889,7 +889,7 @@ pair GnssSatellites::GetCarrierPhaseEcef(const size_t gnss_satel double res = 0.0; auto gnss_position = gnss_info_.GetPosition_ecef_m(gnss_satellite_id); for (int i = 0; i < 3; ++i) { - res += pow(receiver_position_m(i) - gnss_position(i), 2.0); + res += pow(receiver_position_ecef_m(i) - gnss_position(i), 2.0); } res = sqrt(res); @@ -897,7 +897,7 @@ pair GnssSatellites::GetCarrierPhaseEcef(const size_t gnss_satel res += receiver_clock_offset_m - gnss_info_.GetClockOffset_m(gnss_satellite_id); // ionospheric delay - const double ionospheric_delay = AddIonosphericDelay(gnss_satellite_id, receiver_position_m, frequency_MHz, GnssFrameDefinition::kEcef); + const double ionospheric_delay = AddIonosphericDelay(gnss_satellite_id, receiver_position_ecef_m, frequency_MHz, GnssFrameDefinition::kEcef); res -= ionospheric_delay; @@ -911,7 +911,7 @@ pair GnssSatellites::GetCarrierPhaseEcef(const size_t gnss_satel return {cycle, bias}; } -pair GnssSatellites::GetCarrierPhaseEci(const size_t gnss_satellite_id, libra::Vector<3> receiver_position_m, +pair GnssSatellites::GetCarrierPhaseEci(const size_t gnss_satellite_id, libra::Vector<3> receiver_position_eci_m, double receiver_clock_offset_m, const double frequency_MHz) const { // gnss_satellite_id is wrong or not validate if (gnss_satellite_id >= kTotalNumberOfGnssSatellite || !GetWhetherValid(gnss_satellite_id)) return {0.0, 0.0}; @@ -919,7 +919,7 @@ pair GnssSatellites::GetCarrierPhaseEci(const size_t gnss_satell double res = 0.0; auto gnss_position = gnss_info_.GetPosition_eci_m(gnss_satellite_id); for (int i = 0; i < 3; ++i) { - res += pow(receiver_position_m(i) - gnss_position(i), 2.0); + res += pow(receiver_position_eci_m(i) - gnss_position(i), 2.0); } res = sqrt(res); @@ -927,7 +927,7 @@ pair GnssSatellites::GetCarrierPhaseEci(const size_t gnss_satell res += receiver_clock_offset_m - gnss_info_.GetClockOffset_m(gnss_satellite_id); // ionospheric delay - const double ionospheric_delay = AddIonosphericDelay(gnss_satellite_id, receiver_position_m, frequency_MHz, GnssFrameDefinition::kEci); + const double ionospheric_delay = AddIonosphericDelay(gnss_satellite_id, receiver_position_eci_m, frequency_MHz, GnssFrameDefinition::kEci); res -= ionospheric_delay; diff --git a/src/environment/global/gnss_satellites.hpp b/src/environment/global/gnss_satellites.hpp index c58c74545..1dced518a 100644 --- a/src/environment/global/gnss_satellites.hpp +++ b/src/environment/global/gnss_satellites.hpp @@ -372,46 +372,46 @@ class GnssSatellites : public ILoggable { * @fn GetPseudoRangeEcef * @brief Calculate pseudo range between receiver and a GNSS satellite * @param [in] gnss_satellite_id: GNSS satellite ID - * @param [in] receiver_position_m: Receiver position vector in the ECEF frame [m] + * @param [in] receiver_position_ecef_m: Receiver position vector in the ECEF frame [m] * @param [in] receiver_clock_offset_m: Receiver clock * @param [in] frequency_MHz: Frequency of the signal [MHz] * @return Pseudo range [m] */ - double GetPseudoRangeEcef(const size_t gnss_satellite_id, libra::Vector<3> receiver_position_m, double receiver_clock_offset_m, + double GetPseudoRangeEcef(const size_t gnss_satellite_id, libra::Vector<3> receiver_position_ecef_m, double receiver_clock_offset_m, const double frequency_MHz) const; /** * @fn GetPseudoRangeEci * @brief Calculate pseudo range between receiver and a GNSS satellite * @param [in] gnss_satellite_id: GNSS satellite ID - * @param [in] receiver_position_m: Receiver position vector in the ECI frame [m] + * @param [in] receiver_position_eci_m: Receiver position vector in the ECI frame [m] * @param [in] receiver_clock_offset_m: Receiver clock * @param [in] frequency_MHz: Frequency of the signal [MHz] * @return Pseudo range [m] */ - double GetPseudoRangeEci(const size_t gnss_satellite_id, libra::Vector<3> receiver_position_m, double receiver_clock_offset_m, + double GetPseudoRangeEci(const size_t gnss_satellite_id, libra::Vector<3> receiver_position_eci_m, double receiver_clock_offset_m, const double frequency_MHz) const; /** * @fn GetCarrierPhaseEcef * @brief Calculate carrier phase observed by a receiver for a GNSS satellite * @param [in] gnss_satellite_id: GNSS satellite ID - * @param [in] receiver_position_m: Receiver position vector in the ECEF frame [m] + * @param [in] receiver_position_ecef_m: Receiver position vector in the ECEF frame [m] * @param [in] receiver_clock_offset_m: Receiver clock * @param [in] frequency_MHz: Frequency of the signal [MHz] * @return Carrier phase cycle and bias [-] */ - std::pair GetCarrierPhaseEcef(const size_t gnss_satellite_id, libra::Vector<3> receiver_position_m, double receiver_clock_offset_m, - const double frequency_MHz) const; + std::pair GetCarrierPhaseEcef(const size_t gnss_satellite_id, libra::Vector<3> receiver_position_ecef_m, + double receiver_clock_offset_m, const double frequency_MHz) const; /** * @fn GetCarrierPhaseEci * @brief Calculate carrier phase observed by a receiver for a GNSS satellite * @param [in] gnss_satellite_id: GNSS satellite ID - * @param [in] receiver_position_m: Receiver position vector in the ECI frame [m] + * @param [in] receiver_position_eci_m: Receiver position vector in the ECI frame [m] * @param [in] receiver_clock_offset_m: Receiver clock * @param [in] frequency_MHz: Frequency of the signal [MHz] * @return Carrier phase cycle and bias [-] */ - std::pair GetCarrierPhaseEci(const size_t gnss_satellite_id, libra::Vector<3> receiver_position_m, double receiver_clock_offset_m, - const double frequency_MHz) const; + std::pair GetCarrierPhaseEci(const size_t gnss_satellite_id, libra::Vector<3> receiver_position_eci_m, + double receiver_clock_offset_m, const double frequency_MHz) const; // Override ILoggable /** From a2c13be4575809215ab189cb7b5c537e0720ced5 Mon Sep 17 00:00:00 2001 From: "renovate[bot]" <29139614+renovate[bot]@users.noreply.github.com> Date: Wed, 17 Jan 2024 18:32:25 +0000 Subject: [PATCH 017/456] Update actions/cache action to v4 --- .github/workflows/build.yml | 4 ++-- .github/workflows/google-test.yml | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index b94fcacf2..3fd5843d9 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -61,7 +61,7 @@ jobs: - name: cache extlib id: cache-extlib - uses: actions/cache@v3 + uses: actions/cache@v4 with: key: extlib-${{ runner.os }}-${{ hashFiles('./ExtLibraries/**') }}-${{ matrix.build_bit }} path: ./ExtLibraries @@ -174,7 +174,7 @@ jobs: - name: cache extlib id: cache-extlib - uses: actions/cache@v3 + uses: actions/cache@v4 with: key: extlib-${{ runner.os }}-${{ hashFiles('./ExtLibraries/**') }}-${{ matrix.build_bit }} path: ExtLibraries diff --git a/.github/workflows/google-test.yml b/.github/workflows/google-test.yml index 9be934200..5fd93f89d 100644 --- a/.github/workflows/google-test.yml +++ b/.github/workflows/google-test.yml @@ -61,7 +61,7 @@ jobs: - name: cache extlib id: cache-extlib - uses: actions/cache@v3 + uses: actions/cache@v4 with: key: extlib-${{ runner.os }}-${{ hashFiles('./ExtLibraries/**') }}} path: ExtLibraries From 9b73bf1f4e6f3a76b8b0b5ccc119966c950b8b37 Mon Sep 17 00:00:00 2001 From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com> Date: Tue, 23 Jan 2024 05:56:46 +0000 Subject: [PATCH 018/456] Bump pillow from 10.0.1 to 10.2.0 in /scripts/Plot Bumps [pillow](https://github.com/python-pillow/Pillow) from 10.0.1 to 10.2.0. - [Release notes](https://github.com/python-pillow/Pillow/releases) - [Changelog](https://github.com/python-pillow/Pillow/blob/main/CHANGES.rst) - [Commits](https://github.com/python-pillow/Pillow/compare/10.0.1...10.2.0) --- updated-dependencies: - dependency-name: pillow dependency-type: indirect ... Signed-off-by: dependabot[bot] --- scripts/Plot/Pipfile.lock | 124 +++++++++++++++++++++----------------- 1 file changed, 69 insertions(+), 55 deletions(-) diff --git a/scripts/Plot/Pipfile.lock b/scripts/Plot/Pipfile.lock index ac3234fd8..b1d1cd7c2 100644 --- a/scripts/Plot/Pipfile.lock +++ b/scripts/Plot/Pipfile.lock @@ -485,64 +485,78 @@ }, "pillow": { "hashes": [ - "sha256:0462b1496505a3462d0f35dc1c4d7b54069747d65d00ef48e736acda2c8cbdff", - "sha256:186f7e04248103482ea6354af6d5bcedb62941ee08f7f788a1c7707bc720c66f", - "sha256:19e9adb3f22d4c416e7cd79b01375b17159d6990003633ff1d8377e21b7f1b21", - "sha256:28444cb6ad49726127d6b340217f0627abc8732f1194fd5352dec5e6a0105635", - "sha256:2872f2d7846cf39b3dbff64bc1104cc48c76145854256451d33c5faa55c04d1a", - "sha256:2cc6b86ece42a11f16f55fe8903595eff2b25e0358dec635d0a701ac9586588f", - "sha256:2d7e91b4379f7a76b31c2dda84ab9e20c6220488e50f7822e59dac36b0cd92b1", - "sha256:2fa6dd2661838c66f1a5473f3b49ab610c98a128fc08afbe81b91a1f0bf8c51d", - 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<29139614+renovate[bot]@users.noreply.github.com> Date: Tue, 23 Jan 2024 13:42:54 +0000 Subject: [PATCH 019/456] Update dependency basemap to v1.4.0 --- scripts/Plot/Pipfile | 2 +- scripts/Plot/Pipfile.lock | 301 ++++++++++++++++++++------------------ 2 files changed, 161 insertions(+), 142 deletions(-) diff --git a/scripts/Plot/Pipfile b/scripts/Plot/Pipfile index 0ac47709e..a93bb7385 100644 --- a/scripts/Plot/Pipfile +++ b/scripts/Plot/Pipfile @@ -4,7 +4,7 @@ verify_ssl = true name = "pypi" [packages] -basemap = "==1.3.8" +basemap = "==1.4.0" matplotlib = "==3.7.2" numpy = "==1.24.3" pandas = "==2.0.3" diff --git a/scripts/Plot/Pipfile.lock b/scripts/Plot/Pipfile.lock index b1d1cd7c2..df9425272 100644 --- a/scripts/Plot/Pipfile.lock +++ b/scripts/Plot/Pipfile.lock @@ -1,7 +1,7 @@ { "_meta": { "hash": { - "sha256": "357494dffe97400cf2bc676a3b06b4f956da6ee0af7c0063f76efac2c8a67e5a" + "sha256": "16b402d217a5bc994db3911f6f95a9abbe4e58c655feedf6a880934788982ac6" }, "pipfile-spec": 6, 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b/src/environment/global/gnss_satellites.cpp @@ -148,8 +148,7 @@ bool GnssSatelliteBase::GetWhetherValid(const size_t gnss_satellite_id) const { } // GnssSatellitePosition -pair GnssSatellitePosition::Initialize(vector>& file, int interpolation_method, int interpolation_number, - UltraRapidMode ur_flag) { +pair GnssSatellitePosition::Initialize(vector>& file, int interpolation_method, int interpolation_number) { UNUSED(interpolation_method); interpolation_number_ = interpolation_number; @@ -199,14 +198,8 @@ pair GnssSatellitePosition::Initialize(vector>& f // Calculate number of data lines int start_line, end_line; - if (ur_flag == kNotUse) { - start_line = line; - end_line = line + (num_of_sat + 1) * num_of_time_stamps; - } else { - int offset = (int)ur_flag - (int)kObserve1; - start_line = line + (num_of_sat + 1) * num_of_time_stamps / 8 * offset; - end_line = line + (num_of_sat + 1) * num_of_time_stamps / 8 * (offset + 1); - } + start_line = line; + end_line = line + (num_of_sat + 1) * num_of_time_stamps; // Read time and position data double unix_time = 0; @@ -436,7 +429,7 @@ libra::Vector<3> GnssSatellitePosition::GetPosition_eci_m(const size_t gnss_sate } // GnssSatelliteClock -void GnssSatelliteClock::Initialize(vector>& file, string file_extension, int interpolation_number, UltraRapidMode ur_flag, +void GnssSatelliteClock::Initialize(vector>& file, string file_extension, int interpolation_number, pair unix_time_period) { interpolation_number_ = interpolation_number; time_series_clock_offset_m_.resize(kTotalNumberOfGnssSatellite); // first vector size is the sat num @@ -479,14 +472,8 @@ void GnssSatelliteClock::Initialize(vector>& file, string file_ex // Calculate number of data lines int start_line, end_line; - if (ur_flag == kNotUse) { - start_line = line; - end_line = line + (num_of_sat + 1) * num_of_time_stamps; - } else { - int offset = (int)ur_flag - (int)kObserve1; - start_line = line + (num_of_sat + 1) * num_of_time_stamps / 8 * offset; - end_line = line + (num_of_sat + 1) * num_of_time_stamps / 8 * (offset + 1); - } + start_line = line; + end_line = line + (num_of_sat + 1) * num_of_time_stamps; // Read time and clock data double unix_time = 0; @@ -527,21 +514,13 @@ void GnssSatelliteClock::Initialize(vector>& file, string file_ex } } } else { // .clk30s - if (kPredict1 <= ur_flag && ur_flag <= kPredict4) { - cout << "clock settings has something wrong" << endl; - exit(1); - } time_interval_ = 1e9; for (int page = 0; page < (int)file.size(); ++page) { double start_unix_time, end_unix_time; - if (ur_flag == kNotUse) { - start_unix_time = unix_time_period.first; - end_unix_time = unix_time_period.second + 30; - } else { - start_unix_time = -1; - end_unix_time = 0; - } + start_unix_time = unix_time_period.first; + end_unix_time = unix_time_period.second + 30; + for (int line = 0; line < (int)file.at(page).size(); ++line) { if (file.at(page).at(line).substr(0, 3) != "AS ") continue; @@ -563,7 +542,7 @@ void GnssSatelliteClock::Initialize(vector>& file, string file_ex double unix_time = (double)mktime(time_tm); const double interval = 6 * 60 * 60; if (start_unix_time < 0) { - start_unix_time = unix_time + (ur_flag - kObserve1) * interval; // Fix here to use enum class + start_unix_time = unix_time; end_unix_time = start_unix_time + interval; } @@ -726,10 +705,9 @@ double GnssSatelliteClock::GetClockOffset_m(const size_t gnss_satellite_id) cons // GnssSatelliteInformation GnssSatelliteInformation::GnssSatelliteInformation() {} void GnssSatelliteInformation::Initialize(vector>& position_file, int position_interpolation_method, int position_interpolation_number, - UltraRapidMode position_ur_flag, vector>& clock_file, string clock_file_extension, - int clock_interpolation_number, UltraRapidMode clock_ur_flag) { - auto unix_time_period = position_.Initialize(position_file, position_interpolation_method, position_interpolation_number, position_ur_flag); - clock_.Initialize(clock_file, clock_file_extension, clock_interpolation_number, clock_ur_flag, unix_time_period); + vector>& clock_file, string clock_file_extension, int clock_interpolation_number) { + auto unix_time_period = position_.Initialize(position_file, position_interpolation_method, position_interpolation_number); + clock_.Initialize(clock_file, clock_file_extension, clock_interpolation_number, unix_time_period); } void GnssSatelliteInformation::SetUp(const double start_unix_time, const double step_width_s) { @@ -761,10 +739,9 @@ GnssSatellites::GnssSatellites(bool is_calc_enabled) { bool GnssSatellites::IsCalcEnabled() const { return is_calc_enabled_; } void GnssSatellites::Initialize(vector>& position_file, int position_interpolation_method, int position_interpolation_number, - UltraRapidMode position_ur_flag, vector>& clock_file, string clock_file_extension, - int clock_interpolation_number, UltraRapidMode clock_ur_flag) { - gnss_info_.Initialize(position_file, position_interpolation_method, position_interpolation_number, position_ur_flag, clock_file, - clock_file_extension, clock_interpolation_number, clock_ur_flag); + vector>& clock_file, string clock_file_extension, int clock_interpolation_number) { + gnss_info_.Initialize(position_file, position_interpolation_method, position_interpolation_number, clock_file, clock_file_extension, + clock_interpolation_number); return; } diff --git a/src/environment/global/gnss_satellites.hpp b/src/environment/global/gnss_satellites.hpp index 1dced518a..33e1ba1bd 100644 --- a/src/environment/global/gnss_satellites.hpp +++ b/src/environment/global/gnss_satellites.hpp @@ -24,28 +24,6 @@ enum class GnssFrameDefinition { kEci = 1 //!< Use ECI frame for GNSS satellite position frame in Add_IonosphericDelay }; -/** - * @enum UltraRapidMode - * @brief Ultra Rapid mode - * @details When Using Ultra Rapid ephemerides, decide to use which 6 hours in each observe and predict 24 hours - * @note TODO: change to enum class - */ -enum UltraRapidMode { - kNotUse, //!< Don't use ultra rapid - - kObserve1, //!< the most oldest observe 6 hours (most precise) - kObserve2, //!< the second oldest observe 6 hours (6 ~ 12) - kObserve3, - kObserve4, - - kPredict1, //!< the most oldest preserve 6 hours (most precise) - kPredict2, - kPredict3, - kPredict4, - - kUnknown -}; - /** * @class GnssSatelliteBase * @brief A class to summarize basic feature of GNSS position and clock calculation @@ -113,11 +91,9 @@ class GnssSatellitePosition : public GnssSatelliteBase { * @param[in] file: File path for position calculation * @param[in] interpolation_method: Interpolation method for position calculation * @param[in] interpolation_number: Interpolation number for position calculation - * @param[in] ur_flag: Ultra Rapid flag for position calculation * @return Start unix time and end unix time */ - std::pair Initialize(std::vector>& file, int interpolation_method, int interpolation_number, - UltraRapidMode ur_flag); + std::pair Initialize(std::vector>& file, int interpolation_method, int interpolation_number); /** * @fn Setup @@ -175,9 +151,8 @@ class GnssSatelliteClock : public GnssSatelliteBase { * @param[in] file: File path for clock calculation * @param[in] file_extension: Extension of the clock file (ex. .sp3, .clk30s) * @param[in] interpolation_number: Interpolation number for clock calculation - * @param[in] ur_flag: Ultra Rapid flag for clock calculation */ - void Initialize(std::vector>& file, std::string file_extension, int interpolation_number, UltraRapidMode ur_flag, + void Initialize(std::vector>& file, std::string file_extension, int interpolation_number, std::pair unix_time_period); /** * @fn SetUp @@ -224,15 +199,12 @@ class GnssSatelliteInformation { * @param[in] position_file: File path for position calculation * @param[in] position_interpolation_method: Interpolation method for position calculation * @param[in] position_interpolation_number: Interpolation number for position calculation - * @param[in] position_ur_flag: Ultra Rapid flag for position calculation * @param[in] clock_file: File path for clock calculation * @param[in] clock_file_extension: Extension of the clock file (ex. .sp3, .clk30s) * @param[in] clock_interpolation_number: Interpolation number for clock calculation - * @param[in] clock_ur_flag: Ultra Rapid flag for clock calculation */ void Initialize(std::vector>& position_file, int position_interpolation_method, int position_interpolation_number, - UltraRapidMode position_ur_flag, std::vector>& clock_file, std::string clock_file_extension, - int clock_interpolation_number, UltraRapidMode clock_ur_flag); + std::vector>& clock_file, std::string clock_file_extension, int clock_interpolation_number); /** * @fn SetUp * @brief Setup GNSS satellite position and clock information @@ -311,8 +283,7 @@ class GnssSatellites : public ILoggable { * @note Parameters are defined in GNSSSat_Info */ void Initialize(std::vector>& position_file, int position_interpolation_method, int position_interpolation_number, - UltraRapidMode position_ur_flag, std::vector>& clock_file, std::string clock_file_extension, - int clock_interpolation_number, UltraRapidMode clock_ur_flag); + std::vector>& clock_file, std::string clock_file_extension, int clock_interpolation_number); /** * @fn IsCalcEnabled * @brief Return calculated enabled flag diff --git a/src/environment/global/initialize_gnss_satellites.cpp b/src/environment/global/initialize_gnss_satellites.cpp index 6bf8bc2ea..d25992920 100644 --- a/src/environment/global/initialize_gnss_satellites.cpp +++ b/src/environment/global/initialize_gnss_satellites.cpp @@ -85,12 +85,10 @@ void ReadFileContents(std::string directory_path, std::string file_name, std::ve *@param [in] first: The first SP3 file name *@param [in] last: The last SP3 file name *@param [out] file_contents: Generated files as multiple vectors of one line strings - *@param [out] ur_flag: Ultra rapid flag */ void ReadSp3Files(std::string directory_path, std::string file_sort, std::string first, std::string last, - std::vector>& file_contents, UltraRapidMode& ur_flag) { + std::vector>& file_contents) { std::string all_directory_path = directory_path + ReturnDirectoryPathWithFileType(file_sort); - ur_flag = kNotUse; if (first.substr(0, 3) == "COD") { std::string file_header = "COD0MGXFIN_"; @@ -123,7 +121,6 @@ void ReadSp3Files(std::string directory_path, std::string file_sort, std::string ++day; } } else if (file_sort.substr(0, 3) == "IGU" || file_sort.find("Ultra") != std::string::npos) { // In case of UR - ur_flag = kUnknown; std::string file_header, file_footer; int gps_week = 0, day = 0; int hour = 0; @@ -299,19 +296,17 @@ GnssSatellites* InitGnssSatellites(std::string file_name) { // Position std::vector> position_file; - UltraRapidMode position_ur_flag = kNotUse; ReadSp3Files(directory_path, ini_file.ReadString(section, "position_file_sort"), ini_file.ReadString(section, "position_first"), - ini_file.ReadString(section, "position_last"), position_file, position_ur_flag); + ini_file.ReadString(section, "position_last"), position_file); int position_interpolation_method = ini_file.ReadInt(section, "position_interpolation_method"); int position_interpolation_number = ini_file.ReadInt(section, "position_interpolation_number"); // Clock std::vector> clock_file; - UltraRapidMode clock_ur_flag = kNotUse; std::string clock_file_extension = ini_file.ReadString(section, "clock_file_extension"); if (clock_file_extension == ".sp3") { ReadSp3Files(directory_path, ini_file.ReadString(section, "clock_file_sort"), ini_file.ReadString(section, "clock_first"), - ini_file.ReadString(section, "clock_last"), clock_file, clock_ur_flag); + ini_file.ReadString(section, "clock_last"), clock_file); } else { ReadClockFiles(directory_path, clock_file_extension, ini_file.ReadString(section, "clock_file_sort"), ini_file.ReadString(section, "clock_first"), ini_file.ReadString(section, "clock_last"), clock_file); @@ -319,8 +314,8 @@ GnssSatellites* InitGnssSatellites(std::string file_name) { int clock_interpolation_number = ini_file.ReadInt(section, "clock_interpolation_number"); // Initialize GNSS satellites - gnss_satellites->Initialize(position_file, position_interpolation_method, position_interpolation_number, position_ur_flag, clock_file, - clock_file_extension, clock_interpolation_number, clock_ur_flag); + gnss_satellites->Initialize(position_file, position_interpolation_method, position_interpolation_number, clock_file, clock_file_extension, + clock_interpolation_number); return gnss_satellites; } From 1884063406c316f952c02e207ca8c632e51417aa Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 29 Jan 2024 12:38:39 +0100 Subject: [PATCH 021/456] Remove unused ECI/ECEF enum --- src/environment/global/gnss_satellites.cpp | 17 +++++++---------- src/environment/global/gnss_satellites.hpp | 9 +-------- 2 files changed, 8 insertions(+), 18 deletions(-) diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index dfe7748a8..da7597b52 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -828,7 +828,7 @@ double GnssSatellites::GetPseudoRangeEcef(const size_t gnss_satellite_id, libra: res += receiver_clock_offset_m - gnss_info_.GetClockOffset_m(gnss_satellite_id); // ionospheric delay - const double ionospheric_delay = AddIonosphericDelay(gnss_satellite_id, receiver_position_ecef_m, frequency_MHz, GnssFrameDefinition::kEcef); + const double ionospheric_delay = AddIonosphericDelay(gnss_satellite_id, receiver_position_ecef_m, frequency_MHz); res += ionospheric_delay; @@ -851,7 +851,7 @@ double GnssSatellites::GetPseudoRangeEci(const size_t gnss_satellite_id, libra:: res += receiver_clock_offset_m - gnss_info_.GetClockOffset_m(gnss_satellite_id); // ionospheric delay - const double ionospheric_delay = AddIonosphericDelay(gnss_satellite_id, receiver_position_eci_m, frequency_MHz, GnssFrameDefinition::kEci); + const double ionospheric_delay = AddIonosphericDelay(gnss_satellite_id, receiver_position_eci_m, frequency_MHz); res += ionospheric_delay; @@ -874,7 +874,7 @@ pair GnssSatellites::GetCarrierPhaseEcef(const size_t gnss_satel res += receiver_clock_offset_m - gnss_info_.GetClockOffset_m(gnss_satellite_id); // ionospheric delay - const double ionospheric_delay = AddIonosphericDelay(gnss_satellite_id, receiver_position_ecef_m, frequency_MHz, GnssFrameDefinition::kEcef); + const double ionospheric_delay = AddIonosphericDelay(gnss_satellite_id, receiver_position_ecef_m, frequency_MHz); res -= ionospheric_delay; @@ -904,7 +904,7 @@ pair GnssSatellites::GetCarrierPhaseEci(const size_t gnss_satell res += receiver_clock_offset_m - gnss_info_.GetClockOffset_m(gnss_satellite_id); // ionospheric delay - const double ionospheric_delay = AddIonosphericDelay(gnss_satellite_id, receiver_position_eci_m, frequency_MHz, GnssFrameDefinition::kEci); + const double ionospheric_delay = AddIonosphericDelay(gnss_satellite_id, receiver_position_eci_m, frequency_MHz); res -= ionospheric_delay; @@ -919,8 +919,8 @@ pair GnssSatellites::GetCarrierPhaseEci(const size_t gnss_satell } // for Ionospheric delay I[m] -double GnssSatellites::AddIonosphericDelay(const size_t gnss_satellite_id, const libra::Vector<3> receiver_position_m, const double frequency_MHz, - const GnssFrameDefinition flag) const { +double GnssSatellites::AddIonosphericDelay(const size_t gnss_satellite_id, const libra::Vector<3> receiver_position_m, + const double frequency_MHz) const { // gnss_satellite_id is wrong or not validate if (gnss_satellite_id >= kTotalNumberOfGnssSatellite || !GetWhetherValid(gnss_satellite_id)) return 0.0; @@ -933,10 +933,7 @@ double GnssSatellites::AddIonosphericDelay(const size_t gnss_satellite_id, const if (altitude >= 1000.0) return 0.0; // there is no Ionosphere above 1000km libra::Vector<3> gnss_position; - if (flag == GnssFrameDefinition::kEcef) - gnss_position = gnss_info_.GetPosition_ecef_m(gnss_satellite_id); - else if (flag == GnssFrameDefinition::kEci) - gnss_position = gnss_info_.GetPosition_eci_m(gnss_satellite_id); + gnss_position = gnss_info_.GetPosition_ecef_m(gnss_satellite_id); double angle_rad = CalcAngleTwoVectors_rad(receiver_position_m, gnss_position - receiver_position_m); const double default_delay = 20.0; //[m] default delay diff --git a/src/environment/global/gnss_satellites.hpp b/src/environment/global/gnss_satellites.hpp index 33e1ba1bd..aa042c440 100644 --- a/src/environment/global/gnss_satellites.hpp +++ b/src/environment/global/gnss_satellites.hpp @@ -19,11 +19,6 @@ extern const double nan99; //!< Not at Number TODO: Should be moved to another place -enum class GnssFrameDefinition { - kEcef = 0, //!< Use ECEF frame for GNSS satellite position frame in Add_IonosphericDelay - kEci = 1 //!< Use ECI frame for GNSS satellite position frame in Add_IonosphericDelay -}; - /** * @class GnssSatelliteBase * @brief A class to summarize basic feature of GNSS position and clock calculation @@ -410,11 +405,9 @@ class GnssSatellites : public ILoggable { * @param [in] gnss_satellite_id: GNSS satellite ID * @param [in] receiver_position_m: Receiver position [m] * @param [in] frequency_MHz: Frequency [MHz] - * @param [in] flag: The frame definition of the receiver position (ECI or ECEF) * @return Ionospheric delay [m] */ - double AddIonosphericDelay(const size_t gnss_satellite_id, const libra::Vector<3> receiver_position_m, const double frequency_MHz, - const GnssFrameDefinition flag) const; + double AddIonosphericDelay(const size_t gnss_satellite_id, const libra::Vector<3> receiver_position_m, const double frequency_MHz) const; bool is_calc_enabled_ = true; //!< Flag to manage the GNSS satellite position calculation GnssSatelliteInformation gnss_info_; //!< GNSS satellites information From 11b27b3c6bb6342b5f910f8f1ca3678125b126f5 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 29 Jan 2024 13:22:56 +0100 Subject: [PATCH 022/456] Delete undefined function --- src/environment/global/gnss_satellites.hpp | 6 ------ 1 file changed, 6 deletions(-) diff --git a/src/environment/global/gnss_satellites.hpp b/src/environment/global/gnss_satellites.hpp index aa042c440..945319e24 100644 --- a/src/environment/global/gnss_satellites.hpp +++ b/src/environment/global/gnss_satellites.hpp @@ -392,12 +392,6 @@ class GnssSatellites : public ILoggable { std::string GetLogValue() const override; private: - /** - * @fn TrigonometricInterpolation - * @brief Is this similar with GnssSatelliteBase's function? - */ - double TrigonometricInterpolation(std::vector time_period, std::vector position, double time); - /** * @fn AddIonosphericDelay * @brief Calculation of ionospheric delay From 106b2337032c6194819a46d7ec8045cb018f01db Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 29 Jan 2024 13:25:29 +0100 Subject: [PATCH 023/456] Delete redundant assertion --- src/environment/global/gnss_satellites.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index da7597b52..994b405e6 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -786,7 +786,7 @@ bool GnssSatellites::GetWhetherValid(const size_t gnss_satellite_id) const { libra::Vector<3> GnssSatellites::GetPosition_ecef_m(const size_t gnss_satellite_id) const { // gnss_satellite_id is wrong or not valid - if (gnss_satellite_id >= kTotalNumberOfGnssSatellite || !GetWhetherValid(gnss_satellite_id)) { + if (!GetWhetherValid(gnss_satellite_id)) { libra::Vector<3> res(0); return res; } @@ -796,7 +796,7 @@ libra::Vector<3> GnssSatellites::GetPosition_ecef_m(const size_t gnss_satellite_ libra::Vector<3> GnssSatellites::GetPosition_eci_m(const size_t gnss_satellite_id) const { // gnss_satellite_id is wrong or not valid - if (gnss_satellite_id >= kTotalNumberOfGnssSatellite || !GetWhetherValid(gnss_satellite_id)) { + if (!GetWhetherValid(gnss_satellite_id)) { libra::Vector<3> res(0); return res; } @@ -805,7 +805,7 @@ libra::Vector<3> GnssSatellites::GetPosition_eci_m(const size_t gnss_satellite_i } double GnssSatellites::GetClockOffset_m(const size_t gnss_satellite_id) const { - if (gnss_satellite_id >= kTotalNumberOfGnssSatellite || !GetWhetherValid(gnss_satellite_id)) { + if (!GetWhetherValid(gnss_satellite_id)) { return 0.0; } From 665fe4eddd425ae55a4cf1edf86a77e2e3efe691 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 29 Jan 2024 13:44:45 +0100 Subject: [PATCH 024/456] Delete redundant assertion --- src/environment/global/gnss_satellites.cpp | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index 994b405e6..864513155 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -778,10 +778,11 @@ void GnssSatellites::Update(const SimulationTime* simulation_time) { bool GnssSatellites::GetWhetherValid(const size_t gnss_satellite_id) const { if (gnss_satellite_id >= kTotalNumberOfGnssSatellite) return false; - if (gnss_info_.GetWhetherValid(gnss_satellite_id) && gnss_info_.GetWhetherValid(gnss_satellite_id)) + if (gnss_info_.GetWhetherValid(gnss_satellite_id)) { return true; - else + } else { return false; + } } libra::Vector<3> GnssSatellites::GetPosition_ecef_m(const size_t gnss_satellite_id) const { From caf44a74eb4a8d32b45ce7b98dbf5c104a684477 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 29 Jan 2024 13:50:11 +0100 Subject: [PATCH 025/456] Delete redundant assertion --- src/environment/global/gnss_satellites.cpp | 10 +--------- 1 file changed, 1 insertion(+), 9 deletions(-) diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index 864513155..521a641c4 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -775,15 +775,7 @@ void GnssSatellites::Update(const SimulationTime* simulation_time) { return; } -bool GnssSatellites::GetWhetherValid(const size_t gnss_satellite_id) const { - if (gnss_satellite_id >= kTotalNumberOfGnssSatellite) return false; - - if (gnss_info_.GetWhetherValid(gnss_satellite_id)) { - return true; - } else { - return false; - } -} +bool GnssSatellites::GetWhetherValid(const size_t gnss_satellite_id) const { return gnss_info_.GetWhetherValid(gnss_satellite_id); } libra::Vector<3> GnssSatellites::GetPosition_ecef_m(const size_t gnss_satellite_id) const { // gnss_satellite_id is wrong or not valid From e04c7350a2d3965146dade16aca25ed3484cab96 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 29 Jan 2024 13:51:42 +0100 Subject: [PATCH 026/456] Delete redundant assertion --- src/environment/global/gnss_satellites.cpp | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index 521a641c4..2767215d1 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -808,7 +808,7 @@ double GnssSatellites::GetClockOffset_m(const size_t gnss_satellite_id) const { double GnssSatellites::GetPseudoRangeEcef(const size_t gnss_satellite_id, libra::Vector<3> receiver_position_ecef_m, double receiver_clock_offset_m, const double frequency_MHz) const { // gnss_satellite_id is wrong or not validate - if (gnss_satellite_id >= kTotalNumberOfGnssSatellite || !GetWhetherValid(gnss_satellite_id)) return 0.0; + if (!GetWhetherValid(gnss_satellite_id)) return 0.0; double res = 0.0; auto gnss_position = gnss_info_.GetPosition_ecef_m(gnss_satellite_id); @@ -831,7 +831,7 @@ double GnssSatellites::GetPseudoRangeEcef(const size_t gnss_satellite_id, libra: double GnssSatellites::GetPseudoRangeEci(const size_t gnss_satellite_id, libra::Vector<3> receiver_position_eci_m, double receiver_clock_offset_m, const double frequency_MHz) const { // gnss_satellite_id is wrong or not validate - if (gnss_satellite_id >= kTotalNumberOfGnssSatellite || !GetWhetherValid(gnss_satellite_id)) return 0.0; + if (!GetWhetherValid(gnss_satellite_id)) return 0.0; double res = 0.0; auto gnss_position = gnss_info_.GetPosition_eci_m(gnss_satellite_id); @@ -854,7 +854,7 @@ double GnssSatellites::GetPseudoRangeEci(const size_t gnss_satellite_id, libra:: pair GnssSatellites::GetCarrierPhaseEcef(const size_t gnss_satellite_id, libra::Vector<3> receiver_position_ecef_m, double receiver_clock_offset_m, const double frequency_MHz) const { // gnss_satellite_id is wrong or not validate - if (gnss_satellite_id >= kTotalNumberOfGnssSatellite || !GetWhetherValid(gnss_satellite_id)) return {0.0, 0.0}; + if (!GetWhetherValid(gnss_satellite_id)) return {0.0, 0.0}; double res = 0.0; auto gnss_position = gnss_info_.GetPosition_ecef_m(gnss_satellite_id); @@ -884,7 +884,7 @@ pair GnssSatellites::GetCarrierPhaseEcef(const size_t gnss_satel pair GnssSatellites::GetCarrierPhaseEci(const size_t gnss_satellite_id, libra::Vector<3> receiver_position_eci_m, double receiver_clock_offset_m, const double frequency_MHz) const { // gnss_satellite_id is wrong or not validate - if (gnss_satellite_id >= kTotalNumberOfGnssSatellite || !GetWhetherValid(gnss_satellite_id)) return {0.0, 0.0}; + if (!GetWhetherValid(gnss_satellite_id)) return {0.0, 0.0}; double res = 0.0; auto gnss_position = gnss_info_.GetPosition_eci_m(gnss_satellite_id); @@ -915,7 +915,7 @@ pair GnssSatellites::GetCarrierPhaseEci(const size_t gnss_satell double GnssSatellites::AddIonosphericDelay(const size_t gnss_satellite_id, const libra::Vector<3> receiver_position_m, const double frequency_MHz) const { // gnss_satellite_id is wrong or not validate - if (gnss_satellite_id >= kTotalNumberOfGnssSatellite || !GetWhetherValid(gnss_satellite_id)) return 0.0; + if (!GetWhetherValid(gnss_satellite_id)) return 0.0; const double earth_hemisphere_km = environment::earth_equatorial_radius_m / 1000.0; From 97af74882195f990e03559b81e04a609c6ec38c2 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 29 Jan 2024 13:59:26 +0100 Subject: [PATCH 027/456] Fix assertion in getter functoins in GNSS --- src/environment/global/gnss_satellites.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index 2767215d1..c542f1838 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -419,12 +419,12 @@ void GnssSatellitePosition::Update(const double current_unix_time) { } libra::Vector<3> GnssSatellitePosition::GetPosition_ecef_m(const size_t gnss_satellite_id) const { - if (gnss_satellite_id >= kTotalNumberOfGnssSatellite) return libra::Vector<3>(0.0); + if (!GetWhetherValid(gnss_satellite_id)) return libra::Vector<3>(0.0); return position_ecef_m_.at(gnss_satellite_id); } libra::Vector<3> GnssSatellitePosition::GetPosition_eci_m(const size_t gnss_satellite_id) const { - if (gnss_satellite_id >= kTotalNumberOfGnssSatellite) return libra::Vector<3>(0.0); + if (!GetWhetherValid(gnss_satellite_id)) return libra::Vector<3>(0.0); return position_eci_m_.at(gnss_satellite_id); } @@ -698,7 +698,7 @@ void GnssSatelliteClock::Update(const double current_unix_time) { } double GnssSatelliteClock::GetClockOffset_m(const size_t gnss_satellite_id) const { - if (gnss_satellite_id >= kTotalNumberOfGnssSatellite) return 0.0; + if (!GetWhetherValid(gnss_satellite_id)) return 0.0; return clock_offset_m_.at(gnss_satellite_id); } From 0f271716f8293c6f7e84696f70ab36e6d32f0cb9 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 29 Jan 2024 14:24:01 +0100 Subject: [PATCH 028/456] Delete GnssSatelliteInformation --- src/environment/global/gnss_satellites.cpp | 70 +++++++---------- src/environment/global/gnss_satellites.hpp | 89 +--------------------- 2 files changed, 32 insertions(+), 127 deletions(-) diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index c542f1838..c6f5b53fa 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -702,29 +702,6 @@ double GnssSatelliteClock::GetClockOffset_m(const size_t gnss_satellite_id) cons return clock_offset_m_.at(gnss_satellite_id); } -// GnssSatelliteInformation -GnssSatelliteInformation::GnssSatelliteInformation() {} -void GnssSatelliteInformation::Initialize(vector>& position_file, int position_interpolation_method, int position_interpolation_number, - vector>& clock_file, string clock_file_extension, int clock_interpolation_number) { - auto unix_time_period = position_.Initialize(position_file, position_interpolation_method, position_interpolation_number); - clock_.Initialize(clock_file, clock_file_extension, clock_interpolation_number, unix_time_period); -} - -void GnssSatelliteInformation::SetUp(const double start_unix_time, const double step_width_s) { - position_.SetUp(start_unix_time, step_width_s); - clock_.SetUp(start_unix_time, step_width_s); -} - -void GnssSatelliteInformation::Update(const double current_unix_time) { - position_.Update(current_unix_time); - clock_.Update(current_unix_time); -} - -bool GnssSatelliteInformation::GetWhetherValid(const size_t gnss_satellite_id) const { - if (position_.GetWhetherValid(gnss_satellite_id) && clock_.GetWhetherValid(gnss_satellite_id)) return true; - return false; -} - // GnssSatellites GnssSatellites::GnssSatellites(bool is_calc_enabled) { // TODO: Add log enable flag in ini file @@ -740,8 +717,9 @@ bool GnssSatellites::IsCalcEnabled() const { return is_calc_enabled_; } void GnssSatellites::Initialize(vector>& position_file, int position_interpolation_method, int position_interpolation_number, vector>& clock_file, string clock_file_extension, int clock_interpolation_number) { - gnss_info_.Initialize(position_file, position_interpolation_method, position_interpolation_number, clock_file, clock_file_extension, - clock_interpolation_number); + auto unix_time_period = position_.Initialize(position_file, position_interpolation_method, position_interpolation_number); + clock_.Initialize(clock_file, clock_file_extension, clock_interpolation_number, unix_time_period); + return; } @@ -758,7 +736,9 @@ void GnssSatellites::SetUp(const SimulationTime* simulation_time) { start_tm->tm_sec = (int)start_sec; double unix_time = (double)mktime(start_tm) + start_sec - floor(start_sec); std::free(start_tm); - gnss_info_.SetUp(unix_time, simulation_time->GetSimulationStep_s()); + + position_.SetUp(unix_time, simulation_time->GetSimulationStep_s()); + clock_.SetUp(unix_time, simulation_time->GetSimulationStep_s()); start_unix_time_ = unix_time; @@ -770,12 +750,18 @@ void GnssSatellites::Update(const SimulationTime* simulation_time) { double elapsed_sec = simulation_time->GetElapsedTime_s(); - gnss_info_.Update(elapsed_sec + start_unix_time_); + double current_unix_time = elapsed_sec + start_unix_time_; + + position_.Update(current_unix_time); + clock_.Update(current_unix_time); return; } -bool GnssSatellites::GetWhetherValid(const size_t gnss_satellite_id) const { return gnss_info_.GetWhetherValid(gnss_satellite_id); } +bool GnssSatellites::GetWhetherValid(const size_t gnss_satellite_id) const { + if (position_.GetWhetherValid(gnss_satellite_id) && clock_.GetWhetherValid(gnss_satellite_id)) return true; + return false; +} libra::Vector<3> GnssSatellites::GetPosition_ecef_m(const size_t gnss_satellite_id) const { // gnss_satellite_id is wrong or not valid @@ -784,7 +770,7 @@ libra::Vector<3> GnssSatellites::GetPosition_ecef_m(const size_t gnss_satellite_ return res; } - return gnss_info_.GetPosition_ecef_m(gnss_satellite_id); + return position_.GetPosition_ecef_m(gnss_satellite_id); } libra::Vector<3> GnssSatellites::GetPosition_eci_m(const size_t gnss_satellite_id) const { @@ -794,7 +780,7 @@ libra::Vector<3> GnssSatellites::GetPosition_eci_m(const size_t gnss_satellite_i return res; } - return gnss_info_.GetPosition_eci_m(gnss_satellite_id); + return position_.GetPosition_eci_m(gnss_satellite_id); } double GnssSatellites::GetClockOffset_m(const size_t gnss_satellite_id) const { @@ -802,7 +788,7 @@ double GnssSatellites::GetClockOffset_m(const size_t gnss_satellite_id) const { return 0.0; } - return gnss_info_.GetClockOffset_m(gnss_satellite_id); + return clock_.GetClockOffset_m(gnss_satellite_id); } double GnssSatellites::GetPseudoRangeEcef(const size_t gnss_satellite_id, libra::Vector<3> receiver_position_ecef_m, double receiver_clock_offset_m, @@ -811,14 +797,14 @@ double GnssSatellites::GetPseudoRangeEcef(const size_t gnss_satellite_id, libra: if (!GetWhetherValid(gnss_satellite_id)) return 0.0; double res = 0.0; - auto gnss_position = gnss_info_.GetPosition_ecef_m(gnss_satellite_id); + auto gnss_position = position_.GetPosition_ecef_m(gnss_satellite_id); for (int i = 0; i < 3; ++i) { res += pow(receiver_position_ecef_m(i) - gnss_position(i), 2.0); } res = sqrt(res); // clock bias - res += receiver_clock_offset_m - gnss_info_.GetClockOffset_m(gnss_satellite_id); + res += receiver_clock_offset_m - clock_.GetClockOffset_m(gnss_satellite_id); // ionospheric delay const double ionospheric_delay = AddIonosphericDelay(gnss_satellite_id, receiver_position_ecef_m, frequency_MHz); @@ -834,14 +820,14 @@ double GnssSatellites::GetPseudoRangeEci(const size_t gnss_satellite_id, libra:: if (!GetWhetherValid(gnss_satellite_id)) return 0.0; double res = 0.0; - auto gnss_position = gnss_info_.GetPosition_eci_m(gnss_satellite_id); + auto gnss_position = position_.GetPosition_eci_m(gnss_satellite_id); for (int i = 0; i < 3; ++i) { res += pow(receiver_position_eci_m(i) - gnss_position(i), 2.0); } res = sqrt(res); // clock bias - res += receiver_clock_offset_m - gnss_info_.GetClockOffset_m(gnss_satellite_id); + res += receiver_clock_offset_m - clock_.GetClockOffset_m(gnss_satellite_id); // ionospheric delay const double ionospheric_delay = AddIonosphericDelay(gnss_satellite_id, receiver_position_eci_m, frequency_MHz); @@ -857,14 +843,14 @@ pair GnssSatellites::GetCarrierPhaseEcef(const size_t gnss_satel if (!GetWhetherValid(gnss_satellite_id)) return {0.0, 0.0}; double res = 0.0; - auto gnss_position = gnss_info_.GetPosition_ecef_m(gnss_satellite_id); + auto gnss_position = position_.GetPosition_ecef_m(gnss_satellite_id); for (int i = 0; i < 3; ++i) { res += pow(receiver_position_ecef_m(i) - gnss_position(i), 2.0); } res = sqrt(res); // clock bias - res += receiver_clock_offset_m - gnss_info_.GetClockOffset_m(gnss_satellite_id); + res += receiver_clock_offset_m - clock_.GetClockOffset_m(gnss_satellite_id); // ionospheric delay const double ionospheric_delay = AddIonosphericDelay(gnss_satellite_id, receiver_position_ecef_m, frequency_MHz); @@ -887,14 +873,14 @@ pair GnssSatellites::GetCarrierPhaseEci(const size_t gnss_satell if (!GetWhetherValid(gnss_satellite_id)) return {0.0, 0.0}; double res = 0.0; - auto gnss_position = gnss_info_.GetPosition_eci_m(gnss_satellite_id); + auto gnss_position = position_.GetPosition_eci_m(gnss_satellite_id); for (int i = 0; i < 3; ++i) { res += pow(receiver_position_eci_m(i) - gnss_position(i), 2.0); } res = sqrt(res); // clock bias - res += receiver_clock_offset_m - gnss_info_.GetClockOffset_m(gnss_satellite_id); + res += receiver_clock_offset_m - clock_.GetClockOffset_m(gnss_satellite_id); // ionospheric delay const double ionospheric_delay = AddIonosphericDelay(gnss_satellite_id, receiver_position_eci_m, frequency_MHz); @@ -926,7 +912,7 @@ double GnssSatellites::AddIonosphericDelay(const size_t gnss_satellite_id, const if (altitude >= 1000.0) return 0.0; // there is no Ionosphere above 1000km libra::Vector<3> gnss_position; - gnss_position = gnss_info_.GetPosition_ecef_m(gnss_satellite_id); + gnss_position = position_.GetPosition_ecef_m(gnss_satellite_id); double angle_rad = CalcAngleTwoVectors_rad(receiver_position_m, gnss_position - receiver_position_m); const double default_delay = 20.0; //[m] default delay @@ -955,8 +941,8 @@ std::string GnssSatellites::GetLogValue() const { std::string str_tmp = ""; for (size_t gps_index = 0; gps_index < kNumberOfGpsSatellite; gps_index++) { - str_tmp += WriteVector(gnss_info_.GetPosition_ecef_m((int)gps_index), 16); - str_tmp += WriteScalar(gnss_info_.GetClockOffset_m((int)gps_index)); + str_tmp += WriteVector(position_.GetPosition_ecef_m((int)gps_index), 16); + str_tmp += WriteScalar(clock_.GetClockOffset_m((int)gps_index)); } return str_tmp; diff --git a/src/environment/global/gnss_satellites.hpp b/src/environment/global/gnss_satellites.hpp index 945319e24..f24e14630 100644 --- a/src/environment/global/gnss_satellites.hpp +++ b/src/environment/global/gnss_satellites.hpp @@ -177,83 +177,6 @@ class GnssSatelliteClock : public GnssSatelliteBase { std::vector> clock_bias_; //!< Time series of clock bias of all GNSS satellites expressed in distance before interpolation [m] }; -/** - * @class GnssSatelliteInformation - * @brief Class to manage GNSS satellite information including position and clock - */ -class GnssSatelliteInformation { - public: - /** - * @fn GnssSatelliteInformation - * @brief Constructor - */ - GnssSatelliteInformation(); - /** - * @fn Initialize - * @brief Initialize position and clock - * @param[in] position_file: File path for position calculation - * @param[in] position_interpolation_method: Interpolation method for position calculation - * @param[in] position_interpolation_number: Interpolation number for position calculation - * @param[in] clock_file: File path for clock calculation - * @param[in] clock_file_extension: Extension of the clock file (ex. .sp3, .clk30s) - * @param[in] clock_interpolation_number: Interpolation number for clock calculation - */ - void Initialize(std::vector>& position_file, int position_interpolation_method, int position_interpolation_number, - std::vector>& clock_file, std::string clock_file_extension, int clock_interpolation_number); - /** - * @fn SetUp - * @brief Setup GNSS satellite position and clock information - * @param [in] start_unix_time: Start unix time - * @param [in] step_width_s: Step width [sec] - */ - void SetUp(const double start_unix_time, const double step_width_s); - /** - * @fn Update - * @brief Update GNSS satellite position and clock information - * @param [in] current_unix_time: Current unix time - */ - void Update(const double current_unix_time); - - /** - * @fn GetWhetherValid - * @brief Return true the GNSS satellite information is available for both position and clock information - * @param [in] gnss_satellite_id: Index of GNSS satellite - */ - bool GetWhetherValid(const size_t gnss_satellite_id) const; - /** - * @fn GetPosition_ecef_m - * @brief Return GNSS satellite position vector in the ECEF frame [m] - * @param [in] gnss_satellite_id: GNSS satellite ID defined in this class - */ - inline libra::Vector<3> GetPosition_ecef_m(const size_t gnss_satellite_id) const { return position_.GetPosition_ecef_m(gnss_satellite_id); } - /** - * @fn GetPosition_eci_m - * @brief Return GNSS satellite position vector in the ECEF frame [m] - * @param [in] gnss_satellite_id: GNSS satellite ID defined in this class - */ - inline libra::Vector<3> GetPosition_eci_m(const size_t gnss_satellite_id) const { return position_.GetPosition_eci_m(gnss_satellite_id); } - /** - * @fn GetClockOffset_m - * @brief Return GNSS satellite clock in distance expression [m] - * @param [in] gnss_satellite_id: GNSS satellite ID defined in this class - */ - inline double GetClockOffset_m(const size_t gnss_satellite_id) const { return clock_.GetClockOffset_m(gnss_satellite_id); } - /** - * @fn GetGnssSatPos - * @brief Return GNSS satellite position information class - */ - inline const GnssSatellitePosition& GetGnssSatPos() const { return position_; }; - /** - * @fn GetGnssSatClock - * @brief Return GNSS satellite clock information class - */ - inline const GnssSatelliteClock& GetGnssSatClock() const { return clock_; } - - private: - GnssSatellitePosition position_; //!< GNSS satellite position information - GnssSatelliteClock clock_; //!< GNSS satellite clock information -}; - /** * @class GnssSatellites * @brief Class to calculate GNSS satellite position and related states @@ -309,11 +232,6 @@ class GnssSatellites : public ILoggable { * @brief Return start unix time */ inline double GetStartUnixTime() const { return start_unix_time_; } - /** - * @fn GetInformation - * @brief Return GNSS satellite information class - */ - inline const GnssSatelliteInformation& GetInformation() const { return gnss_info_; } /** * @fn GetPosition_ecef_m @@ -403,9 +321,10 @@ class GnssSatellites : public ILoggable { */ double AddIonosphericDelay(const size_t gnss_satellite_id, const libra::Vector<3> receiver_position_m, const double frequency_MHz) const; - bool is_calc_enabled_ = true; //!< Flag to manage the GNSS satellite position calculation - GnssSatelliteInformation gnss_info_; //!< GNSS satellites information - double start_unix_time_; //!< Start unix time + bool is_calc_enabled_ = true; //!< Flag to manage the GNSS satellite position calculation + GnssSatellitePosition position_; //!< GNSS satellite position information + GnssSatelliteClock clock_; //!< GNSS satellite clock information + double start_unix_time_; //!< Start unix time }; #endif // S2E_ENVIRONMENT_GLOBAL_GNSS_SATELLITES_HPP_ From abe07f02b2e6404f65e49cf3e1f5daaa63ecb448 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 29 Jan 2024 14:34:31 +0100 Subject: [PATCH 029/456] Move simple functions to inline functions --- src/environment/global/gnss_satellites.cpp | 56 --------------------- src/environment/global/gnss_satellites.hpp | 57 ++++++++++++++++++---- 2 files changed, 48 insertions(+), 65 deletions(-) diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index c6f5b53fa..7b29073e4 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -13,7 +13,6 @@ #include "environment/global/physical_constants.hpp" #include "library/external/sgp4/sgp4ext.h" //for jday() #include "library/external/sgp4/sgp4unit.h" //for gstime() -#include "library/gnss/gnss_satellite_number.hpp" #include "library/logger/log_utility.hpp" #include "library/math/constants.hpp" #include "library/utilities/macros.hpp" @@ -142,11 +141,6 @@ double GnssSatelliteBase::LagrangeInterpolation(const vector& time_vecto return res; } -bool GnssSatelliteBase::GetWhetherValid(const size_t gnss_satellite_id) const { - if (gnss_satellite_id >= kTotalNumberOfGnssSatellite) return false; - return validate_.at(gnss_satellite_id); -} - // GnssSatellitePosition pair GnssSatellitePosition::Initialize(vector>& file, int interpolation_method, int interpolation_number) { UNUSED(interpolation_method); @@ -418,16 +412,6 @@ void GnssSatellitePosition::Update(const double current_unix_time) { } } -libra::Vector<3> GnssSatellitePosition::GetPosition_ecef_m(const size_t gnss_satellite_id) const { - if (!GetWhetherValid(gnss_satellite_id)) return libra::Vector<3>(0.0); - return position_ecef_m_.at(gnss_satellite_id); -} - -libra::Vector<3> GnssSatellitePosition::GetPosition_eci_m(const size_t gnss_satellite_id) const { - if (!GetWhetherValid(gnss_satellite_id)) return libra::Vector<3>(0.0); - return position_eci_m_.at(gnss_satellite_id); -} - // GnssSatelliteClock void GnssSatelliteClock::Initialize(vector>& file, string file_extension, int interpolation_number, pair unix_time_period) { @@ -697,11 +681,6 @@ void GnssSatelliteClock::Update(const double current_unix_time) { } } -double GnssSatelliteClock::GetClockOffset_m(const size_t gnss_satellite_id) const { - if (!GetWhetherValid(gnss_satellite_id)) return 0.0; - return clock_offset_m_.at(gnss_satellite_id); -} - // GnssSatellites GnssSatellites::GnssSatellites(bool is_calc_enabled) { // TODO: Add log enable flag in ini file @@ -713,8 +692,6 @@ GnssSatellites::GnssSatellites(bool is_calc_enabled) { } } -bool GnssSatellites::IsCalcEnabled() const { return is_calc_enabled_; } - void GnssSatellites::Initialize(vector>& position_file, int position_interpolation_method, int position_interpolation_number, vector>& clock_file, string clock_file_extension, int clock_interpolation_number) { auto unix_time_period = position_.Initialize(position_file, position_interpolation_method, position_interpolation_number); @@ -758,39 +735,6 @@ void GnssSatellites::Update(const SimulationTime* simulation_time) { return; } -bool GnssSatellites::GetWhetherValid(const size_t gnss_satellite_id) const { - if (position_.GetWhetherValid(gnss_satellite_id) && clock_.GetWhetherValid(gnss_satellite_id)) return true; - return false; -} - -libra::Vector<3> GnssSatellites::GetPosition_ecef_m(const size_t gnss_satellite_id) const { - // gnss_satellite_id is wrong or not valid - if (!GetWhetherValid(gnss_satellite_id)) { - libra::Vector<3> res(0); - return res; - } - - return position_.GetPosition_ecef_m(gnss_satellite_id); -} - -libra::Vector<3> GnssSatellites::GetPosition_eci_m(const size_t gnss_satellite_id) const { - // gnss_satellite_id is wrong or not valid - if (!GetWhetherValid(gnss_satellite_id)) { - libra::Vector<3> res(0); - return res; - } - - return position_.GetPosition_eci_m(gnss_satellite_id); -} - -double GnssSatellites::GetClockOffset_m(const size_t gnss_satellite_id) const { - if (!GetWhetherValid(gnss_satellite_id)) { - return 0.0; - } - - return clock_.GetClockOffset_m(gnss_satellite_id); -} - double GnssSatellites::GetPseudoRangeEcef(const size_t gnss_satellite_id, libra::Vector<3> receiver_position_ecef_m, double receiver_clock_offset_m, const double frequency_MHz) const { // gnss_satellite_id is wrong or not validate diff --git a/src/environment/global/gnss_satellites.hpp b/src/environment/global/gnss_satellites.hpp index f24e14630..0d2237e80 100644 --- a/src/environment/global/gnss_satellites.hpp +++ b/src/environment/global/gnss_satellites.hpp @@ -13,6 +13,7 @@ #include #include +#include "library/gnss/gnss_satellite_number.hpp" #include "library/logger/loggable.hpp" #include "library/math/vector.hpp" #include "simulation_time.hpp" @@ -30,7 +31,10 @@ class GnssSatelliteBase { * @brief Return true the GNSS satellite information is available * @param [in] gnss_satellite_id: Index of GNSS satellite */ - bool GetWhetherValid(const size_t gnss_satellite_id) const; + inline bool GetWhetherValid(const size_t gnss_satellite_id) const { + if (gnss_satellite_id >= kTotalNumberOfGnssSatellite) return false; + return validate_.at(gnss_satellite_id); + } protected: /** @@ -109,13 +113,19 @@ class GnssSatellitePosition : public GnssSatelliteBase { * @brief Return GNSS satellite position vector in the ECEF frame [m] * @param [in] gnss_satellite_id: GNSS satellite ID defined in this class */ - libra::Vector<3> GetPosition_ecef_m(const size_t gnss_satellite_id) const; + inline libra::Vector<3> GetPosition_ecef_m(const size_t gnss_satellite_id) const { + if (!GetWhetherValid(gnss_satellite_id)) return libra::Vector<3>(0.0); + return position_ecef_m_.at(gnss_satellite_id); + } /** * @fn GetPosition_eci_m * @brief Return GNSS satellite position vector in the ECI frame [m] * @param [in] gnss_satellite_id: GNSS satellite ID defined in this class */ - libra::Vector<3> GetPosition_eci_m(const size_t gnss_satellite_id) const; + inline libra::Vector<3> GetPosition_eci_m(const size_t gnss_satellite_id) const { + if (!GetWhetherValid(gnss_satellite_id)) return libra::Vector<3>(0.0); + return position_eci_m_.at(gnss_satellite_id); + } private: std::vector> position_ecef_m_; //!< List of GNSS satellite position at specific time in the ECEF frame [m] @@ -167,7 +177,10 @@ class GnssSatelliteClock : public GnssSatelliteBase { * @brief Return GNSS satellite clock in distance expression [m] * @param [in] gnss_satellite_id: GNSS satellite ID defined in this class */ - double GetClockOffset_m(const size_t gnss_satellite_id) const; + inline double GetClockOffset_m(const size_t gnss_satellite_id) const { + if (!GetWhetherValid(gnss_satellite_id)) return 0.0; + return clock_offset_m_.at(gnss_satellite_id); + } private: std::vector clock_offset_m_; //!< List of clock bias of all GNSS satellites at specific time expressed in distance [m] @@ -206,7 +219,7 @@ class GnssSatellites : public ILoggable { * @fn IsCalcEnabled * @brief Return calculated enabled flag */ - bool IsCalcEnabled() const; + inline bool IsCalcEnabled() const { return is_calc_enabled_; } /** * @fn SetUp @@ -226,7 +239,10 @@ class GnssSatellites : public ILoggable { * @brief Return true the GNSS satellite information is available for both position and clock * @param [in] gnss_satellite_id: Index of GNSS satellite */ - bool GetWhetherValid(const size_t gnss_satellite_id) const; + inline bool GetWhetherValid(const size_t gnss_satellite_id) const { + if (position_.GetWhetherValid(gnss_satellite_id) && clock_.GetWhetherValid(gnss_satellite_id)) return true; + return false; + } /** * @fn GetStartUnixTime * @brief Return start unix time @@ -238,19 +254,42 @@ class GnssSatellites : public ILoggable { * @brief Return GNSS satellite position in the ECEF frame [m] * @param [in] gnss_satellite_id: GNSS satellite ID */ - libra::Vector<3> GetPosition_ecef_m(const size_t gnss_satellite_id) const; + inline libra::Vector<3> GetPosition_ecef_m(const size_t gnss_satellite_id) const { + // gnss_satellite_id is wrong or not valid + if (!GetWhetherValid(gnss_satellite_id)) { + libra::Vector<3> res(0); + return res; + } + + return position_.GetPosition_ecef_m(gnss_satellite_id); + } /** * @fn GetPosition_eci_m * @brief Return GNSS satellite position in the ECI frame [m] * @param [in] gnss_satellite_id: GNSS satellite ID */ - libra::Vector<3> GetPosition_eci_m(const size_t gnss_satellite_id) const; + inline libra::Vector<3> GetPosition_eci_m(const size_t gnss_satellite_id) const { + // gnss_satellite_id is wrong or not valid + if (!GetWhetherValid(gnss_satellite_id)) { + libra::Vector<3> res(0); + return res; + } + + return position_.GetPosition_eci_m(gnss_satellite_id); + } + /** * @fn GetClockOffset_m * @brief Return GNSS satellite clock * @param [in] gnss_satellite_id: GNSS satellite ID */ - double GetClockOffset_m(const size_t gnss_satellite_id) const; + inline double GetClockOffset_m(const size_t gnss_satellite_id) const { + if (!GetWhetherValid(gnss_satellite_id)) { + return 0.0; + } + + return clock_.GetClockOffset_m(gnss_satellite_id); + } /** * @fn GetPseudoRangeEcef From 3dd3d193c76007b138dac20f915c4eb3f3b44c2b Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 29 Jan 2024 15:15:02 +0100 Subject: [PATCH 030/456] Remove unused header includes --- src/environment/global/gnss_satellites.cpp | 7 ------- src/environment/global/gnss_satellites.hpp | 5 ----- 2 files changed, 12 deletions(-) diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index 7b29073e4..d1c3d9069 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -5,14 +5,7 @@ #include "gnss_satellites.hpp" -#include -#include -#include -#include - #include "environment/global/physical_constants.hpp" -#include "library/external/sgp4/sgp4ext.h" //for jday() -#include "library/external/sgp4/sgp4unit.h" //for gstime() #include "library/logger/log_utility.hpp" #include "library/math/constants.hpp" #include "library/utilities/macros.hpp" diff --git a/src/environment/global/gnss_satellites.hpp b/src/environment/global/gnss_satellites.hpp index 0d2237e80..e88999478 100644 --- a/src/environment/global/gnss_satellites.hpp +++ b/src/environment/global/gnss_satellites.hpp @@ -6,11 +6,6 @@ #ifndef S2E_ENVIRONMENT_GLOBAL_GNSS_SATELLITES_HPP_ #define S2E_ENVIRONMENT_GLOBAL_GNSS_SATELLITES_HPP_ -#include -#include -#include -#include -#include #include #include "library/gnss/gnss_satellite_number.hpp" From b08073f5746dd10aa26db4ad0d775e54a10779dd Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 29 Jan 2024 16:07:38 +0100 Subject: [PATCH 031/456] Add pip list to show installed packages --- .github/workflows/build.yml | 1 + 1 file changed, 1 insertion(+) diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index 3fd5843d9..d3ae0dc23 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -248,6 +248,7 @@ jobs: run: | pip install pipenv pipenv install + pipenv run pip list pipenv run python plot_gs_visibility.py --no-gui ls ./*_gs_visibility.png From efc30fe1cf8ea3939a7a54768ae47a34200b91b3 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 29 Jan 2024 16:27:48 +0100 Subject: [PATCH 032/456] Fix python-util version not to require Python 3.9 --- scripts/Plot/Pipfile | 2 +- scripts/Plot/Pipfile.lock | 26 +++++++++----------------- 2 files changed, 10 insertions(+), 18 deletions(-) diff --git a/scripts/Plot/Pipfile b/scripts/Plot/Pipfile index a93bb7385..a0dfe2915 100644 --- a/scripts/Plot/Pipfile +++ b/scripts/Plot/Pipfile @@ -10,7 +10,7 @@ numpy = "==1.24.3" pandas = "==2.0.3" numpy-stl = "==3.0.1" numpy-quaternion = "*" -python-utils = "*" +python-utils = "==3.5.2" [dev-packages] diff --git a/scripts/Plot/Pipfile.lock b/scripts/Plot/Pipfile.lock index df9425272..9f1b6ad36 100644 --- a/scripts/Plot/Pipfile.lock +++ b/scripts/Plot/Pipfile.lock @@ -1,7 +1,7 @@ { "_meta": { "hash": { - "sha256": "16b402d217a5bc994db3911f6f95a9abbe4e58c655feedf6a880934788982ac6" + "sha256": "8e759022ca4e6b4557694a4c6c39e23ea08359fd0d75f20aa3f5dd098e99f05b" }, "pipfile-spec": 6, "requires": { @@ -468,7 +468,7 @@ "sha256:048fb0e9405036518eaaf48a55953c750c11e1a1b68e0dd1a9d62ed0c092cfc5", "sha256:8c491190033a9af7e1d931d0b5dacc2ef47509b34dd0de67ed209b5203fc88c7" ], - "markers": "python_version >= '3.7'", + "markers": "python_version >= '3.5'", "version": "==23.2" }, "pandas": { @@ -644,19 +644,19 @@ }, "python-utils": { "hashes": [ - "sha256:ec3a672465efb6c673845a43afcfafaa23d2594c24324a40ec18a0c59478dc0b", - "sha256:efdf31c8154667d7dc0317547c8e6d3b506c5d4b6e360e0c89662306262fc0ab" + "sha256:68198854fc276bc4b2403b261703c218e01ef564dcb072a7096ed9ea7aa5130c", + "sha256:8bfefc3430f1c48408fa0e5958eee51d39840a5a987c2181a579e99ab6fe5ca6" ], "index": "pypi", - "markers": "python_version >= '3.9'", - "version": "==3.8.1" + "markers": "python_version >= '3.7'", + "version": "==3.5.2" }, "pytz": { "hashes": [ - "sha256:7b4fddbeb94a1eba4b557da24f19fdf9db575192544270a9101d8509f9f43d7b", - "sha256:ce42d816b81b68506614c11e8937d3aa9e41007ceb50bfdcb0749b921bf646c7" + "sha256:31d4583c4ed539cd037956140d695e42c033a19e984bfce9964a3f7d59bc2b40", + "sha256:f90ef520d95e7c46951105338d918664ebfd6f1d995bd7d153127ce90efafa6a" ], - "version": "==2023.3.post1" + "version": "==2023.4" }, "six": { "hashes": [ @@ -666,14 +666,6 @@ "markers": "python_version >= '2.7' and python_version not in '3.0, 3.1, 3.2, 3.3'", "version": "==1.16.0" }, - "typing-extensions": { - "hashes": [ - "sha256:23478f88c37f27d76ac8aee6c905017a143b0b1b886c3c9f66bc2fd94f9f5783", - "sha256:af72aea155e91adfc61c3ae9e0e342dbc0cba726d6cba4b6c72c1f34e47291cd" - ], - "markers": "python_version >= '3.8'", - "version": "==4.9.0" - }, "tzdata": { "hashes": [ "sha256:aa3ace4329eeacda5b7beb7ea08ece826c28d761cda36e747cfbf97996d39bf3", From 430c560cd2896726297ef4eac88310e943a3d0e0 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 29 Jan 2024 17:00:32 +0100 Subject: [PATCH 033/456] Fix version of numpy-quaternion --- scripts/Plot/Pipfile | 2 +- scripts/Plot/Pipfile.lock | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/scripts/Plot/Pipfile b/scripts/Plot/Pipfile index a0dfe2915..a0b041da4 100644 --- a/scripts/Plot/Pipfile +++ b/scripts/Plot/Pipfile @@ -9,7 +9,7 @@ matplotlib = "==3.7.2" numpy = "==1.24.3" pandas = "==2.0.3" numpy-stl = "==3.0.1" -numpy-quaternion = "*" +numpy-quaternion = "==2023.0.2" python-utils = "==3.5.2" [dev-packages] diff --git a/scripts/Plot/Pipfile.lock b/scripts/Plot/Pipfile.lock index 9f1b6ad36..68f7a95d2 100644 --- a/scripts/Plot/Pipfile.lock +++ b/scripts/Plot/Pipfile.lock @@ -1,7 +1,7 @@ { "_meta": { "hash": { - "sha256": "8e759022ca4e6b4557694a4c6c39e23ea08359fd0d75f20aa3f5dd098e99f05b" + "sha256": "9f17d2eee9fa29f1898721cf5fb0055312fecfba2fc95a681f0988cbdce2c2d6" }, "pipfile-spec": 6, "requires": { From 94b58a9b5d7c64dadbb34ab2d8d0f9381ef1e71b Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 30 Jan 2024 10:48:21 +0100 Subject: [PATCH 034/456] Add directory for GNSS final products --- data/sample/initialize_files/gnss/final_products/.gitkeep | 0 1 file changed, 0 insertions(+), 0 deletions(-) create mode 100644 data/sample/initialize_files/gnss/final_products/.gitkeep diff --git a/data/sample/initialize_files/gnss/final_products/.gitkeep b/data/sample/initialize_files/gnss/final_products/.gitkeep new file mode 100644 index 000000000..e69de29bb From 6fd92280d310c102541d795169043ccd6af3d33d Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 30 Jan 2024 10:48:58 +0100 Subject: [PATCH 035/456] Rename default directory path for GNSS --- data/sample/initialize_files/sample_gnss.ini | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/data/sample/initialize_files/sample_gnss.ini b/data/sample/initialize_files/sample_gnss.ini index 8072899d4..cc8d50289 100644 --- a/data/sample/initialize_files/sample_gnss.ini +++ b/data/sample/initialize_files/sample_gnss.ini @@ -1,5 +1,5 @@ [GNSS_SATELLITES] -directory_path = EXT_LIB_DIR_FROM_EXE/sp3/ +directory_path = EXT_LIB_DIR_FROM_EXE/gnss/final_products/ calculation = DISABLE // Choose from IGS, CODE_Final, JAXA_Final, QZSS_Final From 43a76b918a109c85f7a4cb6422d32334ac654e7d Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 30 Jan 2024 10:52:33 +0100 Subject: [PATCH 036/456] Add logging setting for GNSS --- data/sample/initialize_files/sample_gnss.ini | 1 + 1 file changed, 1 insertion(+) diff --git a/data/sample/initialize_files/sample_gnss.ini b/data/sample/initialize_files/sample_gnss.ini index cc8d50289..3c3587c24 100644 --- a/data/sample/initialize_files/sample_gnss.ini +++ b/data/sample/initialize_files/sample_gnss.ini @@ -1,6 +1,7 @@ [GNSS_SATELLITES] directory_path = EXT_LIB_DIR_FROM_EXE/gnss/final_products/ calculation = DISABLE +logging = DISABLE // Choose from IGS, CODE_Final, JAXA_Final, QZSS_Final position_file_sort = IGS From b8ae3df4373de72279a80d422f9c44d394ef0a55 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 30 Jan 2024 11:08:24 +0100 Subject: [PATCH 037/456] Summerize GNSS product file limitations --- data/sample/initialize_files/sample_gnss.ini | 30 ++++++++++++-------- 1 file changed, 18 insertions(+), 12 deletions(-) diff --git a/data/sample/initialize_files/sample_gnss.ini b/data/sample/initialize_files/sample_gnss.ini index 3c3587c24..0550e0e4a 100644 --- a/data/sample/initialize_files/sample_gnss.ini +++ b/data/sample/initialize_files/sample_gnss.ini @@ -3,28 +3,34 @@ directory_path = EXT_LIB_DIR_FROM_EXE/gnss/final_products/ calculation = DISABLE logging = DISABLE -// Choose from IGS, CODE_Final, JAXA_Final, QZSS_Final -position_file_sort = IGS +// Supporting the following products +// - IGS precise orbits and clocks final products for GPS and GLONASS +// - https://igs.org/products/#orbits_clocks +// - MGEX precise orbits and clocks final products for all navigation satellite systems +// - https://igs.org/mgex/data-products/#orbit_clock + +// Header ID of the reference files +// Choose from ***0OPSFIN or ***0MGXFIN +// ***: ID of the analysis center or IGS +file_name_header = IGS0OPSFIN + +// Extension of the reference clock files +// Choose frome SP3, CLK_30s or CLK +clock_file_extension = SP3 // As small as possible within the range. position_first = igs21610.sp3 position_last = igs21613.sp3 +// As small as possible within the range. +clock_first = igs21610.clk_30s +clock_last = igs21613.clk_30s + // Choose from 0: Lagrange, 1: Trigonometric : temporarily, only Trigonometric is valid, Lagrange is not yet implemented. position_interpolation_method = 1 // If you chose Trigonometric as interpolation method, you must choose odds number here. position_interpolation_number = 9 -// Choose frome .sp3, .clk_30s or .clk -clock_file_extension = .clk_30s - -// Choose from IGS, CODE_Final, JAXA_Final, QZSS_Final -// If you choose clk_30s, should choose the one equivalent to final, if you choose clk should choose the one equivalent to rapid. -clock_file_sort = IGS - -// As small as possible within the range. -clock_first = igs21610.clk_30s -clock_last = igs21613.clk_30s // The method is fixed with Lagrange interpolation, 3 (quadratic) recommended clock_interpolation_number = 3 From 5776367c8a5092c4b9883388ea709993fe99f0b4 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 30 Jan 2024 11:10:56 +0100 Subject: [PATCH 038/456] fix small --- data/sample/initialize_files/sample_gnss.ini | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/data/sample/initialize_files/sample_gnss.ini b/data/sample/initialize_files/sample_gnss.ini index 0550e0e4a..295c6f7de 100644 --- a/data/sample/initialize_files/sample_gnss.ini +++ b/data/sample/initialize_files/sample_gnss.ini @@ -15,7 +15,7 @@ logging = DISABLE file_name_header = IGS0OPSFIN // Extension of the reference clock files -// Choose frome SP3, CLK_30s or CLK +// Choose frome SP3, CLK, or CLK_30S clock_file_extension = SP3 // As small as possible within the range. From 797bda73916a419a0cd9694c82aca10d93708af6 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 30 Jan 2024 11:15:26 +0100 Subject: [PATCH 039/456] Modify duration of GNSS input file --- data/sample/initialize_files/sample_gnss.ini | 13 ++++++------- 1 file changed, 6 insertions(+), 7 deletions(-) diff --git a/data/sample/initialize_files/sample_gnss.ini b/data/sample/initialize_files/sample_gnss.ini index 295c6f7de..0d1345aa4 100644 --- a/data/sample/initialize_files/sample_gnss.ini +++ b/data/sample/initialize_files/sample_gnss.ini @@ -18,13 +18,12 @@ file_name_header = IGS0OPSFIN // Choose frome SP3, CLK, or CLK_30S clock_file_extension = SP3 -// As small as possible within the range. -position_first = igs21610.sp3 -position_last = igs21613.sp3 - -// As small as possible within the range. -clock_first = igs21610.clk_30s -clock_last = igs21613.clk_30s +// Duration of the input product files +// YYYYDDD +// - YYYY: Year +// - DDD: Day of year +begining_date = 2023126 +position_last = 2023129 // Choose from 0: Lagrange, 1: Trigonometric : temporarily, only Trigonometric is valid, Lagrange is not yet implemented. position_interpolation_method = 1 From eaccc0e7c1e5a58ab3a080f63d014d1beb4e3a72 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 30 Jan 2024 11:16:01 +0100 Subject: [PATCH 040/456] Remove interpolation settings --- data/sample/initialize_files/sample_gnss.ini | 9 --------- 1 file changed, 9 deletions(-) diff --git a/data/sample/initialize_files/sample_gnss.ini b/data/sample/initialize_files/sample_gnss.ini index 0d1345aa4..d5022cdfa 100644 --- a/data/sample/initialize_files/sample_gnss.ini +++ b/data/sample/initialize_files/sample_gnss.ini @@ -24,12 +24,3 @@ clock_file_extension = SP3 // - DDD: Day of year begining_date = 2023126 position_last = 2023129 - -// Choose from 0: Lagrange, 1: Trigonometric : temporarily, only Trigonometric is valid, Lagrange is not yet implemented. -position_interpolation_method = 1 - -// If you chose Trigonometric as interpolation method, you must choose odds number here. -position_interpolation_number = 9 - -// The method is fixed with Lagrange interpolation, 3 (quadratic) recommended -clock_interpolation_number = 3 From fae7f70425c5da0fd62beac2722f11691fc61831 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 30 Jan 2024 11:17:26 +0100 Subject: [PATCH 041/456] fix small --- data/sample/initialize_files/sample_gnss.ini | 1 + 1 file changed, 1 insertion(+) diff --git a/data/sample/initialize_files/sample_gnss.ini b/data/sample/initialize_files/sample_gnss.ini index d5022cdfa..83429159a 100644 --- a/data/sample/initialize_files/sample_gnss.ini +++ b/data/sample/initialize_files/sample_gnss.ini @@ -8,6 +8,7 @@ logging = DISABLE // - https://igs.org/products/#orbits_clocks // - MGEX precise orbits and clocks final products for all navigation satellite systems // - https://igs.org/mgex/data-products/#orbit_clock +// We use new long file name. // Header ID of the reference files // Choose from ***0OPSFIN or ***0MGXFIN From 7696139f56e0775663b179bab6f9d71138cf34f2 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 30 Jan 2024 11:19:33 +0100 Subject: [PATCH 042/456] fix small --- data/sample/initialize_files/sample_gnss.ini | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/data/sample/initialize_files/sample_gnss.ini b/data/sample/initialize_files/sample_gnss.ini index 83429159a..5a544dfe7 100644 --- a/data/sample/initialize_files/sample_gnss.ini +++ b/data/sample/initialize_files/sample_gnss.ini @@ -23,5 +23,5 @@ clock_file_extension = SP3 // YYYYDDD // - YYYY: Year // - DDD: Day of year -begining_date = 2023126 -position_last = 2023129 +start_date = 2023126 +end_date = 2023129 From 83bbfa882a5624230aa14ba260f38fef606861b5 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 30 Jan 2024 11:31:09 +0100 Subject: [PATCH 043/456] Remove unused interpolation_method variables --- src/environment/global/gnss_satellites.cpp | 10 ++++------ src/environment/global/gnss_satellites.hpp | 5 ++--- src/environment/global/initialize_gnss_satellites.cpp | 4 +--- 3 files changed, 7 insertions(+), 12 deletions(-) diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index d1c3d9069..4c217007e 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -135,9 +135,7 @@ double GnssSatelliteBase::LagrangeInterpolation(const vector& time_vecto } // GnssSatellitePosition -pair GnssSatellitePosition::Initialize(vector>& file, int interpolation_method, int interpolation_number) { - UNUSED(interpolation_method); - +pair GnssSatellitePosition::Initialize(vector>& file, int interpolation_number) { interpolation_number_ = interpolation_number; // Expansion @@ -685,9 +683,9 @@ GnssSatellites::GnssSatellites(bool is_calc_enabled) { } } -void GnssSatellites::Initialize(vector>& position_file, int position_interpolation_method, int position_interpolation_number, - vector>& clock_file, string clock_file_extension, int clock_interpolation_number) { - auto unix_time_period = position_.Initialize(position_file, position_interpolation_method, position_interpolation_number); +void GnssSatellites::Initialize(vector>& position_file, int position_interpolation_number, vector>& clock_file, + string clock_file_extension, int clock_interpolation_number) { + auto unix_time_period = position_.Initialize(position_file, position_interpolation_number); clock_.Initialize(clock_file, clock_file_extension, clock_interpolation_number, unix_time_period); return; diff --git a/src/environment/global/gnss_satellites.hpp b/src/environment/global/gnss_satellites.hpp index e88999478..dad5ab2bb 100644 --- a/src/environment/global/gnss_satellites.hpp +++ b/src/environment/global/gnss_satellites.hpp @@ -83,11 +83,10 @@ class GnssSatellitePosition : public GnssSatelliteBase { * @fn Initialize * @brief Initialize GNSS satellite position * @param[in] file: File path for position calculation - * @param[in] interpolation_method: Interpolation method for position calculation * @param[in] interpolation_number: Interpolation number for position calculation * @return Start unix time and end unix time */ - std::pair Initialize(std::vector>& file, int interpolation_method, int interpolation_number); + std::pair Initialize(std::vector>& file, int interpolation_number); /** * @fn Setup @@ -208,7 +207,7 @@ class GnssSatellites : public ILoggable { * @brief Initialize function * @note Parameters are defined in GNSSSat_Info */ - void Initialize(std::vector>& position_file, int position_interpolation_method, int position_interpolation_number, + void Initialize(std::vector>& position_file, int position_interpolation_number, std::vector>& clock_file, std::string clock_file_extension, int clock_interpolation_number); /** * @fn IsCalcEnabled diff --git a/src/environment/global/initialize_gnss_satellites.cpp b/src/environment/global/initialize_gnss_satellites.cpp index d25992920..1d0f9c26a 100644 --- a/src/environment/global/initialize_gnss_satellites.cpp +++ b/src/environment/global/initialize_gnss_satellites.cpp @@ -298,7 +298,6 @@ GnssSatellites* InitGnssSatellites(std::string file_name) { std::vector> position_file; ReadSp3Files(directory_path, ini_file.ReadString(section, "position_file_sort"), ini_file.ReadString(section, "position_first"), ini_file.ReadString(section, "position_last"), position_file); - int position_interpolation_method = ini_file.ReadInt(section, "position_interpolation_method"); int position_interpolation_number = ini_file.ReadInt(section, "position_interpolation_number"); // Clock @@ -314,8 +313,7 @@ GnssSatellites* InitGnssSatellites(std::string file_name) { int clock_interpolation_number = ini_file.ReadInt(section, "clock_interpolation_number"); // Initialize GNSS satellites - gnss_satellites->Initialize(position_file, position_interpolation_method, position_interpolation_number, clock_file, clock_file_extension, - clock_interpolation_number); + gnss_satellites->Initialize(position_file, position_interpolation_number, clock_file, clock_file_extension, clock_interpolation_number); return gnss_satellites; } From caa735b3c7cfe9a5182023ad70f5be6a8d126f89 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 30 Jan 2024 11:37:30 +0100 Subject: [PATCH 044/456] Use constant number for interpolation because it is usually fixed --- src/environment/global/gnss_satellites.cpp | 16 +++++++--------- src/environment/global/gnss_satellites.hpp | 11 ++++------- .../global/initialize_gnss_satellites.cpp | 4 +--- 3 files changed, 12 insertions(+), 19 deletions(-) diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index 4c217007e..e2a604caf 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -135,8 +135,8 @@ double GnssSatelliteBase::LagrangeInterpolation(const vector& time_vecto } // GnssSatellitePosition -pair GnssSatellitePosition::Initialize(vector>& file, int interpolation_number) { - interpolation_number_ = interpolation_number; +pair GnssSatellitePosition::Initialize(vector>& file) { + interpolation_number_ = 9; // 9 is recommended in the paper // Expansion time_series_position_ecef_m_.resize(kTotalNumberOfGnssSatellite); // first vector size is the satellite number @@ -404,9 +404,8 @@ void GnssSatellitePosition::Update(const double current_unix_time) { } // GnssSatelliteClock -void GnssSatelliteClock::Initialize(vector>& file, string file_extension, int interpolation_number, - pair unix_time_period) { - interpolation_number_ = interpolation_number; +void GnssSatelliteClock::Initialize(vector>& file, string file_extension, pair unix_time_period) { + interpolation_number_ = 3; // Quadratic interpolation is recommended time_series_clock_offset_m_.resize(kTotalNumberOfGnssSatellite); // first vector size is the sat num unix_time_list.resize(kTotalNumberOfGnssSatellite); @@ -683,10 +682,9 @@ GnssSatellites::GnssSatellites(bool is_calc_enabled) { } } -void GnssSatellites::Initialize(vector>& position_file, int position_interpolation_number, vector>& clock_file, - string clock_file_extension, int clock_interpolation_number) { - auto unix_time_period = position_.Initialize(position_file, position_interpolation_number); - clock_.Initialize(clock_file, clock_file_extension, clock_interpolation_number, unix_time_period); +void GnssSatellites::Initialize(vector>& position_file, vector>& clock_file, string clock_file_extension) { + auto unix_time_period = position_.Initialize(position_file); + clock_.Initialize(clock_file, clock_file_extension, unix_time_period); return; } diff --git a/src/environment/global/gnss_satellites.hpp b/src/environment/global/gnss_satellites.hpp index dad5ab2bb..501c52a50 100644 --- a/src/environment/global/gnss_satellites.hpp +++ b/src/environment/global/gnss_satellites.hpp @@ -83,10 +83,9 @@ class GnssSatellitePosition : public GnssSatelliteBase { * @fn Initialize * @brief Initialize GNSS satellite position * @param[in] file: File path for position calculation - * @param[in] interpolation_number: Interpolation number for position calculation * @return Start unix time and end unix time */ - std::pair Initialize(std::vector>& file, int interpolation_number); + std::pair Initialize(std::vector>& file); /** * @fn Setup @@ -149,10 +148,8 @@ class GnssSatelliteClock : public GnssSatelliteBase { * @brief Initialize GNSS satellite clock * @param[in] file: File path for clock calculation * @param[in] file_extension: Extension of the clock file (ex. .sp3, .clk30s) - * @param[in] interpolation_number: Interpolation number for clock calculation */ - void Initialize(std::vector>& file, std::string file_extension, int interpolation_number, - std::pair unix_time_period); + void Initialize(std::vector>& file, std::string file_extension, std::pair unix_time_period); /** * @fn SetUp * @brief Setup GNSS satellite clock information @@ -207,8 +204,8 @@ class GnssSatellites : public ILoggable { * @brief Initialize function * @note Parameters are defined in GNSSSat_Info */ - void Initialize(std::vector>& position_file, int position_interpolation_number, - std::vector>& clock_file, std::string clock_file_extension, int clock_interpolation_number); + void Initialize(std::vector>& position_file, std::vector>& clock_file, + std::string clock_file_extension); /** * @fn IsCalcEnabled * @brief Return calculated enabled flag diff --git a/src/environment/global/initialize_gnss_satellites.cpp b/src/environment/global/initialize_gnss_satellites.cpp index 1d0f9c26a..10cbc2d7d 100644 --- a/src/environment/global/initialize_gnss_satellites.cpp +++ b/src/environment/global/initialize_gnss_satellites.cpp @@ -298,7 +298,6 @@ GnssSatellites* InitGnssSatellites(std::string file_name) { std::vector> position_file; ReadSp3Files(directory_path, ini_file.ReadString(section, "position_file_sort"), ini_file.ReadString(section, "position_first"), ini_file.ReadString(section, "position_last"), position_file); - int position_interpolation_number = ini_file.ReadInt(section, "position_interpolation_number"); // Clock std::vector> clock_file; @@ -310,10 +309,9 @@ GnssSatellites* InitGnssSatellites(std::string file_name) { ReadClockFiles(directory_path, clock_file_extension, ini_file.ReadString(section, "clock_file_sort"), ini_file.ReadString(section, "clock_first"), ini_file.ReadString(section, "clock_last"), clock_file); } - int clock_interpolation_number = ini_file.ReadInt(section, "clock_interpolation_number"); // Initialize GNSS satellites - gnss_satellites->Initialize(position_file, position_interpolation_number, clock_file, clock_file_extension, clock_interpolation_number); + gnss_satellites->Initialize(position_file, clock_file, clock_file_extension); return gnss_satellites; } From ee7e9d3fef9742799ecec53f611089ba0e0dd362 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 30 Jan 2024 13:08:10 +0100 Subject: [PATCH 045/456] Add log enable flag in InitGnss --- src/environment/global/gnss_satellites.cpp | 10 ---------- src/environment/global/gnss_satellites.hpp | 8 +++++++- src/environment/global/initialize_gnss_satellites.cpp | 6 +++++- 3 files changed, 12 insertions(+), 12 deletions(-) diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index e2a604caf..88362d327 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -672,16 +672,6 @@ void GnssSatelliteClock::Update(const double current_unix_time) { } // GnssSatellites -GnssSatellites::GnssSatellites(bool is_calc_enabled) { - // TODO: Add log enable flag in ini file - is_calc_enabled_ = is_calc_enabled; - if (is_calc_enabled_) { - is_log_enabled_ = true; - } else { - is_log_enabled_ = false; - } -} - void GnssSatellites::Initialize(vector>& position_file, vector>& clock_file, string clock_file_extension) { auto unix_time_period = position_.Initialize(position_file); clock_.Initialize(clock_file, clock_file_extension, unix_time_period); diff --git a/src/environment/global/gnss_satellites.hpp b/src/environment/global/gnss_satellites.hpp index 501c52a50..f01131012 100644 --- a/src/environment/global/gnss_satellites.hpp +++ b/src/environment/global/gnss_satellites.hpp @@ -192,7 +192,13 @@ class GnssSatellites : public ILoggable { * @brief Constructor * @param [in] is_calc_enabled: Flag to manage the GNSS satellite position calculation */ - GnssSatellites(bool is_calc_enabled); + GnssSatellites(const bool is_calc_enabled = false, const bool is_log_enabled = false) : is_calc_enabled_(is_calc_enabled) { + if (!is_calc_enabled_) { + is_log_enabled_ = false; + } else { + is_log_enabled_ = is_log_enabled; + } + } /** * @fn ~GnssSatellites * @brief Destructor diff --git a/src/environment/global/initialize_gnss_satellites.cpp b/src/environment/global/initialize_gnss_satellites.cpp index 10cbc2d7d..e966260d2 100644 --- a/src/environment/global/initialize_gnss_satellites.cpp +++ b/src/environment/global/initialize_gnss_satellites.cpp @@ -287,7 +287,11 @@ void ReadClockFiles(std::string directory_path, std::string extension, std::stri GnssSatellites* InitGnssSatellites(std::string file_name) { IniAccess ini_file(file_name); char section[] = "GNSS_SATELLITES"; - GnssSatellites* gnss_satellites = new GnssSatellites(ini_file.ReadEnable(section, "calculation")); + + const bool is_calc_enable = ini_file.ReadEnable(section, INI_CALC_LABEL); + const bool is_log_enable = ini_file.ReadEnable(section, INI_LOG_LABEL); + + GnssSatellites* gnss_satellites = new GnssSatellites(is_calc_enable, is_log_enable); if (!gnss_satellites->IsCalcEnabled()) { return gnss_satellites; } From fdb2979fe8eb16821cb7f80865ca0d808c48d426 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 30 Jan 2024 13:13:31 +0100 Subject: [PATCH 046/456] Modify InitGnssSatellite to suit with the updated ini file --- .../global/initialize_gnss_satellites.cpp | 17 +++++++++-------- 1 file changed, 9 insertions(+), 8 deletions(-) diff --git a/src/environment/global/initialize_gnss_satellites.cpp b/src/environment/global/initialize_gnss_satellites.cpp index e966260d2..c1910d9e1 100644 --- a/src/environment/global/initialize_gnss_satellites.cpp +++ b/src/environment/global/initialize_gnss_satellites.cpp @@ -297,21 +297,22 @@ GnssSatellites* InitGnssSatellites(std::string file_name) { } std::string directory_path = ini_file.ReadString(section, "directory_path"); + std::string file_name_header = ini_file.ReadString(section, "file_name_header"); + + std::string start_date = ini_file.ReadString(section, "start_date"); + std::string end_date = ini_file.ReadString(section, "end_date"); // Position std::vector> position_file; - ReadSp3Files(directory_path, ini_file.ReadString(section, "position_file_sort"), ini_file.ReadString(section, "position_first"), - ini_file.ReadString(section, "position_last"), position_file); + ReadSp3Files(directory_path, file_name_header, start_date, end_date, position_file); // Clock - std::vector> clock_file; std::string clock_file_extension = ini_file.ReadString(section, "clock_file_extension"); - if (clock_file_extension == ".sp3") { - ReadSp3Files(directory_path, ini_file.ReadString(section, "clock_file_sort"), ini_file.ReadString(section, "clock_first"), - ini_file.ReadString(section, "clock_last"), clock_file); + std::vector> clock_file; + if (clock_file_extension == "SP3") { + ReadSp3Files(directory_path, file_name_header, start_date, end_date, clock_file); } else { - ReadClockFiles(directory_path, clock_file_extension, ini_file.ReadString(section, "clock_file_sort"), ini_file.ReadString(section, "clock_first"), - ini_file.ReadString(section, "clock_last"), clock_file); + ReadClockFiles(directory_path, clock_file_extension, file_name_header, start_date, end_date, clock_file); } // Initialize GNSS satellites From 8f6624b38a5bcfc919a2fd46d8cdd02e3025814f Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 30 Jan 2024 13:15:10 +0100 Subject: [PATCH 047/456] Add const --- src/environment/global/initialize_gnss_satellites.cpp | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/src/environment/global/initialize_gnss_satellites.cpp b/src/environment/global/initialize_gnss_satellites.cpp index c1910d9e1..1bd54d491 100644 --- a/src/environment/global/initialize_gnss_satellites.cpp +++ b/src/environment/global/initialize_gnss_satellites.cpp @@ -296,18 +296,18 @@ GnssSatellites* InitGnssSatellites(std::string file_name) { return gnss_satellites; } - std::string directory_path = ini_file.ReadString(section, "directory_path"); - std::string file_name_header = ini_file.ReadString(section, "file_name_header"); + const std::string directory_path = ini_file.ReadString(section, "directory_path"); + const std::string file_name_header = ini_file.ReadString(section, "file_name_header"); - std::string start_date = ini_file.ReadString(section, "start_date"); - std::string end_date = ini_file.ReadString(section, "end_date"); + const std::string start_date = ini_file.ReadString(section, "start_date"); + const std::string end_date = ini_file.ReadString(section, "end_date"); // Position std::vector> position_file; ReadSp3Files(directory_path, file_name_header, start_date, end_date, position_file); // Clock - std::string clock_file_extension = ini_file.ReadString(section, "clock_file_extension"); + const std::string clock_file_extension = ini_file.ReadString(section, "clock_file_extension"); std::vector> clock_file; if (clock_file_extension == "SP3") { ReadSp3Files(directory_path, file_name_header, start_date, end_date, clock_file); From a9d5a234bc28d872fa91172e40a92828aaed6e43 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 30 Jan 2024 14:31:20 +0100 Subject: [PATCH 048/456] Fix footer input data --- data/sample/initialize_files/sample_gnss.ini | 17 +++++++++++++---- .../global/initialize_gnss_satellites.cpp | 8 ++++---- 2 files changed, 17 insertions(+), 8 deletions(-) diff --git a/data/sample/initialize_files/sample_gnss.ini b/data/sample/initialize_files/sample_gnss.ini index 5a544dfe7..660c8fa00 100644 --- a/data/sample/initialize_files/sample_gnss.ini +++ b/data/sample/initialize_files/sample_gnss.ini @@ -9,15 +9,24 @@ logging = DISABLE // - MGEX precise orbits and clocks final products for all navigation satellite systems // - https://igs.org/mgex/data-products/#orbit_clock // We use new long file name. +// - Orbit file: [file_name_header]_YYYYDDD0000_01D_[orbit_data_period]_ORB.SP3 +// - Clock file: [file_name_header]_YYYYDDD0000_01D_[clock_file_name_hooter] +// - Users can also use clock information in the orbit SP3 file -// Header ID of the reference files +// Header information of the reference files // Choose from ***0OPSFIN or ***0MGXFIN // ***: ID of the analysis center or IGS file_name_header = IGS0OPSFIN -// Extension of the reference clock files -// Choose frome SP3, CLK, or CLK_30S -clock_file_extension = SP3 +// Data period in the orbit reference files +// - bbb: Period of the data in the file (ex. 15M = 15 mins.) +orbit_data_period = 15M + +// Footer information of the clock reference files +// bbb_ccc.ddd +// - bbb: Period of the data in the file (ex. 15M = 15 mins.) +// - ccc.ddd: ORB.SP3 or CLK.CLK +clock_file_name_footer = 15M_ORB.SP3 // or 30S_CLK.CLK or 05M_CLK.CLK // Duration of the input product files // YYYYDDD diff --git a/src/environment/global/initialize_gnss_satellites.cpp b/src/environment/global/initialize_gnss_satellites.cpp index 1bd54d491..e39748489 100644 --- a/src/environment/global/initialize_gnss_satellites.cpp +++ b/src/environment/global/initialize_gnss_satellites.cpp @@ -307,16 +307,16 @@ GnssSatellites* InitGnssSatellites(std::string file_name) { ReadSp3Files(directory_path, file_name_header, start_date, end_date, position_file); // Clock - const std::string clock_file_extension = ini_file.ReadString(section, "clock_file_extension"); + const std::string clock_file_name_footer = ini_file.ReadString(section, "clock_file_name_footer"); std::vector> clock_file; - if (clock_file_extension == "SP3") { + if (clock_file_name_footer == "SP3") { ReadSp3Files(directory_path, file_name_header, start_date, end_date, clock_file); } else { - ReadClockFiles(directory_path, clock_file_extension, file_name_header, start_date, end_date, clock_file); + ReadClockFiles(directory_path, clock_file_name_footer, file_name_header, start_date, end_date, clock_file); } // Initialize GNSS satellites - gnss_satellites->Initialize(position_file, clock_file, clock_file_extension); + gnss_satellites->Initialize(position_file, clock_file, clock_file_name_footer); return gnss_satellites; } From 5d899e8b596283fad1bebf051dc7a7bbf42eccde Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 30 Jan 2024 15:07:00 +0100 Subject: [PATCH 049/456] Add IGS file name handling functions --- .../gnss/igs_product_name_handling.hpp | 84 +++++++++++++++++++ 1 file changed, 84 insertions(+) create mode 100644 src/library/gnss/igs_product_name_handling.hpp diff --git a/src/library/gnss/igs_product_name_handling.hpp b/src/library/gnss/igs_product_name_handling.hpp new file mode 100644 index 000000000..79164d83a --- /dev/null +++ b/src/library/gnss/igs_product_name_handling.hpp @@ -0,0 +1,84 @@ +/** + * @file igs_product_name_handling.hpp + * @brief Manage IGS product name handling + */ + +#ifndef S2E_LIBRARY_GNSS_IGS_PRODUCT_NAME_HANDLING_HPP_ +#define S2E_LIBRARY_GNSS_IGS_PRODUCT_NAME_HANDLING_HPP_ + +#include + +/** + * @fn GetOrbitClockFileName + * @brief Return IGS orbit and clock final product file name + * @param [in] header: Header information (ex. IGS0OPSFIN) + * @param [in] year_doy: Merged number of year(YYY) and day of year(DDD) (YYYYDDD) + * @param [in] period: Period of the data (ex. 15M = 15 mins.) + * @param [in] file_type: File type and extensions (ex. ORB.SP3) + * @return: file name + */ +std::string GetOrbitClockFinalFileName(const std::string header, const size_t year_doy, const std::string period = "15M", + const std::string file_type = "ORB.SP3") { + std::string file_name = header + "_" + std::to_string(year_doy) + "0000_01D_" + period + "_" + file_type; + + return file_name; +} + +/** + * @fn MergeYearDoy + * @brief Return Merged number of year(YYY) and day of year(DDD) (YYYYDDD) + * @param [in] year: 4-digit Year + * @param [in] doy: 3-digit Day of year + * @return: Merged number + */ +size_t MergeYearDoy(const size_t year, const size_t doy) { return year * 1000 + doy; } + +/** + * @fn PerseYearFromYearDoy + * @brief Return 4-digit year + * @param [in] year_doy: Merged number of year(YYY) and day of year(DDD) (YYYYDDD) + * @return: year + */ +size_t PerseYearFromYearDoy(const size_t year_doy) { return year_doy / 1000; } + +/** + * @fn PerseDoyFromYearDoy + * @brief Return 3-digit day of year + * @param [in] year_doy: Merged number of year(YYY) and day of year(DDD) (YYYYDDD) + * @return: day of year + */ +size_t PerseDoyFromYearDoy(const size_t year_doy) { + size_t year = PerseYearFromYearDoy(year_doy); + return year_doy - year * 1000; +} + +/** + * @fn IncrementYearDoy + * @brief Calculate increment value of year_doy considering year update + * @param [in] year_doy: Merged number of year(YYY) and day of year(DDD) (YYYYDDD) + * @return: Incremented value + */ +size_t IncrementYearDoy(const size_t year_doy) { + size_t output = year_doy + 1; + size_t doy = PerseDoyFromYearDoy(output); + + // Year update + if (doy > 365) { + size_t year = PerseYearFromYearDoy(output); + // Leap year + if (year % 4 == 0) { + if (doy > 366) { + year++; + doy = 1; + } + } else { + year++; + doy = 1; + } + output = MergeYearDoy(year, doy); + } + + return output; +} + +#endif // S2E_LIBRARY_GNSS_IGS_PRODUCT_NAME_HANDLING_HPP_ From 093ebf6e67965e19aef79126f5a204e5d9f1e9a9 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 30 Jan 2024 15:08:16 +0100 Subject: [PATCH 050/456] Add reference --- src/library/gnss/igs_product_name_handling.hpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/library/gnss/igs_product_name_handling.hpp b/src/library/gnss/igs_product_name_handling.hpp index 79164d83a..7f2644e8d 100644 --- a/src/library/gnss/igs_product_name_handling.hpp +++ b/src/library/gnss/igs_product_name_handling.hpp @@ -1,6 +1,8 @@ /** * @file igs_product_name_handling.hpp * @brief Manage IGS product name handling + * @note IGS product: https://igs.org/products/#orbits_clocks + * MGEX product: https://igs.org/mgex/data-products/#orbit_clock */ #ifndef S2E_LIBRARY_GNSS_IGS_PRODUCT_NAME_HANDLING_HPP_ From 5b5b73bbdb81bbd914be745421ed40fcfece5128 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 30 Jan 2024 15:30:55 +0100 Subject: [PATCH 051/456] Implement SP3 file name calculation --- .../global/initialize_gnss_satellites.cpp | 38 ++++++++++++++++--- 1 file changed, 32 insertions(+), 6 deletions(-) diff --git a/src/environment/global/initialize_gnss_satellites.cpp b/src/environment/global/initialize_gnss_satellites.cpp index e39748489..1a2b9e4ce 100644 --- a/src/environment/global/initialize_gnss_satellites.cpp +++ b/src/environment/global/initialize_gnss_satellites.cpp @@ -6,6 +6,7 @@ #include "initialize_gnss_satellites.hpp" #include +#include #include #include @@ -298,21 +299,46 @@ GnssSatellites* InitGnssSatellites(std::string file_name) { const std::string directory_path = ini_file.ReadString(section, "directory_path"); const std::string file_name_header = ini_file.ReadString(section, "file_name_header"); + const std::string orbit_data_period = ini_file.ReadString(section, "orbit_data_period"); + const std::string clock_file_name_footer = ini_file.ReadString(section, "clock_file_name_footer"); + bool use_sp3_for_clock = false; + if (clock_file_name_footer == (orbit_data_period + "_ORB.SP3")) { + use_sp3_for_clock = true; + } - const std::string start_date = ini_file.ReadString(section, "start_date"); - const std::string end_date = ini_file.ReadString(section, "end_date"); + // Duration + const size_t start_date = (size_t)ini_file.ReadInt(section, "start_date"); + const size_t end_date = (size_t)ini_file.ReadInt(section, "end_date"); + if (start_date > end_date) { + std::cout << "[ERROR] GNSS satellite initialize: start_date is larger than the end date." << std::endl; + } + size_t read_file_date = start_date; + while (read_file_date > end_date) { + std::string sp3_file_name = GetOrbitClockFinalFileName(file_name_header, read_file_date, orbit_data_period); + std::string sp3_full_file_path = directory_path + "/" + sp3_file_name; + + // Read SP3 + + // Read CLK + if (!use_sp3_for_clock) { + std::string clk_file_name = + GetOrbitClockFinalFileName(file_name_header, read_file_date, clock_file_name_footer.substr(0, 3), clock_file_name_footer.substr(4, 7)); + std::string clk_full_file_path = directory_path + "/" + clk_file_name; + } + + read_file_date = IncrementYearDoy(read_file_date); + } // Position std::vector> position_file; - ReadSp3Files(directory_path, file_name_header, start_date, end_date, position_file); + // ReadSp3Files(directory_path, file_name_header, start_date, end_date, position_file); // Clock - const std::string clock_file_name_footer = ini_file.ReadString(section, "clock_file_name_footer"); std::vector> clock_file; if (clock_file_name_footer == "SP3") { - ReadSp3Files(directory_path, file_name_header, start_date, end_date, clock_file); + // ReadSp3Files(directory_path, file_name_header, start_date, end_date, clock_file); } else { - ReadClockFiles(directory_path, clock_file_name_footer, file_name_header, start_date, end_date, clock_file); + // ReadClockFiles(directory_path, clock_file_name_footer, file_name_header, start_date, end_date, clock_file); } // Initialize GNSS satellites From 8c8418087d4da25d0b2b6b28c6911f17415421fb Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 30 Jan 2024 15:43:45 +0100 Subject: [PATCH 052/456] fix small --- src/environment/global/initialize_gnss_satellites.cpp | 9 ++++++++- 1 file changed, 8 insertions(+), 1 deletion(-) diff --git a/src/environment/global/initialize_gnss_satellites.cpp b/src/environment/global/initialize_gnss_satellites.cpp index 1a2b9e4ce..d0144946e 100644 --- a/src/environment/global/initialize_gnss_satellites.cpp +++ b/src/environment/global/initialize_gnss_satellites.cpp @@ -7,6 +7,7 @@ #include #include +#include #include #include @@ -312,12 +313,17 @@ GnssSatellites* InitGnssSatellites(std::string file_name) { if (start_date > end_date) { std::cout << "[ERROR] GNSS satellite initialize: start_date is larger than the end date." << std::endl; } + + // Read all product files + std::vector sp3_file_readers; + size_t read_file_date = start_date; - while (read_file_date > end_date) { + while (read_file_date <= end_date) { std::string sp3_file_name = GetOrbitClockFinalFileName(file_name_header, read_file_date, orbit_data_period); std::string sp3_full_file_path = directory_path + "/" + sp3_file_name; // Read SP3 + sp3_file_readers.push_back(Sp3FileReader(sp3_full_file_path)); // Read CLK if (!use_sp3_for_clock) { @@ -326,6 +332,7 @@ GnssSatellites* InitGnssSatellites(std::string file_name) { std::string clk_full_file_path = directory_path + "/" + clk_file_name; } + // Increment read_file_date = IncrementYearDoy(read_file_date); } From 37272dce02ac6a4e7c1cfed19aea0727689226f7 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 30 Jan 2024 15:55:37 +0100 Subject: [PATCH 053/456] Delete old functions --- .../global/initialize_gnss_satellites.cpp | 133 +----------------- 1 file changed, 3 insertions(+), 130 deletions(-) diff --git a/src/environment/global/initialize_gnss_satellites.cpp b/src/environment/global/initialize_gnss_satellites.cpp index d0144946e..2f12f80b9 100644 --- a/src/environment/global/initialize_gnss_satellites.cpp +++ b/src/environment/global/initialize_gnss_satellites.cpp @@ -79,124 +79,6 @@ void ReadFileContents(std::string directory_path, std::string file_name, std::ve return; } -/** - *@fn ReadSp3Files - *@brief Read multiple SP3 files in the directory and generate multiple vectors of one line strings - *@param [in] directory_path: Directory path of the file - *@param [in] file_sort: File type - *@param [in] first: The first SP3 file name - *@param [in] last: The last SP3 file name - *@param [out] file_contents: Generated files as multiple vectors of one line strings - */ -void ReadSp3Files(std::string directory_path, std::string file_sort, std::string first, std::string last, - std::vector>& file_contents) { - std::string all_directory_path = directory_path + ReturnDirectoryPathWithFileType(file_sort); - - if (first.substr(0, 3) == "COD") { - std::string file_header = "COD0MGXFIN_"; - std::string file_footer = "0000_01D_05M_ORB.SP3"; - int year = stoi(first.substr(file_header.size(), 4)); - int year_last_day = 365 + (year % 4 == 0) - (year % 100 == 0) + (year % 400 == 0); - int day = stoi(first.substr(file_header.size() + 4, 3)); - - file_contents.clear(); - - while (true) { - if (day > year_last_day) { - ++year; - year_last_day = 365 + (year % 4 == 0) - (year % 100 == 0) + (year % 400 == 0); - day = 1; - } - std::string s_day; - if (day >= 100) - s_day = std::to_string(day); - else if (day >= 10) - s_day = '0' + std::to_string(day); - else - s_day = "00" + std::to_string(day); - std::string file_name = file_header + std::to_string(year) + s_day + file_footer; - file_contents.push_back(std::vector()); - - ReadFileContents(all_directory_path, file_name, file_contents.back()); - - if (file_name == last) break; - ++day; - } - } else if (file_sort.substr(0, 3) == "IGU" || file_sort.find("Ultra") != std::string::npos) { // In case of UR - std::string file_header, file_footer; - int gps_week = 0, day = 0; - int hour = 0; - for (int i = 0; i < (int)first.size(); ++i) { - int n = first.at(i); - // Looking for the number of file name - if ((int)'0' <= n && n < (int)('0' + 10)) { - file_header = first.substr(0, i); - gps_week = stoi(first.substr(file_header.size(), 4)); - day = stoi(first.substr(file_header.size() + 4, 1)); - hour = stoi(first.substr(file_header.size() + 6, 2)); - file_footer = first.substr(file_header.size() + 8); - break; - } - } - - file_contents.clear(); - - while (true) { - if (hour == 24) { - hour = 0; - ++day; - } - if (day == 7) { - ++gps_week; - day = 0; - } - std::string file_name = file_header + std::to_string(gps_week) + std::to_string(day) + "_"; - if (hour < 10) { - file_name += "0"; - } - file_name += std::to_string(hour) + file_footer; - file_contents.push_back(std::vector()); - - ReadFileContents(all_directory_path, file_name, file_contents.back()); - - if (file_name == last) break; - hour += 6; - } - } else { - std::string file_header, file_footer; - int gps_week = 0, day = 0; - for (int i = 0; i < (int)first.size(); ++i) { - int n = first.at(i); - // Looking for the number of file name - if ((int)'0' <= n && n < (int)('0' + 10)) { - file_header = first.substr(0, i); - gps_week = stoi(first.substr(file_header.size(), 4)); - day = stoi(first.substr(file_header.size() + 4, 1)); - file_footer = first.substr(file_header.size() + 5); - break; - } - } - - file_contents.clear(); - - while (true) { - if (day == 7) { - ++gps_week; - day = 0; - } - std::string file_name = file_header + std::to_string(gps_week) + std::to_string(day) + file_footer; - file_contents.push_back(std::vector()); - - ReadFileContents(all_directory_path, file_name, file_contents.back()); - - if (file_name == last) break; - ++day; - } - } - - return; -} - /** *@fn ReadClockFiles *@brief Read multiple SP3 files in the directory and generate multiple vectors of one line strings @@ -325,30 +207,21 @@ GnssSatellites* InitGnssSatellites(std::string file_name) { // Read SP3 sp3_file_readers.push_back(Sp3FileReader(sp3_full_file_path)); - // Read CLK + // Clock file if (!use_sp3_for_clock) { std::string clk_file_name = GetOrbitClockFinalFileName(file_name_header, read_file_date, clock_file_name_footer.substr(0, 3), clock_file_name_footer.substr(4, 7)); std::string clk_full_file_path = directory_path + "/" + clk_file_name; + // TODO: Read CLK } // Increment read_file_date = IncrementYearDoy(read_file_date); } - // Position + // Old descriptions TODO: delete std::vector> position_file; - // ReadSp3Files(directory_path, file_name_header, start_date, end_date, position_file); - - // Clock std::vector> clock_file; - if (clock_file_name_footer == "SP3") { - // ReadSp3Files(directory_path, file_name_header, start_date, end_date, clock_file); - } else { - // ReadClockFiles(directory_path, clock_file_name_footer, file_name_header, start_date, end_date, clock_file); - } - - // Initialize GNSS satellites gnss_satellites->Initialize(position_file, clock_file, clock_file_name_footer); return gnss_satellites; From 25dc79c104b08a6292aa5f03e46e0263e75ddf9e Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 30 Jan 2024 16:13:41 +0100 Subject: [PATCH 054/456] Add test codes for igs_product_name_handling --- .../gnss/test_igs_product_name_handling.cpp | 33 +++++++++++++++++++ 1 file changed, 33 insertions(+) create mode 100644 src/library/gnss/test_igs_product_name_handling.cpp diff --git a/src/library/gnss/test_igs_product_name_handling.cpp b/src/library/gnss/test_igs_product_name_handling.cpp new file mode 100644 index 000000000..a51cc541c --- /dev/null +++ b/src/library/gnss/test_igs_product_name_handling.cpp @@ -0,0 +1,33 @@ +/** + * @file test_igs_product_name_handling.cpp + * @brief Test functions for IGS product name handling with GoogleTest + */ +#include +#include + +#include "igs_product_name_handling.hpp" + +/** + * @brief Test satellite number to index + */ +TEST(IgsProductName, SatelliteNumberToIndex) { + std::string header = "IGS0OPSFIN"; + size_t year_doy = 2023190; + + std::string file_name = GetOrbitClockFinalFileName(header, year_doy); + EXPECT_THAT(file_name, ::testing::MatchesRegex("IGS0OPSFIN_20231900000_01D_15M_ORB.SP3")); + + std::string period = "15M"; + std::string file_type = "ORB.SP3"; + + file_name = GetOrbitClockFinalFileName(header, year_doy, period, file_type); + EXPECT_THAT(file_name, ::testing::MatchesRegex("IGS0OPSFIN_20231900000_01D_15M_ORB.SP3")); + + header = "IGS0OPSFIN"; + year_doy = 2023365; + period = "30S"; + file_type = "CLK.CLK"; + + file_name = GetOrbitClockFinalFileName(header, year_doy, period, file_type); + EXPECT_THAT(file_name, ::testing::MatchesRegex("IGS0OPSFIN_20233650000_01D_30S_CLK.CLK")); +} From cd610616ad56528ff9360fbaac1f345285ac6917 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 30 Jan 2024 16:14:25 +0100 Subject: [PATCH 055/456] Fix test name --- src/library/gnss/test_igs_product_name_handling.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/library/gnss/test_igs_product_name_handling.cpp b/src/library/gnss/test_igs_product_name_handling.cpp index a51cc541c..63de6ebcc 100644 --- a/src/library/gnss/test_igs_product_name_handling.cpp +++ b/src/library/gnss/test_igs_product_name_handling.cpp @@ -8,9 +8,9 @@ #include "igs_product_name_handling.hpp" /** - * @brief Test satellite number to index + * @brief Test GetOrbitClockFinalFileName */ -TEST(IgsProductName, SatelliteNumberToIndex) { +TEST(IgsProductName, GetOrbitClockFinalFileName) { std::string header = "IGS0OPSFIN"; size_t year_doy = 2023190; From 3fc4f69d13e4490c39478c6bafa7834a30839801 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 30 Jan 2024 16:16:22 +0100 Subject: [PATCH 056/456] Add test codes for MergeYearDoy --- src/library/gnss/test_igs_product_name_handling.cpp | 11 +++++++++++ 1 file changed, 11 insertions(+) diff --git a/src/library/gnss/test_igs_product_name_handling.cpp b/src/library/gnss/test_igs_product_name_handling.cpp index 63de6ebcc..ef37c8a3c 100644 --- a/src/library/gnss/test_igs_product_name_handling.cpp +++ b/src/library/gnss/test_igs_product_name_handling.cpp @@ -31,3 +31,14 @@ TEST(IgsProductName, GetOrbitClockFinalFileName) { file_name = GetOrbitClockFinalFileName(header, year_doy, period, file_type); EXPECT_THAT(file_name, ::testing::MatchesRegex("IGS0OPSFIN_20233650000_01D_30S_CLK.CLK")); } + +/** + * @brief Test MergeYearDoy + */ +TEST(IgsProductName, MergeYearDoy) { + size_t year = 2023; + size_t doy = 190; + size_t year_doy = MergeYearDoy(year, doy); + + EXPECT_EQ(2023190, year_doy); +} From 99762be8148da455e8727634b3c797079b4f4ec9 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 30 Jan 2024 16:21:16 +0100 Subject: [PATCH 057/456] Add test codes for PerseFromYearDoy --- .../gnss/test_igs_product_name_handling.cpp | 20 +++++++++++++++++++ 1 file changed, 20 insertions(+) diff --git a/src/library/gnss/test_igs_product_name_handling.cpp b/src/library/gnss/test_igs_product_name_handling.cpp index ef37c8a3c..12b2893b7 100644 --- a/src/library/gnss/test_igs_product_name_handling.cpp +++ b/src/library/gnss/test_igs_product_name_handling.cpp @@ -42,3 +42,23 @@ TEST(IgsProductName, MergeYearDoy) { EXPECT_EQ(2023190, year_doy); } + +/** + * @brief Test PerseFromYearDoy + */ +TEST(IgsProductName, PerseFromYearDoy) { + size_t year = 1989; + size_t doy = 84; + size_t year_doy = MergeYearDoy(year, doy); + + EXPECT_EQ(year, PerseYearFromYearDoy(year_doy)); + EXPECT_EQ(doy, PerseDoyFromYearDoy(year_doy)); + + year_doy = 1989365; + EXPECT_EQ(1989, PerseYearFromYearDoy(year_doy)); + EXPECT_EQ(365, PerseDoyFromYearDoy(year_doy)); + + year_doy = 2000001; + EXPECT_EQ(2000, PerseYearFromYearDoy(year_doy)); + EXPECT_EQ(001, PerseDoyFromYearDoy(year_doy)); +} From 0150515a6677e4d4baf8765d7c710036cac6e642 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 30 Jan 2024 16:25:14 +0100 Subject: [PATCH 058/456] Add test codes for IncrementYearDoy --- .../gnss/test_igs_product_name_handling.cpp | 21 +++++++++++++++++++ 1 file changed, 21 insertions(+) diff --git a/src/library/gnss/test_igs_product_name_handling.cpp b/src/library/gnss/test_igs_product_name_handling.cpp index 12b2893b7..b674af7dc 100644 --- a/src/library/gnss/test_igs_product_name_handling.cpp +++ b/src/library/gnss/test_igs_product_name_handling.cpp @@ -62,3 +62,24 @@ TEST(IgsProductName, PerseFromYearDoy) { EXPECT_EQ(2000, PerseYearFromYearDoy(year_doy)); EXPECT_EQ(001, PerseDoyFromYearDoy(year_doy)); } + +/** + * @brief Test IncrementYearDoy + */ +TEST(IgsProductName, IncrementYearDoy) { + size_t year_doy = 2024030; + year_doy = IncrementYearDoy(year_doy); + EXPECT_EQ(2024031, year_doy); + + // Year update + year_doy = 2023365; + year_doy = IncrementYearDoy(year_doy); + EXPECT_EQ(2024001, year_doy); + + // Leap year + year_doy = 2024365; + year_doy = IncrementYearDoy(year_doy); + EXPECT_EQ(2024366, year_doy); + year_doy = IncrementYearDoy(year_doy); + EXPECT_EQ(2025001, year_doy); +} From 3222dbcf23b9df3e88ce8396deec259b875f9ac4 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 31 Jan 2024 14:27:04 +0100 Subject: [PATCH 059/456] Move InitGnssSatellites function --- src/environment/global/gnss_satellites.cpp | 62 ++++++++++++++++++++++ src/environment/global/gnss_satellites.hpp | 7 +++ 2 files changed, 69 insertions(+) diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index 88362d327..a227a0dc3 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -5,6 +5,9 @@ #include "gnss_satellites.hpp" +#include +#include + #include "environment/global/physical_constants.hpp" #include "library/logger/log_utility.hpp" #include "library/math/constants.hpp" @@ -870,3 +873,62 @@ std::string GnssSatellites::GetLogValue() const { return str_tmp; } + +GnssSatellites* InitGnssSatellites(std::string file_name) { + IniAccess ini_file(file_name); + char section[] = "GNSS_SATELLITES"; + + const bool is_calc_enable = ini_file.ReadEnable(section, INI_CALC_LABEL); + const bool is_log_enable = ini_file.ReadEnable(section, INI_LOG_LABEL); + + GnssSatellites* gnss_satellites = new GnssSatellites(is_calc_enable, is_log_enable); + if (!gnss_satellites->IsCalcEnabled()) { + return gnss_satellites; + } + + const std::string directory_path = ini_file.ReadString(section, "directory_path"); + const std::string file_name_header = ini_file.ReadString(section, "file_name_header"); + const std::string orbit_data_period = ini_file.ReadString(section, "orbit_data_period"); + const std::string clock_file_name_footer = ini_file.ReadString(section, "clock_file_name_footer"); + bool use_sp3_for_clock = false; + if (clock_file_name_footer == (orbit_data_period + "_ORB.SP3")) { + use_sp3_for_clock = true; + } + + // Duration + const size_t start_date = (size_t)ini_file.ReadInt(section, "start_date"); + const size_t end_date = (size_t)ini_file.ReadInt(section, "end_date"); + if (start_date > end_date) { + std::cout << "[ERROR] GNSS satellite initialize: start_date is larger than the end date." << std::endl; + } + + // Read all product files + std::vector sp3_file_readers; + + size_t read_file_date = start_date; + while (read_file_date <= end_date) { + std::string sp3_file_name = GetOrbitClockFinalFileName(file_name_header, read_file_date, orbit_data_period); + std::string sp3_full_file_path = directory_path + "/" + sp3_file_name; + + // Read SP3 + sp3_file_readers.push_back(Sp3FileReader(sp3_full_file_path)); + + // Clock file + if (!use_sp3_for_clock) { + std::string clk_file_name = + GetOrbitClockFinalFileName(file_name_header, read_file_date, clock_file_name_footer.substr(0, 3), clock_file_name_footer.substr(4, 7)); + std::string clk_full_file_path = directory_path + "/" + clk_file_name; + // TODO: Read CLK + } + + // Increment + read_file_date = IncrementYearDoy(read_file_date); + } + + // Old descriptions TODO: delete + std::vector> position_file; + std::vector> clock_file; + gnss_satellites->Initialize(position_file, clock_file, clock_file_name_footer); + + return gnss_satellites; +} diff --git a/src/environment/global/gnss_satellites.hpp b/src/environment/global/gnss_satellites.hpp index f01131012..ecbf1117b 100644 --- a/src/environment/global/gnss_satellites.hpp +++ b/src/environment/global/gnss_satellites.hpp @@ -363,4 +363,11 @@ class GnssSatellites : public ILoggable { double start_unix_time_; //!< Start unix time }; +/** + *@fn InitGnssSatellites + *@brief Initialize function for GnssSatellites class + *@param [in] file_name: Path to the initialize file + */ +GnssSatellites* InitGnssSatellites(const std::string file_name); + #endif // S2E_ENVIRONMENT_GLOBAL_GNSS_SATELLITES_HPP_ From 7a3168ed39cc79e423001410ed088a256ddcefca Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 31 Jan 2024 14:29:34 +0100 Subject: [PATCH 060/456] Delete Initialize function file for GNSS and CLK file reading function --- src/environment/global/CMakeLists.txt | 1 - src/environment/global/global_environment.cpp | 1 - src/environment/global/gnss_satellites.cpp | 1 + .../global/initialize_gnss_satellites.cpp | 228 ------------------ .../global/initialize_gnss_satellites.hpp | 18 -- 5 files changed, 1 insertion(+), 248 deletions(-) delete mode 100644 src/environment/global/initialize_gnss_satellites.cpp delete mode 100644 src/environment/global/initialize_gnss_satellites.hpp diff --git a/src/environment/global/CMakeLists.txt b/src/environment/global/CMakeLists.txt index bc64cef0e..8ce63a332 100644 --- a/src/environment/global/CMakeLists.txt +++ b/src/environment/global/CMakeLists.txt @@ -10,7 +10,6 @@ add_library(${PROJECT_NAME} STATIC clock_generator.cpp earth_rotation.cpp moon_rotation.cpp - initialize_gnss_satellites.cpp ) include(../../../common.cmake) diff --git a/src/environment/global/global_environment.cpp b/src/environment/global/global_environment.cpp index f170be384..37fb7be2f 100644 --- a/src/environment/global/global_environment.cpp +++ b/src/environment/global/global_environment.cpp @@ -5,7 +5,6 @@ #include "global_environment.hpp" -#include "initialize_gnss_satellites.hpp" #include "library/initialize/initialize_file_access.hpp" GlobalEnvironment::GlobalEnvironment(const SimulationConfiguration* simulation_configuration) { Initialize(simulation_configuration); } diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index a227a0dc3..914d31478 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -9,6 +9,7 @@ #include #include "environment/global/physical_constants.hpp" +#include "library/initialize/initialize_file_access.hpp" #include "library/logger/log_utility.hpp" #include "library/math/constants.hpp" #include "library/utilities/macros.hpp" diff --git a/src/environment/global/initialize_gnss_satellites.cpp b/src/environment/global/initialize_gnss_satellites.cpp deleted file mode 100644 index 2f12f80b9..000000000 --- a/src/environment/global/initialize_gnss_satellites.cpp +++ /dev/null @@ -1,228 +0,0 @@ -/** - *@file initialize_gnss_satellites.cpp - *@brief Initialize functions for GnssSatellites class - */ - -#include "initialize_gnss_satellites.hpp" - -#include -#include -#include -#include -#include - -/** - *@fn ReturnDirectoryPathWithFileType - *@brief Return directory path with file type infomation - *@param [in] sort: File type - *@return Directory path with file type infomation - */ -std::string ReturnDirectoryPathWithFileType(std::string sort) { - std::string main_directory, sub_directory; - - if (sort.substr(0, 2) == "IG") { - main_directory = "IGS/"; - if (sort.at(2) == 'S') { - sub_directory = "igs/"; - } else if (sort.at(2) == 'R') { - sub_directory = "igr/"; - } else if (sort.at(2) == 'U') { - sub_directory = "igu/"; - } - } else if (sort.substr(0, 2) == "ma") { - main_directory = "JAXA/"; - sub_directory = "madoca/"; - } else { - for (int i = 0; i < (int)sort.size(); ++i) { - if (sort.at(i) == '_') { - main_directory = sort.substr(0, i) + "/"; - if (sort.at(i + 1) == 'F') { - sub_directory = "final/"; - } else if (sort.at(i + 1) == 'R') { - sub_directory = "rapid/"; - } else if (sort.at(i + 1) == 'U') { - sub_directory = "ultra_rapid/"; - } else { - std::cout << "file_sort has something wrong" << std::endl; - exit(1); - } - break; - } - } - } - - return main_directory + sub_directory; -} - -/** - *@fn ReadFileContents - *@brief Read file and convert to a vector of one line strings - *@param [in] directory_path: Directory path of the file - *@param [in] file_name: File name - *@param [out] storage: vector of one line strings - */ -void ReadFileContents(std::string directory_path, std::string file_name, std::vector& storage) { - std::string all_file_path = directory_path + file_name; - std::ifstream ifs(all_file_path); - - if (!ifs.is_open()) { - std::cout << "in " << directory_path << "gnss file: " << file_name << " not found" << std::endl; - exit(1); - } - std::string str; - while (std::getline(ifs, str)) { - storage.push_back(str); - } - ifs.close(); - if (storage.back() == "EOF") storage.pop_back(); - - return; -} - -/** - *@fn ReadClockFiles - *@brief Read multiple SP3 files in the directory and generate multiple vectors of one line strings - *@param [in] directory_path: Directory path of the file - *@param [in] extension: Extensions of the file - *@param [in] file_sort: File type - *@param [in] first: The first SP3 file name - *@param [in] last: The last SP3 file name - *@param [out] file_contents: Generated files as multiple vectors of one line strings - */ -void ReadClockFiles(std::string directory_path, std::string extension, std::string file_sort, std::string first, std::string last, - std::vector>& file_contents) { - std::string all_directory_path = directory_path + ReturnDirectoryPathWithFileType(file_sort) + extension.substr(1) + '/'; - - if (file_sort.find("Ultra") != std::string::npos) { - std::string file_header, file_footer; - int gps_week = 0, day = 0; - int hour = 0; - for (int i = 0; i < (int)first.size(); ++i) { - int n = first.at(i); - // Looking for the number of file name - if ((int)'0' <= n && n < (int)('0' + 10)) { - file_header = first.substr(0, i); - gps_week = stoi(first.substr(file_header.size(), 4)); - day = stoi(first.substr(file_header.size() + 4, 1)); - hour = stoi(first.substr(file_header.size() + 6, 2)); - file_footer = first.substr(file_header.size() + 8); - break; - } - } - - file_contents.clear(); - - while (true) { - if (hour == 24) { - hour = 0; - ++day; - } - if (day == 7) { - ++gps_week; - day = 0; - } - std::string file_name = file_header + std::to_string(gps_week) + std::to_string(day) + "_"; - if (hour < 10) { - file_name += "0"; - } - file_name += std::to_string(hour) + file_footer; - file_contents.push_back(std::vector()); - - ReadFileContents(all_directory_path, file_name, file_contents.back()); - - if (file_name == last) break; - hour += 6; - } - } else { - std::string file_header, file_footer; - int gps_week = 0, day = 0; - for (int i = 0; i < (int)first.size(); ++i) { - int n = first.at(i); - // Looking for the number of file name - if ((int)'0' <= n && n < (int)('0' + 10)) { - file_header = first.substr(0, i); - gps_week = stoi(first.substr(file_header.size(), 4)); - day = stoi(first.substr(file_header.size() + 4, 1)); - file_footer = first.substr(file_header.size() + 5); - break; - } - } - - file_contents.clear(); - - while (true) { - if (day == 7) { - ++gps_week; - day = 0; - } - std::string file_name = file_header + std::to_string(gps_week) + std::to_string(day) + file_footer; - file_contents.push_back(std::vector()); - - ReadFileContents(all_directory_path, file_name, file_contents.back()); - - if (file_name == last) break; - ++day; - } - } - - return; -} - -GnssSatellites* InitGnssSatellites(std::string file_name) { - IniAccess ini_file(file_name); - char section[] = "GNSS_SATELLITES"; - - const bool is_calc_enable = ini_file.ReadEnable(section, INI_CALC_LABEL); - const bool is_log_enable = ini_file.ReadEnable(section, INI_LOG_LABEL); - - GnssSatellites* gnss_satellites = new GnssSatellites(is_calc_enable, is_log_enable); - if (!gnss_satellites->IsCalcEnabled()) { - return gnss_satellites; - } - - const std::string directory_path = ini_file.ReadString(section, "directory_path"); - const std::string file_name_header = ini_file.ReadString(section, "file_name_header"); - const std::string orbit_data_period = ini_file.ReadString(section, "orbit_data_period"); - const std::string clock_file_name_footer = ini_file.ReadString(section, "clock_file_name_footer"); - bool use_sp3_for_clock = false; - if (clock_file_name_footer == (orbit_data_period + "_ORB.SP3")) { - use_sp3_for_clock = true; - } - - // Duration - const size_t start_date = (size_t)ini_file.ReadInt(section, "start_date"); - const size_t end_date = (size_t)ini_file.ReadInt(section, "end_date"); - if (start_date > end_date) { - std::cout << "[ERROR] GNSS satellite initialize: start_date is larger than the end date." << std::endl; - } - - // Read all product files - std::vector sp3_file_readers; - - size_t read_file_date = start_date; - while (read_file_date <= end_date) { - std::string sp3_file_name = GetOrbitClockFinalFileName(file_name_header, read_file_date, orbit_data_period); - std::string sp3_full_file_path = directory_path + "/" + sp3_file_name; - - // Read SP3 - sp3_file_readers.push_back(Sp3FileReader(sp3_full_file_path)); - - // Clock file - if (!use_sp3_for_clock) { - std::string clk_file_name = - GetOrbitClockFinalFileName(file_name_header, read_file_date, clock_file_name_footer.substr(0, 3), clock_file_name_footer.substr(4, 7)); - std::string clk_full_file_path = directory_path + "/" + clk_file_name; - // TODO: Read CLK - } - - // Increment - read_file_date = IncrementYearDoy(read_file_date); - } - - // Old descriptions TODO: delete - std::vector> position_file; - std::vector> clock_file; - gnss_satellites->Initialize(position_file, clock_file, clock_file_name_footer); - - return gnss_satellites; -} diff --git a/src/environment/global/initialize_gnss_satellites.hpp b/src/environment/global/initialize_gnss_satellites.hpp deleted file mode 100644 index ca55e995d..000000000 --- a/src/environment/global/initialize_gnss_satellites.hpp +++ /dev/null @@ -1,18 +0,0 @@ -/** - *@file initialize_gnss_satellites.hpp - *@brief Initialize functions for GnssSatellites class - */ - -#ifndef S2E_ENVIRONMENT_GLOBAL_INITIALIZE_GNSS_SATELLITES_HPP_ -#define S2E_ENVIRONMENT_GLOBAL_INITIALIZE_GNSS_SATELLITES_HPP_ - -#include - -/** - *@fn InitGnssSatellites - *@brief Initialize function for GnssSatellites class - *@param [in] file_name: Path to the initialize function - */ -GnssSatellites* InitGnssSatellites(std::string file_name); - -#endif // S2E_ENVIRONMENT_GLOBAL_INITIALIZE_GNSS_SATELLITES_HPP_ From 1912852d7317fe89f7f47b1865a5487b8f71c722 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 31 Jan 2024 14:48:06 +0100 Subject: [PATCH 061/456] fix small --- src/environment/global/gnss_satellites.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index 914d31478..961625e57 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -875,7 +875,7 @@ std::string GnssSatellites::GetLogValue() const { return str_tmp; } -GnssSatellites* InitGnssSatellites(std::string file_name) { +GnssSatellites* InitGnssSatellites(const std::string file_name) { IniAccess ini_file(file_name); char section[] = "GNSS_SATELLITES"; From 878a08df90f0124fee458c1a606431b6a4b6d5a3 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 5 Feb 2024 10:12:05 +0100 Subject: [PATCH 062/456] Remove unnecessary classes and functions --- src/environment/global/global_environment.cpp | 2 +- src/environment/global/gnss_satellites.cpp | 870 ++---------------- src/environment/global/gnss_satellites.hpp | 300 +----- 3 files changed, 74 insertions(+), 1098 deletions(-) diff --git a/src/environment/global/global_environment.cpp b/src/environment/global/global_environment.cpp index 37fb7be2f..4240d5d80 100644 --- a/src/environment/global/global_environment.cpp +++ b/src/environment/global/global_environment.cpp @@ -25,7 +25,7 @@ void GlobalEnvironment::Initialize(const SimulationConfiguration* simulation_con celestial_information_ = InitCelestialInformation(simulation_configuration->initialize_base_file_name_); simulation_time_ = InitSimulationTime(simulation_time_ini_path); hipparcos_catalogue_ = InitHipparcosCatalogue(simulation_configuration->initialize_base_file_name_); - gnss_satellites_ = InitGnssSatellites(simulation_configuration->gnss_file_); + gnss_satellites_ = InitGnssSatellites(simulation_configuration->gnss_file_, *simulation_time_); // Calc initial value celestial_information_->UpdateAllObjectsInformation(*simulation_time_); diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index 961625e57..3a5c92f54 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -12,673 +12,50 @@ #include "library/initialize/initialize_file_access.hpp" #include "library/logger/log_utility.hpp" #include "library/math/constants.hpp" +#include "library/time_system/date_time_format.hpp" #include "library/utilities/macros.hpp" -const double nan99 = 999999.999999; +const size_t kNumberOfInterpolation = 9; -using namespace std; +void GnssSatellites::Initialize(const std::vector& sp3_files, const EpochTime start_time) { + sp3_files_ = sp3_files; -/** - * @fn initialized_tm - * @brief Initialize time as calendar expression - */ -tm* initialized_tm() { - tm* time_tm = (tm*)malloc(sizeof(tm)); - - time_tm->tm_year = 0; - time_tm->tm_mon = 0; - time_tm->tm_mday = 0; - time_tm->tm_hour = 0; - time_tm->tm_min = 0; - time_tm->tm_sec = 0; - - time_tm->tm_isdst = 0; - time_tm->tm_yday = 0; - time_tm->tm_wday = 0; - -#ifndef WIN32 - time_tm->tm_zone = NULL; - time_tm->tm_gmtoff = 0; -#endif - - return time_tm; -} - -/** - * @fn get_unixtime_from_timestamp_line - * @brief Calculate unix time from calendar expression - * @param [in] s: Time as calendar expression - * @return Unix time - */ -double get_unixtime_from_timestamp_line(std::vector& s) { - tm* time_tm = initialized_tm(); - time_tm->tm_year = stoi(s.at(1)) - 1900; - time_tm->tm_mon = stoi(s.at(2)) - 1; // 0 - 11, in time struct, 1 - 12 month is expressed by 1 - 12 - time_tm->tm_mday = stoi(s.at(3)); - time_tm->tm_hour = stoi(s.at(4)); - time_tm->tm_min = stoi(s.at(5)); - time_tm->tm_sec = (int)(stod(s.at(6)) + 1e-4); // for the numerical error, plus 1e-4 (tm_sec is to be int) - double unix_time = (double)mktime(time_tm); - std::free(time_tm); - - return unix_time; -} - -// GnssSatelliteBase -template -libra::Vector GnssSatelliteBase::TrigonometricInterpolation(const vector& time_vector, const vector>& values, - double time) const { - size_t n = time_vector.size(); - double w = libra::tau / (24.0 * 60.0 * 60.0) * 1.03; // coefficient of a day long - libra::Vector res(0.0); - - for (size_t i = 0; i < n; ++i) { - double t_k = 1.0; - for (size_t j = 0; j < n; ++j) { - if (i == j) continue; - t_k *= sin(w * (time - time_vector.at(j)) / 2.0) / sin(w * (time_vector.at(i) - time_vector.at(j)) / 2.0); - } - for (size_t j = 0; j < (int)N; ++j) { - res(j) += t_k * values.at(i)(j); - } - } - - return res; -} - -double GnssSatelliteBase::TrigonometricInterpolation(const vector& time_vector, const vector& values, double time) const { - size_t n = time_vector.size(); - double w = libra::tau / (24.0 * 60.0 * 60.0) * 1.03; // coefficient of a day long - double res = 0.0; - - for (size_t i = 0; i < n; ++i) { - double t_k = 1.0; - for (size_t j = 0; j < n; ++j) { - if (i == j) continue; - t_k *= sin(w * (time - time_vector.at(j)) / 2.0) / sin(w * (time_vector.at(i) - time_vector.at(j)) / 2.0); - } - res += t_k * values.at(i); - } - - return res; -} - -template -libra::Vector GnssSatelliteBase::LagrangeInterpolation(const vector& time_vector, const vector>& values, - double time) const { - int n = time_vector.size(); - libra::Vector res(0.0); - - for (int i = 0; i < n; ++i) { - double l_i = 1.0; - for (int j = 0; j < n; ++j) { - if (i == j) continue; - l_i *= (time - time_vector.at(j)) / (time_vector.at(i) - time_vector.at(j)); - } - for (int j = 0; j < N; ++j) { - res(j) += l_i * values.at(i)(j); - } - } - - return res; -} - -double GnssSatelliteBase::LagrangeInterpolation(const vector& time_vector, const vector& values, double time) const { - size_t n = time_vector.size(); - double res = 0.0; - for (size_t i = 0; i < n; ++i) { - double l_i = 1.0; - for (size_t j = 0; j < n; ++j) { - if (i == j) continue; - l_i *= (time - time_vector.at(j)) / (time_vector.at(i) - time_vector.at(j)); - } - res += values.at(i) * l_i; - } - - return res; -} - -// GnssSatellitePosition -pair GnssSatellitePosition::Initialize(vector>& file) { - interpolation_number_ = 9; // 9 is recommended in the paper - - // Expansion - time_series_position_ecef_m_.resize(kTotalNumberOfGnssSatellite); // first vector size is the satellite number - time_series_position_eci_m_.resize(kTotalNumberOfGnssSatellite); - unix_time_list.resize(kTotalNumberOfGnssSatellite); - - // for using min and max, set the sup & inf before - double start_unix_time = 1e16; - double end_unix_time = 0; - - for (int page = 0; page < (int)file.size(); ++page) { - // Read Header Info - int num_of_time_stamps = 0; - int num_of_sat = 0; - int line; - for (line = 0; line < 3; ++line) { - istringstream iss{file.at(page).at(line)}; - - if (line == 0) { - // in seventh line, there is time stamps - // http://epncb.oma.be/ftp/data/format/sp3c.txt - for (int i = 0; i < 7; ++i) { - // how many time stamps are written? - string each; - iss >> each; - if (i == 6) num_of_time_stamps = stoi(each); - } - } else if (line == 1) { - for (int i = 0; i < 4; ++i) { - string each; - iss >> each; - if (i == 3) time_interval_ = stod(each); - } - } else if (line == 2) { - for (int i = 0; i < 2; ++i) { - string each; - iss >> each; - if (i == 1) num_of_sat = stoi(each); - } - } - } - line = 3; - while (file.at(page).at(line).front() != '*') ++line; - - // Calculate number of data lines - int start_line, end_line; - start_line = line; - end_line = line + (num_of_sat + 1) * num_of_time_stamps; - - // Read time and position data - double unix_time = 0; - double cos_ = 0.0; //!< cos value for ECEF->ECI conversion - double sin_ = 0.0; //!< sin value for ECEF->ECI conversion - for (int i = 0; i < end_line - start_line; ++i) { - line = i + start_line; - - istringstream iss{file.at(page).at(line)}; - vector s; - if (i % (num_of_sat + 1) == 0) { - // Epoch information - for (int j = 0; j < 7; ++j) { - string tmp; - iss >> tmp; - s.push_back(tmp); - } - // Convert to julian date - unix_time = get_unixtime_from_timestamp_line(s); - double jd; - jday(stoi(s.at(1)), stoi(s.at(2)), stoi(s.at(3)), stoi(s.at(4)), stoi(s.at(5)), stod(s.at(6)), jd); - // Calculate frame conversion - double gs_time_ = gstime(jd); - cos_ = cos(gs_time_); - sin_ = sin(gs_time_); - // Set start and end unix time - start_unix_time = std::min(start_unix_time, unix_time); - end_unix_time = std::max(end_unix_time, unix_time); - } else { - // Position and clock data of each GNSS satellite - for (int j = 0; j < 5; ++j) { - string tmp; - iss >> tmp; - s.push_back(tmp); - } - int gnss_satellite_id = ConvertGnssSatelliteNumberToIndex(s.front()); - - bool available_flag = true; - libra::Vector<3> ecef_position_m(0.0); - for (int j = 0; j < 3; ++j) { - if (std::abs(stod(s.at(j + 1)) - nan99) < 1.0) { - available_flag = false; - break; - } else { - ecef_position_m(j) = stod(s.at(j + 1)); - } - } - if (!available_flag) continue; - - // [km] -> [m] - ecef_position_m *= 1000.0; - - // ECI frame conversion - libra::Vector<3> eci_position(0.0); - double x = ecef_position_m(0); - double y = ecef_position_m(1); - double z = ecef_position_m(2); - eci_position(0) = cos_ * x - sin_ * y; - eci_position(1) = sin_ * x + cos_ * y; - eci_position(2) = z; - - // Set data - if (!unix_time_list.at(gnss_satellite_id).empty() && std::abs(unix_time - unix_time_list.at(gnss_satellite_id).back()) < 1.0) { - unix_time_list.at(gnss_satellite_id).back() = unix_time; - time_series_position_ecef_m_.at(gnss_satellite_id).back() = ecef_position_m; - time_series_position_eci_m_.at(gnss_satellite_id).back() = eci_position; - } else { - unix_time_list.at(gnss_satellite_id).emplace_back(unix_time); - time_series_position_ecef_m_.at(gnss_satellite_id).emplace_back(ecef_position_m); - time_series_position_eci_m_.at(gnss_satellite_id).emplace_back(eci_position); - } - } - } - } - - return make_pair(start_unix_time, end_unix_time); -} - -void GnssSatellitePosition::SetUp(const double start_unix_time, const double step_width_s) { - step_width_s_ = step_width_s; - - position_ecef_m_.assign(kTotalNumberOfGnssSatellite, libra::Vector<3>(0.0)); - position_eci_m_.assign(kTotalNumberOfGnssSatellite, libra::Vector<3>(0.0)); - validate_.assign(kTotalNumberOfGnssSatellite, false); - - nearest_index_.resize(kTotalNumberOfGnssSatellite); - time_period_list_.resize(kTotalNumberOfGnssSatellite); - - ecef_.resize(kTotalNumberOfGnssSatellite); - eci_.resize(kTotalNumberOfGnssSatellite); - - for (size_t gnss_satellite_id = 0; gnss_satellite_id < kTotalNumberOfGnssSatellite; ++gnss_satellite_id) { - if (unix_time_list.at(gnss_satellite_id).empty()) { - validate_.at(gnss_satellite_id) = false; - continue; - } - - int index = (int)(lower_bound(unix_time_list.at(gnss_satellite_id).begin(), unix_time_list.at(gnss_satellite_id).end(), start_unix_time) - - unix_time_list.at(gnss_satellite_id).begin()); - if (index == (int)unix_time_list.at(gnss_satellite_id).size()) { - nearest_index_.at(gnss_satellite_id) = index; - validate_.at(gnss_satellite_id) = false; - continue; - } - - double nearest_unixtime = unix_time_list.at(gnss_satellite_id).at(index); - if (interpolation_number_ % 2 && index != 0) { - double pre_time = unix_time_list.at(gnss_satellite_id).at(index - 1); - if (std::abs(start_unix_time - pre_time) < std::abs(start_unix_time - nearest_unixtime)) --index; - } - nearest_index_.at(gnss_satellite_id) = index; - nearest_unixtime = unix_time_list.at(gnss_satellite_id).at(index); - if (std::abs(start_unix_time - nearest_unixtime) > time_interval_) { - validate_.at(gnss_satellite_id) = false; - continue; - } - - // for both even and odd: 2n+1 -> [-n, n] 2n -> [-n, n) - for (int j = -interpolation_number_ / 2; j < (interpolation_number_ + 1) / 2; ++j) { - int now_index = index + j; - if (now_index < 0 || now_index >= (int)unix_time_list.at(gnss_satellite_id).size()) continue; - - time_period_list_.at(gnss_satellite_id).push_back(unix_time_list.at(gnss_satellite_id).at(now_index)); - ecef_.at(gnss_satellite_id).push_back(time_series_position_ecef_m_.at(gnss_satellite_id).at(now_index)); - eci_.at(gnss_satellite_id).push_back(time_series_position_eci_m_.at(gnss_satellite_id).at(now_index)); - } - if ((int)time_period_list_.at(gnss_satellite_id).size() != interpolation_number_) { - validate_.at(gnss_satellite_id) = false; - continue; - } - - double time_period_length = time_period_list_.at(gnss_satellite_id).back() - time_period_list_.at(gnss_satellite_id).front(); - if (time_period_length > time_interval_ * (interpolation_number_ - 1 + 3) + 1e-4) { // allow for 3 missing - validate_.at(gnss_satellite_id) = false; - continue; - } else { - validate_.at(gnss_satellite_id) = true; - } - - if (std::abs(start_unix_time - nearest_unixtime) < 1e-4) { // for the numerical error, plus 1e-4 - position_ecef_m_.at(gnss_satellite_id) = time_series_position_ecef_m_.at(gnss_satellite_id).at(index); - position_eci_m_.at(gnss_satellite_id) = time_series_position_eci_m_.at(gnss_satellite_id).at(index); - } else { - position_ecef_m_.at(gnss_satellite_id) = - TrigonometricInterpolation(time_period_list_.at(gnss_satellite_id), ecef_.at(gnss_satellite_id), start_unix_time); - position_eci_m_.at(gnss_satellite_id) = - TrigonometricInterpolation(time_period_list_.at(gnss_satellite_id), eci_.at(gnss_satellite_id), start_unix_time); - } - } -} - -void GnssSatellitePosition::Update(const double current_unix_time) { - for (size_t gnss_satellite_id = 0; gnss_satellite_id < kTotalNumberOfGnssSatellite; ++gnss_satellite_id) { - if (unix_time_list.at(gnss_satellite_id).empty()) { - validate_.at(gnss_satellite_id) = false; - continue; - } - - int index = nearest_index_.at(gnss_satellite_id); - if (index == (int)unix_time_list.at(gnss_satellite_id).size()) { - validate_.at(gnss_satellite_id) = false; - continue; - } - - if (index + 1 < (int)unix_time_list.at(gnss_satellite_id).size()) { - double pre_unix = unix_time_list.at(gnss_satellite_id).at(index); - double post_unix = unix_time_list.at(gnss_satellite_id).at(index + 1); - - if (std::abs(current_unix_time - post_unix) < std::abs(current_unix_time - pre_unix)) { - ++index; - nearest_index_.at(gnss_satellite_id) = index; - - time_period_list_.at(gnss_satellite_id).clear(); - ecef_.at(gnss_satellite_id).clear(); - eci_.at(gnss_satellite_id).clear(); - - // for both even and odd: 2n+1 -> [-n, n] 2n -> [-n, n) - for (int j = -interpolation_number_ / 2; j < (interpolation_number_ + 1) / 2; ++j) { - int now_index = index + j; - if (now_index < 0 || now_index >= (int)unix_time_list.at(gnss_satellite_id).size()) continue; - - time_period_list_.at(gnss_satellite_id).push_back(unix_time_list.at(gnss_satellite_id).at(now_index)); - ecef_.at(gnss_satellite_id).push_back(time_series_position_ecef_m_.at(gnss_satellite_id).at(now_index)); - eci_.at(gnss_satellite_id).push_back(time_series_position_eci_m_.at(gnss_satellite_id).at(now_index)); - } - } - } - double nearest_unix_time = unix_time_list.at(gnss_satellite_id).at(index); - if (std::abs(current_unix_time - nearest_unix_time) > time_interval_) { - validate_.at(gnss_satellite_id) = false; - continue; - } - - if ((int)time_period_list_.at(gnss_satellite_id).size() != interpolation_number_) { - validate_.at(gnss_satellite_id) = false; - continue; - } - - double time_period_length = time_period_list_.at(gnss_satellite_id).back() - time_period_list_.at(gnss_satellite_id).front(); - if (time_period_length > time_interval_ * (interpolation_number_ - 1 + 3) + 1e-4) { // allow for 3 missing - validate_.at(gnss_satellite_id) = false; - continue; - } else { - validate_.at(gnss_satellite_id) = true; - } - - if (std::abs(current_unix_time - nearest_unix_time) < 1e-4) { // for the numerical error, plus 1e-4 - position_ecef_m_.at(gnss_satellite_id) = time_series_position_ecef_m_.at(gnss_satellite_id).at(index); - position_eci_m_.at(gnss_satellite_id) = time_series_position_eci_m_.at(gnss_satellite_id).at(index); - } else { - position_ecef_m_.at(gnss_satellite_id) = - TrigonometricInterpolation(time_period_list_.at(gnss_satellite_id), ecef_.at(gnss_satellite_id), current_unix_time); - position_eci_m_.at(gnss_satellite_id) = - TrigonometricInterpolation(time_period_list_.at(gnss_satellite_id), eci_.at(gnss_satellite_id), current_unix_time); - } - } -} - -// GnssSatelliteClock -void GnssSatelliteClock::Initialize(vector>& file, string file_extension, pair unix_time_period) { - interpolation_number_ = 3; // Quadratic interpolation is recommended - time_series_clock_offset_m_.resize(kTotalNumberOfGnssSatellite); // first vector size is the sat num - unix_time_list.resize(kTotalNumberOfGnssSatellite); - - if (file_extension == ".sp3") { - for (int page = 0; page < (int)file.size(); ++page) { - // Read Header Info - int num_of_time_stamps = 0; - int num_of_sat = 0; - int line; - for (line = 0; line < 3; ++line) { - istringstream iss{file.at(page).at(line)}; - - if (line == 0) { - // in seventh line, there is time stamps - // http://epncb.oma.be/ftp/data/format/sp3c.txt - for (int i = 0; i < 7; ++i) { - // how many time stamps are written? - string each; - iss >> each; - if (i == 6) num_of_time_stamps = stoi(each); - } - } else if (line == 1) { - for (int i = 0; i < 4; ++i) { - string each; - iss >> each; - if (i == 3) time_interval_ = stod(each); - } - } else if (line == 2) { - for (int i = 0; i < 2; ++i) { - string each; - iss >> each; - if (i == 1) num_of_sat = stoi(each); - } - } - } - line = 3; - while (file.at(page).at(line).front() != '*') ++line; - - // Calculate number of data lines - int start_line, end_line; - start_line = line; - end_line = line + (num_of_sat + 1) * num_of_time_stamps; - - // Read time and clock data - double unix_time = 0; - for (int i = 0; i < end_line - start_line; ++i) { - line = i + start_line; - - istringstream iss{file.at(page).at(line)}; - vector s; - if (i % (num_of_sat + 1) == 0) { - // Epoch information - for (int j = 0; j < 7; ++j) { - string tmp; - iss >> tmp; - s.push_back(tmp); - } - unix_time = get_unixtime_from_timestamp_line(s); - } else { - for (int j = 0; j < 5; ++j) { - string tmp; - iss >> tmp; - s.push_back(tmp); - } - int gnss_satellite_id = ConvertGnssSatelliteNumberToIndex(s.front()); - - double clock = stod(s.at(4)); - if (std::abs(clock - nan99) < 1.0) continue; - - // In the file, clock bias is expressed in [micro second], so by multiplying by the speed_of_light & 1e-6, they are converted to [m] - clock *= (environment::speed_of_light_m_s * 1e-6); - if (!unix_time_list.at(gnss_satellite_id).empty() && std::abs(unix_time - unix_time_list.at(gnss_satellite_id).back()) < 1.0) { - unix_time_list.at(gnss_satellite_id).back() = unix_time; - time_series_clock_offset_m_.at(gnss_satellite_id).back() = clock; - } else { - unix_time_list.at(gnss_satellite_id).push_back(unix_time); - time_series_clock_offset_m_.at(gnss_satellite_id).emplace_back(clock); - } - } - } - } - } else { // .clk30s - time_interval_ = 1e9; - - for (int page = 0; page < (int)file.size(); ++page) { - double start_unix_time, end_unix_time; - start_unix_time = unix_time_period.first; - end_unix_time = unix_time_period.second + 30; - - for (int line = 0; line < (int)file.at(page).size(); ++line) { - if (file.at(page).at(line).substr(0, 3) != "AS ") continue; - - istringstream iss{file.at(page).at(line)}; - vector s; - for (int i = 0; i < 11; ++i) { - string tmp; - iss >> tmp; - s.push_back(tmp); - } - - tm* time_tm = initialized_tm(); - time_tm->tm_year = stoi(s.at(2)) - 1900; - time_tm->tm_mon = stoi(s.at(3)) - 1; // 0 - 11, in time struct, 1 - 12 month is expressed by 1 - 12 - time_tm->tm_mday = stoi(s.at(4)); - time_tm->tm_hour = stoi(s.at(5)); - time_tm->tm_min = stoi(s.at(6)); - time_tm->tm_sec = (int)(stod(s.at(7)) + 1e-4); // for the numerical error, plus 1e-4. tm_sec is to be int - double unix_time = (double)mktime(time_tm); - const double interval = 6 * 60 * 60; - if (start_unix_time < 0) { - start_unix_time = unix_time; - end_unix_time = start_unix_time + interval; - } - - std::free(time_tm); - - int gnss_satellite_id = ConvertGnssSatelliteNumberToIndex(s.at(1)); - double clock_bias = stod(s.at(9)) * environment::speed_of_light_m_s; // [s] -> [m] - if (start_unix_time - unix_time > 1e-4) continue; // for the numerical error - if (end_unix_time - unix_time < 1e-4) break; - if (!unix_time_list.at(gnss_satellite_id).empty() && - std::abs(unix_time - unix_time_list.at(gnss_satellite_id).back()) < 1e-4) { // for the numerical error - unix_time_list.at(gnss_satellite_id).back() = unix_time; - time_series_clock_offset_m_.at(gnss_satellite_id).back() = clock_bias; - } else { - if (!unix_time_list.at(gnss_satellite_id).empty()) - time_interval_ = min(time_interval_, unix_time - unix_time_list.at(gnss_satellite_id).back()); - unix_time_list.at(gnss_satellite_id).emplace_back(unix_time); - time_series_clock_offset_m_.at(gnss_satellite_id).emplace_back(clock_bias); - } - } - } + // Get the initialize SP3 file + Sp3FileReader initial_sp3_file = sp3_files_[0]; + if (GetCurrentSp3File(initial_sp3_file, start_time)) { + std::cout << "[Error] GNSS satellites: Calculation time mismatch with SP3 files." << std::endl; + return; } -} -void GnssSatelliteClock::SetUp(const double start_unix_time, const double step_width_s) { - step_width_s_ = step_width_s; - - clock_offset_m_.resize(kTotalNumberOfGnssSatellite); - validate_.assign(kTotalNumberOfGnssSatellite, false); - - nearest_index_.resize(kTotalNumberOfGnssSatellite); - time_period_list_.resize(kTotalNumberOfGnssSatellite); - - clock_bias_.resize(kTotalNumberOfGnssSatellite); - - for (size_t gnss_satellite_id = 0; gnss_satellite_id < kTotalNumberOfGnssSatellite; ++gnss_satellite_id) { - if (unix_time_list.at(gnss_satellite_id).empty()) { - validate_.at(gnss_satellite_id) = false; - continue; - } - - int index = (int)(lower_bound(unix_time_list.at(gnss_satellite_id).begin(), unix_time_list.at(gnss_satellite_id).end(), start_unix_time) - - unix_time_list.at(gnss_satellite_id).begin()); - if (index == (int)unix_time_list.at(gnss_satellite_id).size()) { - validate_.at(gnss_satellite_id) = false; - nearest_index_.at(gnss_satellite_id) = index; - continue; - } - - double nearest_unixtime = unix_time_list.at(gnss_satellite_id).at(index); - if (interpolation_number_ % 2 && index != 0) { - double pre_time = unix_time_list.at(gnss_satellite_id).at(index - 1); - if (std::abs(start_unix_time - pre_time) < std::abs(start_unix_time - nearest_unixtime)) --index; - } - nearest_index_.at(gnss_satellite_id) = index; - nearest_unixtime = unix_time_list.at(gnss_satellite_id).at(index); - if (std::abs(start_unix_time - nearest_unixtime) > time_interval_) { - validate_.at(gnss_satellite_id) = false; - continue; - } - - // for both even and odd: 2n+1 -> [-n, n] 2n -> [-n, n) - for (int j = -interpolation_number_ / 2; j < (interpolation_number_ + 1) / 2; ++j) { - int now_index = index + j; - if (now_index < 0 || now_index >= (int)unix_time_list.at(gnss_satellite_id).size()) continue; - - time_period_list_.at(gnss_satellite_id).push_back(unix_time_list.at(gnss_satellite_id).at(now_index)); - clock_bias_.at(gnss_satellite_id).push_back(time_series_clock_offset_m_.at(gnss_satellite_id).at(now_index)); - } - - if ((int)time_period_list_.at(gnss_satellite_id).size() != interpolation_number_) { - validate_.at(gnss_satellite_id) = false; - continue; - } - double time_period_length = time_period_list_.at(gnss_satellite_id).back() - time_period_list_.at(gnss_satellite_id).front(); - if (time_period_length > time_interval_ * (interpolation_number_ - 1) + 1e-4) { // more strict for clock_bias - validate_.at(gnss_satellite_id) = false; - continue; - } else { - validate_.at(gnss_satellite_id) = true; - } - - if (std::abs(start_unix_time - nearest_unixtime) < 1e-4) { // for the numerical error - clock_offset_m_.at(gnss_satellite_id) = time_series_clock_offset_m_.at(gnss_satellite_id).at(index); - } else { - clock_offset_m_.at(gnss_satellite_id) = - LagrangeInterpolation(time_period_list_.at(gnss_satellite_id), clock_bias_.at(gnss_satellite_id), start_unix_time); - } + // Get general info + const size_t number_of_calculated_gnss_satellites = initial_sp3_file.GetNumberOfSatellites(); + const size_t nearest_epoch_id = initial_sp3_file.SearchNearestEpochId(start_time); + const size_t half_interpolation_number = kNumberOfInterpolation / 2; + if (nearest_epoch_id >= half_interpolation_number) { + reference_interpolation_id_ = nearest_epoch_id - half_interpolation_number; } -} - -void GnssSatelliteClock::Update(const double current_unix_time) { - for (size_t gnss_satellite_id = 0; gnss_satellite_id < kTotalNumberOfGnssSatellite; ++gnss_satellite_id) { - if (unix_time_list.at(gnss_satellite_id).empty()) { - validate_.at(gnss_satellite_id) = false; - continue; - } - - int index = nearest_index_.at(gnss_satellite_id); - if (index == (int)unix_time_list.at(gnss_satellite_id).size()) { - validate_.at(gnss_satellite_id) = false; - continue; - } - - if (index + 1 < (int)unix_time_list.at(gnss_satellite_id).size()) { - double pre_unix = unix_time_list.at(gnss_satellite_id).at(index); - double post_unix = unix_time_list.at(gnss_satellite_id).at(index + 1); - - if (std::abs(current_unix_time - post_unix) < std::abs(current_unix_time - pre_unix)) { - ++index; - nearest_index_.at(gnss_satellite_id) = index; + reference_time_ = EpochTime(initial_sp3_file.GetEpochData(reference_interpolation_id_)); - time_period_list_.at(gnss_satellite_id).clear(); - clock_bias_.at(gnss_satellite_id).clear(); + // Initialize orbit + orbit_.assign(number_of_calculated_gnss_satellites, InterpolationOrbit(kNumberOfInterpolation)); - // for both even and odd: 2n+1 -> [-n, n] 2n -> [-n, n) - for (int j = -interpolation_number_ / 2; j < (interpolation_number_ + 1) / 2; ++j) { - int now_index = index + j; - if (now_index < 0 || now_index >= (int)unix_time_list.at(gnss_satellite_id).size()) continue; - - time_period_list_.at(gnss_satellite_id).push_back(unix_time_list.at(gnss_satellite_id).at(now_index)); - clock_bias_.at(gnss_satellite_id).push_back(time_series_clock_offset_m_.at(gnss_satellite_id).at(now_index)); - } - } - } - if ((int)time_period_list_.at(gnss_satellite_id).size() != interpolation_number_) { - validate_.at(gnss_satellite_id) = false; - continue; - } - - double nearest_unix_time = unix_time_list.at(gnss_satellite_id).at(index); - if (std::abs(current_unix_time - nearest_unix_time) > time_interval_) { - validate_.at(gnss_satellite_id) = false; - continue; - } + // Initialize clock + std::vector temp; + temp.assign(kNumberOfInterpolation, -1.0); + clock_.assign(number_of_calculated_gnss_satellites, libra::Interpolation(temp, temp)); - // in clock_bias, more strict. - double time_period_length = time_period_list_.at(gnss_satellite_id).back() - time_period_list_.at(gnss_satellite_id).front(); - if (time_period_length > time_interval_ * (interpolation_number_ - 1) + 1e-4) { // more strict for clock_bias - validate_.at(gnss_satellite_id) = false; - continue; - } else { - validate_.at(gnss_satellite_id) = true; - } + // Initialize + for (size_t gnss_idx = 0; gnss_idx < number_of_calculated_gnss_satellites; gnss_idx++) { + for (size_t i = 0; i < kNumberOfInterpolation; i++) { + EpochTime time_at_epoch_id = EpochTime(initial_sp3_file.GetEpochData(reference_interpolation_id_)); + double time_diff_s = time_at_epoch_id.GetTimeWithFraction_s() - reference_time_.GetTimeWithFraction_s(); + libra::Vector<3> sp3_position_m = 1000.0 * initial_sp3_file.GetSatellitePosition_km(i, gnss_idx); - if (std::abs(current_unix_time - nearest_unix_time) < 1e-4) { - clock_offset_m_.at(gnss_satellite_id) = time_series_clock_offset_m_.at(gnss_satellite_id).at(index); - } else { - clock_offset_m_.at(gnss_satellite_id) = - LagrangeInterpolation(time_period_list_.at(gnss_satellite_id), clock_bias_.at(gnss_satellite_id), current_unix_time); + orbit_[gnss_idx].PushAndPopData(time_diff_s, sp3_position_m); + clock_[gnss_idx].PushAndPopData(time_diff_s, initial_sp3_file.GetSatelliteClockOffset(i, gnss_idx)); + reference_interpolation_id_++; } } -} - -// GnssSatellites -void GnssSatellites::Initialize(vector>& position_file, vector>& clock_file, string clock_file_extension) { - auto unix_time_period = position_.Initialize(position_file); - clock_.Initialize(clock_file, clock_file_extension, unix_time_period); return; } @@ -686,170 +63,28 @@ void GnssSatellites::Initialize(vector>& position_file, vectortm_year = simulation_time->GetStartYear() - 1900; - start_tm->tm_mon = simulation_time->GetStartMonth() - 1; - start_tm->tm_mday = simulation_time->GetStartDay(); - start_tm->tm_hour = simulation_time->GetStartHour(); - start_tm->tm_min = simulation_time->GetStartMinute(); - double start_sec = simulation_time->GetStartSecond(); - start_tm->tm_sec = (int)start_sec; - double unix_time = (double)mktime(start_tm) + start_sec - floor(start_sec); - std::free(start_tm); - - position_.SetUp(unix_time, simulation_time->GetSimulationStep_s()); - clock_.SetUp(unix_time, simulation_time->GetSimulationStep_s()); - - start_unix_time_ = unix_time; - return; } void GnssSatellites::Update(const SimulationTime* simulation_time) { if (!IsCalcEnabled()) return; - double elapsed_sec = simulation_time->GetElapsedTime_s(); - - double current_unix_time = elapsed_sec + start_unix_time_; - - position_.Update(current_unix_time); - clock_.Update(current_unix_time); - return; } -double GnssSatellites::GetPseudoRangeEcef(const size_t gnss_satellite_id, libra::Vector<3> receiver_position_ecef_m, double receiver_clock_offset_m, - const double frequency_MHz) const { - // gnss_satellite_id is wrong or not validate - if (!GetWhetherValid(gnss_satellite_id)) return 0.0; - - double res = 0.0; - auto gnss_position = position_.GetPosition_ecef_m(gnss_satellite_id); - for (int i = 0; i < 3; ++i) { - res += pow(receiver_position_ecef_m(i) - gnss_position(i), 2.0); - } - res = sqrt(res); - - // clock bias - res += receiver_clock_offset_m - clock_.GetClockOffset_m(gnss_satellite_id); - - // ionospheric delay - const double ionospheric_delay = AddIonosphericDelay(gnss_satellite_id, receiver_position_ecef_m, frequency_MHz); - - res += ionospheric_delay; - - return res; -} - -double GnssSatellites::GetPseudoRangeEci(const size_t gnss_satellite_id, libra::Vector<3> receiver_position_eci_m, double receiver_clock_offset_m, - const double frequency_MHz) const { - // gnss_satellite_id is wrong or not validate - if (!GetWhetherValid(gnss_satellite_id)) return 0.0; - - double res = 0.0; - auto gnss_position = position_.GetPosition_eci_m(gnss_satellite_id); - for (int i = 0; i < 3; ++i) { - res += pow(receiver_position_eci_m(i) - gnss_position(i), 2.0); - } - res = sqrt(res); - - // clock bias - res += receiver_clock_offset_m - clock_.GetClockOffset_m(gnss_satellite_id); - - // ionospheric delay - const double ionospheric_delay = AddIonosphericDelay(gnss_satellite_id, receiver_position_eci_m, frequency_MHz); - - res += ionospheric_delay; - - return res; -} - -pair GnssSatellites::GetCarrierPhaseEcef(const size_t gnss_satellite_id, libra::Vector<3> receiver_position_ecef_m, - double receiver_clock_offset_m, const double frequency_MHz) const { - // gnss_satellite_id is wrong or not validate - if (!GetWhetherValid(gnss_satellite_id)) return {0.0, 0.0}; - - double res = 0.0; - auto gnss_position = position_.GetPosition_ecef_m(gnss_satellite_id); - for (int i = 0; i < 3; ++i) { - res += pow(receiver_position_ecef_m(i) - gnss_position(i), 2.0); - } - res = sqrt(res); - - // clock bias - res += receiver_clock_offset_m - clock_.GetClockOffset_m(gnss_satellite_id); - - // ionospheric delay - const double ionospheric_delay = AddIonosphericDelay(gnss_satellite_id, receiver_position_ecef_m, frequency_MHz); - - res -= ionospheric_delay; - - // wavelength frequency_MHz is thought to be given by MHz - double lambda = environment::speed_of_light_m_s * 1e-6 / frequency_MHz; - double cycle = res / lambda; - - double bias = floor(cycle); - cycle -= bias; - - return {cycle, bias}; -} - -pair GnssSatellites::GetCarrierPhaseEci(const size_t gnss_satellite_id, libra::Vector<3> receiver_position_eci_m, - double receiver_clock_offset_m, const double frequency_MHz) const { - // gnss_satellite_id is wrong or not validate - if (!GetWhetherValid(gnss_satellite_id)) return {0.0, 0.0}; - - double res = 0.0; - auto gnss_position = position_.GetPosition_eci_m(gnss_satellite_id); - for (int i = 0; i < 3; ++i) { - res += pow(receiver_position_eci_m(i) - gnss_position(i), 2.0); +bool GnssSatellites::GetCurrentSp3File(Sp3FileReader& current_sp3_file, const EpochTime current_time) { + for (size_t i = 0; i < sp3_files_.size(); i++) { + EpochTime sp3_start_time(sp3_files_[i].GetStartEpochDateTime()); + double diff_s = current_time.GetTimeWithFraction_s() - sp3_start_time.GetTimeWithFraction_s(); + if (diff_s < 0.0) { + // Error + return false; + } else if (diff_s < 24 * 60 * 60) { + current_sp3_file = sp3_files_[i]; + return true; + } } - res = sqrt(res); - - // clock bias - res += receiver_clock_offset_m - clock_.GetClockOffset_m(gnss_satellite_id); - - // ionospheric delay - const double ionospheric_delay = AddIonosphericDelay(gnss_satellite_id, receiver_position_eci_m, frequency_MHz); - - res -= ionospheric_delay; - - // wavelength frequency_MHz is thought to be given by MHz - double lambda = environment::speed_of_light_m_s * 1e-6 / frequency_MHz; - double cycle = res / lambda; - - double bias = floor(cycle); - cycle -= bias; - - return {cycle, bias}; -} - -// for Ionospheric delay I[m] -double GnssSatellites::AddIonosphericDelay(const size_t gnss_satellite_id, const libra::Vector<3> receiver_position_m, - const double frequency_MHz) const { - // gnss_satellite_id is wrong or not validate - if (!GetWhetherValid(gnss_satellite_id)) return 0.0; - - const double earth_hemisphere_km = environment::earth_equatorial_radius_m / 1000.0; - - double altitude = 0.0; - for (int i = 0; i < 3; ++i) altitude += pow(receiver_position_m[i], 2.0); - altitude = sqrt(altitude); - altitude = altitude / 1000.0 - earth_hemisphere_km; //[m -> km] - if (altitude >= 1000.0) return 0.0; // there is no Ionosphere above 1000km - - libra::Vector<3> gnss_position; - gnss_position = position_.GetPosition_ecef_m(gnss_satellite_id); - - double angle_rad = CalcAngleTwoVectors_rad(receiver_position_m, gnss_position - receiver_position_m); - const double default_delay = 20.0; //[m] default delay - // Assume the maximum height as 1000.0. Divide by cos because the slope makes it longer. - double delay = default_delay * (1000.0 - altitude) / 1000.0 / cos(angle_rad); - const double default_frequency_MHz = 1500.0; //[MHz] - // Ionospheric delay is inversely proportional to the square of the frequency_MHz - delay *= pow(default_frequency_MHz / frequency_MHz, 2.0); - - return delay; + return false; } std::string GnssSatellites::GetLogHeader() const { @@ -868,14 +103,14 @@ std::string GnssSatellites::GetLogValue() const { std::string str_tmp = ""; for (size_t gps_index = 0; gps_index < kNumberOfGpsSatellite; gps_index++) { - str_tmp += WriteVector(position_.GetPosition_ecef_m((int)gps_index), 16); - str_tmp += WriteScalar(clock_.GetClockOffset_m((int)gps_index)); + // str_tmp += WriteVector(position_.GetPosition_ecef_m((int)gps_index), 16); + // str_tmp += WriteScalar(clock_.GetClockOffset_m((int)gps_index)); } return str_tmp; } -GnssSatellites* InitGnssSatellites(const std::string file_name) { +GnssSatellites* InitGnssSatellites(const std::string file_name, const SimulationTime& simulation_time) { IniAccess ini_file(file_name); char section[] = "GNSS_SATELLITES"; @@ -909,7 +144,7 @@ GnssSatellites* InitGnssSatellites(const std::string file_name) { size_t read_file_date = start_date; while (read_file_date <= end_date) { std::string sp3_file_name = GetOrbitClockFinalFileName(file_name_header, read_file_date, orbit_data_period); - std::string sp3_full_file_path = directory_path + "/" + sp3_file_name; + std::string sp3_full_file_path = directory_path + sp3_file_name; // Read SP3 sp3_file_readers.push_back(Sp3FileReader(sp3_full_file_path)); @@ -918,7 +153,7 @@ GnssSatellites* InitGnssSatellites(const std::string file_name) { if (!use_sp3_for_clock) { std::string clk_file_name = GetOrbitClockFinalFileName(file_name_header, read_file_date, clock_file_name_footer.substr(0, 3), clock_file_name_footer.substr(4, 7)); - std::string clk_full_file_path = directory_path + "/" + clk_file_name; + std::string clk_full_file_path = directory_path + clk_file_name; // TODO: Read CLK } @@ -926,10 +161,11 @@ GnssSatellites* InitGnssSatellites(const std::string file_name) { read_file_date = IncrementYearDoy(read_file_date); } - // Old descriptions TODO: delete - std::vector> position_file; - std::vector> clock_file; - gnss_satellites->Initialize(position_file, clock_file, clock_file_name_footer); + // + DateTime start_date_time((size_t)simulation_time.GetStartYear(), (size_t)simulation_time.GetStartMonth(), (size_t)simulation_time.GetStartDay(), + (size_t)simulation_time.GetStartHour(), (size_t)simulation_time.GetStartMinute(), simulation_time.GetStartSecond()); + EpochTime start_epoch_time(start_date_time); + gnss_satellites->Initialize(sp3_file_readers, start_epoch_time); return gnss_satellites; } diff --git a/src/environment/global/gnss_satellites.hpp b/src/environment/global/gnss_satellites.hpp index ecbf1117b..bb7400e4e 100644 --- a/src/environment/global/gnss_satellites.hpp +++ b/src/environment/global/gnss_satellites.hpp @@ -6,6 +6,12 @@ #ifndef S2E_ENVIRONMENT_GLOBAL_GNSS_SATELLITES_HPP_ #define S2E_ENVIRONMENT_GLOBAL_GNSS_SATELLITES_HPP_ +#include +#include +#include +#include +#include +#include #include #include "library/gnss/gnss_satellite_number.hpp" @@ -13,174 +19,6 @@ #include "library/math/vector.hpp" #include "simulation_time.hpp" -extern const double nan99; //!< Not at Number TODO: Should be moved to another place - -/** - * @class GnssSatelliteBase - * @brief A class to summarize basic feature of GNSS position and clock calculation - */ -class GnssSatelliteBase { - public: - /** - * @fn GetWhetherValid - * @brief Return true the GNSS satellite information is available - * @param [in] gnss_satellite_id: Index of GNSS satellite - */ - inline bool GetWhetherValid(const size_t gnss_satellite_id) const { - if (gnss_satellite_id >= kTotalNumberOfGnssSatellite) return false; - return validate_.at(gnss_satellite_id); - } - - protected: - /** - * @fn TrigonometricInterpolation - * @brief Interpolate with Trigonometric method - * @note Ref: http://acc.igs.org/orbits/orbit-interp_gpssoln03.pdf - * https://en.wikipedia.org/wiki/Trigonometric_interpolation# - * @param [in] time_vector: List of given time - * @param [in] values: List of given value - * @param [in] time: Time to calculate the interpolated value - * @return Interpolated value - */ - template - libra::Vector TrigonometricInterpolation(const std::vector& time_vector, const std::vector>& values, double time) const; - double TrigonometricInterpolation(const std::vector& time_vector, const std::vector& values, double time) const; - - /** - * @fn LagrangeInterpolation - * @brief Interpolate with Lagrange method - * @param [in] time_vector: List of given time - * @param [in] values: List of given value - * @param [in] time: Time to calculate the interpolated value - * @return Interpolated value - */ - template - libra::Vector LagrangeInterpolation(const std::vector& time_vector, const std::vector>& values, double time) const; - double LagrangeInterpolation(const std::vector& time_vector, const std::vector& values, double time) const; - - std::vector> unix_time_list; //!< List of unixtime for all satellite - std::vector> time_period_list_; //!< List of time period for interpolation - std::vector validate_; //!< List of whether the satellite is available at the time - std::vector nearest_index_; //!< Index list for update(in position, time_and_index_list_. in clock_bias, time_table_) - - double step_width_s_ = 0.0; //!< Step width [sec] - double time_interval_ = 0.0; //!< Time interval - int interpolation_number_ = 0; //!< Interpolation number -}; - -/** - * @class GnssSatellitePosition - * @brief Class to manage GNSS satellite position information - */ -class GnssSatellitePosition : public GnssSatelliteBase { - public: - /** - * @fn GnssSatellitePosition - * @brief Constructor - */ - GnssSatellitePosition() {} - /** - * @fn Initialize - * @brief Initialize GNSS satellite position - * @param[in] file: File path for position calculation - * @return Start unix time and end unix time - */ - std::pair Initialize(std::vector>& file); - - /** - * @fn Setup - * @brief Setup GNSS satellite position information - * @param [in] start_unix_time: Start unix time - * @param [in] step_width_s: Step width [sec] - */ - void SetUp(const double start_unix_time, const double step_width_s); - /** - * @fn Update - * @brief Update GNSS satellite position information - * @param [in] current_unix_time: Current unix time - */ - void Update(const double current_unix_time); - - /** - * @fn GetPosition_ecef_m - * @brief Return GNSS satellite position vector in the ECEF frame [m] - * @param [in] gnss_satellite_id: GNSS satellite ID defined in this class - */ - inline libra::Vector<3> GetPosition_ecef_m(const size_t gnss_satellite_id) const { - if (!GetWhetherValid(gnss_satellite_id)) return libra::Vector<3>(0.0); - return position_ecef_m_.at(gnss_satellite_id); - } - /** - * @fn GetPosition_eci_m - * @brief Return GNSS satellite position vector in the ECI frame [m] - * @param [in] gnss_satellite_id: GNSS satellite ID defined in this class - */ - inline libra::Vector<3> GetPosition_eci_m(const size_t gnss_satellite_id) const { - if (!GetWhetherValid(gnss_satellite_id)) return libra::Vector<3>(0.0); - return position_eci_m_.at(gnss_satellite_id); - } - - private: - std::vector> position_ecef_m_; //!< List of GNSS satellite position at specific time in the ECEF frame [m] - std::vector> position_eci_m_; //!< List of GNSS satellite position at specific time in the ECI frame [m] - - std::vector>> time_series_position_ecef_m_; //!< Time series of position of all GNSS satellites in the ECEF frame [m] - std::vector>> time_series_position_eci_m_; //!< Time series of position of all GNSS satellites in the ECEF frame [m] - - // TODO: move to local function? - std::vector>> ecef_; //!< Time series of position of all GNSS satellites in the ECEF frame before interpolation [m] - std::vector>> eci_; //!< Time series of position of all GNSS satellites in the ECEF frame before interpolation [m] -}; - -/** - * @class GnssSatelliteClock - * @brief Class to manage GNSS satellite clock information - */ -class GnssSatelliteClock : public GnssSatelliteBase { - public: - /** - * @fn GnssSatelliteClock - * @brief Constructor - */ - GnssSatelliteClock() {} - /** - * @fn Initialize - * @brief Initialize GNSS satellite clock - * @param[in] file: File path for clock calculation - * @param[in] file_extension: Extension of the clock file (ex. .sp3, .clk30s) - */ - void Initialize(std::vector>& file, std::string file_extension, std::pair unix_time_period); - /** - * @fn SetUp - * @brief Setup GNSS satellite clock information - * @param [in] start_unix_time: Start unix time - * @param [in] step_width_s: Step width [sec] - */ - void SetUp(const double start_unix_time, const double step_width_s); - /** - * @fn Update - * @brief Update GNSS satellite clock information - * @param [in] current_unix_time: Current unix time - */ - void Update(const double current_unix_time); - /** - * @fn GetClockOffset_m - * @brief Return GNSS satellite clock in distance expression [m] - * @param [in] gnss_satellite_id: GNSS satellite ID defined in this class - */ - inline double GetClockOffset_m(const size_t gnss_satellite_id) const { - if (!GetWhetherValid(gnss_satellite_id)) return 0.0; - return clock_offset_m_.at(gnss_satellite_id); - } - - private: - std::vector clock_offset_m_; //!< List of clock bias of all GNSS satellites at specific time expressed in distance [m] - std::vector> time_series_clock_offset_m_; //!< Time series of clock bias of all GNSS satellites expressed in distance [m] - - // TODO: move to local function? - std::vector> clock_bias_; //!< Time series of clock bias of all GNSS satellites expressed in distance before interpolation [m] -}; - /** * @class GnssSatellites * @brief Class to calculate GNSS satellite position and related states @@ -210,8 +48,7 @@ class GnssSatellites : public ILoggable { * @brief Initialize function * @note Parameters are defined in GNSSSat_Info */ - void Initialize(std::vector>& position_file, std::vector>& clock_file, - std::string clock_file_extension); + void Initialize(const std::vector& sp3_files, const EpochTime start_time); /** * @fn IsCalcEnabled * @brief Return calculated enabled flag @@ -236,102 +73,9 @@ class GnssSatellites : public ILoggable { * @brief Return true the GNSS satellite information is available for both position and clock * @param [in] gnss_satellite_id: Index of GNSS satellite */ - inline bool GetWhetherValid(const size_t gnss_satellite_id) const { - if (position_.GetWhetherValid(gnss_satellite_id) && clock_.GetWhetherValid(gnss_satellite_id)) return true; - return false; - } - /** - * @fn GetStartUnixTime - * @brief Return start unix time - */ - inline double GetStartUnixTime() const { return start_unix_time_; } + inline bool GetWhetherValid(const size_t gnss_satellite_id) const { return true; } - /** - * @fn GetPosition_ecef_m - * @brief Return GNSS satellite position in the ECEF frame [m] - * @param [in] gnss_satellite_id: GNSS satellite ID - */ - inline libra::Vector<3> GetPosition_ecef_m(const size_t gnss_satellite_id) const { - // gnss_satellite_id is wrong or not valid - if (!GetWhetherValid(gnss_satellite_id)) { - libra::Vector<3> res(0); - return res; - } - - return position_.GetPosition_ecef_m(gnss_satellite_id); - } - /** - * @fn GetPosition_eci_m - * @brief Return GNSS satellite position in the ECI frame [m] - * @param [in] gnss_satellite_id: GNSS satellite ID - */ - inline libra::Vector<3> GetPosition_eci_m(const size_t gnss_satellite_id) const { - // gnss_satellite_id is wrong or not valid - if (!GetWhetherValid(gnss_satellite_id)) { - libra::Vector<3> res(0); - return res; - } - - return position_.GetPosition_eci_m(gnss_satellite_id); - } - - /** - * @fn GetClockOffset_m - * @brief Return GNSS satellite clock - * @param [in] gnss_satellite_id: GNSS satellite ID - */ - inline double GetClockOffset_m(const size_t gnss_satellite_id) const { - if (!GetWhetherValid(gnss_satellite_id)) { - return 0.0; - } - - return clock_.GetClockOffset_m(gnss_satellite_id); - } - - /** - * @fn GetPseudoRangeEcef - * @brief Calculate pseudo range between receiver and a GNSS satellite - * @param [in] gnss_satellite_id: GNSS satellite ID - * @param [in] receiver_position_ecef_m: Receiver position vector in the ECEF frame [m] - * @param [in] receiver_clock_offset_m: Receiver clock - * @param [in] frequency_MHz: Frequency of the signal [MHz] - * @return Pseudo range [m] - */ - double GetPseudoRangeEcef(const size_t gnss_satellite_id, libra::Vector<3> receiver_position_ecef_m, double receiver_clock_offset_m, - const double frequency_MHz) const; - /** - * @fn GetPseudoRangeEci - * @brief Calculate pseudo range between receiver and a GNSS satellite - * @param [in] gnss_satellite_id: GNSS satellite ID - * @param [in] receiver_position_eci_m: Receiver position vector in the ECI frame [m] - * @param [in] receiver_clock_offset_m: Receiver clock - * @param [in] frequency_MHz: Frequency of the signal [MHz] - * @return Pseudo range [m] - */ - double GetPseudoRangeEci(const size_t gnss_satellite_id, libra::Vector<3> receiver_position_eci_m, double receiver_clock_offset_m, - const double frequency_MHz) const; - /** - * @fn GetCarrierPhaseEcef - * @brief Calculate carrier phase observed by a receiver for a GNSS satellite - * @param [in] gnss_satellite_id: GNSS satellite ID - * @param [in] receiver_position_ecef_m: Receiver position vector in the ECEF frame [m] - * @param [in] receiver_clock_offset_m: Receiver clock - * @param [in] frequency_MHz: Frequency of the signal [MHz] - * @return Carrier phase cycle and bias [-] - */ - std::pair GetCarrierPhaseEcef(const size_t gnss_satellite_id, libra::Vector<3> receiver_position_ecef_m, - double receiver_clock_offset_m, const double frequency_MHz) const; - /** - * @fn GetCarrierPhaseEci - * @brief Calculate carrier phase observed by a receiver for a GNSS satellite - * @param [in] gnss_satellite_id: GNSS satellite ID - * @param [in] receiver_position_eci_m: Receiver position vector in the ECI frame [m] - * @param [in] receiver_clock_offset_m: Receiver clock - * @param [in] frequency_MHz: Frequency of the signal [MHz] - * @return Carrier phase cycle and bias [-] - */ - std::pair GetCarrierPhaseEci(const size_t gnss_satellite_id, libra::Vector<3> receiver_position_eci_m, - double receiver_clock_offset_m, const double frequency_MHz) const; + inline libra::Vector<3> GetPosition_eci_m(const size_t gnss_satellite_id) const { return libra::Vector<3>(0.0); } // Override ILoggable /** @@ -346,21 +90,17 @@ class GnssSatellites : public ILoggable { std::string GetLogValue() const override; private: - /** - * @fn AddIonosphericDelay - * @brief Calculation of ionospheric delay - * @note TODO: Ionospheric delay very Miscellaneous need to fix - * @param [in] gnss_satellite_id: GNSS satellite ID - * @param [in] receiver_position_m: Receiver position [m] - * @param [in] frequency_MHz: Frequency [MHz] - * @return Ionospheric delay [m] - */ - double AddIonosphericDelay(const size_t gnss_satellite_id, const libra::Vector<3> receiver_position_m, const double frequency_MHz) const; + bool is_calc_enabled_ = true; //!< Flag to manage the GNSS satellite position calculation + + std::vector sp3_files_; //!< List of SP3 files + EpochTime reference_time_; //!< Reference start time of the SP3 handling + size_t reference_interpolation_id_ = 0; //!< Reference epoch ID of the interpolation + + std::vector orbit_; //!< GNSS satellite orbit with interpolation + std::vector clock_; //!< GNSS satellite clock offset with interpolation - bool is_calc_enabled_ = true; //!< Flag to manage the GNSS satellite position calculation - GnssSatellitePosition position_; //!< GNSS satellite position information - GnssSatelliteClock clock_; //!< GNSS satellite clock information - double start_unix_time_; //!< Start unix time + // Check + bool GetCurrentSp3File(Sp3FileReader& current_sp3_file, const EpochTime current_time); }; /** @@ -368,6 +108,6 @@ class GnssSatellites : public ILoggable { *@brief Initialize function for GnssSatellites class *@param [in] file_name: Path to the initialize file */ -GnssSatellites* InitGnssSatellites(const std::string file_name); +GnssSatellites* InitGnssSatellites(const std::string file_name, const SimulationTime& simulation_time); #endif // S2E_ENVIRONMENT_GLOBAL_GNSS_SATELLITES_HPP_ From 83f271ed4dd0f0adb47f02c19d3deedd73290526 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 5 Feb 2024 10:13:01 +0100 Subject: [PATCH 063/456] Fix directory path of GNSS product files --- data/sample/initialize_files/sample_gnss.ini | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/data/sample/initialize_files/sample_gnss.ini b/data/sample/initialize_files/sample_gnss.ini index 660c8fa00..8561d5ed2 100644 --- a/data/sample/initialize_files/sample_gnss.ini +++ b/data/sample/initialize_files/sample_gnss.ini @@ -1,6 +1,6 @@ [GNSS_SATELLITES] -directory_path = EXT_LIB_DIR_FROM_EXE/gnss/final_products/ -calculation = DISABLE +directory_path = INI_FILE_DIR_FROM_EXE/gnss/final_products/ +calculation = ENABLE logging = DISABLE // Supporting the following products @@ -32,5 +32,5 @@ clock_file_name_footer = 15M_ORB.SP3 // or 30S_CLK.CLK or 05M_CLK.CLK // YYYYDDD // - YYYY: Year // - DDD: Day of year -start_date = 2023126 -end_date = 2023129 +start_date = 2023190 +end_date = 2023191 From 83402dc29105348bad7c49c464a96e897890fb00 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 5 Feb 2024 11:20:56 +0100 Subject: [PATCH 064/456] Add nearest epoch search function for SP3 file --- src/environment/global/gnss_satellites.cpp | 2 +- src/library/gnss/sp3_file_reader.cpp | 21 +++++++++++++++++++++ src/library/gnss/sp3_file_reader.hpp | 2 ++ 3 files changed, 24 insertions(+), 1 deletion(-) diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index 3a5c92f54..9c047201e 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -22,7 +22,7 @@ void GnssSatellites::Initialize(const std::vector& sp3_files, con // Get the initialize SP3 file Sp3FileReader initial_sp3_file = sp3_files_[0]; - if (GetCurrentSp3File(initial_sp3_file, start_time)) { + if (!GetCurrentSp3File(initial_sp3_file, start_time)) { std::cout << "[Error] GNSS satellites: Calculation time mismatch with SP3 files." << std::endl; return; } diff --git a/src/library/gnss/sp3_file_reader.cpp b/src/library/gnss/sp3_file_reader.cpp index 944c10786..48c7b5ac7 100644 --- a/src/library/gnss/sp3_file_reader.cpp +++ b/src/library/gnss/sp3_file_reader.cpp @@ -124,6 +124,27 @@ bool Sp3FileReader::ReadFile(const std::string file_name) { return true; } +size_t Sp3FileReader::SearchNearestEpochId(const EpochTime time) { + size_t nearest_epoch_id = 0; + + // Get header info + const size_t num_epoch = header_.number_of_epoch_; + const double interval_s = header_.epoch_interval_s_; + + // Check range if epoch + EpochTime start_epoch(epoch_[0]); + if (start_epoch > time) { + nearest_epoch_id = 0; + } else if ((EpochTime)(epoch_[num_epoch - 1]) < time) { + nearest_epoch_id = num_epoch - 1; + } else { // Calc nearest point + double diff_s = time.GetTimeWithFraction_s() - start_epoch.GetTimeWithFraction_s(); + nearest_epoch_id = (size_t)(diff_s / interval_s + 0.5); + } + + return nearest_epoch_id; +} + size_t Sp3FileReader::ReadHeader(std::ifstream& sp3_file) { size_t line_number = 0; std::string line; diff --git a/src/library/gnss/sp3_file_reader.hpp b/src/library/gnss/sp3_file_reader.hpp index ee59b10fd..3d86cc28e 100644 --- a/src/library/gnss/sp3_file_reader.hpp +++ b/src/library/gnss/sp3_file_reader.hpp @@ -178,6 +178,8 @@ class Sp3FileReader { double GetSatelliteClockOffset(const size_t epoch_id, const size_t satellite_id); libra::Vector<3> GetSatellitePosition_km(const size_t epoch_id, const size_t satellite_id); + size_t SearchNearestEpochId(const EpochTime time); + private: Sp3Header header_; //!< SP3 header information std::vector epoch_; //!< Epoch data list From 6f67443098a437e4555d8730e76b1aa928efc296 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 5 Feb 2024 13:47:57 +0100 Subject: [PATCH 065/456] Implement update function for GNSS satellites --- src/environment/global/global_environment.cpp | 2 +- src/environment/global/gnss_satellites.cpp | 28 ++++++++++++++++++- src/environment/global/gnss_satellites.hpp | 3 +- 3 files changed, 30 insertions(+), 3 deletions(-) diff --git a/src/environment/global/global_environment.cpp b/src/environment/global/global_environment.cpp index 4240d5d80..366419c42 100644 --- a/src/environment/global/global_environment.cpp +++ b/src/environment/global/global_environment.cpp @@ -35,7 +35,7 @@ void GlobalEnvironment::Initialize(const SimulationConfiguration* simulation_con void GlobalEnvironment::Update() { simulation_time_->UpdateTime(); celestial_information_->UpdateAllObjectsInformation(*simulation_time_); - gnss_satellites_->Update(simulation_time_); + gnss_satellites_->Update(*simulation_time_); } void GlobalEnvironment::LogSetup(Logger& logger) { diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index 9c047201e..9c0a08f32 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -66,9 +66,34 @@ void GnssSatellites::SetUp(const SimulationTime* simulation_time) { return; } -void GnssSatellites::Update(const SimulationTime* simulation_time) { +void GnssSatellites::Update(const SimulationTime& simulation_time) { if (!IsCalcEnabled()) return; + // Get time + UTC current_utc = simulation_time.GetCurrentUtc(); + DateTime current_date_time((size_t)current_utc.year, (size_t)current_utc.month, (size_t)current_utc.day, (size_t)current_utc.hour, + (size_t)current_utc.minute, current_utc.second); + EpochTime current_epoch_time(current_date_time); + + // TODO Check file updates + + // SP3 file + Sp3FileReader sp3_file = sp3_files_[sp3_file_id_]; + + double diff_s = current_epoch_time.GetTimeWithFraction_s() - reference_time_.GetTimeWithFraction_s(); + double medium_time_s = orbit_[0].GetTimeList()[4]; + if (diff_s > medium_time_s) { + for (size_t gps_idx = 0; gps_idx < 32; gps_idx++) { + EpochTime sp3_time = EpochTime(DateTime(sp3_file.GetEpochData(reference_interpolation_id_).GetAsString())); + double time_diff_s = sp3_time.GetTimeWithFraction_s() - reference_time_.GetTimeWithFraction_s(); + libra::Vector<3> sp3_position_m = 1000.0 * sp3_file.GetSatellitePosition_km(reference_interpolation_id_, gps_idx); + + orbit_[gps_idx].PushAndPopData(time_diff_s, sp3_position_m); + clock_[gps_idx].PushAndPopData(time_diff_s, sp3_file.GetSatelliteClockOffset(reference_interpolation_id_, gps_idx)); + } + reference_interpolation_id_++; + } + return; } @@ -81,6 +106,7 @@ bool GnssSatellites::GetCurrentSp3File(Sp3FileReader& current_sp3_file, const Ep return false; } else if (diff_s < 24 * 60 * 60) { current_sp3_file = sp3_files_[i]; + sp3_file_id_ = i; return true; } } diff --git a/src/environment/global/gnss_satellites.hpp b/src/environment/global/gnss_satellites.hpp index bb7400e4e..fc82247a9 100644 --- a/src/environment/global/gnss_satellites.hpp +++ b/src/environment/global/gnss_satellites.hpp @@ -66,7 +66,7 @@ class GnssSatellites : public ILoggable { * @brief Update both GNSS satellite information * @param [in] simulation_time: Simulation time information */ - void Update(const SimulationTime* simulation_time); + void Update(const SimulationTime& simulation_time); /** * @fn GetWhetherValid @@ -93,6 +93,7 @@ class GnssSatellites : public ILoggable { bool is_calc_enabled_ = true; //!< Flag to manage the GNSS satellite position calculation std::vector sp3_files_; //!< List of SP3 files + size_t sp3_file_id_; //!< Current SP3 file ID EpochTime reference_time_; //!< Reference start time of the SP3 handling size_t reference_interpolation_id_ = 0; //!< Reference epoch ID of the interpolation From 3cf520d843ec19e9b9713e0108917f1eb8678f1a Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 5 Feb 2024 14:53:44 +0100 Subject: [PATCH 066/456] Add Getter functions --- src/environment/global/gnss_satellites.cpp | 16 +++++------ src/environment/global/gnss_satellites.hpp | 33 ++++++++++++++++++++++ 2 files changed, 41 insertions(+), 8 deletions(-) diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index 9c0a08f32..b8596043f 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -47,15 +47,15 @@ void GnssSatellites::Initialize(const std::vector& sp3_files, con // Initialize for (size_t gnss_idx = 0; gnss_idx < number_of_calculated_gnss_satellites; gnss_idx++) { for (size_t i = 0; i < kNumberOfInterpolation; i++) { - EpochTime time_at_epoch_id = EpochTime(initial_sp3_file.GetEpochData(reference_interpolation_id_)); + EpochTime time_at_epoch_id = EpochTime(initial_sp3_file.GetEpochData(reference_interpolation_id_ + i)); double time_diff_s = time_at_epoch_id.GetTimeWithFraction_s() - reference_time_.GetTimeWithFraction_s(); libra::Vector<3> sp3_position_m = 1000.0 * initial_sp3_file.GetSatellitePosition_km(i, gnss_idx); orbit_[gnss_idx].PushAndPopData(time_diff_s, sp3_position_m); clock_[gnss_idx].PushAndPopData(time_diff_s, initial_sp3_file.GetSatelliteClockOffset(i, gnss_idx)); - reference_interpolation_id_++; } } + reference_interpolation_id_ += kNumberOfInterpolation; return; } @@ -73,18 +73,18 @@ void GnssSatellites::Update(const SimulationTime& simulation_time) { UTC current_utc = simulation_time.GetCurrentUtc(); DateTime current_date_time((size_t)current_utc.year, (size_t)current_utc.month, (size_t)current_utc.day, (size_t)current_utc.hour, (size_t)current_utc.minute, current_utc.second); - EpochTime current_epoch_time(current_date_time); + current_epoch_time_ = EpochTime(current_date_time); // TODO Check file updates // SP3 file Sp3FileReader sp3_file = sp3_files_[sp3_file_id_]; - double diff_s = current_epoch_time.GetTimeWithFraction_s() - reference_time_.GetTimeWithFraction_s(); + double diff_s = current_epoch_time_.GetTimeWithFraction_s() - reference_time_.GetTimeWithFraction_s(); double medium_time_s = orbit_[0].GetTimeList()[4]; if (diff_s > medium_time_s) { for (size_t gps_idx = 0; gps_idx < 32; gps_idx++) { - EpochTime sp3_time = EpochTime(DateTime(sp3_file.GetEpochData(reference_interpolation_id_).GetAsString())); + EpochTime sp3_time = EpochTime(sp3_file.GetEpochData(reference_interpolation_id_)); double time_diff_s = sp3_time.GetTimeWithFraction_s() - reference_time_.GetTimeWithFraction_s(); libra::Vector<3> sp3_position_m = 1000.0 * sp3_file.GetSatellitePosition_km(reference_interpolation_id_, gps_idx); @@ -119,7 +119,7 @@ std::string GnssSatellites::GetLogHeader() const { // TODO: Add log output for other navigation systems for (size_t gps_index = 0; gps_index < kNumberOfGpsSatellite; gps_index++) { str_tmp += WriteVector("GPS" + std::to_string(gps_index) + "_position", "ecef", "m", 3); - str_tmp += WriteScalar("GPS" + std::to_string(gps_index) + "_clock_offset", "m"); + str_tmp += WriteScalar("GPS" + std::to_string(gps_index) + "_clock_offset", "s"); } return str_tmp; @@ -129,8 +129,8 @@ std::string GnssSatellites::GetLogValue() const { std::string str_tmp = ""; for (size_t gps_index = 0; gps_index < kNumberOfGpsSatellite; gps_index++) { - // str_tmp += WriteVector(position_.GetPosition_ecef_m((int)gps_index), 16); - // str_tmp += WriteScalar(clock_.GetClockOffset_m((int)gps_index)); + str_tmp += WriteVector(GetPosition_ecef_m(gps_index), 16); + str_tmp += WriteScalar(GetClock_s(gps_index)); } return str_tmp; diff --git a/src/environment/global/gnss_satellites.hpp b/src/environment/global/gnss_satellites.hpp index fc82247a9..3321947ad 100644 --- a/src/environment/global/gnss_satellites.hpp +++ b/src/environment/global/gnss_satellites.hpp @@ -77,6 +77,37 @@ class GnssSatellites : public ILoggable { inline libra::Vector<3> GetPosition_eci_m(const size_t gnss_satellite_id) const { return libra::Vector<3>(0.0); } + inline libra::Vector<3> GetPosition_ecef_m(const size_t gnss_satellite_id, const EpochTime time = EpochTime(0, 0.0)) const { + EpochTime target_time; + + if (time.GetTime_s() == 0) { + target_time = current_epoch_time_; + } else { + target_time = time; + } + + double diff_s = target_time.GetTimeWithFraction_s() - reference_time_.GetTimeWithFraction_s(); + if (diff_s < 0.0 || diff_s > 1e6) return libra::Vector<3>(0.0); + + const double kOrbitalPeriodCorrection_s = 24 * 60 * 60 * 1.003; // See http://acc.igs.org/orbits/orbit-interp_gpssoln03.pdf + return orbit_[gnss_satellite_id].CalcPositionWithTrigonometric(diff_s, libra::tau / kOrbitalPeriodCorrection_s); + } + + inline double GetClock_s(const size_t gnss_satellite_id, const EpochTime time = EpochTime(0, 0.0)) const { + EpochTime target_time; + + if (time.GetTime_s() == 0) { + target_time = current_epoch_time_; + } else { + target_time = time; + } + + double diff_s = target_time.GetTimeWithFraction_s() - reference_time_.GetTimeWithFraction_s(); + if (diff_s < 0.0 || diff_s > 1e6) return 0.0; + + return clock_[gnss_satellite_id].CalcPolynomial(diff_s) * 1e-6; + } + // Override ILoggable /** * @fn GetLogHeader @@ -100,6 +131,8 @@ class GnssSatellites : public ILoggable { std::vector orbit_; //!< GNSS satellite orbit with interpolation std::vector clock_; //!< GNSS satellite clock offset with interpolation + EpochTime current_epoch_time_; + // Check bool GetCurrentSp3File(Sp3FileReader& current_sp3_file, const EpochTime current_time); }; From dc03fd079deb752e96c310bcabf0d159a4dc24fd Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 5 Feb 2024 14:54:27 +0100 Subject: [PATCH 067/456] Fix log output unit info --- scripts/Plot/plot_gnss_satellites.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/scripts/Plot/plot_gnss_satellites.py b/scripts/Plot/plot_gnss_satellites.py index 570e071e0..714d15902 100644 --- a/scripts/Plot/plot_gnss_satellites.py +++ b/scripts/Plot/plot_gnss_satellites.py @@ -66,7 +66,7 @@ plt.figure(1) for gps_idx in range(32): gps_str = 'GPS' + str(gps_idx) - clock = read_scalar_from_csv(read_file_name, gps_str + '_clock_offset[m]') + clock = read_scalar_from_csv(read_file_name, gps_str + '_clock_offset[s]') plt.plot(time[0], clock[0], marker=".", label=gps_str) plt.title("GPS Clock Offset") From c779fc4b0f766a342c37d5c58855b1beb532c183 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 5 Feb 2024 15:07:08 +0100 Subject: [PATCH 068/456] Add comments for GNSS satelite --- src/environment/global/gnss_satellites.cpp | 4 +-- src/environment/global/gnss_satellites.hpp | 40 ++++++++++++++++++---- 2 files changed, 35 insertions(+), 9 deletions(-) diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index b8596043f..40b6dcdb4 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -1,6 +1,6 @@ /** * @file gnss_satellites.cpp - * @brief Class to calculate GNSS satellite position and related states + * @brief Class to calculate GNSS satellite position and clock */ #include "gnss_satellites.hpp" @@ -180,7 +180,7 @@ GnssSatellites* InitGnssSatellites(const std::string file_name, const Simulation std::string clk_file_name = GetOrbitClockFinalFileName(file_name_header, read_file_date, clock_file_name_footer.substr(0, 3), clock_file_name_footer.substr(4, 7)); std::string clk_full_file_path = directory_path + clk_file_name; - // TODO: Read CLK + // TODO: Read CLK file } // Increment diff --git a/src/environment/global/gnss_satellites.hpp b/src/environment/global/gnss_satellites.hpp index 3321947ad..3ee614f17 100644 --- a/src/environment/global/gnss_satellites.hpp +++ b/src/environment/global/gnss_satellites.hpp @@ -1,6 +1,7 @@ /** * @file gnss_satellites.hpp - * @brief Class to calculate GNSS satellite position and related states + * @brief Class to calculate GNSS satellite position and clock + * @note TODO: Add GNSS satellite antenna information */ #ifndef S2E_ENVIRONMENT_GLOBAL_GNSS_SATELLITES_HPP_ @@ -21,14 +22,15 @@ /** * @class GnssSatellites - * @brief Class to calculate GNSS satellite position and related states + * @brief Class to calculate GNSS satellite position and clock */ class GnssSatellites : public ILoggable { public: /** * @fn GnssSatellites * @brief Constructor - * @param [in] is_calc_enabled: Flag to manage the GNSS satellite position calculation + * @param [in] is_calc_enabled: Flag to manage the GNSS satellite position/clock calculation + * @param [in] is_log_enabled: Flag to generate the log of GNSS satellite position/clock calculation */ GnssSatellites(const bool is_calc_enabled = false, const bool is_log_enabled = false) : is_calc_enabled_(is_calc_enabled) { if (!is_calc_enabled_) { @@ -46,9 +48,11 @@ class GnssSatellites : public ILoggable { /** * @fn Initialize * @brief Initialize function - * @note Parameters are defined in GNSSSat_Info + * @param [in] sp3_files: List of SP3 files + * @param [in] start_time: The simulation start time */ void Initialize(const std::vector& sp3_files, const EpochTime start_time); + /** * @fn IsCalcEnabled * @brief Return calculated enabled flag @@ -61,6 +65,7 @@ class GnssSatellites : public ILoggable { * @param [in] simulation_time: Simulation time information */ void SetUp(const SimulationTime* simulation_time); + /** * @fn Update * @brief Update both GNSS satellite information @@ -77,6 +82,13 @@ class GnssSatellites : public ILoggable { inline libra::Vector<3> GetPosition_eci_m(const size_t gnss_satellite_id) const { return libra::Vector<3>(0.0); } + /** + * @fn GetPosition_ecef_m + * @brief Return GNSS satellite position at ECEF frame + * @param [in] gnss_satellite_id: ID of GNSS satellite + * @param [in] time: Target time to get the GNSS satellite. When the argument is not set, the last updated time is used for the calculation. + * @return GNSS satellite position at ECEF frame at the time. Or return zero when the time is far from the current simulation time. + */ inline libra::Vector<3> GetPosition_ecef_m(const size_t gnss_satellite_id, const EpochTime time = EpochTime(0, 0.0)) const { EpochTime target_time; @@ -93,6 +105,13 @@ class GnssSatellites : public ILoggable { return orbit_[gnss_satellite_id].CalcPositionWithTrigonometric(diff_s, libra::tau / kOrbitalPeriodCorrection_s); } + /** + * @fn GetGetClock_s + * @brief Return GNSS satellite clock offset + * @param [in] gnss_satellite_id: ID of GNSS satellite + * @param [in] time: Target time to get the GNSS satellite. When the argument is not set, the last updated time is used for the calculation. + * @return GNSS satellite clock offset at the time. Or return zero when the time is far from the current simulation time. + */ inline double GetClock_s(const size_t gnss_satellite_id, const EpochTime time = EpochTime(0, 0.0)) const { EpochTime target_time; @@ -127,13 +146,18 @@ class GnssSatellites : public ILoggable { size_t sp3_file_id_; //!< Current SP3 file ID EpochTime reference_time_; //!< Reference start time of the SP3 handling size_t reference_interpolation_id_ = 0; //!< Reference epoch ID of the interpolation + EpochTime current_epoch_time_; //!< The last updated time std::vector orbit_; //!< GNSS satellite orbit with interpolation std::vector clock_; //!< GNSS satellite clock offset with interpolation - EpochTime current_epoch_time_; - - // Check + /** + * @fn GetCurrentSp3File + * @brief Get the SP3 file should be used at the time + * @param [out] current_sp3_file: SP3 file information should be use. + * @param [in] current_time: Target time + * @return true means noo error, false means the time argument is out of range + */ bool GetCurrentSp3File(Sp3FileReader& current_sp3_file, const EpochTime current_time); }; @@ -141,6 +165,8 @@ class GnssSatellites : public ILoggable { *@fn InitGnssSatellites *@brief Initialize function for GnssSatellites class *@param [in] file_name: Path to the initialize file + *@param [in] simulation_time: Simulation time information + *@return Initialized GnssSatellite class */ GnssSatellites* InitGnssSatellites(const std::string file_name, const SimulationTime& simulation_time); From 1529859dcca9b3d01ce6b4896a0172a68d64b05c Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 5 Feb 2024 15:15:34 +0100 Subject: [PATCH 069/456] Fix for the initial data --- src/environment/global/gnss_satellites.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index 40b6dcdb4..0a7ca206b 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -19,6 +19,7 @@ const size_t kNumberOfInterpolation = 9; void GnssSatellites::Initialize(const std::vector& sp3_files, const EpochTime start_time) { sp3_files_ = sp3_files; + current_epoch_time_ = start_time; // Get the initialize SP3 file Sp3FileReader initial_sp3_file = sp3_files_[0]; From e8baad72971ee93a4867707ae5ad1c30c31a01bb Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 5 Feb 2024 15:17:32 +0100 Subject: [PATCH 070/456] Delete unused setup function --- src/environment/global/global_environment.cpp | 1 - src/environment/global/gnss_satellites.cpp | 6 ------ src/environment/global/gnss_satellites.hpp | 7 ------- 3 files changed, 14 deletions(-) diff --git a/src/environment/global/global_environment.cpp b/src/environment/global/global_environment.cpp index 366419c42..2637620d2 100644 --- a/src/environment/global/global_environment.cpp +++ b/src/environment/global/global_environment.cpp @@ -29,7 +29,6 @@ void GlobalEnvironment::Initialize(const SimulationConfiguration* simulation_con // Calc initial value celestial_information_->UpdateAllObjectsInformation(*simulation_time_); - gnss_satellites_->SetUp(simulation_time_); } void GlobalEnvironment::Update() { diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index 0a7ca206b..68b7493ee 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -61,12 +61,6 @@ void GnssSatellites::Initialize(const std::vector& sp3_files, con return; } -void GnssSatellites::SetUp(const SimulationTime* simulation_time) { - if (!IsCalcEnabled()) return; - - return; -} - void GnssSatellites::Update(const SimulationTime& simulation_time) { if (!IsCalcEnabled()) return; diff --git a/src/environment/global/gnss_satellites.hpp b/src/environment/global/gnss_satellites.hpp index 3ee614f17..242099e1c 100644 --- a/src/environment/global/gnss_satellites.hpp +++ b/src/environment/global/gnss_satellites.hpp @@ -59,13 +59,6 @@ class GnssSatellites : public ILoggable { */ inline bool IsCalcEnabled() const { return is_calc_enabled_; } - /** - * @fn SetUp - * @brief Setup both GNSS satellite information - * @param [in] simulation_time: Simulation time information - */ - void SetUp(const SimulationTime* simulation_time); - /** * @fn Update * @brief Update both GNSS satellite information From c718205397edcf499150a83942e02ca58cde7a0c Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 5 Feb 2024 15:18:00 +0100 Subject: [PATCH 071/456] Delete unused valid function --- src/environment/global/gnss_satellites.hpp | 7 ------- 1 file changed, 7 deletions(-) diff --git a/src/environment/global/gnss_satellites.hpp b/src/environment/global/gnss_satellites.hpp index 242099e1c..323e96976 100644 --- a/src/environment/global/gnss_satellites.hpp +++ b/src/environment/global/gnss_satellites.hpp @@ -66,13 +66,6 @@ class GnssSatellites : public ILoggable { */ void Update(const SimulationTime& simulation_time); - /** - * @fn GetWhetherValid - * @brief Return true the GNSS satellite information is available for both position and clock - * @param [in] gnss_satellite_id: Index of GNSS satellite - */ - inline bool GetWhetherValid(const size_t gnss_satellite_id) const { return true; } - inline libra::Vector<3> GetPosition_eci_m(const size_t gnss_satellite_id) const { return libra::Vector<3>(0.0); } /** From e3b85e0fd0d1f8aff642dd4aa3563fb325e85cdd Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 5 Feb 2024 16:00:50 +0100 Subject: [PATCH 072/456] Add ECI conversion for GNSS satellites --- src/environment/global/global_environment.cpp | 2 +- src/environment/global/gnss_satellites.cpp | 6 ++--- src/environment/global/gnss_satellites.hpp | 26 +++++++++++++------ 3 files changed, 22 insertions(+), 12 deletions(-) diff --git a/src/environment/global/global_environment.cpp b/src/environment/global/global_environment.cpp index 2637620d2..cce9a8442 100644 --- a/src/environment/global/global_environment.cpp +++ b/src/environment/global/global_environment.cpp @@ -25,7 +25,7 @@ void GlobalEnvironment::Initialize(const SimulationConfiguration* simulation_con celestial_information_ = InitCelestialInformation(simulation_configuration->initialize_base_file_name_); simulation_time_ = InitSimulationTime(simulation_time_ini_path); hipparcos_catalogue_ = InitHipparcosCatalogue(simulation_configuration->initialize_base_file_name_); - gnss_satellites_ = InitGnssSatellites(simulation_configuration->gnss_file_, *simulation_time_); + gnss_satellites_ = InitGnssSatellites(simulation_configuration->gnss_file_, celestial_information_->GetEarthRotation(), *simulation_time_); // Calc initial value celestial_information_->UpdateAllObjectsInformation(*simulation_time_); diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index 68b7493ee..912d0dc40 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -124,21 +124,21 @@ std::string GnssSatellites::GetLogValue() const { std::string str_tmp = ""; for (size_t gps_index = 0; gps_index < kNumberOfGpsSatellite; gps_index++) { - str_tmp += WriteVector(GetPosition_ecef_m(gps_index), 16); + str_tmp += WriteVector(GetPosition_eci_m(gps_index), 16); str_tmp += WriteScalar(GetClock_s(gps_index)); } return str_tmp; } -GnssSatellites* InitGnssSatellites(const std::string file_name, const SimulationTime& simulation_time) { +GnssSatellites* InitGnssSatellites(const std::string file_name, const EarthRotation& earth_rotation, const SimulationTime& simulation_time) { IniAccess ini_file(file_name); char section[] = "GNSS_SATELLITES"; const bool is_calc_enable = ini_file.ReadEnable(section, INI_CALC_LABEL); const bool is_log_enable = ini_file.ReadEnable(section, INI_LOG_LABEL); - GnssSatellites* gnss_satellites = new GnssSatellites(is_calc_enable, is_log_enable); + GnssSatellites* gnss_satellites = new GnssSatellites(earth_rotation, is_calc_enable, is_log_enable); if (!gnss_satellites->IsCalcEnabled()) { return gnss_satellites; } diff --git a/src/environment/global/gnss_satellites.hpp b/src/environment/global/gnss_satellites.hpp index 323e96976..13254c6bd 100644 --- a/src/environment/global/gnss_satellites.hpp +++ b/src/environment/global/gnss_satellites.hpp @@ -15,6 +15,7 @@ #include #include +#include "earth_rotation.hpp" #include "library/gnss/gnss_satellite_number.hpp" #include "library/logger/loggable.hpp" #include "library/math/vector.hpp" @@ -29,10 +30,12 @@ class GnssSatellites : public ILoggable { /** * @fn GnssSatellites * @brief Constructor + * @param [in] earth_rotation: Earth rotation information * @param [in] is_calc_enabled: Flag to manage the GNSS satellite position/clock calculation * @param [in] is_log_enabled: Flag to generate the log of GNSS satellite position/clock calculation */ - GnssSatellites(const bool is_calc_enabled = false, const bool is_log_enabled = false) : is_calc_enabled_(is_calc_enabled) { + GnssSatellites(const EarthRotation& earth_rotation, const bool is_calc_enabled = false, const bool is_log_enabled = false) + : is_calc_enabled_(is_calc_enabled), earth_rotation_(earth_rotation) { if (!is_calc_enabled_) { is_log_enabled_ = false; } else { @@ -66,7 +69,10 @@ class GnssSatellites : public ILoggable { */ void Update(const SimulationTime& simulation_time); - inline libra::Vector<3> GetPosition_eci_m(const size_t gnss_satellite_id) const { return libra::Vector<3>(0.0); } + inline libra::Vector<3> GetPosition_eci_m(const size_t gnss_satellite_id) const { + // TODO: Add target time for earth rotation calculation + return earth_rotation_.GetDcmJ2000ToEcef().Transpose() * GetPosition_ecef_m(gnss_satellite_id); + } /** * @fn GetPosition_ecef_m @@ -137,6 +143,9 @@ class GnssSatellites : public ILoggable { std::vector orbit_; //!< GNSS satellite orbit with interpolation std::vector clock_; //!< GNSS satellite clock offset with interpolation + // References + const EarthRotation& earth_rotation_; //!< Earth rotation + /** * @fn GetCurrentSp3File * @brief Get the SP3 file should be used at the time @@ -148,12 +157,13 @@ class GnssSatellites : public ILoggable { }; /** - *@fn InitGnssSatellites - *@brief Initialize function for GnssSatellites class - *@param [in] file_name: Path to the initialize file - *@param [in] simulation_time: Simulation time information - *@return Initialized GnssSatellite class + * @fn InitGnssSatellites + * @brief Initialize function for GnssSatellites class + * @param [in] file_name: Path to the initialize file + * @param [in] earth_rotation: Earth rotation information + * @param [in] simulation_time: Simulation time information + * @return Initialized GnssSatellite class */ -GnssSatellites* InitGnssSatellites(const std::string file_name, const SimulationTime& simulation_time); +GnssSatellites* InitGnssSatellites(const std::string file_name, const EarthRotation& earth_rotation, const SimulationTime& simulation_time); #endif // S2E_ENVIRONMENT_GLOBAL_GNSS_SATELLITES_HPP_ From a539e8f2909a1080254c4fd6b6551f57656f929e Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 5 Feb 2024 16:06:19 +0100 Subject: [PATCH 073/456] Fix GetEarthRotation --- src/environment/global/celestial_information.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/environment/global/celestial_information.hpp b/src/environment/global/celestial_information.hpp index 7c4afa854..3f897f17d 100644 --- a/src/environment/global/celestial_information.hpp +++ b/src/environment/global/celestial_information.hpp @@ -207,7 +207,7 @@ class CelestialInformation : public ILoggable { * @fn GetEarthRotation * @brief Return EarthRotation information */ - inline EarthRotation GetEarthRotation(void) const { return *earth_rotation_; }; + inline EarthRotation& GetEarthRotation(void) const { return *earth_rotation_; }; /** * @fn GetMoonRotation * @brief Return MoonRotation information From ee76f5cdd61e42e6b7fe116aab35e19a68957a01 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 5 Feb 2024 16:07:21 +0100 Subject: [PATCH 074/456] Fix log output --- src/environment/global/gnss_satellites.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index 912d0dc40..b613de236 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -124,7 +124,7 @@ std::string GnssSatellites::GetLogValue() const { std::string str_tmp = ""; for (size_t gps_index = 0; gps_index < kNumberOfGpsSatellite; gps_index++) { - str_tmp += WriteVector(GetPosition_eci_m(gps_index), 16); + str_tmp += WriteVector(GetPosition_ecef_m(gps_index), 16); str_tmp += WriteScalar(GetClock_s(gps_index)); } From 2c5490c6df90a8d5376db8fcea432254f6aad87c Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 5 Feb 2024 16:09:39 +0100 Subject: [PATCH 075/456] Move long inline function to cpp --- src/environment/global/gnss_satellites.cpp | 31 ++++++++++++++++++++++ src/environment/global/gnss_satellites.hpp | 31 ++-------------------- 2 files changed, 33 insertions(+), 29 deletions(-) diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index b613de236..4e5e2a5d0 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -92,6 +92,37 @@ void GnssSatellites::Update(const SimulationTime& simulation_time) { return; } +libra::Vector<3> GnssSatellites::GetPosition_ecef_m(const size_t gnss_satellite_id, const EpochTime time) const { + EpochTime target_time; + + if (time.GetTime_s() == 0) { + target_time = current_epoch_time_; + } else { + target_time = time; + } + + double diff_s = target_time.GetTimeWithFraction_s() - reference_time_.GetTimeWithFraction_s(); + if (diff_s < 0.0 || diff_s > 1e6) return libra::Vector<3>(0.0); + + const double kOrbitalPeriodCorrection_s = 24 * 60 * 60 * 1.003; // See http://acc.igs.org/orbits/orbit-interp_gpssoln03.pdf + return orbit_[gnss_satellite_id].CalcPositionWithTrigonometric(diff_s, libra::tau / kOrbitalPeriodCorrection_s); +} + +double GnssSatellites::GetClock_s(const size_t gnss_satellite_id, const EpochTime time) const { + EpochTime target_time; + + if (time.GetTime_s() == 0) { + target_time = current_epoch_time_; + } else { + target_time = time; + } + + double diff_s = target_time.GetTimeWithFraction_s() - reference_time_.GetTimeWithFraction_s(); + if (diff_s < 0.0 || diff_s > 1e6) return 0.0; + + return clock_[gnss_satellite_id].CalcPolynomial(diff_s) * 1e-6; +} + bool GnssSatellites::GetCurrentSp3File(Sp3FileReader& current_sp3_file, const EpochTime current_time) { for (size_t i = 0; i < sp3_files_.size(); i++) { EpochTime sp3_start_time(sp3_files_[i].GetStartEpochDateTime()); diff --git a/src/environment/global/gnss_satellites.hpp b/src/environment/global/gnss_satellites.hpp index 13254c6bd..247c55e60 100644 --- a/src/environment/global/gnss_satellites.hpp +++ b/src/environment/global/gnss_satellites.hpp @@ -81,21 +81,7 @@ class GnssSatellites : public ILoggable { * @param [in] time: Target time to get the GNSS satellite. When the argument is not set, the last updated time is used for the calculation. * @return GNSS satellite position at ECEF frame at the time. Or return zero when the time is far from the current simulation time. */ - inline libra::Vector<3> GetPosition_ecef_m(const size_t gnss_satellite_id, const EpochTime time = EpochTime(0, 0.0)) const { - EpochTime target_time; - - if (time.GetTime_s() == 0) { - target_time = current_epoch_time_; - } else { - target_time = time; - } - - double diff_s = target_time.GetTimeWithFraction_s() - reference_time_.GetTimeWithFraction_s(); - if (diff_s < 0.0 || diff_s > 1e6) return libra::Vector<3>(0.0); - - const double kOrbitalPeriodCorrection_s = 24 * 60 * 60 * 1.003; // See http://acc.igs.org/orbits/orbit-interp_gpssoln03.pdf - return orbit_[gnss_satellite_id].CalcPositionWithTrigonometric(diff_s, libra::tau / kOrbitalPeriodCorrection_s); - } + libra::Vector<3> GetPosition_ecef_m(const size_t gnss_satellite_id, const EpochTime time = EpochTime(0, 0.0)) const; /** * @fn GetGetClock_s @@ -104,20 +90,7 @@ class GnssSatellites : public ILoggable { * @param [in] time: Target time to get the GNSS satellite. When the argument is not set, the last updated time is used for the calculation. * @return GNSS satellite clock offset at the time. Or return zero when the time is far from the current simulation time. */ - inline double GetClock_s(const size_t gnss_satellite_id, const EpochTime time = EpochTime(0, 0.0)) const { - EpochTime target_time; - - if (time.GetTime_s() == 0) { - target_time = current_epoch_time_; - } else { - target_time = time; - } - - double diff_s = target_time.GetTimeWithFraction_s() - reference_time_.GetTimeWithFraction_s(); - if (diff_s < 0.0 || diff_s > 1e6) return 0.0; - - return clock_[gnss_satellite_id].CalcPolynomial(diff_s) * 1e-6; - } + double GetClock_s(const size_t gnss_satellite_id, const EpochTime time = EpochTime(0, 0.0)) const; // Override ILoggable /** From 4ed9aaffc9e17177314028a64271af9a2ab5e479 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 5 Feb 2024 16:12:51 +0100 Subject: [PATCH 076/456] Add assertion --- src/environment/global/gnss_satellites.cpp | 12 ++++++++---- src/environment/global/gnss_satellites.hpp | 7 ++++--- 2 files changed, 12 insertions(+), 7 deletions(-) diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index 4e5e2a5d0..aa7cf6594 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -29,7 +29,7 @@ void GnssSatellites::Initialize(const std::vector& sp3_files, con } // Get general info - const size_t number_of_calculated_gnss_satellites = initial_sp3_file.GetNumberOfSatellites(); + size_t number_of_calculated_gnss_satellites_ = initial_sp3_file.GetNumberOfSatellites(); const size_t nearest_epoch_id = initial_sp3_file.SearchNearestEpochId(start_time); const size_t half_interpolation_number = kNumberOfInterpolation / 2; if (nearest_epoch_id >= half_interpolation_number) { @@ -38,15 +38,15 @@ void GnssSatellites::Initialize(const std::vector& sp3_files, con reference_time_ = EpochTime(initial_sp3_file.GetEpochData(reference_interpolation_id_)); // Initialize orbit - orbit_.assign(number_of_calculated_gnss_satellites, InterpolationOrbit(kNumberOfInterpolation)); + orbit_.assign(number_of_calculated_gnss_satellites_, InterpolationOrbit(kNumberOfInterpolation)); // Initialize clock std::vector temp; temp.assign(kNumberOfInterpolation, -1.0); - clock_.assign(number_of_calculated_gnss_satellites, libra::Interpolation(temp, temp)); + clock_.assign(number_of_calculated_gnss_satellites_, libra::Interpolation(temp, temp)); // Initialize - for (size_t gnss_idx = 0; gnss_idx < number_of_calculated_gnss_satellites; gnss_idx++) { + for (size_t gnss_idx = 0; gnss_idx < number_of_calculated_gnss_satellites_; gnss_idx++) { for (size_t i = 0; i < kNumberOfInterpolation; i++) { EpochTime time_at_epoch_id = EpochTime(initial_sp3_file.GetEpochData(reference_interpolation_id_ + i)); double time_diff_s = time_at_epoch_id.GetTimeWithFraction_s() - reference_time_.GetTimeWithFraction_s(); @@ -93,6 +93,8 @@ void GnssSatellites::Update(const SimulationTime& simulation_time) { } libra::Vector<3> GnssSatellites::GetPosition_ecef_m(const size_t gnss_satellite_id, const EpochTime time) const { + if (gnss_satellite_id > number_of_calculated_gnss_satellites_) return libra::Vector<3>(0.0); + EpochTime target_time; if (time.GetTime_s() == 0) { @@ -109,6 +111,8 @@ libra::Vector<3> GnssSatellites::GetPosition_ecef_m(const size_t gnss_satellite_ } double GnssSatellites::GetClock_s(const size_t gnss_satellite_id, const EpochTime time) const { + if (gnss_satellite_id > number_of_calculated_gnss_satellites_) return 0.0; + EpochTime target_time; if (time.GetTime_s() == 0) { diff --git a/src/environment/global/gnss_satellites.hpp b/src/environment/global/gnss_satellites.hpp index 247c55e60..93189a013 100644 --- a/src/environment/global/gnss_satellites.hpp +++ b/src/environment/global/gnss_satellites.hpp @@ -79,7 +79,7 @@ class GnssSatellites : public ILoggable { * @brief Return GNSS satellite position at ECEF frame * @param [in] gnss_satellite_id: ID of GNSS satellite * @param [in] time: Target time to get the GNSS satellite. When the argument is not set, the last updated time is used for the calculation. - * @return GNSS satellite position at ECEF frame at the time. Or return zero when the time is far from the current simulation time. + * @return GNSS satellite position at ECEF frame at the time. Or return zero vector when the arguments are out of range. */ libra::Vector<3> GetPosition_ecef_m(const size_t gnss_satellite_id, const EpochTime time = EpochTime(0, 0.0)) const; @@ -88,7 +88,7 @@ class GnssSatellites : public ILoggable { * @brief Return GNSS satellite clock offset * @param [in] gnss_satellite_id: ID of GNSS satellite * @param [in] time: Target time to get the GNSS satellite. When the argument is not set, the last updated time is used for the calculation. - * @return GNSS satellite clock offset at the time. Or return zero when the time is far from the current simulation time. + * @return GNSS satellite clock offset at the time. Or return zero when the arguments are out of range. */ double GetClock_s(const size_t gnss_satellite_id, const EpochTime time = EpochTime(0, 0.0)) const; @@ -107,7 +107,8 @@ class GnssSatellites : public ILoggable { private: bool is_calc_enabled_ = true; //!< Flag to manage the GNSS satellite position calculation - std::vector sp3_files_; //!< List of SP3 files + std::vector sp3_files_; //!< List of SP3 files + size_t number_of_calculated_gnss_satellites_; size_t sp3_file_id_; //!< Current SP3 file ID EpochTime reference_time_; //!< Reference start time of the SP3 handling size_t reference_interpolation_id_ = 0; //!< Reference epoch ID of the interpolation From 80cdaa53411a74e19ad34df208b80d1d78be31d9 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 5 Feb 2024 16:25:52 +0100 Subject: [PATCH 077/456] Fix small --- src/environment/global/gnss_satellites.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index aa7cf6594..e20d21ccb 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -29,7 +29,7 @@ void GnssSatellites::Initialize(const std::vector& sp3_files, con } // Get general info - size_t number_of_calculated_gnss_satellites_ = initial_sp3_file.GetNumberOfSatellites(); + number_of_calculated_gnss_satellites_ = initial_sp3_file.GetNumberOfSatellites(); const size_t nearest_epoch_id = initial_sp3_file.SearchNearestEpochId(start_time); const size_t half_interpolation_number = kNumberOfInterpolation / 2; if (nearest_epoch_id >= half_interpolation_number) { From 09d40310bdf567144c7780cbb767ef3f86a95d97 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 5 Feb 2024 16:29:33 +0100 Subject: [PATCH 078/456] Fix default value --- data/sample/initialize_files/sample_gnss.ini | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/data/sample/initialize_files/sample_gnss.ini b/data/sample/initialize_files/sample_gnss.ini index 8561d5ed2..88a793478 100644 --- a/data/sample/initialize_files/sample_gnss.ini +++ b/data/sample/initialize_files/sample_gnss.ini @@ -1,6 +1,6 @@ [GNSS_SATELLITES] directory_path = INI_FILE_DIR_FROM_EXE/gnss/final_products/ -calculation = ENABLE +calculation = DISABLE logging = DISABLE // Supporting the following products @@ -32,5 +32,5 @@ clock_file_name_footer = 15M_ORB.SP3 // or 30S_CLK.CLK or 05M_CLK.CLK // YYYYDDD // - YYYY: Year // - DDD: Day of year -start_date = 2023190 -end_date = 2023191 +start_date = 2023126 +end_date = 2023129 From 30c8f1eb2ebe3732e801e1c321e57296e10239c4 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 5 Feb 2024 16:41:48 +0100 Subject: [PATCH 079/456] Fix bug --- src/environment/global/gnss_satellites.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index e20d21ccb..882ff9bfe 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -50,10 +50,10 @@ void GnssSatellites::Initialize(const std::vector& sp3_files, con for (size_t i = 0; i < kNumberOfInterpolation; i++) { EpochTime time_at_epoch_id = EpochTime(initial_sp3_file.GetEpochData(reference_interpolation_id_ + i)); double time_diff_s = time_at_epoch_id.GetTimeWithFraction_s() - reference_time_.GetTimeWithFraction_s(); - libra::Vector<3> sp3_position_m = 1000.0 * initial_sp3_file.GetSatellitePosition_km(i, gnss_idx); + libra::Vector<3> sp3_position_m = 1000.0 * initial_sp3_file.GetSatellitePosition_km(reference_interpolation_id_ + i, gnss_idx); orbit_[gnss_idx].PushAndPopData(time_diff_s, sp3_position_m); - clock_[gnss_idx].PushAndPopData(time_diff_s, initial_sp3_file.GetSatelliteClockOffset(i, gnss_idx)); + clock_[gnss_idx].PushAndPopData(time_diff_s, initial_sp3_file.GetSatelliteClockOffset(reference_interpolation_id_ + i, gnss_idx)); } } reference_interpolation_id_ += kNumberOfInterpolation; From 3af72fc7b2f5453faee1296122736dc9c693d464 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 5 Feb 2024 16:50:47 +0100 Subject: [PATCH 080/456] Fix unit --- scripts/Plot/plot_gnss_satellites.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/scripts/Plot/plot_gnss_satellites.py b/scripts/Plot/plot_gnss_satellites.py index 714d15902..e9f817578 100644 --- a/scripts/Plot/plot_gnss_satellites.py +++ b/scripts/Plot/plot_gnss_satellites.py @@ -71,7 +71,7 @@ plt.title("GPS Clock Offset") plt.xlabel("Time [s]") -plt.ylabel("Clock Offset [m]") +plt.ylabel("Clock Offset [s]") plt.legend(fontsize=7, loc="upper right") # Data save From 6360ee10f5bb113dfeb98a404e542b8ce6503d97 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 5 Feb 2024 16:57:03 +0100 Subject: [PATCH 081/456] Switch for place --- src/environment/global/gnss_satellites.cpp | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index 882ff9bfe..35b96a269 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -46,17 +46,17 @@ void GnssSatellites::Initialize(const std::vector& sp3_files, con clock_.assign(number_of_calculated_gnss_satellites_, libra::Interpolation(temp, temp)); // Initialize - for (size_t gnss_idx = 0; gnss_idx < number_of_calculated_gnss_satellites_; gnss_idx++) { - for (size_t i = 0; i < kNumberOfInterpolation; i++) { - EpochTime time_at_epoch_id = EpochTime(initial_sp3_file.GetEpochData(reference_interpolation_id_ + i)); + for (size_t i = 0; i < kNumberOfInterpolation; i++) { + for (size_t gnss_idx = 0; gnss_idx < number_of_calculated_gnss_satellites_; gnss_idx++) { + EpochTime time_at_epoch_id = EpochTime(initial_sp3_file.GetEpochData(reference_interpolation_id_)); double time_diff_s = time_at_epoch_id.GetTimeWithFraction_s() - reference_time_.GetTimeWithFraction_s(); - libra::Vector<3> sp3_position_m = 1000.0 * initial_sp3_file.GetSatellitePosition_km(reference_interpolation_id_ + i, gnss_idx); + libra::Vector<3> sp3_position_m = 1000.0 * initial_sp3_file.GetSatellitePosition_km(reference_interpolation_id_, gnss_idx); orbit_[gnss_idx].PushAndPopData(time_diff_s, sp3_position_m); - clock_[gnss_idx].PushAndPopData(time_diff_s, initial_sp3_file.GetSatelliteClockOffset(reference_interpolation_id_ + i, gnss_idx)); + clock_[gnss_idx].PushAndPopData(time_diff_s, initial_sp3_file.GetSatelliteClockOffset(reference_interpolation_id_, gnss_idx)); } + reference_interpolation_id_++; } - reference_interpolation_id_ += kNumberOfInterpolation; return; } From e16bf091dac1bfe58c49569a65801d50dda0ed2b Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 6 Feb 2024 09:58:05 +0100 Subject: [PATCH 082/456] Add file change sequence --- src/environment/global/gnss_satellites.cpp | 18 ++++++++++++++++++ 1 file changed, 18 insertions(+) diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index 35b96a269..745aac5a7 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -56,6 +56,15 @@ void GnssSatellites::Initialize(const std::vector& sp3_files, con clock_[gnss_idx].PushAndPopData(time_diff_s, initial_sp3_file.GetSatelliteClockOffset(reference_interpolation_id_, gnss_idx)); } reference_interpolation_id_++; + // File update + if (reference_interpolation_id_ >= initial_sp3_file.GetNumberOfEpoch()) { + reference_interpolation_id_ = 0; + sp3_file_id_++; + if (sp3_file_id_ >= sp3_files_.size()) { + std::cout << "[Error] GNSS satellites: SP3 file range over." << std::endl; + } + initial_sp3_file = sp3_files_[sp3_file_id_]; + } } return; @@ -87,6 +96,15 @@ void GnssSatellites::Update(const SimulationTime& simulation_time) { clock_[gps_idx].PushAndPopData(time_diff_s, sp3_file.GetSatelliteClockOffset(reference_interpolation_id_, gps_idx)); } reference_interpolation_id_++; + // File update + if (reference_interpolation_id_ >= sp3_file.GetNumberOfEpoch()) { + reference_interpolation_id_ = 0; + sp3_file_id_++; + if (sp3_file_id_ >= sp3_files_.size()) { + std::cout << "[Error] GNSS satellites: SP3 file range over." << std::endl; + } + sp3_file = sp3_files_[sp3_file_id_]; + } } return; From 0aba406e562d7eb1e816a74fe473f6fcf6630848 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 6 Feb 2024 11:35:56 +0100 Subject: [PATCH 083/456] Fix to get access all satellite information --- src/environment/global/gnss_satellites.cpp | 72 +++++++++------------- src/environment/global/gnss_satellites.hpp | 9 ++- 2 files changed, 38 insertions(+), 43 deletions(-) diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index 745aac5a7..7892b1e0e 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -45,26 +45,9 @@ void GnssSatellites::Initialize(const std::vector& sp3_files, con temp.assign(kNumberOfInterpolation, -1.0); clock_.assign(number_of_calculated_gnss_satellites_, libra::Interpolation(temp, temp)); - // Initialize + // Initialize interpolation for (size_t i = 0; i < kNumberOfInterpolation; i++) { - for (size_t gnss_idx = 0; gnss_idx < number_of_calculated_gnss_satellites_; gnss_idx++) { - EpochTime time_at_epoch_id = EpochTime(initial_sp3_file.GetEpochData(reference_interpolation_id_)); - double time_diff_s = time_at_epoch_id.GetTimeWithFraction_s() - reference_time_.GetTimeWithFraction_s(); - libra::Vector<3> sp3_position_m = 1000.0 * initial_sp3_file.GetSatellitePosition_km(reference_interpolation_id_, gnss_idx); - - orbit_[gnss_idx].PushAndPopData(time_diff_s, sp3_position_m); - clock_[gnss_idx].PushAndPopData(time_diff_s, initial_sp3_file.GetSatelliteClockOffset(reference_interpolation_id_, gnss_idx)); - } - reference_interpolation_id_++; - // File update - if (reference_interpolation_id_ >= initial_sp3_file.GetNumberOfEpoch()) { - reference_interpolation_id_ = 0; - sp3_file_id_++; - if (sp3_file_id_ >= sp3_files_.size()) { - std::cout << "[Error] GNSS satellites: SP3 file range over." << std::endl; - } - initial_sp3_file = sp3_files_[sp3_file_id_]; - } + UpdateInterpolationInformation(); } return; @@ -79,32 +62,11 @@ void GnssSatellites::Update(const SimulationTime& simulation_time) { (size_t)current_utc.minute, current_utc.second); current_epoch_time_ = EpochTime(current_date_time); - // TODO Check file updates - - // SP3 file - Sp3FileReader sp3_file = sp3_files_[sp3_file_id_]; - + // Check interpolation update double diff_s = current_epoch_time_.GetTimeWithFraction_s() - reference_time_.GetTimeWithFraction_s(); double medium_time_s = orbit_[0].GetTimeList()[4]; if (diff_s > medium_time_s) { - for (size_t gps_idx = 0; gps_idx < 32; gps_idx++) { - EpochTime sp3_time = EpochTime(sp3_file.GetEpochData(reference_interpolation_id_)); - double time_diff_s = sp3_time.GetTimeWithFraction_s() - reference_time_.GetTimeWithFraction_s(); - libra::Vector<3> sp3_position_m = 1000.0 * sp3_file.GetSatellitePosition_km(reference_interpolation_id_, gps_idx); - - orbit_[gps_idx].PushAndPopData(time_diff_s, sp3_position_m); - clock_[gps_idx].PushAndPopData(time_diff_s, sp3_file.GetSatelliteClockOffset(reference_interpolation_id_, gps_idx)); - } - reference_interpolation_id_++; - // File update - if (reference_interpolation_id_ >= sp3_file.GetNumberOfEpoch()) { - reference_interpolation_id_ = 0; - sp3_file_id_++; - if (sp3_file_id_ >= sp3_files_.size()) { - std::cout << "[Error] GNSS satellites: SP3 file range over." << std::endl; - } - sp3_file = sp3_files_[sp3_file_id_]; - } + UpdateInterpolationInformation(); } return; @@ -161,6 +123,32 @@ bool GnssSatellites::GetCurrentSp3File(Sp3FileReader& current_sp3_file, const Ep return false; } +bool GnssSatellites::UpdateInterpolationInformation() { + Sp3FileReader sp3_file = sp3_files_[sp3_file_id_]; + + for (size_t gnss_id = 0; gnss_id < number_of_calculated_gnss_satellites_; gnss_id++) { + EpochTime sp3_time = EpochTime(sp3_file.GetEpochData(reference_interpolation_id_)); + double time_diff_s = sp3_time.GetTimeWithFraction_s() - reference_time_.GetTimeWithFraction_s(); + libra::Vector<3> sp3_position_m = 1000.0 * sp3_file.GetSatellitePosition_km(reference_interpolation_id_, gnss_id); + + orbit_[gnss_id].PushAndPopData(time_diff_s, sp3_position_m); + clock_[gnss_id].PushAndPopData(time_diff_s, sp3_file.GetSatelliteClockOffset(reference_interpolation_id_, gnss_id)); + } + reference_interpolation_id_++; + + // File update + if (reference_interpolation_id_ >= sp3_file.GetNumberOfEpoch()) { + reference_interpolation_id_ = 0; + sp3_file_id_++; + if (sp3_file_id_ >= sp3_files_.size()) { + std::cout << "[Error] GNSS satellites: SP3 file range over." << std::endl; + return false; + } + } + + return true; +} + std::string GnssSatellites::GetLogHeader() const { std::string str_tmp = ""; diff --git a/src/environment/global/gnss_satellites.hpp b/src/environment/global/gnss_satellites.hpp index 93189a013..2d65af714 100644 --- a/src/environment/global/gnss_satellites.hpp +++ b/src/environment/global/gnss_satellites.hpp @@ -125,9 +125,16 @@ class GnssSatellites : public ILoggable { * @brief Get the SP3 file should be used at the time * @param [out] current_sp3_file: SP3 file information should be use. * @param [in] current_time: Target time - * @return true means noo error, false means the time argument is out of range + * @return true means no error, false means the time argument is out of range */ bool GetCurrentSp3File(Sp3FileReader& current_sp3_file, const EpochTime current_time); + + /** + * @fn UpdateInterpolationInformation + * @brief Update interpolation information by inserting new data + * @return true: No error, false: SP3 file out of range error + */ + bool UpdateInterpolationInformation(); }; /** From 76f0420fdfd7ec2e4acd00da26b5b9628851d78c Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 6 Feb 2024 11:40:04 +0100 Subject: [PATCH 084/456] Fix comment --- src/environment/global/gnss_satellites.hpp | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/src/environment/global/gnss_satellites.hpp b/src/environment/global/gnss_satellites.hpp index 2d65af714..1d0dce6e1 100644 --- a/src/environment/global/gnss_satellites.hpp +++ b/src/environment/global/gnss_satellites.hpp @@ -105,14 +105,14 @@ class GnssSatellites : public ILoggable { std::string GetLogValue() const override; private: - bool is_calc_enabled_ = true; //!< Flag to manage the GNSS satellite position calculation - - std::vector sp3_files_; //!< List of SP3 files - size_t number_of_calculated_gnss_satellites_; - size_t sp3_file_id_; //!< Current SP3 file ID - EpochTime reference_time_; //!< Reference start time of the SP3 handling - size_t reference_interpolation_id_ = 0; //!< Reference epoch ID of the interpolation - EpochTime current_epoch_time_; //!< The last updated time + bool is_calc_enabled_ = false; //!< Flag to manage the GNSS satellite position calculation + + std::vector sp3_files_; //!< List of SP3 files + size_t number_of_calculated_gnss_satellites_; //!< Number of calculated GNSS satellites + size_t sp3_file_id_; //!< Current SP3 file ID + EpochTime reference_time_; //!< Reference start time of the SP3 handling + size_t reference_interpolation_id_ = 0; //!< Reference epoch ID of the interpolation + EpochTime current_epoch_time_; //!< The last updated time std::vector orbit_; //!< GNSS satellite orbit with interpolation std::vector clock_; //!< GNSS satellite clock offset with interpolation From d1c3669c0d4dc9fddc3cd654ae97b143503d5398 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 6 Feb 2024 11:44:00 +0100 Subject: [PATCH 085/456] Fix comment --- src/library/gnss/sp3_file_reader.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/library/gnss/sp3_file_reader.cpp b/src/library/gnss/sp3_file_reader.cpp index 48c7b5ac7..f4a2a37fb 100644 --- a/src/library/gnss/sp3_file_reader.cpp +++ b/src/library/gnss/sp3_file_reader.cpp @@ -131,7 +131,7 @@ size_t Sp3FileReader::SearchNearestEpochId(const EpochTime time) { const size_t num_epoch = header_.number_of_epoch_; const double interval_s = header_.epoch_interval_s_; - // Check range if epoch + // Check range EpochTime start_epoch(epoch_[0]); if (start_epoch > time) { nearest_epoch_id = 0; From 396a99ce1b890553a45479eeee6cd4ee7c7642fa Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 6 Feb 2024 13:23:11 +0100 Subject: [PATCH 086/456] Fix to use size_t for component ID --- src/components/real/aocs/gnss_receiver.cpp | 8 ++++---- src/components/real/aocs/gnss_receiver.hpp | 10 +++++----- 2 files changed, 9 insertions(+), 9 deletions(-) diff --git a/src/components/real/aocs/gnss_receiver.cpp b/src/components/real/aocs/gnss_receiver.cpp index c379daa26..412f5b605 100644 --- a/src/components/real/aocs/gnss_receiver.cpp +++ b/src/components/real/aocs/gnss_receiver.cpp @@ -11,8 +11,8 @@ #include #include -GnssReceiver::GnssReceiver(const int prescaler, ClockGenerator* clock_generator, const int component_id, const std::string gnss_id, - const int max_channel, const AntennaModel antenna_model, const libra::Vector<3> antenna_position_b_m, +GnssReceiver::GnssReceiver(const int prescaler, ClockGenerator* clock_generator, const size_t component_id, const std::string gnss_id, + const size_t max_channel, const AntennaModel antenna_model, const libra::Vector<3> antenna_position_b_m, const libra::Quaternion quaternion_b2c, const double half_width_rad, const libra::Vector<3> noise_standard_deviation_m, const Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time) : Component(prescaler, clock_generator), @@ -29,8 +29,8 @@ GnssReceiver::GnssReceiver(const int prescaler, ClockGenerator* clock_generator, dynamics_(dynamics), gnss_satellites_(gnss_satellites), simulation_time_(simulation_time) {} -GnssReceiver::GnssReceiver(const int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, const int component_id, - const std::string gnss_id, const int max_channel, const AntennaModel antenna_model, +GnssReceiver::GnssReceiver(const int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, const size_t component_id, + const std::string gnss_id, const size_t max_channel, const AntennaModel antenna_model, const libra::Vector<3> antenna_position_b_m, const libra::Quaternion quaternion_b2c, const double half_width_rad, const libra::Vector<3> noise_standard_deviation_m, const Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time) diff --git a/src/components/real/aocs/gnss_receiver.hpp b/src/components/real/aocs/gnss_receiver.hpp index 1a5ac4e35..1d00f9555 100644 --- a/src/components/real/aocs/gnss_receiver.hpp +++ b/src/components/real/aocs/gnss_receiver.hpp @@ -59,7 +59,7 @@ class GnssReceiver : public Component, public ILoggable { * @param [in] gnss_satellites: GNSS Satellites information * @param [in] simulation_time: Simulation time information */ - GnssReceiver(const int prescaler, ClockGenerator* clock_generator, const int component_id, const std::string gnss_id, const int max_channel, + GnssReceiver(const int prescaler, ClockGenerator* clock_generator, const size_t component_id, const std::string gnss_id, const size_t max_channel, const AntennaModel antenna_model, const libra::Vector<3> antenna_position_b_m, const libra::Quaternion quaternion_b2c, const double half_width_rad, const libra::Vector<3> noise_standard_deviation_m, const Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time); @@ -80,8 +80,8 @@ class GnssReceiver : public Component, public ILoggable { * @param [in] gnss_satellites: GNSS Satellites information * @param [in] simulation_time: Simulation time information */ - GnssReceiver(const int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, const int component_id, std::string gnss_id, - const int max_channel, const AntennaModel antenna_model, const libra::Vector<3> antenna_position_b_m, + GnssReceiver(const int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, const size_t component_id, std::string gnss_id, + const size_t max_channel, const AntennaModel antenna_model, const libra::Vector<3> antenna_position_b_m, const libra::Quaternion quaternion_b2c, const double half_width_rad, const libra::Vector<3> noise_standard_deviation_m, const Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time); @@ -142,8 +142,8 @@ class GnssReceiver : public Component, public ILoggable { protected: // Parameters for receiver - const int component_id_; //!< Receiver ID - const int max_channel_; //!< Maximum number of channels + const size_t component_id_; //!< Receiver ID + const size_t max_channel_; //!< Maximum number of channels libra::Vector<3> antenna_position_b_m_; //!< GNSS antenna position at the body-fixed frame [m] libra::Quaternion quaternion_b2c_; //!< Quaternion from body frame to component frame (antenna frame) From e08a4e7814b4f25b07ef9a8859601afe4ba7767e Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 6 Feb 2024 13:25:38 +0100 Subject: [PATCH 087/456] Fix to use size_t for visible sat number --- src/components/real/aocs/gnss_receiver.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/components/real/aocs/gnss_receiver.hpp b/src/components/real/aocs/gnss_receiver.hpp index 1d00f9555..d583580ae 100644 --- a/src/components/real/aocs/gnss_receiver.hpp +++ b/src/components/real/aocs/gnss_receiver.hpp @@ -163,7 +163,7 @@ class GnssReceiver : public Component, public ILoggable { unsigned int gps_time_week_ = 0; //!< Observed GPS time week part double gps_time_s_ = 0.0; //!< Observed GPS time second part int is_gnss_visible_ = 0; //!< Flag for GNSS satellite is visible or not - int visible_satellite_number_ = 0; //!< Number of visible GNSS satellites + size_t visible_satellite_number_ = 0; //!< Number of visible GNSS satellites std::vector gnss_information_list_; //!< Information List of visible GNSS satellites // References From c1f2cc2dc635670e7257c818600d4513e27194b4 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 6 Feb 2024 13:30:16 +0100 Subject: [PATCH 088/456] Fix to use size_t instead of int --- src/components/real/aocs/gnss_receiver.cpp | 10 +++++----- src/components/real/aocs/gnss_receiver.hpp | 6 +++--- 2 files changed, 8 insertions(+), 8 deletions(-) diff --git a/src/components/real/aocs/gnss_receiver.cpp b/src/components/real/aocs/gnss_receiver.cpp index 412f5b605..ccf2bdc83 100644 --- a/src/components/real/aocs/gnss_receiver.cpp +++ b/src/components/real/aocs/gnss_receiver.cpp @@ -113,9 +113,9 @@ void GnssReceiver::CheckAntennaCone(const libra::Vector<3> pos_true_eci_, libra: // initialize visible_satellite_number_ = 0; - int gnss_num = kTotalNumberOfGnssSatellite; + size_t gnss_num = kTotalNumberOfGnssSatellite; - for (int i = 0; i < gnss_num; i++) { + for (size_t i = 0; i < gnss_num; i++) { // check if gnss ID is compatible with the receiver std::string id_tmp = ConvertIndexToGnssSatelliteNumber(i); if (gnss_id_.find(id_tmp[0]) == std::string::npos) continue; @@ -245,7 +245,7 @@ typedef struct _gnssrecever_param { libra::Quaternion quaternion_b2c; double half_width_rad; std::string gnss_id; - int max_channel; + size_t max_channel; libra::Vector<3> noise_standard_deviation_m; } GnssReceiverParam; @@ -279,7 +279,7 @@ GnssReceiverParam ReadGnssReceiverIni(const std::string file_name, const GnssSat return gnss_receiver_param; } -GnssReceiver InitGnssReceiver(ClockGenerator* clock_generator, int component_id, const std::string file_name, const Dynamics* dynamics, +GnssReceiver InitGnssReceiver(ClockGenerator* clock_generator, size_t component_id, const std::string file_name, const Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time) { GnssReceiverParam gr_param = ReadGnssReceiverIni(file_name, gnss_satellites, component_id); @@ -289,7 +289,7 @@ GnssReceiver InitGnssReceiver(ClockGenerator* clock_generator, int component_id, return gnss_r; } -GnssReceiver InitGnssReceiver(ClockGenerator* clock_generator, PowerPort* power_port, int component_id, const std::string file_name, +GnssReceiver InitGnssReceiver(ClockGenerator* clock_generator, PowerPort* power_port, size_t component_id, const std::string file_name, const Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time) { GnssReceiverParam gr_param = ReadGnssReceiverIni(file_name, gnss_satellites, component_id); diff --git a/src/components/real/aocs/gnss_receiver.hpp b/src/components/real/aocs/gnss_receiver.hpp index d583580ae..f37b4baea 100644 --- a/src/components/real/aocs/gnss_receiver.hpp +++ b/src/components/real/aocs/gnss_receiver.hpp @@ -98,7 +98,7 @@ class GnssReceiver : public Component, public ILoggable { * @brief Return GNSS satellite information * @param [in] channel: Channel number */ - inline const GnssInfo GetGnssInfo(int channel) const { return gnss_information_list_[channel]; }; + inline const GnssInfo GetGnssInfo(size_t channel) const { return gnss_information_list_[channel]; }; /** * @fn GetMeasuredPosition_eci_m * @brief Return Observed position in the ECI frame [m] @@ -229,7 +229,7 @@ class GnssReceiver : public Component, public ILoggable { * @param [in] gnss_satellites: GNSS satellites information * @param [in] simulation_time: Simulation time information */ -GnssReceiver InitGnssReceiver(ClockGenerator* clock_generator, int component_id, const std::string file_name, const Dynamics* dynamics, +GnssReceiver InitGnssReceiver(ClockGenerator* clock_generator, size_t component_id, const std::string file_name, const Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time); /** * @fn InitGnssReceiver @@ -242,7 +242,7 @@ GnssReceiver InitGnssReceiver(ClockGenerator* clock_generator, int component_id, * @param [in] gnss_satellites: GNSS satellites information * @param [in] simulation_time: Simulation time information */ -GnssReceiver InitGnssReceiver(ClockGenerator* clock_generator, PowerPort* power_port, int component_id, const std::string file_name, +GnssReceiver InitGnssReceiver(ClockGenerator* clock_generator, PowerPort* power_port, size_t component_id, const std::string file_name, const Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time); #endif // S2E_COMPONENTS_REAL_AOCS_GNSS_RECEIVER_HPP_ From 5876eb0f69d5562e7974326270e102c8c07243a5 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 6 Feb 2024 13:34:41 +0100 Subject: [PATCH 089/456] Fix to use bool instead of int --- src/components/real/aocs/gnss_receiver.cpp | 33 ++++++++++++---------- src/components/real/aocs/gnss_receiver.hpp | 2 +- 2 files changed, 19 insertions(+), 16 deletions(-) diff --git a/src/components/real/aocs/gnss_receiver.cpp b/src/components/real/aocs/gnss_receiver.cpp index ccf2bdc83..752a408b5 100644 --- a/src/components/real/aocs/gnss_receiver.cpp +++ b/src/components/real/aocs/gnss_receiver.cpp @@ -57,7 +57,7 @@ void GnssReceiver::MainRoutine(const int time_count) { CheckAntenna(pos_true_eci_, quaternion_i2b); - if (is_gnss_visible_ == 1) { // Antenna of GNSS-R can detect GNSS signal + if (is_gnss_visible_ == true) { // Antenna of GNSS-R can detect GNSS signal position_ecef_m_ = dynamics_->GetOrbit().GetPosition_ecef_m(); position_llh_ = dynamics_->GetOrbit().GetLatLonAlt(); velocity_ecef_m_s_ = dynamics_->GetOrbit().GetVelocity_ecef_m_s(); @@ -90,10 +90,11 @@ void GnssReceiver::CheckAntennaSimple(const libra::Vector<3> pos_true_eci_, libr libra::Vector<3> antenna_direction_i = quaternion_i2b.InverseFrameConversion(antenna_direction_b); double inner = InnerProduct(pos_true_eci_, antenna_direction_i); - if (inner <= 0) - is_gnss_visible_ = 0; - else - is_gnss_visible_ = 1; + if (inner <= 0) { + is_gnss_visible_ = false; + } else { + is_gnss_visible_ = true; + } } void GnssReceiver::CheckAntennaCone(const libra::Vector<3> pos_true_eci_, libra::Quaternion quaternion_i2b) { @@ -129,17 +130,18 @@ void GnssReceiver::CheckAntennaCone(const libra::Vector<3> pos_true_eci_, libra: // check gnss sats are visible from antenna double Re = environment::earth_equatorial_radius_m; double inner1 = InnerProduct(ant_pos_i, gnss_sat_pos_i); - int is_visible_ant2gnss = 0; + bool is_visible_ant2gnss = false; if (inner1 > 0) - is_visible_ant2gnss = 1; + is_visible_ant2gnss = true; else { Vector<3> tmp = ant_pos_i + InnerProduct(-ant_pos_i, ant2gnss_i_n) * antenna_to_satellite_i_m; - if (tmp.CalcNorm() < Re) + if (tmp.CalcNorm() < Re) { // There is earth between antenna and gnss - is_visible_ant2gnss = 0; - else + is_visible_ant2gnss = false; + } else { // There is not earth between antenna and gnss - is_visible_ant2gnss = 1; + is_visible_ant2gnss = true; + } } double inner2 = InnerProduct(antenna_direction_i, ant2gnss_i_n); @@ -150,10 +152,11 @@ void GnssReceiver::CheckAntennaCone(const libra::Vector<3> pos_true_eci_, libra: } } - if (visible_satellite_number_ > 0) - is_gnss_visible_ = 1; - else - is_gnss_visible_ = 0; + if (visible_satellite_number_ > 0) { + is_gnss_visible_ = true; + } else { + is_gnss_visible_ = false; + } } void GnssReceiver::SetGnssInfo(libra::Vector<3> antenna_to_satellite_i_m, libra::Quaternion quaternion_i2b, std::string gnss_id) { diff --git a/src/components/real/aocs/gnss_receiver.hpp b/src/components/real/aocs/gnss_receiver.hpp index f37b4baea..9dbdcd45d 100644 --- a/src/components/real/aocs/gnss_receiver.hpp +++ b/src/components/real/aocs/gnss_receiver.hpp @@ -162,7 +162,7 @@ class GnssReceiver : public Component, public ILoggable { UTC utc_ = {2000, 1, 1, 0, 0, 0.0}; //!< Observed time in UTC [year, month, day, hour, min, sec] unsigned int gps_time_week_ = 0; //!< Observed GPS time week part double gps_time_s_ = 0.0; //!< Observed GPS time second part - int is_gnss_visible_ = 0; //!< Flag for GNSS satellite is visible or not + bool is_gnss_visible_ = 0; //!< Flag for GNSS satellite is visible or not size_t visible_satellite_number_ = 0; //!< Number of visible GNSS satellites std::vector gnss_information_list_; //!< Information List of visible GNSS satellites From e8f81b61d078ca0496132b1029ac177b3029caea Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 6 Feb 2024 13:39:34 +0100 Subject: [PATCH 090/456] Add const to function arguments --- src/components/real/aocs/gnss_receiver.cpp | 14 +++++++------- src/components/real/aocs/gnss_receiver.hpp | 18 +++++++++--------- 2 files changed, 16 insertions(+), 16 deletions(-) diff --git a/src/components/real/aocs/gnss_receiver.cpp b/src/components/real/aocs/gnss_receiver.cpp index 752a408b5..1aa7f9445 100644 --- a/src/components/real/aocs/gnss_receiver.cpp +++ b/src/components/real/aocs/gnss_receiver.cpp @@ -73,14 +73,14 @@ void GnssReceiver::MainRoutine(const int time_count) { } } -void GnssReceiver::CheckAntenna(const libra::Vector<3> pos_true_eci_, libra::Quaternion quaternion_i2b) { +void GnssReceiver::CheckAntenna(const libra::Vector<3> pos_true_eci_, const libra::Quaternion quaternion_i2b) { if (antenna_model_ == AntennaModel::kSimple) CheckAntennaSimple(pos_true_eci_, quaternion_i2b); else if (antenna_model_ == AntennaModel::kCone) CheckAntennaCone(pos_true_eci_, quaternion_i2b); } -void GnssReceiver::CheckAntennaSimple(const libra::Vector<3> pos_true_eci_, libra::Quaternion quaternion_i2b) { +void GnssReceiver::CheckAntennaSimple(const libra::Vector<3> pos_true_eci_, const libra::Quaternion quaternion_i2b) { // Simplest model // GNSS sats are visible when antenna directs anti-earth direction // antenna normal vector at inertial frame @@ -97,7 +97,7 @@ void GnssReceiver::CheckAntennaSimple(const libra::Vector<3> pos_true_eci_, libr } } -void GnssReceiver::CheckAntennaCone(const libra::Vector<3> pos_true_eci_, libra::Quaternion quaternion_i2b) { +void GnssReceiver::CheckAntennaCone(const libra::Vector<3> pos_true_eci_, const libra::Quaternion quaternion_i2b) { // Cone model libra::Vector<3> gnss_sat_pos_i, ant_pos_i, antenna_to_satellite_i_m, ant2gnss_i_n, sat2ant_i; gnss_information_list_.clear(); @@ -159,7 +159,7 @@ void GnssReceiver::CheckAntennaCone(const libra::Vector<3> pos_true_eci_, libra: } } -void GnssReceiver::SetGnssInfo(libra::Vector<3> antenna_to_satellite_i_m, libra::Quaternion quaternion_i2b, std::string gnss_id) { +void GnssReceiver::SetGnssInfo(const libra::Vector<3> antenna_to_satellite_i_m, const libra::Quaternion quaternion_i2b, const std::string gnss_id) { libra::Vector<3> ant2gnss_b, ant2gnss_c; ant2gnss_b = quaternion_i2b.FrameConversion(antenna_to_satellite_i_m); @@ -173,7 +173,7 @@ void GnssReceiver::SetGnssInfo(libra::Vector<3> antenna_to_satellite_i_m, libra: gnss_information_list_.push_back(gnss_info_new); } -void GnssReceiver::AddNoise(libra::Vector<3> position_true_i_m, libra::Vector<3> position_true_ecef_m) { +void GnssReceiver::AddNoise(const libra::Vector<3> position_true_i_m, const libra::Vector<3> position_true_ecef_m) { // Simplest noise model position_eci_m_[0] = position_true_i_m[0] + random_noise_i_x_; position_eci_m_[1] = position_true_i_m[1] + random_noise_i_y_; @@ -282,7 +282,7 @@ GnssReceiverParam ReadGnssReceiverIni(const std::string file_name, const GnssSat return gnss_receiver_param; } -GnssReceiver InitGnssReceiver(ClockGenerator* clock_generator, size_t component_id, const std::string file_name, const Dynamics* dynamics, +GnssReceiver InitGnssReceiver(ClockGenerator* clock_generator, const size_t component_id, const std::string file_name, const Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time) { GnssReceiverParam gr_param = ReadGnssReceiverIni(file_name, gnss_satellites, component_id); @@ -292,7 +292,7 @@ GnssReceiver InitGnssReceiver(ClockGenerator* clock_generator, size_t component_ return gnss_r; } -GnssReceiver InitGnssReceiver(ClockGenerator* clock_generator, PowerPort* power_port, size_t component_id, const std::string file_name, +GnssReceiver InitGnssReceiver(ClockGenerator* clock_generator, PowerPort* power_port, const size_t component_id, const std::string file_name, const Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time) { GnssReceiverParam gr_param = ReadGnssReceiverIni(file_name, gnss_satellites, component_id); diff --git a/src/components/real/aocs/gnss_receiver.hpp b/src/components/real/aocs/gnss_receiver.hpp index 9dbdcd45d..280bceffa 100644 --- a/src/components/real/aocs/gnss_receiver.hpp +++ b/src/components/real/aocs/gnss_receiver.hpp @@ -80,7 +80,7 @@ class GnssReceiver : public Component, public ILoggable { * @param [in] gnss_satellites: GNSS Satellites information * @param [in] simulation_time: Simulation time information */ - GnssReceiver(const int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, const size_t component_id, std::string gnss_id, + GnssReceiver(const int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, const size_t component_id, const std::string gnss_id, const size_t max_channel, const AntennaModel antenna_model, const libra::Vector<3> antenna_position_b_m, const libra::Quaternion quaternion_b2c, const double half_width_rad, const libra::Vector<3> noise_standard_deviation_m, const Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time); @@ -98,7 +98,7 @@ class GnssReceiver : public Component, public ILoggable { * @brief Return GNSS satellite information * @param [in] channel: Channel number */ - inline const GnssInfo GetGnssInfo(size_t channel) const { return gnss_information_list_[channel]; }; + inline const GnssInfo GetGnssInfo(const size_t channel) const { return gnss_information_list_[channel]; }; /** * @fn GetMeasuredPosition_eci_m * @brief Return Observed position in the ECI frame [m] @@ -179,7 +179,7 @@ class GnssReceiver : public Component, public ILoggable { * @param [in] position_true_i_m: True position of the spacecraft in the ECI frame [m] * @param [in] quaternion_i2b: True attitude of the spacecraft expressed by quaternion from the inertial frame to the body-fixed frame */ - void CheckAntenna(libra::Vector<3> position_true_i_m, libra::Quaternion quaternion_i2b); + void CheckAntenna(const libra::Vector<3> position_true_i_m, const libra::Quaternion quaternion_i2b); /** * @fn CheckAntennaSimple * @brief Check the antenna can detect GNSS signal with Simple mode @@ -187,7 +187,7 @@ class GnssReceiver : public Component, public ILoggable { * @param [in] position_true_i_m: True position of the spacecraft in the ECI frame [m] * @param [in] quaternion_i2b: True attitude of the spacecraft expressed by quaternion from the inertial frame to the body-fixed frame */ - void CheckAntennaSimple(libra::Vector<3> position_true_i_m, libra::Quaternion quaternion_i2b); + void CheckAntennaSimple(const libra::Vector<3> position_true_i_m, const libra::Quaternion quaternion_i2b); /** * @fn CheckAntennaCone * @brief Check the antenna can detect GNSS signal with Cone mode @@ -195,7 +195,7 @@ class GnssReceiver : public Component, public ILoggable { * @param [in] position_true_i_m: True position of the spacecraft in the ECI frame [m] * @param [in] quaternion_i2b: True attitude of the spacecraft expressed by quaternion from the inertial frame to the body-fixed frame */ - void CheckAntennaCone(libra::Vector<3> position_true_i_m, libra::Quaternion quaternion_i2b); + void CheckAntennaCone(const libra::Vector<3> position_true_i_m, const libra::Quaternion quaternion_i2b); /** * @fn SetGnssInfo * @brief Calculate and set the GnssInfo values of target GNSS satellite @@ -203,14 +203,14 @@ class GnssReceiver : public Component, public ILoggable { * @param [in] quaternion_i2b: True attitude of the spacecraft expressed by quaternion from the inertial frame to the body-fixed frame * @param [in] gnss_id: ID of target GNSS satellite */ - void SetGnssInfo(libra::Vector<3> antenna_to_satellite_i_m, libra::Quaternion quaternion_i2b, std::string gnss_id); + void SetGnssInfo(const libra::Vector<3> antenna_to_satellite_i_m, const libra::Quaternion quaternion_i2b, const std::string gnss_id); /** * @fn AddNoise * @brief Substitutional method for "Measure" in other sensor models inherited Sensor class * @param [in] position_true_i_m: True position of the spacecraft in the ECI frame [m] * @param [in] position_true_ecef_m: True position of the spacecraft in the ECEF frame [m] */ - void AddNoise(libra::Vector<3> position_true_i_m, libra::Vector<3> position_true_ecef_m); + void AddNoise(const libra::Vector<3> position_true_i_m, const libra::Vector<3> position_true_ecef_m); /** * @fn ConvertJulianDayToGPSTime * @brief Convert Julian day to GPS time @@ -229,7 +229,7 @@ class GnssReceiver : public Component, public ILoggable { * @param [in] gnss_satellites: GNSS satellites information * @param [in] simulation_time: Simulation time information */ -GnssReceiver InitGnssReceiver(ClockGenerator* clock_generator, size_t component_id, const std::string file_name, const Dynamics* dynamics, +GnssReceiver InitGnssReceiver(ClockGenerator* clock_generator, const size_t component_id, const std::string file_name, const Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time); /** * @fn InitGnssReceiver @@ -242,7 +242,7 @@ GnssReceiver InitGnssReceiver(ClockGenerator* clock_generator, size_t component_ * @param [in] gnss_satellites: GNSS satellites information * @param [in] simulation_time: Simulation time information */ -GnssReceiver InitGnssReceiver(ClockGenerator* clock_generator, PowerPort* power_port, size_t component_id, const std::string file_name, +GnssReceiver InitGnssReceiver(ClockGenerator* clock_generator, PowerPort* power_port, const size_t component_id, const std::string file_name, const Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time); #endif // S2E_COMPONENTS_REAL_AOCS_GNSS_RECEIVER_HPP_ From 73360edb65fc3c550bbb3b9c9b1236fda2fefb6a Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 6 Feb 2024 13:56:10 +0100 Subject: [PATCH 091/456] Fix typos --- src/components/real/aocs/gnss_receiver.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/components/real/aocs/gnss_receiver.cpp b/src/components/real/aocs/gnss_receiver.cpp index 1aa7f9445..392e3fe7a 100644 --- a/src/components/real/aocs/gnss_receiver.cpp +++ b/src/components/real/aocs/gnss_receiver.cpp @@ -82,7 +82,7 @@ void GnssReceiver::CheckAntenna(const libra::Vector<3> pos_true_eci_, const libr void GnssReceiver::CheckAntennaSimple(const libra::Vector<3> pos_true_eci_, const libra::Quaternion quaternion_i2b) { // Simplest model - // GNSS sats are visible when antenna directs anti-earth direction + // GNSS satellites are visible when antenna directs anti-earth direction // antenna normal vector at inertial frame libra::Vector<3> antenna_direction_c(0.0); antenna_direction_c[2] = 1.0; @@ -127,7 +127,7 @@ void GnssReceiver::CheckAntennaCone(const libra::Vector<3> pos_true_eci_, const double normalizer = 1 / antenna_to_satellite_i_m.CalcNorm(); ant2gnss_i_n = normalizer * antenna_to_satellite_i_m; - // check gnss sats are visible from antenna + // check gnss satellites are visible from antenna double Re = environment::earth_equatorial_radius_m; double inner1 = InnerProduct(ant_pos_i, gnss_sat_pos_i); bool is_visible_ant2gnss = false; @@ -241,7 +241,7 @@ std::string GnssReceiver::GetLogValue() const // For logs return str_tmp; } -typedef struct _gnssrecever_param { +typedef struct _gnss_receiver_param { int prescaler; AntennaModel antenna_model; libra::Vector<3> antenna_pos_b; From 068a3749ea4c8f8a677fd9662d90d961bfa2b857 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 6 Feb 2024 13:56:46 +0100 Subject: [PATCH 092/456] Fix initial value of bool --- src/components/real/aocs/gnss_receiver.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/components/real/aocs/gnss_receiver.hpp b/src/components/real/aocs/gnss_receiver.hpp index 280bceffa..9ef4241e2 100644 --- a/src/components/real/aocs/gnss_receiver.hpp +++ b/src/components/real/aocs/gnss_receiver.hpp @@ -162,7 +162,7 @@ class GnssReceiver : public Component, public ILoggable { UTC utc_ = {2000, 1, 1, 0, 0, 0.0}; //!< Observed time in UTC [year, month, day, hour, min, sec] unsigned int gps_time_week_ = 0; //!< Observed GPS time week part double gps_time_s_ = 0.0; //!< Observed GPS time second part - bool is_gnss_visible_ = 0; //!< Flag for GNSS satellite is visible or not + bool is_gnss_visible_ = false; //!< Flag for GNSS satellite is visible or not size_t visible_satellite_number_ = 0; //!< Number of visible GNSS satellites std::vector gnss_information_list_; //!< Information List of visible GNSS satellites From 3c9db6f668d34fb5e6d67dfcc1a4819063ed12bb Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 6 Feb 2024 14:09:11 +0100 Subject: [PATCH 093/456] Small refactors --- src/components/real/aocs/gnss_receiver.cpp | 37 ++++++++++++---------- 1 file changed, 20 insertions(+), 17 deletions(-) diff --git a/src/components/real/aocs/gnss_receiver.cpp b/src/components/real/aocs/gnss_receiver.cpp index 392e3fe7a..4d2e9bbe1 100644 --- a/src/components/real/aocs/gnss_receiver.cpp +++ b/src/components/real/aocs/gnss_receiver.cpp @@ -52,35 +52,38 @@ GnssReceiver::GnssReceiver(const int prescaler, ClockGenerator* clock_generator, void GnssReceiver::MainRoutine(const int time_count) { UNUSED(time_count); - libra::Vector<3> pos_true_eci_ = dynamics_->GetOrbit().GetPosition_i_m(); + libra::Vector<3> position_true_eci_ = dynamics_->GetOrbit().GetPosition_i_m(); libra::Quaternion quaternion_i2b = dynamics_->GetAttitude().GetQuaternion_i2b(); - CheckAntenna(pos_true_eci_, quaternion_i2b); + CheckAntenna(position_true_eci_, quaternion_i2b); - if (is_gnss_visible_ == true) { // Antenna of GNSS-R can detect GNSS signal + if (is_gnss_visible_) { + // Antenna of GNSS-R can detect GNSS signal position_ecef_m_ = dynamics_->GetOrbit().GetPosition_ecef_m(); position_llh_ = dynamics_->GetOrbit().GetLatLonAlt(); velocity_ecef_m_s_ = dynamics_->GetOrbit().GetVelocity_ecef_m_s(); - AddNoise(pos_true_eci_, position_ecef_m_); - - utc_ = simulation_time_->GetCurrentUtc(); - ConvertJulianDayToGPSTime(simulation_time_->GetCurrentTime_jd()); + AddNoise(position_true_eci_, position_ecef_m_); } else { // position information will not be updated in this case - // only time information will be updated in this case (according to the receiver's internal clock) utc_ = simulation_time_->GetCurrentUtc(); ConvertJulianDayToGPSTime(simulation_time_->GetCurrentTime_jd()); } + // Time is updated with internal clock + utc_ = simulation_time_->GetCurrentUtc(); + ConvertJulianDayToGPSTime(simulation_time_->GetCurrentTime_jd()); } -void GnssReceiver::CheckAntenna(const libra::Vector<3> pos_true_eci_, const libra::Quaternion quaternion_i2b) { - if (antenna_model_ == AntennaModel::kSimple) - CheckAntennaSimple(pos_true_eci_, quaternion_i2b); - else if (antenna_model_ == AntennaModel::kCone) - CheckAntennaCone(pos_true_eci_, quaternion_i2b); +void GnssReceiver::CheckAntenna(const libra::Vector<3> position_true_eci_, const libra::Quaternion quaternion_i2b) { + if (antenna_model_ == AntennaModel::kSimple) { + CheckAntennaSimple(position_true_eci_, quaternion_i2b); + } else if (antenna_model_ == AntennaModel::kCone) { + CheckAntennaCone(position_true_eci_, quaternion_i2b); + } else { + std::cout << "[Error] GNSS Receiver: Undefined antenna model." << std::endl; + } } -void GnssReceiver::CheckAntennaSimple(const libra::Vector<3> pos_true_eci_, const libra::Quaternion quaternion_i2b) { +void GnssReceiver::CheckAntennaSimple(const libra::Vector<3> position_true_eci_, const libra::Quaternion quaternion_i2b) { // Simplest model // GNSS satellites are visible when antenna directs anti-earth direction // antenna normal vector at inertial frame @@ -89,7 +92,7 @@ void GnssReceiver::CheckAntennaSimple(const libra::Vector<3> pos_true_eci_, cons libra::Vector<3> antenna_direction_b = quaternion_b2c_.InverseFrameConversion(antenna_direction_c); libra::Vector<3> antenna_direction_i = quaternion_i2b.InverseFrameConversion(antenna_direction_b); - double inner = InnerProduct(pos_true_eci_, antenna_direction_i); + double inner = InnerProduct(position_true_eci_, antenna_direction_i); if (inner <= 0) { is_gnss_visible_ = false; } else { @@ -97,7 +100,7 @@ void GnssReceiver::CheckAntennaSimple(const libra::Vector<3> pos_true_eci_, cons } } -void GnssReceiver::CheckAntennaCone(const libra::Vector<3> pos_true_eci_, const libra::Quaternion quaternion_i2b) { +void GnssReceiver::CheckAntennaCone(const libra::Vector<3> position_true_eci_, const libra::Quaternion quaternion_i2b) { // Cone model libra::Vector<3> gnss_sat_pos_i, ant_pos_i, antenna_to_satellite_i_m, ant2gnss_i_n, sat2ant_i; gnss_information_list_.clear(); @@ -109,7 +112,7 @@ void GnssReceiver::CheckAntennaCone(const libra::Vector<3> pos_true_eci_, const libra::Vector<3> antenna_direction_i = quaternion_i2b.InverseFrameConversion(antenna_direction_b); sat2ant_i = quaternion_i2b.InverseFrameConversion(antenna_position_b_m_); - ant_pos_i = pos_true_eci_ + sat2ant_i; + ant_pos_i = position_true_eci_ + sat2ant_i; // initialize visible_satellite_number_ = 0; From d9e3841583c704d71e7ff633388efb6d80305d2f Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 6 Feb 2024 14:11:42 +0100 Subject: [PATCH 094/456] Fix function name to suit with the coding rule --- src/components/real/aocs/gnss_receiver.cpp | 10 +++++----- src/components/real/aocs/gnss_receiver.hpp | 2 +- 2 files changed, 6 insertions(+), 6 deletions(-) diff --git a/src/components/real/aocs/gnss_receiver.cpp b/src/components/real/aocs/gnss_receiver.cpp index 4d2e9bbe1..f83191bf3 100644 --- a/src/components/real/aocs/gnss_receiver.cpp +++ b/src/components/real/aocs/gnss_receiver.cpp @@ -66,11 +66,11 @@ void GnssReceiver::MainRoutine(const int time_count) { } else { // position information will not be updated in this case utc_ = simulation_time_->GetCurrentUtc(); - ConvertJulianDayToGPSTime(simulation_time_->GetCurrentTime_jd()); + ConvertJulianDayToGpsTime(simulation_time_->GetCurrentTime_jd()); } // Time is updated with internal clock utc_ = simulation_time_->GetCurrentUtc(); - ConvertJulianDayToGPSTime(simulation_time_->GetCurrentTime_jd()); + ConvertJulianDayToGpsTime(simulation_time_->GetCurrentTime_jd()); } void GnssReceiver::CheckAntenna(const libra::Vector<3> position_true_eci_, const libra::Quaternion quaternion_i2b) { @@ -188,15 +188,15 @@ void GnssReceiver::AddNoise(const libra::Vector<3> position_true_i_m, const libr position_ecef_m_[2] = position_true_ecef_m[2] + random_noise_i_z_; } -void GnssReceiver::ConvertJulianDayToGPSTime(const double julian_day) { - const double kJulianDayAtGPSTimeZero = 2444244.5; // corresponds to 1980/1/5 midnight +void GnssReceiver::ConvertJulianDayToGpsTime(const double julian_day) { + const double kJulianDayAtGpsTimeZero = 2444244.5; // corresponds to 1980/1/5 midnight const double kDayInWeek = 7.0; // const double kSecInWeek = 604800.0; const double kSecInDay = 86400.0; // compute ToW from current julian_day // note:"gps_time_week_ " computed in this method is larger than 1024 - double elapsed_day = julian_day - kJulianDayAtGPSTimeZero; + double elapsed_day = julian_day - kJulianDayAtGpsTimeZero; gps_time_week_ = (unsigned int)(elapsed_day / kDayInWeek); gps_time_s_ = (elapsed_day - (double)(gps_time_week_)*kDayInWeek) * kSecInDay; } diff --git a/src/components/real/aocs/gnss_receiver.hpp b/src/components/real/aocs/gnss_receiver.hpp index 9ef4241e2..0b3380823 100644 --- a/src/components/real/aocs/gnss_receiver.hpp +++ b/src/components/real/aocs/gnss_receiver.hpp @@ -216,7 +216,7 @@ class GnssReceiver : public Component, public ILoggable { * @brief Convert Julian day to GPS time * @param [in] julian_day: Julian day */ - void ConvertJulianDayToGPSTime(const double julian_day); + void ConvertJulianDayToGpsTime(const double julian_day); }; /** From 30eaeeff50ee774a71d3d3071a891799f4e48aa9 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 6 Feb 2024 14:38:44 +0100 Subject: [PATCH 095/456] Simplify the internal function --- src/components/real/aocs/gnss_receiver.cpp | 17 +++++++---------- 1 file changed, 7 insertions(+), 10 deletions(-) diff --git a/src/components/real/aocs/gnss_receiver.cpp b/src/components/real/aocs/gnss_receiver.cpp index f83191bf3..fd679548c 100644 --- a/src/components/real/aocs/gnss_receiver.cpp +++ b/src/components/real/aocs/gnss_receiver.cpp @@ -93,7 +93,7 @@ void GnssReceiver::CheckAntennaSimple(const libra::Vector<3> position_true_eci_, libra::Vector<3> antenna_direction_i = quaternion_i2b.InverseFrameConversion(antenna_direction_b); double inner = InnerProduct(position_true_eci_, antenna_direction_i); - if (inner <= 0) { + if (inner <= 0.0) { is_gnss_visible_ = false; } else { is_gnss_visible_ = true; @@ -102,7 +102,6 @@ void GnssReceiver::CheckAntennaSimple(const libra::Vector<3> position_true_eci_, void GnssReceiver::CheckAntennaCone(const libra::Vector<3> position_true_eci_, const libra::Quaternion quaternion_i2b) { // Cone model - libra::Vector<3> gnss_sat_pos_i, ant_pos_i, antenna_to_satellite_i_m, ant2gnss_i_n, sat2ant_i; gnss_information_list_.clear(); // antenna normal vector at inertial frame @@ -111,24 +110,22 @@ void GnssReceiver::CheckAntennaCone(const libra::Vector<3> position_true_eci_, c libra::Vector<3> antenna_direction_b = quaternion_b2c_.InverseFrameConversion(antenna_direction_c); libra::Vector<3> antenna_direction_i = quaternion_i2b.InverseFrameConversion(antenna_direction_b); - sat2ant_i = quaternion_i2b.InverseFrameConversion(antenna_position_b_m_); - ant_pos_i = position_true_eci_ + sat2ant_i; + libra::Vector<3> sat2ant_i = quaternion_i2b.InverseFrameConversion(antenna_position_b_m_); + libra::Vector<3> ant_pos_i = position_true_eci_ + sat2ant_i; // initialize visible_satellite_number_ = 0; - size_t gnss_num = kTotalNumberOfGnssSatellite; - - for (size_t i = 0; i < gnss_num; i++) { + for (size_t i = 0; i < kTotalNumberOfGnssSatellite; i++) { // check if gnss ID is compatible with the receiver std::string id_tmp = ConvertIndexToGnssSatelliteNumber(i); if (gnss_id_.find(id_tmp[0]) == std::string::npos) continue; // compute direction from sat to gnss in body-fixed frame - gnss_sat_pos_i = gnss_satellites_->GetPosition_eci_m(i); - antenna_to_satellite_i_m = gnss_sat_pos_i - ant_pos_i; + libra::Vector<3> gnss_sat_pos_i = gnss_satellites_->GetPosition_eci_m(i); + libra::Vector<3> antenna_to_satellite_i_m = gnss_sat_pos_i - ant_pos_i; double normalizer = 1 / antenna_to_satellite_i_m.CalcNorm(); - ant2gnss_i_n = normalizer * antenna_to_satellite_i_m; + libra::Vector<3> ant2gnss_i_n = normalizer * antenna_to_satellite_i_m; // check gnss satellites are visible from antenna double Re = environment::earth_equatorial_radius_m; From f17ebf1c203868f4c1b12af760a7de34843b25a7 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 6 Feb 2024 14:41:57 +0100 Subject: [PATCH 096/456] Fix argument unit --- src/components/real/aocs/gnss_receiver.cpp | 21 ++++++++++----------- 1 file changed, 10 insertions(+), 11 deletions(-) diff --git a/src/components/real/aocs/gnss_receiver.cpp b/src/components/real/aocs/gnss_receiver.cpp index fd679548c..fe3d1d6e7 100644 --- a/src/components/real/aocs/gnss_receiver.cpp +++ b/src/components/real/aocs/gnss_receiver.cpp @@ -73,17 +73,17 @@ void GnssReceiver::MainRoutine(const int time_count) { ConvertJulianDayToGpsTime(simulation_time_->GetCurrentTime_jd()); } -void GnssReceiver::CheckAntenna(const libra::Vector<3> position_true_eci_, const libra::Quaternion quaternion_i2b) { +void GnssReceiver::CheckAntenna(const libra::Vector<3> position_true_eci_m, const libra::Quaternion quaternion_i2b) { if (antenna_model_ == AntennaModel::kSimple) { - CheckAntennaSimple(position_true_eci_, quaternion_i2b); + CheckAntennaSimple(position_true_eci_m, quaternion_i2b); } else if (antenna_model_ == AntennaModel::kCone) { - CheckAntennaCone(position_true_eci_, quaternion_i2b); + CheckAntennaCone(position_true_eci_m, quaternion_i2b); } else { std::cout << "[Error] GNSS Receiver: Undefined antenna model." << std::endl; } } -void GnssReceiver::CheckAntennaSimple(const libra::Vector<3> position_true_eci_, const libra::Quaternion quaternion_i2b) { +void GnssReceiver::CheckAntennaSimple(const libra::Vector<3> position_true_eci_m, const libra::Quaternion quaternion_i2b) { // Simplest model // GNSS satellites are visible when antenna directs anti-earth direction // antenna normal vector at inertial frame @@ -92,7 +92,7 @@ void GnssReceiver::CheckAntennaSimple(const libra::Vector<3> position_true_eci_, libra::Vector<3> antenna_direction_b = quaternion_b2c_.InverseFrameConversion(antenna_direction_c); libra::Vector<3> antenna_direction_i = quaternion_i2b.InverseFrameConversion(antenna_direction_b); - double inner = InnerProduct(position_true_eci_, antenna_direction_i); + double inner = InnerProduct(position_true_eci_m, antenna_direction_i); if (inner <= 0.0) { is_gnss_visible_ = false; } else { @@ -100,7 +100,7 @@ void GnssReceiver::CheckAntennaSimple(const libra::Vector<3> position_true_eci_, } } -void GnssReceiver::CheckAntennaCone(const libra::Vector<3> position_true_eci_, const libra::Quaternion quaternion_i2b) { +void GnssReceiver::CheckAntennaCone(const libra::Vector<3> position_true_eci_m, const libra::Quaternion quaternion_i2b) { // Cone model gnss_information_list_.clear(); @@ -110,8 +110,7 @@ void GnssReceiver::CheckAntennaCone(const libra::Vector<3> position_true_eci_, c libra::Vector<3> antenna_direction_b = quaternion_b2c_.InverseFrameConversion(antenna_direction_c); libra::Vector<3> antenna_direction_i = quaternion_i2b.InverseFrameConversion(antenna_direction_b); - libra::Vector<3> sat2ant_i = quaternion_i2b.InverseFrameConversion(antenna_position_b_m_); - libra::Vector<3> ant_pos_i = position_true_eci_ + sat2ant_i; + libra::Vector<3> antenna_position_i = position_true_eci_m + quaternion_i2b.InverseFrameConversion(antenna_position_b_m_); // initialize visible_satellite_number_ = 0; @@ -123,18 +122,18 @@ void GnssReceiver::CheckAntennaCone(const libra::Vector<3> position_true_eci_, c // compute direction from sat to gnss in body-fixed frame libra::Vector<3> gnss_sat_pos_i = gnss_satellites_->GetPosition_eci_m(i); - libra::Vector<3> antenna_to_satellite_i_m = gnss_sat_pos_i - ant_pos_i; + libra::Vector<3> antenna_to_satellite_i_m = gnss_sat_pos_i - antenna_position_i; double normalizer = 1 / antenna_to_satellite_i_m.CalcNorm(); libra::Vector<3> ant2gnss_i_n = normalizer * antenna_to_satellite_i_m; // check gnss satellites are visible from antenna double Re = environment::earth_equatorial_radius_m; - double inner1 = InnerProduct(ant_pos_i, gnss_sat_pos_i); + double inner1 = InnerProduct(antenna_position_i, gnss_sat_pos_i); bool is_visible_ant2gnss = false; if (inner1 > 0) is_visible_ant2gnss = true; else { - Vector<3> tmp = ant_pos_i + InnerProduct(-ant_pos_i, ant2gnss_i_n) * antenna_to_satellite_i_m; + Vector<3> tmp = antenna_position_i + InnerProduct(-antenna_position_i, ant2gnss_i_n) * antenna_to_satellite_i_m; if (tmp.CalcNorm() < Re) { // There is earth between antenna and gnss is_visible_ant2gnss = false; From 85dc2f37050b5e6f5a226e1fed3549727227fa09 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 6 Feb 2024 14:53:42 +0100 Subject: [PATCH 097/456] Fix internal variables name suit with the naming rule --- src/components/real/aocs/gnss_receiver.cpp | 40 +++++++++++----------- 1 file changed, 20 insertions(+), 20 deletions(-) diff --git a/src/components/real/aocs/gnss_receiver.cpp b/src/components/real/aocs/gnss_receiver.cpp index fe3d1d6e7..555bc83c5 100644 --- a/src/components/real/aocs/gnss_receiver.cpp +++ b/src/components/real/aocs/gnss_receiver.cpp @@ -86,7 +86,8 @@ void GnssReceiver::CheckAntenna(const libra::Vector<3> position_true_eci_m, cons void GnssReceiver::CheckAntennaSimple(const libra::Vector<3> position_true_eci_m, const libra::Quaternion quaternion_i2b) { // Simplest model // GNSS satellites are visible when antenna directs anti-earth direction - // antenna normal vector at inertial frame + + // Antenna normal vector at inertial frame libra::Vector<3> antenna_direction_c(0.0); antenna_direction_c[2] = 1.0; libra::Vector<3> antenna_direction_b = quaternion_b2c_.InverseFrameConversion(antenna_direction_c); @@ -110,44 +111,43 @@ void GnssReceiver::CheckAntennaCone(const libra::Vector<3> position_true_eci_m, libra::Vector<3> antenna_direction_b = quaternion_b2c_.InverseFrameConversion(antenna_direction_c); libra::Vector<3> antenna_direction_i = quaternion_i2b.InverseFrameConversion(antenna_direction_b); - libra::Vector<3> antenna_position_i = position_true_eci_m + quaternion_i2b.InverseFrameConversion(antenna_position_b_m_); + libra::Vector<3> antenna_position_i_m = position_true_eci_m + quaternion_i2b.InverseFrameConversion(antenna_position_b_m_); // initialize visible_satellite_number_ = 0; for (size_t i = 0; i < kTotalNumberOfGnssSatellite; i++) { // check if gnss ID is compatible with the receiver - std::string id_tmp = ConvertIndexToGnssSatelliteNumber(i); - if (gnss_id_.find(id_tmp[0]) == std::string::npos) continue; + std::string gnss_id_string = ConvertIndexToGnssSatelliteNumber(i); + if (gnss_id_.find(gnss_id_string[0]) == std::string::npos) continue; // compute direction from sat to gnss in body-fixed frame - libra::Vector<3> gnss_sat_pos_i = gnss_satellites_->GetPosition_eci_m(i); - libra::Vector<3> antenna_to_satellite_i_m = gnss_sat_pos_i - antenna_position_i; + libra::Vector<3> gnss_satellite_position_i_m = gnss_satellites_->GetPosition_eci_m(i); + libra::Vector<3> antenna_to_satellite_i_m = gnss_satellite_position_i_m - antenna_position_i_m; double normalizer = 1 / antenna_to_satellite_i_m.CalcNorm(); - libra::Vector<3> ant2gnss_i_n = normalizer * antenna_to_satellite_i_m; + libra::Vector<3> antenna_to_gnss_satellite_direction_i = normalizer * antenna_to_satellite_i_m; // check gnss satellites are visible from antenna - double Re = environment::earth_equatorial_radius_m; - double inner1 = InnerProduct(antenna_position_i, gnss_sat_pos_i); - bool is_visible_ant2gnss = false; - if (inner1 > 0) - is_visible_ant2gnss = true; - else { - Vector<3> tmp = antenna_position_i + InnerProduct(-antenna_position_i, ant2gnss_i_n) * antenna_to_satellite_i_m; - if (tmp.CalcNorm() < Re) { + double inner1 = InnerProduct(antenna_position_i_m, gnss_satellite_position_i_m); + bool is_satellite_visible = false; + if (inner1 > 0) { + is_satellite_visible = true; + } else { + Vector<3> tmp = antenna_position_i_m + InnerProduct(-antenna_position_i_m, antenna_to_gnss_satellite_direction_i) * antenna_to_satellite_i_m; + if (tmp.CalcNorm() < environment::earth_equatorial_radius_m) { // There is earth between antenna and gnss - is_visible_ant2gnss = false; + is_satellite_visible = false; } else { // There is not earth between antenna and gnss - is_visible_ant2gnss = true; + is_satellite_visible = true; } } - double inner2 = InnerProduct(antenna_direction_i, ant2gnss_i_n); - if (inner2 > cos(half_width_rad_ * libra::deg_to_rad) && is_visible_ant2gnss) { + double inner2 = InnerProduct(antenna_direction_i, antenna_to_gnss_satellite_direction_i); + if (inner2 > cos(half_width_rad_ * libra::deg_to_rad) && is_satellite_visible) { // is visible visible_satellite_number_++; - SetGnssInfo(antenna_to_satellite_i_m, quaternion_i2b, id_tmp); + SetGnssInfo(antenna_to_satellite_i_m, quaternion_i2b, gnss_id_string); } } From de05d4d5cd1953d4b5aee61319c47e3578fad787 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 6 Feb 2024 14:56:08 +0100 Subject: [PATCH 098/456] Fix internal variables name suit with the naming rule --- src/components/real/aocs/gnss_receiver.cpp | 15 +++++++-------- 1 file changed, 7 insertions(+), 8 deletions(-) diff --git a/src/components/real/aocs/gnss_receiver.cpp b/src/components/real/aocs/gnss_receiver.cpp index 555bc83c5..d20511288 100644 --- a/src/components/real/aocs/gnss_receiver.cpp +++ b/src/components/real/aocs/gnss_receiver.cpp @@ -159,16 +159,15 @@ void GnssReceiver::CheckAntennaCone(const libra::Vector<3> position_true_eci_m, } void GnssReceiver::SetGnssInfo(const libra::Vector<3> antenna_to_satellite_i_m, const libra::Quaternion quaternion_i2b, const std::string gnss_id) { - libra::Vector<3> ant2gnss_b, ant2gnss_c; + libra::Vector<3> antenna_to_satellite_direction_b = quaternion_i2b.FrameConversion(antenna_to_satellite_i_m); + libra::Vector<3> antenna_to_satellite_direction_c = quaternion_b2c_.FrameConversion(antenna_to_satellite_direction_b); - ant2gnss_b = quaternion_i2b.FrameConversion(antenna_to_satellite_i_m); - ant2gnss_c = quaternion_b2c_.FrameConversion(ant2gnss_b); + double distance_m = antenna_to_satellite_i_m.CalcNorm(); + double longitude_rad = AcTan(antenna_to_satellite_direction_c[1], antenna_to_satellite_direction_c[0]); + double latitude_rad = + AcTan(antenna_to_satellite_direction_c[2], sqrt(pow(antenna_to_satellite_direction_c[0], 2.0) + pow(antenna_to_satellite_direction_c[1], 2.0))); - double dist = ant2gnss_c.CalcNorm(); - double lon = AcTan(ant2gnss_c[1], ant2gnss_c[0]); - double lat = AcTan(ant2gnss_c[2], sqrt(pow(ant2gnss_c[0], 2.0) + pow(ant2gnss_c[1], 2.0))); - - GnssInfo gnss_info_new = {gnss_id, lat, lon, dist}; + GnssInfo gnss_info_new = {gnss_id, latitude_rad, longitude_rad, distance_m}; gnss_information_list_.push_back(gnss_info_new); } From 6e0c63da9e09d6bc563f3f4af2073dfc11cd4904 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 6 Feb 2024 14:57:59 +0100 Subject: [PATCH 099/456] Fix comment --- src/components/real/aocs/gnss_receiver.cpp | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/src/components/real/aocs/gnss_receiver.cpp b/src/components/real/aocs/gnss_receiver.cpp index d20511288..346f1183c 100644 --- a/src/components/real/aocs/gnss_receiver.cpp +++ b/src/components/real/aocs/gnss_receiver.cpp @@ -186,10 +186,9 @@ void GnssReceiver::AddNoise(const libra::Vector<3> position_true_i_m, const libr void GnssReceiver::ConvertJulianDayToGpsTime(const double julian_day) { const double kJulianDayAtGpsTimeZero = 2444244.5; // corresponds to 1980/1/5 midnight const double kDayInWeek = 7.0; - // const double kSecInWeek = 604800.0; const double kSecInDay = 86400.0; - // compute ToW from current julian_day + // compute time of week from current julian_day // note:"gps_time_week_ " computed in this method is larger than 1024 double elapsed_day = julian_day - kJulianDayAtGpsTimeZero; gps_time_week_ = (unsigned int)(elapsed_day / kDayInWeek); From c79ae7affd2aba6fb58bb22cb504f716b15646fc Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 6 Feb 2024 15:08:08 +0100 Subject: [PATCH 100/456] Fix unit of harf width angle --- src/components/real/aocs/gnss_receiver.cpp | 18 +++++++++--------- src/components/real/aocs/gnss_receiver.hpp | 10 +++++----- 2 files changed, 14 insertions(+), 14 deletions(-) diff --git a/src/components/real/aocs/gnss_receiver.cpp b/src/components/real/aocs/gnss_receiver.cpp index 346f1183c..002877bb5 100644 --- a/src/components/real/aocs/gnss_receiver.cpp +++ b/src/components/real/aocs/gnss_receiver.cpp @@ -13,7 +13,7 @@ GnssReceiver::GnssReceiver(const int prescaler, ClockGenerator* clock_generator, const size_t component_id, const std::string gnss_id, const size_t max_channel, const AntennaModel antenna_model, const libra::Vector<3> antenna_position_b_m, - const libra::Quaternion quaternion_b2c, const double half_width_rad, const libra::Vector<3> noise_standard_deviation_m, + const libra::Quaternion quaternion_b2c, const double half_width_deg, const libra::Vector<3> noise_standard_deviation_m, const Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time) : Component(prescaler, clock_generator), component_id_(component_id), @@ -23,7 +23,7 @@ GnssReceiver::GnssReceiver(const int prescaler, ClockGenerator* clock_generator, random_noise_i_x_(0.0, noise_standard_deviation_m[0], global_randomization.MakeSeed()), random_noise_i_y_(0.0, noise_standard_deviation_m[1], global_randomization.MakeSeed()), random_noise_i_z_(0.0, noise_standard_deviation_m[2], global_randomization.MakeSeed()), - half_width_rad_(half_width_rad), + half_width_deg_(half_width_deg), gnss_id_(gnss_id), antenna_model_(antenna_model), dynamics_(dynamics), @@ -31,7 +31,7 @@ GnssReceiver::GnssReceiver(const int prescaler, ClockGenerator* clock_generator, simulation_time_(simulation_time) {} GnssReceiver::GnssReceiver(const int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, const size_t component_id, const std::string gnss_id, const size_t max_channel, const AntennaModel antenna_model, - const libra::Vector<3> antenna_position_b_m, const libra::Quaternion quaternion_b2c, const double half_width_rad, + const libra::Vector<3> antenna_position_b_m, const libra::Quaternion quaternion_b2c, const double half_width_deg, const libra::Vector<3> noise_standard_deviation_m, const Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time) : Component(prescaler, clock_generator, power_port), @@ -42,7 +42,7 @@ GnssReceiver::GnssReceiver(const int prescaler, ClockGenerator* clock_generator, random_noise_i_x_(0.0, noise_standard_deviation_m[0], global_randomization.MakeSeed()), random_noise_i_y_(0.0, noise_standard_deviation_m[1], global_randomization.MakeSeed()), random_noise_i_z_(0.0, noise_standard_deviation_m[2], global_randomization.MakeSeed()), - half_width_rad_(half_width_rad), + half_width_deg_(half_width_deg), gnss_id_(gnss_id), antenna_model_(antenna_model), dynamics_(dynamics), @@ -144,7 +144,7 @@ void GnssReceiver::CheckAntennaCone(const libra::Vector<3> position_true_eci_m, } double inner2 = InnerProduct(antenna_direction_i, antenna_to_gnss_satellite_direction_i); - if (inner2 > cos(half_width_rad_ * libra::deg_to_rad) && is_satellite_visible) { + if (inner2 > cos(half_width_deg_ * libra::deg_to_rad) && is_satellite_visible) { // is visible visible_satellite_number_++; SetGnssInfo(antenna_to_satellite_i_m, quaternion_i2b, gnss_id_string); @@ -243,7 +243,7 @@ typedef struct _gnss_receiver_param { AntennaModel antenna_model; libra::Vector<3> antenna_pos_b; libra::Quaternion quaternion_b2c; - double half_width_rad; + double half_width_deg; std::string gnss_id; size_t max_channel; libra::Vector<3> noise_standard_deviation_m; @@ -271,7 +271,7 @@ GnssReceiverParam ReadGnssReceiverIni(const std::string file_name, const GnssSat gnssr_conf.ReadVector(GSection, "antenna_position_b_m", gnss_receiver_param.antenna_pos_b); gnssr_conf.ReadQuaternion(GSection, "quaternion_b2c", gnss_receiver_param.quaternion_b2c); - gnss_receiver_param.half_width_rad = gnssr_conf.ReadDouble(GSection, "antenna_half_width_deg"); + gnss_receiver_param.half_width_deg = gnssr_conf.ReadDouble(GSection, "antenna_half_width_deg"); gnss_receiver_param.gnss_id = gnssr_conf.ReadString(GSection, "gnss_id"); gnss_receiver_param.max_channel = gnssr_conf.ReadInt(GSection, "maximum_channel"); gnssr_conf.ReadVector(GSection, "white_noise_standard_deviation_eci_m", gnss_receiver_param.noise_standard_deviation_m); @@ -284,7 +284,7 @@ GnssReceiver InitGnssReceiver(ClockGenerator* clock_generator, const size_t comp GnssReceiverParam gr_param = ReadGnssReceiverIni(file_name, gnss_satellites, component_id); GnssReceiver gnss_r(gr_param.prescaler, clock_generator, component_id, gr_param.gnss_id, gr_param.max_channel, gr_param.antenna_model, - gr_param.antenna_pos_b, gr_param.quaternion_b2c, gr_param.half_width_rad, gr_param.noise_standard_deviation_m, dynamics, + gr_param.antenna_pos_b, gr_param.quaternion_b2c, gr_param.half_width_deg, gr_param.noise_standard_deviation_m, dynamics, gnss_satellites, simulation_time); return gnss_r; } @@ -297,7 +297,7 @@ GnssReceiver InitGnssReceiver(ClockGenerator* clock_generator, PowerPort* power_ power_port->InitializeWithInitializeFile(file_name); GnssReceiver gnss_r(gr_param.prescaler, clock_generator, power_port, component_id, gr_param.gnss_id, gr_param.max_channel, gr_param.antenna_model, - gr_param.antenna_pos_b, gr_param.quaternion_b2c, gr_param.half_width_rad, gr_param.noise_standard_deviation_m, dynamics, + gr_param.antenna_pos_b, gr_param.quaternion_b2c, gr_param.half_width_deg, gr_param.noise_standard_deviation_m, dynamics, gnss_satellites, simulation_time); return gnss_r; } diff --git a/src/components/real/aocs/gnss_receiver.hpp b/src/components/real/aocs/gnss_receiver.hpp index 0b3380823..23b9ba7ab 100644 --- a/src/components/real/aocs/gnss_receiver.hpp +++ b/src/components/real/aocs/gnss_receiver.hpp @@ -53,7 +53,7 @@ class GnssReceiver : public Component, public ILoggable { * @param [in] antenna_model: Antenna model * @param [in] antenna_position_b_m: GNSS antenna position at the body-fixed frame [m] * @param [in] quaternion_b2c: Quaternion from body frame to component frame (antenna frame) - * @param [in] half_width_rad: Half width of the antenna cone model [rad] + * @param [in] half_width_deg: Half width of the antenna cone model [deg] * @param [in] noise_standard_deviation_m: Standard deviation of normal random noise in the ECI frame [m] * @param [in] dynamics: Dynamics information * @param [in] gnss_satellites: GNSS Satellites information @@ -61,7 +61,7 @@ class GnssReceiver : public Component, public ILoggable { */ GnssReceiver(const int prescaler, ClockGenerator* clock_generator, const size_t component_id, const std::string gnss_id, const size_t max_channel, const AntennaModel antenna_model, const libra::Vector<3> antenna_position_b_m, const libra::Quaternion quaternion_b2c, - const double half_width_rad, const libra::Vector<3> noise_standard_deviation_m, const Dynamics* dynamics, + const double half_width_deg, const libra::Vector<3> noise_standard_deviation_m, const Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time); /** * @fn GnssReceiver @@ -74,7 +74,7 @@ class GnssReceiver : public Component, public ILoggable { * @param [in] antenna_model: Antenna model * @param [in] antenna_position_b_m: GNSS antenna position at the body-fixed frame [m] * @param [in] quaternion_b2c: Quaternion from body frame to component frame (antenna frame) - * @param [in] half_width_rad: Half width of the antenna cone model [rad] + * @param [in] half_width_deg: Half width of the antenna cone model [rad] * @param [in] noise_standard_deviation_m: Standard deviation of normal random noise in the ECI frame [m] * @param [in] dynamics: Dynamics information * @param [in] gnss_satellites: GNSS Satellites information @@ -82,7 +82,7 @@ class GnssReceiver : public Component, public ILoggable { */ GnssReceiver(const int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, const size_t component_id, const std::string gnss_id, const size_t max_channel, const AntennaModel antenna_model, const libra::Vector<3> antenna_position_b_m, - const libra::Quaternion quaternion_b2c, const double half_width_rad, const libra::Vector<3> noise_standard_deviation_m, + const libra::Quaternion quaternion_b2c, const double half_width_deg, const libra::Vector<3> noise_standard_deviation_m, const Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time); // Override functions for Component @@ -149,7 +149,7 @@ class GnssReceiver : public Component, public ILoggable { libra::NormalRand random_noise_i_x_, random_noise_i_y_, random_noise_i_z_; //!< Random noise for each axis - double half_width_rad_ = 0.0; //!< Half width of the antenna cone model [rad] + double half_width_deg_ = 0.0; //!< Half width of the antenna cone model [deg] std::string gnss_id_; //!< GNSS satellite number defined by GNSS system AntennaModel antenna_model_; //!< Antenna model From 92e53742ef8efdc1b8e9d8ca84c42d1363df56ea Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 6 Feb 2024 15:09:59 +0100 Subject: [PATCH 101/456] Fix to use normalize function --- src/components/real/aocs/gnss_receiver.cpp | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/src/components/real/aocs/gnss_receiver.cpp b/src/components/real/aocs/gnss_receiver.cpp index 002877bb5..f957e5370 100644 --- a/src/components/real/aocs/gnss_receiver.cpp +++ b/src/components/real/aocs/gnss_receiver.cpp @@ -123,9 +123,8 @@ void GnssReceiver::CheckAntennaCone(const libra::Vector<3> position_true_eci_m, // compute direction from sat to gnss in body-fixed frame libra::Vector<3> gnss_satellite_position_i_m = gnss_satellites_->GetPosition_eci_m(i); - libra::Vector<3> antenna_to_satellite_i_m = gnss_satellite_position_i_m - antenna_position_i_m; - double normalizer = 1 / antenna_to_satellite_i_m.CalcNorm(); - libra::Vector<3> antenna_to_gnss_satellite_direction_i = normalizer * antenna_to_satellite_i_m; + libra::Vector<3> antenna_to_gnss_satellite_i_m = gnss_satellite_position_i_m - antenna_position_i_m; + libra::Vector<3> antenna_to_gnss_satellite_direction_i = antenna_to_gnss_satellite_i_m.CalcNormalizedVector(); // check gnss satellites are visible from antenna double inner1 = InnerProduct(antenna_position_i_m, gnss_satellite_position_i_m); @@ -133,7 +132,8 @@ void GnssReceiver::CheckAntennaCone(const libra::Vector<3> position_true_eci_m, if (inner1 > 0) { is_satellite_visible = true; } else { - Vector<3> tmp = antenna_position_i_m + InnerProduct(-antenna_position_i_m, antenna_to_gnss_satellite_direction_i) * antenna_to_satellite_i_m; + Vector<3> tmp = + antenna_position_i_m + InnerProduct(-antenna_position_i_m, antenna_to_gnss_satellite_direction_i) * antenna_to_gnss_satellite_i_m; if (tmp.CalcNorm() < environment::earth_equatorial_radius_m) { // There is earth between antenna and gnss is_satellite_visible = false; @@ -147,7 +147,7 @@ void GnssReceiver::CheckAntennaCone(const libra::Vector<3> position_true_eci_m, if (inner2 > cos(half_width_deg_ * libra::deg_to_rad) && is_satellite_visible) { // is visible visible_satellite_number_++; - SetGnssInfo(antenna_to_satellite_i_m, quaternion_i2b, gnss_id_string); + SetGnssInfo(antenna_to_gnss_satellite_i_m, quaternion_i2b, gnss_id_string); } } From d9a89e80b1b4f4b072e95422023aa746f0aae58a Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 6 Feb 2024 15:14:54 +0100 Subject: [PATCH 102/456] Fix variable name to suit with coding rule --- src/components/real/aocs/gnss_receiver.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/components/real/aocs/gnss_receiver.hpp b/src/components/real/aocs/gnss_receiver.hpp index 23b9ba7ab..eb6c32c6c 100644 --- a/src/components/real/aocs/gnss_receiver.hpp +++ b/src/components/real/aocs/gnss_receiver.hpp @@ -30,7 +30,7 @@ enum class AntennaModel { * @brief Information of GNSS satellites */ typedef struct _gnss_info { - std::string ID; //!< ID of GNSS satellites + std::string id; //!< ID of GNSS satellites double latitude_rad; //!< Latitude on the antenna frame [rad] double longitude_rad; //!< Longitude on the antenna frame [rad] double distance_m; //!< Distance between the GNSS satellite and the GNSS receiver antenna [m] From e2f8d3d6adbb7689c9b8247ccc424dd3f9b7b279 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 6 Feb 2024 16:18:19 +0100 Subject: [PATCH 103/456] Fix to use geodetic position --- src/components/real/aocs/gnss_receiver.cpp | 8 ++++---- src/components/real/aocs/gnss_receiver.hpp | 7 ++----- 2 files changed, 6 insertions(+), 9 deletions(-) diff --git a/src/components/real/aocs/gnss_receiver.cpp b/src/components/real/aocs/gnss_receiver.cpp index f957e5370..98057e257 100644 --- a/src/components/real/aocs/gnss_receiver.cpp +++ b/src/components/real/aocs/gnss_receiver.cpp @@ -60,7 +60,7 @@ void GnssReceiver::MainRoutine(const int time_count) { if (is_gnss_visible_) { // Antenna of GNSS-R can detect GNSS signal position_ecef_m_ = dynamics_->GetOrbit().GetPosition_ecef_m(); - position_llh_ = dynamics_->GetOrbit().GetLatLonAlt(); + geodetic_position_ = dynamics_->GetOrbit().GetGeodeticPosition(); velocity_ecef_m_s_ = dynamics_->GetOrbit().GetVelocity_ecef_m_s(); AddNoise(position_true_eci_, position_ecef_m_); } else { @@ -229,9 +229,9 @@ std::string GnssReceiver::GetLogValue() const // For logs str_tmp += WriteScalar(utc_.second); str_tmp += WriteVector(position_eci_m_, 10); str_tmp += WriteVector(velocity_ecef_m_s_, 10); - str_tmp += WriteScalar(position_llh_[0], 10); - str_tmp += WriteScalar(position_llh_[1], 10); - str_tmp += WriteScalar(position_llh_[2], 10); + str_tmp += WriteScalar(geodetic_position_.GetLatitude_rad(), 10); + str_tmp += WriteScalar(geodetic_position_.GetLongitude_rad(), 10); + str_tmp += WriteScalar(geodetic_position_.GetAltitude_m(), 10); str_tmp += WriteScalar(is_gnss_visible_); str_tmp += WriteScalar(visible_satellite_number_); diff --git a/src/components/real/aocs/gnss_receiver.hpp b/src/components/real/aocs/gnss_receiver.hpp index eb6c32c6c..8b4f8cf07 100644 --- a/src/components/real/aocs/gnss_receiver.hpp +++ b/src/components/real/aocs/gnss_receiver.hpp @@ -113,10 +113,7 @@ class GnssReceiver : public Component, public ILoggable { * @fn GetMeasuredGeodeticPosition * @brief Return Observed position in the LLH frame [m] */ - inline const GeodeticPosition GetMeasuredGeodeticPosition(void) const { - GeodeticPosition geodetic_position(position_llh_[0], position_llh_[1], position_llh_[2]); - return geodetic_position; - } + inline const GeodeticPosition GetMeasuredGeodeticPosition(void) const { return geodetic_position_; } /** * @fn GetMeasuredVelocity_eci_m_s * @brief Return Observed velocity in the ECI frame [m/s] @@ -158,7 +155,7 @@ class GnssReceiver : public Component, public ILoggable { libra::Vector<3> velocity_eci_m_s_{0.0}; //!< Observed velocity in the ECI frame [m/s] libra::Vector<3> position_ecef_m_{0.0}; //!< Observed position in the ECEF frame [m] libra::Vector<3> velocity_ecef_m_s_{0.0}; //!< Observed velocity in the ECEF frame [m/s] - libra::Vector<3> position_llh_{0.0}; //!< Observed position in the geodetic frame [rad,rad,m] TODO: use GeodeticPosition class + GeodeticPosition geodetic_position_; //!< Observed position in the geodetic frame UTC utc_ = {2000, 1, 1, 0, 0, 0.0}; //!< Observed time in UTC [year, month, day, hour, min, sec] unsigned int gps_time_week_ = 0; //!< Observed GPS time week part double gps_time_s_ = 0.0; //!< Observed GPS time second part From 1204b9488bf2273ca53e6ac56131fdeadebdc962 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 6 Feb 2024 16:21:06 +0100 Subject: [PATCH 104/456] Fix to add noise for the geodetic position --- src/components/real/aocs/gnss_receiver.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/components/real/aocs/gnss_receiver.cpp b/src/components/real/aocs/gnss_receiver.cpp index 98057e257..e499a4169 100644 --- a/src/components/real/aocs/gnss_receiver.cpp +++ b/src/components/real/aocs/gnss_receiver.cpp @@ -60,9 +60,9 @@ void GnssReceiver::MainRoutine(const int time_count) { if (is_gnss_visible_) { // Antenna of GNSS-R can detect GNSS signal position_ecef_m_ = dynamics_->GetOrbit().GetPosition_ecef_m(); - geodetic_position_ = dynamics_->GetOrbit().GetGeodeticPosition(); velocity_ecef_m_s_ = dynamics_->GetOrbit().GetVelocity_ecef_m_s(); AddNoise(position_true_eci_, position_ecef_m_); + geodetic_position_.UpdateFromEcef(position_ecef_m_); } else { // position information will not be updated in this case utc_ = simulation_time_->GetCurrentUtc(); From 564d9562782b37ebee7e7960636ce1a915d749c6 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 6 Feb 2024 16:27:25 +0100 Subject: [PATCH 105/456] Fix comments in ini file --- data/sample/initialize_files/components/gnss_receiver.ini | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/data/sample/initialize_files/components/gnss_receiver.ini b/data/sample/initialize_files/components/gnss_receiver.ini index a17ed683e..8a0120c8c 100644 --- a/data/sample/initialize_files/components/gnss_receiver.ini +++ b/data/sample/initialize_files/components/gnss_receiver.ini @@ -6,7 +6,8 @@ antenna_position_b_m(0) = 0.0125 antenna_position_b_m(1) = 0.0000 antenna_position_b_m(2) = 0.1815 -// Quaternion from body frame to component frame +// Quaternion from body frame to component frame of the antenna +// Note: The antenna boresight direction is +Z direction at the component frame quaternion_b2c(0) = 0.0 quaternion_b2c(1) = 0.0 quaternion_b2c(2) = 0.0 @@ -23,7 +24,7 @@ antenna_half_width_deg = 60 // Number of channels maximum_channel = 8 -// GNSS ID +// Target GNSS system ID // G...GPS // R...GLONASS // E...Galileo @@ -33,7 +34,7 @@ maximum_channel = 8 // if your receiver is compatible with GPS and QZSS : GJ gnss_id = G -//Random noise [m] +// Random noise [m] white_noise_standard_deviation_eci_m(0) = 10000.0 white_noise_standard_deviation_eci_m(1) = 1000.0 white_noise_standard_deviation_eci_m(2) = 1000.0 From 9df6917487bf6371b25c6b38428577149592045d Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 6 Feb 2024 16:31:43 +0100 Subject: [PATCH 106/456] Rename gnss_id to gnss_system_id --- .../components/gnss_receiver.ini | 2 +- src/components/real/aocs/gnss_receiver.cpp | 31 ++++++++++--------- src/components/real/aocs/gnss_receiver.hpp | 27 ++++++++-------- 3 files changed, 31 insertions(+), 29 deletions(-) diff --git a/data/sample/initialize_files/components/gnss_receiver.ini b/data/sample/initialize_files/components/gnss_receiver.ini index 8a0120c8c..cd6e7b5e1 100644 --- a/data/sample/initialize_files/components/gnss_receiver.ini +++ b/data/sample/initialize_files/components/gnss_receiver.ini @@ -32,7 +32,7 @@ maximum_channel = 8 // J...QZSS // if your receiver is compatible with all kind of gnss satellites : GRECJ // if your receiver is compatible with GPS and QZSS : GJ -gnss_id = G +gnss_system_id = G // Random noise [m] white_noise_standard_deviation_eci_m(0) = 10000.0 diff --git a/src/components/real/aocs/gnss_receiver.cpp b/src/components/real/aocs/gnss_receiver.cpp index e499a4169..907f3b8e5 100644 --- a/src/components/real/aocs/gnss_receiver.cpp +++ b/src/components/real/aocs/gnss_receiver.cpp @@ -11,7 +11,7 @@ #include #include -GnssReceiver::GnssReceiver(const int prescaler, ClockGenerator* clock_generator, const size_t component_id, const std::string gnss_id, +GnssReceiver::GnssReceiver(const int prescaler, ClockGenerator* clock_generator, const size_t component_id, const std::string gnss_system_id, const size_t max_channel, const AntennaModel antenna_model, const libra::Vector<3> antenna_position_b_m, const libra::Quaternion quaternion_b2c, const double half_width_deg, const libra::Vector<3> noise_standard_deviation_m, const Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time) @@ -24,13 +24,13 @@ GnssReceiver::GnssReceiver(const int prescaler, ClockGenerator* clock_generator, random_noise_i_y_(0.0, noise_standard_deviation_m[1], global_randomization.MakeSeed()), random_noise_i_z_(0.0, noise_standard_deviation_m[2], global_randomization.MakeSeed()), half_width_deg_(half_width_deg), - gnss_id_(gnss_id), + gnss_system_id_(gnss_system_id), antenna_model_(antenna_model), dynamics_(dynamics), gnss_satellites_(gnss_satellites), simulation_time_(simulation_time) {} GnssReceiver::GnssReceiver(const int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, const size_t component_id, - const std::string gnss_id, const size_t max_channel, const AntennaModel antenna_model, + const std::string gnss_system_id, const size_t max_channel, const AntennaModel antenna_model, const libra::Vector<3> antenna_position_b_m, const libra::Quaternion quaternion_b2c, const double half_width_deg, const libra::Vector<3> noise_standard_deviation_m, const Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time) @@ -43,7 +43,7 @@ GnssReceiver::GnssReceiver(const int prescaler, ClockGenerator* clock_generator, random_noise_i_y_(0.0, noise_standard_deviation_m[1], global_randomization.MakeSeed()), random_noise_i_z_(0.0, noise_standard_deviation_m[2], global_randomization.MakeSeed()), half_width_deg_(half_width_deg), - gnss_id_(gnss_id), + gnss_system_id_(gnss_system_id), antenna_model_(antenna_model), dynamics_(dynamics), gnss_satellites_(gnss_satellites), @@ -118,8 +118,8 @@ void GnssReceiver::CheckAntennaCone(const libra::Vector<3> position_true_eci_m, for (size_t i = 0; i < kTotalNumberOfGnssSatellite; i++) { // check if gnss ID is compatible with the receiver - std::string gnss_id_string = ConvertIndexToGnssSatelliteNumber(i); - if (gnss_id_.find(gnss_id_string[0]) == std::string::npos) continue; + std::string gnss_system_id_string = ConvertIndexToGnssSatelliteNumber(i); + if (gnss_system_id_.find(gnss_system_id_string[0]) == std::string::npos) continue; // compute direction from sat to gnss in body-fixed frame libra::Vector<3> gnss_satellite_position_i_m = gnss_satellites_->GetPosition_eci_m(i); @@ -147,7 +147,7 @@ void GnssReceiver::CheckAntennaCone(const libra::Vector<3> position_true_eci_m, if (inner2 > cos(half_width_deg_ * libra::deg_to_rad) && is_satellite_visible) { // is visible visible_satellite_number_++; - SetGnssInfo(antenna_to_gnss_satellite_i_m, quaternion_i2b, gnss_id_string); + SetGnssInfo(antenna_to_gnss_satellite_i_m, quaternion_i2b, gnss_system_id_string); } } @@ -158,7 +158,8 @@ void GnssReceiver::CheckAntennaCone(const libra::Vector<3> position_true_eci_m, } } -void GnssReceiver::SetGnssInfo(const libra::Vector<3> antenna_to_satellite_i_m, const libra::Quaternion quaternion_i2b, const std::string gnss_id) { +void GnssReceiver::SetGnssInfo(const libra::Vector<3> antenna_to_satellite_i_m, const libra::Quaternion quaternion_i2b, + const std::string gnss_system_id) { libra::Vector<3> antenna_to_satellite_direction_b = quaternion_i2b.FrameConversion(antenna_to_satellite_i_m); libra::Vector<3> antenna_to_satellite_direction_c = quaternion_b2c_.FrameConversion(antenna_to_satellite_direction_b); @@ -167,7 +168,7 @@ void GnssReceiver::SetGnssInfo(const libra::Vector<3> antenna_to_satellite_i_m, double latitude_rad = AcTan(antenna_to_satellite_direction_c[2], sqrt(pow(antenna_to_satellite_direction_c[0], 2.0) + pow(antenna_to_satellite_direction_c[1], 2.0))); - GnssInfo gnss_info_new = {gnss_id, latitude_rad, longitude_rad, distance_m}; + GnssInfo gnss_info_new = {gnss_system_id, latitude_rad, longitude_rad, distance_m}; gnss_information_list_.push_back(gnss_info_new); } @@ -244,7 +245,7 @@ typedef struct _gnss_receiver_param { libra::Vector<3> antenna_pos_b; libra::Quaternion quaternion_b2c; double half_width_deg; - std::string gnss_id; + std::string gnss_system_id; size_t max_channel; libra::Vector<3> noise_standard_deviation_m; } GnssReceiverParam; @@ -272,7 +273,7 @@ GnssReceiverParam ReadGnssReceiverIni(const std::string file_name, const GnssSat gnssr_conf.ReadVector(GSection, "antenna_position_b_m", gnss_receiver_param.antenna_pos_b); gnssr_conf.ReadQuaternion(GSection, "quaternion_b2c", gnss_receiver_param.quaternion_b2c); gnss_receiver_param.half_width_deg = gnssr_conf.ReadDouble(GSection, "antenna_half_width_deg"); - gnss_receiver_param.gnss_id = gnssr_conf.ReadString(GSection, "gnss_id"); + gnss_receiver_param.gnss_system_id = gnssr_conf.ReadString(GSection, "gnss_system_id"); gnss_receiver_param.max_channel = gnssr_conf.ReadInt(GSection, "maximum_channel"); gnssr_conf.ReadVector(GSection, "white_noise_standard_deviation_eci_m", gnss_receiver_param.noise_standard_deviation_m); @@ -283,7 +284,7 @@ GnssReceiver InitGnssReceiver(ClockGenerator* clock_generator, const size_t comp const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time) { GnssReceiverParam gr_param = ReadGnssReceiverIni(file_name, gnss_satellites, component_id); - GnssReceiver gnss_r(gr_param.prescaler, clock_generator, component_id, gr_param.gnss_id, gr_param.max_channel, gr_param.antenna_model, + GnssReceiver gnss_r(gr_param.prescaler, clock_generator, component_id, gr_param.gnss_system_id, gr_param.max_channel, gr_param.antenna_model, gr_param.antenna_pos_b, gr_param.quaternion_b2c, gr_param.half_width_deg, gr_param.noise_standard_deviation_m, dynamics, gnss_satellites, simulation_time); return gnss_r; @@ -296,8 +297,8 @@ GnssReceiver InitGnssReceiver(ClockGenerator* clock_generator, PowerPort* power_ // PowerPort power_port->InitializeWithInitializeFile(file_name); - GnssReceiver gnss_r(gr_param.prescaler, clock_generator, power_port, component_id, gr_param.gnss_id, gr_param.max_channel, gr_param.antenna_model, - gr_param.antenna_pos_b, gr_param.quaternion_b2c, gr_param.half_width_deg, gr_param.noise_standard_deviation_m, dynamics, - gnss_satellites, simulation_time); + GnssReceiver gnss_r(gr_param.prescaler, clock_generator, power_port, component_id, gr_param.gnss_system_id, gr_param.max_channel, + gr_param.antenna_model, gr_param.antenna_pos_b, gr_param.quaternion_b2c, gr_param.half_width_deg, + gr_param.noise_standard_deviation_m, dynamics, gnss_satellites, simulation_time); return gnss_r; } diff --git a/src/components/real/aocs/gnss_receiver.hpp b/src/components/real/aocs/gnss_receiver.hpp index 8b4f8cf07..6cd9d1819 100644 --- a/src/components/real/aocs/gnss_receiver.hpp +++ b/src/components/real/aocs/gnss_receiver.hpp @@ -48,7 +48,7 @@ class GnssReceiver : public Component, public ILoggable { * @param [in] prescaler: Frequency scale factor for update * @param [in] clock_generator: Clock generator * @param [in] component_id: Component ID - * @param [in] gnss_id: GNSS satellite number defined by GNSS system + * @param [in] gnss_system_id: GNSS satellite number defined by GNSS system * @param [in] max_channel: Maximum number of channels * @param [in] antenna_model: Antenna model * @param [in] antenna_position_b_m: GNSS antenna position at the body-fixed frame [m] @@ -59,17 +59,17 @@ class GnssReceiver : public Component, public ILoggable { * @param [in] gnss_satellites: GNSS Satellites information * @param [in] simulation_time: Simulation time information */ - GnssReceiver(const int prescaler, ClockGenerator* clock_generator, const size_t component_id, const std::string gnss_id, const size_t max_channel, - const AntennaModel antenna_model, const libra::Vector<3> antenna_position_b_m, const libra::Quaternion quaternion_b2c, - const double half_width_deg, const libra::Vector<3> noise_standard_deviation_m, const Dynamics* dynamics, - const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time); + GnssReceiver(const int prescaler, ClockGenerator* clock_generator, const size_t component_id, const std::string gnss_system_id, + const size_t max_channel, const AntennaModel antenna_model, const libra::Vector<3> antenna_position_b_m, + const libra::Quaternion quaternion_b2c, const double half_width_deg, const libra::Vector<3> noise_standard_deviation_m, + const Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time); /** * @fn GnssReceiver * @brief Constructor with power port * @param [in] prescaler: Frequency scale factor for update * @param [in] clock_generator: Clock generator * @param [in] power_port: Power port - * @param [in] gnss_id: GNSS satellite number defined by GNSS system + * @param [in] gnss_system_id: GNSS satellite number defined by GNSS system * @param [in] max_channel: Maximum number of channels * @param [in] antenna_model: Antenna model * @param [in] antenna_position_b_m: GNSS antenna position at the body-fixed frame [m] @@ -80,10 +80,11 @@ class GnssReceiver : public Component, public ILoggable { * @param [in] gnss_satellites: GNSS Satellites information * @param [in] simulation_time: Simulation time information */ - GnssReceiver(const int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, const size_t component_id, const std::string gnss_id, - const size_t max_channel, const AntennaModel antenna_model, const libra::Vector<3> antenna_position_b_m, - const libra::Quaternion quaternion_b2c, const double half_width_deg, const libra::Vector<3> noise_standard_deviation_m, - const Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time); + GnssReceiver(const int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, const size_t component_id, + const std::string gnss_system_id, const size_t max_channel, const AntennaModel antenna_model, + const libra::Vector<3> antenna_position_b_m, const libra::Quaternion quaternion_b2c, const double half_width_deg, + const libra::Vector<3> noise_standard_deviation_m, const Dynamics* dynamics, const GnssSatellites* gnss_satellites, + const SimulationTime* simulation_time); // Override functions for Component /** @@ -147,7 +148,7 @@ class GnssReceiver : public Component, public ILoggable { libra::NormalRand random_noise_i_x_, random_noise_i_y_, random_noise_i_z_; //!< Random noise for each axis double half_width_deg_ = 0.0; //!< Half width of the antenna cone model [deg] - std::string gnss_id_; //!< GNSS satellite number defined by GNSS system + std::string gnss_system_id_; //!< GNSS satellite number defined by GNSS system AntennaModel antenna_model_; //!< Antenna model // Calculated values @@ -198,9 +199,9 @@ class GnssReceiver : public Component, public ILoggable { * @brief Calculate and set the GnssInfo values of target GNSS satellite * @param [in] antenna_to_satellite_i_m: Position vector from the antenna to the GNSS satellites in the ECI frame * @param [in] quaternion_i2b: True attitude of the spacecraft expressed by quaternion from the inertial frame to the body-fixed frame - * @param [in] gnss_id: ID of target GNSS satellite + * @param [in] gnss_system_id: ID of target GNSS satellite */ - void SetGnssInfo(const libra::Vector<3> antenna_to_satellite_i_m, const libra::Quaternion quaternion_i2b, const std::string gnss_id); + void SetGnssInfo(const libra::Vector<3> antenna_to_satellite_i_m, const libra::Quaternion quaternion_i2b, const std::string gnss_system_id); /** * @fn AddNoise * @brief Substitutional method for "Measure" in other sensor models inherited Sensor class From 0ad7095759341bbe52adb6cf515b209e76472021 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 6 Feb 2024 16:33:07 +0100 Subject: [PATCH 107/456] Fix comment --- src/components/real/aocs/gnss_receiver.hpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/components/real/aocs/gnss_receiver.hpp b/src/components/real/aocs/gnss_receiver.hpp index 6cd9d1819..d4d8d940c 100644 --- a/src/components/real/aocs/gnss_receiver.hpp +++ b/src/components/real/aocs/gnss_receiver.hpp @@ -48,7 +48,7 @@ class GnssReceiver : public Component, public ILoggable { * @param [in] prescaler: Frequency scale factor for update * @param [in] clock_generator: Clock generator * @param [in] component_id: Component ID - * @param [in] gnss_system_id: GNSS satellite number defined by GNSS system + * @param [in] gnss_system_id: Target GNSS system IDs * @param [in] max_channel: Maximum number of channels * @param [in] antenna_model: Antenna model * @param [in] antenna_position_b_m: GNSS antenna position at the body-fixed frame [m] @@ -69,7 +69,7 @@ class GnssReceiver : public Component, public ILoggable { * @param [in] prescaler: Frequency scale factor for update * @param [in] clock_generator: Clock generator * @param [in] power_port: Power port - * @param [in] gnss_system_id: GNSS satellite number defined by GNSS system + * @param [in] gnss_system_id: Target GNSS system IDs * @param [in] max_channel: Maximum number of channels * @param [in] antenna_model: Antenna model * @param [in] antenna_position_b_m: GNSS antenna position at the body-fixed frame [m] From 538acf8d62290951d17a93ecb9171166fcfc571f Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 6 Feb 2024 16:35:13 +0100 Subject: [PATCH 108/456] Remove max channel because it is not used --- .../components/gnss_receiver.ini | 3 -- src/components/real/aocs/gnss_receiver.cpp | 30 ++++++++----------- src/components/real/aocs/gnss_receiver.hpp | 16 ++++------ 3 files changed, 19 insertions(+), 30 deletions(-) diff --git a/data/sample/initialize_files/components/gnss_receiver.ini b/data/sample/initialize_files/components/gnss_receiver.ini index cd6e7b5e1..7be86ea4b 100644 --- a/data/sample/initialize_files/components/gnss_receiver.ini +++ b/data/sample/initialize_files/components/gnss_receiver.ini @@ -21,9 +21,6 @@ antenna_model = 0 // Antenna half width [deg] antenna_half_width_deg = 60 -// Number of channels -maximum_channel = 8 - // Target GNSS system ID // G...GPS // R...GLONASS diff --git a/src/components/real/aocs/gnss_receiver.cpp b/src/components/real/aocs/gnss_receiver.cpp index 907f3b8e5..9bcf5666b 100644 --- a/src/components/real/aocs/gnss_receiver.cpp +++ b/src/components/real/aocs/gnss_receiver.cpp @@ -12,12 +12,11 @@ #include GnssReceiver::GnssReceiver(const int prescaler, ClockGenerator* clock_generator, const size_t component_id, const std::string gnss_system_id, - const size_t max_channel, const AntennaModel antenna_model, const libra::Vector<3> antenna_position_b_m, - const libra::Quaternion quaternion_b2c, const double half_width_deg, const libra::Vector<3> noise_standard_deviation_m, - const Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time) + const AntennaModel antenna_model, const libra::Vector<3> antenna_position_b_m, const libra::Quaternion quaternion_b2c, + const double half_width_deg, const libra::Vector<3> noise_standard_deviation_m, const Dynamics* dynamics, + const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time) : Component(prescaler, clock_generator), component_id_(component_id), - max_channel_(max_channel), antenna_position_b_m_(antenna_position_b_m), quaternion_b2c_(quaternion_b2c), random_noise_i_x_(0.0, noise_standard_deviation_m[0], global_randomization.MakeSeed()), @@ -29,14 +28,13 @@ GnssReceiver::GnssReceiver(const int prescaler, ClockGenerator* clock_generator, dynamics_(dynamics), gnss_satellites_(gnss_satellites), simulation_time_(simulation_time) {} + GnssReceiver::GnssReceiver(const int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, const size_t component_id, - const std::string gnss_system_id, const size_t max_channel, const AntennaModel antenna_model, - const libra::Vector<3> antenna_position_b_m, const libra::Quaternion quaternion_b2c, const double half_width_deg, - const libra::Vector<3> noise_standard_deviation_m, const Dynamics* dynamics, const GnssSatellites* gnss_satellites, - const SimulationTime* simulation_time) + const std::string gnss_system_id, const AntennaModel antenna_model, const libra::Vector<3> antenna_position_b_m, + const libra::Quaternion quaternion_b2c, const double half_width_deg, const libra::Vector<3> noise_standard_deviation_m, + const Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time) : Component(prescaler, clock_generator, power_port), component_id_(component_id), - max_channel_(max_channel), antenna_position_b_m_(antenna_position_b_m), quaternion_b2c_(quaternion_b2c), random_noise_i_x_(0.0, noise_standard_deviation_m[0], global_randomization.MakeSeed()), @@ -246,7 +244,6 @@ typedef struct _gnss_receiver_param { libra::Quaternion quaternion_b2c; double half_width_deg; std::string gnss_system_id; - size_t max_channel; libra::Vector<3> noise_standard_deviation_m; } GnssReceiverParam; @@ -274,7 +271,6 @@ GnssReceiverParam ReadGnssReceiverIni(const std::string file_name, const GnssSat gnssr_conf.ReadQuaternion(GSection, "quaternion_b2c", gnss_receiver_param.quaternion_b2c); gnss_receiver_param.half_width_deg = gnssr_conf.ReadDouble(GSection, "antenna_half_width_deg"); gnss_receiver_param.gnss_system_id = gnssr_conf.ReadString(GSection, "gnss_system_id"); - gnss_receiver_param.max_channel = gnssr_conf.ReadInt(GSection, "maximum_channel"); gnssr_conf.ReadVector(GSection, "white_noise_standard_deviation_eci_m", gnss_receiver_param.noise_standard_deviation_m); return gnss_receiver_param; @@ -284,9 +280,9 @@ GnssReceiver InitGnssReceiver(ClockGenerator* clock_generator, const size_t comp const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time) { GnssReceiverParam gr_param = ReadGnssReceiverIni(file_name, gnss_satellites, component_id); - GnssReceiver gnss_r(gr_param.prescaler, clock_generator, component_id, gr_param.gnss_system_id, gr_param.max_channel, gr_param.antenna_model, - gr_param.antenna_pos_b, gr_param.quaternion_b2c, gr_param.half_width_deg, gr_param.noise_standard_deviation_m, dynamics, - gnss_satellites, simulation_time); + GnssReceiver gnss_r(gr_param.prescaler, clock_generator, component_id, gr_param.gnss_system_id, gr_param.antenna_model, gr_param.antenna_pos_b, + gr_param.quaternion_b2c, gr_param.half_width_deg, gr_param.noise_standard_deviation_m, dynamics, gnss_satellites, + simulation_time); return gnss_r; } @@ -297,8 +293,8 @@ GnssReceiver InitGnssReceiver(ClockGenerator* clock_generator, PowerPort* power_ // PowerPort power_port->InitializeWithInitializeFile(file_name); - GnssReceiver gnss_r(gr_param.prescaler, clock_generator, power_port, component_id, gr_param.gnss_system_id, gr_param.max_channel, - gr_param.antenna_model, gr_param.antenna_pos_b, gr_param.quaternion_b2c, gr_param.half_width_deg, - gr_param.noise_standard_deviation_m, dynamics, gnss_satellites, simulation_time); + GnssReceiver gnss_r(gr_param.prescaler, clock_generator, power_port, component_id, gr_param.gnss_system_id, gr_param.antenna_model, + gr_param.antenna_pos_b, gr_param.quaternion_b2c, gr_param.half_width_deg, gr_param.noise_standard_deviation_m, dynamics, + gnss_satellites, simulation_time); return gnss_r; } diff --git a/src/components/real/aocs/gnss_receiver.hpp b/src/components/real/aocs/gnss_receiver.hpp index d4d8d940c..006d8ec97 100644 --- a/src/components/real/aocs/gnss_receiver.hpp +++ b/src/components/real/aocs/gnss_receiver.hpp @@ -49,7 +49,6 @@ class GnssReceiver : public Component, public ILoggable { * @param [in] clock_generator: Clock generator * @param [in] component_id: Component ID * @param [in] gnss_system_id: Target GNSS system IDs - * @param [in] max_channel: Maximum number of channels * @param [in] antenna_model: Antenna model * @param [in] antenna_position_b_m: GNSS antenna position at the body-fixed frame [m] * @param [in] quaternion_b2c: Quaternion from body frame to component frame (antenna frame) @@ -60,9 +59,9 @@ class GnssReceiver : public Component, public ILoggable { * @param [in] simulation_time: Simulation time information */ GnssReceiver(const int prescaler, ClockGenerator* clock_generator, const size_t component_id, const std::string gnss_system_id, - const size_t max_channel, const AntennaModel antenna_model, const libra::Vector<3> antenna_position_b_m, - const libra::Quaternion quaternion_b2c, const double half_width_deg, const libra::Vector<3> noise_standard_deviation_m, - const Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time); + const AntennaModel antenna_model, const libra::Vector<3> antenna_position_b_m, const libra::Quaternion quaternion_b2c, + const double half_width_deg, const libra::Vector<3> noise_standard_deviation_m, const Dynamics* dynamics, + const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time); /** * @fn GnssReceiver * @brief Constructor with power port @@ -70,7 +69,6 @@ class GnssReceiver : public Component, public ILoggable { * @param [in] clock_generator: Clock generator * @param [in] power_port: Power port * @param [in] gnss_system_id: Target GNSS system IDs - * @param [in] max_channel: Maximum number of channels * @param [in] antenna_model: Antenna model * @param [in] antenna_position_b_m: GNSS antenna position at the body-fixed frame [m] * @param [in] quaternion_b2c: Quaternion from body frame to component frame (antenna frame) @@ -81,10 +79,9 @@ class GnssReceiver : public Component, public ILoggable { * @param [in] simulation_time: Simulation time information */ GnssReceiver(const int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, const size_t component_id, - const std::string gnss_system_id, const size_t max_channel, const AntennaModel antenna_model, - const libra::Vector<3> antenna_position_b_m, const libra::Quaternion quaternion_b2c, const double half_width_deg, - const libra::Vector<3> noise_standard_deviation_m, const Dynamics* dynamics, const GnssSatellites* gnss_satellites, - const SimulationTime* simulation_time); + const std::string gnss_system_id, const AntennaModel antenna_model, const libra::Vector<3> antenna_position_b_m, + const libra::Quaternion quaternion_b2c, const double half_width_deg, const libra::Vector<3> noise_standard_deviation_m, + const Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time); // Override functions for Component /** @@ -141,7 +138,6 @@ class GnssReceiver : public Component, public ILoggable { protected: // Parameters for receiver const size_t component_id_; //!< Receiver ID - const size_t max_channel_; //!< Maximum number of channels libra::Vector<3> antenna_position_b_m_; //!< GNSS antenna position at the body-fixed frame [m] libra::Quaternion quaternion_b2c_; //!< Quaternion from body frame to component frame (antenna frame) From c53946d41703b3078172f68508f11ba8a0d07e07 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 6 Feb 2024 16:38:04 +0100 Subject: [PATCH 109/456] Clean up local variables definition --- src/components/real/aocs/gnss_receiver.cpp | 12 ++++---- src/components/real/aocs/gnss_receiver.hpp | 36 +++++++++++----------- 2 files changed, 24 insertions(+), 24 deletions(-) diff --git a/src/components/real/aocs/gnss_receiver.cpp b/src/components/real/aocs/gnss_receiver.cpp index 9bcf5666b..6eddfbd55 100644 --- a/src/components/real/aocs/gnss_receiver.cpp +++ b/src/components/real/aocs/gnss_receiver.cpp @@ -19,12 +19,12 @@ GnssReceiver::GnssReceiver(const int prescaler, ClockGenerator* clock_generator, component_id_(component_id), antenna_position_b_m_(antenna_position_b_m), quaternion_b2c_(quaternion_b2c), - random_noise_i_x_(0.0, noise_standard_deviation_m[0], global_randomization.MakeSeed()), - random_noise_i_y_(0.0, noise_standard_deviation_m[1], global_randomization.MakeSeed()), - random_noise_i_z_(0.0, noise_standard_deviation_m[2], global_randomization.MakeSeed()), half_width_deg_(half_width_deg), gnss_system_id_(gnss_system_id), antenna_model_(antenna_model), + random_noise_i_x_(0.0, noise_standard_deviation_m[0], global_randomization.MakeSeed()), + random_noise_i_y_(0.0, noise_standard_deviation_m[1], global_randomization.MakeSeed()), + random_noise_i_z_(0.0, noise_standard_deviation_m[2], global_randomization.MakeSeed()), dynamics_(dynamics), gnss_satellites_(gnss_satellites), simulation_time_(simulation_time) {} @@ -37,12 +37,12 @@ GnssReceiver::GnssReceiver(const int prescaler, ClockGenerator* clock_generator, component_id_(component_id), antenna_position_b_m_(antenna_position_b_m), quaternion_b2c_(quaternion_b2c), - random_noise_i_x_(0.0, noise_standard_deviation_m[0], global_randomization.MakeSeed()), - random_noise_i_y_(0.0, noise_standard_deviation_m[1], global_randomization.MakeSeed()), - random_noise_i_z_(0.0, noise_standard_deviation_m[2], global_randomization.MakeSeed()), half_width_deg_(half_width_deg), gnss_system_id_(gnss_system_id), antenna_model_(antenna_model), + random_noise_i_x_(0.0, noise_standard_deviation_m[0], global_randomization.MakeSeed()), + random_noise_i_y_(0.0, noise_standard_deviation_m[1], global_randomization.MakeSeed()), + random_noise_i_z_(0.0, noise_standard_deviation_m[2], global_randomization.MakeSeed()), dynamics_(dynamics), gnss_satellites_(gnss_satellites), simulation_time_(simulation_time) {} diff --git a/src/components/real/aocs/gnss_receiver.hpp b/src/components/real/aocs/gnss_receiver.hpp index 006d8ec97..55c0b5dc7 100644 --- a/src/components/real/aocs/gnss_receiver.hpp +++ b/src/components/real/aocs/gnss_receiver.hpp @@ -137,28 +137,28 @@ class GnssReceiver : public Component, public ILoggable { protected: // Parameters for receiver - const size_t component_id_; //!< Receiver ID + const size_t component_id_; //!< Receiver ID + + // Antenna libra::Vector<3> antenna_position_b_m_; //!< GNSS antenna position at the body-fixed frame [m] libra::Quaternion quaternion_b2c_; //!< Quaternion from body frame to component frame (antenna frame) - - libra::NormalRand random_noise_i_x_, random_noise_i_y_, random_noise_i_z_; //!< Random noise for each axis - - double half_width_deg_ = 0.0; //!< Half width of the antenna cone model [deg] - std::string gnss_system_id_; //!< GNSS satellite number defined by GNSS system - AntennaModel antenna_model_; //!< Antenna model + double half_width_deg_ = 0.0; //!< Half width of the antenna cone model [deg] + std::string gnss_system_id_; //!< GNSS satellite number defined by GNSS system + AntennaModel antenna_model_; //!< Antenna model // Calculated values - libra::Vector<3> position_eci_m_{0.0}; //!< Observed position in the ECI frame [m] - libra::Vector<3> velocity_eci_m_s_{0.0}; //!< Observed velocity in the ECI frame [m/s] - libra::Vector<3> position_ecef_m_{0.0}; //!< Observed position in the ECEF frame [m] - libra::Vector<3> velocity_ecef_m_s_{0.0}; //!< Observed velocity in the ECEF frame [m/s] - GeodeticPosition geodetic_position_; //!< Observed position in the geodetic frame - UTC utc_ = {2000, 1, 1, 0, 0, 0.0}; //!< Observed time in UTC [year, month, day, hour, min, sec] - unsigned int gps_time_week_ = 0; //!< Observed GPS time week part - double gps_time_s_ = 0.0; //!< Observed GPS time second part - bool is_gnss_visible_ = false; //!< Flag for GNSS satellite is visible or not - size_t visible_satellite_number_ = 0; //!< Number of visible GNSS satellites - std::vector gnss_information_list_; //!< Information List of visible GNSS satellites + libra::NormalRand random_noise_i_x_, random_noise_i_y_, random_noise_i_z_; //!< Random noise for each axis + libra::Vector<3> position_eci_m_{0.0}; //!< Observed position in the ECI frame [m] + libra::Vector<3> velocity_eci_m_s_{0.0}; //!< Observed velocity in the ECI frame [m/s] + libra::Vector<3> position_ecef_m_{0.0}; //!< Observed position in the ECEF frame [m] + libra::Vector<3> velocity_ecef_m_s_{0.0}; //!< Observed velocity in the ECEF frame [m/s] + GeodeticPosition geodetic_position_; //!< Observed position in the geodetic frame + UTC utc_ = {2000, 1, 1, 0, 0, 0.0}; //!< Observed time in UTC [year, month, day, hour, min, sec] + unsigned int gps_time_week_ = 0; //!< Observed GPS time week part + double gps_time_s_ = 0.0; //!< Observed GPS time second part + bool is_gnss_visible_ = false; //!< Flag for GNSS satellite is visible or not + size_t visible_satellite_number_ = 0; //!< Number of visible GNSS satellites + std::vector gnss_information_list_; //!< Information List of visible GNSS satellites // References const Dynamics* dynamics_; //!< Dynamics of spacecraft From 598c40b01228c781e09e72810bd23495ad8106d5 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 6 Feb 2024 16:57:01 +0100 Subject: [PATCH 110/456] Modify antenna model interface --- .../components/gnss_receiver.ini | 8 +++++--- src/components/real/aocs/gnss_receiver.cpp | 19 ++++++++++++++++--- src/components/real/aocs/gnss_receiver.hpp | 8 ++++++++ 3 files changed, 29 insertions(+), 6 deletions(-) diff --git a/data/sample/initialize_files/components/gnss_receiver.ini b/data/sample/initialize_files/components/gnss_receiver.ini index 7be86ea4b..378345817 100644 --- a/data/sample/initialize_files/components/gnss_receiver.ini +++ b/data/sample/initialize_files/components/gnss_receiver.ini @@ -14,9 +14,11 @@ quaternion_b2c(2) = 0.0 quaternion_b2c(3) = 1.0 // Antenna model -// 0... simple model : GNSS sats are visible when antenna directs anti-earth direction -// 1... cone model : GNSS sats visible when a sat is in a cone -antenna_model = 0 +// SIMPLE: We assume that GNSS satellites are visible when antenna directs anti-earth direction +// CONE: We calculate the number of GNSS satellites in the antenna, +// and the position is observable when more than 4 satellites are in the antenna. +// Note : We need to enable the GNSS satellite calculation when we use this mode. +antenna_model = SIMPLE // Antenna half width [deg] antenna_half_width_deg = 60 diff --git a/src/components/real/aocs/gnss_receiver.cpp b/src/components/real/aocs/gnss_receiver.cpp index 6eddfbd55..c5d9502b8 100644 --- a/src/components/real/aocs/gnss_receiver.cpp +++ b/src/components/real/aocs/gnss_receiver.cpp @@ -237,6 +237,18 @@ std::string GnssReceiver::GetLogValue() const // For logs return str_tmp; } +AntennaModel SetAntennaModel(const std::string antenna_model) { + if (antenna_model == "SIMPLE") { + return AntennaModel ::kSimple; + } else if (antenna_model == "CONE") { + return AntennaModel ::kCone; + } else { + std::cerr << "[WARNINGS] GNSS receiver antenna model is not defined!" << std::endl; + std::cerr << "The antenna model is automatically initialized as SIMPLE mode" << std::endl; + return AntennaModel ::kSimple; + } +} + typedef struct _gnss_receiver_param { int prescaler; AntennaModel antenna_model; @@ -259,10 +271,11 @@ GnssReceiverParam ReadGnssReceiverIni(const std::string file_name, const GnssSat if (prescaler <= 1) prescaler = 1; gnss_receiver_param.prescaler = prescaler; - gnss_receiver_param.antenna_model = static_cast(gnssr_conf.ReadInt(GSection, "antenna_model")); + std::string antenna_model_name = gnssr_conf.ReadString(GSection, "antenna_model"); + gnss_receiver_param.antenna_model = SetAntennaModel(antenna_model_name); if (!gnss_satellites->IsCalcEnabled() && gnss_receiver_param.antenna_model == AntennaModel::kCone) { - std::cout << "Calculation of GNSS SATELLITES is DISABLED, so the antenna " - "model of GNSS Receiver is automatically set to SIMPLE model." + std::cout << "[WARNINGS] Calculation of GNSS SATELLITES is DISABLED, " + "so the antenna model of GnssReceiver is automatically set to SIMPLE model." << std::endl; gnss_receiver_param.antenna_model = AntennaModel::kSimple; } diff --git a/src/components/real/aocs/gnss_receiver.hpp b/src/components/real/aocs/gnss_receiver.hpp index 55c0b5dc7..fd008e9bc 100644 --- a/src/components/real/aocs/gnss_receiver.hpp +++ b/src/components/real/aocs/gnss_receiver.hpp @@ -213,6 +213,14 @@ class GnssReceiver : public Component, public ILoggable { void ConvertJulianDayToGpsTime(const double julian_day); }; +/** + * @fn SetAntennaModel + * @brief Set AntennaModel by string + * @param [in] antenna_model: Antenna model name + * @return antenna model + */ +AntennaModel SetAntennaModel(const std::string antenna_model); + /** * @fn InitGnssReceiver * @brief Initialize functions for GNSS Receiver without power port From 3a666c0ab642e76a3a851485a9639e8074467be0 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 7 Feb 2024 09:11:39 +0100 Subject: [PATCH 111/456] Add description comment --- data/sample/initialize_files/components/gnss_receiver.ini | 1 + 1 file changed, 1 insertion(+) diff --git a/data/sample/initialize_files/components/gnss_receiver.ini b/data/sample/initialize_files/components/gnss_receiver.ini index 378345817..4c6b38372 100644 --- a/data/sample/initialize_files/components/gnss_receiver.ini +++ b/data/sample/initialize_files/components/gnss_receiver.ini @@ -31,6 +31,7 @@ antenna_half_width_deg = 60 // J...QZSS // if your receiver is compatible with all kind of gnss satellites : GRECJ // if your receiver is compatible with GPS and QZSS : GJ +// Note: GNSS satellite calculation must includes the target GNSS systems gnss_system_id = G // Random noise [m] From 827ec0c07e1d685e5bcc9467ce30c70b64a7215f Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 7 Feb 2024 09:33:26 +0100 Subject: [PATCH 112/456] Modify to use ECEF frame for noise definition and Add velocity noise --- .../components/gnss_receiver.ini | 10 +++- src/components/real/aocs/gnss_receiver.cpp | 60 ++++++++++--------- src/components/real/aocs/gnss_receiver.hpp | 45 +++++++------- 3 files changed, 64 insertions(+), 51 deletions(-) diff --git a/data/sample/initialize_files/components/gnss_receiver.ini b/data/sample/initialize_files/components/gnss_receiver.ini index 4c6b38372..2b7ce54bd 100644 --- a/data/sample/initialize_files/components/gnss_receiver.ini +++ b/data/sample/initialize_files/components/gnss_receiver.ini @@ -35,9 +35,13 @@ antenna_half_width_deg = 60 gnss_system_id = G // Random noise [m] -white_noise_standard_deviation_eci_m(0) = 10000.0 -white_noise_standard_deviation_eci_m(1) = 1000.0 -white_noise_standard_deviation_eci_m(2) = 1000.0 +white_noise_standard_deviation_position_ecef_m(0) = 2000.0 +white_noise_standard_deviation_position_ecef_m(1) = 1000.0 +white_noise_standard_deviation_position_ecef_m(2) = 1500.0 + +white_noise_standard_deviation_velocity_ecef_m_s(0) = 1.0 +white_noise_standard_deviation_velocity_ecef_m_s(1) = 1.5 +white_noise_standard_deviation_velocity_ecef_m_s(2) = 2.0 [POWER_PORT] minimum_voltage_V = 3.3 diff --git a/src/components/real/aocs/gnss_receiver.cpp b/src/components/real/aocs/gnss_receiver.cpp index c5d9502b8..f390121e2 100644 --- a/src/components/real/aocs/gnss_receiver.cpp +++ b/src/components/real/aocs/gnss_receiver.cpp @@ -13,7 +13,8 @@ GnssReceiver::GnssReceiver(const int prescaler, ClockGenerator* clock_generator, const size_t component_id, const std::string gnss_system_id, const AntennaModel antenna_model, const libra::Vector<3> antenna_position_b_m, const libra::Quaternion quaternion_b2c, - const double half_width_deg, const libra::Vector<3> noise_standard_deviation_m, const Dynamics* dynamics, + const double half_width_deg, const libra::Vector<3> position_noise_standard_deviation_ecef_m, + const libra::Vector<3> velocity_noise_standard_deviation_ecef_m_s, const Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time) : Component(prescaler, clock_generator), component_id_(component_id), @@ -22,17 +23,21 @@ GnssReceiver::GnssReceiver(const int prescaler, ClockGenerator* clock_generator, half_width_deg_(half_width_deg), gnss_system_id_(gnss_system_id), antenna_model_(antenna_model), - random_noise_i_x_(0.0, noise_standard_deviation_m[0], global_randomization.MakeSeed()), - random_noise_i_y_(0.0, noise_standard_deviation_m[1], global_randomization.MakeSeed()), - random_noise_i_z_(0.0, noise_standard_deviation_m[2], global_randomization.MakeSeed()), dynamics_(dynamics), gnss_satellites_(gnss_satellites), - simulation_time_(simulation_time) {} + simulation_time_(simulation_time) { + for (size_t i = 0; i < 3; i++) { + position_random_noise_ecef_m_[i].SetParameters(0.0, position_noise_standard_deviation_ecef_m[i], global_randomization.MakeSeed()); + velocity_random_noise_ecef_m_s_[i].SetParameters(0.0, velocity_noise_standard_deviation_ecef_m_s[i], global_randomization.MakeSeed()); + } +} GnssReceiver::GnssReceiver(const int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, const size_t component_id, const std::string gnss_system_id, const AntennaModel antenna_model, const libra::Vector<3> antenna_position_b_m, - const libra::Quaternion quaternion_b2c, const double half_width_deg, const libra::Vector<3> noise_standard_deviation_m, - const Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time) + const libra::Quaternion quaternion_b2c, const double half_width_deg, + const libra::Vector<3> position_noise_standard_deviation_ecef_m, + const libra::Vector<3> velocity_noise_standard_deviation_ecef_m_s, const Dynamics* dynamics, + const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time) : Component(prescaler, clock_generator, power_port), component_id_(component_id), antenna_position_b_m_(antenna_position_b_m), @@ -40,12 +45,14 @@ GnssReceiver::GnssReceiver(const int prescaler, ClockGenerator* clock_generator, half_width_deg_(half_width_deg), gnss_system_id_(gnss_system_id), antenna_model_(antenna_model), - random_noise_i_x_(0.0, noise_standard_deviation_m[0], global_randomization.MakeSeed()), - random_noise_i_y_(0.0, noise_standard_deviation_m[1], global_randomization.MakeSeed()), - random_noise_i_z_(0.0, noise_standard_deviation_m[2], global_randomization.MakeSeed()), dynamics_(dynamics), gnss_satellites_(gnss_satellites), - simulation_time_(simulation_time) {} + simulation_time_(simulation_time) { + for (size_t i = 0; i < 3; i++) { + position_random_noise_ecef_m_[i].SetParameters(0.0, position_noise_standard_deviation_ecef_m[i], global_randomization.MakeSeed()); + velocity_random_noise_ecef_m_s_[i].SetParameters(0.0, velocity_noise_standard_deviation_ecef_m_s[i], global_randomization.MakeSeed()); + } +} void GnssReceiver::MainRoutine(const int time_count) { UNUSED(time_count); @@ -59,7 +66,7 @@ void GnssReceiver::MainRoutine(const int time_count) { // Antenna of GNSS-R can detect GNSS signal position_ecef_m_ = dynamics_->GetOrbit().GetPosition_ecef_m(); velocity_ecef_m_s_ = dynamics_->GetOrbit().GetVelocity_ecef_m_s(); - AddNoise(position_true_eci_, position_ecef_m_); + AddNoise(position_ecef_m_, velocity_ecef_m_s_); geodetic_position_.UpdateFromEcef(position_ecef_m_); } else { // position information will not be updated in this case @@ -170,16 +177,11 @@ void GnssReceiver::SetGnssInfo(const libra::Vector<3> antenna_to_satellite_i_m, gnss_information_list_.push_back(gnss_info_new); } -void GnssReceiver::AddNoise(const libra::Vector<3> position_true_i_m, const libra::Vector<3> position_true_ecef_m) { - // Simplest noise model - position_eci_m_[0] = position_true_i_m[0] + random_noise_i_x_; - position_eci_m_[1] = position_true_i_m[1] + random_noise_i_y_; - position_eci_m_[2] = position_true_i_m[2] + random_noise_i_z_; - - // FIXME: noise in ECI frame is added to ECEF frame value - position_ecef_m_[0] = position_true_ecef_m[0] + random_noise_i_x_; - position_ecef_m_[1] = position_true_ecef_m[1] + random_noise_i_y_; - position_ecef_m_[2] = position_true_ecef_m[2] + random_noise_i_z_; +void GnssReceiver::AddNoise(const libra::Vector<3> position_true_ecef_m, const libra::Vector<3> velocity_true_ecef_m_s) { + for (size_t i = 0; i < 3; i++) { + position_ecef_m_[i] = position_true_ecef_m[i] + position_random_noise_ecef_m_[i]; + velocity_ecef_m_s_[i] = velocity_true_ecef_m_s[i] + velocity_random_noise_ecef_m_s_[i]; + } } void GnssReceiver::ConvertJulianDayToGpsTime(const double julian_day) { @@ -256,7 +258,8 @@ typedef struct _gnss_receiver_param { libra::Quaternion quaternion_b2c; double half_width_deg; std::string gnss_system_id; - libra::Vector<3> noise_standard_deviation_m; + libra::Vector<3> position_noise_standard_deviation_ecef_m; + libra::Vector<3> velocity_noise_standard_deviation_ecef_m_s; } GnssReceiverParam; GnssReceiverParam ReadGnssReceiverIni(const std::string file_name, const GnssSatellites* gnss_satellites, const int component_id) { @@ -284,7 +287,8 @@ GnssReceiverParam ReadGnssReceiverIni(const std::string file_name, const GnssSat gnssr_conf.ReadQuaternion(GSection, "quaternion_b2c", gnss_receiver_param.quaternion_b2c); gnss_receiver_param.half_width_deg = gnssr_conf.ReadDouble(GSection, "antenna_half_width_deg"); gnss_receiver_param.gnss_system_id = gnssr_conf.ReadString(GSection, "gnss_system_id"); - gnssr_conf.ReadVector(GSection, "white_noise_standard_deviation_eci_m", gnss_receiver_param.noise_standard_deviation_m); + gnssr_conf.ReadVector(GSection, "white_noise_standard_deviation_position_ecef_m", gnss_receiver_param.position_noise_standard_deviation_ecef_m); + gnssr_conf.ReadVector(GSection, "white_noise_standard_deviation_velocity_ecef_m_s", gnss_receiver_param.velocity_noise_standard_deviation_ecef_m_s); return gnss_receiver_param; } @@ -294,8 +298,8 @@ GnssReceiver InitGnssReceiver(ClockGenerator* clock_generator, const size_t comp GnssReceiverParam gr_param = ReadGnssReceiverIni(file_name, gnss_satellites, component_id); GnssReceiver gnss_r(gr_param.prescaler, clock_generator, component_id, gr_param.gnss_system_id, gr_param.antenna_model, gr_param.antenna_pos_b, - gr_param.quaternion_b2c, gr_param.half_width_deg, gr_param.noise_standard_deviation_m, dynamics, gnss_satellites, - simulation_time); + gr_param.quaternion_b2c, gr_param.half_width_deg, gr_param.position_noise_standard_deviation_ecef_m, + gr_param.velocity_noise_standard_deviation_ecef_m_s, dynamics, gnss_satellites, simulation_time); return gnss_r; } @@ -307,7 +311,7 @@ GnssReceiver InitGnssReceiver(ClockGenerator* clock_generator, PowerPort* power_ power_port->InitializeWithInitializeFile(file_name); GnssReceiver gnss_r(gr_param.prescaler, clock_generator, power_port, component_id, gr_param.gnss_system_id, gr_param.antenna_model, - gr_param.antenna_pos_b, gr_param.quaternion_b2c, gr_param.half_width_deg, gr_param.noise_standard_deviation_m, dynamics, - gnss_satellites, simulation_time); + gr_param.antenna_pos_b, gr_param.quaternion_b2c, gr_param.half_width_deg, gr_param.position_noise_standard_deviation_ecef_m, + gr_param.velocity_noise_standard_deviation_ecef_m_s, dynamics, gnss_satellites, simulation_time); return gnss_r; } diff --git a/src/components/real/aocs/gnss_receiver.hpp b/src/components/real/aocs/gnss_receiver.hpp index fd008e9bc..c8ebba3fb 100644 --- a/src/components/real/aocs/gnss_receiver.hpp +++ b/src/components/real/aocs/gnss_receiver.hpp @@ -53,15 +53,17 @@ class GnssReceiver : public Component, public ILoggable { * @param [in] antenna_position_b_m: GNSS antenna position at the body-fixed frame [m] * @param [in] quaternion_b2c: Quaternion from body frame to component frame (antenna frame) * @param [in] half_width_deg: Half width of the antenna cone model [deg] - * @param [in] noise_standard_deviation_m: Standard deviation of normal random noise in the ECI frame [m] + * @param [in] position_noise_standard_deviation_ecef_m: Standard deviation of normal random noise for position in the ECEF frame [m] + * @param [in] velocity_noise_standard_deviation_ecef_m_s: Standard deviation of normal random noise for velocity in the ECEF frame [m/s] * @param [in] dynamics: Dynamics information * @param [in] gnss_satellites: GNSS Satellites information * @param [in] simulation_time: Simulation time information */ GnssReceiver(const int prescaler, ClockGenerator* clock_generator, const size_t component_id, const std::string gnss_system_id, const AntennaModel antenna_model, const libra::Vector<3> antenna_position_b_m, const libra::Quaternion quaternion_b2c, - const double half_width_deg, const libra::Vector<3> noise_standard_deviation_m, const Dynamics* dynamics, - const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time); + const double half_width_deg, const libra::Vector<3> position_noise_standard_deviation_ecef_m, + const libra::Vector<3> velocity_noise_standard_deviation_ecef_m_s, const Dynamics* dynamics, const GnssSatellites* gnss_satellites, + const SimulationTime* simulation_time); /** * @fn GnssReceiver * @brief Constructor with power port @@ -73,15 +75,17 @@ class GnssReceiver : public Component, public ILoggable { * @param [in] antenna_position_b_m: GNSS antenna position at the body-fixed frame [m] * @param [in] quaternion_b2c: Quaternion from body frame to component frame (antenna frame) * @param [in] half_width_deg: Half width of the antenna cone model [rad] - * @param [in] noise_standard_deviation_m: Standard deviation of normal random noise in the ECI frame [m] + * @param [in] position_noise_standard_deviation_ecef_m: Standard deviation of normal random noise for position in the ECEF frame [m] + * @param [in] velocity_noise_standard_deviation_ecef_m_s: Standard deviation of normal random noise for velocity in the ECEF frame [m/s] * @param [in] dynamics: Dynamics information * @param [in] gnss_satellites: GNSS Satellites information * @param [in] simulation_time: Simulation time information */ GnssReceiver(const int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, const size_t component_id, const std::string gnss_system_id, const AntennaModel antenna_model, const libra::Vector<3> antenna_position_b_m, - const libra::Quaternion quaternion_b2c, const double half_width_deg, const libra::Vector<3> noise_standard_deviation_m, - const Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time); + const libra::Quaternion quaternion_b2c, const double half_width_deg, const libra::Vector<3> position_noise_standard_deviation_ecef_m, + const libra::Vector<3> velocity_noise_standard_deviation_ecef_m_s, const Dynamics* dynamics, const GnssSatellites* gnss_satellites, + const SimulationTime* simulation_time); // Override functions for Component /** @@ -147,18 +151,20 @@ class GnssReceiver : public Component, public ILoggable { AntennaModel antenna_model_; //!< Antenna model // Calculated values - libra::NormalRand random_noise_i_x_, random_noise_i_y_, random_noise_i_z_; //!< Random noise for each axis - libra::Vector<3> position_eci_m_{0.0}; //!< Observed position in the ECI frame [m] - libra::Vector<3> velocity_eci_m_s_{0.0}; //!< Observed velocity in the ECI frame [m/s] - libra::Vector<3> position_ecef_m_{0.0}; //!< Observed position in the ECEF frame [m] - libra::Vector<3> velocity_ecef_m_s_{0.0}; //!< Observed velocity in the ECEF frame [m/s] - GeodeticPosition geodetic_position_; //!< Observed position in the geodetic frame - UTC utc_ = {2000, 1, 1, 0, 0, 0.0}; //!< Observed time in UTC [year, month, day, hour, min, sec] - unsigned int gps_time_week_ = 0; //!< Observed GPS time week part - double gps_time_s_ = 0.0; //!< Observed GPS time second part - bool is_gnss_visible_ = false; //!< Flag for GNSS satellite is visible or not - size_t visible_satellite_number_ = 0; //!< Number of visible GNSS satellites - std::vector gnss_information_list_; //!< Information List of visible GNSS satellites + libra::NormalRand position_random_noise_ecef_m_[3]; + libra::NormalRand velocity_random_noise_ecef_m_s_[3]; + + libra::Vector<3> position_eci_m_{0.0}; //!< Observed position in the ECI frame [m] + libra::Vector<3> velocity_eci_m_s_{0.0}; //!< Observed velocity in the ECI frame [m/s] + libra::Vector<3> position_ecef_m_{0.0}; //!< Observed position in the ECEF frame [m] + libra::Vector<3> velocity_ecef_m_s_{0.0}; //!< Observed velocity in the ECEF frame [m/s] + GeodeticPosition geodetic_position_; //!< Observed position in the geodetic frame + UTC utc_ = {2000, 1, 1, 0, 0, 0.0}; //!< Observed time in UTC [year, month, day, hour, min, sec] + unsigned int gps_time_week_ = 0; //!< Observed GPS time week part + double gps_time_s_ = 0.0; //!< Observed GPS time second part + bool is_gnss_visible_ = false; //!< Flag for GNSS satellite is visible or not + size_t visible_satellite_number_ = 0; //!< Number of visible GNSS satellites + std::vector gnss_information_list_; //!< Information List of visible GNSS satellites // References const Dynamics* dynamics_; //!< Dynamics of spacecraft @@ -201,10 +207,9 @@ class GnssReceiver : public Component, public ILoggable { /** * @fn AddNoise * @brief Substitutional method for "Measure" in other sensor models inherited Sensor class - * @param [in] position_true_i_m: True position of the spacecraft in the ECI frame [m] * @param [in] position_true_ecef_m: True position of the spacecraft in the ECEF frame [m] */ - void AddNoise(const libra::Vector<3> position_true_i_m, const libra::Vector<3> position_true_ecef_m); + void AddNoise(const libra::Vector<3> position_true_ecef_m, const libra::Vector<3> velocity_true_ecef_m_s); /** * @fn ConvertJulianDayToGPSTime * @brief Convert Julian day to GPS time From 45e63fd05e748354e08359d809710b7239671ae4 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 7 Feb 2024 09:34:27 +0100 Subject: [PATCH 113/456] Fix small --- src/components/real/aocs/gnss_receiver.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/components/real/aocs/gnss_receiver.cpp b/src/components/real/aocs/gnss_receiver.cpp index f390121e2..d69847c90 100644 --- a/src/components/real/aocs/gnss_receiver.cpp +++ b/src/components/real/aocs/gnss_receiver.cpp @@ -57,10 +57,10 @@ GnssReceiver::GnssReceiver(const int prescaler, ClockGenerator* clock_generator, void GnssReceiver::MainRoutine(const int time_count) { UNUSED(time_count); - libra::Vector<3> position_true_eci_ = dynamics_->GetOrbit().GetPosition_i_m(); + libra::Vector<3> position_true_eci = dynamics_->GetOrbit().GetPosition_i_m(); libra::Quaternion quaternion_i2b = dynamics_->GetAttitude().GetQuaternion_i2b(); - CheckAntenna(position_true_eci_, quaternion_i2b); + CheckAntenna(position_true_eci, quaternion_i2b); if (is_gnss_visible_) { // Antenna of GNSS-R can detect GNSS signal From 075b8d223bb7c333851edcab2ce161c25f8a6a5f Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 7 Feb 2024 09:36:37 +0100 Subject: [PATCH 114/456] Fix comments --- src/components/real/aocs/gnss_receiver.cpp | 9 ++++----- 1 file changed, 4 insertions(+), 5 deletions(-) diff --git a/src/components/real/aocs/gnss_receiver.cpp b/src/components/real/aocs/gnss_receiver.cpp index d69847c90..31ab576c2 100644 --- a/src/components/real/aocs/gnss_receiver.cpp +++ b/src/components/real/aocs/gnss_receiver.cpp @@ -57,9 +57,10 @@ GnssReceiver::GnssReceiver(const int prescaler, ClockGenerator* clock_generator, void GnssReceiver::MainRoutine(const int time_count) { UNUSED(time_count); + // Antenna checking + // TODO: Use ECEF position only libra::Vector<3> position_true_eci = dynamics_->GetOrbit().GetPosition_i_m(); libra::Quaternion quaternion_i2b = dynamics_->GetAttitude().GetQuaternion_i2b(); - CheckAntenna(position_true_eci, quaternion_i2b); if (is_gnss_visible_) { @@ -67,12 +68,10 @@ void GnssReceiver::MainRoutine(const int time_count) { position_ecef_m_ = dynamics_->GetOrbit().GetPosition_ecef_m(); velocity_ecef_m_s_ = dynamics_->GetOrbit().GetVelocity_ecef_m_s(); AddNoise(position_ecef_m_, velocity_ecef_m_s_); + // Convert observed value to other frames geodetic_position_.UpdateFromEcef(position_ecef_m_); - } else { - // position information will not be updated in this case - utc_ = simulation_time_->GetCurrentUtc(); - ConvertJulianDayToGpsTime(simulation_time_->GetCurrentTime_jd()); } + // Time is updated with internal clock utc_ = simulation_time_->GetCurrentUtc(); ConvertJulianDayToGpsTime(simulation_time_->GetCurrentTime_jd()); From c7eeacbd33a9f253c6274a2a5b50038f92261340 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 7 Feb 2024 09:43:55 +0100 Subject: [PATCH 115/456] Remove ECI observation information --- src/components/real/aocs/gnss_receiver.cpp | 4 ++-- src/components/real/aocs/gnss_receiver.hpp | 15 ++------------- 2 files changed, 4 insertions(+), 15 deletions(-) diff --git a/src/components/real/aocs/gnss_receiver.cpp b/src/components/real/aocs/gnss_receiver.cpp index 31ab576c2..56155a0ad 100644 --- a/src/components/real/aocs/gnss_receiver.cpp +++ b/src/components/real/aocs/gnss_receiver.cpp @@ -207,7 +207,7 @@ std::string GnssReceiver::GetLogHeader() const // For logs str_tmp += WriteScalar(sensor_name + "measured_utc_time_hour"); str_tmp += WriteScalar(sensor_name + "measured_utc_time_min"); str_tmp += WriteScalar(sensor_name + "measured_utc_time_sec"); - str_tmp += WriteVector(sensor_name + "measured_position", "eci", "m", 3); + str_tmp += WriteVector(sensor_name + "measured_position", "ecef", "m", 3); str_tmp += WriteVector(sensor_name + "measured_velocity", "ecef", "m/s", 3); str_tmp += WriteScalar(sensor_name + "measured_latitude", "rad"); str_tmp += WriteScalar(sensor_name + "measured_longitude", "rad"); @@ -227,7 +227,7 @@ std::string GnssReceiver::GetLogValue() const // For logs str_tmp += WriteScalar(utc_.hour); str_tmp += WriteScalar(utc_.minute); str_tmp += WriteScalar(utc_.second); - str_tmp += WriteVector(position_eci_m_, 10); + str_tmp += WriteVector(position_ecef_m_, 10); str_tmp += WriteVector(velocity_ecef_m_s_, 10); str_tmp += WriteScalar(geodetic_position_.GetLatitude_rad(), 10); str_tmp += WriteScalar(geodetic_position_.GetLongitude_rad(), 10); diff --git a/src/components/real/aocs/gnss_receiver.hpp b/src/components/real/aocs/gnss_receiver.hpp index c8ebba3fb..6cd9b5db9 100644 --- a/src/components/real/aocs/gnss_receiver.hpp +++ b/src/components/real/aocs/gnss_receiver.hpp @@ -101,11 +101,6 @@ class GnssReceiver : public Component, public ILoggable { * @param [in] channel: Channel number */ inline const GnssInfo GetGnssInfo(const size_t channel) const { return gnss_information_list_[channel]; }; - /** - * @fn GetMeasuredPosition_eci_m - * @brief Return Observed position in the ECI frame [m] - */ - inline const libra::Vector<3> GetMeasuredPosition_eci_m(void) const { return position_eci_m_; } /** * @fn GetMeasuredPosition_ecef_m * @brief Return Observed position in the ECEF frame [m] @@ -116,11 +111,6 @@ class GnssReceiver : public Component, public ILoggable { * @brief Return Observed position in the LLH frame [m] */ inline const GeodeticPosition GetMeasuredGeodeticPosition(void) const { return geodetic_position_; } - /** - * @fn GetMeasuredVelocity_eci_m_s - * @brief Return Observed velocity in the ECI frame [m/s] - */ - inline const libra::Vector<3> GetMeasuredVelocity_eci_m_s(void) const { return velocity_eci_m_s_; } /** * @fn GetMeasuredVelocity_ecef_m_s * @brief Return Observed velocity in the ECEF frame [m/s] @@ -154,8 +144,6 @@ class GnssReceiver : public Component, public ILoggable { libra::NormalRand position_random_noise_ecef_m_[3]; libra::NormalRand velocity_random_noise_ecef_m_s_[3]; - libra::Vector<3> position_eci_m_{0.0}; //!< Observed position in the ECI frame [m] - libra::Vector<3> velocity_eci_m_s_{0.0}; //!< Observed velocity in the ECI frame [m/s] libra::Vector<3> position_ecef_m_{0.0}; //!< Observed position in the ECEF frame [m] libra::Vector<3> velocity_ecef_m_s_{0.0}; //!< Observed velocity in the ECEF frame [m/s] GeodeticPosition geodetic_position_; //!< Observed position in the geodetic frame @@ -208,10 +196,11 @@ class GnssReceiver : public Component, public ILoggable { * @fn AddNoise * @brief Substitutional method for "Measure" in other sensor models inherited Sensor class * @param [in] position_true_ecef_m: True position of the spacecraft in the ECEF frame [m] + * @param [in] velocity_true_ecef_m_s: True velocity of the spacecraft in the ECEF frame [m/s] */ void AddNoise(const libra::Vector<3> position_true_ecef_m, const libra::Vector<3> velocity_true_ecef_m_s); /** - * @fn ConvertJulianDayToGPSTime + * @fn ConvertJulianDayToGpsTime * @brief Convert Julian day to GPS time * @param [in] julian_day: Julian day */ From 2bee223fc784a52fec57500f423c31c9288e1ca1 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 7 Feb 2024 09:49:24 +0100 Subject: [PATCH 116/456] Add comment --- src/components/real/aocs/gnss_receiver.hpp | 23 ++++++++++++---------- 1 file changed, 13 insertions(+), 10 deletions(-) diff --git a/src/components/real/aocs/gnss_receiver.hpp b/src/components/real/aocs/gnss_receiver.hpp index 6cd9b5db9..a9dac1963 100644 --- a/src/components/real/aocs/gnss_receiver.hpp +++ b/src/components/real/aocs/gnss_receiver.hpp @@ -140,16 +140,19 @@ class GnssReceiver : public Component, public ILoggable { std::string gnss_system_id_; //!< GNSS satellite number defined by GNSS system AntennaModel antenna_model_; //!< Antenna model - // Calculated values - libra::NormalRand position_random_noise_ecef_m_[3]; - libra::NormalRand velocity_random_noise_ecef_m_s_[3]; - - libra::Vector<3> position_ecef_m_{0.0}; //!< Observed position in the ECEF frame [m] - libra::Vector<3> velocity_ecef_m_s_{0.0}; //!< Observed velocity in the ECEF frame [m/s] - GeodeticPosition geodetic_position_; //!< Observed position in the geodetic frame - UTC utc_ = {2000, 1, 1, 0, 0, 0.0}; //!< Observed time in UTC [year, month, day, hour, min, sec] - unsigned int gps_time_week_ = 0; //!< Observed GPS time week part - double gps_time_s_ = 0.0; //!< Observed GPS time second part + // Simple position observation + libra::NormalRand position_random_noise_ecef_m_[3]; //!< Random noise for position at the ECEF frame [m] + libra::NormalRand velocity_random_noise_ecef_m_s_[3]; //!< Random noise for velocity at the ECEF frame [m] + libra::Vector<3> position_ecef_m_{0.0}; //!< Observed position in the ECEF frame [m] + libra::Vector<3> velocity_ecef_m_s_{0.0}; //!< Observed velocity in the ECEF frame [m/s] + GeodeticPosition geodetic_position_; //!< Observed position in the geodetic frame + + // Time observation + UTC utc_ = {2000, 1, 1, 0, 0, 0.0}; //!< Observed time in UTC [year, month, day, hour, min, sec] + unsigned int gps_time_week_ = 0; //!< Observed GPS time week part + double gps_time_s_ = 0.0; //!< Observed GPS time second part + + // Satellite visibility bool is_gnss_visible_ = false; //!< Flag for GNSS satellite is visible or not size_t visible_satellite_number_ = 0; //!< Number of visible GNSS satellites std::vector gnss_information_list_; //!< Information List of visible GNSS satellites From 9e4f68dab64d1eb1e8379a21bbaa5704b3753956 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 7 Feb 2024 10:04:15 +0100 Subject: [PATCH 117/456] Fix comment --- data/sample/initialize_files/components/gnss_receiver.ini | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/data/sample/initialize_files/components/gnss_receiver.ini b/data/sample/initialize_files/components/gnss_receiver.ini index 2b7ce54bd..dc15ce622 100644 --- a/data/sample/initialize_files/components/gnss_receiver.ini +++ b/data/sample/initialize_files/components/gnss_receiver.ini @@ -34,7 +34,7 @@ antenna_half_width_deg = 60 // Note: GNSS satellite calculation must includes the target GNSS systems gnss_system_id = G -// Random noise [m] +// Random noise for simple position observation white_noise_standard_deviation_position_ecef_m(0) = 2000.0 white_noise_standard_deviation_position_ecef_m(1) = 1000.0 white_noise_standard_deviation_position_ecef_m(2) = 1500.0 From d45cf2c5f69def0f3f2bfee79b3273704a3c66a2 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 7 Feb 2024 10:21:30 +0100 Subject: [PATCH 118/456] Fix GNSS visibility threhold to 4 --- src/components/real/aocs/gnss_receiver.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/components/real/aocs/gnss_receiver.cpp b/src/components/real/aocs/gnss_receiver.cpp index 56155a0ad..e49d85368 100644 --- a/src/components/real/aocs/gnss_receiver.cpp +++ b/src/components/real/aocs/gnss_receiver.cpp @@ -155,7 +155,7 @@ void GnssReceiver::CheckAntennaCone(const libra::Vector<3> position_true_eci_m, } } - if (visible_satellite_number_ > 0) { + if (visible_satellite_number_ >= 4) { is_gnss_visible_ = true; } else { is_gnss_visible_ = false; From 53bcd76643e2acaab7c7b7cbd8f8ee71f16062bc Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 7 Feb 2024 11:03:07 +0100 Subject: [PATCH 119/456] Modify to use GNSS satellite calculated number --- src/components/real/aocs/gnss_receiver.cpp | 4 +++- src/environment/global/gnss_satellites.hpp | 6 ++++++ 2 files changed, 9 insertions(+), 1 deletion(-) diff --git a/src/components/real/aocs/gnss_receiver.cpp b/src/components/real/aocs/gnss_receiver.cpp index e49d85368..fafd98610 100644 --- a/src/components/real/aocs/gnss_receiver.cpp +++ b/src/components/real/aocs/gnss_receiver.cpp @@ -120,7 +120,9 @@ void GnssReceiver::CheckAntennaCone(const libra::Vector<3> position_true_eci_m, // initialize visible_satellite_number_ = 0; - for (size_t i = 0; i < kTotalNumberOfGnssSatellite; i++) { + size_t number_of_calculated_gnss_satellites = gnss_satellites_->GetNumberOfCalculatedSatellite(); + + for (size_t i = 0; i < number_of_calculated_gnss_satellites; i++) { // check if gnss ID is compatible with the receiver std::string gnss_system_id_string = ConvertIndexToGnssSatelliteNumber(i); if (gnss_system_id_.find(gnss_system_id_string[0]) == std::string::npos) continue; diff --git a/src/environment/global/gnss_satellites.hpp b/src/environment/global/gnss_satellites.hpp index 1d0dce6e1..643afe52f 100644 --- a/src/environment/global/gnss_satellites.hpp +++ b/src/environment/global/gnss_satellites.hpp @@ -62,6 +62,12 @@ class GnssSatellites : public ILoggable { */ inline bool IsCalcEnabled() const { return is_calc_enabled_; } + /** + * @fn GetNumberOfCalculatedSatellite + * @brief Return number of calculated satellite + */ + inline size_t GetNumberOfCalculatedSatellite() const { return number_of_calculated_gnss_satellites_; } + /** * @fn Update * @brief Update both GNSS satellite information From 5357837e7671435a86021aa90a276589034814ed Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 7 Feb 2024 11:13:44 +0100 Subject: [PATCH 120/456] Delete GNSS system ID because it should be defined in GnssSatellites --- .../components/gnss_receiver.ini | 11 ------- src/components/real/aocs/gnss_receiver.cpp | 33 +++++++------------ src/components/real/aocs/gnss_receiver.hpp | 20 +++++------ 3 files changed, 20 insertions(+), 44 deletions(-) diff --git a/data/sample/initialize_files/components/gnss_receiver.ini b/data/sample/initialize_files/components/gnss_receiver.ini index dc15ce622..b277b8e93 100644 --- a/data/sample/initialize_files/components/gnss_receiver.ini +++ b/data/sample/initialize_files/components/gnss_receiver.ini @@ -23,17 +23,6 @@ antenna_model = SIMPLE // Antenna half width [deg] antenna_half_width_deg = 60 -// Target GNSS system ID -// G...GPS -// R...GLONASS -// E...Galileo -// C...Beidou -// J...QZSS -// if your receiver is compatible with all kind of gnss satellites : GRECJ -// if your receiver is compatible with GPS and QZSS : GJ -// Note: GNSS satellite calculation must includes the target GNSS systems -gnss_system_id = G - // Random noise for simple position observation white_noise_standard_deviation_position_ecef_m(0) = 2000.0 white_noise_standard_deviation_position_ecef_m(1) = 1000.0 diff --git a/src/components/real/aocs/gnss_receiver.cpp b/src/components/real/aocs/gnss_receiver.cpp index fafd98610..08eeb78f6 100644 --- a/src/components/real/aocs/gnss_receiver.cpp +++ b/src/components/real/aocs/gnss_receiver.cpp @@ -11,9 +11,9 @@ #include #include -GnssReceiver::GnssReceiver(const int prescaler, ClockGenerator* clock_generator, const size_t component_id, const std::string gnss_system_id, - const AntennaModel antenna_model, const libra::Vector<3> antenna_position_b_m, const libra::Quaternion quaternion_b2c, - const double half_width_deg, const libra::Vector<3> position_noise_standard_deviation_ecef_m, +GnssReceiver::GnssReceiver(const int prescaler, ClockGenerator* clock_generator, const size_t component_id, const AntennaModel antenna_model, + const libra::Vector<3> antenna_position_b_m, const libra::Quaternion quaternion_b2c, const double half_width_deg, + const libra::Vector<3> position_noise_standard_deviation_ecef_m, const libra::Vector<3> velocity_noise_standard_deviation_ecef_m_s, const Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time) : Component(prescaler, clock_generator), @@ -21,7 +21,6 @@ GnssReceiver::GnssReceiver(const int prescaler, ClockGenerator* clock_generator, antenna_position_b_m_(antenna_position_b_m), quaternion_b2c_(quaternion_b2c), half_width_deg_(half_width_deg), - gnss_system_id_(gnss_system_id), antenna_model_(antenna_model), dynamics_(dynamics), gnss_satellites_(gnss_satellites), @@ -33,9 +32,8 @@ GnssReceiver::GnssReceiver(const int prescaler, ClockGenerator* clock_generator, } GnssReceiver::GnssReceiver(const int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, const size_t component_id, - const std::string gnss_system_id, const AntennaModel antenna_model, const libra::Vector<3> antenna_position_b_m, - const libra::Quaternion quaternion_b2c, const double half_width_deg, - const libra::Vector<3> position_noise_standard_deviation_ecef_m, + const AntennaModel antenna_model, const libra::Vector<3> antenna_position_b_m, const libra::Quaternion quaternion_b2c, + const double half_width_deg, const libra::Vector<3> position_noise_standard_deviation_ecef_m, const libra::Vector<3> velocity_noise_standard_deviation_ecef_m_s, const Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time) : Component(prescaler, clock_generator, power_port), @@ -43,7 +41,6 @@ GnssReceiver::GnssReceiver(const int prescaler, ClockGenerator* clock_generator, antenna_position_b_m_(antenna_position_b_m), quaternion_b2c_(quaternion_b2c), half_width_deg_(half_width_deg), - gnss_system_id_(gnss_system_id), antenna_model_(antenna_model), dynamics_(dynamics), gnss_satellites_(gnss_satellites), @@ -123,10 +120,6 @@ void GnssReceiver::CheckAntennaCone(const libra::Vector<3> position_true_eci_m, size_t number_of_calculated_gnss_satellites = gnss_satellites_->GetNumberOfCalculatedSatellite(); for (size_t i = 0; i < number_of_calculated_gnss_satellites; i++) { - // check if gnss ID is compatible with the receiver - std::string gnss_system_id_string = ConvertIndexToGnssSatelliteNumber(i); - if (gnss_system_id_.find(gnss_system_id_string[0]) == std::string::npos) continue; - // compute direction from sat to gnss in body-fixed frame libra::Vector<3> gnss_satellite_position_i_m = gnss_satellites_->GetPosition_eci_m(i); libra::Vector<3> antenna_to_gnss_satellite_i_m = gnss_satellite_position_i_m - antenna_position_i_m; @@ -153,7 +146,7 @@ void GnssReceiver::CheckAntennaCone(const libra::Vector<3> position_true_eci_m, if (inner2 > cos(half_width_deg_ * libra::deg_to_rad) && is_satellite_visible) { // is visible visible_satellite_number_++; - SetGnssInfo(antenna_to_gnss_satellite_i_m, quaternion_i2b, gnss_system_id_string); + SetGnssInfo(antenna_to_gnss_satellite_i_m, quaternion_i2b, i); } } @@ -165,7 +158,7 @@ void GnssReceiver::CheckAntennaCone(const libra::Vector<3> position_true_eci_m, } void GnssReceiver::SetGnssInfo(const libra::Vector<3> antenna_to_satellite_i_m, const libra::Quaternion quaternion_i2b, - const std::string gnss_system_id) { + const std::size_t gnss_system_id) { libra::Vector<3> antenna_to_satellite_direction_b = quaternion_i2b.FrameConversion(antenna_to_satellite_i_m); libra::Vector<3> antenna_to_satellite_direction_c = quaternion_b2c_.FrameConversion(antenna_to_satellite_direction_b); @@ -258,7 +251,6 @@ typedef struct _gnss_receiver_param { libra::Vector<3> antenna_pos_b; libra::Quaternion quaternion_b2c; double half_width_deg; - std::string gnss_system_id; libra::Vector<3> position_noise_standard_deviation_ecef_m; libra::Vector<3> velocity_noise_standard_deviation_ecef_m_s; } GnssReceiverParam; @@ -287,7 +279,6 @@ GnssReceiverParam ReadGnssReceiverIni(const std::string file_name, const GnssSat gnssr_conf.ReadVector(GSection, "antenna_position_b_m", gnss_receiver_param.antenna_pos_b); gnssr_conf.ReadQuaternion(GSection, "quaternion_b2c", gnss_receiver_param.quaternion_b2c); gnss_receiver_param.half_width_deg = gnssr_conf.ReadDouble(GSection, "antenna_half_width_deg"); - gnss_receiver_param.gnss_system_id = gnssr_conf.ReadString(GSection, "gnss_system_id"); gnssr_conf.ReadVector(GSection, "white_noise_standard_deviation_position_ecef_m", gnss_receiver_param.position_noise_standard_deviation_ecef_m); gnssr_conf.ReadVector(GSection, "white_noise_standard_deviation_velocity_ecef_m_s", gnss_receiver_param.velocity_noise_standard_deviation_ecef_m_s); @@ -298,9 +289,9 @@ GnssReceiver InitGnssReceiver(ClockGenerator* clock_generator, const size_t comp const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time) { GnssReceiverParam gr_param = ReadGnssReceiverIni(file_name, gnss_satellites, component_id); - GnssReceiver gnss_r(gr_param.prescaler, clock_generator, component_id, gr_param.gnss_system_id, gr_param.antenna_model, gr_param.antenna_pos_b, - gr_param.quaternion_b2c, gr_param.half_width_deg, gr_param.position_noise_standard_deviation_ecef_m, - gr_param.velocity_noise_standard_deviation_ecef_m_s, dynamics, gnss_satellites, simulation_time); + GnssReceiver gnss_r(gr_param.prescaler, clock_generator, component_id, gr_param.antenna_model, gr_param.antenna_pos_b, gr_param.quaternion_b2c, + gr_param.half_width_deg, gr_param.position_noise_standard_deviation_ecef_m, gr_param.velocity_noise_standard_deviation_ecef_m_s, + dynamics, gnss_satellites, simulation_time); return gnss_r; } @@ -311,8 +302,8 @@ GnssReceiver InitGnssReceiver(ClockGenerator* clock_generator, PowerPort* power_ // PowerPort power_port->InitializeWithInitializeFile(file_name); - GnssReceiver gnss_r(gr_param.prescaler, clock_generator, power_port, component_id, gr_param.gnss_system_id, gr_param.antenna_model, - gr_param.antenna_pos_b, gr_param.quaternion_b2c, gr_param.half_width_deg, gr_param.position_noise_standard_deviation_ecef_m, + GnssReceiver gnss_r(gr_param.prescaler, clock_generator, power_port, component_id, gr_param.antenna_model, gr_param.antenna_pos_b, + gr_param.quaternion_b2c, gr_param.half_width_deg, gr_param.position_noise_standard_deviation_ecef_m, gr_param.velocity_noise_standard_deviation_ecef_m_s, dynamics, gnss_satellites, simulation_time); return gnss_r; } diff --git a/src/components/real/aocs/gnss_receiver.hpp b/src/components/real/aocs/gnss_receiver.hpp index a9dac1963..04026e89f 100644 --- a/src/components/real/aocs/gnss_receiver.hpp +++ b/src/components/real/aocs/gnss_receiver.hpp @@ -30,7 +30,7 @@ enum class AntennaModel { * @brief Information of GNSS satellites */ typedef struct _gnss_info { - std::string id; //!< ID of GNSS satellites + size_t gnss_id; //!< ID of GNSS satellites double latitude_rad; //!< Latitude on the antenna frame [rad] double longitude_rad; //!< Longitude on the antenna frame [rad] double distance_m; //!< Distance between the GNSS satellite and the GNSS receiver antenna [m] @@ -48,7 +48,6 @@ class GnssReceiver : public Component, public ILoggable { * @param [in] prescaler: Frequency scale factor for update * @param [in] clock_generator: Clock generator * @param [in] component_id: Component ID - * @param [in] gnss_system_id: Target GNSS system IDs * @param [in] antenna_model: Antenna model * @param [in] antenna_position_b_m: GNSS antenna position at the body-fixed frame [m] * @param [in] quaternion_b2c: Quaternion from body frame to component frame (antenna frame) @@ -59,18 +58,16 @@ class GnssReceiver : public Component, public ILoggable { * @param [in] gnss_satellites: GNSS Satellites information * @param [in] simulation_time: Simulation time information */ - GnssReceiver(const int prescaler, ClockGenerator* clock_generator, const size_t component_id, const std::string gnss_system_id, - const AntennaModel antenna_model, const libra::Vector<3> antenna_position_b_m, const libra::Quaternion quaternion_b2c, - const double half_width_deg, const libra::Vector<3> position_noise_standard_deviation_ecef_m, - const libra::Vector<3> velocity_noise_standard_deviation_ecef_m_s, const Dynamics* dynamics, const GnssSatellites* gnss_satellites, - const SimulationTime* simulation_time); + GnssReceiver(const int prescaler, ClockGenerator* clock_generator, const size_t component_id, const AntennaModel antenna_model, + const libra::Vector<3> antenna_position_b_m, const libra::Quaternion quaternion_b2c, const double half_width_deg, + const libra::Vector<3> position_noise_standard_deviation_ecef_m, const libra::Vector<3> velocity_noise_standard_deviation_ecef_m_s, + const Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time); /** * @fn GnssReceiver * @brief Constructor with power port * @param [in] prescaler: Frequency scale factor for update * @param [in] clock_generator: Clock generator * @param [in] power_port: Power port - * @param [in] gnss_system_id: Target GNSS system IDs * @param [in] antenna_model: Antenna model * @param [in] antenna_position_b_m: GNSS antenna position at the body-fixed frame [m] * @param [in] quaternion_b2c: Quaternion from body frame to component frame (antenna frame) @@ -82,8 +79,8 @@ class GnssReceiver : public Component, public ILoggable { * @param [in] simulation_time: Simulation time information */ GnssReceiver(const int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, const size_t component_id, - const std::string gnss_system_id, const AntennaModel antenna_model, const libra::Vector<3> antenna_position_b_m, - const libra::Quaternion quaternion_b2c, const double half_width_deg, const libra::Vector<3> position_noise_standard_deviation_ecef_m, + const AntennaModel antenna_model, const libra::Vector<3> antenna_position_b_m, const libra::Quaternion quaternion_b2c, + const double half_width_deg, const libra::Vector<3> position_noise_standard_deviation_ecef_m, const libra::Vector<3> velocity_noise_standard_deviation_ecef_m_s, const Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time); @@ -137,7 +134,6 @@ class GnssReceiver : public Component, public ILoggable { libra::Vector<3> antenna_position_b_m_; //!< GNSS antenna position at the body-fixed frame [m] libra::Quaternion quaternion_b2c_; //!< Quaternion from body frame to component frame (antenna frame) double half_width_deg_ = 0.0; //!< Half width of the antenna cone model [deg] - std::string gnss_system_id_; //!< GNSS satellite number defined by GNSS system AntennaModel antenna_model_; //!< Antenna model // Simple position observation @@ -194,7 +190,7 @@ class GnssReceiver : public Component, public ILoggable { * @param [in] quaternion_i2b: True attitude of the spacecraft expressed by quaternion from the inertial frame to the body-fixed frame * @param [in] gnss_system_id: ID of target GNSS satellite */ - void SetGnssInfo(const libra::Vector<3> antenna_to_satellite_i_m, const libra::Quaternion quaternion_i2b, const std::string gnss_system_id); + void SetGnssInfo(const libra::Vector<3> antenna_to_satellite_i_m, const libra::Quaternion quaternion_i2b, const size_t gnss_system_id); /** * @fn AddNoise * @brief Substitutional method for "Measure" in other sensor models inherited Sensor class From 7d470890211b0efca36863845c2c2e98d6caedb0 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 7 Feb 2024 11:17:23 +0100 Subject: [PATCH 121/456] Add comment --- data/sample/initialize_files/components/gnss_receiver.ini | 1 + 1 file changed, 1 insertion(+) diff --git a/data/sample/initialize_files/components/gnss_receiver.ini b/data/sample/initialize_files/components/gnss_receiver.ini index b277b8e93..a558caaa0 100644 --- a/data/sample/initialize_files/components/gnss_receiver.ini +++ b/data/sample/initialize_files/components/gnss_receiver.ini @@ -18,6 +18,7 @@ quaternion_b2c(3) = 1.0 // CONE: We calculate the number of GNSS satellites in the antenna, // and the position is observable when more than 4 satellites are in the antenna. // Note : We need to enable the GNSS satellite calculation when we use this mode. +// All satellites managed in the GnssSatellite class are used in this model. antenna_model = SIMPLE // Antenna half width [deg] From 7249e7afc06b9a3a976f3d24b7a03f30eafd7a57 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 7 Feb 2024 11:29:40 +0100 Subject: [PATCH 122/456] Fix python plot for GnssReceiver --- scripts/Plot/plot_gnss_receiver.py | 26 +++++++++++++------------- 1 file changed, 13 insertions(+), 13 deletions(-) diff --git a/scripts/Plot/plot_gnss_receiver.py b/scripts/Plot/plot_gnss_receiver.py index d650c18b3..aa489015a 100644 --- a/scripts/Plot/plot_gnss_receiver.py +++ b/scripts/Plot/plot_gnss_receiver.py @@ -49,39 +49,39 @@ # Read S2E CSV time = read_scalar_from_csv(read_file_name, 'elapsed_time[s]') -measured_position_eci_m = read_3d_vector_from_csv(read_file_name, 'gnss_receiver1_measured_position_eci', 'm') -true_position_eci_m = read_3d_vector_from_csv(read_file_name, 'spacecraft_position_i', 'm') +measured_position_ecef_m = read_3d_vector_from_csv(read_file_name, 'gnss_receiver1_measured_position_ecef', 'm') +# true_position_ecef_m = read_3d_vector_from_csv(read_file_name, 'spacecraft_position_ecef', 'm') number_of_visible_satellites = read_scalar_from_csv(read_file_name, 'gnss_receiver1_number_of_visible_satellites') satellite_visible_flag = read_scalar_from_csv(read_file_name, 'gnss_receiver1_satellite_visible_flag') # Statistics -error_m = measured_position_eci_m[:, 1:] - true_position_eci_m[:, 1:] +#error_m = measured_position_ecef_m[:, 1:] - true_position_ecef_m[:, 1:] average = [0.0, 0.0, 0.0] standard_deviation = [0.0, 0.0, 0.0] -for i in range(3): - average[i] = error_m[i].mean() - standard_deviation[i] = error_m[i].std() +#for i in range(3): +# average[i] = error_m[i].mean() +# standard_deviation[i] = error_m[i].std() # # Plot # unit = ' m' fig, axis = plt.subplots(5, 1, squeeze = False, tight_layout = True, sharex = True) -axis[0, 0].plot(time[0], measured_position_eci_m[0], marker=".", c="red", label="MEASURED-X") -axis[0, 0].plot(time[0], true_position_eci_m[0], marker=".", c="orange", label="TRUE-X") +axis[0, 0].plot(time[0], measured_position_ecef_m[0], marker=".", c="red", label="MEASURED-X") +#axis[0, 0].plot(time[0], true_position_ecef_m[0], marker=".", c="orange", label="TRUE-X") axis[0, 0].text(0.01, 0.99, "Error average:" + format(average[0], '+.2e') + unit, verticalalignment = 'top', transform = axis[0, 0].transAxes) axis[0, 0].text(0.01, 0.79, "Standard deviation:" + format(standard_deviation[0], '+.2e') + unit, verticalalignment = 'top', transform = axis[0, 0].transAxes) axis[0, 0].legend(loc = 'upper right') -axis[1, 0].plot(time[0], measured_position_eci_m[1], marker=".", c="green", label="MEASURED-Y") -axis[1, 0].plot(time[0], true_position_eci_m[1], marker=".", c="yellow", label="TRUE-Y") +axis[1, 0].plot(time[0], measured_position_ecef_m[1], marker=".", c="green", label="MEASURED-Y") +#axis[1, 0].plot(time[0], true_position_ecef_m[1], marker=".", c="yellow", label="TRUE-Y") axis[1, 0].text(0.01, 0.99, "Error average:" + format(average[1], '+.2e') + unit, verticalalignment = 'top', transform = axis[1, 0].transAxes) axis[1, 0].text(0.01, 0.79, "Standard deviation:" + format(standard_deviation[1], '+.2e') + unit, verticalalignment = 'top', transform = axis[1, 0].transAxes) axis[1, 0].legend(loc = 'upper right') -axis[2, 0].plot(time[0], measured_position_eci_m[2], marker=".", c="blue", label="MEASURED-Z") -axis[2, 0].plot(time[0], true_position_eci_m[2], marker=".", c="purple", label="TRUE-Z") +axis[2, 0].plot(time[0], measured_position_ecef_m[2], marker=".", c="blue", label="MEASURED-Z") +#axis[2, 0].plot(time[0], true_position_ecef_m[2], marker=".", c="purple", label="TRUE-Z") axis[2, 0].text(0.01, 0.99, "Error average:" + format(average[2], '+.2e') + unit, verticalalignment = 'top', transform = axis[2, 0].transAxes) axis[2, 0].text(0.01, 0.79, "Standard deviation:" + format(standard_deviation[2], '+.2e') + unit, verticalalignment = 'top', transform = axis[2, 0].transAxes) axis[2, 0].legend(loc = 'upper right') @@ -94,7 +94,7 @@ axis[4, 0].legend(loc = 'upper right') axis[4, 0].set_ylim(0, max(number_of_visible_satellites[0]) + 2) -fig.suptitle("GNSS Receiver Spacecraft position @ ECI") +fig.suptitle("GNSS Receiver Spacecraft position @ ECEF") fig.supylabel("Position [m]") fig.supxlabel("Time [s]") From e285179ca83a90a174075dcc5a977808850a6a2a Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 7 Feb 2024 15:07:12 +0100 Subject: [PATCH 123/456] Fix visible satellite detection method for cone antenna model --- src/components/real/aocs/gnss_receiver.cpp | 42 ++++++++++++---------- 1 file changed, 23 insertions(+), 19 deletions(-) diff --git a/src/components/real/aocs/gnss_receiver.cpp b/src/components/real/aocs/gnss_receiver.cpp index 08eeb78f6..23cc3c099 100644 --- a/src/components/real/aocs/gnss_receiver.cpp +++ b/src/components/real/aocs/gnss_receiver.cpp @@ -106,12 +106,13 @@ void GnssReceiver::CheckAntennaCone(const libra::Vector<3> position_true_eci_m, // Cone model gnss_information_list_.clear(); - // antenna normal vector at inertial frame - libra::Vector<3> antenna_direction_c(0.0); - antenna_direction_c[2] = 1.0; - libra::Vector<3> antenna_direction_b = quaternion_b2c_.InverseFrameConversion(antenna_direction_c); - libra::Vector<3> antenna_direction_i = quaternion_i2b.InverseFrameConversion(antenna_direction_b); + // Antenna pointing direction vector at inertial frame + libra::Vector<3> antenna_pointing_direction_c(0.0); + antenna_pointing_direction_c[2] = 1.0; + libra::Vector<3> antenna_pointing_direction_b = quaternion_b2c_.InverseFrameConversion(antenna_pointing_direction_c); + libra::Vector<3> antenna_pointing_direction_i = quaternion_i2b.InverseFrameConversion(antenna_pointing_direction_b); + // Antenna position vector at inertial frame libra::Vector<3> antenna_position_i_m = position_true_eci_m + quaternion_i2b.InverseFrameConversion(antenna_position_b_m_); // initialize @@ -125,25 +126,28 @@ void GnssReceiver::CheckAntennaCone(const libra::Vector<3> position_true_eci_m, libra::Vector<3> antenna_to_gnss_satellite_i_m = gnss_satellite_position_i_m - antenna_position_i_m; libra::Vector<3> antenna_to_gnss_satellite_direction_i = antenna_to_gnss_satellite_i_m.CalcNormalizedVector(); - // check gnss satellites are visible from antenna + // Check GNSS satellites are visible from the receiver(not care antenna direction) + bool is_gnss_satellite_visible_from_receiver = false; double inner1 = InnerProduct(antenna_position_i_m, gnss_satellite_position_i_m); - bool is_satellite_visible = false; - if (inner1 > 0) { - is_satellite_visible = true; - } else { - Vector<3> tmp = - antenna_position_i_m + InnerProduct(-antenna_position_i_m, antenna_to_gnss_satellite_direction_i) * antenna_to_gnss_satellite_i_m; - if (tmp.CalcNorm() < environment::earth_equatorial_radius_m) { - // There is earth between antenna and gnss - is_satellite_visible = false; + if (inner1 > 0.0) { // GNSS satellite and receiver are in the same hemisphere + is_gnss_satellite_visible_from_receiver = true; + } else { // GNSS satellite is in the another hemisphere + double angle_bw_earth_center_and_edge_rad = asin(environment::earth_equatorial_radius_m / antenna_position_i_m.CalcNorm()); + double angle_bw_earth_center_and_gnss_rad = + acos(InnerProduct(-antenna_position_i_m.CalcNormalizedVector(), antenna_to_gnss_satellite_direction_i)); + + if (angle_bw_earth_center_and_edge_rad < angle_bw_earth_center_and_gnss_rad) { + // There is no Earth between receiver and GNSS satellite + is_gnss_satellite_visible_from_receiver = true; } else { - // There is not earth between antenna and gnss - is_satellite_visible = true; + // There is Earth between receiver and GNSS satellite + is_gnss_satellite_visible_from_receiver = false; } } - double inner2 = InnerProduct(antenna_direction_i, antenna_to_gnss_satellite_direction_i); - if (inner2 > cos(half_width_deg_ * libra::deg_to_rad) && is_satellite_visible) { + // Check GNSS satellites are in the antenna half width angle + double inner2 = InnerProduct(antenna_pointing_direction_i, antenna_to_gnss_satellite_direction_i); + if (inner2 > cos(half_width_deg_ * libra::deg_to_rad) && is_gnss_satellite_visible_from_receiver) { // is visible visible_satellite_number_++; SetGnssInfo(antenna_to_gnss_satellite_i_m, quaternion_i2b, i); From df0fe71903935d8779cb4c7140a29a06b0b18ed9 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 7 Feb 2024 15:09:37 +0100 Subject: [PATCH 124/456] Add ECEF position log --- src/dynamics/orbit/orbit.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/dynamics/orbit/orbit.cpp b/src/dynamics/orbit/orbit.cpp index c73223fd8..80a03d6a0 100644 --- a/src/dynamics/orbit/orbit.cpp +++ b/src/dynamics/orbit/orbit.cpp @@ -68,6 +68,7 @@ std::string Orbit::GetLogHeader() const { std::string str_tmp = ""; str_tmp += WriteVector("spacecraft_position", "i", "m", 3); + str_tmp += WriteVector("spacecraft_position", "ecef", "m", 3); str_tmp += WriteVector("spacecraft_velocity", "i", "m/s", 3); str_tmp += WriteVector("spacecraft_velocity", "b", "m/s", 3); str_tmp += WriteVector("spacecraft_acceleration", "i", "m/s2", 3); @@ -82,6 +83,7 @@ std::string Orbit::GetLogValue() const { std::string str_tmp = ""; str_tmp += WriteVector(spacecraft_position_i_m_, 16); + str_tmp += WriteVector(spacecraft_position_ecef_m_, 16); str_tmp += WriteVector(spacecraft_velocity_i_m_s_, 10); str_tmp += WriteVector(spacecraft_velocity_b_m_s_, 10); str_tmp += WriteVector(spacecraft_acceleration_i_m_s2_, 10); From 463c032b9f8b10f246ed9ba0261fdd05545d5f0d Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 7 Feb 2024 15:09:57 +0100 Subject: [PATCH 125/456] Uncomment ECEF position log read in plot gnss receiver --- scripts/Plot/plot_gnss_receiver.py | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/scripts/Plot/plot_gnss_receiver.py b/scripts/Plot/plot_gnss_receiver.py index aa489015a..430a17f3c 100644 --- a/scripts/Plot/plot_gnss_receiver.py +++ b/scripts/Plot/plot_gnss_receiver.py @@ -50,18 +50,18 @@ time = read_scalar_from_csv(read_file_name, 'elapsed_time[s]') measured_position_ecef_m = read_3d_vector_from_csv(read_file_name, 'gnss_receiver1_measured_position_ecef', 'm') -# true_position_ecef_m = read_3d_vector_from_csv(read_file_name, 'spacecraft_position_ecef', 'm') +true_position_ecef_m = read_3d_vector_from_csv(read_file_name, 'spacecraft_position_ecef', 'm') number_of_visible_satellites = read_scalar_from_csv(read_file_name, 'gnss_receiver1_number_of_visible_satellites') satellite_visible_flag = read_scalar_from_csv(read_file_name, 'gnss_receiver1_satellite_visible_flag') # Statistics -#error_m = measured_position_ecef_m[:, 1:] - true_position_ecef_m[:, 1:] +error_m = measured_position_ecef_m[:, 1:] - true_position_ecef_m[:, 1:] average = [0.0, 0.0, 0.0] standard_deviation = [0.0, 0.0, 0.0] -#for i in range(3): -# average[i] = error_m[i].mean() -# standard_deviation[i] = error_m[i].std() +for i in range(3): + average[i] = error_m[i].mean() + standard_deviation[i] = error_m[i].std() # # Plot @@ -69,19 +69,19 @@ unit = ' m' fig, axis = plt.subplots(5, 1, squeeze = False, tight_layout = True, sharex = True) axis[0, 0].plot(time[0], measured_position_ecef_m[0], marker=".", c="red", label="MEASURED-X") -#axis[0, 0].plot(time[0], true_position_ecef_m[0], marker=".", c="orange", label="TRUE-X") +axis[0, 0].plot(time[0], true_position_ecef_m[0], marker=".", c="orange", label="TRUE-X") axis[0, 0].text(0.01, 0.99, "Error average:" + format(average[0], '+.2e') + unit, verticalalignment = 'top', transform = axis[0, 0].transAxes) axis[0, 0].text(0.01, 0.79, "Standard deviation:" + format(standard_deviation[0], '+.2e') + unit, verticalalignment = 'top', transform = axis[0, 0].transAxes) axis[0, 0].legend(loc = 'upper right') axis[1, 0].plot(time[0], measured_position_ecef_m[1], marker=".", c="green", label="MEASURED-Y") -#axis[1, 0].plot(time[0], true_position_ecef_m[1], marker=".", c="yellow", label="TRUE-Y") +axis[1, 0].plot(time[0], true_position_ecef_m[1], marker=".", c="yellow", label="TRUE-Y") axis[1, 0].text(0.01, 0.99, "Error average:" + format(average[1], '+.2e') + unit, verticalalignment = 'top', transform = axis[1, 0].transAxes) axis[1, 0].text(0.01, 0.79, "Standard deviation:" + format(standard_deviation[1], '+.2e') + unit, verticalalignment = 'top', transform = axis[1, 0].transAxes) axis[1, 0].legend(loc = 'upper right') axis[2, 0].plot(time[0], measured_position_ecef_m[2], marker=".", c="blue", label="MEASURED-Z") -#axis[2, 0].plot(time[0], true_position_ecef_m[2], marker=".", c="purple", label="TRUE-Z") +axis[2, 0].plot(time[0], true_position_ecef_m[2], marker=".", c="purple", label="TRUE-Z") axis[2, 0].text(0.01, 0.99, "Error average:" + format(average[2], '+.2e') + unit, verticalalignment = 'top', transform = axis[2, 0].transAxes) axis[2, 0].text(0.01, 0.79, "Standard deviation:" + format(standard_deviation[2], '+.2e') + unit, verticalalignment = 'top', transform = axis[2, 0].transAxes) axis[2, 0].legend(loc = 'upper right') From f08f45bb5d19ccacb47cddb47d801e5b0bea8a68 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 7 Feb 2024 15:13:37 +0100 Subject: [PATCH 126/456] Fix warning --- src/components/real/aocs/gnss_receiver.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/components/real/aocs/gnss_receiver.cpp b/src/components/real/aocs/gnss_receiver.cpp index 23cc3c099..f182764f4 100644 --- a/src/components/real/aocs/gnss_receiver.cpp +++ b/src/components/real/aocs/gnss_receiver.cpp @@ -259,7 +259,7 @@ typedef struct _gnss_receiver_param { libra::Vector<3> velocity_noise_standard_deviation_ecef_m_s; } GnssReceiverParam; -GnssReceiverParam ReadGnssReceiverIni(const std::string file_name, const GnssSatellites* gnss_satellites, const int component_id) { +GnssReceiverParam ReadGnssReceiverIni(const std::string file_name, const GnssSatellites* gnss_satellites, const size_t component_id) { GnssReceiverParam gnss_receiver_param; IniAccess gnssr_conf(file_name); From 310493986e692b5529d9dc7a8dc91a1fc703240e Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Fri, 3 Nov 2023 20:39:39 +0100 Subject: [PATCH 127/456] Add orbit observer --- src/components/ideal/orbit_observer.hpp | 78 +++++++++++++++++++++++++ 1 file changed, 78 insertions(+) create mode 100644 src/components/ideal/orbit_observer.hpp diff --git a/src/components/ideal/orbit_observer.hpp b/src/components/ideal/orbit_observer.hpp new file mode 100644 index 000000000..97b9216e0 --- /dev/null +++ b/src/components/ideal/orbit_observer.hpp @@ -0,0 +1,78 @@ +/* + * @file orbit_observer.hpp + * @brief Ideal component which can observe orbit + */ + +#ifndef S2E_COMPONENTS_IDEAL_ORBIT_OBSERVER_HPP_ +#define S2E_COMPONENTS_IDEAL_ORBIT_OBSERVER_HPP_ + +#include +#include +#include +#include + +#include "../base/component.hpp" + +/* + * @class OrbitObserver + * @brief Ideal component which can observe orbit + */ +class OrbitObserver : public Component, public ILoggable { + public: + /** + * @fn OrbitObserver + * @brief Constructor without power port + * @param [in] prescaler: Frequency scale factor for update + * @param [in] clock_generator: Clock generator + * @param [in] orbit: Orbit information + */ + OrbitObserver(const int prescaler, ClockGenerator* clock_generator, const Orbit* orbit); + + /** + * @fn ~AttitudeObserver + * @brief Destructor + */ + ~OrbitObserver() {} + + // Override functions for Component + /** + * @fn MainRoutine + * @brief Main routine for sensor observation + */ + void MainRoutine(const int time_count) override; + + // Override ILoggable + /** + * @fn GetLogHeader + * @brief Override GetLogHeader function of ILoggable + */ + virtual std::string GetLogHeader() const override; + /** + * @fn GetLogValue + * @brief Override GetLogValue function of ILoggable + */ + virtual std::string GetLogValue() const override; + + /** + * @fn GetPosition_i_m + * @brief Return observed quaternion from the inertial frame to the component frame + */ + inline const libra::Vector<3> GetPosition() const { return observed_position_i_m_; }; + + protected: + libra::Vector<3> observed_position_i_m_{0.0}; //!< Observed position @ inertial frame [m] + + // Observed variables + const Orbit* orbit_; //!< Orbit information +}; + +/** + * @fn InitStarSensor + * @brief Initialize functions for StarSensor without power port + * @param [in] clock_generator: Clock generator + * @param [in] file_name: Path to the initialize file + * @param [in] orbit: Orbit information + */ +OrbitObserver InitializeOrbitObserver(ClockGenerator* clock_generator, const std::string file_name, const Orbit* orbit); + +#endif // S2E_COMPONENTS_IDEAL_ORBIT_OBSERVER_HPP_ From d174ef74b4635d5f3c5090e450eb5728dd12a818 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 4 Nov 2023 08:25:25 +0100 Subject: [PATCH 128/456] Add cpp file --- src/components/ideal/orbit_observer.cpp | 8 ++++++++ 1 file changed, 8 insertions(+) create mode 100644 src/components/ideal/orbit_observer.cpp diff --git a/src/components/ideal/orbit_observer.cpp b/src/components/ideal/orbit_observer.cpp new file mode 100644 index 000000000..ec6b4bec7 --- /dev/null +++ b/src/components/ideal/orbit_observer.cpp @@ -0,0 +1,8 @@ +/* + * @file orbit_observer.cpp + * @brief Ideal component which can observe orbit + */ + +#include "orbit_observer.hpp" + +OrbitObserver(const int prescaler, ClockGenerator* clock_generator, const Orbit* orbit) : Component(prescaler, clock_generator), orbit_(orbit) {} From 3fc4c0abfb5acc6d3b47a289521a0d93cc72ecf1 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 4 Nov 2023 14:22:58 +0100 Subject: [PATCH 129/456] Implement main routine without noise --- src/components/ideal/orbit_observer.cpp | 38 ++++++++++++++++++++++++- src/components/ideal/orbit_observer.hpp | 4 +-- 2 files changed, 39 insertions(+), 3 deletions(-) diff --git a/src/components/ideal/orbit_observer.cpp b/src/components/ideal/orbit_observer.cpp index ec6b4bec7..6d1171b89 100644 --- a/src/components/ideal/orbit_observer.cpp +++ b/src/components/ideal/orbit_observer.cpp @@ -5,4 +5,40 @@ #include "orbit_observer.hpp" -OrbitObserver(const int prescaler, ClockGenerator* clock_generator, const Orbit* orbit) : Component(prescaler, clock_generator), orbit_(orbit) {} +OrbitObserver(const int prescaler, ClockGenerator* clock_generator, const Orbit& orbit) : Component(prescaler, clock_generator), orbit_(orbit) {} + +void OrbitObserver::MainRoutine(const int time_count) { + UNUSED(time_count); + + observed_position_i_m_ = orbit_.GetPosition_i_m(); +} + +std::string OrbitObserver::GetLogHeader() const { + std::string str_tmp = ""; + + std::string head = "orbit_observer_"; + str_tmp += WriteVector(head + "position", "i", "m", 3); + + return str_tmp; +} + +std::string OrbitObserver::GetLogValue() const { + std::string str_tmp = ""; + + str_tmp += WriteVector(observed_position_i_m_, 16); + + return str_tmp; +} + +OrbitObserver InitializeOrbitObserver(ClockGenerator* clock_generator, const std::string file_name, const Orbit& orbit) { + // General + IniAccess ini_file(file_name); + + // CompoBase + int prescaler = ini_file.ReadInt("COMPONENT_BASE", "prescaler"); + if (prescaler <= 1) prescaler = 1; + + OrbitObserver orbit_observer(prescaler, clock_generator, orbit); + + return orbit_observer; +} diff --git a/src/components/ideal/orbit_observer.hpp b/src/components/ideal/orbit_observer.hpp index 97b9216e0..c495a06d1 100644 --- a/src/components/ideal/orbit_observer.hpp +++ b/src/components/ideal/orbit_observer.hpp @@ -26,7 +26,7 @@ class OrbitObserver : public Component, public ILoggable { * @param [in] clock_generator: Clock generator * @param [in] orbit: Orbit information */ - OrbitObserver(const int prescaler, ClockGenerator* clock_generator, const Orbit* orbit); + OrbitObserver(const int prescaler, ClockGenerator* clock_generator, const Orbit& orbit); /** * @fn ~AttitudeObserver @@ -73,6 +73,6 @@ class OrbitObserver : public Component, public ILoggable { * @param [in] file_name: Path to the initialize file * @param [in] orbit: Orbit information */ -OrbitObserver InitializeOrbitObserver(ClockGenerator* clock_generator, const std::string file_name, const Orbit* orbit); +OrbitObserver InitializeOrbitObserver(ClockGenerator* clock_generator, const std::string file_name, const Orbit& orbit); #endif // S2E_COMPONENTS_IDEAL_ORBIT_OBSERVER_HPP_ From 4b38b432ba779117adb7531648955ce18363553c Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 4 Nov 2023 14:25:57 +0100 Subject: [PATCH 130/456] dd to CMake --- src/components/CMakeLists.txt | 1 + src/components/ideal/orbit_observer.cpp | 4 +++- src/components/ideal/orbit_observer.hpp | 2 +- 3 files changed, 5 insertions(+), 2 deletions(-) diff --git a/src/components/CMakeLists.txt b/src/components/CMakeLists.txt index 697b2322f..2cc69c93d 100644 --- a/src/components/CMakeLists.txt +++ b/src/components/CMakeLists.txt @@ -37,6 +37,7 @@ ideal/force_generator.cpp ideal/torque_generator.cpp ideal/angular_velocity_observer.cpp ideal/attitude_observer.cpp +ideal/orbit_observer.cpp real/mission/telescope.cpp diff --git a/src/components/ideal/orbit_observer.cpp b/src/components/ideal/orbit_observer.cpp index 6d1171b89..f66e9802f 100644 --- a/src/components/ideal/orbit_observer.cpp +++ b/src/components/ideal/orbit_observer.cpp @@ -5,7 +5,9 @@ #include "orbit_observer.hpp" -OrbitObserver(const int prescaler, ClockGenerator* clock_generator, const Orbit& orbit) : Component(prescaler, clock_generator), orbit_(orbit) {} +#include + +OrbitObserver::OrbitObserver(const int prescaler, ClockGenerator* clock_generator, const Orbit& orbit) : Component(prescaler, clock_generator), orbit_(orbit) {} void OrbitObserver::MainRoutine(const int time_count) { UNUSED(time_count); diff --git a/src/components/ideal/orbit_observer.hpp b/src/components/ideal/orbit_observer.hpp index c495a06d1..5990e5f89 100644 --- a/src/components/ideal/orbit_observer.hpp +++ b/src/components/ideal/orbit_observer.hpp @@ -63,7 +63,7 @@ class OrbitObserver : public Component, public ILoggable { libra::Vector<3> observed_position_i_m_{0.0}; //!< Observed position @ inertial frame [m] // Observed variables - const Orbit* orbit_; //!< Orbit information + const Orbit& orbit_; //!< Orbit information }; /** From 6975859ba4dbbf40aa8d950cce9e6be2da7a2289 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 4 Nov 2023 14:36:02 +0100 Subject: [PATCH 131/456] Add velocity --- src/components/ideal/orbit_observer.cpp | 6 +++++- src/components/ideal/orbit_observer.hpp | 3 ++- 2 files changed, 7 insertions(+), 2 deletions(-) diff --git a/src/components/ideal/orbit_observer.cpp b/src/components/ideal/orbit_observer.cpp index f66e9802f..38cdeed6c 100644 --- a/src/components/ideal/orbit_observer.cpp +++ b/src/components/ideal/orbit_observer.cpp @@ -7,12 +7,14 @@ #include -OrbitObserver::OrbitObserver(const int prescaler, ClockGenerator* clock_generator, const Orbit& orbit) : Component(prescaler, clock_generator), orbit_(orbit) {} +OrbitObserver::OrbitObserver(const int prescaler, ClockGenerator* clock_generator, const Orbit& orbit) + : Component(prescaler, clock_generator), orbit_(orbit) {} void OrbitObserver::MainRoutine(const int time_count) { UNUSED(time_count); observed_position_i_m_ = orbit_.GetPosition_i_m(); + observed_velocity_i_m_s_ = orbit_.GetVelocity_i_m_s(); } std::string OrbitObserver::GetLogHeader() const { @@ -20,6 +22,7 @@ std::string OrbitObserver::GetLogHeader() const { std::string head = "orbit_observer_"; str_tmp += WriteVector(head + "position", "i", "m", 3); + str_tmp += WriteVector(head + "velocity", "i", "m/s", 3); return str_tmp; } @@ -28,6 +31,7 @@ std::string OrbitObserver::GetLogValue() const { std::string str_tmp = ""; str_tmp += WriteVector(observed_position_i_m_, 16); + str_tmp += WriteVector(observed_velocity_i_m_s_, 16); return str_tmp; } diff --git a/src/components/ideal/orbit_observer.hpp b/src/components/ideal/orbit_observer.hpp index 5990e5f89..78bfcfdd3 100644 --- a/src/components/ideal/orbit_observer.hpp +++ b/src/components/ideal/orbit_observer.hpp @@ -60,7 +60,8 @@ class OrbitObserver : public Component, public ILoggable { inline const libra::Vector<3> GetPosition() const { return observed_position_i_m_; }; protected: - libra::Vector<3> observed_position_i_m_{0.0}; //!< Observed position @ inertial frame [m] + libra::Vector<3> observed_position_i_m_{0.0}; //!< Observed position @ inertial frame [m] + libra::Vector<3> observed_velocity_i_m_s_{0.0}; //!< Observed velocity @ inertial frame [m/s] // Observed variables const Orbit& orbit_; //!< Orbit information From fa55700acae12e78d464371ef5bdae5da22e94fe Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 4 Nov 2023 14:36:46 +0100 Subject: [PATCH 132/456] Add velocity --- src/components/ideal/orbit_observer.hpp | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) diff --git a/src/components/ideal/orbit_observer.hpp b/src/components/ideal/orbit_observer.hpp index 78bfcfdd3..e2bbba1ef 100644 --- a/src/components/ideal/orbit_observer.hpp +++ b/src/components/ideal/orbit_observer.hpp @@ -55,9 +55,15 @@ class OrbitObserver : public Component, public ILoggable { /** * @fn GetPosition_i_m - * @brief Return observed quaternion from the inertial frame to the component frame + * @brief Return observed position */ - inline const libra::Vector<3> GetPosition() const { return observed_position_i_m_; }; + inline const libra::Vector<3> GetPosition_i_m() const { return observed_position_i_m_; }; + + /** + * @fn GetVelocity_i_m_s + * @brief Return observed velocity + */ + inline const libra::Vector<3> GetVelocity_i_m_s() const { return observed_velocity_i_m_s_; }; protected: libra::Vector<3> observed_position_i_m_{0.0}; //!< Observed position @ inertial frame [m] From b8019e5d3ad93902a2d3e93208a377195d7ef522 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 7 Nov 2023 08:09:20 +0100 Subject: [PATCH 133/456] Add noise --- src/components/ideal/orbit_observer.cpp | 26 +++++++++++++++++++++++-- src/components/ideal/orbit_observer.hpp | 26 ++++++++++++++++++++++--- 2 files changed, 47 insertions(+), 5 deletions(-) diff --git a/src/components/ideal/orbit_observer.cpp b/src/components/ideal/orbit_observer.cpp index 38cdeed6c..d065ebac4 100644 --- a/src/components/ideal/orbit_observer.cpp +++ b/src/components/ideal/orbit_observer.cpp @@ -7,12 +7,32 @@ #include -OrbitObserver::OrbitObserver(const int prescaler, ClockGenerator* clock_generator, const Orbit& orbit) - : Component(prescaler, clock_generator), orbit_(orbit) {} +OrbitObserver::OrbitObserver(const int prescaler, ClockGenerator* clock_generator, const ErrorFrame error_frame, + const libra::Vector<6> error_standard_deviation, const const Orbit& orbit) + : Component(prescaler, clock_generator), orbit_(orbit) { + for (size_t i = 0; i < 6; i++) { + normal_random_noise_[i].SetParameters(0.0, error_standard_deviation[i]); + } +} void OrbitObserver::MainRoutine(const int time_count) { UNUSED(time_count); + switch (error_frame_) { + case ErrorFrame::kInertial: + observed_position_i_m_ = Measure(observed_position_i_m_); + // Frame conversion + observed_position_rtn_m_ = q_i2rtn.FrameConversion(observed_position_i_m_); + break; + case ErrorFrame::kRtn: + observed_position_rtn_m_ = Measure(observed_position_rtn_m_); + // Frame conversion + observed_position_i_m_ = q_i2rtn.InverseFrameConversion(observed_position_rtn_m_); + break; + default: + break; + } + observed_position_i_m_ = orbit_.GetPosition_i_m(); observed_velocity_i_m_s_ = orbit_.GetVelocity_i_m_s(); } @@ -36,6 +56,8 @@ std::string OrbitObserver::GetLogValue() const { return str_tmp; } +void AddNoise(){} + OrbitObserver InitializeOrbitObserver(ClockGenerator* clock_generator, const std::string file_name, const Orbit& orbit) { // General IniAccess ini_file(file_name); diff --git a/src/components/ideal/orbit_observer.hpp b/src/components/ideal/orbit_observer.hpp index e2bbba1ef..2271ae271 100644 --- a/src/components/ideal/orbit_observer.hpp +++ b/src/components/ideal/orbit_observer.hpp @@ -13,6 +13,15 @@ #include "../base/component.hpp" +/** + * @enum ErrorFrame + * @brief Error definition frame + */ +enum class ErrorFrame { + kInertial, //!< Inertial frame + kRtn, //!< RTN frame +}; + /* * @class OrbitObserver * @brief Ideal component which can observe orbit @@ -24,9 +33,12 @@ class OrbitObserver : public Component, public ILoggable { * @brief Constructor without power port * @param [in] prescaler: Frequency scale factor for update * @param [in] clock_generator: Clock generator + * @param [in] error_frame: Error frame definition + * @param [in] error_standard_deviation: Position and Velocity standard deviation noise [m, m/s] * @param [in] orbit: Orbit information */ - OrbitObserver(const int prescaler, ClockGenerator* clock_generator, const Orbit& orbit); + OrbitObserver(const int prescaler, ClockGenerator* clock_generator, const ErrorFrame error_frame, const libra::Vector<6> error_standard_deviation, + const const Orbit& orbit); /** * @fn ~AttitudeObserver @@ -66,11 +78,19 @@ class OrbitObserver : public Component, public ILoggable { inline const libra::Vector<3> GetVelocity_i_m_s() const { return observed_velocity_i_m_s_; }; protected: - libra::Vector<3> observed_position_i_m_{0.0}; //!< Observed position @ inertial frame [m] - libra::Vector<3> observed_velocity_i_m_s_{0.0}; //!< Observed velocity @ inertial frame [m/s] + libra::Vector<3> observed_position_i_m_{0.0}; //!< Observed position @ inertial frame [m] + libra::Vector<3> observed_velocity_i_m_s_{0.0}; //!< Observed velocity @ inertial frame [m/s] + libra::Vector<3> observed_position_rtn_m_{0.0}; //!< Observed position @ RTN frame [m] + libra::Vector<3> observed_velocity_rtn_m_s_{0.0}; //!< Observed velocity @ RTN frame [m/s] + + ErrorFrame error_frame_; //!< Error definition frame + libra::NormalRand normal_random_noise_[6]; //!< Position and Velocity noise [m, m/s] // Observed variables const Orbit& orbit_; //!< Orbit information + + libra::Vector<3> AddPositionNoise(const libra::Vector<3> position_m); + libra::Vector<3> AddVelocityNoise(const libra::Vector<3> velocity_m_s); }; /** From 5f00035ca7b64eb168f01b2f46630384af1b505c Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 7 Feb 2024 15:23:34 +0100 Subject: [PATCH 134/456] Fix format --- src/components/ideal/orbit_observer.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/components/ideal/orbit_observer.cpp b/src/components/ideal/orbit_observer.cpp index d065ebac4..ba12a9b2f 100644 --- a/src/components/ideal/orbit_observer.cpp +++ b/src/components/ideal/orbit_observer.cpp @@ -56,7 +56,7 @@ std::string OrbitObserver::GetLogValue() const { return str_tmp; } -void AddNoise(){} +void AddNoise() {} OrbitObserver InitializeOrbitObserver(ClockGenerator* clock_generator, const std::string file_name, const Orbit& orbit) { // General From 475d4c42a9cfc8f461eecc25dce9654d90e31003 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 7 Feb 2024 15:33:36 +0100 Subject: [PATCH 135/456] Fix for build success --- src/components/ideal/orbit_observer.cpp | 18 ++++++++++-------- src/components/ideal/orbit_observer.hpp | 2 +- 2 files changed, 11 insertions(+), 9 deletions(-) diff --git a/src/components/ideal/orbit_observer.cpp b/src/components/ideal/orbit_observer.cpp index ba12a9b2f..053941c49 100644 --- a/src/components/ideal/orbit_observer.cpp +++ b/src/components/ideal/orbit_observer.cpp @@ -8,7 +8,7 @@ #include OrbitObserver::OrbitObserver(const int prescaler, ClockGenerator* clock_generator, const ErrorFrame error_frame, - const libra::Vector<6> error_standard_deviation, const const Orbit& orbit) + const libra::Vector<6> error_standard_deviation, const Orbit& orbit) : Component(prescaler, clock_generator), orbit_(orbit) { for (size_t i = 0; i < 6; i++) { normal_random_noise_[i].SetParameters(0.0, error_standard_deviation[i]); @@ -18,23 +18,21 @@ OrbitObserver::OrbitObserver(const int prescaler, ClockGenerator* clock_generato void OrbitObserver::MainRoutine(const int time_count) { UNUSED(time_count); + libra::Quaternion q_i2rtn = orbit_.CalcQuaternion_i2lvlh(); switch (error_frame_) { case ErrorFrame::kInertial: - observed_position_i_m_ = Measure(observed_position_i_m_); + observed_position_i_m_ = AddPositionNoise(orbit_.GetPosition_i_m()); // Frame conversion observed_position_rtn_m_ = q_i2rtn.FrameConversion(observed_position_i_m_); break; case ErrorFrame::kRtn: - observed_position_rtn_m_ = Measure(observed_position_rtn_m_); - // Frame conversion + // observed_position_rtn_m_ = AddPositionNoise(orbit_.GetPosition_); + // Frame conversion observed_position_i_m_ = q_i2rtn.InverseFrameConversion(observed_position_rtn_m_); break; default: break; } - - observed_position_i_m_ = orbit_.GetPosition_i_m(); - observed_velocity_i_m_s_ = orbit_.GetVelocity_i_m_s(); } std::string OrbitObserver::GetLogHeader() const { @@ -66,7 +64,11 @@ OrbitObserver InitializeOrbitObserver(ClockGenerator* clock_generator, const std int prescaler = ini_file.ReadInt("COMPONENT_BASE", "prescaler"); if (prescaler <= 1) prescaler = 1; - OrbitObserver orbit_observer(prescaler, clock_generator, orbit); + // Noise + const ErrorFrame error_frame = ErrorFrame::kInertial; + const libra::Vector<6> error_standard_deviation; + + OrbitObserver orbit_observer(prescaler, clock_generator, error_frame, error_standard_deviation, orbit); return orbit_observer; } diff --git a/src/components/ideal/orbit_observer.hpp b/src/components/ideal/orbit_observer.hpp index 2271ae271..9f0d79314 100644 --- a/src/components/ideal/orbit_observer.hpp +++ b/src/components/ideal/orbit_observer.hpp @@ -38,7 +38,7 @@ class OrbitObserver : public Component, public ILoggable { * @param [in] orbit: Orbit information */ OrbitObserver(const int prescaler, ClockGenerator* clock_generator, const ErrorFrame error_frame, const libra::Vector<6> error_standard_deviation, - const const Orbit& orbit); + const Orbit& orbit); /** * @fn ~AttitudeObserver From d9e76b007c807aa96b417ebcf77351f926af43ac Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 7 Feb 2024 15:46:10 +0100 Subject: [PATCH 136/456] Fix noise calculation --- src/components/ideal/orbit_observer.cpp | 23 +++++++++++++++-------- src/components/ideal/orbit_observer.hpp | 10 ++++------ 2 files changed, 19 insertions(+), 14 deletions(-) diff --git a/src/components/ideal/orbit_observer.cpp b/src/components/ideal/orbit_observer.cpp index 053941c49..4ee50551b 100644 --- a/src/components/ideal/orbit_observer.cpp +++ b/src/components/ideal/orbit_observer.cpp @@ -6,33 +6,42 @@ #include "orbit_observer.hpp" #include +#include OrbitObserver::OrbitObserver(const int prescaler, ClockGenerator* clock_generator, const ErrorFrame error_frame, const libra::Vector<6> error_standard_deviation, const Orbit& orbit) : Component(prescaler, clock_generator), orbit_(orbit) { for (size_t i = 0; i < 6; i++) { - normal_random_noise_[i].SetParameters(0.0, error_standard_deviation[i]); + normal_random_noise_[i].SetParameters(0.0, error_standard_deviation[i], global_randomization.MakeSeed()); } } void OrbitObserver::MainRoutine(const int time_count) { UNUSED(time_count); + // Calc noise + libra::Vector<3> position_error_i_m{0.0}; + libra::Vector<3> position_error_rtn_m{0.0}; libra::Quaternion q_i2rtn = orbit_.CalcQuaternion_i2lvlh(); switch (error_frame_) { case ErrorFrame::kInertial: - observed_position_i_m_ = AddPositionNoise(orbit_.GetPosition_i_m()); - // Frame conversion - observed_position_rtn_m_ = q_i2rtn.FrameConversion(observed_position_i_m_); + for (size_t axis = 0; axis < 3; axis++) { + position_error_i_m[axis] = normal_random_noise_[axis]; + } break; case ErrorFrame::kRtn: - // observed_position_rtn_m_ = AddPositionNoise(orbit_.GetPosition_); + for (size_t axis = 0; axis < 3; axis++) { + position_error_rtn_m[axis] = normal_random_noise_[axis]; + } // Frame conversion - observed_position_i_m_ = q_i2rtn.InverseFrameConversion(observed_position_rtn_m_); + position_error_i_m = q_i2rtn.InverseFrameConversion(position_error_rtn_m); break; default: break; } + + // Get observed value + observed_position_i_m_ = orbit_.GetPosition_i_m() + position_error_i_m; } std::string OrbitObserver::GetLogHeader() const { @@ -54,8 +63,6 @@ std::string OrbitObserver::GetLogValue() const { return str_tmp; } -void AddNoise() {} - OrbitObserver InitializeOrbitObserver(ClockGenerator* clock_generator, const std::string file_name, const Orbit& orbit) { // General IniAccess ini_file(file_name); diff --git a/src/components/ideal/orbit_observer.hpp b/src/components/ideal/orbit_observer.hpp index 9f0d79314..0481263e2 100644 --- a/src/components/ideal/orbit_observer.hpp +++ b/src/components/ideal/orbit_observer.hpp @@ -78,10 +78,8 @@ class OrbitObserver : public Component, public ILoggable { inline const libra::Vector<3> GetVelocity_i_m_s() const { return observed_velocity_i_m_s_; }; protected: - libra::Vector<3> observed_position_i_m_{0.0}; //!< Observed position @ inertial frame [m] - libra::Vector<3> observed_velocity_i_m_s_{0.0}; //!< Observed velocity @ inertial frame [m/s] - libra::Vector<3> observed_position_rtn_m_{0.0}; //!< Observed position @ RTN frame [m] - libra::Vector<3> observed_velocity_rtn_m_s_{0.0}; //!< Observed velocity @ RTN frame [m/s] + libra::Vector<3> observed_position_i_m_{0.0}; //!< Observed position @ inertial frame [m] + libra::Vector<3> observed_velocity_i_m_s_{0.0}; //!< Observed velocity @ inertial frame [m/s] ErrorFrame error_frame_; //!< Error definition frame libra::NormalRand normal_random_noise_[6]; //!< Position and Velocity noise [m, m/s] @@ -89,8 +87,8 @@ class OrbitObserver : public Component, public ILoggable { // Observed variables const Orbit& orbit_; //!< Orbit information - libra::Vector<3> AddPositionNoise(const libra::Vector<3> position_m); - libra::Vector<3> AddVelocityNoise(const libra::Vector<3> velocity_m_s); + libra::Vector<3> CalcPositionNoise(); + libra::Vector<3> CalcVelocityNoise(); }; /** From 000c5c1260fc45591246f47c27f6d2875f3a3cf0 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 7 Feb 2024 15:48:09 +0100 Subject: [PATCH 137/456] Fix small --- src/components/ideal/orbit_observer.cpp | 2 +- src/components/ideal/orbit_observer.hpp | 3 --- 2 files changed, 1 insertion(+), 4 deletions(-) diff --git a/src/components/ideal/orbit_observer.cpp b/src/components/ideal/orbit_observer.cpp index 4ee50551b..1b7283eca 100644 --- a/src/components/ideal/orbit_observer.cpp +++ b/src/components/ideal/orbit_observer.cpp @@ -10,7 +10,7 @@ OrbitObserver::OrbitObserver(const int prescaler, ClockGenerator* clock_generator, const ErrorFrame error_frame, const libra::Vector<6> error_standard_deviation, const Orbit& orbit) - : Component(prescaler, clock_generator), orbit_(orbit) { + : Component(prescaler, clock_generator), error_frame_(error_frame), orbit_(orbit) { for (size_t i = 0; i < 6; i++) { normal_random_noise_[i].SetParameters(0.0, error_standard_deviation[i], global_randomization.MakeSeed()); } diff --git a/src/components/ideal/orbit_observer.hpp b/src/components/ideal/orbit_observer.hpp index 0481263e2..03963afe9 100644 --- a/src/components/ideal/orbit_observer.hpp +++ b/src/components/ideal/orbit_observer.hpp @@ -86,9 +86,6 @@ class OrbitObserver : public Component, public ILoggable { // Observed variables const Orbit& orbit_; //!< Orbit information - - libra::Vector<3> CalcPositionNoise(); - libra::Vector<3> CalcVelocityNoise(); }; /** From fa9d18d406e4a77d37049779cd60b76f3946fbe3 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 7 Feb 2024 16:00:38 +0100 Subject: [PATCH 138/456] Add initialize file --- .../components/orbit_observer.ini | 19 ++++++++++++ src/components/ideal/orbit_observer.cpp | 29 ++++++++++++++----- src/components/ideal/orbit_observer.hpp | 20 +++++++++---- 3 files changed, 54 insertions(+), 14 deletions(-) create mode 100644 data/sample/initialize_files/components/orbit_observer.ini diff --git a/data/sample/initialize_files/components/orbit_observer.ini b/data/sample/initialize_files/components/orbit_observer.ini new file mode 100644 index 000000000..8d527e618 --- /dev/null +++ b/data/sample/initialize_files/components/orbit_observer.ini @@ -0,0 +1,19 @@ +[ORBIT_OBSERVER] +// Noise definition frame +// INERTIAL: Inertial frame +// RTN: RTN frame +noise_frame = INERTIAL + +// Standard deviation of position and velocity noise [m, m/s] +// The frame definition can be selected above +noise_standard_deviation[0] = 1000 // Position-X +noise_standard_deviation[1] = 2000 // Position-Y +noise_standard_deviation[2] = 3000 // Position-Z +noise_standard_deviation[3] = 30 // Velocity-X +noise_standard_deviation[4] = 20 // Velocity-Y +noise_standard_deviation[5] = 10 // Velocity-Z + + +[COMPONENT_BASE] +// Prescaler with respect to the component update period +prescaler = 1 diff --git a/src/components/ideal/orbit_observer.cpp b/src/components/ideal/orbit_observer.cpp index 1b7283eca..26d816933 100644 --- a/src/components/ideal/orbit_observer.cpp +++ b/src/components/ideal/orbit_observer.cpp @@ -8,9 +8,9 @@ #include #include -OrbitObserver::OrbitObserver(const int prescaler, ClockGenerator* clock_generator, const ErrorFrame error_frame, +OrbitObserver::OrbitObserver(const int prescaler, ClockGenerator* clock_generator, const NoiseFrame noise_frame, const libra::Vector<6> error_standard_deviation, const Orbit& orbit) - : Component(prescaler, clock_generator), error_frame_(error_frame), orbit_(orbit) { + : Component(prescaler, clock_generator), noise_frame_(noise_frame), orbit_(orbit) { for (size_t i = 0; i < 6; i++) { normal_random_noise_[i].SetParameters(0.0, error_standard_deviation[i], global_randomization.MakeSeed()); } @@ -23,13 +23,13 @@ void OrbitObserver::MainRoutine(const int time_count) { libra::Vector<3> position_error_i_m{0.0}; libra::Vector<3> position_error_rtn_m{0.0}; libra::Quaternion q_i2rtn = orbit_.CalcQuaternion_i2lvlh(); - switch (error_frame_) { - case ErrorFrame::kInertial: + switch (noise_frame_) { + case NoiseFrame::kInertial: for (size_t axis = 0; axis < 3; axis++) { position_error_i_m[axis] = normal_random_noise_[axis]; } break; - case ErrorFrame::kRtn: + case NoiseFrame::kRtn: for (size_t axis = 0; axis < 3; axis++) { position_error_rtn_m[axis] = normal_random_noise_[axis]; } @@ -63,6 +63,18 @@ std::string OrbitObserver::GetLogValue() const { return str_tmp; } +NoiseFrame SetNoiseFrame(const std::string noise_frame) { + if (noise_frame == "INERTIAL") { + return NoiseFrame::kInertial; + } else if (noise_frame == "RTN") { + return NoiseFrame::kRtn; + } else { + std::cerr << "[WARNINGS] Orbit observer noise frame is not defined!" << std::endl; + std::cerr << "The noise frame is automatically initialized as INERTIAL" << std::endl; + return NoiseFrame::kInertial; + } +} + OrbitObserver InitializeOrbitObserver(ClockGenerator* clock_generator, const std::string file_name, const Orbit& orbit) { // General IniAccess ini_file(file_name); @@ -72,10 +84,11 @@ OrbitObserver InitializeOrbitObserver(ClockGenerator* clock_generator, const std if (prescaler <= 1) prescaler = 1; // Noise - const ErrorFrame error_frame = ErrorFrame::kInertial; - const libra::Vector<6> error_standard_deviation; + const NoiseFrame noise_frame = SetNoiseFrame(ini_file.ReadString("ORBIT_OBSERVER", "noise_frame")); + libra::Vector<6> noise_standard_deviation; + ini_file.ReadVector("ORBIT_OBSERVER", "noise_standard_deviation", noise_standard_deviation); - OrbitObserver orbit_observer(prescaler, clock_generator, error_frame, error_standard_deviation, orbit); + OrbitObserver orbit_observer(prescaler, clock_generator, noise_frame, noise_standard_deviation, orbit); return orbit_observer; } diff --git a/src/components/ideal/orbit_observer.hpp b/src/components/ideal/orbit_observer.hpp index 03963afe9..df22c807d 100644 --- a/src/components/ideal/orbit_observer.hpp +++ b/src/components/ideal/orbit_observer.hpp @@ -14,10 +14,10 @@ #include "../base/component.hpp" /** - * @enum ErrorFrame - * @brief Error definition frame + * @enum NoiseFrame + * @brief Noide definition frame */ -enum class ErrorFrame { +enum class NoiseFrame { kInertial, //!< Inertial frame kRtn, //!< RTN frame }; @@ -33,11 +33,11 @@ class OrbitObserver : public Component, public ILoggable { * @brief Constructor without power port * @param [in] prescaler: Frequency scale factor for update * @param [in] clock_generator: Clock generator - * @param [in] error_frame: Error frame definition + * @param [in] noise_frame: Error frame definition * @param [in] error_standard_deviation: Position and Velocity standard deviation noise [m, m/s] * @param [in] orbit: Orbit information */ - OrbitObserver(const int prescaler, ClockGenerator* clock_generator, const ErrorFrame error_frame, const libra::Vector<6> error_standard_deviation, + OrbitObserver(const int prescaler, ClockGenerator* clock_generator, const NoiseFrame noise_frame, const libra::Vector<6> error_standard_deviation, const Orbit& orbit); /** @@ -81,13 +81,21 @@ class OrbitObserver : public Component, public ILoggable { libra::Vector<3> observed_position_i_m_{0.0}; //!< Observed position @ inertial frame [m] libra::Vector<3> observed_velocity_i_m_s_{0.0}; //!< Observed velocity @ inertial frame [m/s] - ErrorFrame error_frame_; //!< Error definition frame + NoiseFrame noise_frame_; //!< Noise definition frame libra::NormalRand normal_random_noise_[6]; //!< Position and Velocity noise [m, m/s] // Observed variables const Orbit& orbit_; //!< Orbit information }; +/** + * @fn SetNoiseFrame + * @brief Set NoiseFrame by string + * @param [in] noise_frame: Noise frame name + * @return noise frame + */ +NoiseFrame SetNoiseFrame(const std::string noise_frame); + /** * @fn InitStarSensor * @brief Initialize functions for StarSensor without power port From 3c6a1fec8820df7f2d7b92ca7b684da7780fcd05 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 7 Feb 2024 16:20:23 +0100 Subject: [PATCH 139/456] Add velocity observation --- src/components/ideal/orbit_observer.cpp | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/src/components/ideal/orbit_observer.cpp b/src/components/ideal/orbit_observer.cpp index 26d816933..07416e891 100644 --- a/src/components/ideal/orbit_observer.cpp +++ b/src/components/ideal/orbit_observer.cpp @@ -22,19 +22,26 @@ void OrbitObserver::MainRoutine(const int time_count) { // Calc noise libra::Vector<3> position_error_i_m{0.0}; libra::Vector<3> position_error_rtn_m{0.0}; + libra::Vector<3> velocity_error_i_m_s{0.0}; + libra::Vector<3> velocity_error_rtn_m_s{0.0}; libra::Quaternion q_i2rtn = orbit_.CalcQuaternion_i2lvlh(); switch (noise_frame_) { case NoiseFrame::kInertial: for (size_t axis = 0; axis < 3; axis++) { position_error_i_m[axis] = normal_random_noise_[axis]; + velocity_error_i_m_s[axis] = normal_random_noise_[axis + 3]; } break; case NoiseFrame::kRtn: for (size_t axis = 0; axis < 3; axis++) { position_error_rtn_m[axis] = normal_random_noise_[axis]; + velocity_error_rtn_m_s[axis] = normal_random_noise_[axis + 3]; } // Frame conversion position_error_i_m = q_i2rtn.InverseFrameConversion(position_error_rtn_m); + // For zero bias noise, we do not need to care frame rotation effect. + velocity_error_i_m_s = q_i2rtn.InverseFrameConversion(velocity_error_rtn_m_s); + break; default: break; @@ -42,6 +49,7 @@ void OrbitObserver::MainRoutine(const int time_count) { // Get observed value observed_position_i_m_ = orbit_.GetPosition_i_m() + position_error_i_m; + observed_velocity_i_m_s_ = orbit_.GetVelocity_i_m_s() + velocity_error_i_m_s; } std::string OrbitObserver::GetLogHeader() const { From ae87d688acdaebce336648f6c1acd906aebfbbc2 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Fri, 9 Feb 2024 10:31:22 +0100 Subject: [PATCH 140/456] Fix typo --- src/components/ideal/orbit_observer.cpp | 4 ++-- src/components/ideal/orbit_observer.hpp | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/src/components/ideal/orbit_observer.cpp b/src/components/ideal/orbit_observer.cpp index 07416e891..61fe2b002 100644 --- a/src/components/ideal/orbit_observer.cpp +++ b/src/components/ideal/orbit_observer.cpp @@ -37,9 +37,9 @@ void OrbitObserver::MainRoutine(const int time_count) { position_error_rtn_m[axis] = normal_random_noise_[axis]; velocity_error_rtn_m_s[axis] = normal_random_noise_[axis + 3]; } - // Frame conversion + // Frame conversion position_error_i_m = q_i2rtn.InverseFrameConversion(position_error_rtn_m); - // For zero bias noise, we do not need to care frame rotation effect. + // For zero bias noise, we do not need to care the frame rotation effect. velocity_error_i_m_s = q_i2rtn.InverseFrameConversion(velocity_error_rtn_m_s); break; diff --git a/src/components/ideal/orbit_observer.hpp b/src/components/ideal/orbit_observer.hpp index df22c807d..490489957 100644 --- a/src/components/ideal/orbit_observer.hpp +++ b/src/components/ideal/orbit_observer.hpp @@ -15,7 +15,7 @@ /** * @enum NoiseFrame - * @brief Noide definition frame + * @brief Noise definition frame */ enum class NoiseFrame { kInertial, //!< Inertial frame From 9180f53eb11f5694cfac21ccceb8a825dea8ed45 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Fri, 9 Feb 2024 10:53:26 +0100 Subject: [PATCH 141/456] Add instance to sample codes --- .../initialize_files/components/orbit_observer.ini | 12 ++++++------ data/sample/initialize_files/sample_satellite.ini | 1 + .../spacecraft/sample_components.cpp | 6 ++++++ .../spacecraft/sample_components.hpp | 2 ++ 4 files changed, 15 insertions(+), 6 deletions(-) diff --git a/data/sample/initialize_files/components/orbit_observer.ini b/data/sample/initialize_files/components/orbit_observer.ini index 8d527e618..1c27ecf57 100644 --- a/data/sample/initialize_files/components/orbit_observer.ini +++ b/data/sample/initialize_files/components/orbit_observer.ini @@ -6,12 +6,12 @@ noise_frame = INERTIAL // Standard deviation of position and velocity noise [m, m/s] // The frame definition can be selected above -noise_standard_deviation[0] = 1000 // Position-X -noise_standard_deviation[1] = 2000 // Position-Y -noise_standard_deviation[2] = 3000 // Position-Z -noise_standard_deviation[3] = 30 // Velocity-X -noise_standard_deviation[4] = 20 // Velocity-Y -noise_standard_deviation[5] = 10 // Velocity-Z +noise_standard_deviation(0) = 1000 // Position-X +noise_standard_deviation(1) = 2000 // Position-Y +noise_standard_deviation(2) = 3000 // Position-Z +noise_standard_deviation(3) = 30 // Velocity-X +noise_standard_deviation(4) = 20 // Velocity-Y +noise_standard_deviation(5) = 10 // Velocity-Z [COMPONENT_BASE] diff --git a/data/sample/initialize_files/sample_satellite.ini b/data/sample/initialize_files/sample_satellite.ini index 69dcd5210..d0fa9c23a 100644 --- a/data/sample/initialize_files/sample_satellite.ini +++ b/data/sample/initialize_files/sample_satellite.ini @@ -146,6 +146,7 @@ force_generator_file = INI_FILE_DIR_FROM_EXE/components/force_generator.ini torque_generator_file = INI_FILE_DIR_FROM_EXE/components/torque_generator.ini angular_velocity_observer_file = INI_FILE_DIR_FROM_EXE/components/angular_velocity_observer.ini attitude_observer_file = INI_FILE_DIR_FROM_EXE/components/attitude_observer.ini +orbit_observer_file = INI_FILE_DIR_FROM_EXE/components/orbit_observer.ini antenna_file = INI_FILE_DIR_FROM_EXE/components/spacecraft_antenna.ini component_interference_file = INI_FILE_DIR_FROM_EXE/components/component_interference.ini telescope_file = INI_FILE_DIR_FROM_EXE/components/telescope.ini diff --git a/src/simulation_sample/spacecraft/sample_components.cpp b/src/simulation_sample/spacecraft/sample_components.cpp index d529d040a..1d997625f 100644 --- a/src/simulation_sample/spacecraft/sample_components.cpp +++ b/src/simulation_sample/spacecraft/sample_components.cpp @@ -106,6 +106,11 @@ SampleComponents::SampleComponents(const Dynamics* dynamics, Structure* structur configuration_->main_logger_->CopyFileToLogDirectory(file_name); attitude_observer_ = new AttitudeObserver(InitializeAttitudeObserver(clock_generator, file_name, dynamics_->GetAttitude())); + // Orbit Observer + file_name = iniAccess.ReadString("COMPONENT_FILES", "orbit_observer_file"); + configuration_->main_logger_->CopyFileToLogDirectory(file_name); + orbit_observer_ = new OrbitObserver(InitializeOrbitObserver(clock_generator, file_name, dynamics_->GetOrbit())); + // Antenna file_name = iniAccess.ReadString("COMPONENT_FILES", "antenna_file"); configuration_->main_logger_->CopyFileToLogDirectory(file_name); @@ -171,6 +176,7 @@ SampleComponents::~SampleComponents() { delete torque_generator_; delete angular_velocity_observer_; delete attitude_observer_; + delete orbit_observer_; delete antenna_; delete mtq_magnetometer_interference_; // delete change_structure_; diff --git a/src/simulation_sample/spacecraft/sample_components.hpp b/src/simulation_sample/spacecraft/sample_components.hpp index 2b7574f27..abc355bef 100644 --- a/src/simulation_sample/spacecraft/sample_components.hpp +++ b/src/simulation_sample/spacecraft/sample_components.hpp @@ -13,6 +13,7 @@ #include #include #include +#include #include #include #include @@ -114,6 +115,7 @@ class SampleComponents : public InstalledComponents { TorqueGenerator* torque_generator_; //!< Ideal Torque Generator AngularVelocityObserver* angular_velocity_observer_; //!< Ideal Angular velocity observer AttitudeObserver* attitude_observer_; //!< Ideal Attitude observer + OrbitObserver* orbit_observer_; //!< Ideal Orbit observer // Mission Telescope* telescope_; //!< Telescope From cc4e1cfe499b9f9bfa65a3fdf07a34cab8fcae8d Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Fri, 9 Feb 2024 11:00:24 +0100 Subject: [PATCH 142/456] Add plot script for orbit observer --- scripts/Plot/plot_orbit_observer.py | 126 ++++++++++++++++++++++++++++ 1 file changed, 126 insertions(+) create mode 100644 scripts/Plot/plot_orbit_observer.py diff --git a/scripts/Plot/plot_orbit_observer.py b/scripts/Plot/plot_orbit_observer.py new file mode 100644 index 000000000..b84c02830 --- /dev/null +++ b/scripts/Plot/plot_orbit_observer.py @@ -0,0 +1,126 @@ +# +# Plot orbit observer +# +# arg[1] : read_file_tag : time tag for default CSV output log file. ex. 220627_142946 +# + +# +# Import +# +# plots +import matplotlib.pyplot as plt +# numpy +import numpy as np +# local function +from common import find_latest_log_tag +from common import add_log_file_arguments +from common import read_3d_vector_from_csv +from common import read_scalar_from_csv +# arguments +import argparse + +# Arguments +aparser = argparse.ArgumentParser() +aparser = add_log_file_arguments(aparser) +aparser.add_argument('--no-gui', action='store_true') +args = aparser.parse_args() + +# +# Read Arguments +# +# log file path +path_to_logs = args.logs_dir + +read_file_tag = args.file_tag +if read_file_tag == None: + print("file tag does not found. use latest.") + read_file_tag = find_latest_log_tag(path_to_logs) + +print("log: " + read_file_tag) + +# +# CSV file name +# +read_file_name = path_to_logs + '/' + 'logs_' + read_file_tag + '/' + read_file_tag + '_default.csv' + +# +# Data read and edit +# +# Read S2E CSV +time = read_scalar_from_csv(read_file_name, 'elapsed_time[s]') + +measured_position_eci_m = read_3d_vector_from_csv(read_file_name, 'orbit_observer_position_i', 'm') +true_position_eci_m = read_3d_vector_from_csv(read_file_name, 'spacecraft_position_i', 'm') + +measured_velocity_eci_m_s = read_3d_vector_from_csv(read_file_name, 'orbit_observer_velocity_i', 'm/s') +true_velocity_eci_m_s = read_3d_vector_from_csv(read_file_name, 'spacecraft_velocity_i', 'm/s') + +# Statistics +position_error_m = measured_position_eci_m[:, 1:] - true_position_eci_m[:, 1:] +position_average = [0.0, 0.0, 0.0] +position_standard_deviation = [0.0, 0.0, 0.0] +velocity_error_m = measured_velocity_eci_m_s[:, 1:] - true_velocity_eci_m_s[:, 1:] +velocity_average = [0.0, 0.0, 0.0] +velocity_standard_deviation = [0.0, 0.0, 0.0] +for i in range(3): + position_average[i] = position_error_m[i].mean() + position_standard_deviation[i] = position_error_m[i].std() + velocity_average[i] = velocity_error_m[i].mean() + velocity_standard_deviation[i] = velocity_error_m[i].std() + +# +# Plot +# +unit = ' m' +fig, axis = plt.subplots(3, 1, squeeze = False, tight_layout = True, sharex = True) +axis[0, 0].plot(time[0], measured_position_eci_m[0], marker=".", c="red", label="MEASURED-X") +axis[0, 0].plot(time[0], true_position_eci_m[0], marker=".", c="orange", label="TRUE-X") +axis[0, 0].text(0.01, 0.99, "Error average:" + format(position_average[0], '+.2e') + unit, verticalalignment = 'top', transform = axis[0, 0].transAxes) +axis[0, 0].text(0.01, 0.79, "Standard deviation:" + format(position_standard_deviation[0], '+.2e') + unit, verticalalignment = 'top', transform = axis[0, 0].transAxes) +axis[0, 0].legend(loc = 'upper right') + +axis[1, 0].plot(time[0], measured_position_eci_m[1], marker=".", c="green", label="MEASURED-Y") +axis[1, 0].plot(time[0], true_position_eci_m[1], marker=".", c="yellow", label="TRUE-Y") +axis[1, 0].text(0.01, 0.99, "Error average:" + format(position_average[1], '+.2e') + unit, verticalalignment = 'top', transform = axis[1, 0].transAxes) +axis[1, 0].text(0.01, 0.79, "Standard deviation:" + format(position_standard_deviation[1], '+.2e') + unit, verticalalignment = 'top', transform = axis[1, 0].transAxes) +axis[1, 0].legend(loc = 'upper right') + +axis[2, 0].plot(time[0], measured_position_eci_m[2], marker=".", c="blue", label="MEASURED-Z") +axis[2, 0].plot(time[0], true_position_eci_m[2], marker=".", c="purple", label="TRUE-Z") +axis[2, 0].text(0.01, 0.99, "Error average:" + format(position_average[2], '+.2e') + unit, verticalalignment = 'top', transform = axis[2, 0].transAxes) +axis[2, 0].text(0.01, 0.79, "Standard deviation:" + format(position_standard_deviation[2], '+.2e') + unit, verticalalignment = 'top', transform = axis[2, 0].transAxes) +axis[2, 0].legend(loc = 'upper right') + +fig.suptitle("Orbit observer position results @ ECI") +fig.supylabel("Position [m]") +fig.supxlabel("Time [s]") + +unit = ' m/s' +fig, axis = plt.subplots(3, 1, squeeze = False, tight_layout = True, sharex = True) +axis[0, 0].plot(time[0], measured_velocity_eci_m_s[0], marker=".", c="red", label="MEASURED-X") +axis[0, 0].plot(time[0], true_velocity_eci_m_s[0], marker=".", c="orange", label="TRUE-X") +axis[0, 0].text(0.01, 0.99, "Error average:" + format(velocity_average[0], '+.2e') + unit, verticalalignment = 'top', transform = axis[0, 0].transAxes) +axis[0, 0].text(0.01, 0.79, "Standard deviation:" + format(velocity_standard_deviation[0], '+.2e') + unit, verticalalignment = 'top', transform = axis[0, 0].transAxes) +axis[0, 0].legend(loc = 'upper right') + +axis[1, 0].plot(time[0], measured_velocity_eci_m_s[1], marker=".", c="green", label="MEASURED-Y") +axis[1, 0].plot(time[0], true_velocity_eci_m_s[1], marker=".", c="yellow", label="TRUE-Y") +axis[1, 0].text(0.01, 0.99, "Error average:" + format(velocity_average[1], '+.2e') + unit, verticalalignment = 'top', transform = axis[1, 0].transAxes) +axis[1, 0].text(0.01, 0.79, "Standard deviation:" + format(velocity_standard_deviation[1], '+.2e') + unit, verticalalignment = 'top', transform = axis[1, 0].transAxes) +axis[1, 0].legend(loc = 'upper right') + +axis[2, 0].plot(time[0], measured_velocity_eci_m_s[2], marker=".", c="blue", label="MEASURED-Z") +axis[2, 0].plot(time[0], true_velocity_eci_m_s[2], marker=".", c="purple", label="TRUE-Z") +axis[2, 0].text(0.01, 0.99, "Error average:" + format(velocity_average[2], '+.2e') + unit, verticalalignment = 'top', transform = axis[2, 0].transAxes) +axis[2, 0].text(0.01, 0.79, "Standard deviation:" + format(velocity_standard_deviation[2], '+.2e') + unit, verticalalignment = 'top', transform = axis[2, 0].transAxes) +axis[2, 0].legend(loc = 'upper right') + +fig.suptitle("Orbit observer velocity results @ ECI") +fig.supylabel("Velocity [m/s]") +fig.supxlabel("Time [s]") + +# Data save +if args.no_gui: + plt.savefig(read_file_tag + "_orbit_observer.png") # save last figure only +else: + plt.show() From e9dcc23fc192d9a794043216eb435d117b2c4912 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Fri, 9 Feb 2024 11:01:08 +0100 Subject: [PATCH 143/456] Add log output for orbit observer --- src/simulation_sample/spacecraft/sample_components.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/src/simulation_sample/spacecraft/sample_components.cpp b/src/simulation_sample/spacecraft/sample_components.cpp index 1d997625f..ffe4023a5 100644 --- a/src/simulation_sample/spacecraft/sample_components.cpp +++ b/src/simulation_sample/spacecraft/sample_components.cpp @@ -221,4 +221,5 @@ void SampleComponents::LogSetup(Logger& logger) { logger.AddLogList(torque_generator_); logger.AddLogList(angular_velocity_observer_); logger.AddLogList(attitude_observer_); + logger.AddLogList(orbit_observer_); } From 095307c9088e0d4cb7a9b0dd942f2a99b7d6d11d Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Fri, 9 Feb 2024 11:32:20 +0100 Subject: [PATCH 144/456] Move external directory --- src/{library/external => external_libraries}/igrf/igrf.cpp | 0 src/{library/external => external_libraries}/igrf/igrf.h | 0 src/{library/external => external_libraries}/igrf/igrf11.coef | 0 src/{library/external => external_libraries}/igrf/igrf12.coef | 0 src/{library/external => external_libraries}/igrf/igrf13.coef | 0 src/{library/external => external_libraries}/inih/LICENSE.txt | 0 src/{library/external => external_libraries}/inih/README.md | 0 .../external => external_libraries}/inih/cpp/INIReader.cpp | 0 src/{library/external => external_libraries}/inih/cpp/INIReader.h | 0 src/{library/external => external_libraries}/inih/ini.c | 0 src/{library/external => external_libraries}/inih/ini.h | 0 .../nrlmsise00/wrapper_nrlmsise00.cpp | 0 .../nrlmsise00/wrapper_nrlmsise00.hpp | 0 src/{library/external => external_libraries}/sgp4/sgp4ext.cpp | 0 src/{library/external => external_libraries}/sgp4/sgp4ext.h | 0 src/{library/external => external_libraries}/sgp4/sgp4io.cpp | 0 src/{library/external => external_libraries}/sgp4/sgp4io.h | 0 src/{library/external => external_libraries}/sgp4/sgp4unit.cpp | 0 src/{library/external => external_libraries}/sgp4/sgp4unit.h | 0 19 files changed, 0 insertions(+), 0 deletions(-) rename src/{library/external => external_libraries}/igrf/igrf.cpp (100%) rename src/{library/external => external_libraries}/igrf/igrf.h (100%) rename src/{library/external => external_libraries}/igrf/igrf11.coef (100%) rename src/{library/external => external_libraries}/igrf/igrf12.coef (100%) rename src/{library/external => external_libraries}/igrf/igrf13.coef (100%) rename src/{library/external => external_libraries}/inih/LICENSE.txt (100%) rename src/{library/external => external_libraries}/inih/README.md (100%) rename src/{library/external => external_libraries}/inih/cpp/INIReader.cpp (100%) rename src/{library/external => external_libraries}/inih/cpp/INIReader.h (100%) rename src/{library/external => external_libraries}/inih/ini.c (100%) rename src/{library/external => external_libraries}/inih/ini.h (100%) rename src/{library/external => external_libraries}/nrlmsise00/wrapper_nrlmsise00.cpp (100%) rename src/{library/external => external_libraries}/nrlmsise00/wrapper_nrlmsise00.hpp (100%) rename src/{library/external => external_libraries}/sgp4/sgp4ext.cpp (100%) rename src/{library/external => external_libraries}/sgp4/sgp4ext.h (100%) rename src/{library/external => external_libraries}/sgp4/sgp4io.cpp (100%) rename src/{library/external => external_libraries}/sgp4/sgp4io.h (100%) rename src/{library/external => external_libraries}/sgp4/sgp4unit.cpp (100%) rename src/{library/external => external_libraries}/sgp4/sgp4unit.h (100%) diff --git a/src/library/external/igrf/igrf.cpp b/src/external_libraries/igrf/igrf.cpp similarity index 100% rename from src/library/external/igrf/igrf.cpp rename to src/external_libraries/igrf/igrf.cpp diff --git a/src/library/external/igrf/igrf.h b/src/external_libraries/igrf/igrf.h similarity index 100% rename from src/library/external/igrf/igrf.h rename to src/external_libraries/igrf/igrf.h diff --git a/src/library/external/igrf/igrf11.coef b/src/external_libraries/igrf/igrf11.coef similarity index 100% rename from src/library/external/igrf/igrf11.coef rename to src/external_libraries/igrf/igrf11.coef diff --git a/src/library/external/igrf/igrf12.coef b/src/external_libraries/igrf/igrf12.coef similarity index 100% rename from src/library/external/igrf/igrf12.coef rename to src/external_libraries/igrf/igrf12.coef diff --git a/src/library/external/igrf/igrf13.coef b/src/external_libraries/igrf/igrf13.coef similarity index 100% rename from src/library/external/igrf/igrf13.coef rename to src/external_libraries/igrf/igrf13.coef diff --git a/src/library/external/inih/LICENSE.txt b/src/external_libraries/inih/LICENSE.txt similarity index 100% rename from src/library/external/inih/LICENSE.txt rename to src/external_libraries/inih/LICENSE.txt diff --git a/src/library/external/inih/README.md b/src/external_libraries/inih/README.md similarity index 100% rename from src/library/external/inih/README.md rename to src/external_libraries/inih/README.md diff --git a/src/library/external/inih/cpp/INIReader.cpp b/src/external_libraries/inih/cpp/INIReader.cpp similarity index 100% rename from src/library/external/inih/cpp/INIReader.cpp rename to src/external_libraries/inih/cpp/INIReader.cpp diff --git a/src/library/external/inih/cpp/INIReader.h b/src/external_libraries/inih/cpp/INIReader.h similarity index 100% rename from src/library/external/inih/cpp/INIReader.h rename to src/external_libraries/inih/cpp/INIReader.h diff --git a/src/library/external/inih/ini.c b/src/external_libraries/inih/ini.c similarity index 100% rename from src/library/external/inih/ini.c rename to src/external_libraries/inih/ini.c diff --git a/src/library/external/inih/ini.h b/src/external_libraries/inih/ini.h similarity index 100% rename from src/library/external/inih/ini.h rename to src/external_libraries/inih/ini.h diff --git a/src/library/external/nrlmsise00/wrapper_nrlmsise00.cpp b/src/external_libraries/nrlmsise00/wrapper_nrlmsise00.cpp similarity index 100% rename from src/library/external/nrlmsise00/wrapper_nrlmsise00.cpp rename to src/external_libraries/nrlmsise00/wrapper_nrlmsise00.cpp diff --git a/src/library/external/nrlmsise00/wrapper_nrlmsise00.hpp b/src/external_libraries/nrlmsise00/wrapper_nrlmsise00.hpp similarity index 100% rename from src/library/external/nrlmsise00/wrapper_nrlmsise00.hpp rename to src/external_libraries/nrlmsise00/wrapper_nrlmsise00.hpp diff --git a/src/library/external/sgp4/sgp4ext.cpp b/src/external_libraries/sgp4/sgp4ext.cpp similarity index 100% rename from src/library/external/sgp4/sgp4ext.cpp rename to src/external_libraries/sgp4/sgp4ext.cpp diff --git a/src/library/external/sgp4/sgp4ext.h b/src/external_libraries/sgp4/sgp4ext.h similarity index 100% rename from src/library/external/sgp4/sgp4ext.h rename to src/external_libraries/sgp4/sgp4ext.h diff --git a/src/library/external/sgp4/sgp4io.cpp b/src/external_libraries/sgp4/sgp4io.cpp similarity index 100% rename from src/library/external/sgp4/sgp4io.cpp rename to src/external_libraries/sgp4/sgp4io.cpp diff --git a/src/library/external/sgp4/sgp4io.h b/src/external_libraries/sgp4/sgp4io.h similarity index 100% rename from src/library/external/sgp4/sgp4io.h rename to src/external_libraries/sgp4/sgp4io.h diff --git a/src/library/external/sgp4/sgp4unit.cpp b/src/external_libraries/sgp4/sgp4unit.cpp similarity index 100% rename from src/library/external/sgp4/sgp4unit.cpp rename to src/external_libraries/sgp4/sgp4unit.cpp diff --git a/src/library/external/sgp4/sgp4unit.h b/src/external_libraries/sgp4/sgp4unit.h similarity index 100% rename from src/library/external/sgp4/sgp4unit.h rename to src/external_libraries/sgp4/sgp4unit.h From 4829535d369241c1e45553b0650972d10b4d3130 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Fri, 9 Feb 2024 11:34:51 +0100 Subject: [PATCH 145/456] Modify CMake for new external_libraries directory --- CMakeLists.txt | 1 + src/external_libraries/CMakeLists.txt | 17 +++++++++++++++++ src/library/CMakeLists.txt | 8 -------- 3 files changed, 18 insertions(+), 8 deletions(-) create mode 100644 src/external_libraries/CMakeLists.txt diff --git a/CMakeLists.txt b/CMakeLists.txt index 76b16fcea..02c901cbb 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -89,6 +89,7 @@ add_subdirectory(src/dynamics) add_subdirectory(src/disturbances) add_subdirectory(src/components) add_subdirectory(src/library) +add_subdirectory(src/external_libraries) set(SOURCE_FILES src/s2e.cpp diff --git a/src/external_libraries/CMakeLists.txt b/src/external_libraries/CMakeLists.txt new file mode 100644 index 000000000..f4eb84eb8 --- /dev/null +++ b/src/external_libraries/CMakeLists.txt @@ -0,0 +1,17 @@ +project(EXTERNAL_LIBRARY) +cmake_minimum_required(VERSION 3.13) + +add_library(${PROJECT_NAME} STATIC + igrf/igrf.cpp + + inih/ini.c + inih/cpp/INIReader.cpp + + nrlmsise00/wrapper_nrlmsise00.cpp + + sgp4/sgp4ext.cpp + sgp4/sgp4io.cpp + sgp4/sgp4unit.cpp +) + +include(../../common.cmake) diff --git a/src/library/CMakeLists.txt b/src/library/CMakeLists.txt index 3499c09e9..5e77ed32e 100644 --- a/src/library/CMakeLists.txt +++ b/src/library/CMakeLists.txt @@ -44,14 +44,6 @@ add_library(${PROJECT_NAME} STATIC time_system/epoch_time.cpp time_system/gps_time.cpp - external/igrf/igrf.cpp - external/inih/ini.c - external/inih/cpp/INIReader.cpp - external/nrlmsise00/wrapper_nrlmsise00.cpp - external/sgp4/sgp4ext.cpp - external/sgp4/sgp4io.cpp - external/sgp4/sgp4unit.cpp - utilities/endian.cpp utilities/slip.cpp utilities/quantization.cpp From 84a3dde83acc9891a752800f84c01a52e9b1a7fa Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Fri, 9 Feb 2024 11:48:44 +0100 Subject: [PATCH 146/456] Batch conversion to the new directory path --- CMakeLists.txt | 4 ++-- .../initialize_files/sample_local_environment.ini | 2 +- src/dynamics/orbit/sgp4_orbit_propagation.hpp | 4 ++-- src/environment/global/earth_rotation.cpp | 4 ++-- src/environment/global/simulation_time.hpp | 6 +++--- src/environment/local/atmosphere.hpp | 2 +- src/environment/local/geomagnetic_field.cpp | 2 +- src/external_libraries/igrf/igrf.cpp | 12 ++++++------ src/library/geodesy/geodetic_position.cpp | 2 +- src/library/initialize/initialize_file_access.hpp | 2 +- 10 files changed, 20 insertions(+), 20 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 02c901cbb..5ac90d779 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -178,13 +178,13 @@ endif() #target_link_libraries(${PROJECT_NAME} ${NRLMSISE00_LIB}) # Initialize link -target_link_libraries(COMPONENT DYNAMICS GLOBAL_ENVIRONMENT LOCAL_ENVIRONMENT LIBRARY) +target_link_libraries(COMPONENT DYNAMICS GLOBAL_ENVIRONMENT LOCAL_ENVIRONMENT LIBRARY EXTERNAL_LIBRARY) target_link_libraries(DYNAMICS GLOBAL_ENVIRONMENT LOCAL_ENVIRONMENT SIMULATION LIBRARY) target_link_libraries(DISTURBANCE DYNAMICS GLOBAL_ENVIRONMENT LOCAL_ENVIRONMENT LIBRARY) target_link_libraries(SIMULATION DYNAMICS GLOBAL_ENVIRONMENT LOCAL_ENVIRONMENT DISTURBANCE LIBRARY) target_link_libraries(GLOBAL_ENVIRONMENT ${CSPICE_LIB} LIBRARY) target_link_libraries(LOCAL_ENVIRONMENT GLOBAL_ENVIRONMENT ${CSPICE_LIB} LIBRARY) -target_link_libraries(LIBRARY ${NRLMSISE00_LIB}) +target_link_libraries(EXTERNAL_LIBRARY ${NRLMSISE00_LIB}) target_link_libraries(${PROJECT_NAME} DYNAMICS) target_link_libraries(${PROJECT_NAME} DISTURBANCE) diff --git a/data/sample/initialize_files/sample_local_environment.ini b/data/sample/initialize_files/sample_local_environment.ini index fce7453c5..ee7bc165a 100644 --- a/data/sample/initialize_files/sample_local_environment.ini +++ b/data/sample/initialize_files/sample_local_environment.ini @@ -1,7 +1,7 @@ [MAGNETIC_FIELD_ENVIRONMENT] calculation = ENABLE logging = ENABLE -coefficient_file = CORE_DIR_FROM_EXE/src/library/external/igrf/igrf13.coef +coefficient_file = CORE_DIR_FROM_EXE/src/external_libraries/igrf/igrf13.coef magnetic_field_random_walk_standard_deviation_nT = 10.0 magnetic_field_random_walk_limit_nT = 400.0 magnetic_field_white_noise_standard_deviation_nT = 50.0 diff --git a/src/dynamics/orbit/sgp4_orbit_propagation.hpp b/src/dynamics/orbit/sgp4_orbit_propagation.hpp index 3ed68fbf9..fb2e40110 100644 --- a/src/dynamics/orbit/sgp4_orbit_propagation.hpp +++ b/src/dynamics/orbit/sgp4_orbit_propagation.hpp @@ -6,8 +6,8 @@ #ifndef S2E_DYNAMICS_ORBIT_SGP4_ORBIT_PROPAGATION_HPP_ #define S2E_DYNAMICS_ORBIT_SGP4_ORBIT_PROPAGATION_HPP_ -#include -#include +#include +#include #include diff --git a/src/environment/global/earth_rotation.cpp b/src/environment/global/earth_rotation.cpp index 2f8218dde..3032a12a6 100644 --- a/src/environment/global/earth_rotation.cpp +++ b/src/environment/global/earth_rotation.cpp @@ -11,8 +11,8 @@ #include #include -#include "library/external/sgp4/sgp4ext.h" // for jday() -#include "library/external/sgp4/sgp4unit.h" // for gstime() +#include "external_libraries/sgp4/sgp4ext.h" // for jday() +#include "external_libraries/sgp4/sgp4unit.h" // for gstime() #include "library/math/constants.hpp" // Default constructor diff --git a/src/environment/global/simulation_time.hpp b/src/environment/global/simulation_time.hpp index 26c407c7b..2861e2682 100644 --- a/src/environment/global/simulation_time.hpp +++ b/src/environment/global/simulation_time.hpp @@ -14,9 +14,9 @@ // #include #include -#include "library/external/sgp4/sgp4ext.h" -#include "library/external/sgp4/sgp4io.h" -#include "library/external/sgp4/sgp4unit.h" +#include "external_libraries/sgp4/sgp4ext.h" +#include "external_libraries/sgp4/sgp4io.h" +#include "external_libraries/sgp4/sgp4unit.h" #include "library/logger/loggable.hpp" /** diff --git a/src/environment/local/atmosphere.hpp b/src/environment/local/atmosphere.hpp index 5e93cd719..8c8be9a7f 100644 --- a/src/environment/local/atmosphere.hpp +++ b/src/environment/local/atmosphere.hpp @@ -11,7 +11,7 @@ #include "dynamics/orbit/orbit.hpp" #include "environment/global/simulation_time.hpp" #include "environment/local/local_celestial_information.hpp" -#include "library/external/nrlmsise00/wrapper_nrlmsise00.hpp" +#include "external_libraries/nrlmsise00/wrapper_nrlmsise00.hpp" #include "library/logger/loggable.hpp" #include "library/math/vector.hpp" diff --git a/src/environment/local/geomagnetic_field.cpp b/src/environment/local/geomagnetic_field.cpp index e45e04c69..62fcdb547 100644 --- a/src/environment/local/geomagnetic_field.cpp +++ b/src/environment/local/geomagnetic_field.cpp @@ -5,7 +5,7 @@ #include "geomagnetic_field.hpp" -#include "library/external/igrf/igrf.h" +#include "external_libraries/igrf/igrf.h" #include "library/initialize/initialize_file_access.hpp" #include "library/randomization/global_randomization.hpp" #include "library/randomization/normal_randomization.hpp" diff --git a/src/external_libraries/igrf/igrf.cpp b/src/external_libraries/igrf/igrf.cpp index 92c0b25ce..f9e8ddca3 100644 --- a/src/external_libraries/igrf/igrf.cpp +++ b/src/external_libraries/igrf/igrf.cpp @@ -297,12 +297,12 @@ void gigrf(int gen, double year) { // char file[]="igrf10.coef"; // char path[] = "igrf11.coef"; // char file[] = "igrf11.coef"; - // char path[] = "src/library/external/igrf/igrf11.coef"; - // char file[] = "src/library/external/igrf/igrf11.coef"; - // char path[] = "../SatAttSim/src/library/external/igrf/igrf12.coef"; - // char file[] = "../SatAttSim/src/library/external/igrf/igrf12.coef"; - // char path[] = "../../SatAttSim/src/library/external/igrf/igrf13.coef"; //from 2020 - // char file[] = "../../SatAttSim/src/library/external/igrf/igrf13.coef"; //from 2020 + // char path[] = "src/external_libraries/igrf/igrf11.coef"; + // char file[] = "src/external_libraries/igrf/igrf11.coef"; + // char path[] = "../SatAttSim/src/external_libraries/igrf/igrf12.coef"; + // char file[] = "../SatAttSim/src/external_libraries/igrf/igrf12.coef"; + // char path[] = "../../SatAttSim/src/external_libraries/igrf/igrf13.coef"; //from 2020 + // char file[] = "../../SatAttSim/src/external_libraries/igrf/igrf13.coef"; //from 2020 char file[256]; diff --git a/src/library/geodesy/geodetic_position.cpp b/src/library/geodesy/geodetic_position.cpp index 1cb8c6abc..e3ac6725b 100644 --- a/src/library/geodesy/geodetic_position.cpp +++ b/src/library/geodesy/geodetic_position.cpp @@ -4,7 +4,7 @@ */ #include "geodetic_position.hpp" -#include // TODO: do not to use the functions in SGP4 library +#include // TODO: do not to use the functions in SGP4 library #include #include diff --git a/src/library/initialize/initialize_file_access.hpp b/src/library/initialize/initialize_file_access.hpp index 3d537b2ee..9b41cf545 100644 --- a/src/library/initialize/initialize_file_access.hpp +++ b/src/library/initialize/initialize_file_access.hpp @@ -17,7 +17,7 @@ #define NOMINMAX #include #else -#include +#include "../../external_libraries/inih/cpp/INIReader.h" #endif #include From 88e5abb8cf769b3602e99fe03406981511d780ad Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Fri, 9 Feb 2024 13:52:42 +0100 Subject: [PATCH 147/456] Move library/initialize to src/ --- .../initialize => initial_setting_file}/c2a_command_database.cpp | 0 .../initialize => initial_setting_file}/c2a_command_database.hpp | 0 .../initialize_file_access.cpp | 0 .../initialize_file_access.hpp | 0 .../initialize => initial_setting_file}/wings_operation_file.cpp | 0 .../initialize => initial_setting_file}/wings_operation_file.hpp | 0 6 files changed, 0 insertions(+), 0 deletions(-) rename src/{library/initialize => initial_setting_file}/c2a_command_database.cpp (100%) rename src/{library/initialize => initial_setting_file}/c2a_command_database.hpp (100%) rename src/{library/initialize => initial_setting_file}/initialize_file_access.cpp (100%) rename src/{library/initialize => initial_setting_file}/initialize_file_access.hpp (100%) rename src/{library/initialize => initial_setting_file}/wings_operation_file.cpp (100%) rename src/{library/initialize => initial_setting_file}/wings_operation_file.hpp (100%) diff --git a/src/library/initialize/c2a_command_database.cpp b/src/initial_setting_file/c2a_command_database.cpp similarity index 100% rename from src/library/initialize/c2a_command_database.cpp rename to src/initial_setting_file/c2a_command_database.cpp diff --git a/src/library/initialize/c2a_command_database.hpp b/src/initial_setting_file/c2a_command_database.hpp similarity index 100% rename from src/library/initialize/c2a_command_database.hpp rename to src/initial_setting_file/c2a_command_database.hpp diff --git a/src/library/initialize/initialize_file_access.cpp b/src/initial_setting_file/initialize_file_access.cpp similarity index 100% rename from src/library/initialize/initialize_file_access.cpp rename to src/initial_setting_file/initialize_file_access.cpp diff --git a/src/library/initialize/initialize_file_access.hpp b/src/initial_setting_file/initialize_file_access.hpp similarity index 100% rename from src/library/initialize/initialize_file_access.hpp rename to src/initial_setting_file/initialize_file_access.hpp diff --git a/src/library/initialize/wings_operation_file.cpp b/src/initial_setting_file/wings_operation_file.cpp similarity index 100% rename from src/library/initialize/wings_operation_file.cpp rename to src/initial_setting_file/wings_operation_file.cpp diff --git a/src/library/initialize/wings_operation_file.hpp b/src/initial_setting_file/wings_operation_file.hpp similarity index 100% rename from src/library/initialize/wings_operation_file.hpp rename to src/initial_setting_file/wings_operation_file.hpp From 7e132e1cf300cca4a7eb754f250fb880332a1d3f Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Fri, 9 Feb 2024 14:01:57 +0100 Subject: [PATCH 148/456] Batch conversion of include path to initial_setting_file --- CMakeLists.txt | 4 +++- src/components/base/sensor_template_functions.hpp | 2 +- src/components/ideal/angular_velocity_observer.cpp | 2 +- src/components/ideal/attitude_observer.cpp | 2 +- src/components/ideal/force_generator.cpp | 2 +- src/components/ideal/torque_generator.cpp | 2 +- src/components/ports/power_port.cpp | 2 +- src/components/real/aocs/gnss_receiver.cpp | 2 +- src/components/real/aocs/gyro_sensor.cpp | 2 +- src/components/real/aocs/magnetometer.cpp | 2 +- src/components/real/aocs/magnetorquer.cpp | 2 +- src/components/real/aocs/mtq_magnetometer_interference.cpp | 2 +- src/components/real/aocs/reaction_wheel.cpp | 2 +- src/components/real/aocs/star_sensor.cpp | 2 +- src/components/real/aocs/sun_sensor.cpp | 2 +- src/components/real/communication/antenna.cpp | 2 +- .../real/communication/antenna_radiation_pattern.cpp | 2 +- .../real/communication/ground_station_calculator.cpp | 2 +- .../real/communication/wings_command_sender_to_c2a.cpp | 2 +- .../real/communication/wings_command_sender_to_c2a.hpp | 4 ++-- src/components/real/mission/telescope.cpp | 2 +- src/components/real/power/battery.cpp | 2 +- src/components/real/power/csv_scenario_interface.cpp | 2 +- src/components/real/power/pcu_initial_study.cpp | 2 +- src/components/real/power/solar_array_panel.cpp | 2 +- src/components/real/propulsion/simple_thruster.cpp | 2 +- src/disturbances/air_drag.cpp | 2 +- src/disturbances/disturbances.cpp | 2 +- src/disturbances/geopotential.cpp | 2 +- src/disturbances/gravity_gradient.cpp | 2 +- src/disturbances/lunar_gravity_field.cpp | 2 +- src/disturbances/magnetic_disturbance.cpp | 2 +- src/disturbances/solar_radiation_pressure_disturbance.cpp | 2 +- src/disturbances/third_body_gravity.cpp | 2 +- src/dynamics/attitude/initialize_attitude.cpp | 2 +- src/dynamics/orbit/initialize_orbit.cpp | 2 +- src/dynamics/thermal/temperature.cpp | 2 +- src/environment/global/celestial_information.cpp | 2 +- src/environment/global/global_environment.cpp | 2 +- src/environment/global/gnss_satellites.cpp | 2 +- src/environment/global/hipparcos_catalogue.cpp | 2 +- src/environment/global/simulation_time.cpp | 2 +- src/environment/local/atmosphere.cpp | 2 +- src/environment/local/geomagnetic_field.cpp | 2 +- src/environment/local/local_environment.cpp | 2 +- .../local/solar_radiation_pressure_environment.cpp | 2 +- src/initial_setting_file/initialize_file_access.cpp | 2 +- src/initial_setting_file/initialize_file_access.hpp | 2 +- src/library/CMakeLists.txt | 4 ---- src/library/logger/initialize_log.cpp | 2 +- src/simulation/case/simulation_case.cpp | 2 +- src/simulation/ground_station/ground_station.cpp | 2 +- .../initialize_monte_carlo_simulation.cpp | 2 +- src/simulation/spacecraft/structure/initialize_structure.cpp | 2 +- src/simulation/spacecraft/structure/structure.cpp | 2 +- .../ground_station/sample_ground_station_components.cpp | 2 +- src/simulation_sample/spacecraft/sample_components.cpp | 2 +- 57 files changed, 59 insertions(+), 61 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 5ac90d779..36f28c6c4 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -90,6 +90,7 @@ add_subdirectory(src/disturbances) add_subdirectory(src/components) add_subdirectory(src/library) add_subdirectory(src/external_libraries) +add_subdirectory(src/initial_setting_file) set(SOURCE_FILES src/s2e.cpp @@ -178,13 +179,14 @@ endif() #target_link_libraries(${PROJECT_NAME} ${NRLMSISE00_LIB}) # Initialize link -target_link_libraries(COMPONENT DYNAMICS GLOBAL_ENVIRONMENT LOCAL_ENVIRONMENT LIBRARY EXTERNAL_LIBRARY) +target_link_libraries(COMPONENT DYNAMICS GLOBAL_ENVIRONMENT LOCAL_ENVIRONMENT LIBRARY INITIAL_SETTING_FILE) target_link_libraries(DYNAMICS GLOBAL_ENVIRONMENT LOCAL_ENVIRONMENT SIMULATION LIBRARY) target_link_libraries(DISTURBANCE DYNAMICS GLOBAL_ENVIRONMENT LOCAL_ENVIRONMENT LIBRARY) target_link_libraries(SIMULATION DYNAMICS GLOBAL_ENVIRONMENT LOCAL_ENVIRONMENT DISTURBANCE LIBRARY) target_link_libraries(GLOBAL_ENVIRONMENT ${CSPICE_LIB} LIBRARY) target_link_libraries(LOCAL_ENVIRONMENT GLOBAL_ENVIRONMENT ${CSPICE_LIB} LIBRARY) target_link_libraries(EXTERNAL_LIBRARY ${NRLMSISE00_LIB}) +target_link_libraries(INITIAL_SETTING_FILE EXTERNAL_LIBRARY) target_link_libraries(${PROJECT_NAME} DYNAMICS) target_link_libraries(${PROJECT_NAME} DISTURBANCE) diff --git a/src/components/base/sensor_template_functions.hpp b/src/components/base/sensor_template_functions.hpp index 3c3f46cd5..d5cb9af55 100644 --- a/src/components/base/sensor_template_functions.hpp +++ b/src/components/base/sensor_template_functions.hpp @@ -6,7 +6,7 @@ #ifndef S2E_COMPONENTS_BASE_SENSOR_TEMPLATE_FUNCTIONS_HPP_ #define S2E_COMPONENTS_BASE_SENSOR_TEMPLATE_FUNCTIONS_HPP_ -#include +#include #include template diff --git a/src/components/ideal/angular_velocity_observer.cpp b/src/components/ideal/angular_velocity_observer.cpp index 48b076140..991bf879a 100644 --- a/src/components/ideal/angular_velocity_observer.cpp +++ b/src/components/ideal/angular_velocity_observer.cpp @@ -5,7 +5,7 @@ #include "angular_velocity_observer.hpp" -#include +#include AngularVelocityObserver::AngularVelocityObserver(const int prescaler, ClockGenerator* clock_generator, Sensor& sensor_base, const Attitude& attitude) : Component(prescaler, clock_generator), Sensor(sensor_base), attitude_(attitude) {} diff --git a/src/components/ideal/attitude_observer.cpp b/src/components/ideal/attitude_observer.cpp index 7ddaa1a0c..bd91b6962 100644 --- a/src/components/ideal/attitude_observer.cpp +++ b/src/components/ideal/attitude_observer.cpp @@ -5,7 +5,7 @@ #include "attitude_observer.hpp" -#include +#include #include AttitudeObserver::AttitudeObserver(const int prescaler, ClockGenerator* clock_generator, const double standard_deviation_rad, diff --git a/src/components/ideal/force_generator.cpp b/src/components/ideal/force_generator.cpp index 8e7a610b9..22b92f109 100644 --- a/src/components/ideal/force_generator.cpp +++ b/src/components/ideal/force_generator.cpp @@ -6,7 +6,7 @@ #include "force_generator.hpp" #include -#include +#include // Constructor ForceGenerator::ForceGenerator(const int prescaler, ClockGenerator* clock_generator, const double magnitude_error_standard_deviation_N, diff --git a/src/components/ideal/torque_generator.cpp b/src/components/ideal/torque_generator.cpp index 5965fdc4e..70464dfee 100644 --- a/src/components/ideal/torque_generator.cpp +++ b/src/components/ideal/torque_generator.cpp @@ -6,7 +6,7 @@ #include "torque_generator.hpp" #include -#include +#include // Constructor TorqueGenerator::TorqueGenerator(const int prescaler, ClockGenerator* clock_generator, const double magnitude_error_standard_deviation_Nm, diff --git a/src/components/ports/power_port.cpp b/src/components/ports/power_port.cpp index d1456c10f..01eed7e73 100644 --- a/src/components/ports/power_port.cpp +++ b/src/components/ports/power_port.cpp @@ -6,7 +6,7 @@ #include "power_port.hpp" #include -#include +#include #include PowerPort::PowerPort() : kPortId(-1), current_limit_A_(10.0), minimum_voltage_V_(3.3), assumed_power_consumption_W_(0.0) { diff --git a/src/components/real/aocs/gnss_receiver.cpp b/src/components/real/aocs/gnss_receiver.cpp index 23cc3c099..ce587e01b 100644 --- a/src/components/real/aocs/gnss_receiver.cpp +++ b/src/components/real/aocs/gnss_receiver.cpp @@ -7,7 +7,7 @@ #include #include -#include +#include #include #include diff --git a/src/components/real/aocs/gyro_sensor.cpp b/src/components/real/aocs/gyro_sensor.cpp index b22f99e1f..beb32b7b5 100644 --- a/src/components/real/aocs/gyro_sensor.cpp +++ b/src/components/real/aocs/gyro_sensor.cpp @@ -5,7 +5,7 @@ #include "gyro_sensor.hpp" -#include +#include GyroSensor::GyroSensor(const int prescaler, ClockGenerator* clock_generator, Sensor& sensor_base, const unsigned int sensor_id, const libra::Quaternion& quaternion_b2c, const Dynamics* dynamics) diff --git a/src/components/real/aocs/magnetometer.cpp b/src/components/real/aocs/magnetometer.cpp index d6e44b9d1..f5c67beba 100644 --- a/src/components/real/aocs/magnetometer.cpp +++ b/src/components/real/aocs/magnetometer.cpp @@ -4,7 +4,7 @@ */ #include "magnetometer.hpp" -#include +#include #include Magnetometer::Magnetometer(int prescaler, ClockGenerator* clock_generator, Sensor& sensor_base, const unsigned int sensor_id, diff --git a/src/components/real/aocs/magnetorquer.cpp b/src/components/real/aocs/magnetorquer.cpp index ab47dc6d1..946449154 100644 --- a/src/components/real/aocs/magnetorquer.cpp +++ b/src/components/real/aocs/magnetorquer.cpp @@ -5,7 +5,7 @@ #include "magnetorquer.hpp" -#include +#include #include #include #include diff --git a/src/components/real/aocs/mtq_magnetometer_interference.cpp b/src/components/real/aocs/mtq_magnetometer_interference.cpp index c854453bd..b45255a45 100644 --- a/src/components/real/aocs/mtq_magnetometer_interference.cpp +++ b/src/components/real/aocs/mtq_magnetometer_interference.cpp @@ -5,7 +5,7 @@ #include "mtq_magnetometer_interference.hpp" -#include "library/initialize/initialize_file_access.hpp" +#include "initial_setting_file/initialize_file_access.hpp" MtqMagnetometerInterference::MtqMagnetometerInterference(const std::string file_name, Magnetometer& magnetometer, const Magnetorquer& magnetorquer, const size_t initialize_id) diff --git a/src/components/real/aocs/reaction_wheel.cpp b/src/components/real/aocs/reaction_wheel.cpp index 47dfe3bc6..88dcdb64c 100644 --- a/src/components/real/aocs/reaction_wheel.cpp +++ b/src/components/real/aocs/reaction_wheel.cpp @@ -6,7 +6,7 @@ #include #include -#include +#include #include #include #include diff --git a/src/components/real/aocs/star_sensor.cpp b/src/components/real/aocs/star_sensor.cpp index 15c4033f6..e6c16b5fc 100644 --- a/src/components/real/aocs/star_sensor.cpp +++ b/src/components/real/aocs/star_sensor.cpp @@ -6,7 +6,7 @@ #include "star_sensor.hpp" #include -#include +#include #include #include #include diff --git a/src/components/real/aocs/sun_sensor.cpp b/src/components/real/aocs/sun_sensor.cpp index c10959a9e..42fa3fbe2 100644 --- a/src/components/real/aocs/sun_sensor.cpp +++ b/src/components/real/aocs/sun_sensor.cpp @@ -8,7 +8,7 @@ #include #include using libra::NormalRand; -#include +#include #include #include diff --git a/src/components/real/communication/antenna.cpp b/src/components/real/communication/antenna.cpp index 3941e1690..be67b2d84 100644 --- a/src/components/real/communication/antenna.cpp +++ b/src/components/real/communication/antenna.cpp @@ -8,7 +8,7 @@ #include #include -#include +#include #include Antenna::Antenna(const int component_id, const libra::Quaternion& quaternion_b2c, const bool is_transmitter, const bool is_receiver, diff --git a/src/components/real/communication/antenna_radiation_pattern.cpp b/src/components/real/communication/antenna_radiation_pattern.cpp index e1812fe0f..96aa6d933 100644 --- a/src/components/real/communication/antenna_radiation_pattern.cpp +++ b/src/components/real/communication/antenna_radiation_pattern.cpp @@ -6,7 +6,7 @@ #include "antenna_radiation_pattern.hpp" #include -#include +#include #include AntennaRadiationPattern::AntennaRadiationPattern() { gain_dBi_.assign(length_theta_, std::vector(length_phi_, 0.0)); } diff --git a/src/components/real/communication/ground_station_calculator.cpp b/src/components/real/communication/ground_station_calculator.cpp index 87a550529..4e24fa3b0 100644 --- a/src/components/real/communication/ground_station_calculator.cpp +++ b/src/components/real/communication/ground_station_calculator.cpp @@ -6,7 +6,7 @@ #include "ground_station_calculator.hpp" #include -#include +#include #include GroundStationCalculator::GroundStationCalculator(const double loss_polarization_dB, const double loss_atmosphere_dB, const double loss_rainfall_dB, diff --git a/src/components/real/communication/wings_command_sender_to_c2a.cpp b/src/components/real/communication/wings_command_sender_to_c2a.cpp index 2bb94ec0f..cfe8ea5a7 100644 --- a/src/components/real/communication/wings_command_sender_to_c2a.cpp +++ b/src/components/real/communication/wings_command_sender_to_c2a.cpp @@ -7,7 +7,7 @@ #include "wings_command_sender_to_c2a.hpp" -#include +#include #include #include diff --git a/src/components/real/communication/wings_command_sender_to_c2a.hpp b/src/components/real/communication/wings_command_sender_to_c2a.hpp index d70964826..60c35e3f6 100644 --- a/src/components/real/communication/wings_command_sender_to_c2a.hpp +++ b/src/components/real/communication/wings_command_sender_to_c2a.hpp @@ -6,8 +6,8 @@ #ifndef S2E_COMPONENTS_REAL_COMMUNICATION_C2A_COMMAND_SENDER_HPP_ #define S2E_COMPONENTS_REAL_COMMUNICATION_C2A_COMMAND_SENDER_HPP_ -#include -#include +#include +#include #include "../../base/component.hpp" diff --git a/src/components/real/mission/telescope.cpp b/src/components/real/mission/telescope.cpp index 21a8efb71..bb4f9d5eb 100644 --- a/src/components/real/mission/telescope.cpp +++ b/src/components/real/mission/telescope.cpp @@ -7,7 +7,7 @@ #include #include -#include +#include #include using namespace std; diff --git a/src/components/real/power/battery.cpp b/src/components/real/power/battery.cpp index 072f55fc5..e1090c860 100644 --- a/src/components/real/power/battery.cpp +++ b/src/components/real/power/battery.cpp @@ -6,7 +6,7 @@ #include "battery.hpp" #include -#include +#include Battery::Battery(const int prescaler, ClockGenerator* clock_generator, int number_of_series, int number_of_parallel, double cell_capacity_Ah, const std::vector cell_discharge_curve_coefficients, double initial_dod, double cc_charge_c_rate, double cv_charge_voltage_V, diff --git a/src/components/real/power/csv_scenario_interface.cpp b/src/components/real/power/csv_scenario_interface.cpp index 1ed72c3d7..588ae58c4 100644 --- a/src/components/real/power/csv_scenario_interface.cpp +++ b/src/components/real/power/csv_scenario_interface.cpp @@ -5,7 +5,7 @@ #include "csv_scenario_interface.hpp" -#include +#include bool CsvScenarioInterface::is_csv_scenario_enabled_; std::map CsvScenarioInterface::buffer_line_id_; diff --git a/src/components/real/power/pcu_initial_study.cpp b/src/components/real/power/pcu_initial_study.cpp index d7249bd11..8d3e5aacd 100644 --- a/src/components/real/power/pcu_initial_study.cpp +++ b/src/components/real/power/pcu_initial_study.cpp @@ -8,7 +8,7 @@ #include #include #include -#include +#include PcuInitialStudy::PcuInitialStudy(const int prescaler, ClockGenerator* clock_generator, const std::vector saps, Battery* battery, double component_step_time_s) diff --git a/src/components/real/power/solar_array_panel.cpp b/src/components/real/power/solar_array_panel.cpp index b693e36e6..c80e9bf5d 100644 --- a/src/components/real/power/solar_array_panel.cpp +++ b/src/components/real/power/solar_array_panel.cpp @@ -7,7 +7,7 @@ #include #include -#include +#include SolarArrayPanel::SolarArrayPanel(const int prescaler, ClockGenerator* clock_generator, int component_id, int number_of_series, int number_of_parallel, double cell_area_m2, libra::Vector<3> normal_vector, double cell_efficiency, double transmission_efficiency, diff --git a/src/components/real/propulsion/simple_thruster.cpp b/src/components/real/propulsion/simple_thruster.cpp index 31078a501..eb0ae25c6 100644 --- a/src/components/real/propulsion/simple_thruster.cpp +++ b/src/components/real/propulsion/simple_thruster.cpp @@ -5,7 +5,7 @@ #include "simple_thruster.hpp" #include -#include +#include #include #include diff --git a/src/disturbances/air_drag.cpp b/src/disturbances/air_drag.cpp index df23967a7..f4a7da23c 100644 --- a/src/disturbances/air_drag.cpp +++ b/src/disturbances/air_drag.cpp @@ -7,7 +7,7 @@ #include #include -#include +#include #include #include "../library/logger/log_utility.hpp" diff --git a/src/disturbances/disturbances.cpp b/src/disturbances/disturbances.cpp index 709200464..a5d096529 100644 --- a/src/disturbances/disturbances.cpp +++ b/src/disturbances/disturbances.cpp @@ -5,7 +5,7 @@ #include "disturbances.hpp" -#include +#include #include "air_drag.hpp" #include "geopotential.hpp" diff --git a/src/disturbances/geopotential.cpp b/src/disturbances/geopotential.cpp index 39b3e4300..8d22b2b63 100644 --- a/src/disturbances/geopotential.cpp +++ b/src/disturbances/geopotential.cpp @@ -10,7 +10,7 @@ #include #include #include -#include +#include #include "../library/logger/log_utility.hpp" #include "../library/utilities/macros.hpp" diff --git a/src/disturbances/gravity_gradient.cpp b/src/disturbances/gravity_gradient.cpp index 2efbd14a1..3756c60cb 100644 --- a/src/disturbances/gravity_gradient.cpp +++ b/src/disturbances/gravity_gradient.cpp @@ -7,7 +7,7 @@ #include #include -#include +#include #include "../library/logger/log_utility.hpp" diff --git a/src/disturbances/lunar_gravity_field.cpp b/src/disturbances/lunar_gravity_field.cpp index 26adc70ad..9eae7f0ff 100644 --- a/src/disturbances/lunar_gravity_field.cpp +++ b/src/disturbances/lunar_gravity_field.cpp @@ -10,7 +10,7 @@ #include #include #include -#include +#include #include "../library/logger/log_utility.hpp" #include "../library/utilities/macros.hpp" diff --git a/src/disturbances/magnetic_disturbance.cpp b/src/disturbances/magnetic_disturbance.cpp index 8e9fe05b3..f21385379 100644 --- a/src/disturbances/magnetic_disturbance.cpp +++ b/src/disturbances/magnetic_disturbance.cpp @@ -5,7 +5,7 @@ #include "magnetic_disturbance.hpp" -#include +#include #include #include "../library/logger/log_utility.hpp" diff --git a/src/disturbances/solar_radiation_pressure_disturbance.cpp b/src/disturbances/solar_radiation_pressure_disturbance.cpp index 711a52cec..275487a80 100644 --- a/src/disturbances/solar_radiation_pressure_disturbance.cpp +++ b/src/disturbances/solar_radiation_pressure_disturbance.cpp @@ -6,7 +6,7 @@ #include "solar_radiation_pressure_disturbance.hpp" #include -#include +#include #include "../library/logger/log_utility.hpp" diff --git a/src/disturbances/third_body_gravity.cpp b/src/disturbances/third_body_gravity.cpp index b7ed2ed63..f6b3392a9 100644 --- a/src/disturbances/third_body_gravity.cpp +++ b/src/disturbances/third_body_gravity.cpp @@ -5,7 +5,7 @@ #include "third_body_gravity.hpp" -#include +#include ThirdBodyGravity::ThirdBodyGravity(std::set third_body_list, const bool is_calculation_enabled) : Disturbance(is_calculation_enabled, false), third_body_list_(third_body_list) { diff --git a/src/dynamics/attitude/initialize_attitude.cpp b/src/dynamics/attitude/initialize_attitude.cpp index ed0e00511..59630481a 100644 --- a/src/dynamics/attitude/initialize_attitude.cpp +++ b/src/dynamics/attitude/initialize_attitude.cpp @@ -4,7 +4,7 @@ */ #include "initialize_attitude.hpp" -#include +#include Attitude* InitAttitude(std::string file_name, const Orbit* orbit, const LocalCelestialInformation* local_celestial_information, const double step_width_s, const libra::Matrix<3, 3>& inertia_tensor_kgm2, const int spacecraft_id) { diff --git a/src/dynamics/orbit/initialize_orbit.cpp b/src/dynamics/orbit/initialize_orbit.cpp index c05b3f6bf..c2c7515f9 100644 --- a/src/dynamics/orbit/initialize_orbit.cpp +++ b/src/dynamics/orbit/initialize_orbit.cpp @@ -4,7 +4,7 @@ */ #include "initialize_orbit.hpp" -#include +#include #include "encke_orbit_propagation.hpp" #include "kepler_orbit_propagation.hpp" diff --git a/src/dynamics/thermal/temperature.cpp b/src/dynamics/thermal/temperature.cpp index 9b1b37d89..a09c241ca 100644 --- a/src/dynamics/thermal/temperature.cpp +++ b/src/dynamics/thermal/temperature.cpp @@ -9,7 +9,7 @@ #include #include #include -#include +#include #include using namespace std; diff --git a/src/environment/global/celestial_information.cpp b/src/environment/global/celestial_information.cpp index 9e7a2c71a..c22e4944a 100644 --- a/src/environment/global/celestial_information.cpp +++ b/src/environment/global/celestial_information.cpp @@ -15,7 +15,7 @@ #include #include -#include "library/initialize/initialize_file_access.hpp" +#include "initial_setting_file/initialize_file_access.hpp" #include "library/logger/log_utility.hpp" CelestialInformation::CelestialInformation(const std::string inertial_frame_name, const std::string aberration_correction_setting, diff --git a/src/environment/global/global_environment.cpp b/src/environment/global/global_environment.cpp index cce9a8442..117817859 100644 --- a/src/environment/global/global_environment.cpp +++ b/src/environment/global/global_environment.cpp @@ -5,7 +5,7 @@ #include "global_environment.hpp" -#include "library/initialize/initialize_file_access.hpp" +#include "initial_setting_file/initialize_file_access.hpp" GlobalEnvironment::GlobalEnvironment(const SimulationConfiguration* simulation_configuration) { Initialize(simulation_configuration); } diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index 7892b1e0e..ce5076a30 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -9,7 +9,7 @@ #include #include "environment/global/physical_constants.hpp" -#include "library/initialize/initialize_file_access.hpp" +#include "initial_setting_file/initialize_file_access.hpp" #include "library/logger/log_utility.hpp" #include "library/math/constants.hpp" #include "library/time_system/date_time_format.hpp" diff --git a/src/environment/global/hipparcos_catalogue.cpp b/src/environment/global/hipparcos_catalogue.cpp index 0ea5de6d0..dcf3a4cba 100644 --- a/src/environment/global/hipparcos_catalogue.cpp +++ b/src/environment/global/hipparcos_catalogue.cpp @@ -11,7 +11,7 @@ #include #include -#include "library/initialize/initialize_file_access.hpp" +#include "initial_setting_file/initialize_file_access.hpp" #include "library/math/constants.hpp" HipparcosCatalogue::HipparcosCatalogue(double max_magnitude, std::string catalogue_path) diff --git a/src/environment/global/simulation_time.cpp b/src/environment/global/simulation_time.cpp index 5872ad1c1..5fa6ef6f6 100644 --- a/src/environment/global/simulation_time.cpp +++ b/src/environment/global/simulation_time.cpp @@ -12,7 +12,7 @@ #include #include -#include "library/initialize/initialize_file_access.hpp" +#include "initial_setting_file/initialize_file_access.hpp" #ifdef WIN32 #include #else diff --git a/src/environment/local/atmosphere.cpp b/src/environment/local/atmosphere.cpp index 5d57621af..1c3c84ad8 100644 --- a/src/environment/local/atmosphere.cpp +++ b/src/environment/local/atmosphere.cpp @@ -7,7 +7,7 @@ #include "library/atmosphere/harris_priester_model.hpp" #include "library/atmosphere/simple_air_density_model.hpp" -#include "library/initialize/initialize_file_access.hpp" +#include "initial_setting_file/initialize_file_access.hpp" #include "library/logger/log_utility.hpp" #include "library/math/vector.hpp" #include "library/randomization/global_randomization.hpp" diff --git a/src/environment/local/geomagnetic_field.cpp b/src/environment/local/geomagnetic_field.cpp index 62fcdb547..7c9849920 100644 --- a/src/environment/local/geomagnetic_field.cpp +++ b/src/environment/local/geomagnetic_field.cpp @@ -6,7 +6,7 @@ #include "geomagnetic_field.hpp" #include "external_libraries/igrf/igrf.h" -#include "library/initialize/initialize_file_access.hpp" +#include "initial_setting_file/initialize_file_access.hpp" #include "library/randomization/global_randomization.hpp" #include "library/randomization/normal_randomization.hpp" #include "library/randomization/random_walk.hpp" diff --git a/src/environment/local/local_environment.cpp b/src/environment/local/local_environment.cpp index dba52989c..030ac57bb 100644 --- a/src/environment/local/local_environment.cpp +++ b/src/environment/local/local_environment.cpp @@ -6,7 +6,7 @@ #include "dynamics/attitude/attitude.hpp" #include "dynamics/orbit/orbit.hpp" -#include "library/initialize/initialize_file_access.hpp" +#include "initial_setting_file/initialize_file_access.hpp" LocalEnvironment::LocalEnvironment(const SimulationConfiguration* simulation_configuration, const GlobalEnvironment* global_environment, const int spacecraft_id) { diff --git a/src/environment/local/solar_radiation_pressure_environment.cpp b/src/environment/local/solar_radiation_pressure_environment.cpp index 8f5859e1e..cec8e17e3 100644 --- a/src/environment/local/solar_radiation_pressure_environment.cpp +++ b/src/environment/local/solar_radiation_pressure_environment.cpp @@ -8,7 +8,7 @@ #include #include -#include "library/initialize/initialize_file_access.hpp" +#include "initial_setting_file/initialize_file_access.hpp" #include "library/logger/log_utility.hpp" #include "library/math/constants.hpp" #include "library/math/vector.hpp" diff --git a/src/initial_setting_file/initialize_file_access.cpp b/src/initial_setting_file/initialize_file_access.cpp index b05e31e98..10cc19eca 100644 --- a/src/initial_setting_file/initialize_file_access.cpp +++ b/src/initial_setting_file/initialize_file_access.cpp @@ -12,7 +12,7 @@ #include #include -#include "../utilities/macros.hpp" +#include "../library/utilities/macros.hpp" #ifdef WIN32 IniAccess::IniAccess(const std::string file_path) : file_path_(file_path) { diff --git a/src/initial_setting_file/initialize_file_access.hpp b/src/initial_setting_file/initialize_file_access.hpp index 9b41cf545..164085abe 100644 --- a/src/initial_setting_file/initialize_file_access.hpp +++ b/src/initial_setting_file/initialize_file_access.hpp @@ -17,7 +17,7 @@ #define NOMINMAX #include #else -#include "../../external_libraries/inih/cpp/INIReader.h" +#include "../external_libraries/inih/cpp/INIReader.h" #endif #include diff --git a/src/library/CMakeLists.txt b/src/library/CMakeLists.txt index 5e77ed32e..f012ed23e 100644 --- a/src/library/CMakeLists.txt +++ b/src/library/CMakeLists.txt @@ -12,10 +12,6 @@ add_library(${PROJECT_NAME} STATIC gnss/antex_file_reader.cpp gnss/bias_sinex_file_reader.cpp - initialize/initialize_file_access.cpp - initialize/c2a_command_database.cpp - initialize/wings_operation_file.cpp - logger/logger.cpp logger/initialize_log.cpp diff --git a/src/library/logger/initialize_log.cpp b/src/library/logger/initialize_log.cpp index 74f8b377e..1d9c35c9f 100644 --- a/src/library/logger/initialize_log.cpp +++ b/src/library/logger/initialize_log.cpp @@ -5,7 +5,7 @@ #include "initialize_log.hpp" -#include +#include "../../initial_setting_file/initialize_file_access.hpp" Logger* InitLog(std::string file_name) { IniAccess ini_file(file_name); diff --git a/src/simulation/case/simulation_case.cpp b/src/simulation/case/simulation_case.cpp index 334514a94..3118c4300 100644 --- a/src/simulation/case/simulation_case.cpp +++ b/src/simulation/case/simulation_case.cpp @@ -5,7 +5,7 @@ #include "simulation_case.hpp" -#include +#include #include #include diff --git a/src/simulation/ground_station/ground_station.cpp b/src/simulation/ground_station/ground_station.cpp index cac7332f2..878001927 100644 --- a/src/simulation/ground_station/ground_station.cpp +++ b/src/simulation/ground_station/ground_station.cpp @@ -6,7 +6,7 @@ #include "ground_station.hpp" #include -#include +#include #include #include #include diff --git a/src/simulation/monte_carlo_simulation/initialize_monte_carlo_simulation.cpp b/src/simulation/monte_carlo_simulation/initialize_monte_carlo_simulation.cpp index dbe10646b..03e50263e 100644 --- a/src/simulation/monte_carlo_simulation/initialize_monte_carlo_simulation.cpp +++ b/src/simulation/monte_carlo_simulation/initialize_monte_carlo_simulation.cpp @@ -6,7 +6,7 @@ #include "initialize_monte_carlo_simulation.hpp" #include -#include +#include #define MAX_CHAR_NUM 256 diff --git a/src/simulation/spacecraft/structure/initialize_structure.cpp b/src/simulation/spacecraft/structure/initialize_structure.cpp index 3ad332234..04e7dc345 100644 --- a/src/simulation/spacecraft/structure/initialize_structure.cpp +++ b/src/simulation/spacecraft/structure/initialize_structure.cpp @@ -5,7 +5,7 @@ #include "initialize_structure.hpp" -#include +#include #include #define MIN_VAL 1e-6 diff --git a/src/simulation/spacecraft/structure/structure.cpp b/src/simulation/spacecraft/structure/structure.cpp index b16de8b09..0fa340d4e 100644 --- a/src/simulation/spacecraft/structure/structure.cpp +++ b/src/simulation/spacecraft/structure/structure.cpp @@ -5,7 +5,7 @@ #include "structure.hpp" -#include +#include #include Structure::Structure(const SimulationConfiguration* simulation_configuration, const int spacecraft_id) { diff --git a/src/simulation_sample/ground_station/sample_ground_station_components.cpp b/src/simulation_sample/ground_station/sample_ground_station_components.cpp index 53d5e67f3..6fa089bd7 100644 --- a/src/simulation_sample/ground_station/sample_ground_station_components.cpp +++ b/src/simulation_sample/ground_station/sample_ground_station_components.cpp @@ -4,7 +4,7 @@ */ #include "sample_ground_station_components.hpp" -#include +#include SampleGsComponents::SampleGsComponents(const SimulationConfiguration* configuration) : configuration_(configuration) { IniAccess iniAccess = IniAccess(configuration_->ground_station_file_list_[0]); diff --git a/src/simulation_sample/spacecraft/sample_components.cpp b/src/simulation_sample/spacecraft/sample_components.cpp index d529d040a..e2ead253b 100644 --- a/src/simulation_sample/spacecraft/sample_components.cpp +++ b/src/simulation_sample/spacecraft/sample_components.cpp @@ -5,7 +5,7 @@ #include "sample_components.hpp" -#include +#include #include "sample_port_configuration.hpp" From d1f32b94b1cd6734b9747592937a1b4824ffd28f Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Fri, 9 Feb 2024 14:02:11 +0100 Subject: [PATCH 149/456] Add CMakeLists --- src/initial_setting_file/CMakeLists.txt | 10 ++++++++++ 1 file changed, 10 insertions(+) create mode 100644 src/initial_setting_file/CMakeLists.txt diff --git a/src/initial_setting_file/CMakeLists.txt b/src/initial_setting_file/CMakeLists.txt new file mode 100644 index 000000000..ffd27e9fd --- /dev/null +++ b/src/initial_setting_file/CMakeLists.txt @@ -0,0 +1,10 @@ +project(INITIAL_SETTING_FILE) +cmake_minimum_required(VERSION 3.13) + +add_library(${PROJECT_NAME} STATIC + initialize_file_access.cpp + c2a_command_database.cpp + wings_operation_file.cpp +) + +include(../../common.cmake) From 99bd7f2d3f0b33f9a22eb05b802b6de3307bed7c Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Fri, 9 Feb 2024 14:16:02 +0100 Subject: [PATCH 150/456] Move library/logger directory --- src/{library => }/logger/initialize_log.cpp | 0 src/{library => }/logger/initialize_log.hpp | 0 src/{library => }/logger/log_utility.hpp | 0 src/{library => }/logger/loggable.hpp | 0 src/{library => }/logger/logger.cpp | 0 src/{library => }/logger/logger.hpp | 0 6 files changed, 0 insertions(+), 0 deletions(-) rename src/{library => }/logger/initialize_log.cpp (100%) rename src/{library => }/logger/initialize_log.hpp (100%) rename src/{library => }/logger/log_utility.hpp (100%) rename src/{library => }/logger/loggable.hpp (100%) rename src/{library => }/logger/logger.cpp (100%) rename src/{library => }/logger/logger.hpp (100%) diff --git a/src/library/logger/initialize_log.cpp b/src/logger/initialize_log.cpp similarity index 100% rename from src/library/logger/initialize_log.cpp rename to src/logger/initialize_log.cpp diff --git a/src/library/logger/initialize_log.hpp b/src/logger/initialize_log.hpp similarity index 100% rename from src/library/logger/initialize_log.hpp rename to src/logger/initialize_log.hpp diff --git a/src/library/logger/log_utility.hpp b/src/logger/log_utility.hpp similarity index 100% rename from src/library/logger/log_utility.hpp rename to src/logger/log_utility.hpp diff --git a/src/library/logger/loggable.hpp b/src/logger/loggable.hpp similarity index 100% rename from src/library/logger/loggable.hpp rename to src/logger/loggable.hpp diff --git a/src/library/logger/logger.cpp b/src/logger/logger.cpp similarity index 100% rename from src/library/logger/logger.cpp rename to src/logger/logger.cpp diff --git a/src/library/logger/logger.hpp b/src/logger/logger.hpp similarity index 100% rename from src/library/logger/logger.hpp rename to src/logger/logger.hpp From 99beed7415539e3695a213ce00056b5bf0025ffa Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Fri, 9 Feb 2024 14:24:34 +0100 Subject: [PATCH 151/456] Fix format --- src/components/real/aocs/gnss_receiver.cpp | 2 +- src/components/real/aocs/reaction_wheel.cpp | 2 +- src/disturbances/geopotential.cpp | 2 +- src/disturbances/lunar_gravity_field.cpp | 2 +- src/dynamics/orbit/sgp4_orbit_propagation.hpp | 4 ++-- src/environment/local/atmosphere.cpp | 2 +- 6 files changed, 7 insertions(+), 7 deletions(-) diff --git a/src/components/real/aocs/gnss_receiver.cpp b/src/components/real/aocs/gnss_receiver.cpp index ce587e01b..c330abe2f 100644 --- a/src/components/real/aocs/gnss_receiver.cpp +++ b/src/components/real/aocs/gnss_receiver.cpp @@ -6,8 +6,8 @@ #include "gnss_receiver.hpp" #include -#include #include +#include #include #include diff --git a/src/components/real/aocs/reaction_wheel.cpp b/src/components/real/aocs/reaction_wheel.cpp index 88dcdb64c..851e8f27c 100644 --- a/src/components/real/aocs/reaction_wheel.cpp +++ b/src/components/real/aocs/reaction_wheel.cpp @@ -5,8 +5,8 @@ #include "reaction_wheel.hpp" #include -#include #include +#include #include #include #include diff --git a/src/disturbances/geopotential.cpp b/src/disturbances/geopotential.cpp index 8d22b2b63..623378d7e 100644 --- a/src/disturbances/geopotential.cpp +++ b/src/disturbances/geopotential.cpp @@ -9,8 +9,8 @@ #include #include #include -#include #include +#include #include "../library/logger/log_utility.hpp" #include "../library/utilities/macros.hpp" diff --git a/src/disturbances/lunar_gravity_field.cpp b/src/disturbances/lunar_gravity_field.cpp index 9eae7f0ff..5719d45a3 100644 --- a/src/disturbances/lunar_gravity_field.cpp +++ b/src/disturbances/lunar_gravity_field.cpp @@ -9,8 +9,8 @@ #include #include #include -#include #include +#include #include "../library/logger/log_utility.hpp" #include "../library/utilities/macros.hpp" diff --git a/src/dynamics/orbit/sgp4_orbit_propagation.hpp b/src/dynamics/orbit/sgp4_orbit_propagation.hpp index fb2e40110..4b7f1a216 100644 --- a/src/dynamics/orbit/sgp4_orbit_propagation.hpp +++ b/src/dynamics/orbit/sgp4_orbit_propagation.hpp @@ -41,8 +41,8 @@ class Sgp4OrbitPropagation : public Orbit { virtual void Propagate(const double end_time_s, const double current_time_jd); private: - gravconsttype gravity_constant_setting_; //!< Gravity constant value type - elsetrec sgp4_data_; //!< Structure data for SGP4 library + gravconsttype gravity_constant_setting_; //!< Gravity constant value type + elsetrec sgp4_data_; //!< Structure data for SGP4 library }; #endif // S2E_DYNAMICS_ORBIT_SGP4_ORBIT_PROPAGATION_HPP_ diff --git a/src/environment/local/atmosphere.cpp b/src/environment/local/atmosphere.cpp index 1c3c84ad8..ae08129fa 100644 --- a/src/environment/local/atmosphere.cpp +++ b/src/environment/local/atmosphere.cpp @@ -5,9 +5,9 @@ #include "atmosphere.hpp" +#include "initial_setting_file/initialize_file_access.hpp" #include "library/atmosphere/harris_priester_model.hpp" #include "library/atmosphere/simple_air_density_model.hpp" -#include "initial_setting_file/initialize_file_access.hpp" #include "library/logger/log_utility.hpp" #include "library/math/vector.hpp" #include "library/randomization/global_randomization.hpp" From 80814dd7cb9c85626dab1df2ba90077d10067d5e Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Fri, 9 Feb 2024 14:28:15 +0100 Subject: [PATCH 152/456] Rename initiali_setting_file to setting_file_reader --- src/{initial_setting_file => setting_file_reader}/CMakeLists.txt | 0 .../c2a_command_database.cpp | 0 .../c2a_command_database.hpp | 0 .../initialize_file_access.cpp | 0 .../initialize_file_access.hpp | 0 .../wings_operation_file.cpp | 0 .../wings_operation_file.hpp | 0 7 files changed, 0 insertions(+), 0 deletions(-) rename src/{initial_setting_file => setting_file_reader}/CMakeLists.txt (100%) rename src/{initial_setting_file => setting_file_reader}/c2a_command_database.cpp (100%) rename src/{initial_setting_file => setting_file_reader}/c2a_command_database.hpp (100%) rename src/{initial_setting_file => setting_file_reader}/initialize_file_access.cpp (100%) rename src/{initial_setting_file => setting_file_reader}/initialize_file_access.hpp (100%) rename src/{initial_setting_file => setting_file_reader}/wings_operation_file.cpp (100%) rename src/{initial_setting_file => setting_file_reader}/wings_operation_file.hpp (100%) diff --git a/src/initial_setting_file/CMakeLists.txt b/src/setting_file_reader/CMakeLists.txt similarity index 100% rename from src/initial_setting_file/CMakeLists.txt rename to src/setting_file_reader/CMakeLists.txt diff --git a/src/initial_setting_file/c2a_command_database.cpp b/src/setting_file_reader/c2a_command_database.cpp similarity index 100% rename from src/initial_setting_file/c2a_command_database.cpp rename to src/setting_file_reader/c2a_command_database.cpp diff --git a/src/initial_setting_file/c2a_command_database.hpp b/src/setting_file_reader/c2a_command_database.hpp similarity index 100% rename from src/initial_setting_file/c2a_command_database.hpp rename to src/setting_file_reader/c2a_command_database.hpp diff --git a/src/initial_setting_file/initialize_file_access.cpp b/src/setting_file_reader/initialize_file_access.cpp similarity index 100% rename from src/initial_setting_file/initialize_file_access.cpp rename to src/setting_file_reader/initialize_file_access.cpp diff --git a/src/initial_setting_file/initialize_file_access.hpp b/src/setting_file_reader/initialize_file_access.hpp similarity index 100% rename from src/initial_setting_file/initialize_file_access.hpp rename to src/setting_file_reader/initialize_file_access.hpp diff --git a/src/initial_setting_file/wings_operation_file.cpp b/src/setting_file_reader/wings_operation_file.cpp similarity index 100% rename from src/initial_setting_file/wings_operation_file.cpp rename to src/setting_file_reader/wings_operation_file.cpp diff --git a/src/initial_setting_file/wings_operation_file.hpp b/src/setting_file_reader/wings_operation_file.hpp similarity index 100% rename from src/initial_setting_file/wings_operation_file.hpp rename to src/setting_file_reader/wings_operation_file.hpp From 08c866a85eea32f63910dac6eb709584e41cb8c5 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Fri, 9 Feb 2024 14:31:04 +0100 Subject: [PATCH 153/456] Batch conversion to new name --- CMakeLists.txt | 6 +++--- src/components/base/sensor_template_functions.hpp | 2 +- src/components/ideal/angular_velocity_observer.cpp | 2 +- src/components/ideal/attitude_observer.cpp | 2 +- src/components/ideal/force_generator.cpp | 2 +- src/components/ideal/torque_generator.cpp | 2 +- src/components/ports/power_port.cpp | 2 +- src/components/real/aocs/gnss_receiver.cpp | 2 +- src/components/real/aocs/gyro_sensor.cpp | 2 +- src/components/real/aocs/magnetometer.cpp | 2 +- src/components/real/aocs/magnetorquer.cpp | 2 +- src/components/real/aocs/mtq_magnetometer_interference.cpp | 2 +- src/components/real/aocs/reaction_wheel.cpp | 2 +- src/components/real/aocs/star_sensor.cpp | 2 +- src/components/real/aocs/sun_sensor.cpp | 2 +- src/components/real/communication/antenna.cpp | 2 +- .../real/communication/antenna_radiation_pattern.cpp | 2 +- .../real/communication/ground_station_calculator.cpp | 2 +- .../real/communication/wings_command_sender_to_c2a.cpp | 2 +- .../real/communication/wings_command_sender_to_c2a.hpp | 4 ++-- src/components/real/mission/telescope.cpp | 2 +- src/components/real/power/battery.cpp | 2 +- src/components/real/power/csv_scenario_interface.cpp | 2 +- src/components/real/power/pcu_initial_study.cpp | 2 +- src/components/real/power/solar_array_panel.cpp | 2 +- src/components/real/propulsion/simple_thruster.cpp | 2 +- src/disturbances/air_drag.cpp | 2 +- src/disturbances/disturbances.cpp | 2 +- src/disturbances/geopotential.cpp | 2 +- src/disturbances/gravity_gradient.cpp | 2 +- src/disturbances/lunar_gravity_field.cpp | 2 +- src/disturbances/magnetic_disturbance.cpp | 2 +- src/disturbances/solar_radiation_pressure_disturbance.cpp | 2 +- src/disturbances/third_body_gravity.cpp | 2 +- src/dynamics/attitude/initialize_attitude.cpp | 2 +- src/dynamics/orbit/initialize_orbit.cpp | 2 +- src/dynamics/thermal/temperature.cpp | 2 +- src/environment/global/celestial_information.cpp | 2 +- src/environment/global/global_environment.cpp | 2 +- src/environment/global/gnss_satellites.cpp | 2 +- src/environment/global/hipparcos_catalogue.cpp | 2 +- src/environment/global/simulation_time.cpp | 2 +- src/environment/local/atmosphere.cpp | 2 +- src/environment/local/geomagnetic_field.cpp | 2 +- src/environment/local/local_environment.cpp | 2 +- .../local/solar_radiation_pressure_environment.cpp | 2 +- src/library/logger/initialize_log.cpp | 2 +- src/setting_file_reader/CMakeLists.txt | 2 +- src/simulation/case/simulation_case.cpp | 2 +- src/simulation/ground_station/ground_station.cpp | 2 +- .../initialize_monte_carlo_simulation.cpp | 2 +- .../spacecraft/structure/initialize_structure.cpp | 2 +- src/simulation/spacecraft/structure/structure.cpp | 2 +- .../ground_station/sample_ground_station_components.cpp | 2 +- src/simulation_sample/spacecraft/sample_components.cpp | 2 +- 55 files changed, 58 insertions(+), 58 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 36f28c6c4..3a3805f87 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -90,7 +90,7 @@ add_subdirectory(src/disturbances) add_subdirectory(src/components) add_subdirectory(src/library) add_subdirectory(src/external_libraries) -add_subdirectory(src/initial_setting_file) +add_subdirectory(src/setting_file_reader) set(SOURCE_FILES src/s2e.cpp @@ -179,14 +179,14 @@ endif() #target_link_libraries(${PROJECT_NAME} ${NRLMSISE00_LIB}) # Initialize link -target_link_libraries(COMPONENT DYNAMICS GLOBAL_ENVIRONMENT LOCAL_ENVIRONMENT LIBRARY INITIAL_SETTING_FILE) +target_link_libraries(COMPONENT DYNAMICS GLOBAL_ENVIRONMENT LOCAL_ENVIRONMENT LIBRARY SETTING_FILE_READER) target_link_libraries(DYNAMICS GLOBAL_ENVIRONMENT LOCAL_ENVIRONMENT SIMULATION LIBRARY) target_link_libraries(DISTURBANCE DYNAMICS GLOBAL_ENVIRONMENT LOCAL_ENVIRONMENT LIBRARY) target_link_libraries(SIMULATION DYNAMICS GLOBAL_ENVIRONMENT LOCAL_ENVIRONMENT DISTURBANCE LIBRARY) target_link_libraries(GLOBAL_ENVIRONMENT ${CSPICE_LIB} LIBRARY) target_link_libraries(LOCAL_ENVIRONMENT GLOBAL_ENVIRONMENT ${CSPICE_LIB} LIBRARY) target_link_libraries(EXTERNAL_LIBRARY ${NRLMSISE00_LIB}) -target_link_libraries(INITIAL_SETTING_FILE EXTERNAL_LIBRARY) +target_link_libraries(SETTING_FILE_READER EXTERNAL_LIBRARY) target_link_libraries(${PROJECT_NAME} DYNAMICS) target_link_libraries(${PROJECT_NAME} DISTURBANCE) diff --git a/src/components/base/sensor_template_functions.hpp b/src/components/base/sensor_template_functions.hpp index d5cb9af55..2ec0b1636 100644 --- a/src/components/base/sensor_template_functions.hpp +++ b/src/components/base/sensor_template_functions.hpp @@ -6,7 +6,7 @@ #ifndef S2E_COMPONENTS_BASE_SENSOR_TEMPLATE_FUNCTIONS_HPP_ #define S2E_COMPONENTS_BASE_SENSOR_TEMPLATE_FUNCTIONS_HPP_ -#include +#include #include template diff --git a/src/components/ideal/angular_velocity_observer.cpp b/src/components/ideal/angular_velocity_observer.cpp index 991bf879a..6ff33272f 100644 --- a/src/components/ideal/angular_velocity_observer.cpp +++ b/src/components/ideal/angular_velocity_observer.cpp @@ -5,7 +5,7 @@ #include "angular_velocity_observer.hpp" -#include +#include AngularVelocityObserver::AngularVelocityObserver(const int prescaler, ClockGenerator* clock_generator, Sensor& sensor_base, const Attitude& attitude) : Component(prescaler, clock_generator), Sensor(sensor_base), attitude_(attitude) {} diff --git a/src/components/ideal/attitude_observer.cpp b/src/components/ideal/attitude_observer.cpp index bd91b6962..2cc36ce27 100644 --- a/src/components/ideal/attitude_observer.cpp +++ b/src/components/ideal/attitude_observer.cpp @@ -5,7 +5,7 @@ #include "attitude_observer.hpp" -#include +#include #include AttitudeObserver::AttitudeObserver(const int prescaler, ClockGenerator* clock_generator, const double standard_deviation_rad, diff --git a/src/components/ideal/force_generator.cpp b/src/components/ideal/force_generator.cpp index 22b92f109..13efaa32b 100644 --- a/src/components/ideal/force_generator.cpp +++ b/src/components/ideal/force_generator.cpp @@ -6,7 +6,7 @@ #include "force_generator.hpp" #include -#include +#include // Constructor ForceGenerator::ForceGenerator(const int prescaler, ClockGenerator* clock_generator, const double magnitude_error_standard_deviation_N, diff --git a/src/components/ideal/torque_generator.cpp b/src/components/ideal/torque_generator.cpp index 70464dfee..a2adb097c 100644 --- a/src/components/ideal/torque_generator.cpp +++ b/src/components/ideal/torque_generator.cpp @@ -6,7 +6,7 @@ #include "torque_generator.hpp" #include -#include +#include // Constructor TorqueGenerator::TorqueGenerator(const int prescaler, ClockGenerator* clock_generator, const double magnitude_error_standard_deviation_Nm, diff --git a/src/components/ports/power_port.cpp b/src/components/ports/power_port.cpp index 01eed7e73..ca929231f 100644 --- a/src/components/ports/power_port.cpp +++ b/src/components/ports/power_port.cpp @@ -6,7 +6,7 @@ #include "power_port.hpp" #include -#include +#include #include PowerPort::PowerPort() : kPortId(-1), current_limit_A_(10.0), minimum_voltage_V_(3.3), assumed_power_consumption_W_(0.0) { diff --git a/src/components/real/aocs/gnss_receiver.cpp b/src/components/real/aocs/gnss_receiver.cpp index c330abe2f..04fef300b 100644 --- a/src/components/real/aocs/gnss_receiver.cpp +++ b/src/components/real/aocs/gnss_receiver.cpp @@ -6,7 +6,7 @@ #include "gnss_receiver.hpp" #include -#include +#include #include #include #include diff --git a/src/components/real/aocs/gyro_sensor.cpp b/src/components/real/aocs/gyro_sensor.cpp index beb32b7b5..5df3751f3 100644 --- a/src/components/real/aocs/gyro_sensor.cpp +++ b/src/components/real/aocs/gyro_sensor.cpp @@ -5,7 +5,7 @@ #include "gyro_sensor.hpp" -#include +#include GyroSensor::GyroSensor(const int prescaler, ClockGenerator* clock_generator, Sensor& sensor_base, const unsigned int sensor_id, const libra::Quaternion& quaternion_b2c, const Dynamics* dynamics) diff --git a/src/components/real/aocs/magnetometer.cpp b/src/components/real/aocs/magnetometer.cpp index f5c67beba..cc17c01cf 100644 --- a/src/components/real/aocs/magnetometer.cpp +++ b/src/components/real/aocs/magnetometer.cpp @@ -4,7 +4,7 @@ */ #include "magnetometer.hpp" -#include +#include #include Magnetometer::Magnetometer(int prescaler, ClockGenerator* clock_generator, Sensor& sensor_base, const unsigned int sensor_id, diff --git a/src/components/real/aocs/magnetorquer.cpp b/src/components/real/aocs/magnetorquer.cpp index 946449154..536d99345 100644 --- a/src/components/real/aocs/magnetorquer.cpp +++ b/src/components/real/aocs/magnetorquer.cpp @@ -5,7 +5,7 @@ #include "magnetorquer.hpp" -#include +#include #include #include #include diff --git a/src/components/real/aocs/mtq_magnetometer_interference.cpp b/src/components/real/aocs/mtq_magnetometer_interference.cpp index b45255a45..617cec6d3 100644 --- a/src/components/real/aocs/mtq_magnetometer_interference.cpp +++ b/src/components/real/aocs/mtq_magnetometer_interference.cpp @@ -5,7 +5,7 @@ #include "mtq_magnetometer_interference.hpp" -#include "initial_setting_file/initialize_file_access.hpp" +#include "setting_file_reader/initialize_file_access.hpp" MtqMagnetometerInterference::MtqMagnetometerInterference(const std::string file_name, Magnetometer& magnetometer, const Magnetorquer& magnetorquer, const size_t initialize_id) diff --git a/src/components/real/aocs/reaction_wheel.cpp b/src/components/real/aocs/reaction_wheel.cpp index 851e8f27c..91f389264 100644 --- a/src/components/real/aocs/reaction_wheel.cpp +++ b/src/components/real/aocs/reaction_wheel.cpp @@ -5,7 +5,7 @@ #include "reaction_wheel.hpp" #include -#include +#include #include #include #include diff --git a/src/components/real/aocs/star_sensor.cpp b/src/components/real/aocs/star_sensor.cpp index e6c16b5fc..6f36ba703 100644 --- a/src/components/real/aocs/star_sensor.cpp +++ b/src/components/real/aocs/star_sensor.cpp @@ -6,7 +6,7 @@ #include "star_sensor.hpp" #include -#include +#include #include #include #include diff --git a/src/components/real/aocs/sun_sensor.cpp b/src/components/real/aocs/sun_sensor.cpp index 42fa3fbe2..97408854d 100644 --- a/src/components/real/aocs/sun_sensor.cpp +++ b/src/components/real/aocs/sun_sensor.cpp @@ -8,7 +8,7 @@ #include #include using libra::NormalRand; -#include +#include #include #include diff --git a/src/components/real/communication/antenna.cpp b/src/components/real/communication/antenna.cpp index be67b2d84..5d851e104 100644 --- a/src/components/real/communication/antenna.cpp +++ b/src/components/real/communication/antenna.cpp @@ -8,7 +8,7 @@ #include #include -#include +#include #include Antenna::Antenna(const int component_id, const libra::Quaternion& quaternion_b2c, const bool is_transmitter, const bool is_receiver, diff --git a/src/components/real/communication/antenna_radiation_pattern.cpp b/src/components/real/communication/antenna_radiation_pattern.cpp index 96aa6d933..b3d448df2 100644 --- a/src/components/real/communication/antenna_radiation_pattern.cpp +++ b/src/components/real/communication/antenna_radiation_pattern.cpp @@ -6,7 +6,7 @@ #include "antenna_radiation_pattern.hpp" #include -#include +#include #include AntennaRadiationPattern::AntennaRadiationPattern() { gain_dBi_.assign(length_theta_, std::vector(length_phi_, 0.0)); } diff --git a/src/components/real/communication/ground_station_calculator.cpp b/src/components/real/communication/ground_station_calculator.cpp index 4e24fa3b0..7beb5dfce 100644 --- a/src/components/real/communication/ground_station_calculator.cpp +++ b/src/components/real/communication/ground_station_calculator.cpp @@ -6,7 +6,7 @@ #include "ground_station_calculator.hpp" #include -#include +#include #include GroundStationCalculator::GroundStationCalculator(const double loss_polarization_dB, const double loss_atmosphere_dB, const double loss_rainfall_dB, diff --git a/src/components/real/communication/wings_command_sender_to_c2a.cpp b/src/components/real/communication/wings_command_sender_to_c2a.cpp index cfe8ea5a7..4c74b4bab 100644 --- a/src/components/real/communication/wings_command_sender_to_c2a.cpp +++ b/src/components/real/communication/wings_command_sender_to_c2a.cpp @@ -7,7 +7,7 @@ #include "wings_command_sender_to_c2a.hpp" -#include +#include #include #include diff --git a/src/components/real/communication/wings_command_sender_to_c2a.hpp b/src/components/real/communication/wings_command_sender_to_c2a.hpp index 60c35e3f6..1ae74b1c1 100644 --- a/src/components/real/communication/wings_command_sender_to_c2a.hpp +++ b/src/components/real/communication/wings_command_sender_to_c2a.hpp @@ -6,8 +6,8 @@ #ifndef S2E_COMPONENTS_REAL_COMMUNICATION_C2A_COMMAND_SENDER_HPP_ #define S2E_COMPONENTS_REAL_COMMUNICATION_C2A_COMMAND_SENDER_HPP_ -#include -#include +#include +#include #include "../../base/component.hpp" diff --git a/src/components/real/mission/telescope.cpp b/src/components/real/mission/telescope.cpp index bb4f9d5eb..46aa3f39c 100644 --- a/src/components/real/mission/telescope.cpp +++ b/src/components/real/mission/telescope.cpp @@ -7,7 +7,7 @@ #include #include -#include +#include #include using namespace std; diff --git a/src/components/real/power/battery.cpp b/src/components/real/power/battery.cpp index e1090c860..f647fb940 100644 --- a/src/components/real/power/battery.cpp +++ b/src/components/real/power/battery.cpp @@ -6,7 +6,7 @@ #include "battery.hpp" #include -#include +#include Battery::Battery(const int prescaler, ClockGenerator* clock_generator, int number_of_series, int number_of_parallel, double cell_capacity_Ah, const std::vector cell_discharge_curve_coefficients, double initial_dod, double cc_charge_c_rate, double cv_charge_voltage_V, diff --git a/src/components/real/power/csv_scenario_interface.cpp b/src/components/real/power/csv_scenario_interface.cpp index 588ae58c4..2f30e38a6 100644 --- a/src/components/real/power/csv_scenario_interface.cpp +++ b/src/components/real/power/csv_scenario_interface.cpp @@ -5,7 +5,7 @@ #include "csv_scenario_interface.hpp" -#include +#include bool CsvScenarioInterface::is_csv_scenario_enabled_; std::map CsvScenarioInterface::buffer_line_id_; diff --git a/src/components/real/power/pcu_initial_study.cpp b/src/components/real/power/pcu_initial_study.cpp index 8d3e5aacd..77f6fda37 100644 --- a/src/components/real/power/pcu_initial_study.cpp +++ b/src/components/real/power/pcu_initial_study.cpp @@ -8,7 +8,7 @@ #include #include #include -#include +#include PcuInitialStudy::PcuInitialStudy(const int prescaler, ClockGenerator* clock_generator, const std::vector saps, Battery* battery, double component_step_time_s) diff --git a/src/components/real/power/solar_array_panel.cpp b/src/components/real/power/solar_array_panel.cpp index c80e9bf5d..3ea0df5e9 100644 --- a/src/components/real/power/solar_array_panel.cpp +++ b/src/components/real/power/solar_array_panel.cpp @@ -7,7 +7,7 @@ #include #include -#include +#include SolarArrayPanel::SolarArrayPanel(const int prescaler, ClockGenerator* clock_generator, int component_id, int number_of_series, int number_of_parallel, double cell_area_m2, libra::Vector<3> normal_vector, double cell_efficiency, double transmission_efficiency, diff --git a/src/components/real/propulsion/simple_thruster.cpp b/src/components/real/propulsion/simple_thruster.cpp index eb0ae25c6..d2c09b4cb 100644 --- a/src/components/real/propulsion/simple_thruster.cpp +++ b/src/components/real/propulsion/simple_thruster.cpp @@ -5,7 +5,7 @@ #include "simple_thruster.hpp" #include -#include +#include #include #include diff --git a/src/disturbances/air_drag.cpp b/src/disturbances/air_drag.cpp index f4a7da23c..5e90e5942 100644 --- a/src/disturbances/air_drag.cpp +++ b/src/disturbances/air_drag.cpp @@ -7,7 +7,7 @@ #include #include -#include +#include #include #include "../library/logger/log_utility.hpp" diff --git a/src/disturbances/disturbances.cpp b/src/disturbances/disturbances.cpp index a5d096529..682790896 100644 --- a/src/disturbances/disturbances.cpp +++ b/src/disturbances/disturbances.cpp @@ -5,7 +5,7 @@ #include "disturbances.hpp" -#include +#include #include "air_drag.hpp" #include "geopotential.hpp" diff --git a/src/disturbances/geopotential.cpp b/src/disturbances/geopotential.cpp index 623378d7e..72ddc9265 100644 --- a/src/disturbances/geopotential.cpp +++ b/src/disturbances/geopotential.cpp @@ -9,7 +9,7 @@ #include #include #include -#include +#include #include #include "../library/logger/log_utility.hpp" diff --git a/src/disturbances/gravity_gradient.cpp b/src/disturbances/gravity_gradient.cpp index 3756c60cb..f06b4c5a5 100644 --- a/src/disturbances/gravity_gradient.cpp +++ b/src/disturbances/gravity_gradient.cpp @@ -7,7 +7,7 @@ #include #include -#include +#include #include "../library/logger/log_utility.hpp" diff --git a/src/disturbances/lunar_gravity_field.cpp b/src/disturbances/lunar_gravity_field.cpp index 5719d45a3..4354dae0c 100644 --- a/src/disturbances/lunar_gravity_field.cpp +++ b/src/disturbances/lunar_gravity_field.cpp @@ -9,7 +9,7 @@ #include #include #include -#include +#include #include #include "../library/logger/log_utility.hpp" diff --git a/src/disturbances/magnetic_disturbance.cpp b/src/disturbances/magnetic_disturbance.cpp index f21385379..d49b547a7 100644 --- a/src/disturbances/magnetic_disturbance.cpp +++ b/src/disturbances/magnetic_disturbance.cpp @@ -5,7 +5,7 @@ #include "magnetic_disturbance.hpp" -#include +#include #include #include "../library/logger/log_utility.hpp" diff --git a/src/disturbances/solar_radiation_pressure_disturbance.cpp b/src/disturbances/solar_radiation_pressure_disturbance.cpp index 275487a80..bb161b085 100644 --- a/src/disturbances/solar_radiation_pressure_disturbance.cpp +++ b/src/disturbances/solar_radiation_pressure_disturbance.cpp @@ -6,7 +6,7 @@ #include "solar_radiation_pressure_disturbance.hpp" #include -#include +#include #include "../library/logger/log_utility.hpp" diff --git a/src/disturbances/third_body_gravity.cpp b/src/disturbances/third_body_gravity.cpp index f6b3392a9..86917898d 100644 --- a/src/disturbances/third_body_gravity.cpp +++ b/src/disturbances/third_body_gravity.cpp @@ -5,7 +5,7 @@ #include "third_body_gravity.hpp" -#include +#include ThirdBodyGravity::ThirdBodyGravity(std::set third_body_list, const bool is_calculation_enabled) : Disturbance(is_calculation_enabled, false), third_body_list_(third_body_list) { diff --git a/src/dynamics/attitude/initialize_attitude.cpp b/src/dynamics/attitude/initialize_attitude.cpp index 59630481a..da7fd02ab 100644 --- a/src/dynamics/attitude/initialize_attitude.cpp +++ b/src/dynamics/attitude/initialize_attitude.cpp @@ -4,7 +4,7 @@ */ #include "initialize_attitude.hpp" -#include +#include Attitude* InitAttitude(std::string file_name, const Orbit* orbit, const LocalCelestialInformation* local_celestial_information, const double step_width_s, const libra::Matrix<3, 3>& inertia_tensor_kgm2, const int spacecraft_id) { diff --git a/src/dynamics/orbit/initialize_orbit.cpp b/src/dynamics/orbit/initialize_orbit.cpp index c2c7515f9..4ab11afdb 100644 --- a/src/dynamics/orbit/initialize_orbit.cpp +++ b/src/dynamics/orbit/initialize_orbit.cpp @@ -4,7 +4,7 @@ */ #include "initialize_orbit.hpp" -#include +#include #include "encke_orbit_propagation.hpp" #include "kepler_orbit_propagation.hpp" diff --git a/src/dynamics/thermal/temperature.cpp b/src/dynamics/thermal/temperature.cpp index a09c241ca..02a83292a 100644 --- a/src/dynamics/thermal/temperature.cpp +++ b/src/dynamics/thermal/temperature.cpp @@ -9,7 +9,7 @@ #include #include #include -#include +#include #include using namespace std; diff --git a/src/environment/global/celestial_information.cpp b/src/environment/global/celestial_information.cpp index c22e4944a..633f08daa 100644 --- a/src/environment/global/celestial_information.cpp +++ b/src/environment/global/celestial_information.cpp @@ -15,7 +15,7 @@ #include #include -#include "initial_setting_file/initialize_file_access.hpp" +#include "setting_file_reader/initialize_file_access.hpp" #include "library/logger/log_utility.hpp" CelestialInformation::CelestialInformation(const std::string inertial_frame_name, const std::string aberration_correction_setting, diff --git a/src/environment/global/global_environment.cpp b/src/environment/global/global_environment.cpp index 117817859..0e89b2346 100644 --- a/src/environment/global/global_environment.cpp +++ b/src/environment/global/global_environment.cpp @@ -5,7 +5,7 @@ #include "global_environment.hpp" -#include "initial_setting_file/initialize_file_access.hpp" +#include "setting_file_reader/initialize_file_access.hpp" GlobalEnvironment::GlobalEnvironment(const SimulationConfiguration* simulation_configuration) { Initialize(simulation_configuration); } diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index ce5076a30..68a191483 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -9,7 +9,7 @@ #include #include "environment/global/physical_constants.hpp" -#include "initial_setting_file/initialize_file_access.hpp" +#include "setting_file_reader/initialize_file_access.hpp" #include "library/logger/log_utility.hpp" #include "library/math/constants.hpp" #include "library/time_system/date_time_format.hpp" diff --git a/src/environment/global/hipparcos_catalogue.cpp b/src/environment/global/hipparcos_catalogue.cpp index dcf3a4cba..9b966fe73 100644 --- a/src/environment/global/hipparcos_catalogue.cpp +++ b/src/environment/global/hipparcos_catalogue.cpp @@ -11,7 +11,7 @@ #include #include -#include "initial_setting_file/initialize_file_access.hpp" +#include "setting_file_reader/initialize_file_access.hpp" #include "library/math/constants.hpp" HipparcosCatalogue::HipparcosCatalogue(double max_magnitude, std::string catalogue_path) diff --git a/src/environment/global/simulation_time.cpp b/src/environment/global/simulation_time.cpp index 5fa6ef6f6..149b88f42 100644 --- a/src/environment/global/simulation_time.cpp +++ b/src/environment/global/simulation_time.cpp @@ -12,7 +12,7 @@ #include #include -#include "initial_setting_file/initialize_file_access.hpp" +#include "setting_file_reader/initialize_file_access.hpp" #ifdef WIN32 #include #else diff --git a/src/environment/local/atmosphere.cpp b/src/environment/local/atmosphere.cpp index ae08129fa..c226f5ddb 100644 --- a/src/environment/local/atmosphere.cpp +++ b/src/environment/local/atmosphere.cpp @@ -5,7 +5,7 @@ #include "atmosphere.hpp" -#include "initial_setting_file/initialize_file_access.hpp" +#include "setting_file_reader/initialize_file_access.hpp" #include "library/atmosphere/harris_priester_model.hpp" #include "library/atmosphere/simple_air_density_model.hpp" #include "library/logger/log_utility.hpp" diff --git a/src/environment/local/geomagnetic_field.cpp b/src/environment/local/geomagnetic_field.cpp index 7c9849920..0970c99b9 100644 --- a/src/environment/local/geomagnetic_field.cpp +++ b/src/environment/local/geomagnetic_field.cpp @@ -6,7 +6,7 @@ #include "geomagnetic_field.hpp" #include "external_libraries/igrf/igrf.h" -#include "initial_setting_file/initialize_file_access.hpp" +#include "setting_file_reader/initialize_file_access.hpp" #include "library/randomization/global_randomization.hpp" #include "library/randomization/normal_randomization.hpp" #include "library/randomization/random_walk.hpp" diff --git a/src/environment/local/local_environment.cpp b/src/environment/local/local_environment.cpp index 030ac57bb..bf1cf7b5a 100644 --- a/src/environment/local/local_environment.cpp +++ b/src/environment/local/local_environment.cpp @@ -6,7 +6,7 @@ #include "dynamics/attitude/attitude.hpp" #include "dynamics/orbit/orbit.hpp" -#include "initial_setting_file/initialize_file_access.hpp" +#include "setting_file_reader/initialize_file_access.hpp" LocalEnvironment::LocalEnvironment(const SimulationConfiguration* simulation_configuration, const GlobalEnvironment* global_environment, const int spacecraft_id) { diff --git a/src/environment/local/solar_radiation_pressure_environment.cpp b/src/environment/local/solar_radiation_pressure_environment.cpp index cec8e17e3..bf980bfbf 100644 --- a/src/environment/local/solar_radiation_pressure_environment.cpp +++ b/src/environment/local/solar_radiation_pressure_environment.cpp @@ -8,7 +8,7 @@ #include #include -#include "initial_setting_file/initialize_file_access.hpp" +#include "setting_file_reader/initialize_file_access.hpp" #include "library/logger/log_utility.hpp" #include "library/math/constants.hpp" #include "library/math/vector.hpp" diff --git a/src/library/logger/initialize_log.cpp b/src/library/logger/initialize_log.cpp index 1d9c35c9f..b74aa4dd6 100644 --- a/src/library/logger/initialize_log.cpp +++ b/src/library/logger/initialize_log.cpp @@ -5,7 +5,7 @@ #include "initialize_log.hpp" -#include "../../initial_setting_file/initialize_file_access.hpp" +#include "../../setting_file_reader/initialize_file_access.hpp" Logger* InitLog(std::string file_name) { IniAccess ini_file(file_name); diff --git a/src/setting_file_reader/CMakeLists.txt b/src/setting_file_reader/CMakeLists.txt index ffd27e9fd..898d3e0fa 100644 --- a/src/setting_file_reader/CMakeLists.txt +++ b/src/setting_file_reader/CMakeLists.txt @@ -1,4 +1,4 @@ -project(INITIAL_SETTING_FILE) +project(SETTING_FILE_READER) cmake_minimum_required(VERSION 3.13) add_library(${PROJECT_NAME} STATIC diff --git a/src/simulation/case/simulation_case.cpp b/src/simulation/case/simulation_case.cpp index 3118c4300..0d9e8a0c2 100644 --- a/src/simulation/case/simulation_case.cpp +++ b/src/simulation/case/simulation_case.cpp @@ -5,7 +5,7 @@ #include "simulation_case.hpp" -#include +#include #include #include diff --git a/src/simulation/ground_station/ground_station.cpp b/src/simulation/ground_station/ground_station.cpp index 878001927..733afdc9e 100644 --- a/src/simulation/ground_station/ground_station.cpp +++ b/src/simulation/ground_station/ground_station.cpp @@ -6,7 +6,7 @@ #include "ground_station.hpp" #include -#include +#include #include #include #include diff --git a/src/simulation/monte_carlo_simulation/initialize_monte_carlo_simulation.cpp b/src/simulation/monte_carlo_simulation/initialize_monte_carlo_simulation.cpp index 03e50263e..267859b9a 100644 --- a/src/simulation/monte_carlo_simulation/initialize_monte_carlo_simulation.cpp +++ b/src/simulation/monte_carlo_simulation/initialize_monte_carlo_simulation.cpp @@ -6,7 +6,7 @@ #include "initialize_monte_carlo_simulation.hpp" #include -#include +#include #define MAX_CHAR_NUM 256 diff --git a/src/simulation/spacecraft/structure/initialize_structure.cpp b/src/simulation/spacecraft/structure/initialize_structure.cpp index 04e7dc345..f1c79b940 100644 --- a/src/simulation/spacecraft/structure/initialize_structure.cpp +++ b/src/simulation/spacecraft/structure/initialize_structure.cpp @@ -5,7 +5,7 @@ #include "initialize_structure.hpp" -#include +#include #include #define MIN_VAL 1e-6 diff --git a/src/simulation/spacecraft/structure/structure.cpp b/src/simulation/spacecraft/structure/structure.cpp index 0fa340d4e..bf4510005 100644 --- a/src/simulation/spacecraft/structure/structure.cpp +++ b/src/simulation/spacecraft/structure/structure.cpp @@ -5,7 +5,7 @@ #include "structure.hpp" -#include +#include #include Structure::Structure(const SimulationConfiguration* simulation_configuration, const int spacecraft_id) { diff --git a/src/simulation_sample/ground_station/sample_ground_station_components.cpp b/src/simulation_sample/ground_station/sample_ground_station_components.cpp index 6fa089bd7..bf7fbdbb6 100644 --- a/src/simulation_sample/ground_station/sample_ground_station_components.cpp +++ b/src/simulation_sample/ground_station/sample_ground_station_components.cpp @@ -4,7 +4,7 @@ */ #include "sample_ground_station_components.hpp" -#include +#include SampleGsComponents::SampleGsComponents(const SimulationConfiguration* configuration) : configuration_(configuration) { IniAccess iniAccess = IniAccess(configuration_->ground_station_file_list_[0]); diff --git a/src/simulation_sample/spacecraft/sample_components.cpp b/src/simulation_sample/spacecraft/sample_components.cpp index e2ead253b..8943d762d 100644 --- a/src/simulation_sample/spacecraft/sample_components.cpp +++ b/src/simulation_sample/spacecraft/sample_components.cpp @@ -5,7 +5,7 @@ #include "sample_components.hpp" -#include +#include #include "sample_port_configuration.hpp" From 9fb3de227c9a430415aa53d6095ec376987739a6 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Fri, 9 Feb 2024 14:35:52 +0100 Subject: [PATCH 154/456] Fix format --- src/components/base/sensor_template_functions.hpp | 2 +- src/components/ideal/attitude_observer.cpp | 2 +- src/components/ports/power_port.cpp | 2 +- src/components/real/aocs/gnss_receiver.cpp | 2 +- src/components/real/aocs/magnetometer.cpp | 2 +- src/components/real/aocs/magnetorquer.cpp | 2 +- src/components/real/aocs/reaction_wheel.cpp | 2 +- src/components/real/aocs/star_sensor.cpp | 2 +- src/components/real/aocs/sun_sensor.cpp | 2 +- src/components/real/communication/antenna.cpp | 2 +- src/components/real/communication/antenna_radiation_pattern.cpp | 2 +- src/components/real/communication/ground_station_calculator.cpp | 2 +- .../real/communication/wings_command_sender_to_c2a.cpp | 2 +- src/components/real/mission/telescope.cpp | 2 +- src/components/real/propulsion/simple_thruster.cpp | 2 +- src/disturbances/air_drag.cpp | 2 +- src/disturbances/geopotential.cpp | 2 +- src/disturbances/lunar_gravity_field.cpp | 2 +- src/disturbances/magnetic_disturbance.cpp | 2 +- src/dynamics/thermal/temperature.cpp | 2 +- src/environment/global/celestial_information.cpp | 2 +- src/environment/global/gnss_satellites.cpp | 2 +- src/environment/global/hipparcos_catalogue.cpp | 2 +- src/environment/local/atmosphere.cpp | 2 +- src/environment/local/geomagnetic_field.cpp | 2 +- src/environment/local/solar_radiation_pressure_environment.cpp | 2 +- src/simulation/case/simulation_case.cpp | 2 +- src/simulation/ground_station/ground_station.cpp | 2 +- src/simulation/spacecraft/structure/initialize_structure.cpp | 2 +- 29 files changed, 29 insertions(+), 29 deletions(-) diff --git a/src/components/base/sensor_template_functions.hpp b/src/components/base/sensor_template_functions.hpp index 2ec0b1636..73f2046e8 100644 --- a/src/components/base/sensor_template_functions.hpp +++ b/src/components/base/sensor_template_functions.hpp @@ -6,8 +6,8 @@ #ifndef S2E_COMPONENTS_BASE_SENSOR_TEMPLATE_FUNCTIONS_HPP_ #define S2E_COMPONENTS_BASE_SENSOR_TEMPLATE_FUNCTIONS_HPP_ -#include #include +#include template Sensor::Sensor(const libra::Matrix& scale_factor, const libra::Vector& range_to_const_c, const libra::Vector& range_to_zero_c, diff --git a/src/components/ideal/attitude_observer.cpp b/src/components/ideal/attitude_observer.cpp index 2cc36ce27..b920832f5 100644 --- a/src/components/ideal/attitude_observer.cpp +++ b/src/components/ideal/attitude_observer.cpp @@ -5,8 +5,8 @@ #include "attitude_observer.hpp" -#include #include +#include AttitudeObserver::AttitudeObserver(const int prescaler, ClockGenerator* clock_generator, const double standard_deviation_rad, const Attitude& attitude) diff --git a/src/components/ports/power_port.cpp b/src/components/ports/power_port.cpp index ca929231f..fdeea6978 100644 --- a/src/components/ports/power_port.cpp +++ b/src/components/ports/power_port.cpp @@ -6,8 +6,8 @@ #include "power_port.hpp" #include -#include #include +#include PowerPort::PowerPort() : kPortId(-1), current_limit_A_(10.0), minimum_voltage_V_(3.3), assumed_power_consumption_W_(0.0) { is_on_ = true; // power on to work the component diff --git a/src/components/real/aocs/gnss_receiver.cpp b/src/components/real/aocs/gnss_receiver.cpp index 04fef300b..55d832421 100644 --- a/src/components/real/aocs/gnss_receiver.cpp +++ b/src/components/real/aocs/gnss_receiver.cpp @@ -6,9 +6,9 @@ #include "gnss_receiver.hpp" #include -#include #include #include +#include #include GnssReceiver::GnssReceiver(const int prescaler, ClockGenerator* clock_generator, const size_t component_id, const AntennaModel antenna_model, diff --git a/src/components/real/aocs/magnetometer.cpp b/src/components/real/aocs/magnetometer.cpp index cc17c01cf..dfb2b23b4 100644 --- a/src/components/real/aocs/magnetometer.cpp +++ b/src/components/real/aocs/magnetometer.cpp @@ -4,8 +4,8 @@ */ #include "magnetometer.hpp" -#include #include +#include Magnetometer::Magnetometer(int prescaler, ClockGenerator* clock_generator, Sensor& sensor_base, const unsigned int sensor_id, const libra::Quaternion& quaternion_b2c, const GeomagneticField* geomagnetic_field) diff --git a/src/components/real/aocs/magnetorquer.cpp b/src/components/real/aocs/magnetorquer.cpp index 536d99345..9dbd0c7a7 100644 --- a/src/components/real/aocs/magnetorquer.cpp +++ b/src/components/real/aocs/magnetorquer.cpp @@ -5,11 +5,11 @@ #include "magnetorquer.hpp" -#include #include #include #include #include +#include Magnetorquer::Magnetorquer(const int prescaler, ClockGenerator* clock_generator, const int component_id, const libra::Quaternion& quaternion_b2c, const libra::Matrix& scale_factor, diff --git a/src/components/real/aocs/reaction_wheel.cpp b/src/components/real/aocs/reaction_wheel.cpp index 91f389264..3b6a3f58e 100644 --- a/src/components/real/aocs/reaction_wheel.cpp +++ b/src/components/real/aocs/reaction_wheel.cpp @@ -5,11 +5,11 @@ #include "reaction_wheel.hpp" #include -#include #include #include #include #include +#include ReactionWheel::ReactionWheel(const int prescaler, ClockGenerator* clock_generator, const int component_id, const double step_width_s, const double rotor_inertia_kgm2, const double max_torque_Nm, const double max_velocity_rpm, diff --git a/src/components/real/aocs/star_sensor.cpp b/src/components/real/aocs/star_sensor.cpp index 6f36ba703..294a9d158 100644 --- a/src/components/real/aocs/star_sensor.cpp +++ b/src/components/real/aocs/star_sensor.cpp @@ -6,11 +6,11 @@ #include "star_sensor.hpp" #include -#include #include #include #include #include +#include #include using namespace std; diff --git a/src/components/real/aocs/sun_sensor.cpp b/src/components/real/aocs/sun_sensor.cpp index 97408854d..898e204ec 100644 --- a/src/components/real/aocs/sun_sensor.cpp +++ b/src/components/real/aocs/sun_sensor.cpp @@ -8,9 +8,9 @@ #include #include using libra::NormalRand; -#include #include #include +#include using namespace std; diff --git a/src/components/real/communication/antenna.cpp b/src/components/real/communication/antenna.cpp index 5d851e104..b0597ca41 100644 --- a/src/components/real/communication/antenna.cpp +++ b/src/components/real/communication/antenna.cpp @@ -8,8 +8,8 @@ #include #include -#include #include +#include Antenna::Antenna(const int component_id, const libra::Quaternion& quaternion_b2c, const bool is_transmitter, const bool is_receiver, const double frequency_MHz, const Vector<5> tx_parameters, const Vector<4> rx_parameters) diff --git a/src/components/real/communication/antenna_radiation_pattern.cpp b/src/components/real/communication/antenna_radiation_pattern.cpp index b3d448df2..b2f3f6277 100644 --- a/src/components/real/communication/antenna_radiation_pattern.cpp +++ b/src/components/real/communication/antenna_radiation_pattern.cpp @@ -6,8 +6,8 @@ #include "antenna_radiation_pattern.hpp" #include -#include #include +#include AntennaRadiationPattern::AntennaRadiationPattern() { gain_dBi_.assign(length_theta_, std::vector(length_phi_, 0.0)); } diff --git a/src/components/real/communication/ground_station_calculator.cpp b/src/components/real/communication/ground_station_calculator.cpp index 7beb5dfce..5295ff7c7 100644 --- a/src/components/real/communication/ground_station_calculator.cpp +++ b/src/components/real/communication/ground_station_calculator.cpp @@ -6,8 +6,8 @@ #include "ground_station_calculator.hpp" #include -#include #include +#include GroundStationCalculator::GroundStationCalculator(const double loss_polarization_dB, const double loss_atmosphere_dB, const double loss_rainfall_dB, const double loss_others_dB, const double ebn0_dB, const double hardware_deterioration_dB, diff --git a/src/components/real/communication/wings_command_sender_to_c2a.cpp b/src/components/real/communication/wings_command_sender_to_c2a.cpp index 4c74b4bab..7e230bfa3 100644 --- a/src/components/real/communication/wings_command_sender_to_c2a.cpp +++ b/src/components/real/communication/wings_command_sender_to_c2a.cpp @@ -7,9 +7,9 @@ #include "wings_command_sender_to_c2a.hpp" -#include #include #include +#include #ifdef USE_C2A #include "src_core/c2a_core_main.h" diff --git a/src/components/real/mission/telescope.cpp b/src/components/real/mission/telescope.cpp index 46aa3f39c..bd02b053a 100644 --- a/src/components/real/mission/telescope.cpp +++ b/src/components/real/mission/telescope.cpp @@ -7,8 +7,8 @@ #include #include -#include #include +#include using namespace std; using namespace libra; diff --git a/src/components/real/propulsion/simple_thruster.cpp b/src/components/real/propulsion/simple_thruster.cpp index d2c09b4cb..c133a8eb2 100644 --- a/src/components/real/propulsion/simple_thruster.cpp +++ b/src/components/real/propulsion/simple_thruster.cpp @@ -5,9 +5,9 @@ #include "simple_thruster.hpp" #include -#include #include #include +#include // Constructor SimpleThruster::SimpleThruster(const int prescaler, ClockGenerator* clock_generator, const int component_id, diff --git a/src/disturbances/air_drag.cpp b/src/disturbances/air_drag.cpp index 5e90e5942..921f4ade3 100644 --- a/src/disturbances/air_drag.cpp +++ b/src/disturbances/air_drag.cpp @@ -7,8 +7,8 @@ #include #include -#include #include +#include #include "../library/logger/log_utility.hpp" diff --git a/src/disturbances/geopotential.cpp b/src/disturbances/geopotential.cpp index 72ddc9265..9ae05e4eb 100644 --- a/src/disturbances/geopotential.cpp +++ b/src/disturbances/geopotential.cpp @@ -9,8 +9,8 @@ #include #include #include -#include #include +#include #include "../library/logger/log_utility.hpp" #include "../library/utilities/macros.hpp" diff --git a/src/disturbances/lunar_gravity_field.cpp b/src/disturbances/lunar_gravity_field.cpp index 4354dae0c..0cc08d9c2 100644 --- a/src/disturbances/lunar_gravity_field.cpp +++ b/src/disturbances/lunar_gravity_field.cpp @@ -9,8 +9,8 @@ #include #include #include -#include #include +#include #include "../library/logger/log_utility.hpp" #include "../library/utilities/macros.hpp" diff --git a/src/disturbances/magnetic_disturbance.cpp b/src/disturbances/magnetic_disturbance.cpp index d49b547a7..4e5563740 100644 --- a/src/disturbances/magnetic_disturbance.cpp +++ b/src/disturbances/magnetic_disturbance.cpp @@ -5,8 +5,8 @@ #include "magnetic_disturbance.hpp" -#include #include +#include #include "../library/logger/log_utility.hpp" #include "../library/randomization/global_randomization.hpp" diff --git a/src/dynamics/thermal/temperature.cpp b/src/dynamics/thermal/temperature.cpp index 02a83292a..b0f73fb90 100644 --- a/src/dynamics/thermal/temperature.cpp +++ b/src/dynamics/thermal/temperature.cpp @@ -9,8 +9,8 @@ #include #include #include -#include #include +#include using namespace std; diff --git a/src/environment/global/celestial_information.cpp b/src/environment/global/celestial_information.cpp index 633f08daa..d69610c76 100644 --- a/src/environment/global/celestial_information.cpp +++ b/src/environment/global/celestial_information.cpp @@ -15,8 +15,8 @@ #include #include -#include "setting_file_reader/initialize_file_access.hpp" #include "library/logger/log_utility.hpp" +#include "setting_file_reader/initialize_file_access.hpp" CelestialInformation::CelestialInformation(const std::string inertial_frame_name, const std::string aberration_correction_setting, const std::string center_body_name, const unsigned int number_of_selected_body, int* selected_body_ids, diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index 68a191483..90afdee6f 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -9,11 +9,11 @@ #include #include "environment/global/physical_constants.hpp" -#include "setting_file_reader/initialize_file_access.hpp" #include "library/logger/log_utility.hpp" #include "library/math/constants.hpp" #include "library/time_system/date_time_format.hpp" #include "library/utilities/macros.hpp" +#include "setting_file_reader/initialize_file_access.hpp" const size_t kNumberOfInterpolation = 9; diff --git a/src/environment/global/hipparcos_catalogue.cpp b/src/environment/global/hipparcos_catalogue.cpp index 9b966fe73..33b281cad 100644 --- a/src/environment/global/hipparcos_catalogue.cpp +++ b/src/environment/global/hipparcos_catalogue.cpp @@ -11,8 +11,8 @@ #include #include -#include "setting_file_reader/initialize_file_access.hpp" #include "library/math/constants.hpp" +#include "setting_file_reader/initialize_file_access.hpp" HipparcosCatalogue::HipparcosCatalogue(double max_magnitude, std::string catalogue_path) : max_magnitude_(max_magnitude), catalogue_path_(catalogue_path) {} diff --git a/src/environment/local/atmosphere.cpp b/src/environment/local/atmosphere.cpp index c226f5ddb..5671b7c1c 100644 --- a/src/environment/local/atmosphere.cpp +++ b/src/environment/local/atmosphere.cpp @@ -5,7 +5,6 @@ #include "atmosphere.hpp" -#include "setting_file_reader/initialize_file_access.hpp" #include "library/atmosphere/harris_priester_model.hpp" #include "library/atmosphere/simple_air_density_model.hpp" #include "library/logger/log_utility.hpp" @@ -13,6 +12,7 @@ #include "library/randomization/global_randomization.hpp" #include "library/randomization/normal_randomization.hpp" #include "library/randomization/random_walk.hpp" +#include "setting_file_reader/initialize_file_access.hpp" Atmosphere::Atmosphere(const std::string model, const std::string space_weather_file_name, const double gauss_standard_deviation_rate, const bool is_manual_param, const double manual_f107, const double manual_f107a, const double manual_ap, diff --git a/src/environment/local/geomagnetic_field.cpp b/src/environment/local/geomagnetic_field.cpp index 0970c99b9..b5c1ea0fc 100644 --- a/src/environment/local/geomagnetic_field.cpp +++ b/src/environment/local/geomagnetic_field.cpp @@ -6,10 +6,10 @@ #include "geomagnetic_field.hpp" #include "external_libraries/igrf/igrf.h" -#include "setting_file_reader/initialize_file_access.hpp" #include "library/randomization/global_randomization.hpp" #include "library/randomization/normal_randomization.hpp" #include "library/randomization/random_walk.hpp" +#include "setting_file_reader/initialize_file_access.hpp" GeomagneticField::GeomagneticField(const std::string igrf_file_name, const double random_walk_srandard_deviation_nT, const double random_walk_limit_nT, const double white_noise_standard_deviation_nT) diff --git a/src/environment/local/solar_radiation_pressure_environment.cpp b/src/environment/local/solar_radiation_pressure_environment.cpp index bf980bfbf..8b1e3d67f 100644 --- a/src/environment/local/solar_radiation_pressure_environment.cpp +++ b/src/environment/local/solar_radiation_pressure_environment.cpp @@ -8,10 +8,10 @@ #include #include -#include "setting_file_reader/initialize_file_access.hpp" #include "library/logger/log_utility.hpp" #include "library/math/constants.hpp" #include "library/math/vector.hpp" +#include "setting_file_reader/initialize_file_access.hpp" SolarRadiationPressureEnvironment::SolarRadiationPressureEnvironment(LocalCelestialInformation* local_celestial_information) : local_celestial_information_(local_celestial_information) { diff --git a/src/simulation/case/simulation_case.cpp b/src/simulation/case/simulation_case.cpp index 0d9e8a0c2..bcbb69291 100644 --- a/src/simulation/case/simulation_case.cpp +++ b/src/simulation/case/simulation_case.cpp @@ -5,8 +5,8 @@ #include "simulation_case.hpp" -#include #include +#include #include SimulationCase::SimulationCase(const std::string initialize_base_file) { diff --git a/src/simulation/ground_station/ground_station.cpp b/src/simulation/ground_station/ground_station.cpp index 733afdc9e..89d53314f 100644 --- a/src/simulation/ground_station/ground_station.cpp +++ b/src/simulation/ground_station/ground_station.cpp @@ -6,11 +6,11 @@ #include "ground_station.hpp" #include -#include #include #include #include #include +#include #include GroundStation::GroundStation(const SimulationConfiguration* configuration, const unsigned int ground_station_id) diff --git a/src/simulation/spacecraft/structure/initialize_structure.cpp b/src/simulation/spacecraft/structure/initialize_structure.cpp index f1c79b940..1386cdf0a 100644 --- a/src/simulation/spacecraft/structure/initialize_structure.cpp +++ b/src/simulation/spacecraft/structure/initialize_structure.cpp @@ -5,8 +5,8 @@ #include "initialize_structure.hpp" -#include #include +#include #define MIN_VAL 1e-6 KinematicsParameters InitKinematicsParameters(std::string file_name) { From 8452de77f785aa0108c560334391abdd13843fcf Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Fri, 9 Feb 2024 14:42:36 +0100 Subject: [PATCH 155/456] Batch conversion of include path of logger --- CMakeLists.txt | 3 ++- src/components/examples/example_change_structure.hpp | 2 +- src/components/ideal/angular_velocity_observer.hpp | 2 +- src/components/ideal/attitude_observer.hpp | 2 +- src/components/ideal/force_generator.hpp | 2 +- src/components/ideal/torque_generator.hpp | 2 +- src/components/real/aocs/gnss_receiver.hpp | 2 +- src/components/real/aocs/gyro_sensor.hpp | 2 +- src/components/real/aocs/magnetometer.hpp | 2 +- src/components/real/aocs/magnetorquer.cpp | 2 +- src/components/real/aocs/magnetorquer.hpp | 2 +- src/components/real/aocs/reaction_wheel.hpp | 2 +- src/components/real/aocs/star_sensor.cpp | 2 +- src/components/real/aocs/star_sensor.hpp | 2 +- src/components/real/aocs/sun_sensor.cpp | 2 +- src/components/real/aocs/sun_sensor.hpp | 2 +- .../real/communication/ground_station_calculator.hpp | 2 +- src/components/real/mission/telescope.hpp | 2 +- src/components/real/power/battery.hpp | 2 +- src/components/real/power/pcu_initial_study.hpp | 2 +- src/components/real/power/power_control_unit.hpp | 2 +- src/components/real/power/solar_array_panel.hpp | 2 +- src/components/real/propulsion/simple_thruster.hpp | 2 +- src/disturbances/air_drag.cpp | 2 +- src/disturbances/air_drag.hpp | 2 +- src/disturbances/geopotential.cpp | 2 +- src/disturbances/gravity_gradient.cpp | 2 +- src/disturbances/gravity_gradient.hpp | 2 +- src/disturbances/lunar_gravity_field.cpp | 2 +- src/disturbances/magnetic_disturbance.cpp | 2 +- src/disturbances/magnetic_disturbance.hpp | 2 +- .../solar_radiation_pressure_disturbance.cpp | 2 +- .../solar_radiation_pressure_disturbance.hpp | 2 +- src/disturbances/third_body_gravity.hpp | 2 +- src/dynamics/attitude/attitude.cpp | 2 +- src/dynamics/attitude/attitude.hpp | 2 +- src/dynamics/attitude/attitude_rk4.cpp | 2 +- src/dynamics/attitude/controlled_attitude.cpp | 2 +- src/dynamics/orbit/orbit.hpp | 2 +- src/dynamics/thermal/heater.hpp | 2 +- src/dynamics/thermal/heater_controller.hpp | 2 +- src/dynamics/thermal/heatload.hpp | 2 +- src/dynamics/thermal/node.hpp | 2 +- src/dynamics/thermal/temperature.hpp | 2 +- src/environment/global/celestial_information.cpp | 2 +- src/environment/global/celestial_information.hpp | 2 +- src/environment/global/global_environment.hpp | 2 +- src/environment/global/gnss_satellites.cpp | 2 +- src/environment/global/gnss_satellites.hpp | 2 +- src/environment/global/hipparcos_catalogue.hpp | 2 +- src/environment/global/simulation_time.hpp | 2 +- src/environment/local/atmosphere.cpp | 2 +- src/environment/local/atmosphere.hpp | 2 +- src/environment/local/geomagnetic_field.hpp | 2 +- src/environment/local/local_celestial_information.cpp | 2 +- .../local/solar_radiation_pressure_environment.cpp | 2 +- src/library/CMakeLists.txt | 3 --- src/logger/CMakeLists.txt | 9 +++++++++ src/logger/initialize_log.cpp | 2 +- src/logger/initialize_log.hpp | 2 +- src/s2e.cpp | 2 +- src/simulation/case/simulation_case.cpp | 2 +- src/simulation/case/simulation_case.hpp | 2 +- src/simulation/ground_station/ground_station.cpp | 4 ++-- .../multiple_spacecraft/relative_information.hpp | 4 ++-- src/simulation/simulation_configuration.hpp | 2 +- src/simulation/spacecraft/installed_components.hpp | 2 +- src/simulation/spacecraft/spacecraft.cpp | 4 ++-- 68 files changed, 79 insertions(+), 72 deletions(-) create mode 100644 src/logger/CMakeLists.txt diff --git a/CMakeLists.txt b/CMakeLists.txt index 3a3805f87..8458f2feb 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -91,6 +91,7 @@ add_subdirectory(src/components) add_subdirectory(src/library) add_subdirectory(src/external_libraries) add_subdirectory(src/setting_file_reader) +add_subdirectory(src/logger) set(SOURCE_FILES src/s2e.cpp @@ -179,7 +180,7 @@ endif() #target_link_libraries(${PROJECT_NAME} ${NRLMSISE00_LIB}) # Initialize link -target_link_libraries(COMPONENT DYNAMICS GLOBAL_ENVIRONMENT LOCAL_ENVIRONMENT LIBRARY SETTING_FILE_READER) +target_link_libraries(COMPONENT DYNAMICS GLOBAL_ENVIRONMENT LOCAL_ENVIRONMENT LIBRARY SETTING_FILE_READER LOGGER) target_link_libraries(DYNAMICS GLOBAL_ENVIRONMENT LOCAL_ENVIRONMENT SIMULATION LIBRARY) target_link_libraries(DISTURBANCE DYNAMICS GLOBAL_ENVIRONMENT LOCAL_ENVIRONMENT LIBRARY) target_link_libraries(SIMULATION DYNAMICS GLOBAL_ENVIRONMENT LOCAL_ENVIRONMENT DISTURBANCE LIBRARY) diff --git a/src/components/examples/example_change_structure.hpp b/src/components/examples/example_change_structure.hpp index 4aa28713f..31d656c92 100644 --- a/src/components/examples/example_change_structure.hpp +++ b/src/components/examples/example_change_structure.hpp @@ -6,7 +6,7 @@ #ifndef S2E_COMPONENTS_EXAMPLES_EXAMPLE_CHANGE_STRUCTURE_HPP_ #define S2E_COMPONENTS_EXAMPLES_EXAMPLE_CHANGE_STRUCTURE_HPP_ -#include +#include #include #include "../base/component.hpp" diff --git a/src/components/ideal/angular_velocity_observer.hpp b/src/components/ideal/angular_velocity_observer.hpp index 9b3fbe006..5ec2e69c4 100644 --- a/src/components/ideal/angular_velocity_observer.hpp +++ b/src/components/ideal/angular_velocity_observer.hpp @@ -7,7 +7,7 @@ #define S2E_COMPONENTS_IDEAL_ANGULAR_VELOCITY_OBSERVER_HPP_ #include -#include +#include #include "../base/component.hpp" #include "../base/sensor.hpp" diff --git a/src/components/ideal/attitude_observer.hpp b/src/components/ideal/attitude_observer.hpp index 1fafb63a0..a393f212a 100644 --- a/src/components/ideal/attitude_observer.hpp +++ b/src/components/ideal/attitude_observer.hpp @@ -7,7 +7,7 @@ #define S2E_COMPONENTS_IDEAL_ATTITUDE_OBSERVER_HPP_ #include -#include +#include #include #include diff --git a/src/components/ideal/force_generator.hpp b/src/components/ideal/force_generator.hpp index 8e1a7d1e6..ef8ccad32 100644 --- a/src/components/ideal/force_generator.hpp +++ b/src/components/ideal/force_generator.hpp @@ -8,7 +8,7 @@ #include #include -#include +#include #include #include diff --git a/src/components/ideal/torque_generator.hpp b/src/components/ideal/torque_generator.hpp index 78474917b..ff03073c1 100644 --- a/src/components/ideal/torque_generator.hpp +++ b/src/components/ideal/torque_generator.hpp @@ -8,7 +8,7 @@ #include #include -#include +#include #include #include diff --git a/src/components/real/aocs/gnss_receiver.hpp b/src/components/real/aocs/gnss_receiver.hpp index 04026e89f..5b762ec2d 100644 --- a/src/components/real/aocs/gnss_receiver.hpp +++ b/src/components/real/aocs/gnss_receiver.hpp @@ -10,7 +10,7 @@ #include #include #include -#include +#include #include #include diff --git a/src/components/real/aocs/gyro_sensor.hpp b/src/components/real/aocs/gyro_sensor.hpp index f391b2d6e..ce46f7ebb 100644 --- a/src/components/real/aocs/gyro_sensor.hpp +++ b/src/components/real/aocs/gyro_sensor.hpp @@ -7,7 +7,7 @@ #define S2E_COMPONENTS_REAL_AOCS_GYRO_SENSOR_HPP_ #include -#include +#include #include #include "../../base/component.hpp" diff --git a/src/components/real/aocs/magnetometer.hpp b/src/components/real/aocs/magnetometer.hpp index c352b0553..cf7f4e2f5 100644 --- a/src/components/real/aocs/magnetometer.hpp +++ b/src/components/real/aocs/magnetometer.hpp @@ -7,7 +7,7 @@ #define S2E_COMPONENTS_REAL_AOCS_MAGNETOMETER_HPP_ #include -#include +#include #include #include "../../base/component.hpp" diff --git a/src/components/real/aocs/magnetorquer.cpp b/src/components/real/aocs/magnetorquer.cpp index 9dbd0c7a7..282994c10 100644 --- a/src/components/real/aocs/magnetorquer.cpp +++ b/src/components/real/aocs/magnetorquer.cpp @@ -5,7 +5,7 @@ #include "magnetorquer.hpp" -#include +#include #include #include #include diff --git a/src/components/real/aocs/magnetorquer.hpp b/src/components/real/aocs/magnetorquer.hpp index e4be7361f..26e5447a5 100644 --- a/src/components/real/aocs/magnetorquer.hpp +++ b/src/components/real/aocs/magnetorquer.hpp @@ -7,7 +7,7 @@ #define S2E_COMPONENTS_REAL_AOCS_MAGNETORQUER_HPP_ #include -#include +#include #include #include #include diff --git a/src/components/real/aocs/reaction_wheel.hpp b/src/components/real/aocs/reaction_wheel.hpp index d78e3d39b..98c002810 100644 --- a/src/components/real/aocs/reaction_wheel.hpp +++ b/src/components/real/aocs/reaction_wheel.hpp @@ -7,7 +7,7 @@ #define S2E_COMPONENTS_REAL_AOCS_REACTION_WHEEL_HPP_ #include -#include +#include #include #include #include diff --git a/src/components/real/aocs/star_sensor.cpp b/src/components/real/aocs/star_sensor.cpp index 294a9d158..5da110d92 100644 --- a/src/components/real/aocs/star_sensor.cpp +++ b/src/components/real/aocs/star_sensor.cpp @@ -6,7 +6,7 @@ #include "star_sensor.hpp" #include -#include +#include #include #include #include diff --git a/src/components/real/aocs/star_sensor.hpp b/src/components/real/aocs/star_sensor.hpp index b2f4daef9..5c5169a67 100644 --- a/src/components/real/aocs/star_sensor.hpp +++ b/src/components/real/aocs/star_sensor.hpp @@ -8,7 +8,7 @@ #include #include -#include +#include #include #include #include diff --git a/src/components/real/aocs/sun_sensor.cpp b/src/components/real/aocs/sun_sensor.cpp index 898e204ec..cc791991f 100644 --- a/src/components/real/aocs/sun_sensor.cpp +++ b/src/components/real/aocs/sun_sensor.cpp @@ -8,7 +8,7 @@ #include #include using libra::NormalRand; -#include +#include #include #include diff --git a/src/components/real/aocs/sun_sensor.hpp b/src/components/real/aocs/sun_sensor.hpp index f1c59a670..c6a00dad8 100644 --- a/src/components/real/aocs/sun_sensor.hpp +++ b/src/components/real/aocs/sun_sensor.hpp @@ -8,7 +8,7 @@ #include #include -#include +#include #include #include #include diff --git a/src/components/real/communication/ground_station_calculator.hpp b/src/components/real/communication/ground_station_calculator.hpp index 196822295..a2d5eb75a 100644 --- a/src/components/real/communication/ground_station_calculator.hpp +++ b/src/components/real/communication/ground_station_calculator.hpp @@ -10,7 +10,7 @@ #include #include #include -#include +#include #include /* diff --git a/src/components/real/mission/telescope.hpp b/src/components/real/mission/telescope.hpp index 43dd5997f..989f9ed46 100644 --- a/src/components/real/mission/telescope.hpp +++ b/src/components/real/mission/telescope.hpp @@ -10,7 +10,7 @@ #include #include #include -#include +#include #include #include #include diff --git a/src/components/real/power/battery.hpp b/src/components/real/power/battery.hpp index 555d87107..39ee34c44 100644 --- a/src/components/real/power/battery.hpp +++ b/src/components/real/power/battery.hpp @@ -6,7 +6,7 @@ #ifndef S2E_COMPONENTS_REAL_POWER_BATTERY_HPP_P_ #define S2E_COMPONENTS_REAL_POWER_BATTERY_HPP_P_ -#include +#include #include #include "../../base/component.hpp" diff --git a/src/components/real/power/pcu_initial_study.hpp b/src/components/real/power/pcu_initial_study.hpp index 33bc65a00..f59966774 100644 --- a/src/components/real/power/pcu_initial_study.hpp +++ b/src/components/real/power/pcu_initial_study.hpp @@ -6,7 +6,7 @@ #ifndef S2E_COMPONENTS_REAL_POWER_PCU_INITIAL_STUDY_HPP_ #define S2E_COMPONENTS_REAL_POWER_PCU_INITIAL_STUDY_HPP_ -#include +#include #include #include "../../base/component.hpp" diff --git a/src/components/real/power/power_control_unit.hpp b/src/components/real/power/power_control_unit.hpp index efb75b98e..94d66e7d6 100644 --- a/src/components/real/power/power_control_unit.hpp +++ b/src/components/real/power/power_control_unit.hpp @@ -7,7 +7,7 @@ #define S2E_COMPONENTS_REAL_POWER_POWER_CONTROL_UNIT_HPP_ #include -#include +#include #include #include "../../base/component.hpp" diff --git a/src/components/real/power/solar_array_panel.hpp b/src/components/real/power/solar_array_panel.hpp index d4db31217..6a65484b8 100644 --- a/src/components/real/power/solar_array_panel.hpp +++ b/src/components/real/power/solar_array_panel.hpp @@ -8,7 +8,7 @@ #include #include -#include +#include #include #include "../../base/component.hpp" diff --git a/src/components/real/propulsion/simple_thruster.hpp b/src/components/real/propulsion/simple_thruster.hpp index 37496490f..83c365454 100644 --- a/src/components/real/propulsion/simple_thruster.hpp +++ b/src/components/real/propulsion/simple_thruster.hpp @@ -7,7 +7,7 @@ #define S2E_COMPONENTS_REAL_PROPULSION_SIMPLE_THRUSTER_HPP_ #include -#include +#include #include #include #include diff --git a/src/disturbances/air_drag.cpp b/src/disturbances/air_drag.cpp index 921f4ade3..6f69578ed 100644 --- a/src/disturbances/air_drag.cpp +++ b/src/disturbances/air_drag.cpp @@ -10,7 +10,7 @@ #include #include -#include "../library/logger/log_utility.hpp" +#include "../logger/log_utility.hpp" AirDrag::AirDrag(const std::vector& surfaces, const libra::Vector<3>& center_of_gravity_b_m, const double wall_temperature_K, const double molecular_temperature_K, const double molecular_weight_g_mol, const bool is_calculation_enabled) diff --git a/src/disturbances/air_drag.hpp b/src/disturbances/air_drag.hpp index a1ca68dff..57e7b5a86 100644 --- a/src/disturbances/air_drag.hpp +++ b/src/disturbances/air_drag.hpp @@ -9,7 +9,7 @@ #include #include "../environment/local/atmosphere.hpp" -#include "../library/logger/loggable.hpp" +#include "../logger/loggable.hpp" #include "../library/math/quaternion.hpp" #include "../library/math/vector.hpp" #include "surface_force.hpp" diff --git a/src/disturbances/geopotential.cpp b/src/disturbances/geopotential.cpp index 9ae05e4eb..1d14bc7b4 100644 --- a/src/disturbances/geopotential.cpp +++ b/src/disturbances/geopotential.cpp @@ -12,7 +12,7 @@ #include #include -#include "../library/logger/log_utility.hpp" +#include "../logger/log_utility.hpp" #include "../library/utilities/macros.hpp" // #define DEBUG_GEOPOTENTIAL diff --git a/src/disturbances/gravity_gradient.cpp b/src/disturbances/gravity_gradient.cpp index f06b4c5a5..d59c02dbd 100644 --- a/src/disturbances/gravity_gradient.cpp +++ b/src/disturbances/gravity_gradient.cpp @@ -9,7 +9,7 @@ #include #include -#include "../library/logger/log_utility.hpp" +#include "../logger/log_utility.hpp" GravityGradient::GravityGradient(const bool is_calculation_enabled) : GravityGradient(environment::earth_gravitational_constant_m3_s2, is_calculation_enabled) {} diff --git a/src/disturbances/gravity_gradient.hpp b/src/disturbances/gravity_gradient.hpp index 400027442..1dbcfcea9 100644 --- a/src/disturbances/gravity_gradient.hpp +++ b/src/disturbances/gravity_gradient.hpp @@ -8,7 +8,7 @@ #include -#include "../library/logger/loggable.hpp" +#include "../logger/loggable.hpp" #include "../library/math/matrix.hpp" #include "../library/math/matrix_vector.hpp" #include "../library/math/vector.hpp" diff --git a/src/disturbances/lunar_gravity_field.cpp b/src/disturbances/lunar_gravity_field.cpp index 0cc08d9c2..7dfc0a400 100644 --- a/src/disturbances/lunar_gravity_field.cpp +++ b/src/disturbances/lunar_gravity_field.cpp @@ -12,7 +12,7 @@ #include #include -#include "../library/logger/log_utility.hpp" +#include "../logger/log_utility.hpp" #include "../library/utilities/macros.hpp" // #define DEBUG_LUNAR_GRAVITY_FIELD diff --git a/src/disturbances/magnetic_disturbance.cpp b/src/disturbances/magnetic_disturbance.cpp index 4e5563740..db11ac883 100644 --- a/src/disturbances/magnetic_disturbance.cpp +++ b/src/disturbances/magnetic_disturbance.cpp @@ -8,7 +8,7 @@ #include #include -#include "../library/logger/log_utility.hpp" +#include "../logger/log_utility.hpp" #include "../library/randomization/global_randomization.hpp" #include "../library/randomization/normal_randomization.hpp" #include "../library/randomization/random_walk.hpp" diff --git a/src/disturbances/magnetic_disturbance.hpp b/src/disturbances/magnetic_disturbance.hpp index c60bf8a40..f04e33612 100644 --- a/src/disturbances/magnetic_disturbance.hpp +++ b/src/disturbances/magnetic_disturbance.hpp @@ -8,7 +8,7 @@ #include -#include "../library/logger/loggable.hpp" +#include "../logger/loggable.hpp" #include "../library/math/vector.hpp" #include "../simulation/spacecraft/structure/residual_magnetic_moment.hpp" #include "disturbance.hpp" diff --git a/src/disturbances/solar_radiation_pressure_disturbance.cpp b/src/disturbances/solar_radiation_pressure_disturbance.cpp index bb161b085..3ecd0ca8d 100644 --- a/src/disturbances/solar_radiation_pressure_disturbance.cpp +++ b/src/disturbances/solar_radiation_pressure_disturbance.cpp @@ -8,7 +8,7 @@ #include #include -#include "../library/logger/log_utility.hpp" +#include "../logger/log_utility.hpp" SolarRadiationPressureDisturbance::SolarRadiationPressureDisturbance(const std::vector& surfaces, const libra::Vector<3>& center_of_gravity_b_m, const bool is_calculation_enabled) diff --git a/src/disturbances/solar_radiation_pressure_disturbance.hpp b/src/disturbances/solar_radiation_pressure_disturbance.hpp index 7db45f45a..7afcb1b7f 100644 --- a/src/disturbances/solar_radiation_pressure_disturbance.hpp +++ b/src/disturbances/solar_radiation_pressure_disturbance.hpp @@ -8,7 +8,7 @@ #include -#include "../library/logger/loggable.hpp" +#include "../logger/loggable.hpp" #include "../library/math/vector.hpp" #include "surface_force.hpp" diff --git a/src/disturbances/third_body_gravity.hpp b/src/disturbances/third_body_gravity.hpp index b244660ac..3d6ed0bf8 100644 --- a/src/disturbances/third_body_gravity.hpp +++ b/src/disturbances/third_body_gravity.hpp @@ -10,7 +10,7 @@ #include #include -#include "../library/logger/loggable.hpp" +#include "../logger/loggable.hpp" #include "../library/math/vector.hpp" #include "disturbance.hpp" diff --git a/src/dynamics/attitude/attitude.cpp b/src/dynamics/attitude/attitude.cpp index b96e0f6bd..fa73b6c98 100644 --- a/src/dynamics/attitude/attitude.cpp +++ b/src/dynamics/attitude/attitude.cpp @@ -4,7 +4,7 @@ */ #include "attitude.hpp" -#include +#include Attitude::Attitude(const libra::Matrix<3, 3>& inertia_tensor_kgm2, const std::string& simulation_object_name) : SimulationObject(simulation_object_name), inertia_tensor_kgm2_(inertia_tensor_kgm2) { diff --git a/src/dynamics/attitude/attitude.hpp b/src/dynamics/attitude/attitude.hpp index 2b88b19be..ae6de8146 100644 --- a/src/dynamics/attitude/attitude.hpp +++ b/src/dynamics/attitude/attitude.hpp @@ -6,7 +6,7 @@ #ifndef S2E_DYNAMICS_ATTITUDE_ATTITUDE_HPP_ #define S2E_DYNAMICS_ATTITUDE_ATTITUDE_HPP_ -#include +#include #include #include #include diff --git a/src/dynamics/attitude/attitude_rk4.cpp b/src/dynamics/attitude/attitude_rk4.cpp index c419229ad..141b3ecff 100644 --- a/src/dynamics/attitude/attitude_rk4.cpp +++ b/src/dynamics/attitude/attitude_rk4.cpp @@ -5,7 +5,7 @@ #include "attitude_rk4.hpp" #include -#include +#include #include #include diff --git a/src/dynamics/attitude/controlled_attitude.cpp b/src/dynamics/attitude/controlled_attitude.cpp index 4790c1fb6..acf62fb37 100644 --- a/src/dynamics/attitude/controlled_attitude.cpp +++ b/src/dynamics/attitude/controlled_attitude.cpp @@ -4,7 +4,7 @@ */ #include "controlled_attitude.hpp" -#include +#include #include ControlledAttitude::ControlledAttitude(const AttitudeControlMode main_mode, const AttitudeControlMode sub_mode, diff --git a/src/dynamics/orbit/orbit.hpp b/src/dynamics/orbit/orbit.hpp index 591f79ee8..3f35c9aad 100644 --- a/src/dynamics/orbit/orbit.hpp +++ b/src/dynamics/orbit/orbit.hpp @@ -9,7 +9,7 @@ #include #include #include -#include +#include #include #include #include diff --git a/src/dynamics/thermal/heater.hpp b/src/dynamics/thermal/heater.hpp index 9ea964f73..4b4b86170 100644 --- a/src/dynamics/thermal/heater.hpp +++ b/src/dynamics/thermal/heater.hpp @@ -7,7 +7,7 @@ #define S2E_DYNAMICS_THERMAL_HEATER_HPP_ #include -#include +#include #include #include diff --git a/src/dynamics/thermal/heater_controller.hpp b/src/dynamics/thermal/heater_controller.hpp index 347d8809e..60578d9d4 100644 --- a/src/dynamics/thermal/heater_controller.hpp +++ b/src/dynamics/thermal/heater_controller.hpp @@ -7,7 +7,7 @@ #define S2E_DYNAMICS_THERMAL_HEATER_CONTROLLER_HPP_ #include -#include +#include #include #include diff --git a/src/dynamics/thermal/heatload.hpp b/src/dynamics/thermal/heatload.hpp index 1851f24c2..3623ea4c4 100644 --- a/src/dynamics/thermal/heatload.hpp +++ b/src/dynamics/thermal/heatload.hpp @@ -6,7 +6,7 @@ #ifndef S2E_DYNAMICS_THERMAL_HEATLOAD_HPP_ #define S2E_DYNAMICS_THERMAL_HEATLOAD_HPP_ -#include +#include #include #include diff --git a/src/dynamics/thermal/node.hpp b/src/dynamics/thermal/node.hpp index 0de19fb8a..23640a13a 100644 --- a/src/dynamics/thermal/node.hpp +++ b/src/dynamics/thermal/node.hpp @@ -7,7 +7,7 @@ #define S2E_DYNAMICS_THERMAL_NODE_HPP_ #include -#include +#include #include #include diff --git a/src/dynamics/thermal/temperature.hpp b/src/dynamics/thermal/temperature.hpp index b45a8edd2..2b9105217 100644 --- a/src/dynamics/thermal/temperature.hpp +++ b/src/dynamics/thermal/temperature.hpp @@ -7,7 +7,7 @@ #define S2E_DYNAMICS_THERMAL_TEMPERATURE_HPP_ #include -#include +#include #include #include diff --git a/src/environment/global/celestial_information.cpp b/src/environment/global/celestial_information.cpp index d69610c76..c51461e92 100644 --- a/src/environment/global/celestial_information.cpp +++ b/src/environment/global/celestial_information.cpp @@ -15,7 +15,7 @@ #include #include -#include "library/logger/log_utility.hpp" +#include "logger/log_utility.hpp" #include "setting_file_reader/initialize_file_access.hpp" CelestialInformation::CelestialInformation(const std::string inertial_frame_name, const std::string aberration_correction_setting, diff --git a/src/environment/global/celestial_information.hpp b/src/environment/global/celestial_information.hpp index 3f897f17d..9f8fbe1eb 100644 --- a/src/environment/global/celestial_information.hpp +++ b/src/environment/global/celestial_information.hpp @@ -10,7 +10,7 @@ #include #include "earth_rotation.hpp" -#include "library/logger/loggable.hpp" +#include "logger/loggable.hpp" #include "library/math/vector.hpp" #include "moon_rotation.hpp" #include "simulation_time.hpp" diff --git a/src/environment/global/global_environment.hpp b/src/environment/global/global_environment.hpp index 1b1483757..b8bb56890 100644 --- a/src/environment/global/global_environment.hpp +++ b/src/environment/global/global_environment.hpp @@ -9,7 +9,7 @@ #include "celestial_information.hpp" #include "gnss_satellites.hpp" #include "hipparcos_catalogue.hpp" -#include "library/logger/logger.hpp" +#include "logger/logger.hpp" #include "simulation/simulation_configuration.hpp" #include "simulation_time.hpp" diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index 90afdee6f..bfc7142fe 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -9,7 +9,7 @@ #include #include "environment/global/physical_constants.hpp" -#include "library/logger/log_utility.hpp" +#include "logger/log_utility.hpp" #include "library/math/constants.hpp" #include "library/time_system/date_time_format.hpp" #include "library/utilities/macros.hpp" diff --git a/src/environment/global/gnss_satellites.hpp b/src/environment/global/gnss_satellites.hpp index 643afe52f..1aaadad95 100644 --- a/src/environment/global/gnss_satellites.hpp +++ b/src/environment/global/gnss_satellites.hpp @@ -17,7 +17,7 @@ #include "earth_rotation.hpp" #include "library/gnss/gnss_satellite_number.hpp" -#include "library/logger/loggable.hpp" +#include "logger/loggable.hpp" #include "library/math/vector.hpp" #include "simulation_time.hpp" diff --git a/src/environment/global/hipparcos_catalogue.hpp b/src/environment/global/hipparcos_catalogue.hpp index f22bd7c87..0722398c8 100644 --- a/src/environment/global/hipparcos_catalogue.hpp +++ b/src/environment/global/hipparcos_catalogue.hpp @@ -8,7 +8,7 @@ #include -#include "library/logger/loggable.hpp" +#include "logger/loggable.hpp" #include "library/math/quaternion.hpp" #include "library/math/vector.hpp" diff --git a/src/environment/global/simulation_time.hpp b/src/environment/global/simulation_time.hpp index 2861e2682..cbcd9fa99 100644 --- a/src/environment/global/simulation_time.hpp +++ b/src/environment/global/simulation_time.hpp @@ -17,7 +17,7 @@ #include "external_libraries/sgp4/sgp4ext.h" #include "external_libraries/sgp4/sgp4io.h" #include "external_libraries/sgp4/sgp4unit.h" -#include "library/logger/loggable.hpp" +#include "logger/loggable.hpp" /** *@struct TimeState diff --git a/src/environment/local/atmosphere.cpp b/src/environment/local/atmosphere.cpp index 5671b7c1c..3081f9cfd 100644 --- a/src/environment/local/atmosphere.cpp +++ b/src/environment/local/atmosphere.cpp @@ -7,7 +7,7 @@ #include "library/atmosphere/harris_priester_model.hpp" #include "library/atmosphere/simple_air_density_model.hpp" -#include "library/logger/log_utility.hpp" +#include "logger/log_utility.hpp" #include "library/math/vector.hpp" #include "library/randomization/global_randomization.hpp" #include "library/randomization/normal_randomization.hpp" diff --git a/src/environment/local/atmosphere.hpp b/src/environment/local/atmosphere.hpp index 8c8be9a7f..ae8f3312d 100644 --- a/src/environment/local/atmosphere.hpp +++ b/src/environment/local/atmosphere.hpp @@ -12,7 +12,7 @@ #include "environment/global/simulation_time.hpp" #include "environment/local/local_celestial_information.hpp" #include "external_libraries/nrlmsise00/wrapper_nrlmsise00.hpp" -#include "library/logger/loggable.hpp" +#include "logger/loggable.hpp" #include "library/math/vector.hpp" /** diff --git a/src/environment/local/geomagnetic_field.hpp b/src/environment/local/geomagnetic_field.hpp index 64adc5c27..9a60e08d9 100644 --- a/src/environment/local/geomagnetic_field.hpp +++ b/src/environment/local/geomagnetic_field.hpp @@ -7,7 +7,7 @@ #define S2E_ENVIRONMENT_LOCAL_GEOMAGNETIC_FIELD_HPP_ #include "library/geodesy/geodetic_position.hpp" -#include "library/logger/loggable.hpp" +#include "logger/loggable.hpp" #include "library/math/quaternion.hpp" #include "library/math/vector.hpp" diff --git a/src/environment/local/local_celestial_information.cpp b/src/environment/local/local_celestial_information.cpp index dc4737853..b980a4263 100644 --- a/src/environment/local/local_celestial_information.cpp +++ b/src/environment/local/local_celestial_information.cpp @@ -12,7 +12,7 @@ #include #include -#include "library/logger/log_utility.hpp" +#include "logger/log_utility.hpp" LocalCelestialInformation::LocalCelestialInformation(const CelestialInformation* global_celestial_information) : global_celestial_information_(global_celestial_information) { diff --git a/src/environment/local/solar_radiation_pressure_environment.cpp b/src/environment/local/solar_radiation_pressure_environment.cpp index 8b1e3d67f..0f1d5099e 100644 --- a/src/environment/local/solar_radiation_pressure_environment.cpp +++ b/src/environment/local/solar_radiation_pressure_environment.cpp @@ -8,7 +8,7 @@ #include #include -#include "library/logger/log_utility.hpp" +#include "logger/log_utility.hpp" #include "library/math/constants.hpp" #include "library/math/vector.hpp" #include "setting_file_reader/initialize_file_access.hpp" diff --git a/src/library/CMakeLists.txt b/src/library/CMakeLists.txt index f012ed23e..29755f0f5 100644 --- a/src/library/CMakeLists.txt +++ b/src/library/CMakeLists.txt @@ -12,9 +12,6 @@ add_library(${PROJECT_NAME} STATIC gnss/antex_file_reader.cpp gnss/bias_sinex_file_reader.cpp - logger/logger.cpp - logger/initialize_log.cpp - gravity/gravity_potential.cpp randomization/global_randomization.cpp diff --git a/src/logger/CMakeLists.txt b/src/logger/CMakeLists.txt new file mode 100644 index 000000000..336e85042 --- /dev/null +++ b/src/logger/CMakeLists.txt @@ -0,0 +1,9 @@ +project(LOGGER) +cmake_minimum_required(VERSION 3.13) + +add_library(${PROJECT_NAME} STATIC + logger.cpp + initialize_log.cpp +) + +include(../../common.cmake) diff --git a/src/logger/initialize_log.cpp b/src/logger/initialize_log.cpp index b74aa4dd6..239cfe3d4 100644 --- a/src/logger/initialize_log.cpp +++ b/src/logger/initialize_log.cpp @@ -5,7 +5,7 @@ #include "initialize_log.hpp" -#include "../../setting_file_reader/initialize_file_access.hpp" +#include "../setting_file_reader/initialize_file_access.hpp" Logger* InitLog(std::string file_name) { IniAccess ini_file(file_name); diff --git a/src/logger/initialize_log.hpp b/src/logger/initialize_log.hpp index 2f683bb83..0d70fc1e8 100644 --- a/src/logger/initialize_log.hpp +++ b/src/logger/initialize_log.hpp @@ -6,7 +6,7 @@ #ifndef S2E_LIBRARY_LOGGER_INITIALIZE_LOG_HPP_ #define S2E_LIBRARY_LOGGER_INITIALIZE_LOG_HPP_ -#include +#include /** * @fn InitLog diff --git a/src/s2e.cpp b/src/s2e.cpp index ed446ee20..cf0bee4f4 100644 --- a/src/s2e.cpp +++ b/src/s2e.cpp @@ -15,7 +15,7 @@ #include // Simulator includes -#include "library/logger/logger.hpp" +#include "logger/logger.hpp" // Add custom include files #include "simulation_sample/case/sample_case.hpp" diff --git a/src/simulation/case/simulation_case.cpp b/src/simulation/case/simulation_case.cpp index bcbb69291..1a19dd003 100644 --- a/src/simulation/case/simulation_case.cpp +++ b/src/simulation/case/simulation_case.cpp @@ -5,7 +5,7 @@ #include "simulation_case.hpp" -#include +#include #include #include diff --git a/src/simulation/case/simulation_case.hpp b/src/simulation/case/simulation_case.hpp index b6aeba357..68f73f66c 100644 --- a/src/simulation/case/simulation_case.hpp +++ b/src/simulation/case/simulation_case.hpp @@ -7,7 +7,7 @@ #define S2E_SIMULATION_CASE_SIMULATION_CASE_HPP_ #include -#include +#include #include #include "../simulation_configuration.hpp" diff --git a/src/simulation/ground_station/ground_station.cpp b/src/simulation/ground_station/ground_station.cpp index 89d53314f..7b3d7c05b 100644 --- a/src/simulation/ground_station/ground_station.cpp +++ b/src/simulation/ground_station/ground_station.cpp @@ -6,8 +6,8 @@ #include "ground_station.hpp" #include -#include -#include +#include +#include #include #include #include diff --git a/src/simulation/multiple_spacecraft/relative_information.hpp b/src/simulation/multiple_spacecraft/relative_information.hpp index 428f426f9..a1de06e28 100644 --- a/src/simulation/multiple_spacecraft/relative_information.hpp +++ b/src/simulation/multiple_spacecraft/relative_information.hpp @@ -9,8 +9,8 @@ #include #include "../../dynamics/dynamics.hpp" -#include "../../library/logger/loggable.hpp" -#include "../../library/logger/logger.hpp" +#include "../../logger/loggable.hpp" +#include "../../logger/logger.hpp" /** * @class RelativeInformation diff --git a/src/simulation/simulation_configuration.hpp b/src/simulation/simulation_configuration.hpp index 25bde1245..28b6f74f0 100644 --- a/src/simulation/simulation_configuration.hpp +++ b/src/simulation/simulation_configuration.hpp @@ -9,7 +9,7 @@ #include #include -#include "../library/logger/logger.hpp" +#include "../logger/logger.hpp" /** * @struct SimulationConfiguration diff --git a/src/simulation/spacecraft/installed_components.hpp b/src/simulation/spacecraft/installed_components.hpp index fed441308..a711e94ed 100644 --- a/src/simulation/spacecraft/installed_components.hpp +++ b/src/simulation/spacecraft/installed_components.hpp @@ -6,7 +6,7 @@ #ifndef S2E_SIMULATION_SPACECRAFT_INSTALLED_COMPONENTS_HPP_ #define S2E_SIMULATION_SPACECRAFT_INSTALLED_COMPONENTS_HPP_ -#include +#include #include /** diff --git a/src/simulation/spacecraft/spacecraft.cpp b/src/simulation/spacecraft/spacecraft.cpp index c138a95bc..61a7762d4 100644 --- a/src/simulation/spacecraft/spacecraft.cpp +++ b/src/simulation/spacecraft/spacecraft.cpp @@ -5,8 +5,8 @@ #include "spacecraft.hpp" -#include -#include +#include +#include Spacecraft::Spacecraft(const SimulationConfiguration* simulation_configuration, const GlobalEnvironment* global_environment, const int spacecraft_id, RelativeInformation* relative_information) From fcabf64db186c6810ca9d9a994af41aa90a6b0d9 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Fri, 9 Feb 2024 14:47:32 +0100 Subject: [PATCH 156/456] Fix format --- src/components/ideal/attitude_observer.hpp | 2 +- src/components/ideal/force_generator.hpp | 2 +- src/components/ideal/torque_generator.hpp | 2 +- src/components/real/aocs/gnss_receiver.hpp | 2 +- src/components/real/aocs/gyro_sensor.hpp | 2 +- src/components/real/aocs/magnetometer.hpp | 2 +- src/components/real/aocs/magnetorquer.cpp | 2 +- src/components/real/aocs/magnetorquer.hpp | 2 +- src/components/real/aocs/reaction_wheel.hpp | 2 +- src/components/real/aocs/star_sensor.cpp | 2 +- src/components/real/aocs/star_sensor.hpp | 2 +- src/components/real/aocs/sun_sensor.cpp | 2 +- src/components/real/aocs/sun_sensor.hpp | 2 +- src/components/real/mission/telescope.hpp | 2 +- src/components/real/power/solar_array_panel.hpp | 2 +- src/components/real/propulsion/simple_thruster.hpp | 2 +- src/disturbances/air_drag.hpp | 2 +- src/disturbances/geopotential.cpp | 2 +- src/disturbances/gravity_gradient.hpp | 2 +- src/disturbances/lunar_gravity_field.cpp | 2 +- src/disturbances/magnetic_disturbance.cpp | 2 +- src/disturbances/magnetic_disturbance.hpp | 2 +- src/disturbances/solar_radiation_pressure_disturbance.hpp | 2 +- src/disturbances/third_body_gravity.hpp | 2 +- src/dynamics/attitude/attitude.hpp | 2 +- src/dynamics/attitude/attitude_rk4.cpp | 2 +- src/dynamics/attitude/controlled_attitude.cpp | 2 +- src/dynamics/orbit/orbit.hpp | 2 +- src/environment/global/celestial_information.hpp | 2 +- src/environment/global/gnss_satellites.cpp | 2 +- src/environment/global/gnss_satellites.hpp | 2 +- src/environment/global/hipparcos_catalogue.hpp | 2 +- src/environment/local/atmosphere.cpp | 2 +- src/environment/local/atmosphere.hpp | 2 +- src/environment/local/geomagnetic_field.hpp | 2 +- .../local/solar_radiation_pressure_environment.cpp | 2 +- src/simulation/ground_station/ground_station.cpp | 4 ++-- src/simulation/spacecraft/installed_components.hpp | 2 +- 38 files changed, 39 insertions(+), 39 deletions(-) diff --git a/src/components/ideal/attitude_observer.hpp b/src/components/ideal/attitude_observer.hpp index a393f212a..4076cfed8 100644 --- a/src/components/ideal/attitude_observer.hpp +++ b/src/components/ideal/attitude_observer.hpp @@ -7,9 +7,9 @@ #define S2E_COMPONENTS_IDEAL_ATTITUDE_OBSERVER_HPP_ #include -#include #include #include +#include #include "../base/component.hpp" diff --git a/src/components/ideal/force_generator.hpp b/src/components/ideal/force_generator.hpp index ef8ccad32..31b1110c5 100644 --- a/src/components/ideal/force_generator.hpp +++ b/src/components/ideal/force_generator.hpp @@ -8,9 +8,9 @@ #include #include -#include #include #include +#include /* * @class ForceGenerator diff --git a/src/components/ideal/torque_generator.hpp b/src/components/ideal/torque_generator.hpp index ff03073c1..2e8b6b8c2 100644 --- a/src/components/ideal/torque_generator.hpp +++ b/src/components/ideal/torque_generator.hpp @@ -8,9 +8,9 @@ #include #include -#include #include #include +#include /* * @class TorqueGenerator diff --git a/src/components/real/aocs/gnss_receiver.hpp b/src/components/real/aocs/gnss_receiver.hpp index 5b762ec2d..9a783dc5b 100644 --- a/src/components/real/aocs/gnss_receiver.hpp +++ b/src/components/real/aocs/gnss_receiver.hpp @@ -10,9 +10,9 @@ #include #include #include -#include #include #include +#include #include "../../base/component.hpp" diff --git a/src/components/real/aocs/gyro_sensor.hpp b/src/components/real/aocs/gyro_sensor.hpp index ce46f7ebb..3cf311139 100644 --- a/src/components/real/aocs/gyro_sensor.hpp +++ b/src/components/real/aocs/gyro_sensor.hpp @@ -7,8 +7,8 @@ #define S2E_COMPONENTS_REAL_AOCS_GYRO_SENSOR_HPP_ #include -#include #include +#include #include "../../base/component.hpp" #include "../../base/sensor.hpp" diff --git a/src/components/real/aocs/magnetometer.hpp b/src/components/real/aocs/magnetometer.hpp index cf7f4e2f5..04d6bb32c 100644 --- a/src/components/real/aocs/magnetometer.hpp +++ b/src/components/real/aocs/magnetometer.hpp @@ -7,8 +7,8 @@ #define S2E_COMPONENTS_REAL_AOCS_MAGNETOMETER_HPP_ #include -#include #include +#include #include "../../base/component.hpp" #include "../../base/sensor.hpp" diff --git a/src/components/real/aocs/magnetorquer.cpp b/src/components/real/aocs/magnetorquer.cpp index 282994c10..90a415065 100644 --- a/src/components/real/aocs/magnetorquer.cpp +++ b/src/components/real/aocs/magnetorquer.cpp @@ -5,10 +5,10 @@ #include "magnetorquer.hpp" -#include #include #include #include +#include #include Magnetorquer::Magnetorquer(const int prescaler, ClockGenerator* clock_generator, const int component_id, const libra::Quaternion& quaternion_b2c, diff --git a/src/components/real/aocs/magnetorquer.hpp b/src/components/real/aocs/magnetorquer.hpp index 26e5447a5..dc89d0bc0 100644 --- a/src/components/real/aocs/magnetorquer.hpp +++ b/src/components/real/aocs/magnetorquer.hpp @@ -7,12 +7,12 @@ #define S2E_COMPONENTS_REAL_AOCS_MAGNETORQUER_HPP_ #include -#include #include #include #include #include #include +#include #include "../../base/component.hpp" diff --git a/src/components/real/aocs/reaction_wheel.hpp b/src/components/real/aocs/reaction_wheel.hpp index 98c002810..9919569c3 100644 --- a/src/components/real/aocs/reaction_wheel.hpp +++ b/src/components/real/aocs/reaction_wheel.hpp @@ -7,9 +7,9 @@ #define S2E_COMPONENTS_REAL_AOCS_REACTION_WHEEL_HPP_ #include -#include #include #include +#include #include #include diff --git a/src/components/real/aocs/star_sensor.cpp b/src/components/real/aocs/star_sensor.cpp index 5da110d92..f4e4ac7d8 100644 --- a/src/components/real/aocs/star_sensor.cpp +++ b/src/components/real/aocs/star_sensor.cpp @@ -6,10 +6,10 @@ #include "star_sensor.hpp" #include -#include #include #include #include +#include #include #include diff --git a/src/components/real/aocs/star_sensor.hpp b/src/components/real/aocs/star_sensor.hpp index 5c5169a67..7727b1321 100644 --- a/src/components/real/aocs/star_sensor.hpp +++ b/src/components/real/aocs/star_sensor.hpp @@ -8,11 +8,11 @@ #include #include -#include #include #include #include #include +#include #include #include "../../base/component.hpp" diff --git a/src/components/real/aocs/sun_sensor.cpp b/src/components/real/aocs/sun_sensor.cpp index cc791991f..80cef697b 100644 --- a/src/components/real/aocs/sun_sensor.cpp +++ b/src/components/real/aocs/sun_sensor.cpp @@ -8,8 +8,8 @@ #include #include using libra::NormalRand; -#include #include +#include #include using namespace std; diff --git a/src/components/real/aocs/sun_sensor.hpp b/src/components/real/aocs/sun_sensor.hpp index c6a00dad8..3e090333d 100644 --- a/src/components/real/aocs/sun_sensor.hpp +++ b/src/components/real/aocs/sun_sensor.hpp @@ -8,10 +8,10 @@ #include #include -#include #include #include #include +#include #include "../../base/component.hpp" diff --git a/src/components/real/mission/telescope.hpp b/src/components/real/mission/telescope.hpp index 989f9ed46..bc8007f3f 100644 --- a/src/components/real/mission/telescope.hpp +++ b/src/components/real/mission/telescope.hpp @@ -10,9 +10,9 @@ #include #include #include -#include #include #include +#include #include #include "../../base/component.hpp" diff --git a/src/components/real/power/solar_array_panel.hpp b/src/components/real/power/solar_array_panel.hpp index 6a65484b8..00f1f7085 100644 --- a/src/components/real/power/solar_array_panel.hpp +++ b/src/components/real/power/solar_array_panel.hpp @@ -8,8 +8,8 @@ #include #include -#include #include +#include #include "../../base/component.hpp" diff --git a/src/components/real/propulsion/simple_thruster.hpp b/src/components/real/propulsion/simple_thruster.hpp index 83c365454..b1864dd53 100644 --- a/src/components/real/propulsion/simple_thruster.hpp +++ b/src/components/real/propulsion/simple_thruster.hpp @@ -7,10 +7,10 @@ #define S2E_COMPONENTS_REAL_PROPULSION_SIMPLE_THRUSTER_HPP_ #include -#include #include #include #include +#include #include #include "../../base/component.hpp" diff --git a/src/disturbances/air_drag.hpp b/src/disturbances/air_drag.hpp index 57e7b5a86..3056df0f6 100644 --- a/src/disturbances/air_drag.hpp +++ b/src/disturbances/air_drag.hpp @@ -9,9 +9,9 @@ #include #include "../environment/local/atmosphere.hpp" -#include "../logger/loggable.hpp" #include "../library/math/quaternion.hpp" #include "../library/math/vector.hpp" +#include "../logger/loggable.hpp" #include "surface_force.hpp" /** diff --git a/src/disturbances/geopotential.cpp b/src/disturbances/geopotential.cpp index 1d14bc7b4..0933949d4 100644 --- a/src/disturbances/geopotential.cpp +++ b/src/disturbances/geopotential.cpp @@ -12,8 +12,8 @@ #include #include -#include "../logger/log_utility.hpp" #include "../library/utilities/macros.hpp" +#include "../logger/log_utility.hpp" // #define DEBUG_GEOPOTENTIAL diff --git a/src/disturbances/gravity_gradient.hpp b/src/disturbances/gravity_gradient.hpp index 1dbcfcea9..09bd25a47 100644 --- a/src/disturbances/gravity_gradient.hpp +++ b/src/disturbances/gravity_gradient.hpp @@ -8,10 +8,10 @@ #include -#include "../logger/loggable.hpp" #include "../library/math/matrix.hpp" #include "../library/math/matrix_vector.hpp" #include "../library/math/vector.hpp" +#include "../logger/loggable.hpp" #include "disturbance.hpp" /** diff --git a/src/disturbances/lunar_gravity_field.cpp b/src/disturbances/lunar_gravity_field.cpp index 7dfc0a400..5af42d3cf 100644 --- a/src/disturbances/lunar_gravity_field.cpp +++ b/src/disturbances/lunar_gravity_field.cpp @@ -12,8 +12,8 @@ #include #include -#include "../logger/log_utility.hpp" #include "../library/utilities/macros.hpp" +#include "../logger/log_utility.hpp" // #define DEBUG_LUNAR_GRAVITY_FIELD diff --git a/src/disturbances/magnetic_disturbance.cpp b/src/disturbances/magnetic_disturbance.cpp index db11ac883..776127d4a 100644 --- a/src/disturbances/magnetic_disturbance.cpp +++ b/src/disturbances/magnetic_disturbance.cpp @@ -8,10 +8,10 @@ #include #include -#include "../logger/log_utility.hpp" #include "../library/randomization/global_randomization.hpp" #include "../library/randomization/normal_randomization.hpp" #include "../library/randomization/random_walk.hpp" +#include "../logger/log_utility.hpp" MagneticDisturbance::MagneticDisturbance(const ResidualMagneticMoment& rmm_params, const bool is_calculation_enabled) : Disturbance(is_calculation_enabled, true), residual_magnetic_moment_(rmm_params) { diff --git a/src/disturbances/magnetic_disturbance.hpp b/src/disturbances/magnetic_disturbance.hpp index f04e33612..676e1671e 100644 --- a/src/disturbances/magnetic_disturbance.hpp +++ b/src/disturbances/magnetic_disturbance.hpp @@ -8,8 +8,8 @@ #include -#include "../logger/loggable.hpp" #include "../library/math/vector.hpp" +#include "../logger/loggable.hpp" #include "../simulation/spacecraft/structure/residual_magnetic_moment.hpp" #include "disturbance.hpp" diff --git a/src/disturbances/solar_radiation_pressure_disturbance.hpp b/src/disturbances/solar_radiation_pressure_disturbance.hpp index 7afcb1b7f..a5967d629 100644 --- a/src/disturbances/solar_radiation_pressure_disturbance.hpp +++ b/src/disturbances/solar_radiation_pressure_disturbance.hpp @@ -8,8 +8,8 @@ #include -#include "../logger/loggable.hpp" #include "../library/math/vector.hpp" +#include "../logger/loggable.hpp" #include "surface_force.hpp" /** diff --git a/src/disturbances/third_body_gravity.hpp b/src/disturbances/third_body_gravity.hpp index 3d6ed0bf8..c65c5b9fd 100644 --- a/src/disturbances/third_body_gravity.hpp +++ b/src/disturbances/third_body_gravity.hpp @@ -10,8 +10,8 @@ #include #include -#include "../logger/loggable.hpp" #include "../library/math/vector.hpp" +#include "../logger/loggable.hpp" #include "disturbance.hpp" /** diff --git a/src/dynamics/attitude/attitude.hpp b/src/dynamics/attitude/attitude.hpp index ae6de8146..ee91197dc 100644 --- a/src/dynamics/attitude/attitude.hpp +++ b/src/dynamics/attitude/attitude.hpp @@ -6,9 +6,9 @@ #ifndef S2E_DYNAMICS_ATTITUDE_ATTITUDE_HPP_ #define S2E_DYNAMICS_ATTITUDE_ATTITUDE_HPP_ -#include #include #include +#include #include #include diff --git a/src/dynamics/attitude/attitude_rk4.cpp b/src/dynamics/attitude/attitude_rk4.cpp index 141b3ecff..3d4f62c85 100644 --- a/src/dynamics/attitude/attitude_rk4.cpp +++ b/src/dynamics/attitude/attitude_rk4.cpp @@ -5,8 +5,8 @@ #include "attitude_rk4.hpp" #include -#include #include +#include #include AttitudeRk4::AttitudeRk4(const libra::Vector<3>& angular_velocity_b_rad_s, const libra::Quaternion& quaternion_i2b, diff --git a/src/dynamics/attitude/controlled_attitude.cpp b/src/dynamics/attitude/controlled_attitude.cpp index acf62fb37..759a7fbba 100644 --- a/src/dynamics/attitude/controlled_attitude.cpp +++ b/src/dynamics/attitude/controlled_attitude.cpp @@ -4,8 +4,8 @@ */ #include "controlled_attitude.hpp" -#include #include +#include ControlledAttitude::ControlledAttitude(const AttitudeControlMode main_mode, const AttitudeControlMode sub_mode, const libra::Quaternion quaternion_i2b, const libra::Vector<3> main_target_direction_b, diff --git a/src/dynamics/orbit/orbit.hpp b/src/dynamics/orbit/orbit.hpp index 3f35c9aad..2f504159e 100644 --- a/src/dynamics/orbit/orbit.hpp +++ b/src/dynamics/orbit/orbit.hpp @@ -9,12 +9,12 @@ #include #include #include -#include #include #include #include #include #include +#include /** * @enum OrbitPropagateMode diff --git a/src/environment/global/celestial_information.hpp b/src/environment/global/celestial_information.hpp index 9f8fbe1eb..1197e6066 100644 --- a/src/environment/global/celestial_information.hpp +++ b/src/environment/global/celestial_information.hpp @@ -10,8 +10,8 @@ #include #include "earth_rotation.hpp" -#include "logger/loggable.hpp" #include "library/math/vector.hpp" +#include "logger/loggable.hpp" #include "moon_rotation.hpp" #include "simulation_time.hpp" diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index bfc7142fe..154afefdc 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -9,10 +9,10 @@ #include #include "environment/global/physical_constants.hpp" -#include "logger/log_utility.hpp" #include "library/math/constants.hpp" #include "library/time_system/date_time_format.hpp" #include "library/utilities/macros.hpp" +#include "logger/log_utility.hpp" #include "setting_file_reader/initialize_file_access.hpp" const size_t kNumberOfInterpolation = 9; diff --git a/src/environment/global/gnss_satellites.hpp b/src/environment/global/gnss_satellites.hpp index 1aaadad95..47add1696 100644 --- a/src/environment/global/gnss_satellites.hpp +++ b/src/environment/global/gnss_satellites.hpp @@ -17,8 +17,8 @@ #include "earth_rotation.hpp" #include "library/gnss/gnss_satellite_number.hpp" -#include "logger/loggable.hpp" #include "library/math/vector.hpp" +#include "logger/loggable.hpp" #include "simulation_time.hpp" /** diff --git a/src/environment/global/hipparcos_catalogue.hpp b/src/environment/global/hipparcos_catalogue.hpp index 0722398c8..4f5f9bb8e 100644 --- a/src/environment/global/hipparcos_catalogue.hpp +++ b/src/environment/global/hipparcos_catalogue.hpp @@ -8,9 +8,9 @@ #include -#include "logger/loggable.hpp" #include "library/math/quaternion.hpp" #include "library/math/vector.hpp" +#include "logger/loggable.hpp" /** *@struct HipparcosData diff --git a/src/environment/local/atmosphere.cpp b/src/environment/local/atmosphere.cpp index 3081f9cfd..8db85b4e3 100644 --- a/src/environment/local/atmosphere.cpp +++ b/src/environment/local/atmosphere.cpp @@ -7,11 +7,11 @@ #include "library/atmosphere/harris_priester_model.hpp" #include "library/atmosphere/simple_air_density_model.hpp" -#include "logger/log_utility.hpp" #include "library/math/vector.hpp" #include "library/randomization/global_randomization.hpp" #include "library/randomization/normal_randomization.hpp" #include "library/randomization/random_walk.hpp" +#include "logger/log_utility.hpp" #include "setting_file_reader/initialize_file_access.hpp" Atmosphere::Atmosphere(const std::string model, const std::string space_weather_file_name, const double gauss_standard_deviation_rate, diff --git a/src/environment/local/atmosphere.hpp b/src/environment/local/atmosphere.hpp index ae8f3312d..138b97a07 100644 --- a/src/environment/local/atmosphere.hpp +++ b/src/environment/local/atmosphere.hpp @@ -12,8 +12,8 @@ #include "environment/global/simulation_time.hpp" #include "environment/local/local_celestial_information.hpp" #include "external_libraries/nrlmsise00/wrapper_nrlmsise00.hpp" -#include "logger/loggable.hpp" #include "library/math/vector.hpp" +#include "logger/loggable.hpp" /** * @class Atmosphere diff --git a/src/environment/local/geomagnetic_field.hpp b/src/environment/local/geomagnetic_field.hpp index 9a60e08d9..2f87b2957 100644 --- a/src/environment/local/geomagnetic_field.hpp +++ b/src/environment/local/geomagnetic_field.hpp @@ -7,9 +7,9 @@ #define S2E_ENVIRONMENT_LOCAL_GEOMAGNETIC_FIELD_HPP_ #include "library/geodesy/geodetic_position.hpp" -#include "logger/loggable.hpp" #include "library/math/quaternion.hpp" #include "library/math/vector.hpp" +#include "logger/loggable.hpp" /** * @class GeomagneticField diff --git a/src/environment/local/solar_radiation_pressure_environment.cpp b/src/environment/local/solar_radiation_pressure_environment.cpp index 0f1d5099e..a2bde130f 100644 --- a/src/environment/local/solar_radiation_pressure_environment.cpp +++ b/src/environment/local/solar_radiation_pressure_environment.cpp @@ -8,9 +8,9 @@ #include #include -#include "logger/log_utility.hpp" #include "library/math/constants.hpp" #include "library/math/vector.hpp" +#include "logger/log_utility.hpp" #include "setting_file_reader/initialize_file_access.hpp" SolarRadiationPressureEnvironment::SolarRadiationPressureEnvironment(LocalCelestialInformation* local_celestial_information) diff --git a/src/simulation/ground_station/ground_station.cpp b/src/simulation/ground_station/ground_station.cpp index 7b3d7c05b..b36b44d8c 100644 --- a/src/simulation/ground_station/ground_station.cpp +++ b/src/simulation/ground_station/ground_station.cpp @@ -6,10 +6,10 @@ #include "ground_station.hpp" #include -#include -#include #include #include +#include +#include #include #include diff --git a/src/simulation/spacecraft/installed_components.hpp b/src/simulation/spacecraft/installed_components.hpp index a711e94ed..0be7bec4a 100644 --- a/src/simulation/spacecraft/installed_components.hpp +++ b/src/simulation/spacecraft/installed_components.hpp @@ -6,8 +6,8 @@ #ifndef S2E_SIMULATION_SPACECRAFT_INSTALLED_COMPONENTS_HPP_ #define S2E_SIMULATION_SPACECRAFT_INSTALLED_COMPONENTS_HPP_ -#include #include +#include /** * @class InstalledComponents From 3a0354075624f43a2e06fdc0783480f2cfe88ef2 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Fri, 9 Feb 2024 15:00:22 +0100 Subject: [PATCH 157/456] Move library/utilities to src/ --- src/{library => }/utilities/endian.cpp | 0 src/{library => }/utilities/endian.hpp | 0 src/{library => }/utilities/endian_define.hpp | 0 src/{library => }/utilities/macros.hpp | 0 src/{library => }/utilities/quantization.cpp | 0 src/{library => }/utilities/quantization.hpp | 0 src/{library => }/utilities/ring_buffer.cpp | 0 src/{library => }/utilities/ring_buffer.hpp | 0 src/{library => }/utilities/slip.cpp | 0 src/{library => }/utilities/slip.hpp | 0 10 files changed, 0 insertions(+), 0 deletions(-) rename src/{library => }/utilities/endian.cpp (100%) rename src/{library => }/utilities/endian.hpp (100%) rename src/{library => }/utilities/endian_define.hpp (100%) rename src/{library => }/utilities/macros.hpp (100%) rename src/{library => }/utilities/quantization.cpp (100%) rename src/{library => }/utilities/quantization.hpp (100%) rename src/{library => }/utilities/ring_buffer.cpp (100%) rename src/{library => }/utilities/ring_buffer.hpp (100%) rename src/{library => }/utilities/slip.cpp (100%) rename src/{library => }/utilities/slip.hpp (100%) diff --git a/src/library/utilities/endian.cpp b/src/utilities/endian.cpp similarity index 100% rename from src/library/utilities/endian.cpp rename to src/utilities/endian.cpp diff --git a/src/library/utilities/endian.hpp b/src/utilities/endian.hpp similarity index 100% rename from src/library/utilities/endian.hpp rename to src/utilities/endian.hpp diff --git a/src/library/utilities/endian_define.hpp b/src/utilities/endian_define.hpp similarity index 100% rename from src/library/utilities/endian_define.hpp rename to src/utilities/endian_define.hpp diff --git a/src/library/utilities/macros.hpp b/src/utilities/macros.hpp similarity index 100% rename from src/library/utilities/macros.hpp rename to src/utilities/macros.hpp diff --git a/src/library/utilities/quantization.cpp b/src/utilities/quantization.cpp similarity index 100% rename from src/library/utilities/quantization.cpp rename to src/utilities/quantization.cpp diff --git a/src/library/utilities/quantization.hpp b/src/utilities/quantization.hpp similarity index 100% rename from src/library/utilities/quantization.hpp rename to src/utilities/quantization.hpp diff --git a/src/library/utilities/ring_buffer.cpp b/src/utilities/ring_buffer.cpp similarity index 100% rename from src/library/utilities/ring_buffer.cpp rename to src/utilities/ring_buffer.cpp diff --git a/src/library/utilities/ring_buffer.hpp b/src/utilities/ring_buffer.hpp similarity index 100% rename from src/library/utilities/ring_buffer.hpp rename to src/utilities/ring_buffer.hpp diff --git a/src/library/utilities/slip.cpp b/src/utilities/slip.cpp similarity index 100% rename from src/library/utilities/slip.cpp rename to src/utilities/slip.cpp diff --git a/src/library/utilities/slip.hpp b/src/utilities/slip.hpp similarity index 100% rename from src/library/utilities/slip.hpp rename to src/utilities/slip.hpp From c2d99c7715a0a6d22e2797bb18a43189e0d19b52 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Fri, 9 Feb 2024 15:03:16 +0100 Subject: [PATCH 158/456] Batch conversion the including path of utilities --- CMakeLists.txt | 3 ++- src/components/base/component.hpp | 2 +- src/components/base/i2c_controller.cpp | 2 +- .../example_serial_communication_for_hils.cpp | 2 +- src/components/ports/i2c_port.cpp | 2 +- src/components/ports/power_port.cpp | 2 +- src/components/ports/uart_port.hpp | 2 +- src/components/real/aocs/reaction_wheel_jitter.cpp | 2 +- src/components/real/aocs/reaction_wheel_ode.cpp | 2 +- src/components/real/communication/antenna.cpp | 2 +- .../communication/wings_command_sender_to_c2a.cpp | 2 +- src/disturbances/geopotential.cpp | 2 +- src/disturbances/lunar_gravity_field.cpp | 2 +- src/disturbances/magnetic_disturbance.cpp | 2 +- .../solar_radiation_pressure_disturbance.hpp | 2 +- src/dynamics/attitude/attitude_rk4.cpp | 2 +- src/dynamics/attitude/controlled_attitude.cpp | 2 +- src/dynamics/orbit/encke_orbit_propagation.cpp | 2 +- src/dynamics/orbit/kepler_orbit_propagation.cpp | 2 +- src/dynamics/orbit/relative_orbit.cpp | 2 +- src/dynamics/orbit/rk4_orbit_propagation.cpp | 2 +- src/dynamics/orbit/sgp4_orbit_propagation.cpp | 2 +- src/dynamics/thermal/temperature.cpp | 2 +- src/environment/global/gnss_satellites.cpp | 2 +- src/external_libraries/sgp4/sgp4unit.cpp | 2 +- src/library/CMakeLists.txt | 5 ----- src/library/atmosphere/harris_priester_model.cpp | 2 +- src/library/numerical_integration/runge_kutta_4.hpp | 2 +- .../randomization/random_walk_template_functions.hpp | 2 +- src/setting_file_reader/c2a_command_database.cpp | 4 ++-- src/setting_file_reader/initialize_file_access.cpp | 2 +- src/simulation/ground_station/ground_station.cpp | 2 +- src/simulation/hils/hils_port_manager.cpp | 2 +- .../inter_spacecraft_communication.cpp | 2 +- src/simulation/spacecraft/installed_components.cpp | 2 +- src/utilities/CMakeLists.txt | 11 +++++++++++ 36 files changed, 47 insertions(+), 40 deletions(-) create mode 100644 src/utilities/CMakeLists.txt diff --git a/CMakeLists.txt b/CMakeLists.txt index 8458f2feb..bb2767281 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -92,6 +92,7 @@ add_subdirectory(src/library) add_subdirectory(src/external_libraries) add_subdirectory(src/setting_file_reader) add_subdirectory(src/logger) +add_subdirectory(src/utilities) set(SOURCE_FILES src/s2e.cpp @@ -180,7 +181,7 @@ endif() #target_link_libraries(${PROJECT_NAME} ${NRLMSISE00_LIB}) # Initialize link -target_link_libraries(COMPONENT DYNAMICS GLOBAL_ENVIRONMENT LOCAL_ENVIRONMENT LIBRARY SETTING_FILE_READER LOGGER) +target_link_libraries(COMPONENT DYNAMICS GLOBAL_ENVIRONMENT LOCAL_ENVIRONMENT LIBRARY SETTING_FILE_READER LOGGER UTILITIES) target_link_libraries(DYNAMICS GLOBAL_ENVIRONMENT LOCAL_ENVIRONMENT SIMULATION LIBRARY) target_link_libraries(DISTURBANCE DYNAMICS GLOBAL_ENVIRONMENT LOCAL_ENVIRONMENT LIBRARY) target_link_libraries(SIMULATION DYNAMICS GLOBAL_ENVIRONMENT LOCAL_ENVIRONMENT DISTURBANCE LIBRARY) diff --git a/src/components/base/component.hpp b/src/components/base/component.hpp index cb4049985..91432e1f3 100644 --- a/src/components/base/component.hpp +++ b/src/components/base/component.hpp @@ -8,7 +8,7 @@ #include #include -#include +#include #include "interface_tickable.hpp" diff --git a/src/components/base/i2c_controller.cpp b/src/components/base/i2c_controller.cpp index 2d6e0970d..64e1429ba 100644 --- a/src/components/base/i2c_controller.cpp +++ b/src/components/base/i2c_controller.cpp @@ -5,7 +5,7 @@ #include "i2c_controller.hpp" #include -#include +#include I2cController::I2cController(const unsigned int hils_port_id, const unsigned int baud_rate, const unsigned int tx_buffer_size, const unsigned int rx_buffer_size, HilsPortManager* hils_port_manager) diff --git a/src/components/examples/example_serial_communication_for_hils.cpp b/src/components/examples/example_serial_communication_for_hils.cpp index 8986e85db..fe0b9b3d8 100644 --- a/src/components/examples/example_serial_communication_for_hils.cpp +++ b/src/components/examples/example_serial_communication_for_hils.cpp @@ -4,7 +4,7 @@ */ #include "example_serial_communication_for_hils.hpp" -#include +#include ExampleSerialCommunicationForHils::ExampleSerialCommunicationForHils(ClockGenerator* clock_generator, const int sils_port_id, OnBoardComputer* obc, const unsigned int hils_port_id, const unsigned int baud_rate, diff --git a/src/components/ports/i2c_port.cpp b/src/components/ports/i2c_port.cpp index d01b5b21d..715fd9538 100644 --- a/src/components/ports/i2c_port.cpp +++ b/src/components/ports/i2c_port.cpp @@ -5,7 +5,7 @@ #include "i2c_port.hpp" -#include +#include I2cPort::I2cPort(void) {} diff --git a/src/components/ports/power_port.cpp b/src/components/ports/power_port.cpp index fdeea6978..36dbd2c31 100644 --- a/src/components/ports/power_port.cpp +++ b/src/components/ports/power_port.cpp @@ -6,7 +6,7 @@ #include "power_port.hpp" #include -#include +#include #include PowerPort::PowerPort() : kPortId(-1), current_limit_A_(10.0), minimum_voltage_V_(3.3), assumed_power_consumption_W_(0.0) { diff --git a/src/components/ports/uart_port.hpp b/src/components/ports/uart_port.hpp index 21849aff0..b50f90c28 100644 --- a/src/components/ports/uart_port.hpp +++ b/src/components/ports/uart_port.hpp @@ -6,7 +6,7 @@ #ifndef S2E_COMPONENTS_PORTS_UART_PORT_HPP_ #define S2E_COMPONENTS_PORTS_UART_PORT_HPP_ -#include +#include /** * @class UartPort diff --git a/src/components/real/aocs/reaction_wheel_jitter.cpp b/src/components/real/aocs/reaction_wheel_jitter.cpp index 1d7be9838..fb25cf62d 100644 --- a/src/components/real/aocs/reaction_wheel_jitter.cpp +++ b/src/components/real/aocs/reaction_wheel_jitter.cpp @@ -6,7 +6,7 @@ #include "reaction_wheel_jitter.hpp" #include -#include +#include #include ReactionWheelJitter::ReactionWheelJitter(std::vector> radial_force_harmonics_coefficients, diff --git a/src/components/real/aocs/reaction_wheel_ode.cpp b/src/components/real/aocs/reaction_wheel_ode.cpp index f90162d53..2ef53768e 100644 --- a/src/components/real/aocs/reaction_wheel_ode.cpp +++ b/src/components/real/aocs/reaction_wheel_ode.cpp @@ -4,7 +4,7 @@ */ #include "reaction_wheel_ode.hpp" -#include +#include ReactionWheelOde::ReactionWheelOde(const double step_width_s, const double velocity_limit_rad_s, const double initial_angular_velocity_rad_s) : OrdinaryDifferentialEquation<1>(step_width_s), velocity_limit_rad_s_(velocity_limit_rad_s) { diff --git a/src/components/real/communication/antenna.cpp b/src/components/real/communication/antenna.cpp index b0597ca41..b87cb5f27 100644 --- a/src/components/real/communication/antenna.cpp +++ b/src/components/real/communication/antenna.cpp @@ -8,7 +8,7 @@ #include #include -#include +#include #include Antenna::Antenna(const int component_id, const libra::Quaternion& quaternion_b2c, const bool is_transmitter, const bool is_receiver, diff --git a/src/components/real/communication/wings_command_sender_to_c2a.cpp b/src/components/real/communication/wings_command_sender_to_c2a.cpp index 7e230bfa3..0b51d0c07 100644 --- a/src/components/real/communication/wings_command_sender_to_c2a.cpp +++ b/src/components/real/communication/wings_command_sender_to_c2a.cpp @@ -7,7 +7,7 @@ #include "wings_command_sender_to_c2a.hpp" -#include +#include #include #include diff --git a/src/disturbances/geopotential.cpp b/src/disturbances/geopotential.cpp index 0933949d4..b88a70cb1 100644 --- a/src/disturbances/geopotential.cpp +++ b/src/disturbances/geopotential.cpp @@ -12,7 +12,7 @@ #include #include -#include "../library/utilities/macros.hpp" +#include "../utilities/macros.hpp" #include "../logger/log_utility.hpp" // #define DEBUG_GEOPOTENTIAL diff --git a/src/disturbances/lunar_gravity_field.cpp b/src/disturbances/lunar_gravity_field.cpp index 5af42d3cf..51cb22489 100644 --- a/src/disturbances/lunar_gravity_field.cpp +++ b/src/disturbances/lunar_gravity_field.cpp @@ -12,7 +12,7 @@ #include #include -#include "../library/utilities/macros.hpp" +#include "../utilities/macros.hpp" #include "../logger/log_utility.hpp" // #define DEBUG_LUNAR_GRAVITY_FIELD diff --git a/src/disturbances/magnetic_disturbance.cpp b/src/disturbances/magnetic_disturbance.cpp index 776127d4a..45fab003d 100644 --- a/src/disturbances/magnetic_disturbance.cpp +++ b/src/disturbances/magnetic_disturbance.cpp @@ -5,7 +5,7 @@ #include "magnetic_disturbance.hpp" -#include +#include #include #include "../library/randomization/global_randomization.hpp" diff --git a/src/disturbances/solar_radiation_pressure_disturbance.hpp b/src/disturbances/solar_radiation_pressure_disturbance.hpp index a5967d629..92180dd97 100644 --- a/src/disturbances/solar_radiation_pressure_disturbance.hpp +++ b/src/disturbances/solar_radiation_pressure_disturbance.hpp @@ -6,7 +6,7 @@ #ifndef S2E_DISTURBANCES_SOLAR_RADIATION_PRESSURE_DISTURBANCE_HPP_ #define S2E_DISTURBANCES_SOLAR_RADIATION_PRESSURE_DISTURBANCE_HPP_ -#include +#include #include "../library/math/vector.hpp" #include "../logger/loggable.hpp" diff --git a/src/dynamics/attitude/attitude_rk4.cpp b/src/dynamics/attitude/attitude_rk4.cpp index 3d4f62c85..8db417d7e 100644 --- a/src/dynamics/attitude/attitude_rk4.cpp +++ b/src/dynamics/attitude/attitude_rk4.cpp @@ -5,7 +5,7 @@ #include "attitude_rk4.hpp" #include -#include +#include #include #include diff --git a/src/dynamics/attitude/controlled_attitude.cpp b/src/dynamics/attitude/controlled_attitude.cpp index 759a7fbba..7a7fcb96a 100644 --- a/src/dynamics/attitude/controlled_attitude.cpp +++ b/src/dynamics/attitude/controlled_attitude.cpp @@ -4,7 +4,7 @@ */ #include "controlled_attitude.hpp" -#include +#include #include ControlledAttitude::ControlledAttitude(const AttitudeControlMode main_mode, const AttitudeControlMode sub_mode, diff --git a/src/dynamics/orbit/encke_orbit_propagation.cpp b/src/dynamics/orbit/encke_orbit_propagation.cpp index 941665edf..4623f19c9 100644 --- a/src/dynamics/orbit/encke_orbit_propagation.cpp +++ b/src/dynamics/orbit/encke_orbit_propagation.cpp @@ -5,7 +5,7 @@ #include "encke_orbit_propagation.hpp" -#include +#include #include "../../library/orbit/orbital_elements.hpp" diff --git a/src/dynamics/orbit/kepler_orbit_propagation.cpp b/src/dynamics/orbit/kepler_orbit_propagation.cpp index 776c468d2..1ff199c04 100644 --- a/src/dynamics/orbit/kepler_orbit_propagation.cpp +++ b/src/dynamics/orbit/kepler_orbit_propagation.cpp @@ -4,7 +4,7 @@ */ #include "kepler_orbit_propagation.hpp" -#include +#include #include "../../library/math/s2e_math.hpp" diff --git a/src/dynamics/orbit/relative_orbit.cpp b/src/dynamics/orbit/relative_orbit.cpp index 347e07e87..402129504 100644 --- a/src/dynamics/orbit/relative_orbit.cpp +++ b/src/dynamics/orbit/relative_orbit.cpp @@ -4,7 +4,7 @@ */ #include "relative_orbit.hpp" -#include +#include #include "rk4_orbit_propagation.hpp" diff --git a/src/dynamics/orbit/rk4_orbit_propagation.cpp b/src/dynamics/orbit/rk4_orbit_propagation.cpp index 683db283b..8ceab851b 100644 --- a/src/dynamics/orbit/rk4_orbit_propagation.cpp +++ b/src/dynamics/orbit/rk4_orbit_propagation.cpp @@ -5,7 +5,7 @@ #include "rk4_orbit_propagation.hpp" #include -#include +#include #include Rk4OrbitPropagation::Rk4OrbitPropagation(const CelestialInformation* celestial_information, double gravity_constant_m3_s2, double time_step_s, diff --git a/src/dynamics/orbit/sgp4_orbit_propagation.cpp b/src/dynamics/orbit/sgp4_orbit_propagation.cpp index 1c4da13ee..4f261572d 100644 --- a/src/dynamics/orbit/sgp4_orbit_propagation.cpp +++ b/src/dynamics/orbit/sgp4_orbit_propagation.cpp @@ -6,7 +6,7 @@ #include "sgp4_orbit_propagation.hpp" #include -#include +#include #include Sgp4OrbitPropagation::Sgp4OrbitPropagation(const CelestialInformation* celestial_information, char* tle1, char* tle2, const int wgs_setting, diff --git a/src/dynamics/thermal/temperature.cpp b/src/dynamics/thermal/temperature.cpp index b0f73fb90..5620bbc0b 100644 --- a/src/dynamics/thermal/temperature.cpp +++ b/src/dynamics/thermal/temperature.cpp @@ -9,7 +9,7 @@ #include #include #include -#include +#include #include using namespace std; diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index 154afefdc..ebdc6998d 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -11,7 +11,7 @@ #include "environment/global/physical_constants.hpp" #include "library/math/constants.hpp" #include "library/time_system/date_time_format.hpp" -#include "library/utilities/macros.hpp" +#include "utilities/macros.hpp" #include "logger/log_utility.hpp" #include "setting_file_reader/initialize_file_access.hpp" diff --git a/src/external_libraries/sgp4/sgp4unit.cpp b/src/external_libraries/sgp4/sgp4unit.cpp index 750a711ba..55e8f25c9 100644 --- a/src/external_libraries/sgp4/sgp4unit.cpp +++ b/src/external_libraries/sgp4/sgp4unit.cpp @@ -37,7 +37,7 @@ #include "sgp4unit.h" #include -#include +#include // const char help = 'n'; // Remove to avoid unused warinings FILE* dbgfile; diff --git a/src/library/CMakeLists.txt b/src/library/CMakeLists.txt index 29755f0f5..dde735600 100644 --- a/src/library/CMakeLists.txt +++ b/src/library/CMakeLists.txt @@ -36,11 +36,6 @@ add_library(${PROJECT_NAME} STATIC time_system/date_time_format.cpp time_system/epoch_time.cpp time_system/gps_time.cpp - - utilities/endian.cpp - utilities/slip.cpp - utilities/quantization.cpp - utilities/ring_buffer.cpp ) include(../../common.cmake) diff --git a/src/library/atmosphere/harris_priester_model.cpp b/src/library/atmosphere/harris_priester_model.cpp index 1ae3d375f..4cfc1b398 100644 --- a/src/library/atmosphere/harris_priester_model.cpp +++ b/src/library/atmosphere/harris_priester_model.cpp @@ -6,7 +6,7 @@ #include #include -#include +#include #include "harris_priester_coefficients.hpp" diff --git a/src/library/numerical_integration/runge_kutta_4.hpp b/src/library/numerical_integration/runge_kutta_4.hpp index 0ac8402af..50942186d 100644 --- a/src/library/numerical_integration/runge_kutta_4.hpp +++ b/src/library/numerical_integration/runge_kutta_4.hpp @@ -6,7 +6,7 @@ #ifndef S2E_LIBRARY_NUMERICAL_INTEGRATION_RUNGE_KUTTA_4_HPP_ #define S2E_LIBRARY_NUMERICAL_INTEGRATION_RUNGE_KUTTA_4_HPP_ -#include +#include #include "runge_kutta.hpp" diff --git a/src/library/randomization/random_walk_template_functions.hpp b/src/library/randomization/random_walk_template_functions.hpp index 3221d7228..ed9c1b46c 100644 --- a/src/library/randomization/random_walk_template_functions.hpp +++ b/src/library/randomization/random_walk_template_functions.hpp @@ -7,7 +7,7 @@ #define S2E_LIBRARY_RANDOMIZATION_RANDOM_WALK_TEMPLATE_FUNCTIONS_HPP_ #include -#include +#include template RandomWalk::RandomWalk(double step_width_s, const libra::Vector& standard_deviation, const libra::Vector& limit) diff --git a/src/setting_file_reader/c2a_command_database.cpp b/src/setting_file_reader/c2a_command_database.cpp index b31655166..e3db8db64 100644 --- a/src/setting_file_reader/c2a_command_database.cpp +++ b/src/setting_file_reader/c2a_command_database.cpp @@ -7,8 +7,8 @@ #include #include -#include -#include +#include +#include #include C2aCommandInformation::C2aCommandInformation(const std::string cmd_db_line) { diff --git a/src/setting_file_reader/initialize_file_access.cpp b/src/setting_file_reader/initialize_file_access.cpp index 10cc19eca..b05e31e98 100644 --- a/src/setting_file_reader/initialize_file_access.cpp +++ b/src/setting_file_reader/initialize_file_access.cpp @@ -12,7 +12,7 @@ #include #include -#include "../library/utilities/macros.hpp" +#include "../utilities/macros.hpp" #ifdef WIN32 IniAccess::IniAccess(const std::string file_path) : file_path_(file_path) { diff --git a/src/simulation/ground_station/ground_station.cpp b/src/simulation/ground_station/ground_station.cpp index b36b44d8c..33291b448 100644 --- a/src/simulation/ground_station/ground_station.cpp +++ b/src/simulation/ground_station/ground_station.cpp @@ -7,7 +7,7 @@ #include #include -#include +#include #include #include #include diff --git a/src/simulation/hils/hils_port_manager.cpp b/src/simulation/hils/hils_port_manager.cpp index b794334be..40e4d36fe 100644 --- a/src/simulation/hils/hils_port_manager.cpp +++ b/src/simulation/hils/hils_port_manager.cpp @@ -5,7 +5,7 @@ #include "hils_port_manager.hpp" -#include +#include // #define HILS_PORT_MANAGER_SHOW_DEBUG_DATA diff --git a/src/simulation/multiple_spacecraft/inter_spacecraft_communication.cpp b/src/simulation/multiple_spacecraft/inter_spacecraft_communication.cpp index 6e4678aee..0324d2e2e 100644 --- a/src/simulation/multiple_spacecraft/inter_spacecraft_communication.cpp +++ b/src/simulation/multiple_spacecraft/inter_spacecraft_communication.cpp @@ -5,7 +5,7 @@ #include "inter_spacecraft_communication.hpp" -#include +#include InterSpacecraftCommunication::InterSpacecraftCommunication(const SimulationConfiguration* simulation_configuration) { UNUSED(simulation_configuration); diff --git a/src/simulation/spacecraft/installed_components.cpp b/src/simulation/spacecraft/installed_components.cpp index 015b606ac..325be3369 100644 --- a/src/simulation/spacecraft/installed_components.cpp +++ b/src/simulation/spacecraft/installed_components.cpp @@ -5,7 +5,7 @@ #include "installed_components.hpp" -#include +#include libra::Vector<3> InstalledComponents::GenerateForce_b_N() { libra::Vector<3> force_b_N_(0.0); diff --git a/src/utilities/CMakeLists.txt b/src/utilities/CMakeLists.txt new file mode 100644 index 000000000..ce9bef781 --- /dev/null +++ b/src/utilities/CMakeLists.txt @@ -0,0 +1,11 @@ +project(UTILITIES) +cmake_minimum_required(VERSION 3.13) + +add_library(${PROJECT_NAME} STATIC + endian.cpp + slip.cpp + quantization.cpp + ring_buffer.cpp +) + +include(../../common.cmake) From 63293a642090dd6471b7439873c2247496bb6cf0 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Fri, 9 Feb 2024 15:08:22 +0100 Subject: [PATCH 159/456] Fix format --- src/components/ports/power_port.cpp | 2 +- src/components/real/aocs/reaction_wheel_jitter.cpp | 2 +- src/components/real/communication/antenna.cpp | 2 +- .../real/communication/wings_command_sender_to_c2a.cpp | 2 +- src/disturbances/geopotential.cpp | 2 +- src/disturbances/lunar_gravity_field.cpp | 2 +- src/disturbances/magnetic_disturbance.cpp | 2 +- src/dynamics/attitude/attitude_rk4.cpp | 2 +- src/dynamics/attitude/controlled_attitude.cpp | 2 +- src/dynamics/orbit/rk4_orbit_propagation.cpp | 2 +- src/dynamics/orbit/sgp4_orbit_propagation.cpp | 2 +- src/dynamics/thermal/temperature.cpp | 2 +- src/environment/global/gnss_satellites.cpp | 2 +- src/setting_file_reader/c2a_command_database.cpp | 2 +- src/simulation/ground_station/ground_station.cpp | 2 +- 15 files changed, 15 insertions(+), 15 deletions(-) diff --git a/src/components/ports/power_port.cpp b/src/components/ports/power_port.cpp index 36dbd2c31..1a3393ec3 100644 --- a/src/components/ports/power_port.cpp +++ b/src/components/ports/power_port.cpp @@ -6,8 +6,8 @@ #include "power_port.hpp" #include -#include #include +#include PowerPort::PowerPort() : kPortId(-1), current_limit_A_(10.0), minimum_voltage_V_(3.3), assumed_power_consumption_W_(0.0) { is_on_ = true; // power on to work the component diff --git a/src/components/real/aocs/reaction_wheel_jitter.cpp b/src/components/real/aocs/reaction_wheel_jitter.cpp index fb25cf62d..69b7c5b24 100644 --- a/src/components/real/aocs/reaction_wheel_jitter.cpp +++ b/src/components/real/aocs/reaction_wheel_jitter.cpp @@ -6,8 +6,8 @@ #include "reaction_wheel_jitter.hpp" #include -#include #include +#include ReactionWheelJitter::ReactionWheelJitter(std::vector> radial_force_harmonics_coefficients, std::vector> radial_torque_harmonics_coefficients, const double update_interval_s, diff --git a/src/components/real/communication/antenna.cpp b/src/components/real/communication/antenna.cpp index b87cb5f27..926cfe0b7 100644 --- a/src/components/real/communication/antenna.cpp +++ b/src/components/real/communication/antenna.cpp @@ -8,8 +8,8 @@ #include #include -#include #include +#include Antenna::Antenna(const int component_id, const libra::Quaternion& quaternion_b2c, const bool is_transmitter, const bool is_receiver, const double frequency_MHz, const Vector<5> tx_parameters, const Vector<4> rx_parameters) diff --git a/src/components/real/communication/wings_command_sender_to_c2a.cpp b/src/components/real/communication/wings_command_sender_to_c2a.cpp index 0b51d0c07..4d04ee911 100644 --- a/src/components/real/communication/wings_command_sender_to_c2a.cpp +++ b/src/components/real/communication/wings_command_sender_to_c2a.cpp @@ -7,9 +7,9 @@ #include "wings_command_sender_to_c2a.hpp" -#include #include #include +#include #ifdef USE_C2A #include "src_core/c2a_core_main.h" diff --git a/src/disturbances/geopotential.cpp b/src/disturbances/geopotential.cpp index b88a70cb1..7be1ceba6 100644 --- a/src/disturbances/geopotential.cpp +++ b/src/disturbances/geopotential.cpp @@ -12,8 +12,8 @@ #include #include -#include "../utilities/macros.hpp" #include "../logger/log_utility.hpp" +#include "../utilities/macros.hpp" // #define DEBUG_GEOPOTENTIAL diff --git a/src/disturbances/lunar_gravity_field.cpp b/src/disturbances/lunar_gravity_field.cpp index 51cb22489..8de4db364 100644 --- a/src/disturbances/lunar_gravity_field.cpp +++ b/src/disturbances/lunar_gravity_field.cpp @@ -12,8 +12,8 @@ #include #include -#include "../utilities/macros.hpp" #include "../logger/log_utility.hpp" +#include "../utilities/macros.hpp" // #define DEBUG_LUNAR_GRAVITY_FIELD diff --git a/src/disturbances/magnetic_disturbance.cpp b/src/disturbances/magnetic_disturbance.cpp index 45fab003d..60b6cacd8 100644 --- a/src/disturbances/magnetic_disturbance.cpp +++ b/src/disturbances/magnetic_disturbance.cpp @@ -5,8 +5,8 @@ #include "magnetic_disturbance.hpp" -#include #include +#include #include "../library/randomization/global_randomization.hpp" #include "../library/randomization/normal_randomization.hpp" diff --git a/src/dynamics/attitude/attitude_rk4.cpp b/src/dynamics/attitude/attitude_rk4.cpp index 8db417d7e..669b3b61c 100644 --- a/src/dynamics/attitude/attitude_rk4.cpp +++ b/src/dynamics/attitude/attitude_rk4.cpp @@ -5,9 +5,9 @@ #include "attitude_rk4.hpp" #include -#include #include #include +#include AttitudeRk4::AttitudeRk4(const libra::Vector<3>& angular_velocity_b_rad_s, const libra::Quaternion& quaternion_i2b, const libra::Matrix<3, 3>& inertia_tensor_kgm2, const libra::Vector<3>& torque_b_Nm, const double propagation_step_s, diff --git a/src/dynamics/attitude/controlled_attitude.cpp b/src/dynamics/attitude/controlled_attitude.cpp index 7a7fcb96a..ac23ef8b3 100644 --- a/src/dynamics/attitude/controlled_attitude.cpp +++ b/src/dynamics/attitude/controlled_attitude.cpp @@ -4,8 +4,8 @@ */ #include "controlled_attitude.hpp" -#include #include +#include ControlledAttitude::ControlledAttitude(const AttitudeControlMode main_mode, const AttitudeControlMode sub_mode, const libra::Quaternion quaternion_i2b, const libra::Vector<3> main_target_direction_b, diff --git a/src/dynamics/orbit/rk4_orbit_propagation.cpp b/src/dynamics/orbit/rk4_orbit_propagation.cpp index 8ceab851b..ff14b33cc 100644 --- a/src/dynamics/orbit/rk4_orbit_propagation.cpp +++ b/src/dynamics/orbit/rk4_orbit_propagation.cpp @@ -5,8 +5,8 @@ #include "rk4_orbit_propagation.hpp" #include -#include #include +#include Rk4OrbitPropagation::Rk4OrbitPropagation(const CelestialInformation* celestial_information, double gravity_constant_m3_s2, double time_step_s, libra::Vector<3> position_i_m, libra::Vector<3> velocity_i_m_s, double initial_time_s) diff --git a/src/dynamics/orbit/sgp4_orbit_propagation.cpp b/src/dynamics/orbit/sgp4_orbit_propagation.cpp index 4f261572d..30451f568 100644 --- a/src/dynamics/orbit/sgp4_orbit_propagation.cpp +++ b/src/dynamics/orbit/sgp4_orbit_propagation.cpp @@ -6,8 +6,8 @@ #include "sgp4_orbit_propagation.hpp" #include -#include #include +#include Sgp4OrbitPropagation::Sgp4OrbitPropagation(const CelestialInformation* celestial_information, char* tle1, char* tle2, const int wgs_setting, const double current_time_jd) diff --git a/src/dynamics/thermal/temperature.cpp b/src/dynamics/thermal/temperature.cpp index 5620bbc0b..deb464820 100644 --- a/src/dynamics/thermal/temperature.cpp +++ b/src/dynamics/thermal/temperature.cpp @@ -9,8 +9,8 @@ #include #include #include -#include #include +#include using namespace std; diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index ebdc6998d..bedfaafab 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -11,9 +11,9 @@ #include "environment/global/physical_constants.hpp" #include "library/math/constants.hpp" #include "library/time_system/date_time_format.hpp" -#include "utilities/macros.hpp" #include "logger/log_utility.hpp" #include "setting_file_reader/initialize_file_access.hpp" +#include "utilities/macros.hpp" const size_t kNumberOfInterpolation = 9; diff --git a/src/setting_file_reader/c2a_command_database.cpp b/src/setting_file_reader/c2a_command_database.cpp index e3db8db64..650c11cf5 100644 --- a/src/setting_file_reader/c2a_command_database.cpp +++ b/src/setting_file_reader/c2a_command_database.cpp @@ -7,9 +7,9 @@ #include #include +#include #include #include -#include C2aCommandInformation::C2aCommandInformation(const std::string cmd_db_line) { if (cmd_db_line.find("*") == 0) return; diff --git a/src/simulation/ground_station/ground_station.cpp b/src/simulation/ground_station/ground_station.cpp index 33291b448..7745ef217 100644 --- a/src/simulation/ground_station/ground_station.cpp +++ b/src/simulation/ground_station/ground_station.cpp @@ -7,11 +7,11 @@ #include #include -#include #include #include #include #include +#include GroundStation::GroundStation(const SimulationConfiguration* configuration, const unsigned int ground_station_id) : ground_station_id_(ground_station_id) { From 66bbc84a22f63ae47fdb3b985e85208f61125c9f Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Fri, 9 Feb 2024 15:17:53 +0100 Subject: [PATCH 160/456] Remove library/communication directory --- src/{library/communication => utilities}/com_port_interface.cpp | 0 src/{library/communication => utilities}/com_port_interface.hpp | 0 2 files changed, 0 insertions(+), 0 deletions(-) rename src/{library/communication => utilities}/com_port_interface.cpp (100%) rename src/{library/communication => utilities}/com_port_interface.hpp (100%) diff --git a/src/library/communication/com_port_interface.cpp b/src/utilities/com_port_interface.cpp similarity index 100% rename from src/library/communication/com_port_interface.cpp rename to src/utilities/com_port_interface.cpp diff --git a/src/library/communication/com_port_interface.hpp b/src/utilities/com_port_interface.hpp similarity index 100% rename from src/library/communication/com_port_interface.hpp rename to src/utilities/com_port_interface.hpp From 9e9170990671da6c75ecf6390bf4d4164046a115 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Fri, 9 Feb 2024 15:20:12 +0100 Subject: [PATCH 161/456] Fix small --- src/library/numerical_integration/ode_examples.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/library/numerical_integration/ode_examples.hpp b/src/library/numerical_integration/ode_examples.hpp index fb0fbfdeb..401771d82 100644 --- a/src/library/numerical_integration/ode_examples.hpp +++ b/src/library/numerical_integration/ode_examples.hpp @@ -6,7 +6,7 @@ #ifndef S2E_LIBRARY_NUMERICAL_INTEGRATION_EXAMPLE_ODE_HPP_ #define S2E_LIBRARY_NUMERICAL_INTEGRATION_EXAMPLE_ODE_HPP_ -#include "../utilities/macros.hpp" +#include "../../utilities/macros.hpp" #include "interface_ode.hpp" namespace libra::numerical_integration { From 013101a07fda0709b3b0df059a45c29d807ed020 Mon Sep 17 00:00:00 2001 From: "renovate[bot]" <29139614+renovate[bot]@users.noreply.github.com> Date: Thu, 15 Feb 2024 15:54:52 +0000 Subject: [PATCH 162/456] Update dependency basemap to v1.4.1 --- scripts/Plot/Pipfile | 2 +- scripts/Plot/Pipfile.lock | 190 ++++++++++++++++++-------------------- 2 files changed, 92 insertions(+), 100 deletions(-) diff --git a/scripts/Plot/Pipfile b/scripts/Plot/Pipfile index a0b041da4..0b9e89182 100644 --- a/scripts/Plot/Pipfile +++ b/scripts/Plot/Pipfile @@ -4,7 +4,7 @@ verify_ssl = true name = "pypi" [packages] -basemap = "==1.4.0" +basemap = "==1.4.1" matplotlib = "==3.7.2" numpy = "==1.24.3" pandas = "==2.0.3" diff --git a/scripts/Plot/Pipfile.lock b/scripts/Plot/Pipfile.lock index 68f7a95d2..ecc9b0a59 100644 --- a/scripts/Plot/Pipfile.lock +++ b/scripts/Plot/Pipfile.lock @@ -1,7 +1,7 @@ { "_meta": { "hash": { - "sha256": "9f17d2eee9fa29f1898721cf5fb0055312fecfba2fc95a681f0988cbdce2c2d6" + "sha256": "df7f65ba3ec6206a2c239ec2a9ee9fffc46478ac37e3cd2a6a8e05cf83dcf3fc" }, "pipfile-spec": 6, "requires": { @@ -18,55 +18,47 @@ "default": { "basemap": { "hashes": [ - "sha256:0927a7d3899035b71ac88dfaa3fd7c304e62316d3506c79010b28b0ded6db83f", - "sha256:0da5d4d8e2bd77d7a06ca2f0750e8652acbf725064f518e6acec157d45abf393", - "sha256:0ee1ebadb27255c6045ddfaafe01b1850a993cc054f15fd12eb3fb9a22b0ba5d", - "sha256:10d45296ff9f1c7160290653bede4b1bd26d0e6d5cae32ea1b3823ebfe7f82cc", - "sha256:195cdcd10c0a394cd57bf28211b1f322d93ba99829d05760eec2342ad894b3ce", - 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"sha256:9068bc196136463f5245e51efda838afa15aaeca9903f49050dfa2679db4d252" ], "markers": "python_version >= '2'", - "version": "==2023.4" + "version": "==2024.1" }, "zipp": { "hashes": [ From 83ebc08f88c6ba15c082efdcb1fc609d84b9d45a Mon Sep 17 00:00:00 2001 From: Hiro-0110 Date: Mon, 19 Feb 2024 15:25:22 +0900 Subject: [PATCH 163/456] added relative_velocity_direction_pointing --- data/sample/initialize_files/sample_satellite.ini | 1 + src/dynamics/attitude/controlled_attitude.cpp | 5 +++++ src/dynamics/attitude/controlled_attitude.hpp | 1 + 3 files changed, 7 insertions(+) diff --git a/data/sample/initialize_files/sample_satellite.ini b/data/sample/initialize_files/sample_satellite.ini index 69dcd5210..f39037de5 100644 --- a/data/sample/initialize_files/sample_satellite.ini +++ b/data/sample/initialize_files/sample_satellite.ini @@ -33,6 +33,7 @@ initial_torque_b_Nm(2) = 0.000 // SUN_POINTING // EARTH_CENTER_POINTING // VELOCITY_DIRECTION_POINTING +// RELATIVE_VELOCITY_DIRECTION_POINTING // ORBIT_NORMAL_POINTING main_mode = INERTIAL_STABILIZE sub_mode = SUN_POINTING diff --git a/src/dynamics/attitude/controlled_attitude.cpp b/src/dynamics/attitude/controlled_attitude.cpp index 4790c1fb6..80096afbe 100644 --- a/src/dynamics/attitude/controlled_attitude.cpp +++ b/src/dynamics/attitude/controlled_attitude.cpp @@ -93,6 +93,9 @@ libra::Vector<3> ControlledAttitude::CalcTargetDirection_i(AttitudeControlMode m } } else if (mode == AttitudeControlMode::kVelocityDirectionPointing) { direction = orbit_->GetVelocity_i_m_s(); + } else if (mode == AttitudeControlMode::kRelativeVelocityDirectionPointing) { + libra::Matrix<3, 3> dcm_ecef2eci = local_celestial_information_->GetGlobalInformation().GetEarthRotation().GetDcmJ2000ToEcef().Transpose(); + direction = dcm_ecef2eci * orbit_->GetVelocity_ecef_m_s(); } else if (mode == AttitudeControlMode::kOrbitNormalPointing) { direction = OuterProduct(orbit_->GetPosition_i_m(), orbit_->GetVelocity_i_m_s()); } @@ -140,6 +143,8 @@ AttitudeControlMode ConvertStringToCtrlMode(const std::string mode) { return AttitudeControlMode::kEarthCenterPointing; } else if (mode == "VELOCITY_DIRECTION_POINTING") { return AttitudeControlMode::kVelocityDirectionPointing; + } else if (mode == "RELATIVE_VELOCITY_DIRECTION_POINTING") { + return AttitudeControlMode::kRelativeVelocityDirectionPointing; } else if (mode == "ORBIT_NORMAL_POINTING") { return AttitudeControlMode::kOrbitNormalPointing; } else { diff --git a/src/dynamics/attitude/controlled_attitude.hpp b/src/dynamics/attitude/controlled_attitude.hpp index f0de70d14..652d055da 100644 --- a/src/dynamics/attitude/controlled_attitude.hpp +++ b/src/dynamics/attitude/controlled_attitude.hpp @@ -22,6 +22,7 @@ enum class AttitudeControlMode { kSunPointing, //!< Sun pointing kEarthCenterPointing, //!< Earth center pointing kVelocityDirectionPointing, //!< Spacecraft velocity direction pointing + kRelativeVelocityDirectionPointing, //!< Relative velocity direction pointing kOrbitNormalPointing, //!< Orbit normal direction pointing kNoControl, // No Control }; From ec10bfcd9bceabebc1f6d8f6e1663724da23bc94 Mon Sep 17 00:00:00 2001 From: Hiro-0110 Date: Mon, 19 Feb 2024 15:31:27 +0900 Subject: [PATCH 164/456] fix format error --- src/dynamics/attitude/controlled_attitude.hpp | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/src/dynamics/attitude/controlled_attitude.hpp b/src/dynamics/attitude/controlled_attitude.hpp index 652d055da..1a6741499 100644 --- a/src/dynamics/attitude/controlled_attitude.hpp +++ b/src/dynamics/attitude/controlled_attitude.hpp @@ -18,13 +18,13 @@ * @brief Attitude control mode */ enum class AttitudeControlMode { - kInertialStabilize, //!< Inertial stabilize - kSunPointing, //!< Sun pointing - kEarthCenterPointing, //!< Earth center pointing - kVelocityDirectionPointing, //!< Spacecraft velocity direction pointing + kInertialStabilize, //!< Inertial stabilize + kSunPointing, //!< Sun pointing + kEarthCenterPointing, //!< Earth center pointing + kVelocityDirectionPointing, //!< Spacecraft velocity direction pointing kRelativeVelocityDirectionPointing, //!< Relative velocity direction pointing - kOrbitNormalPointing, //!< Orbit normal direction pointing - kNoControl, // No Control + kOrbitNormalPointing, //!< Orbit normal direction pointing + kNoControl, // No Control }; /** From 34eac33464d113ff5723f09f283f3f6ef8803557 Mon Sep 17 00:00:00 2001 From: sksat Date: Mon, 19 Feb 2024 17:55:57 +0900 Subject: [PATCH 165/456] refactor logger class by std::filesystem --- src/library/logger/logger.cpp | 74 ++++++++++++----------------------- src/library/logger/logger.hpp | 23 ++++------- 2 files changed, 32 insertions(+), 65 deletions(-) diff --git a/src/library/logger/logger.cpp b/src/library/logger/logger.cpp index 2a847b286..f4795d537 100644 --- a/src/library/logger/logger.cpp +++ b/src/library/logger/logger.cpp @@ -7,41 +7,40 @@ #include #include -#ifdef _WIN32 -#include -#else -#include -#endif std::vector log_list_; bool Logger::is_directory_created_ = false; -Logger::Logger(const std::string &file_name, const std::string &data_path, const std::string &ini_file_name, const bool is_ini_save_enabled, +namespace fs = std::filesystem; + +Logger::Logger(const std::string &file_name, const fs::path &data_path, const fs::path &ini_file_name, const bool is_ini_save_enabled, const bool is_enabled) : is_enabled_(is_enabled), is_ini_save_enabled_(is_ini_save_enabled) { is_file_opened_ = false; if (is_enabled_ == false) return; - // Get current time to append it to the filename + // Set current time to filename prefix time_t timer = time(NULL); struct tm *now; now = localtime(&timer); char start_time_c[64]; strftime(start_time_c, 64, "%y%m%d_%H%M%S", now); + const auto file_prefix = std::string(start_time_c) + "_"; + // Create directory if (is_ini_save_enabled_ == true || is_directory_created_ == false) { directory_path_ = CreateDirectory(data_path, start_time_c); } else { directory_path_ = data_path; } + // Create File - std::stringstream file_path; - file_path << directory_path_ << start_time_c << "_" << file_name; + fs::path file_path = directory_path_ / (file_prefix + file_name); if (is_enabled_) { - csv_file_.open(file_path.str()); + csv_file_.open(file_path.string()); is_file_opened_ = csv_file_.is_open(); - if (!is_file_opened_) std::cerr << "Error opening log file: " << file_path.str() << std::endl; + if (!is_file_opened_) std::cerr << "Error opening log file: " << file_path << std::endl; } // Copy SimBase.ini @@ -82,50 +81,25 @@ void Logger::AddLogList(ILoggable *loggable) { log_list_.push_back(loggable); } void Logger::ClearLogList() { log_list_.clear(); } -std::string Logger::CreateDirectory(const std::string &data_path, const std::string &time) { - std::string directory_path_tmp_ = data_path + "/logs_" + time + "/"; - // Make directory - int rtn_mkdir = 0; -#ifdef WIN32 - rtn_mkdir = _mkdir(directory_path_tmp_.c_str()); -#else - rtn_mkdir = mkdir(directory_path_tmp_.c_str(), 0777); -#endif - if (rtn_mkdir == 0) { - } else { - std::cerr << "Error making directory: " << directory_path_tmp_ << std::endl; - return data_path; - } - is_directory_created_ = true; - return directory_path_tmp_; -} +fs::path Logger::CreateDirectory(const fs::path &data_path, const std::string &time) { + fs::path log_dir_ = data_path; + log_dir_.append(std::string("logs_") + time); -void Logger::CopyFileToLogDirectory(const std::string &ini_file_name) { - using std::ios; + fs::create_directories(log_dir_); - if (is_ini_save_enabled_ == false) return; - // Copy files to the directory - std::string file_name = GetFileName(ini_file_name); - std::string to_file_name = directory_path_ + file_name; - std::ifstream is(ini_file_name, ios::in | ios::binary); - std::ofstream os(to_file_name, ios::out | ios::binary); - os << is.rdbuf(); - - return; + return log_dir_; } -std::string Logger::GetFileName(const std::string &path) { - size_t pos1; - - pos1 = path.rfind('\\'); - if (pos1 != std::string::npos) { - return path.substr(pos1 + 1, path.size() - pos1 - 1); - } +void Logger::CopyFileToLogDirectory(const fs::path &ini_file_name) { + if (is_ini_save_enabled_ == false) return; + // Copy files to the directory + fs::path to_file_name = directory_path_ / ini_file_name.filename(); - pos1 = path.rfind('/'); - if (pos1 != std::string::npos) { - return path.substr(pos1 + 1, path.size() - pos1 - 1); + if (fs::exists(to_file_name)) { + std::cout << "File " << to_file_name << " already exists. Skip copy from" << ini_file_name << std::endl; + return; } - return path; + fs::copy_file(ini_file_name, to_file_name); + return; } diff --git a/src/library/logger/logger.hpp b/src/library/logger/logger.hpp index 375f76962..e9ac5b1f0 100644 --- a/src/library/logger/logger.hpp +++ b/src/library/logger/logger.hpp @@ -8,6 +8,7 @@ #define _CRT_SECURE_NO_WARNINGS +#include #include #include #include @@ -29,8 +30,8 @@ class Logger { * @param [in] is_ini_save_enabled: Enable flag to save ini files * @param [in] is_enabled: Enable flag for logging */ - Logger(const std::string &file_name, const std::string &data_path, const std::string &ini_file_name, const bool is_ini_save_enabled, - const bool is_enabled = true); + Logger(const std::string &file_name, const std::filesystem::path &data_path, const std::filesystem::path &ini_file_name, + const bool is_ini_save_enabled, const bool is_enabled = true); /** * @fn ~Logger * @brief Destructor @@ -72,7 +73,7 @@ class Logger { * @brief Copy a file (e.g., ini file) into the log directory * @param [in] ini_file_name: The path to the target file to copy */ - void CopyFileToLogDirectory(const std::string &ini_file_name); + void CopyFileToLogDirectory(const std::filesystem::path &ini_file_name); // Getter /** @@ -84,7 +85,7 @@ class Logger { * @fn GetLogPath * @brief Return the path to the directory for log files */ - inline std::string GetLogPath() const { return directory_path_; } + inline std::filesystem::path GetLogPath() const { return directory_path_; } private: std::ofstream csv_file_; //!< CSV file stream @@ -93,8 +94,8 @@ class Logger { static bool is_directory_created_; //!< Is the log output directory is created in the scenario std::vector log_list_; //!< Log list - bool is_ini_save_enabled_; //!< Enable flag to save ini files - std::string directory_path_; //!< Path to the directory for log files + bool is_ini_save_enabled_; //!< Enable flag to save ini files + std::filesystem::path directory_path_; //!< Path to the directory for log files /** * @fn Write @@ -117,15 +118,7 @@ class Logger { * @param[in] time: Time stamp (YYYYMMDD_hhmmss) * @return Path to the created directory */ - std::string CreateDirectory(const std::string &data_path, const std::string &time); - - /** - * @fn GetFileName - * @brief Extract the file name from the name with directory path - * @param [in] path: Directory path including the file name - * @return The extracted file name - */ - std::string GetFileName(const std::string &path); + std::filesystem::path CreateDirectory(const std::filesystem::path &data_path, const std::string &time); }; #endif // S2E_LIBRARY_LOGGER_LOGGER_HPP_ From 6880f10d6dde21b5f19fe335e67c10676794c812 Mon Sep 17 00:00:00 2001 From: Hiro-0110 Date: Thu, 22 Feb 2024 18:55:27 +0900 Subject: [PATCH 166/456] updated name --- data/sample/initialize_files/sample_satellite.ini | 2 +- src/dynamics/attitude/controlled_attitude.cpp | 6 +++--- src/dynamics/attitude/controlled_attitude.hpp | 2 +- 3 files changed, 5 insertions(+), 5 deletions(-) diff --git a/data/sample/initialize_files/sample_satellite.ini b/data/sample/initialize_files/sample_satellite.ini index f39037de5..ba8e7ee74 100644 --- a/data/sample/initialize_files/sample_satellite.ini +++ b/data/sample/initialize_files/sample_satellite.ini @@ -33,7 +33,7 @@ initial_torque_b_Nm(2) = 0.000 // SUN_POINTING // EARTH_CENTER_POINTING // VELOCITY_DIRECTION_POINTING -// RELATIVE_VELOCITY_DIRECTION_POINTING +// GROUND_SPEED_DIRECTION_POINTING // ORBIT_NORMAL_POINTING main_mode = INERTIAL_STABILIZE sub_mode = SUN_POINTING diff --git a/src/dynamics/attitude/controlled_attitude.cpp b/src/dynamics/attitude/controlled_attitude.cpp index 80096afbe..6e23416c4 100644 --- a/src/dynamics/attitude/controlled_attitude.cpp +++ b/src/dynamics/attitude/controlled_attitude.cpp @@ -93,7 +93,7 @@ libra::Vector<3> ControlledAttitude::CalcTargetDirection_i(AttitudeControlMode m } } else if (mode == AttitudeControlMode::kVelocityDirectionPointing) { direction = orbit_->GetVelocity_i_m_s(); - } else if (mode == AttitudeControlMode::kRelativeVelocityDirectionPointing) { + } else if (mode == AttitudeControlMode::kGroundSpeedDirectionPointing) { libra::Matrix<3, 3> dcm_ecef2eci = local_celestial_information_->GetGlobalInformation().GetEarthRotation().GetDcmJ2000ToEcef().Transpose(); direction = dcm_ecef2eci * orbit_->GetVelocity_ecef_m_s(); } else if (mode == AttitudeControlMode::kOrbitNormalPointing) { @@ -143,8 +143,8 @@ AttitudeControlMode ConvertStringToCtrlMode(const std::string mode) { return AttitudeControlMode::kEarthCenterPointing; } else if (mode == "VELOCITY_DIRECTION_POINTING") { return AttitudeControlMode::kVelocityDirectionPointing; - } else if (mode == "RELATIVE_VELOCITY_DIRECTION_POINTING") { - return AttitudeControlMode::kRelativeVelocityDirectionPointing; + } else if (mode == "GROUND_SPEED_DIRECTION_POINTING") { + return AttitudeControlMode::kGroundSpeedDirectionPointing; } else if (mode == "ORBIT_NORMAL_POINTING") { return AttitudeControlMode::kOrbitNormalPointing; } else { diff --git a/src/dynamics/attitude/controlled_attitude.hpp b/src/dynamics/attitude/controlled_attitude.hpp index 1a6741499..938311e5a 100644 --- a/src/dynamics/attitude/controlled_attitude.hpp +++ b/src/dynamics/attitude/controlled_attitude.hpp @@ -22,7 +22,7 @@ enum class AttitudeControlMode { kSunPointing, //!< Sun pointing kEarthCenterPointing, //!< Earth center pointing kVelocityDirectionPointing, //!< Spacecraft velocity direction pointing - kRelativeVelocityDirectionPointing, //!< Relative velocity direction pointing + kGroundSpeedDirectionPointing, //!< Ground speed direction pointing kOrbitNormalPointing, //!< Orbit normal direction pointing kNoControl, // No Control }; From fab7c25475e396e08d03b642c726a8fa4d7e21f7 Mon Sep 17 00:00:00 2001 From: Hiro-0110 Date: Thu, 22 Feb 2024 19:05:10 +0900 Subject: [PATCH 167/456] modified hpp --- src/dynamics/attitude/controlled_attitude.hpp | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/src/dynamics/attitude/controlled_attitude.hpp b/src/dynamics/attitude/controlled_attitude.hpp index 938311e5a..29909753b 100644 --- a/src/dynamics/attitude/controlled_attitude.hpp +++ b/src/dynamics/attitude/controlled_attitude.hpp @@ -18,13 +18,13 @@ * @brief Attitude control mode */ enum class AttitudeControlMode { - kInertialStabilize, //!< Inertial stabilize - kSunPointing, //!< Sun pointing - kEarthCenterPointing, //!< Earth center pointing - kVelocityDirectionPointing, //!< Spacecraft velocity direction pointing - kGroundSpeedDirectionPointing, //!< Ground speed direction pointing - kOrbitNormalPointing, //!< Orbit normal direction pointing - kNoControl, // No Control + kInertialStabilize, //!< Inertial stabilize + kSunPointing, //!< Sun pointing + kEarthCenterPointing, //!< Earth center pointing + kVelocityDirectionPointing, //!< Spacecraft velocity direction pointing + kGroundSpeedDirectionPointing, //!< Ground speed direction pointing + kOrbitNormalPointing, //!< Orbit normal direction pointing + kNoControl, // No Control }; /** From 491c49d4a2143d357e75d2eb381f47658742e13b Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 6 Mar 2024 21:49:04 +0900 Subject: [PATCH 168/456] Move SGP4 to library/orbit --- src/{external_libraries => library/orbit}/sgp4/sgp4ext.cpp | 0 src/{external_libraries => library/orbit}/sgp4/sgp4ext.h | 0 src/{external_libraries => library/orbit}/sgp4/sgp4io.cpp | 0 src/{external_libraries => library/orbit}/sgp4/sgp4io.h | 0 src/{external_libraries => library/orbit}/sgp4/sgp4unit.cpp | 0 src/{external_libraries => library/orbit}/sgp4/sgp4unit.h | 0 6 files changed, 0 insertions(+), 0 deletions(-) rename src/{external_libraries => library/orbit}/sgp4/sgp4ext.cpp (100%) rename src/{external_libraries => library/orbit}/sgp4/sgp4ext.h (100%) rename src/{external_libraries => library/orbit}/sgp4/sgp4io.cpp (100%) rename src/{external_libraries => library/orbit}/sgp4/sgp4io.h (100%) rename src/{external_libraries => library/orbit}/sgp4/sgp4unit.cpp (100%) rename src/{external_libraries => library/orbit}/sgp4/sgp4unit.h (100%) diff --git a/src/external_libraries/sgp4/sgp4ext.cpp b/src/library/orbit/sgp4/sgp4ext.cpp similarity index 100% rename from src/external_libraries/sgp4/sgp4ext.cpp rename to src/library/orbit/sgp4/sgp4ext.cpp diff --git a/src/external_libraries/sgp4/sgp4ext.h b/src/library/orbit/sgp4/sgp4ext.h similarity index 100% rename from src/external_libraries/sgp4/sgp4ext.h rename to src/library/orbit/sgp4/sgp4ext.h diff --git a/src/external_libraries/sgp4/sgp4io.cpp b/src/library/orbit/sgp4/sgp4io.cpp similarity index 100% rename from src/external_libraries/sgp4/sgp4io.cpp rename to src/library/orbit/sgp4/sgp4io.cpp diff --git a/src/external_libraries/sgp4/sgp4io.h b/src/library/orbit/sgp4/sgp4io.h similarity index 100% rename from src/external_libraries/sgp4/sgp4io.h rename to src/library/orbit/sgp4/sgp4io.h diff --git a/src/external_libraries/sgp4/sgp4unit.cpp b/src/library/orbit/sgp4/sgp4unit.cpp similarity index 100% rename from src/external_libraries/sgp4/sgp4unit.cpp rename to src/library/orbit/sgp4/sgp4unit.cpp diff --git a/src/external_libraries/sgp4/sgp4unit.h b/src/library/orbit/sgp4/sgp4unit.h similarity index 100% rename from src/external_libraries/sgp4/sgp4unit.h rename to src/library/orbit/sgp4/sgp4unit.h From 7be66fd0decc93c543dfcd503d10171e92649fcd Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 6 Mar 2024 21:49:14 +0900 Subject: [PATCH 169/456] Fix CMake --- src/external_libraries/CMakeLists.txt | 4 ---- src/library/CMakeLists.txt | 3 +++ 2 files changed, 3 insertions(+), 4 deletions(-) diff --git a/src/external_libraries/CMakeLists.txt b/src/external_libraries/CMakeLists.txt index f4eb84eb8..ba7c2f2f8 100644 --- a/src/external_libraries/CMakeLists.txt +++ b/src/external_libraries/CMakeLists.txt @@ -8,10 +8,6 @@ add_library(${PROJECT_NAME} STATIC inih/cpp/INIReader.cpp nrlmsise00/wrapper_nrlmsise00.cpp - - sgp4/sgp4ext.cpp - sgp4/sgp4io.cpp - sgp4/sgp4unit.cpp ) include(../../common.cmake) diff --git a/src/library/CMakeLists.txt b/src/library/CMakeLists.txt index dde735600..c57487d6d 100644 --- a/src/library/CMakeLists.txt +++ b/src/library/CMakeLists.txt @@ -30,6 +30,9 @@ add_library(${PROJECT_NAME} STATIC orbit/kepler_orbit.cpp orbit/relative_orbit_models.cpp orbit/interpolation_orbit.cpp + orbit/sgp4/sgp4ext.cpp + orbit/sgp4/sgp4io.cpp + orbit/sgp4/sgp4unit.cpp planet_rotation/moon_rotation_utilities.cpp From 242c57dc276a643e51fa21e968bf313903cd75eb Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 6 Mar 2024 21:53:29 +0900 Subject: [PATCH 170/456] Fix include path --- src/dynamics/orbit/sgp4_orbit_propagation.hpp | 4 ++-- src/environment/global/earth_rotation.cpp | 4 ++-- src/environment/global/simulation_time.hpp | 6 +++--- src/external_libraries/igrf/igrf.cpp | 2 +- src/library/geodesy/geodetic_position.cpp | 2 +- 5 files changed, 9 insertions(+), 9 deletions(-) diff --git a/src/dynamics/orbit/sgp4_orbit_propagation.hpp b/src/dynamics/orbit/sgp4_orbit_propagation.hpp index 4b7f1a216..fcef24934 100644 --- a/src/dynamics/orbit/sgp4_orbit_propagation.hpp +++ b/src/dynamics/orbit/sgp4_orbit_propagation.hpp @@ -6,8 +6,8 @@ #ifndef S2E_DYNAMICS_ORBIT_SGP4_ORBIT_PROPAGATION_HPP_ #define S2E_DYNAMICS_ORBIT_SGP4_ORBIT_PROPAGATION_HPP_ -#include -#include +#include +#include #include diff --git a/src/environment/global/earth_rotation.cpp b/src/environment/global/earth_rotation.cpp index 3032a12a6..3c21892ab 100644 --- a/src/environment/global/earth_rotation.cpp +++ b/src/environment/global/earth_rotation.cpp @@ -11,8 +11,8 @@ #include #include -#include "external_libraries/sgp4/sgp4ext.h" // for jday() -#include "external_libraries/sgp4/sgp4unit.h" // for gstime() +#include "library/orbit/sgp4/sgp4ext.h" // for jday() +#include "library/orbit/sgp4/sgp4unit.h" // for gstime() #include "library/math/constants.hpp" // Default constructor diff --git a/src/environment/global/simulation_time.hpp b/src/environment/global/simulation_time.hpp index cbcd9fa99..a37f8b20b 100644 --- a/src/environment/global/simulation_time.hpp +++ b/src/environment/global/simulation_time.hpp @@ -14,9 +14,9 @@ // #include #include -#include "external_libraries/sgp4/sgp4ext.h" -#include "external_libraries/sgp4/sgp4io.h" -#include "external_libraries/sgp4/sgp4unit.h" +#include "library/orbit/sgp4/sgp4ext.h" +#include "library/orbit/sgp4/sgp4io.h" +#include "library/orbit/sgp4/sgp4unit.h" #include "logger/loggable.hpp" /** diff --git a/src/external_libraries/igrf/igrf.cpp b/src/external_libraries/igrf/igrf.cpp index f9e8ddca3..645a7f0a1 100644 --- a/src/external_libraries/igrf/igrf.cpp +++ b/src/external_libraries/igrf/igrf.cpp @@ -48,7 +48,7 @@ #include using namespace std; -#include "../sgp4/sgp4ext.h" +#include "../../library/orbit/sgp4/sgp4ext.h" #include "igrf.h" double testglobal[3]; diff --git a/src/library/geodesy/geodetic_position.cpp b/src/library/geodesy/geodetic_position.cpp index e3ac6725b..38a425f75 100644 --- a/src/library/geodesy/geodetic_position.cpp +++ b/src/library/geodesy/geodetic_position.cpp @@ -4,7 +4,7 @@ */ #include "geodetic_position.hpp" -#include // TODO: do not to use the functions in SGP4 library +#include // TODO: do not to use the functions in SGP4 library #include #include From cc6255a821b73f0b0821ecb7f0eee7997c6a0937 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 6 Mar 2024 21:56:48 +0900 Subject: [PATCH 171/456] Move to atmosphere --- .../nrlmsise00 => library/atmosphere}/wrapper_nrlmsise00.cpp | 0 .../nrlmsise00 => library/atmosphere}/wrapper_nrlmsise00.hpp | 0 2 files changed, 0 insertions(+), 0 deletions(-) rename src/{external_libraries/nrlmsise00 => library/atmosphere}/wrapper_nrlmsise00.cpp (100%) rename src/{external_libraries/nrlmsise00 => library/atmosphere}/wrapper_nrlmsise00.hpp (100%) diff --git a/src/external_libraries/nrlmsise00/wrapper_nrlmsise00.cpp b/src/library/atmosphere/wrapper_nrlmsise00.cpp similarity index 100% rename from src/external_libraries/nrlmsise00/wrapper_nrlmsise00.cpp rename to src/library/atmosphere/wrapper_nrlmsise00.cpp diff --git a/src/external_libraries/nrlmsise00/wrapper_nrlmsise00.hpp b/src/library/atmosphere/wrapper_nrlmsise00.hpp similarity index 100% rename from src/external_libraries/nrlmsise00/wrapper_nrlmsise00.hpp rename to src/library/atmosphere/wrapper_nrlmsise00.hpp From 4eb3b9baa1b0ef197dfd6ce484cf7224affc6ad0 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 6 Mar 2024 21:57:56 +0900 Subject: [PATCH 172/456] Fix CMake for atmosphere --- src/external_libraries/CMakeLists.txt | 2 -- src/library/CMakeLists.txt | 1 + 2 files changed, 1 insertion(+), 2 deletions(-) diff --git a/src/external_libraries/CMakeLists.txt b/src/external_libraries/CMakeLists.txt index ba7c2f2f8..6af3d4c11 100644 --- a/src/external_libraries/CMakeLists.txt +++ b/src/external_libraries/CMakeLists.txt @@ -6,8 +6,6 @@ add_library(${PROJECT_NAME} STATIC inih/ini.c inih/cpp/INIReader.cpp - - nrlmsise00/wrapper_nrlmsise00.cpp ) include(../../common.cmake) diff --git a/src/library/CMakeLists.txt b/src/library/CMakeLists.txt index c57487d6d..3bad7884d 100644 --- a/src/library/CMakeLists.txt +++ b/src/library/CMakeLists.txt @@ -4,6 +4,7 @@ cmake_minimum_required(VERSION 3.13) add_library(${PROJECT_NAME} STATIC atmosphere/simple_air_density_model.cpp atmosphere/harris_priester_model.cpp + atmosphere/wrapper_nrlmsise00.cpp geodesy/geodetic_position.cpp From 2d5d9030c8a299d1e56c4b57f9dfc4eb2915f86e Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 6 Mar 2024 21:59:05 +0900 Subject: [PATCH 173/456] Fix include path --- src/environment/local/atmosphere.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/environment/local/atmosphere.hpp b/src/environment/local/atmosphere.hpp index 138b97a07..faf3902a1 100644 --- a/src/environment/local/atmosphere.hpp +++ b/src/environment/local/atmosphere.hpp @@ -11,7 +11,7 @@ #include "dynamics/orbit/orbit.hpp" #include "environment/global/simulation_time.hpp" #include "environment/local/local_celestial_information.hpp" -#include "external_libraries/nrlmsise00/wrapper_nrlmsise00.hpp" +#include "library/atmosphere/wrapper_nrlmsise00.hpp" #include "library/math/vector.hpp" #include "logger/loggable.hpp" From 19eaf2cabef34528b499e318a15c4f2339fa1aad Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 6 Mar 2024 22:00:37 +0900 Subject: [PATCH 174/456] Move IGRF to library/ --- src/{external_libraries/igrf => library/geomagnetic}/igrf.cpp | 0 src/{external_libraries/igrf => library/geomagnetic}/igrf.h | 0 src/{external_libraries/igrf => library/geomagnetic}/igrf11.coef | 0 src/{external_libraries/igrf => library/geomagnetic}/igrf12.coef | 0 src/{external_libraries/igrf => library/geomagnetic}/igrf13.coef | 0 5 files changed, 0 insertions(+), 0 deletions(-) rename src/{external_libraries/igrf => library/geomagnetic}/igrf.cpp (100%) rename src/{external_libraries/igrf => library/geomagnetic}/igrf.h (100%) rename src/{external_libraries/igrf => library/geomagnetic}/igrf11.coef (100%) rename src/{external_libraries/igrf => library/geomagnetic}/igrf12.coef (100%) rename src/{external_libraries/igrf => library/geomagnetic}/igrf13.coef (100%) diff --git a/src/external_libraries/igrf/igrf.cpp b/src/library/geomagnetic/igrf.cpp similarity index 100% rename from src/external_libraries/igrf/igrf.cpp rename to src/library/geomagnetic/igrf.cpp diff --git a/src/external_libraries/igrf/igrf.h b/src/library/geomagnetic/igrf.h similarity index 100% rename from src/external_libraries/igrf/igrf.h rename to src/library/geomagnetic/igrf.h diff --git a/src/external_libraries/igrf/igrf11.coef b/src/library/geomagnetic/igrf11.coef similarity index 100% rename from src/external_libraries/igrf/igrf11.coef rename to src/library/geomagnetic/igrf11.coef diff --git a/src/external_libraries/igrf/igrf12.coef b/src/library/geomagnetic/igrf12.coef similarity index 100% rename from src/external_libraries/igrf/igrf12.coef rename to src/library/geomagnetic/igrf12.coef diff --git a/src/external_libraries/igrf/igrf13.coef b/src/library/geomagnetic/igrf13.coef similarity index 100% rename from src/external_libraries/igrf/igrf13.coef rename to src/library/geomagnetic/igrf13.coef From 15525326b12be49bc9c9d08f509b1d10e0f004b4 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 6 Mar 2024 22:01:24 +0900 Subject: [PATCH 175/456] Fix CMake --- src/external_libraries/CMakeLists.txt | 4 +--- src/library/CMakeLists.txt | 2 ++ 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/src/external_libraries/CMakeLists.txt b/src/external_libraries/CMakeLists.txt index 6af3d4c11..bf810420a 100644 --- a/src/external_libraries/CMakeLists.txt +++ b/src/external_libraries/CMakeLists.txt @@ -1,9 +1,7 @@ project(EXTERNAL_LIBRARY) cmake_minimum_required(VERSION 3.13) -add_library(${PROJECT_NAME} STATIC - igrf/igrf.cpp - +add_library(${PROJECT_NAME} STATIC inih/ini.c inih/cpp/INIReader.cpp ) diff --git a/src/library/CMakeLists.txt b/src/library/CMakeLists.txt index 3bad7884d..7fa3be51b 100644 --- a/src/library/CMakeLists.txt +++ b/src/library/CMakeLists.txt @@ -8,6 +8,8 @@ add_library(${PROJECT_NAME} STATIC geodesy/geodetic_position.cpp + geomagnetic/igrf.cpp + gnss/sp3_file_reader.cpp gnss/gnss_satellite_number.cpp gnss/antex_file_reader.cpp From f7469d7e621f8880f59c3cd9ae00607041503ffd Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 6 Mar 2024 22:02:26 +0900 Subject: [PATCH 176/456] Fix include path --- src/environment/local/geomagnetic_field.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/environment/local/geomagnetic_field.cpp b/src/environment/local/geomagnetic_field.cpp index b5c1ea0fc..b31bdb728 100644 --- a/src/environment/local/geomagnetic_field.cpp +++ b/src/environment/local/geomagnetic_field.cpp @@ -5,7 +5,7 @@ #include "geomagnetic_field.hpp" -#include "external_libraries/igrf/igrf.h" +#include "library/geomagnetic/igrf.h" #include "library/randomization/global_randomization.hpp" #include "library/randomization/normal_randomization.hpp" #include "library/randomization/random_walk.hpp" From 4ebb2f90ac2cb905d2686862a17ec463b683719b Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 6 Mar 2024 22:03:47 +0900 Subject: [PATCH 177/456] Fix path to igrf coeff file --- data/sample/initialize_files/sample_local_environment.ini | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/data/sample/initialize_files/sample_local_environment.ini b/data/sample/initialize_files/sample_local_environment.ini index ee7bc165a..b2809292b 100644 --- a/data/sample/initialize_files/sample_local_environment.ini +++ b/data/sample/initialize_files/sample_local_environment.ini @@ -1,7 +1,7 @@ [MAGNETIC_FIELD_ENVIRONMENT] calculation = ENABLE logging = ENABLE -coefficient_file = CORE_DIR_FROM_EXE/src/external_libraries/igrf/igrf13.coef +coefficient_file = CORE_DIR_FROM_EXE/src/library/geomagnetic/igrf13.coef magnetic_field_random_walk_standard_deviation_nT = 10.0 magnetic_field_random_walk_limit_nT = 400.0 magnetic_field_white_noise_standard_deviation_nT = 50.0 From 3398e2c1321d754c4db77c427ae76f5e03291125 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 6 Mar 2024 22:06:01 +0900 Subject: [PATCH 178/456] Move inih to ExtLibraries --- {src/external_libraries => ExtLibraries}/inih/LICENSE.txt | 0 {src/external_libraries => ExtLibraries}/inih/README.md | 0 {src/external_libraries => ExtLibraries}/inih/cpp/INIReader.cpp | 0 {src/external_libraries => ExtLibraries}/inih/cpp/INIReader.h | 0 {src/external_libraries => ExtLibraries}/inih/ini.c | 0 {src/external_libraries => ExtLibraries}/inih/ini.h | 0 6 files changed, 0 insertions(+), 0 deletions(-) rename {src/external_libraries => ExtLibraries}/inih/LICENSE.txt (100%) rename {src/external_libraries => ExtLibraries}/inih/README.md (100%) rename {src/external_libraries => ExtLibraries}/inih/cpp/INIReader.cpp (100%) rename {src/external_libraries => ExtLibraries}/inih/cpp/INIReader.h (100%) rename {src/external_libraries => ExtLibraries}/inih/ini.c (100%) rename {src/external_libraries => ExtLibraries}/inih/ini.h (100%) diff --git a/src/external_libraries/inih/LICENSE.txt b/ExtLibraries/inih/LICENSE.txt similarity index 100% rename from src/external_libraries/inih/LICENSE.txt rename to ExtLibraries/inih/LICENSE.txt diff --git a/src/external_libraries/inih/README.md b/ExtLibraries/inih/README.md similarity index 100% rename from src/external_libraries/inih/README.md rename to ExtLibraries/inih/README.md diff --git a/src/external_libraries/inih/cpp/INIReader.cpp b/ExtLibraries/inih/cpp/INIReader.cpp similarity index 100% rename from src/external_libraries/inih/cpp/INIReader.cpp rename to ExtLibraries/inih/cpp/INIReader.cpp diff --git a/src/external_libraries/inih/cpp/INIReader.h b/ExtLibraries/inih/cpp/INIReader.h similarity index 100% rename from src/external_libraries/inih/cpp/INIReader.h rename to ExtLibraries/inih/cpp/INIReader.h diff --git a/src/external_libraries/inih/ini.c b/ExtLibraries/inih/ini.c similarity index 100% rename from src/external_libraries/inih/ini.c rename to ExtLibraries/inih/ini.c diff --git a/src/external_libraries/inih/ini.h b/ExtLibraries/inih/ini.h similarity index 100% rename from src/external_libraries/inih/ini.h rename to ExtLibraries/inih/ini.h From 0c075fdc262b5062436b4b93fc051d78c9e2dd29 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 6 Mar 2024 22:14:35 +0900 Subject: [PATCH 179/456] Fix CMake and include path --- CMakeLists.txt | 6 +++--- .../external_libraries => ExtLibraries/inih}/CMakeLists.txt | 6 +++--- src/setting_file_reader/initialize_file_access.hpp | 2 +- 3 files changed, 7 insertions(+), 7 deletions(-) rename {src/external_libraries => ExtLibraries/inih}/CMakeLists.txt (62%) diff --git a/CMakeLists.txt b/CMakeLists.txt index bb2767281..9c35dc7c3 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -89,10 +89,10 @@ add_subdirectory(src/dynamics) add_subdirectory(src/disturbances) add_subdirectory(src/components) add_subdirectory(src/library) -add_subdirectory(src/external_libraries) add_subdirectory(src/setting_file_reader) add_subdirectory(src/logger) add_subdirectory(src/utilities) +add_subdirectory(ExtLibraries/inih) set(SOURCE_FILES src/s2e.cpp @@ -187,8 +187,8 @@ target_link_libraries(DISTURBANCE DYNAMICS GLOBAL_ENVIRONMENT LOCAL_ENVIRONMENT target_link_libraries(SIMULATION DYNAMICS GLOBAL_ENVIRONMENT LOCAL_ENVIRONMENT DISTURBANCE LIBRARY) target_link_libraries(GLOBAL_ENVIRONMENT ${CSPICE_LIB} LIBRARY) target_link_libraries(LOCAL_ENVIRONMENT GLOBAL_ENVIRONMENT ${CSPICE_LIB} LIBRARY) -target_link_libraries(EXTERNAL_LIBRARY ${NRLMSISE00_LIB}) -target_link_libraries(SETTING_FILE_READER EXTERNAL_LIBRARY) +target_link_libraries(LIBRARY ${NRLMSISE00_LIB}) +target_link_libraries(SETTING_FILE_READER INIH) target_link_libraries(${PROJECT_NAME} DYNAMICS) target_link_libraries(${PROJECT_NAME} DISTURBANCE) diff --git a/src/external_libraries/CMakeLists.txt b/ExtLibraries/inih/CMakeLists.txt similarity index 62% rename from src/external_libraries/CMakeLists.txt rename to ExtLibraries/inih/CMakeLists.txt index bf810420a..4b18a7051 100644 --- a/src/external_libraries/CMakeLists.txt +++ b/ExtLibraries/inih/CMakeLists.txt @@ -1,9 +1,9 @@ -project(EXTERNAL_LIBRARY) +project(INIH) cmake_minimum_required(VERSION 3.13) add_library(${PROJECT_NAME} STATIC - inih/ini.c - inih/cpp/INIReader.cpp + ini.c + cpp/INIReader.cpp ) include(../../common.cmake) diff --git a/src/setting_file_reader/initialize_file_access.hpp b/src/setting_file_reader/initialize_file_access.hpp index 164085abe..fd8c4c4f9 100644 --- a/src/setting_file_reader/initialize_file_access.hpp +++ b/src/setting_file_reader/initialize_file_access.hpp @@ -17,7 +17,7 @@ #define NOMINMAX #include #else -#include "../external_libraries/inih/cpp/INIReader.h" +#include "../../ExtLibraries/inih/cpp/INIReader.h" #endif #include From 9e94d9f49d8257fd80cd534e2a4cec0814fbf014 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 6 Mar 2024 22:28:59 +0900 Subject: [PATCH 180/456] Fix format --- src/environment/global/earth_rotation.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/environment/global/earth_rotation.cpp b/src/environment/global/earth_rotation.cpp index 3c21892ab..ad468f182 100644 --- a/src/environment/global/earth_rotation.cpp +++ b/src/environment/global/earth_rotation.cpp @@ -11,9 +11,9 @@ #include #include +#include "library/math/constants.hpp" #include "library/orbit/sgp4/sgp4ext.h" // for jday() #include "library/orbit/sgp4/sgp4unit.h" // for gstime() -#include "library/math/constants.hpp" // Default constructor EarthRotation::EarthRotation(const EarthRotationMode rotation_mode) : rotation_mode_(rotation_mode) { From 406e3956f83fb67f4969222f7fabbea3c37b685c Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Thu, 7 Mar 2024 21:36:28 +0900 Subject: [PATCH 181/456] Rename library to math_physics --- src/{library => math_physics}/CMakeLists.txt | 0 .../atmosphere/harris_priester_coefficients.hpp | 0 .../atmosphere/harris_priester_model.cpp | 0 .../atmosphere/harris_priester_model.hpp | 0 .../atmosphere/simple_air_density_model.cpp | 0 .../atmosphere/simple_air_density_model.hpp | 0 src/{library => math_physics}/atmosphere/wrapper_nrlmsise00.cpp | 0 src/{library => math_physics}/atmosphere/wrapper_nrlmsise00.hpp | 0 .../control_utilities/first_order_lag.hpp | 0 src/{library => math_physics}/geodesy/geodetic_position.cpp | 0 src/{library => math_physics}/geodesy/geodetic_position.hpp | 0 src/{library => math_physics}/geomagnetic/igrf.cpp | 0 src/{library => math_physics}/geomagnetic/igrf.h | 0 src/{library => math_physics}/geomagnetic/igrf11.coef | 0 src/{library => math_physics}/geomagnetic/igrf12.coef | 0 src/{library => math_physics}/geomagnetic/igrf13.coef | 0 src/{library => math_physics}/gnss/antex_file_reader.cpp | 0 src/{library => math_physics}/gnss/antex_file_reader.hpp | 0 src/{library => math_physics}/gnss/bias_sinex_file_reader.cpp | 0 src/{library => math_physics}/gnss/bias_sinex_file_reader.hpp | 0 src/{library => math_physics}/gnss/example.BSX | 0 src/{library => math_physics}/gnss/example.atx | 0 src/{library => math_physics}/gnss/example.sp3 | 0 src/{library => math_physics}/gnss/gnss_satellite_number.cpp | 0 src/{library => math_physics}/gnss/gnss_satellite_number.hpp | 0 src/{library => math_physics}/gnss/igs_product_name_handling.hpp | 0 src/{library => math_physics}/gnss/sp3_file_reader.cpp | 0 src/{library => math_physics}/gnss/sp3_file_reader.hpp | 0 src/{library => math_physics}/gnss/test_antex_file_reader.cpp | 0 .../gnss/test_bias_sinex_file_reader.cpp | 0 src/{library => math_physics}/gnss/test_gnss_satellite_number.cpp | 0 .../gnss/test_igs_product_name_handling.cpp | 0 src/{library => math_physics}/gnss/test_sp3_file_reader.cpp | 0 src/{library => math_physics}/gravity/gravity_potential.cpp | 0 src/{library => math_physics}/gravity/gravity_potential.hpp | 0 src/{library => math_physics}/gravity/test_gravity_potential.cpp | 0 src/{library => math_physics}/math/constants.hpp | 0 src/{library => math_physics}/math/interpolation.cpp | 0 src/{library => math_physics}/math/interpolation.hpp | 0 src/{library => math_physics}/math/matrix.hpp | 0 src/{library => math_physics}/math/matrix_template_functions.hpp | 0 src/{library => math_physics}/math/matrix_vector.hpp | 0 .../math/matrix_vector_template_functions.hpp | 0 .../math/ordinary_differential_equation.hpp | 0 .../math/ordinary_differential_equation_template_functions.hpp | 0 src/{library => math_physics}/math/quaternion.cpp | 0 src/{library => math_physics}/math/quaternion.hpp | 0 src/{library => math_physics}/math/s2e_math.cpp | 0 src/{library => math_physics}/math/s2e_math.hpp | 0 src/{library => math_physics}/math/test_interpolation.cpp | 0 src/{library => math_physics}/math/test_matrix.cpp | 0 src/{library => math_physics}/math/test_matrix_vector.cpp | 0 src/{library => math_physics}/math/test_quaternion.cpp | 0 src/{library => math_physics}/math/test_s2e_math.cpp | 0 src/{library => math_physics}/math/test_vector.cpp | 0 src/{library => math_physics}/math/vector.cpp | 0 src/{library => math_physics}/math/vector.hpp | 0 src/{library => math_physics}/math/vector_template_functions.hpp | 0 .../numerical_integration/dormand_prince_5.hpp | 0 .../numerical_integration/dormand_prince_5_implementation.hpp | 0 .../numerical_integration/embedded_runge_kutta.hpp | 0 .../numerical_integration/embedded_runge_kutta_implementation.hpp | 0 .../numerical_integration/interface_ode.hpp | 0 .../numerical_integration/numerical_integrator.hpp | 0 .../numerical_integration/numerical_integrator_manager.hpp | 0 .../numerical_integration/ode_examples.hpp | 0 .../numerical_integration/runge_kutta.hpp | 0 .../numerical_integration/runge_kutta_4.hpp | 0 .../numerical_integration/runge_kutta_fehlberg.hpp | 0 .../numerical_integration/runge_kutta_fehlberg_implementation.hpp | 0 .../numerical_integration/runge_kutta_template.hpp | 0 .../numerical_integration/test_runge_kutta.cpp | 0 src/{library => math_physics}/optics/gaussian_beam_base.cpp | 0 src/{library => math_physics}/optics/gaussian_beam_base.hpp | 0 src/{library => math_physics}/orbit/interpolation_orbit.cpp | 0 src/{library => math_physics}/orbit/interpolation_orbit.hpp | 0 src/{library => math_physics}/orbit/kepler_orbit.cpp | 0 src/{library => math_physics}/orbit/kepler_orbit.hpp | 0 src/{library => math_physics}/orbit/orbital_elements.cpp | 0 src/{library => math_physics}/orbit/orbital_elements.hpp | 0 src/{library => math_physics}/orbit/relative_orbit_models.cpp | 0 src/{library => math_physics}/orbit/relative_orbit_models.hpp | 0 src/{library => math_physics}/orbit/sgp4/sgp4ext.cpp | 0 src/{library => math_physics}/orbit/sgp4/sgp4ext.h | 0 src/{library => math_physics}/orbit/sgp4/sgp4io.cpp | 0 src/{library => math_physics}/orbit/sgp4/sgp4io.h | 0 src/{library => math_physics}/orbit/sgp4/sgp4unit.cpp | 0 src/{library => math_physics}/orbit/sgp4/sgp4unit.h | 0 src/{library => math_physics}/orbit/test_interpolation_orbit.cpp | 0 .../planet_rotation/moon_rotation_utilities.cpp | 0 .../planet_rotation/moon_rotation_utilities.hpp | 0 .../randomization/global_randomization.cpp | 0 .../randomization/global_randomization.hpp | 0 .../minimal_standard_linear_congruential_generator.cpp | 0 .../minimal_standard_linear_congruential_generator.hpp | 0 ...inimal_standard_linear_congruential_generator_with_shuffle.cpp | 0 ...inimal_standard_linear_congruential_generator_with_shuffle.hpp | 0 .../randomization/normal_randomization.cpp | 0 .../randomization/normal_randomization.hpp | 0 src/{library => math_physics}/randomization/random_walk.hpp | 0 .../randomization/random_walk_template_functions.hpp | 0 src/{library => math_physics}/time_system/date_time_format.cpp | 0 src/{library => math_physics}/time_system/date_time_format.hpp | 0 src/{library => math_physics}/time_system/epoch_time.cpp | 0 src/{library => math_physics}/time_system/epoch_time.hpp | 0 src/{library => math_physics}/time_system/gps_time.cpp | 0 src/{library => math_physics}/time_system/gps_time.hpp | 0 .../time_system/test_date_time_format.cpp | 0 src/{library => math_physics}/time_system/test_epoch_time.cpp | 0 src/{library => math_physics}/time_system/test_gps_time.cpp | 0 110 files changed, 0 insertions(+), 0 deletions(-) rename src/{library => math_physics}/CMakeLists.txt (100%) rename src/{library => math_physics}/atmosphere/harris_priester_coefficients.hpp (100%) rename src/{library => math_physics}/atmosphere/harris_priester_model.cpp (100%) rename src/{library => math_physics}/atmosphere/harris_priester_model.hpp (100%) rename src/{library => math_physics}/atmosphere/simple_air_density_model.cpp (100%) rename src/{library => math_physics}/atmosphere/simple_air_density_model.hpp (100%) rename src/{library => math_physics}/atmosphere/wrapper_nrlmsise00.cpp (100%) rename src/{library => math_physics}/atmosphere/wrapper_nrlmsise00.hpp (100%) rename src/{library => math_physics}/control_utilities/first_order_lag.hpp (100%) rename src/{library => math_physics}/geodesy/geodetic_position.cpp (100%) rename src/{library => math_physics}/geodesy/geodetic_position.hpp (100%) rename src/{library => math_physics}/geomagnetic/igrf.cpp (100%) rename src/{library => math_physics}/geomagnetic/igrf.h (100%) rename src/{library => math_physics}/geomagnetic/igrf11.coef (100%) rename src/{library => math_physics}/geomagnetic/igrf12.coef (100%) rename src/{library => math_physics}/geomagnetic/igrf13.coef (100%) rename src/{library => math_physics}/gnss/antex_file_reader.cpp (100%) rename src/{library => math_physics}/gnss/antex_file_reader.hpp (100%) rename src/{library => math_physics}/gnss/bias_sinex_file_reader.cpp (100%) rename src/{library => math_physics}/gnss/bias_sinex_file_reader.hpp (100%) rename src/{library => math_physics}/gnss/example.BSX (100%) rename src/{library => math_physics}/gnss/example.atx (100%) rename src/{library => math_physics}/gnss/example.sp3 (100%) rename src/{library => math_physics}/gnss/gnss_satellite_number.cpp (100%) rename src/{library => math_physics}/gnss/gnss_satellite_number.hpp (100%) rename src/{library => math_physics}/gnss/igs_product_name_handling.hpp (100%) rename src/{library => math_physics}/gnss/sp3_file_reader.cpp (100%) rename src/{library => math_physics}/gnss/sp3_file_reader.hpp (100%) rename src/{library => math_physics}/gnss/test_antex_file_reader.cpp (100%) rename src/{library => math_physics}/gnss/test_bias_sinex_file_reader.cpp (100%) rename src/{library => math_physics}/gnss/test_gnss_satellite_number.cpp (100%) rename src/{library => math_physics}/gnss/test_igs_product_name_handling.cpp (100%) rename src/{library => math_physics}/gnss/test_sp3_file_reader.cpp (100%) rename src/{library => math_physics}/gravity/gravity_potential.cpp (100%) rename src/{library => math_physics}/gravity/gravity_potential.hpp (100%) rename src/{library => math_physics}/gravity/test_gravity_potential.cpp (100%) rename src/{library => math_physics}/math/constants.hpp (100%) rename src/{library => math_physics}/math/interpolation.cpp (100%) rename src/{library => math_physics}/math/interpolation.hpp (100%) rename src/{library => math_physics}/math/matrix.hpp (100%) rename src/{library => math_physics}/math/matrix_template_functions.hpp (100%) rename src/{library => math_physics}/math/matrix_vector.hpp (100%) rename src/{library => math_physics}/math/matrix_vector_template_functions.hpp (100%) rename src/{library => math_physics}/math/ordinary_differential_equation.hpp (100%) rename src/{library => math_physics}/math/ordinary_differential_equation_template_functions.hpp (100%) rename src/{library => math_physics}/math/quaternion.cpp (100%) rename src/{library => math_physics}/math/quaternion.hpp (100%) rename src/{library => math_physics}/math/s2e_math.cpp (100%) rename src/{library => math_physics}/math/s2e_math.hpp (100%) rename src/{library => math_physics}/math/test_interpolation.cpp (100%) rename src/{library => math_physics}/math/test_matrix.cpp (100%) rename src/{library => math_physics}/math/test_matrix_vector.cpp (100%) rename src/{library => math_physics}/math/test_quaternion.cpp (100%) rename src/{library => math_physics}/math/test_s2e_math.cpp (100%) rename src/{library => math_physics}/math/test_vector.cpp (100%) rename src/{library => math_physics}/math/vector.cpp (100%) rename src/{library => math_physics}/math/vector.hpp (100%) rename src/{library => math_physics}/math/vector_template_functions.hpp (100%) rename src/{library => math_physics}/numerical_integration/dormand_prince_5.hpp (100%) rename src/{library => math_physics}/numerical_integration/dormand_prince_5_implementation.hpp (100%) rename src/{library => math_physics}/numerical_integration/embedded_runge_kutta.hpp (100%) rename src/{library => math_physics}/numerical_integration/embedded_runge_kutta_implementation.hpp (100%) rename src/{library => math_physics}/numerical_integration/interface_ode.hpp (100%) rename src/{library => math_physics}/numerical_integration/numerical_integrator.hpp (100%) rename src/{library => math_physics}/numerical_integration/numerical_integrator_manager.hpp (100%) rename src/{library => math_physics}/numerical_integration/ode_examples.hpp (100%) rename src/{library => math_physics}/numerical_integration/runge_kutta.hpp (100%) rename src/{library => math_physics}/numerical_integration/runge_kutta_4.hpp (100%) rename src/{library => math_physics}/numerical_integration/runge_kutta_fehlberg.hpp (100%) rename src/{library => math_physics}/numerical_integration/runge_kutta_fehlberg_implementation.hpp (100%) rename src/{library => math_physics}/numerical_integration/runge_kutta_template.hpp (100%) rename src/{library => math_physics}/numerical_integration/test_runge_kutta.cpp (100%) rename src/{library => math_physics}/optics/gaussian_beam_base.cpp (100%) rename src/{library => math_physics}/optics/gaussian_beam_base.hpp (100%) rename src/{library => math_physics}/orbit/interpolation_orbit.cpp (100%) rename src/{library => math_physics}/orbit/interpolation_orbit.hpp (100%) rename src/{library => math_physics}/orbit/kepler_orbit.cpp (100%) rename src/{library => math_physics}/orbit/kepler_orbit.hpp (100%) rename src/{library => math_physics}/orbit/orbital_elements.cpp (100%) rename src/{library => math_physics}/orbit/orbital_elements.hpp (100%) rename src/{library => math_physics}/orbit/relative_orbit_models.cpp (100%) rename src/{library => math_physics}/orbit/relative_orbit_models.hpp (100%) rename src/{library => math_physics}/orbit/sgp4/sgp4ext.cpp (100%) rename src/{library => math_physics}/orbit/sgp4/sgp4ext.h (100%) rename src/{library => math_physics}/orbit/sgp4/sgp4io.cpp (100%) rename src/{library => math_physics}/orbit/sgp4/sgp4io.h (100%) rename src/{library => math_physics}/orbit/sgp4/sgp4unit.cpp (100%) rename src/{library => math_physics}/orbit/sgp4/sgp4unit.h (100%) rename src/{library => math_physics}/orbit/test_interpolation_orbit.cpp (100%) rename src/{library => math_physics}/planet_rotation/moon_rotation_utilities.cpp (100%) rename src/{library => math_physics}/planet_rotation/moon_rotation_utilities.hpp (100%) rename src/{library => math_physics}/randomization/global_randomization.cpp (100%) rename src/{library => math_physics}/randomization/global_randomization.hpp (100%) rename src/{library => math_physics}/randomization/minimal_standard_linear_congruential_generator.cpp (100%) rename src/{library => math_physics}/randomization/minimal_standard_linear_congruential_generator.hpp (100%) rename src/{library => math_physics}/randomization/minimal_standard_linear_congruential_generator_with_shuffle.cpp (100%) rename src/{library => math_physics}/randomization/minimal_standard_linear_congruential_generator_with_shuffle.hpp (100%) rename src/{library => math_physics}/randomization/normal_randomization.cpp (100%) rename src/{library => math_physics}/randomization/normal_randomization.hpp (100%) rename src/{library => math_physics}/randomization/random_walk.hpp (100%) rename src/{library => math_physics}/randomization/random_walk_template_functions.hpp (100%) rename src/{library => math_physics}/time_system/date_time_format.cpp (100%) rename src/{library => math_physics}/time_system/date_time_format.hpp (100%) rename src/{library => math_physics}/time_system/epoch_time.cpp (100%) rename src/{library => math_physics}/time_system/epoch_time.hpp (100%) rename src/{library => math_physics}/time_system/gps_time.cpp (100%) rename src/{library => math_physics}/time_system/gps_time.hpp (100%) rename src/{library => math_physics}/time_system/test_date_time_format.cpp (100%) rename src/{library => math_physics}/time_system/test_epoch_time.cpp (100%) rename src/{library => math_physics}/time_system/test_gps_time.cpp (100%) diff --git a/src/library/CMakeLists.txt b/src/math_physics/CMakeLists.txt similarity index 100% rename from src/library/CMakeLists.txt rename to src/math_physics/CMakeLists.txt diff --git a/src/library/atmosphere/harris_priester_coefficients.hpp b/src/math_physics/atmosphere/harris_priester_coefficients.hpp similarity index 100% rename from src/library/atmosphere/harris_priester_coefficients.hpp rename to src/math_physics/atmosphere/harris_priester_coefficients.hpp diff --git a/src/library/atmosphere/harris_priester_model.cpp b/src/math_physics/atmosphere/harris_priester_model.cpp similarity index 100% rename from src/library/atmosphere/harris_priester_model.cpp rename to src/math_physics/atmosphere/harris_priester_model.cpp diff --git a/src/library/atmosphere/harris_priester_model.hpp b/src/math_physics/atmosphere/harris_priester_model.hpp similarity index 100% rename from src/library/atmosphere/harris_priester_model.hpp rename to src/math_physics/atmosphere/harris_priester_model.hpp diff --git a/src/library/atmosphere/simple_air_density_model.cpp b/src/math_physics/atmosphere/simple_air_density_model.cpp similarity index 100% rename from src/library/atmosphere/simple_air_density_model.cpp rename to src/math_physics/atmosphere/simple_air_density_model.cpp diff --git a/src/library/atmosphere/simple_air_density_model.hpp b/src/math_physics/atmosphere/simple_air_density_model.hpp similarity index 100% rename from src/library/atmosphere/simple_air_density_model.hpp rename to src/math_physics/atmosphere/simple_air_density_model.hpp diff --git a/src/library/atmosphere/wrapper_nrlmsise00.cpp b/src/math_physics/atmosphere/wrapper_nrlmsise00.cpp similarity index 100% rename from src/library/atmosphere/wrapper_nrlmsise00.cpp rename to src/math_physics/atmosphere/wrapper_nrlmsise00.cpp diff --git a/src/library/atmosphere/wrapper_nrlmsise00.hpp b/src/math_physics/atmosphere/wrapper_nrlmsise00.hpp similarity index 100% rename from src/library/atmosphere/wrapper_nrlmsise00.hpp rename to src/math_physics/atmosphere/wrapper_nrlmsise00.hpp diff --git a/src/library/control_utilities/first_order_lag.hpp b/src/math_physics/control_utilities/first_order_lag.hpp similarity index 100% rename from src/library/control_utilities/first_order_lag.hpp rename to src/math_physics/control_utilities/first_order_lag.hpp diff --git a/src/library/geodesy/geodetic_position.cpp b/src/math_physics/geodesy/geodetic_position.cpp similarity index 100% rename from src/library/geodesy/geodetic_position.cpp rename to src/math_physics/geodesy/geodetic_position.cpp diff --git a/src/library/geodesy/geodetic_position.hpp b/src/math_physics/geodesy/geodetic_position.hpp similarity index 100% rename from src/library/geodesy/geodetic_position.hpp rename to src/math_physics/geodesy/geodetic_position.hpp diff --git a/src/library/geomagnetic/igrf.cpp b/src/math_physics/geomagnetic/igrf.cpp similarity index 100% rename from src/library/geomagnetic/igrf.cpp rename to src/math_physics/geomagnetic/igrf.cpp diff --git a/src/library/geomagnetic/igrf.h b/src/math_physics/geomagnetic/igrf.h similarity index 100% rename from src/library/geomagnetic/igrf.h rename to src/math_physics/geomagnetic/igrf.h diff --git a/src/library/geomagnetic/igrf11.coef b/src/math_physics/geomagnetic/igrf11.coef similarity index 100% rename from src/library/geomagnetic/igrf11.coef rename to src/math_physics/geomagnetic/igrf11.coef diff --git a/src/library/geomagnetic/igrf12.coef b/src/math_physics/geomagnetic/igrf12.coef similarity index 100% rename from src/library/geomagnetic/igrf12.coef rename to src/math_physics/geomagnetic/igrf12.coef diff --git a/src/library/geomagnetic/igrf13.coef b/src/math_physics/geomagnetic/igrf13.coef similarity index 100% rename from src/library/geomagnetic/igrf13.coef rename to src/math_physics/geomagnetic/igrf13.coef diff --git a/src/library/gnss/antex_file_reader.cpp b/src/math_physics/gnss/antex_file_reader.cpp similarity index 100% rename from src/library/gnss/antex_file_reader.cpp rename to src/math_physics/gnss/antex_file_reader.cpp diff --git a/src/library/gnss/antex_file_reader.hpp b/src/math_physics/gnss/antex_file_reader.hpp similarity index 100% rename from src/library/gnss/antex_file_reader.hpp rename to src/math_physics/gnss/antex_file_reader.hpp diff --git a/src/library/gnss/bias_sinex_file_reader.cpp b/src/math_physics/gnss/bias_sinex_file_reader.cpp similarity index 100% rename from src/library/gnss/bias_sinex_file_reader.cpp rename to src/math_physics/gnss/bias_sinex_file_reader.cpp diff --git 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a/src/library/randomization/random_walk_template_functions.hpp b/src/math_physics/randomization/random_walk_template_functions.hpp similarity index 100% rename from src/library/randomization/random_walk_template_functions.hpp rename to src/math_physics/randomization/random_walk_template_functions.hpp diff --git a/src/library/time_system/date_time_format.cpp b/src/math_physics/time_system/date_time_format.cpp similarity index 100% rename from src/library/time_system/date_time_format.cpp rename to src/math_physics/time_system/date_time_format.cpp diff --git a/src/library/time_system/date_time_format.hpp b/src/math_physics/time_system/date_time_format.hpp similarity index 100% rename from src/library/time_system/date_time_format.hpp rename to src/math_physics/time_system/date_time_format.hpp diff --git a/src/library/time_system/epoch_time.cpp b/src/math_physics/time_system/epoch_time.cpp similarity index 100% rename from src/library/time_system/epoch_time.cpp rename to src/math_physics/time_system/epoch_time.cpp diff --git a/src/library/time_system/epoch_time.hpp b/src/math_physics/time_system/epoch_time.hpp similarity index 100% rename from src/library/time_system/epoch_time.hpp rename to src/math_physics/time_system/epoch_time.hpp diff --git a/src/library/time_system/gps_time.cpp b/src/math_physics/time_system/gps_time.cpp similarity index 100% rename from src/library/time_system/gps_time.cpp rename to src/math_physics/time_system/gps_time.cpp diff --git a/src/library/time_system/gps_time.hpp b/src/math_physics/time_system/gps_time.hpp similarity index 100% rename from src/library/time_system/gps_time.hpp rename to src/math_physics/time_system/gps_time.hpp diff --git a/src/library/time_system/test_date_time_format.cpp b/src/math_physics/time_system/test_date_time_format.cpp similarity index 100% rename from src/library/time_system/test_date_time_format.cpp rename to src/math_physics/time_system/test_date_time_format.cpp diff --git a/src/library/time_system/test_epoch_time.cpp b/src/math_physics/time_system/test_epoch_time.cpp similarity index 100% rename from src/library/time_system/test_epoch_time.cpp rename to src/math_physics/time_system/test_epoch_time.cpp diff --git a/src/library/time_system/test_gps_time.cpp b/src/math_physics/time_system/test_gps_time.cpp similarity index 100% rename from src/library/time_system/test_gps_time.cpp rename to src/math_physics/time_system/test_gps_time.cpp From 68b4c83179734d9c68e2e4890d50eea15eedfad1 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Thu, 7 Mar 2024 21:38:44 +0900 Subject: [PATCH 182/456] Fix CMakeLists --- CMakeLists.txt | 18 +++++++++--------- src/math_physics/CMakeLists.txt | 2 +- 2 files changed, 10 insertions(+), 10 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 9c35dc7c3..3f5934879 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -88,7 +88,7 @@ add_subdirectory(src/environment/local) add_subdirectory(src/dynamics) add_subdirectory(src/disturbances) add_subdirectory(src/components) -add_subdirectory(src/library) +add_subdirectory(src/math_physics) add_subdirectory(src/setting_file_reader) add_subdirectory(src/logger) add_subdirectory(src/utilities) @@ -181,13 +181,13 @@ endif() #target_link_libraries(${PROJECT_NAME} ${NRLMSISE00_LIB}) # Initialize link -target_link_libraries(COMPONENT DYNAMICS GLOBAL_ENVIRONMENT LOCAL_ENVIRONMENT LIBRARY SETTING_FILE_READER LOGGER UTILITIES) -target_link_libraries(DYNAMICS GLOBAL_ENVIRONMENT LOCAL_ENVIRONMENT SIMULATION LIBRARY) -target_link_libraries(DISTURBANCE DYNAMICS GLOBAL_ENVIRONMENT LOCAL_ENVIRONMENT LIBRARY) -target_link_libraries(SIMULATION DYNAMICS GLOBAL_ENVIRONMENT LOCAL_ENVIRONMENT DISTURBANCE LIBRARY) -target_link_libraries(GLOBAL_ENVIRONMENT ${CSPICE_LIB} LIBRARY) -target_link_libraries(LOCAL_ENVIRONMENT GLOBAL_ENVIRONMENT ${CSPICE_LIB} LIBRARY) -target_link_libraries(LIBRARY ${NRLMSISE00_LIB}) +target_link_libraries(COMPONENT DYNAMICS GLOBAL_ENVIRONMENT LOCAL_ENVIRONMENT MATH_PHYSICS SETTING_FILE_READER LOGGER UTILITIES) +target_link_libraries(DYNAMICS GLOBAL_ENVIRONMENT LOCAL_ENVIRONMENT SIMULATION MATH_PHYSICS) +target_link_libraries(DISTURBANCE DYNAMICS GLOBAL_ENVIRONMENT LOCAL_ENVIRONMENT MATH_PHYSICS) +target_link_libraries(SIMULATION DYNAMICS GLOBAL_ENVIRONMENT LOCAL_ENVIRONMENT DISTURBANCE MATH_PHYSICS) +target_link_libraries(GLOBAL_ENVIRONMENT ${CSPICE_LIB} MATH_PHYSICS) +target_link_libraries(LOCAL_ENVIRONMENT GLOBAL_ENVIRONMENT ${CSPICE_LIB} MATH_PHYSICS) +target_link_libraries(MATH_PHYSICS ${NRLMSISE00_LIB}) target_link_libraries(SETTING_FILE_READER INIH) target_link_libraries(${PROJECT_NAME} DYNAMICS) @@ -239,7 +239,7 @@ if(GOOGLE_TEST) add_executable(${TEST_PROJECT_NAME} ${TEST_FILES}) target_link_libraries(${TEST_PROJECT_NAME} gtest gtest_main gmock) - target_link_libraries(${TEST_PROJECT_NAME} LIBRARY) + target_link_libraries(${TEST_PROJECT_NAME} MATH_PHYSICS) include_directories(${TEST_PROJECT_NAME}) add_test(NAME s2e-test COMMAND ${TEST_PROJECT_NAME}) enable_testing() diff --git a/src/math_physics/CMakeLists.txt b/src/math_physics/CMakeLists.txt index 7fa3be51b..7eb305f84 100644 --- a/src/math_physics/CMakeLists.txt +++ b/src/math_physics/CMakeLists.txt @@ -1,4 +1,4 @@ -project(LIBRARY) +project(MATH_PHYSICS) cmake_minimum_required(VERSION 3.13) add_library(${PROJECT_NAME} STATIC From 1f632ab3de022505d5f6383ea4c1b7f25c867d4a Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Thu, 7 Mar 2024 21:41:06 +0900 Subject: [PATCH 183/456] Fix include path for library --- .../sample_local_environment.ini | 2 +- src/components/base/sensor.hpp | 8 ++++---- .../base/sensor_template_functions.hpp | 2 +- .../examples/example_change_structure.cpp | 2 +- src/components/ideal/attitude_observer.cpp | 2 +- src/components/ideal/attitude_observer.hpp | 4 ++-- src/components/ideal/force_generator.hpp | 4 ++-- src/components/ideal/torque_generator.hpp | 4 ++-- src/components/real/aocs/gnss_receiver.cpp | 4 ++-- src/components/real/aocs/gnss_receiver.hpp | 6 +++--- src/components/real/aocs/gyro_sensor.hpp | 2 +- src/components/real/aocs/magnetometer.cpp | 2 +- src/components/real/aocs/magnetometer.hpp | 2 +- src/components/real/aocs/magnetorquer.cpp | 6 +++--- src/components/real/aocs/magnetorquer.hpp | 10 +++++----- src/components/real/aocs/reaction_wheel.cpp | 4 ++-- src/components/real/aocs/reaction_wheel.hpp | 4 ++-- .../real/aocs/reaction_wheel_jitter.cpp | 2 +- .../real/aocs/reaction_wheel_jitter.hpp | 4 ++-- src/components/real/aocs/reaction_wheel_ode.hpp | 2 +- src/components/real/aocs/star_sensor.cpp | 6 +++--- src/components/real/aocs/star_sensor.hpp | 8 ++++---- src/components/real/aocs/sun_sensor.cpp | 6 +++--- src/components/real/aocs/sun_sensor.hpp | 6 +++--- src/components/real/communication/antenna.hpp | 4 ++-- .../communication/antenna_radiation_pattern.cpp | 2 +- .../communication/antenna_radiation_pattern.hpp | 2 +- .../communication/ground_station_calculator.cpp | 2 +- src/components/real/mission/telescope.cpp | 2 +- src/components/real/mission/telescope.hpp | 4 ++-- .../real/power/csv_scenario_interface.hpp | 2 +- src/components/real/power/solar_array_panel.hpp | 2 +- .../real/propulsion/simple_thruster.cpp | 4 ++-- .../real/propulsion/simple_thruster.hpp | 6 +++--- src/disturbances/air_drag.cpp | 2 +- src/disturbances/air_drag.hpp | 4 ++-- src/disturbances/disturbance.hpp | 2 +- src/disturbances/geopotential.hpp | 4 ++-- src/disturbances/gravity_gradient.hpp | 6 +++--- src/disturbances/lunar_gravity_field.hpp | 4 ++-- src/disturbances/magnetic_disturbance.cpp | 6 +++--- src/disturbances/magnetic_disturbance.hpp | 2 +- .../solar_radiation_pressure_disturbance.hpp | 2 +- src/disturbances/surface_force.cpp | 2 +- src/disturbances/surface_force.hpp | 4 ++-- src/disturbances/third_body_gravity.hpp | 2 +- src/dynamics/attitude/attitude.hpp | 4 ++-- src/dynamics/attitude/controlled_attitude.hpp | 2 +- src/dynamics/dynamics.hpp | 2 +- src/dynamics/orbit/encke_orbit_propagation.cpp | 2 +- src/dynamics/orbit/encke_orbit_propagation.hpp | 4 ++-- src/dynamics/orbit/initialize_orbit.hpp | 2 +- src/dynamics/orbit/kepler_orbit_propagation.cpp | 2 +- src/dynamics/orbit/kepler_orbit_propagation.hpp | 2 +- src/dynamics/orbit/orbit.hpp | 12 ++++++------ src/dynamics/orbit/relative_orbit.hpp | 4 ++-- src/dynamics/orbit/rk4_orbit_propagation.hpp | 2 +- src/dynamics/orbit/sgp4_orbit_propagation.hpp | 4 ++-- src/environment/global/celestial_information.hpp | 4 ++-- src/environment/global/earth_rotation.cpp | 6 +++--- src/environment/global/earth_rotation.hpp | 2 +- src/environment/global/gnss_satellites.cpp | 8 ++++---- src/environment/global/gnss_satellites.hpp | 16 ++++++++-------- src/environment/global/hipparcos_catalogue.cpp | 2 +- src/environment/global/hipparcos_catalogue.hpp | 4 ++-- src/environment/global/moon_rotation.cpp | 4 ++-- src/environment/global/moon_rotation.hpp | 4 ++-- src/environment/global/simulation_time.hpp | 6 +++--- src/environment/local/atmosphere.cpp | 12 ++++++------ src/environment/local/atmosphere.hpp | 4 ++-- src/environment/local/geomagnetic_field.cpp | 8 ++++---- src/environment/local/geomagnetic_field.hpp | 6 +++--- .../solar_radiation_pressure_environment.cpp | 4 ++-- src/logger/log_utility.hpp | 4 ++-- .../atmosphere/harris_priester_model.cpp | 2 +- .../atmosphere/harris_priester_model.hpp | 4 ++-- .../atmosphere/wrapper_nrlmsise00.cpp | 2 +- src/math_physics/geodesy/geodetic_position.cpp | 6 +++--- src/math_physics/geodesy/geodetic_position.hpp | 4 ++-- src/math_physics/geomagnetic/igrf.cpp | 2 +- src/math_physics/gnss/antex_file_reader.cpp | 2 +- src/math_physics/gnss/antex_file_reader.hpp | 4 ++-- src/math_physics/gnss/sp3_file_reader.hpp | 6 +++--- src/math_physics/gnss/test_antex_file_reader.cpp | 2 +- .../gnss/test_bias_sinex_file_reader.cpp | 2 +- src/math_physics/gnss/test_sp3_file_reader.cpp | 2 +- src/math_physics/math/s2e_math.cpp | 2 +- src/math_physics/optics/gaussian_beam_base.cpp | 2 +- src/math_physics/orbit/interpolation_orbit.hpp | 4 ++-- .../planet_rotation/moon_rotation_utilities.cpp | 4 ++-- .../planet_rotation/moon_rotation_utilities.hpp | 6 +++--- .../random_walk_template_functions.hpp | 2 +- .../initialize_file_access.hpp | 4 ++-- src/simulation/ground_station/ground_station.cpp | 2 +- src/simulation/ground_station/ground_station.hpp | 4 ++-- .../initialize_monte_carlo_parameters.cpp | 2 +- .../initialize_monte_carlo_parameters.hpp | 4 ++-- .../monte_carlo_simulation_executor.hpp | 2 +- .../monte_carlo_simulation/simulation_object.hpp | 4 ++-- .../spacecraft/installed_components.hpp | 2 +- .../structure/initialize_structure.cpp | 2 +- .../structure/kinematics_parameters.hpp | 4 ++-- .../structure/residual_magnetic_moment.hpp | 2 +- src/simulation/spacecraft/structure/surface.hpp | 2 +- .../spacecraft/sample_components.hpp | 2 +- .../spacecraft/sample_spacecraft.cpp | 2 +- 106 files changed, 202 insertions(+), 202 deletions(-) diff --git a/data/sample/initialize_files/sample_local_environment.ini b/data/sample/initialize_files/sample_local_environment.ini index b2809292b..bcd67e73c 100644 --- a/data/sample/initialize_files/sample_local_environment.ini +++ b/data/sample/initialize_files/sample_local_environment.ini @@ -1,7 +1,7 @@ [MAGNETIC_FIELD_ENVIRONMENT] calculation = ENABLE logging = ENABLE -coefficient_file = CORE_DIR_FROM_EXE/src/library/geomagnetic/igrf13.coef +coefficient_file = CORE_DIR_FROM_EXE/src/math_physics/geomagnetic/igrf13.coef magnetic_field_random_walk_standard_deviation_nT = 10.0 magnetic_field_random_walk_limit_nT = 400.0 magnetic_field_white_noise_standard_deviation_nT = 50.0 diff --git a/src/components/base/sensor.hpp b/src/components/base/sensor.hpp index 111e71226..66b1bb1ce 100644 --- a/src/components/base/sensor.hpp +++ b/src/components/base/sensor.hpp @@ -6,10 +6,10 @@ #ifndef S2E_COMPONENTS_BASE_SENSOR_HPP_ #define S2E_COMPONENTS_BASE_SENSOR_HPP_ -#include -#include -#include -#include +#include +#include +#include +#include /** * @class Sensor diff --git a/src/components/base/sensor_template_functions.hpp b/src/components/base/sensor_template_functions.hpp index 73f2046e8..e7c66b7d7 100644 --- a/src/components/base/sensor_template_functions.hpp +++ b/src/components/base/sensor_template_functions.hpp @@ -6,7 +6,7 @@ #ifndef S2E_COMPONENTS_BASE_SENSOR_TEMPLATE_FUNCTIONS_HPP_ #define S2E_COMPONENTS_BASE_SENSOR_TEMPLATE_FUNCTIONS_HPP_ -#include +#include #include template diff --git a/src/components/examples/example_change_structure.cpp b/src/components/examples/example_change_structure.cpp index 1dcd29b04..21bc129d0 100644 --- a/src/components/examples/example_change_structure.cpp +++ b/src/components/examples/example_change_structure.cpp @@ -5,7 +5,7 @@ #include "example_change_structure.hpp" -#include +#include ExampleChangeStructure::ExampleChangeStructure(ClockGenerator* clock_generator, Structure* structure) : Component(1, clock_generator), structure_(structure) {} diff --git a/src/components/ideal/attitude_observer.cpp b/src/components/ideal/attitude_observer.cpp index b920832f5..b098c0b22 100644 --- a/src/components/ideal/attitude_observer.cpp +++ b/src/components/ideal/attitude_observer.cpp @@ -5,7 +5,7 @@ #include "attitude_observer.hpp" -#include +#include #include AttitudeObserver::AttitudeObserver(const int prescaler, ClockGenerator* clock_generator, const double standard_deviation_rad, diff --git a/src/components/ideal/attitude_observer.hpp b/src/components/ideal/attitude_observer.hpp index 4076cfed8..b36455141 100644 --- a/src/components/ideal/attitude_observer.hpp +++ b/src/components/ideal/attitude_observer.hpp @@ -7,8 +7,8 @@ #define S2E_COMPONENTS_IDEAL_ATTITUDE_OBSERVER_HPP_ #include -#include -#include +#include +#include #include #include "../base/component.hpp" diff --git a/src/components/ideal/force_generator.hpp b/src/components/ideal/force_generator.hpp index 31b1110c5..c6a059d8d 100644 --- a/src/components/ideal/force_generator.hpp +++ b/src/components/ideal/force_generator.hpp @@ -8,8 +8,8 @@ #include #include -#include -#include +#include +#include #include /* diff --git a/src/components/ideal/torque_generator.hpp b/src/components/ideal/torque_generator.hpp index 2e8b6b8c2..730f6b040 100644 --- a/src/components/ideal/torque_generator.hpp +++ b/src/components/ideal/torque_generator.hpp @@ -8,8 +8,8 @@ #include #include -#include -#include +#include +#include #include /* diff --git a/src/components/real/aocs/gnss_receiver.cpp b/src/components/real/aocs/gnss_receiver.cpp index 55d832421..23f087117 100644 --- a/src/components/real/aocs/gnss_receiver.cpp +++ b/src/components/real/aocs/gnss_receiver.cpp @@ -6,8 +6,8 @@ #include "gnss_receiver.hpp" #include -#include -#include +#include +#include #include #include diff --git a/src/components/real/aocs/gnss_receiver.hpp b/src/components/real/aocs/gnss_receiver.hpp index 9a783dc5b..13ab021b8 100644 --- a/src/components/real/aocs/gnss_receiver.hpp +++ b/src/components/real/aocs/gnss_receiver.hpp @@ -9,9 +9,9 @@ #include #include #include -#include -#include -#include +#include +#include +#include #include #include "../../base/component.hpp" diff --git a/src/components/real/aocs/gyro_sensor.hpp b/src/components/real/aocs/gyro_sensor.hpp index 3cf311139..e6bcf26d9 100644 --- a/src/components/real/aocs/gyro_sensor.hpp +++ b/src/components/real/aocs/gyro_sensor.hpp @@ -7,7 +7,7 @@ #define S2E_COMPONENTS_REAL_AOCS_GYRO_SENSOR_HPP_ #include -#include +#include #include #include "../../base/component.hpp" diff --git a/src/components/real/aocs/magnetometer.cpp b/src/components/real/aocs/magnetometer.cpp index dfb2b23b4..b2cbc730c 100644 --- a/src/components/real/aocs/magnetometer.cpp +++ b/src/components/real/aocs/magnetometer.cpp @@ -4,7 +4,7 @@ */ #include "magnetometer.hpp" -#include +#include #include Magnetometer::Magnetometer(int prescaler, ClockGenerator* clock_generator, Sensor& sensor_base, const unsigned int sensor_id, diff --git a/src/components/real/aocs/magnetometer.hpp b/src/components/real/aocs/magnetometer.hpp index 04d6bb32c..3059d0750 100644 --- a/src/components/real/aocs/magnetometer.hpp +++ b/src/components/real/aocs/magnetometer.hpp @@ -7,7 +7,7 @@ #define S2E_COMPONENTS_REAL_AOCS_MAGNETOMETER_HPP_ #include -#include +#include #include #include "../../base/component.hpp" diff --git a/src/components/real/aocs/magnetorquer.cpp b/src/components/real/aocs/magnetorquer.cpp index 90a415065..c28e8e5f4 100644 --- a/src/components/real/aocs/magnetorquer.cpp +++ b/src/components/real/aocs/magnetorquer.cpp @@ -5,9 +5,9 @@ #include "magnetorquer.hpp" -#include -#include -#include +#include +#include +#include #include #include diff --git a/src/components/real/aocs/magnetorquer.hpp b/src/components/real/aocs/magnetorquer.hpp index dc89d0bc0..bddcc0b91 100644 --- a/src/components/real/aocs/magnetorquer.hpp +++ b/src/components/real/aocs/magnetorquer.hpp @@ -7,11 +7,11 @@ #define S2E_COMPONENTS_REAL_AOCS_MAGNETORQUER_HPP_ #include -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include #include #include "../../base/component.hpp" diff --git a/src/components/real/aocs/reaction_wheel.cpp b/src/components/real/aocs/reaction_wheel.cpp index 3b6a3f58e..cd275985c 100644 --- a/src/components/real/aocs/reaction_wheel.cpp +++ b/src/components/real/aocs/reaction_wheel.cpp @@ -6,8 +6,8 @@ #include #include -#include -#include +#include +#include #include #include diff --git a/src/components/real/aocs/reaction_wheel.hpp b/src/components/real/aocs/reaction_wheel.hpp index 9919569c3..2edb4b865 100644 --- a/src/components/real/aocs/reaction_wheel.hpp +++ b/src/components/real/aocs/reaction_wheel.hpp @@ -6,8 +6,8 @@ #ifndef S2E_COMPONENTS_REAL_AOCS_REACTION_WHEEL_HPP_ #define S2E_COMPONENTS_REAL_AOCS_REACTION_WHEEL_HPP_ -#include -#include +#include +#include #include #include #include diff --git a/src/components/real/aocs/reaction_wheel_jitter.cpp b/src/components/real/aocs/reaction_wheel_jitter.cpp index 69b7c5b24..cf99ad2ea 100644 --- a/src/components/real/aocs/reaction_wheel_jitter.cpp +++ b/src/components/real/aocs/reaction_wheel_jitter.cpp @@ -5,7 +5,7 @@ #include "reaction_wheel_jitter.hpp" -#include +#include #include #include diff --git a/src/components/real/aocs/reaction_wheel_jitter.hpp b/src/components/real/aocs/reaction_wheel_jitter.hpp index 77c8bfc04..9eb241525 100644 --- a/src/components/real/aocs/reaction_wheel_jitter.hpp +++ b/src/components/real/aocs/reaction_wheel_jitter.hpp @@ -7,8 +7,8 @@ #define S2E_COMPONENTS_REAL_AOCS_REACTION_WHEEL_JITTER_HPP_ #pragma once -#include -#include +#include +#include #include /* diff --git a/src/components/real/aocs/reaction_wheel_ode.hpp b/src/components/real/aocs/reaction_wheel_ode.hpp index bbedfe60d..6a4b333ae 100644 --- a/src/components/real/aocs/reaction_wheel_ode.hpp +++ b/src/components/real/aocs/reaction_wheel_ode.hpp @@ -6,7 +6,7 @@ #ifndef S2E_COMPONENTS_REAL_AOCS_REACTION_WHEEL_ODE_HPP_ #define S2E_COMPONENTS_REAL_AOCS_REACTION_WHEEL_ODE_HPP_ -#include +#include /* * @file ReactionWheelOde diff --git a/src/components/real/aocs/star_sensor.cpp b/src/components/real/aocs/star_sensor.cpp index f4e4ac7d8..2aad6aaca 100644 --- a/src/components/real/aocs/star_sensor.cpp +++ b/src/components/real/aocs/star_sensor.cpp @@ -6,9 +6,9 @@ #include "star_sensor.hpp" #include -#include -#include -#include +#include +#include +#include #include #include #include diff --git a/src/components/real/aocs/star_sensor.hpp b/src/components/real/aocs/star_sensor.hpp index 7727b1321..a6aa0bcff 100644 --- a/src/components/real/aocs/star_sensor.hpp +++ b/src/components/real/aocs/star_sensor.hpp @@ -8,10 +8,10 @@ #include #include -#include -#include -#include -#include +#include +#include +#include +#include #include #include diff --git a/src/components/real/aocs/sun_sensor.cpp b/src/components/real/aocs/sun_sensor.cpp index 80cef697b..b6759ea3a 100644 --- a/src/components/real/aocs/sun_sensor.cpp +++ b/src/components/real/aocs/sun_sensor.cpp @@ -5,10 +5,10 @@ #include "sun_sensor.hpp" -#include -#include +#include +#include using libra::NormalRand; -#include +#include #include #include diff --git a/src/components/real/aocs/sun_sensor.hpp b/src/components/real/aocs/sun_sensor.hpp index 3e090333d..fb0f5fc2a 100644 --- a/src/components/real/aocs/sun_sensor.hpp +++ b/src/components/real/aocs/sun_sensor.hpp @@ -8,9 +8,9 @@ #include #include -#include -#include -#include +#include +#include +#include #include #include "../../base/component.hpp" diff --git a/src/components/real/communication/antenna.hpp b/src/components/real/communication/antenna.hpp index 1d487493a..acee9935f 100644 --- a/src/components/real/communication/antenna.hpp +++ b/src/components/real/communication/antenna.hpp @@ -6,8 +6,8 @@ #ifndef S2E_COMPONENTS_REAL_COMMUNICATION_ANTENNA_HPP_ #define S2E_COMPONENTS_REAL_COMMUNICATION_ANTENNA_HPP_ -#include -#include +#include +#include using libra::Quaternion; using libra::Vector; #include diff --git a/src/components/real/communication/antenna_radiation_pattern.cpp b/src/components/real/communication/antenna_radiation_pattern.cpp index b2f3f6277..a82929c11 100644 --- a/src/components/real/communication/antenna_radiation_pattern.cpp +++ b/src/components/real/communication/antenna_radiation_pattern.cpp @@ -6,7 +6,7 @@ #include "antenna_radiation_pattern.hpp" #include -#include +#include #include AntennaRadiationPattern::AntennaRadiationPattern() { gain_dBi_.assign(length_theta_, std::vector(length_phi_, 0.0)); } diff --git a/src/components/real/communication/antenna_radiation_pattern.hpp b/src/components/real/communication/antenna_radiation_pattern.hpp index 35490c6b1..8c1736ca8 100644 --- a/src/components/real/communication/antenna_radiation_pattern.hpp +++ b/src/components/real/communication/antenna_radiation_pattern.hpp @@ -6,7 +6,7 @@ #ifndef S2E_COMPONENTS_REAL_COMMUNICATION_ANTENNA_RADIATION_PATTERN_HPP_ #define S2E_COMPONENTS_REAL_COMMUNICATION_ANTENNA_RADIATION_PATTERN_HPP_ -#include +#include #include #include diff --git a/src/components/real/communication/ground_station_calculator.cpp b/src/components/real/communication/ground_station_calculator.cpp index 5295ff7c7..c15570112 100644 --- a/src/components/real/communication/ground_station_calculator.cpp +++ b/src/components/real/communication/ground_station_calculator.cpp @@ -6,7 +6,7 @@ #include "ground_station_calculator.hpp" #include -#include +#include #include GroundStationCalculator::GroundStationCalculator(const double loss_polarization_dB, const double loss_atmosphere_dB, const double loss_rainfall_dB, diff --git a/src/components/real/mission/telescope.cpp b/src/components/real/mission/telescope.cpp index bd02b053a..6112d2def 100644 --- a/src/components/real/mission/telescope.cpp +++ b/src/components/real/mission/telescope.cpp @@ -7,7 +7,7 @@ #include #include -#include +#include #include using namespace std; diff --git a/src/components/real/mission/telescope.hpp b/src/components/real/mission/telescope.hpp index bc8007f3f..b253ceb05 100644 --- a/src/components/real/mission/telescope.hpp +++ b/src/components/real/mission/telescope.hpp @@ -10,8 +10,8 @@ #include #include #include -#include -#include +#include +#include #include #include diff --git a/src/components/real/power/csv_scenario_interface.hpp b/src/components/real/power/csv_scenario_interface.hpp index c98812a49..65956c6a3 100644 --- a/src/components/real/power/csv_scenario_interface.hpp +++ b/src/components/real/power/csv_scenario_interface.hpp @@ -6,7 +6,7 @@ #ifndef S2E_COMPONENTS_REAL_POWER_CSV_SCENARIO_INTERFACE_HPP_ #define S2E_COMPONENTS_REAL_POWER_CSV_SCENARIO_INTERFACE_HPP_ -#include +#include #include #include #include diff --git a/src/components/real/power/solar_array_panel.hpp b/src/components/real/power/solar_array_panel.hpp index 00f1f7085..766e2c327 100644 --- a/src/components/real/power/solar_array_panel.hpp +++ b/src/components/real/power/solar_array_panel.hpp @@ -8,7 +8,7 @@ #include #include -#include +#include #include #include "../../base/component.hpp" diff --git a/src/components/real/propulsion/simple_thruster.cpp b/src/components/real/propulsion/simple_thruster.cpp index c133a8eb2..252204cda 100644 --- a/src/components/real/propulsion/simple_thruster.cpp +++ b/src/components/real/propulsion/simple_thruster.cpp @@ -5,8 +5,8 @@ #include "simple_thruster.hpp" #include -#include -#include +#include +#include #include // Constructor diff --git a/src/components/real/propulsion/simple_thruster.hpp b/src/components/real/propulsion/simple_thruster.hpp index b1864dd53..7cb355901 100644 --- a/src/components/real/propulsion/simple_thruster.hpp +++ b/src/components/real/propulsion/simple_thruster.hpp @@ -7,9 +7,9 @@ #define S2E_COMPONENTS_REAL_PROPULSION_SIMPLE_THRUSTER_HPP_ #include -#include -#include -#include +#include +#include +#include #include #include diff --git a/src/disturbances/air_drag.cpp b/src/disturbances/air_drag.cpp index 6f69578ed..c3df5cc19 100644 --- a/src/disturbances/air_drag.cpp +++ b/src/disturbances/air_drag.cpp @@ -7,7 +7,7 @@ #include #include -#include +#include #include #include "../logger/log_utility.hpp" diff --git a/src/disturbances/air_drag.hpp b/src/disturbances/air_drag.hpp index 3056df0f6..d5463eeb9 100644 --- a/src/disturbances/air_drag.hpp +++ b/src/disturbances/air_drag.hpp @@ -9,8 +9,8 @@ #include #include "../environment/local/atmosphere.hpp" -#include "../library/math/quaternion.hpp" -#include "../library/math/vector.hpp" +#include "../math_physics/math/quaternion.hpp" +#include "../math_physics/math/vector.hpp" #include "../logger/loggable.hpp" #include "surface_force.hpp" diff --git a/src/disturbances/disturbance.hpp b/src/disturbances/disturbance.hpp index f43285374..c898f18f0 100644 --- a/src/disturbances/disturbance.hpp +++ b/src/disturbances/disturbance.hpp @@ -7,7 +7,7 @@ #define S2E_DISTURBANCES_DISTURBANCE_HPP_ #include "../environment/local/local_environment.hpp" -#include "../library/math/vector.hpp" +#include "../math_physics/math/vector.hpp" /** * @class Disturbance diff --git a/src/disturbances/geopotential.hpp b/src/disturbances/geopotential.hpp index abe79028d..1360183fb 100644 --- a/src/disturbances/geopotential.hpp +++ b/src/disturbances/geopotential.hpp @@ -8,8 +8,8 @@ #include -#include "../library/gravity/gravity_potential.hpp" -#include "../library/math/vector.hpp" +#include "../math_physics/gravity/gravity_potential.hpp" +#include "../math_physics/math/vector.hpp" #include "disturbance.hpp" /** * @class Geopotential diff --git a/src/disturbances/gravity_gradient.hpp b/src/disturbances/gravity_gradient.hpp index 09bd25a47..8b32f1e85 100644 --- a/src/disturbances/gravity_gradient.hpp +++ b/src/disturbances/gravity_gradient.hpp @@ -8,9 +8,9 @@ #include -#include "../library/math/matrix.hpp" -#include "../library/math/matrix_vector.hpp" -#include "../library/math/vector.hpp" +#include "../math_physics/math/matrix.hpp" +#include "../math_physics/math/matrix_vector.hpp" +#include "../math_physics/math/vector.hpp" #include "../logger/loggable.hpp" #include "disturbance.hpp" diff --git a/src/disturbances/lunar_gravity_field.hpp b/src/disturbances/lunar_gravity_field.hpp index 13f1b9f22..61c592ab3 100644 --- a/src/disturbances/lunar_gravity_field.hpp +++ b/src/disturbances/lunar_gravity_field.hpp @@ -8,8 +8,8 @@ #include -#include "../library/gravity/gravity_potential.hpp" -#include "../library/math/vector.hpp" +#include "../math_physics/gravity/gravity_potential.hpp" +#include "../math_physics/math/vector.hpp" #include "disturbance.hpp" /** * @class LunarGravityField diff --git a/src/disturbances/magnetic_disturbance.cpp b/src/disturbances/magnetic_disturbance.cpp index 60b6cacd8..5026e6573 100644 --- a/src/disturbances/magnetic_disturbance.cpp +++ b/src/disturbances/magnetic_disturbance.cpp @@ -8,9 +8,9 @@ #include #include -#include "../library/randomization/global_randomization.hpp" -#include "../library/randomization/normal_randomization.hpp" -#include "../library/randomization/random_walk.hpp" +#include "../math_physics/randomization/global_randomization.hpp" +#include "../math_physics/randomization/normal_randomization.hpp" +#include "../math_physics/randomization/random_walk.hpp" #include "../logger/log_utility.hpp" MagneticDisturbance::MagneticDisturbance(const ResidualMagneticMoment& rmm_params, const bool is_calculation_enabled) diff --git a/src/disturbances/magnetic_disturbance.hpp b/src/disturbances/magnetic_disturbance.hpp index 676e1671e..91f65049f 100644 --- a/src/disturbances/magnetic_disturbance.hpp +++ b/src/disturbances/magnetic_disturbance.hpp @@ -8,7 +8,7 @@ #include -#include "../library/math/vector.hpp" +#include "../math_physics/math/vector.hpp" #include "../logger/loggable.hpp" #include "../simulation/spacecraft/structure/residual_magnetic_moment.hpp" #include "disturbance.hpp" diff --git a/src/disturbances/solar_radiation_pressure_disturbance.hpp b/src/disturbances/solar_radiation_pressure_disturbance.hpp index 92180dd97..d4cecde70 100644 --- a/src/disturbances/solar_radiation_pressure_disturbance.hpp +++ b/src/disturbances/solar_radiation_pressure_disturbance.hpp @@ -8,7 +8,7 @@ #include -#include "../library/math/vector.hpp" +#include "../math_physics/math/vector.hpp" #include "../logger/loggable.hpp" #include "surface_force.hpp" diff --git a/src/disturbances/surface_force.cpp b/src/disturbances/surface_force.cpp index e6dce0716..8cf5c7278 100644 --- a/src/disturbances/surface_force.cpp +++ b/src/disturbances/surface_force.cpp @@ -5,7 +5,7 @@ #include "surface_force.hpp" -#include "../library/math/vector.hpp" +#include "../math_physics/math/vector.hpp" SurfaceForce::SurfaceForce(const std::vector& surfaces, const libra::Vector<3>& center_of_gravity_b_m, const bool is_calculation_enabled) : Disturbance(is_calculation_enabled, true), surfaces_(surfaces), center_of_gravity_b_m_(center_of_gravity_b_m) { diff --git a/src/disturbances/surface_force.hpp b/src/disturbances/surface_force.hpp index ad82c9fba..b07b7101f 100644 --- a/src/disturbances/surface_force.hpp +++ b/src/disturbances/surface_force.hpp @@ -10,8 +10,8 @@ #include -#include "../library/math/quaternion.hpp" -#include "../library/math/vector.hpp" +#include "../math_physics/math/quaternion.hpp" +#include "../math_physics/math/vector.hpp" #include "../simulation/spacecraft/structure/surface.hpp" #include "disturbance.hpp" diff --git a/src/disturbances/third_body_gravity.hpp b/src/disturbances/third_body_gravity.hpp index c65c5b9fd..089e30b01 100644 --- a/src/disturbances/third_body_gravity.hpp +++ b/src/disturbances/third_body_gravity.hpp @@ -10,7 +10,7 @@ #include #include -#include "../library/math/vector.hpp" +#include "../math_physics/math/vector.hpp" #include "../logger/loggable.hpp" #include "disturbance.hpp" diff --git a/src/dynamics/attitude/attitude.hpp b/src/dynamics/attitude/attitude.hpp index ee91197dc..1bd6bb0e7 100644 --- a/src/dynamics/attitude/attitude.hpp +++ b/src/dynamics/attitude/attitude.hpp @@ -6,8 +6,8 @@ #ifndef S2E_DYNAMICS_ATTITUDE_ATTITUDE_HPP_ #define S2E_DYNAMICS_ATTITUDE_ATTITUDE_HPP_ -#include -#include +#include +#include #include #include #include diff --git a/src/dynamics/attitude/controlled_attitude.hpp b/src/dynamics/attitude/controlled_attitude.hpp index f0de70d14..0d09d7461 100644 --- a/src/dynamics/attitude/controlled_attitude.hpp +++ b/src/dynamics/attitude/controlled_attitude.hpp @@ -7,7 +7,7 @@ #define S2E_DYNAMICS_ATTITUDE_CONTROLLED_ATTITUDE_HPP_ #include -#include +#include #include #include "../orbit/orbit.hpp" diff --git a/src/dynamics/dynamics.hpp b/src/dynamics/dynamics.hpp index a6b5044f1..e8a366555 100644 --- a/src/dynamics/dynamics.hpp +++ b/src/dynamics/dynamics.hpp @@ -9,7 +9,7 @@ #include "../environment/global/simulation_time.hpp" #include "../environment/local/local_environment.hpp" -#include "../library/math/vector.hpp" +#include "../math_physics/math/vector.hpp" #include "../simulation/simulation_configuration.hpp" #include "../simulation/spacecraft/structure/structure.hpp" #include "dynamics/attitude/initialize_attitude.hpp" diff --git a/src/dynamics/orbit/encke_orbit_propagation.cpp b/src/dynamics/orbit/encke_orbit_propagation.cpp index 4623f19c9..55dd09adc 100644 --- a/src/dynamics/orbit/encke_orbit_propagation.cpp +++ b/src/dynamics/orbit/encke_orbit_propagation.cpp @@ -7,7 +7,7 @@ #include -#include "../../library/orbit/orbital_elements.hpp" +#include "../../math_physics/orbit/orbital_elements.hpp" EnckeOrbitPropagation::EnckeOrbitPropagation(const CelestialInformation* celestial_information, const double gravity_constant_m3_s2, const double propagation_step_s, const double current_time_jd, const libra::Vector<3> position_i_m, diff --git a/src/dynamics/orbit/encke_orbit_propagation.hpp b/src/dynamics/orbit/encke_orbit_propagation.hpp index 03d42f696..f8648730a 100644 --- a/src/dynamics/orbit/encke_orbit_propagation.hpp +++ b/src/dynamics/orbit/encke_orbit_propagation.hpp @@ -6,8 +6,8 @@ #ifndef S2E_DYNAMICS_ORBIT_ENCKE_ORBIT_PROPAGATION_HPP_ #define S2E_DYNAMICS_ORBIT_ENCKE_ORBIT_PROPAGATION_HPP_ -#include "../../library/math/ordinary_differential_equation.hpp" -#include "../../library/orbit/kepler_orbit.hpp" +#include "../../math_physics/math/ordinary_differential_equation.hpp" +#include "../../math_physics/orbit/kepler_orbit.hpp" #include "orbit.hpp" /** diff --git a/src/dynamics/orbit/initialize_orbit.hpp b/src/dynamics/orbit/initialize_orbit.hpp index 442b5ff72..e2b8363a8 100644 --- a/src/dynamics/orbit/initialize_orbit.hpp +++ b/src/dynamics/orbit/initialize_orbit.hpp @@ -6,7 +6,7 @@ #ifndef S2E_DYNAMICS_ORBIT_INITIALIZE_ORBIT_HPP_ #define S2E_DYNAMICS_ORBIT_INITIALIZE_ORBIT_HPP_ -#include +#include #include "orbit.hpp" diff --git a/src/dynamics/orbit/kepler_orbit_propagation.cpp b/src/dynamics/orbit/kepler_orbit_propagation.cpp index 1ff199c04..905c56e39 100644 --- a/src/dynamics/orbit/kepler_orbit_propagation.cpp +++ b/src/dynamics/orbit/kepler_orbit_propagation.cpp @@ -6,7 +6,7 @@ #include -#include "../../library/math/s2e_math.hpp" +#include "../../math_physics/math/s2e_math.hpp" KeplerOrbitPropagation::KeplerOrbitPropagation(const CelestialInformation* celestial_information, const double current_time_jd, KeplerOrbit kepler_orbit) diff --git a/src/dynamics/orbit/kepler_orbit_propagation.hpp b/src/dynamics/orbit/kepler_orbit_propagation.hpp index bed2bf624..f2421003e 100644 --- a/src/dynamics/orbit/kepler_orbit_propagation.hpp +++ b/src/dynamics/orbit/kepler_orbit_propagation.hpp @@ -6,7 +6,7 @@ #ifndef S2E_DYNAMICS_ORBIT_KEPLER_ORBIT_PROPAGATION_HPP_ #define S2E_DYNAMICS_ORBIT_KEPLER_ORBIT_PROPAGATION_HPP_ -#include "../../library/orbit/kepler_orbit.hpp" +#include "../../math_physics/orbit/kepler_orbit.hpp" #include "orbit.hpp" /** diff --git a/src/dynamics/orbit/orbit.hpp b/src/dynamics/orbit/orbit.hpp index 2f504159e..dad33a79c 100644 --- a/src/dynamics/orbit/orbit.hpp +++ b/src/dynamics/orbit/orbit.hpp @@ -8,12 +8,12 @@ #include #include -#include -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include +#include #include /** diff --git a/src/dynamics/orbit/relative_orbit.hpp b/src/dynamics/orbit/relative_orbit.hpp index 09b8d1403..f7445d101 100644 --- a/src/dynamics/orbit/relative_orbit.hpp +++ b/src/dynamics/orbit/relative_orbit.hpp @@ -6,8 +6,8 @@ #ifndef S2E_DYNAMICS_ORBIT_RELATIVE_ORBIT_HPP_ #define S2E_DYNAMICS_ORBIT_RELATIVE_ORBIT_HPP_ -#include -#include +#include +#include #include #include diff --git a/src/dynamics/orbit/rk4_orbit_propagation.hpp b/src/dynamics/orbit/rk4_orbit_propagation.hpp index bdb98b808..253a3178b 100644 --- a/src/dynamics/orbit/rk4_orbit_propagation.hpp +++ b/src/dynamics/orbit/rk4_orbit_propagation.hpp @@ -7,7 +7,7 @@ #define S2E_DYNAMICS_ORBIT_RK4_ORBIT_PROPAGATION_HPP_ #include -#include +#include #include "orbit.hpp" diff --git a/src/dynamics/orbit/sgp4_orbit_propagation.hpp b/src/dynamics/orbit/sgp4_orbit_propagation.hpp index fcef24934..42b69681c 100644 --- a/src/dynamics/orbit/sgp4_orbit_propagation.hpp +++ b/src/dynamics/orbit/sgp4_orbit_propagation.hpp @@ -6,8 +6,8 @@ #ifndef S2E_DYNAMICS_ORBIT_SGP4_ORBIT_PROPAGATION_HPP_ #define S2E_DYNAMICS_ORBIT_SGP4_ORBIT_PROPAGATION_HPP_ -#include -#include +#include +#include #include diff --git a/src/environment/global/celestial_information.hpp b/src/environment/global/celestial_information.hpp index 1197e6066..1197e0d6f 100644 --- a/src/environment/global/celestial_information.hpp +++ b/src/environment/global/celestial_information.hpp @@ -10,7 +10,7 @@ #include #include "earth_rotation.hpp" -#include "library/math/vector.hpp" +#include "math_physics/math/vector.hpp" #include "logger/loggable.hpp" #include "moon_rotation.hpp" #include "simulation_time.hpp" @@ -235,7 +235,7 @@ class CelestialInformation : public ILoggable { std::string inertial_frame_name_; //!< Definition of inertial frame std::string center_body_name_; //!< Center object name of inertial frame std::string aberration_correction_setting_; //!< Stellar aberration correction - //!< Ref：http://fermi.gsfc.nasa.gov/ssc/library/fug/051108/Aberration_Julie.ppt + //!< Ref：http://fermi.gsfc.nasa.gov/ssc/math_physics/fug/051108/Aberration_Julie.ppt // Calculated values double* celestial_body_position_from_center_i_m_; //!< Position vector list at inertial frame [m] diff --git a/src/environment/global/earth_rotation.cpp b/src/environment/global/earth_rotation.cpp index ad468f182..569c4a293 100644 --- a/src/environment/global/earth_rotation.cpp +++ b/src/environment/global/earth_rotation.cpp @@ -11,9 +11,9 @@ #include #include -#include "library/math/constants.hpp" -#include "library/orbit/sgp4/sgp4ext.h" // for jday() -#include "library/orbit/sgp4/sgp4unit.h" // for gstime() +#include "math_physics/math/constants.hpp" +#include "math_physics/orbit/sgp4/sgp4ext.h" // for jday() +#include "math_physics/orbit/sgp4/sgp4unit.h" // for gstime() // Default constructor EarthRotation::EarthRotation(const EarthRotationMode rotation_mode) : rotation_mode_(rotation_mode) { diff --git a/src/environment/global/earth_rotation.hpp b/src/environment/global/earth_rotation.hpp index c6adaa685..118e55818 100644 --- a/src/environment/global/earth_rotation.hpp +++ b/src/environment/global/earth_rotation.hpp @@ -9,7 +9,7 @@ #ifndef S2E_ENVIRONMENT_GLOBAL_EARTH_ROTATION_HPP_ #define S2E_ENVIRONMENT_GLOBAL_EARTH_ROTATION_HPP_ -#include "library/math/matrix.hpp" +#include "math_physics/math/matrix.hpp" /** * @enum EarthRotationMode diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index bedfaafab..3a00fe8ef 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -5,12 +5,12 @@ #include "gnss_satellites.hpp" -#include -#include +#include +#include #include "environment/global/physical_constants.hpp" -#include "library/math/constants.hpp" -#include "library/time_system/date_time_format.hpp" +#include "math_physics/math/constants.hpp" +#include "math_physics/time_system/date_time_format.hpp" #include "logger/log_utility.hpp" #include "setting_file_reader/initialize_file_access.hpp" #include "utilities/macros.hpp" diff --git a/src/environment/global/gnss_satellites.hpp b/src/environment/global/gnss_satellites.hpp index 47add1696..775be5f79 100644 --- a/src/environment/global/gnss_satellites.hpp +++ b/src/environment/global/gnss_satellites.hpp @@ -7,17 +7,17 @@ #ifndef S2E_ENVIRONMENT_GLOBAL_GNSS_SATELLITES_HPP_ #define S2E_ENVIRONMENT_GLOBAL_GNSS_SATELLITES_HPP_ -#include -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include +#include #include #include "earth_rotation.hpp" -#include "library/gnss/gnss_satellite_number.hpp" -#include "library/math/vector.hpp" +#include "math_physics/gnss/gnss_satellite_number.hpp" +#include "math_physics/math/vector.hpp" #include "logger/loggable.hpp" #include "simulation_time.hpp" diff --git a/src/environment/global/hipparcos_catalogue.cpp b/src/environment/global/hipparcos_catalogue.cpp index 33b281cad..5ab550fe7 100644 --- a/src/environment/global/hipparcos_catalogue.cpp +++ b/src/environment/global/hipparcos_catalogue.cpp @@ -11,7 +11,7 @@ #include #include -#include "library/math/constants.hpp" +#include "math_physics/math/constants.hpp" #include "setting_file_reader/initialize_file_access.hpp" HipparcosCatalogue::HipparcosCatalogue(double max_magnitude, std::string catalogue_path) diff --git a/src/environment/global/hipparcos_catalogue.hpp b/src/environment/global/hipparcos_catalogue.hpp index 4f5f9bb8e..5283d5daa 100644 --- a/src/environment/global/hipparcos_catalogue.hpp +++ b/src/environment/global/hipparcos_catalogue.hpp @@ -8,8 +8,8 @@ #include -#include "library/math/quaternion.hpp" -#include "library/math/vector.hpp" +#include "math_physics/math/quaternion.hpp" +#include "math_physics/math/vector.hpp" #include "logger/loggable.hpp" /** diff --git a/src/environment/global/moon_rotation.cpp b/src/environment/global/moon_rotation.cpp index 75ede8b33..d80c4adf3 100644 --- a/src/environment/global/moon_rotation.cpp +++ b/src/environment/global/moon_rotation.cpp @@ -7,8 +7,8 @@ #include -#include -#include +#include +#include MoonRotation::MoonRotation(const CelestialInformation& celestial_information, MoonRotationMode mode) : mode_(mode), celestial_information_(celestial_information) { diff --git a/src/environment/global/moon_rotation.hpp b/src/environment/global/moon_rotation.hpp index 74d8eb64e..754f6fde4 100644 --- a/src/environment/global/moon_rotation.hpp +++ b/src/environment/global/moon_rotation.hpp @@ -7,8 +7,8 @@ #define S2E_ENVIRONMENT_GLOBAL_MOON_ROTATION_HPP_ #include "celestial_information.hpp" -#include "library/math/matrix.hpp" -#include "library/math/vector.hpp" +#include "math_physics/math/matrix.hpp" +#include "math_physics/math/vector.hpp" #include "simulation_time.hpp" class CelestialInformation; diff --git a/src/environment/global/simulation_time.hpp b/src/environment/global/simulation_time.hpp index a37f8b20b..17273a0f8 100644 --- a/src/environment/global/simulation_time.hpp +++ b/src/environment/global/simulation_time.hpp @@ -14,9 +14,9 @@ // #include #include -#include "library/orbit/sgp4/sgp4ext.h" -#include "library/orbit/sgp4/sgp4io.h" -#include "library/orbit/sgp4/sgp4unit.h" +#include "math_physics/orbit/sgp4/sgp4ext.h" +#include "math_physics/orbit/sgp4/sgp4io.h" +#include "math_physics/orbit/sgp4/sgp4unit.h" #include "logger/loggable.hpp" /** diff --git a/src/environment/local/atmosphere.cpp b/src/environment/local/atmosphere.cpp index 8db85b4e3..91cf47473 100644 --- a/src/environment/local/atmosphere.cpp +++ b/src/environment/local/atmosphere.cpp @@ -5,12 +5,12 @@ #include "atmosphere.hpp" -#include "library/atmosphere/harris_priester_model.hpp" -#include "library/atmosphere/simple_air_density_model.hpp" -#include "library/math/vector.hpp" -#include "library/randomization/global_randomization.hpp" -#include "library/randomization/normal_randomization.hpp" -#include "library/randomization/random_walk.hpp" +#include "math_physics/atmosphere/harris_priester_model.hpp" +#include "math_physics/atmosphere/simple_air_density_model.hpp" +#include "math_physics/math/vector.hpp" +#include "math_physics/randomization/global_randomization.hpp" +#include "math_physics/randomization/normal_randomization.hpp" +#include "math_physics/randomization/random_walk.hpp" #include "logger/log_utility.hpp" #include "setting_file_reader/initialize_file_access.hpp" diff --git a/src/environment/local/atmosphere.hpp b/src/environment/local/atmosphere.hpp index faf3902a1..033cecd8c 100644 --- a/src/environment/local/atmosphere.hpp +++ b/src/environment/local/atmosphere.hpp @@ -11,8 +11,8 @@ #include "dynamics/orbit/orbit.hpp" #include "environment/global/simulation_time.hpp" #include "environment/local/local_celestial_information.hpp" -#include "library/atmosphere/wrapper_nrlmsise00.hpp" -#include "library/math/vector.hpp" +#include "math_physics/atmosphere/wrapper_nrlmsise00.hpp" +#include "math_physics/math/vector.hpp" #include "logger/loggable.hpp" /** diff --git a/src/environment/local/geomagnetic_field.cpp b/src/environment/local/geomagnetic_field.cpp index b31bdb728..6c9390d78 100644 --- a/src/environment/local/geomagnetic_field.cpp +++ b/src/environment/local/geomagnetic_field.cpp @@ -5,10 +5,10 @@ #include "geomagnetic_field.hpp" -#include "library/geomagnetic/igrf.h" -#include "library/randomization/global_randomization.hpp" -#include "library/randomization/normal_randomization.hpp" -#include "library/randomization/random_walk.hpp" +#include "math_physics/geomagnetic/igrf.h" +#include "math_physics/randomization/global_randomization.hpp" +#include "math_physics/randomization/normal_randomization.hpp" +#include "math_physics/randomization/random_walk.hpp" #include "setting_file_reader/initialize_file_access.hpp" GeomagneticField::GeomagneticField(const std::string igrf_file_name, const double random_walk_srandard_deviation_nT, diff --git a/src/environment/local/geomagnetic_field.hpp b/src/environment/local/geomagnetic_field.hpp index 2f87b2957..52792577a 100644 --- a/src/environment/local/geomagnetic_field.hpp +++ b/src/environment/local/geomagnetic_field.hpp @@ -6,9 +6,9 @@ #ifndef S2E_ENVIRONMENT_LOCAL_GEOMAGNETIC_FIELD_HPP_ #define S2E_ENVIRONMENT_LOCAL_GEOMAGNETIC_FIELD_HPP_ -#include "library/geodesy/geodetic_position.hpp" -#include "library/math/quaternion.hpp" -#include "library/math/vector.hpp" +#include "math_physics/geodesy/geodetic_position.hpp" +#include "math_physics/math/quaternion.hpp" +#include "math_physics/math/vector.hpp" #include "logger/loggable.hpp" /** diff --git a/src/environment/local/solar_radiation_pressure_environment.cpp b/src/environment/local/solar_radiation_pressure_environment.cpp index a2bde130f..719cfad48 100644 --- a/src/environment/local/solar_radiation_pressure_environment.cpp +++ b/src/environment/local/solar_radiation_pressure_environment.cpp @@ -8,8 +8,8 @@ #include #include -#include "library/math/constants.hpp" -#include "library/math/vector.hpp" +#include "math_physics/math/constants.hpp" +#include "math_physics/math/vector.hpp" #include "logger/log_utility.hpp" #include "setting_file_reader/initialize_file_access.hpp" diff --git a/src/logger/log_utility.hpp b/src/logger/log_utility.hpp index 6bc9fdd5c..c47e373cd 100644 --- a/src/logger/log_utility.hpp +++ b/src/logger/log_utility.hpp @@ -7,8 +7,8 @@ #define S2E_LIBRARY_LOGGER_LOG_UTILITY_HPP_ #include -#include -#include +#include +#include #include #include diff --git a/src/math_physics/atmosphere/harris_priester_model.cpp b/src/math_physics/atmosphere/harris_priester_model.cpp index 4cfc1b398..70ac6c5e4 100644 --- a/src/math_physics/atmosphere/harris_priester_model.cpp +++ b/src/math_physics/atmosphere/harris_priester_model.cpp @@ -5,7 +5,7 @@ #include "harris_priester_model.hpp" #include -#include +#include #include #include "harris_priester_coefficients.hpp" diff --git a/src/math_physics/atmosphere/harris_priester_model.hpp b/src/math_physics/atmosphere/harris_priester_model.hpp index 1e326f42c..77e9e7f46 100644 --- a/src/math_physics/atmosphere/harris_priester_model.hpp +++ b/src/math_physics/atmosphere/harris_priester_model.hpp @@ -6,8 +6,8 @@ #ifndef S2E_LIBRARY_HARRIS_PRIESTER_MODEL_HPP_ #define S2E_LIBRARY_HARRIS_PRIESTER_MODEL_HPP_ -#include -#include +#include +#include namespace libra::atmosphere { diff --git a/src/math_physics/atmosphere/wrapper_nrlmsise00.cpp b/src/math_physics/atmosphere/wrapper_nrlmsise00.cpp index b092af211..91a00c40f 100644 --- a/src/math_physics/atmosphere/wrapper_nrlmsise00.cpp +++ b/src/math_physics/atmosphere/wrapper_nrlmsise00.cpp @@ -16,7 +16,7 @@ extern "C" { #include #include /* maths functions */ #include -#include +#include #include #include "wrapper_nrlmsise00.hpp" /* header for nrlmsise-00.h */ diff --git a/src/math_physics/geodesy/geodetic_position.cpp b/src/math_physics/geodesy/geodetic_position.cpp index 38a425f75..cd491b920 100644 --- a/src/math_physics/geodesy/geodetic_position.cpp +++ b/src/math_physics/geodesy/geodetic_position.cpp @@ -4,11 +4,11 @@ */ #include "geodetic_position.hpp" -#include // TODO: do not to use the functions in SGP4 library +#include // TODO: do not to use the functions in SGP4 library #include -#include -#include +#include +#include GeodeticPosition::GeodeticPosition() { latitude_rad_ = 0.0; diff --git a/src/math_physics/geodesy/geodetic_position.hpp b/src/math_physics/geodesy/geodetic_position.hpp index 2b6c68eec..8a60cfa68 100644 --- a/src/math_physics/geodesy/geodetic_position.hpp +++ b/src/math_physics/geodesy/geodetic_position.hpp @@ -6,8 +6,8 @@ #ifndef S2E_LIBRARY_GEODESY_GEODETIC_POSITION_HPP_ #define S2E_LIBRARY_GEODESY_GEODETIC_POSITION_HPP_ -#include -#include +#include +#include /** * @class GeodeticPosition diff --git a/src/math_physics/geomagnetic/igrf.cpp b/src/math_physics/geomagnetic/igrf.cpp index 645a7f0a1..cc89efc82 100644 --- a/src/math_physics/geomagnetic/igrf.cpp +++ b/src/math_physics/geomagnetic/igrf.cpp @@ -48,7 +48,7 @@ #include using namespace std; -#include "../../library/orbit/sgp4/sgp4ext.h" +#include "../../math_physics/orbit/sgp4/sgp4ext.h" #include "igrf.h" double testglobal[3]; diff --git a/src/math_physics/gnss/antex_file_reader.cpp b/src/math_physics/gnss/antex_file_reader.cpp index 7b0e85e54..6baf196e1 100644 --- a/src/math_physics/gnss/antex_file_reader.cpp +++ b/src/math_physics/gnss/antex_file_reader.cpp @@ -8,7 +8,7 @@ #include #include -#include +#include #define ANTEX_LINE_TYPE_POSITION (60) diff --git a/src/math_physics/gnss/antex_file_reader.hpp b/src/math_physics/gnss/antex_file_reader.hpp index 7e7fc8073..7fb8b0031 100644 --- a/src/math_physics/gnss/antex_file_reader.hpp +++ b/src/math_physics/gnss/antex_file_reader.hpp @@ -10,8 +10,8 @@ #include -#include -#include +#include +#include #include #include #include diff --git a/src/math_physics/gnss/sp3_file_reader.hpp b/src/math_physics/gnss/sp3_file_reader.hpp index 3d86cc28e..ba446f0aa 100644 --- a/src/math_physics/gnss/sp3_file_reader.hpp +++ b/src/math_physics/gnss/sp3_file_reader.hpp @@ -10,9 +10,9 @@ #include -#include -#include -#include +#include +#include +#include #include #include #include diff --git a/src/math_physics/gnss/test_antex_file_reader.cpp b/src/math_physics/gnss/test_antex_file_reader.cpp index b696e1df7..d5d392f19 100644 --- a/src/math_physics/gnss/test_antex_file_reader.cpp +++ b/src/math_physics/gnss/test_antex_file_reader.cpp @@ -11,7 +11,7 @@ * @brief Test Constructor */ TEST(AntexReader, Constructor) { - std::string test_file_name = "/src/library/gnss/example.atx"; + std::string test_file_name = "/src/math_physics/gnss/example.atx"; AntexFileReader antex_file_fault("false_file_path.atx"); EXPECT_FALSE(antex_file_fault.GetFileReadSuccessFlag()); diff --git a/src/math_physics/gnss/test_bias_sinex_file_reader.cpp b/src/math_physics/gnss/test_bias_sinex_file_reader.cpp index ab806a070..99c52c8d7 100644 --- a/src/math_physics/gnss/test_bias_sinex_file_reader.cpp +++ b/src/math_physics/gnss/test_bias_sinex_file_reader.cpp @@ -8,7 +8,7 @@ TEST(BiasSinex, Constructor) { EXPECT_FALSE(bias_sinex_file_fault.GetFileReadSuccessFlag()); // File read check - std::string test_file_name = "/src/library/gnss/example.BSX"; + std::string test_file_name = "/src/math_physics/gnss/example.BSX"; BiasSinexFileReader bias_sinex_file(CORE_DIR_FROM_EXE + test_file_name); EXPECT_TRUE(bias_sinex_file.GetFileReadSuccessFlag()); diff --git a/src/math_physics/gnss/test_sp3_file_reader.cpp b/src/math_physics/gnss/test_sp3_file_reader.cpp index ef8e3e245..4a017894e 100644 --- a/src/math_physics/gnss/test_sp3_file_reader.cpp +++ b/src/math_physics/gnss/test_sp3_file_reader.cpp @@ -10,7 +10,7 @@ * @brief Test Constructor */ TEST(Sp3FileReader, Constructor) { - std::string test_file_name = "/src/library/gnss/example.sp3"; + std::string test_file_name = "/src/math_physics/gnss/example.sp3"; Sp3FileReader sp3_file(CORE_DIR_FROM_EXE + test_file_name); // Test Header diff --git a/src/math_physics/math/s2e_math.cpp b/src/math_physics/math/s2e_math.cpp index 4ed37a10e..7ae8f5777 100644 --- a/src/math_physics/math/s2e_math.cpp +++ b/src/math_physics/math/s2e_math.cpp @@ -5,7 +5,7 @@ #include "s2e_math.hpp" -#include +#include namespace libra { double WrapTo2Pi(const double angle_rad) { diff --git a/src/math_physics/optics/gaussian_beam_base.cpp b/src/math_physics/optics/gaussian_beam_base.cpp index 3f181c0b0..f47842dad 100644 --- a/src/math_physics/optics/gaussian_beam_base.cpp +++ b/src/math_physics/optics/gaussian_beam_base.cpp @@ -6,7 +6,7 @@ #include "gaussian_beam_base.hpp" #include -#include +#include GaussianBeamBase::GaussianBeamBase(double wavelength_m, double radius_beam_waist_m, double total_power_W) : wavelength_m_(wavelength_m), radius_beam_waist_m_(radius_beam_waist_m), total_power_W_(total_power_W) {} diff --git a/src/math_physics/orbit/interpolation_orbit.hpp b/src/math_physics/orbit/interpolation_orbit.hpp index 8a4d628e8..2f8c4cfd1 100644 --- a/src/math_physics/orbit/interpolation_orbit.hpp +++ b/src/math_physics/orbit/interpolation_orbit.hpp @@ -6,8 +6,8 @@ #ifndef S2E_LIBRARY_ORBIT_INTERPOLATION_ORBIT_HPP_ #define S2E_LIBRARY_ORBIT_INTERPOLATION_ORBIT_HPP_ -#include -#include +#include +#include #include /** diff --git a/src/math_physics/planet_rotation/moon_rotation_utilities.cpp b/src/math_physics/planet_rotation/moon_rotation_utilities.cpp index fc03ab9f0..8678bd490 100644 --- a/src/math_physics/planet_rotation/moon_rotation_utilities.cpp +++ b/src/math_physics/planet_rotation/moon_rotation_utilities.cpp @@ -2,13 +2,13 @@ * @file moon_rotation_utilities.cpp * @brief Functions to calculate the moon rotation frame conversion * @note Ref: A Standardized Lunar Coordinate System for the Lunar Reconnaissance Orbiter and Lunar Datasets - * https://lunar.gsfc.nasa.gov/library/LunCoordWhitePaper-10-08.pdf + * https://lunar.gsfc.nasa.gov/math_physics/LunCoordWhitePaper-10-08.pdf * https://naif.jpl.nasa.gov/pub/naif/generic_kernels/spk/planets/de430_moon_coord.pdf */ #include "moon_rotation_utilities.hpp" -#include +#include libra::Matrix<3, 3> CalcDcmEciToPrincipalAxis(const libra::Vector<3> moon_position_eci_m, const libra::Vector<3> moon_velocity_eci_m_s) { libra::Matrix<3, 3> dcm_eci2me = CalcDcmEciToMeanEarth(moon_position_eci_m, moon_velocity_eci_m_s); diff --git a/src/math_physics/planet_rotation/moon_rotation_utilities.hpp b/src/math_physics/planet_rotation/moon_rotation_utilities.hpp index 08e208704..34b2d5efe 100644 --- a/src/math_physics/planet_rotation/moon_rotation_utilities.hpp +++ b/src/math_physics/planet_rotation/moon_rotation_utilities.hpp @@ -2,15 +2,15 @@ * @file moon_rotation_utilities.hpp * @brief Functions to calculate the moon rotation frame conversion * @note Ref: A Standardized Lunar Coordinate System for the Lunar Reconnaissance Orbiter and Lunar Datasets - * https://lunar.gsfc.nasa.gov/library/LunCoordWhitePaper-10-08.pdf + * https://lunar.gsfc.nasa.gov/math_physics/LunCoordWhitePaper-10-08.pdf * https://naif.jpl.nasa.gov/pub/naif/generic_kernels/spk/planets/de430_moon_coord.pdf */ #ifndef S2E_LIBRARY_PLANET_ROTATION_MOON_MEAN_EARTH_PRINCIPAL_AXIS_FRAME_HPP_ #define S2E_LIBRARY_PLANET_ROTATION_MOON_MEAN_EARTH_PRINCIPAL_AXIS_FRAME_HPP_ -#include "library/math/matrix.hpp" -#include "library/math/vector.hpp" +#include "math_physics/math/matrix.hpp" +#include "math_physics/math/vector.hpp" /** * @fn CalcDcmEciToPrincipalAxis diff --git a/src/math_physics/randomization/random_walk_template_functions.hpp b/src/math_physics/randomization/random_walk_template_functions.hpp index ed9c1b46c..4242f6952 100644 --- a/src/math_physics/randomization/random_walk_template_functions.hpp +++ b/src/math_physics/randomization/random_walk_template_functions.hpp @@ -6,7 +6,7 @@ #ifndef S2E_LIBRARY_RANDOMIZATION_RANDOM_WALK_TEMPLATE_FUNCTIONS_HPP_ #define S2E_LIBRARY_RANDOMIZATION_RANDOM_WALK_TEMPLATE_FUNCTIONS_HPP_ -#include +#include #include template diff --git a/src/setting_file_reader/initialize_file_access.hpp b/src/setting_file_reader/initialize_file_access.hpp index fd8c4c4f9..81b547214 100644 --- a/src/setting_file_reader/initialize_file_access.hpp +++ b/src/setting_file_reader/initialize_file_access.hpp @@ -21,8 +21,8 @@ #endif #include -#include -#include +#include +#include #include #include #include diff --git a/src/simulation/ground_station/ground_station.cpp b/src/simulation/ground_station/ground_station.cpp index 7745ef217..c19b6467f 100644 --- a/src/simulation/ground_station/ground_station.cpp +++ b/src/simulation/ground_station/ground_station.cpp @@ -6,7 +6,7 @@ #include "ground_station.hpp" #include -#include +#include #include #include #include diff --git a/src/simulation/ground_station/ground_station.hpp b/src/simulation/ground_station/ground_station.hpp index d6a505d03..f7caeb019 100644 --- a/src/simulation/ground_station/ground_station.hpp +++ b/src/simulation/ground_station/ground_station.hpp @@ -6,8 +6,8 @@ #ifndef S2E_SIMULATION_GROUND_STATION_GROUND_STATION_HPP_ #define S2E_SIMULATION_GROUND_STATION_GROUND_STATION_HPP_ -#include -#include +#include +#include #include #include "../simulation_configuration.hpp" diff --git a/src/simulation/monte_carlo_simulation/initialize_monte_carlo_parameters.cpp b/src/simulation/monte_carlo_simulation/initialize_monte_carlo_parameters.cpp index fe8716e1e..25bc20100 100644 --- a/src/simulation/monte_carlo_simulation/initialize_monte_carlo_parameters.cpp +++ b/src/simulation/monte_carlo_simulation/initialize_monte_carlo_parameters.cpp @@ -5,7 +5,7 @@ #include "initialize_monte_carlo_parameters.hpp" -#include +#include using namespace std; diff --git a/src/simulation/monte_carlo_simulation/initialize_monte_carlo_parameters.hpp b/src/simulation/monte_carlo_simulation/initialize_monte_carlo_parameters.hpp index 193a5f6a2..cf73abc2a 100644 --- a/src/simulation/monte_carlo_simulation/initialize_monte_carlo_parameters.hpp +++ b/src/simulation/monte_carlo_simulation/initialize_monte_carlo_parameters.hpp @@ -7,8 +7,8 @@ #define S2E_SIMULATION_MONTE_CARLO_SIMULATION_INITIALIZE_MONTE_CARLO_PARAMETERS_HPP_ #include -#include -#include +#include +#include #include #include #include diff --git a/src/simulation/monte_carlo_simulation/monte_carlo_simulation_executor.hpp b/src/simulation/monte_carlo_simulation/monte_carlo_simulation_executor.hpp index 83dfcf618..2dd3ed9a2 100644 --- a/src/simulation/monte_carlo_simulation/monte_carlo_simulation_executor.hpp +++ b/src/simulation/monte_carlo_simulation/monte_carlo_simulation_executor.hpp @@ -6,7 +6,7 @@ #ifndef S2E_SIMULATION_MONTE_CARLO_SIMULATION_MONTE_CARLO_SIMULATION_EXECUTOR_HPP_ #define S2E_SIMULATION_MONTE_CARLO_SIMULATION_MONTE_CARLO_SIMULATION_EXECUTOR_HPP_ -#include +#include #include #include // #include "simulation_object.hpp" diff --git a/src/simulation/monte_carlo_simulation/simulation_object.hpp b/src/simulation/monte_carlo_simulation/simulation_object.hpp index 9d46d482d..01cd7603e 100644 --- a/src/simulation/monte_carlo_simulation/simulation_object.hpp +++ b/src/simulation/monte_carlo_simulation/simulation_object.hpp @@ -7,8 +7,8 @@ #define S2E_SIMULATION_MONTE_CARLO_SIMULATION_SIMULATION_OBJECT_HPP_ #include -#include -#include +#include +#include #include #include #include diff --git a/src/simulation/spacecraft/installed_components.hpp b/src/simulation/spacecraft/installed_components.hpp index 0be7bec4a..42688707b 100644 --- a/src/simulation/spacecraft/installed_components.hpp +++ b/src/simulation/spacecraft/installed_components.hpp @@ -6,7 +6,7 @@ #ifndef S2E_SIMULATION_SPACECRAFT_INSTALLED_COMPONENTS_HPP_ #define S2E_SIMULATION_SPACECRAFT_INSTALLED_COMPONENTS_HPP_ -#include +#include #include /** diff --git a/src/simulation/spacecraft/structure/initialize_structure.cpp b/src/simulation/spacecraft/structure/initialize_structure.cpp index 1386cdf0a..e1def4ea9 100644 --- a/src/simulation/spacecraft/structure/initialize_structure.cpp +++ b/src/simulation/spacecraft/structure/initialize_structure.cpp @@ -5,7 +5,7 @@ #include "initialize_structure.hpp" -#include +#include #include #define MIN_VAL 1e-6 diff --git a/src/simulation/spacecraft/structure/kinematics_parameters.hpp b/src/simulation/spacecraft/structure/kinematics_parameters.hpp index 2246dcd63..be864b402 100644 --- a/src/simulation/spacecraft/structure/kinematics_parameters.hpp +++ b/src/simulation/spacecraft/structure/kinematics_parameters.hpp @@ -6,8 +6,8 @@ #ifndef S2E_SIMULATION_SPACECRAFT_STRUCTURE_KINEMATICS_PARAMETERS_HPP_ #define S2E_SIMULATION_SPACECRAFT_STRUCTURE_KINEMATICS_PARAMETERS_HPP_ -#include -#include +#include +#include /** * @class KinematicsParameters diff --git a/src/simulation/spacecraft/structure/residual_magnetic_moment.hpp b/src/simulation/spacecraft/structure/residual_magnetic_moment.hpp index e12ecc4dd..f78bd5dea 100644 --- a/src/simulation/spacecraft/structure/residual_magnetic_moment.hpp +++ b/src/simulation/spacecraft/structure/residual_magnetic_moment.hpp @@ -6,7 +6,7 @@ #ifndef S2E_SIMULATION_SPACECRAFT_STRUCTURE_RESIDUAL_MAGNETIC_MOMENT_HPP_ #define S2E_SIMULATION_SPACECRAFT_STRUCTURE_RESIDUAL_MAGNETIC_MOMENT_HPP_ -#include +#include using libra::Vector; /** diff --git a/src/simulation/spacecraft/structure/surface.hpp b/src/simulation/spacecraft/structure/surface.hpp index ad93c3b0d..c5f573a36 100644 --- a/src/simulation/spacecraft/structure/surface.hpp +++ b/src/simulation/spacecraft/structure/surface.hpp @@ -6,7 +6,7 @@ #ifndef S2E_SIMULATION_SPACECRAFT_STRUCTURE_SURFACE_HPP_ #define S2E_SIMULATION_SPACECRAFT_STRUCTURE_SURFACE_HPP_ -#include +#include /** * @class Surface diff --git a/src/simulation_sample/spacecraft/sample_components.hpp b/src/simulation_sample/spacecraft/sample_components.hpp index 2b7574f27..95f533de6 100644 --- a/src/simulation_sample/spacecraft/sample_components.hpp +++ b/src/simulation_sample/spacecraft/sample_components.hpp @@ -28,7 +28,7 @@ #include #include #include -#include +#include #include #include #include diff --git a/src/simulation_sample/spacecraft/sample_spacecraft.cpp b/src/simulation_sample/spacecraft/sample_spacecraft.cpp index c162ffab8..09c7df86c 100644 --- a/src/simulation_sample/spacecraft/sample_spacecraft.cpp +++ b/src/simulation_sample/spacecraft/sample_spacecraft.cpp @@ -6,7 +6,7 @@ #include "sample_spacecraft.hpp" #include -#include +#include #include "sample_components.hpp" From 0ba60aa0416bdd2cb3d4267e8f1fc2aec5bf8b66 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Thu, 7 Mar 2024 21:52:45 +0900 Subject: [PATCH 184/456] Fix format --- src/components/ideal/attitude_observer.hpp | 2 +- src/components/ideal/force_generator.hpp | 2 +- src/components/ideal/torque_generator.hpp | 2 +- src/components/real/aocs/gnss_receiver.hpp | 2 +- src/components/real/aocs/gyro_sensor.hpp | 2 +- src/components/real/aocs/magnetometer.hpp | 2 +- src/components/real/aocs/magnetorquer.cpp | 2 +- src/components/real/aocs/magnetorquer.hpp | 2 +- src/components/real/aocs/reaction_wheel.hpp | 4 ++-- src/components/real/aocs/star_sensor.cpp | 2 +- src/components/real/aocs/star_sensor.hpp | 2 +- src/components/real/aocs/sun_sensor.cpp | 2 +- src/components/real/aocs/sun_sensor.hpp | 2 +- src/components/real/mission/telescope.hpp | 2 +- src/components/real/power/csv_scenario_interface.hpp | 2 +- src/components/real/power/solar_array_panel.hpp | 2 +- src/components/real/propulsion/simple_thruster.hpp | 2 +- src/disturbances/air_drag.hpp | 2 +- src/disturbances/gravity_gradient.hpp | 2 +- src/disturbances/magnetic_disturbance.cpp | 2 +- src/disturbances/magnetic_disturbance.hpp | 2 +- src/disturbances/solar_radiation_pressure_disturbance.hpp | 2 +- src/disturbances/third_body_gravity.hpp | 2 +- src/dynamics/attitude/attitude.hpp | 2 +- src/dynamics/orbit/orbit.hpp | 2 +- src/environment/global/celestial_information.hpp | 2 +- src/environment/global/gnss_satellites.cpp | 2 +- src/environment/global/gnss_satellites.hpp | 2 +- src/environment/global/hipparcos_catalogue.hpp | 2 +- src/environment/global/simulation_time.hpp | 2 +- src/environment/local/atmosphere.cpp | 2 +- src/environment/local/atmosphere.hpp | 2 +- src/environment/local/geomagnetic_field.hpp | 2 +- .../local/solar_radiation_pressure_environment.cpp | 2 +- src/math_physics/gnss/antex_file_reader.hpp | 2 +- src/math_physics/gnss/sp3_file_reader.hpp | 2 +- src/simulation/ground_station/ground_station.cpp | 2 +- .../monte_carlo_simulation_executor.hpp | 2 +- src/simulation/monte_carlo_simulation/simulation_object.hpp | 2 +- src/simulation/spacecraft/installed_components.hpp | 2 +- 40 files changed, 41 insertions(+), 41 deletions(-) diff --git a/src/components/ideal/attitude_observer.hpp b/src/components/ideal/attitude_observer.hpp index b36455141..c00cebd13 100644 --- a/src/components/ideal/attitude_observer.hpp +++ b/src/components/ideal/attitude_observer.hpp @@ -7,9 +7,9 @@ #define S2E_COMPONENTS_IDEAL_ATTITUDE_OBSERVER_HPP_ #include +#include #include #include -#include #include "../base/component.hpp" diff --git a/src/components/ideal/force_generator.hpp b/src/components/ideal/force_generator.hpp index c6a059d8d..53adf392c 100644 --- a/src/components/ideal/force_generator.hpp +++ b/src/components/ideal/force_generator.hpp @@ -8,9 +8,9 @@ #include #include +#include #include #include -#include /* * @class ForceGenerator diff --git a/src/components/ideal/torque_generator.hpp b/src/components/ideal/torque_generator.hpp index 730f6b040..10aacf19d 100644 --- a/src/components/ideal/torque_generator.hpp +++ b/src/components/ideal/torque_generator.hpp @@ -8,9 +8,9 @@ #include #include +#include #include #include -#include /* * @class TorqueGenerator diff --git a/src/components/real/aocs/gnss_receiver.hpp b/src/components/real/aocs/gnss_receiver.hpp index 13ab021b8..1345217b5 100644 --- a/src/components/real/aocs/gnss_receiver.hpp +++ b/src/components/real/aocs/gnss_receiver.hpp @@ -9,10 +9,10 @@ #include #include #include +#include #include #include #include -#include #include "../../base/component.hpp" diff --git a/src/components/real/aocs/gyro_sensor.hpp b/src/components/real/aocs/gyro_sensor.hpp index e6bcf26d9..239bb29df 100644 --- a/src/components/real/aocs/gyro_sensor.hpp +++ b/src/components/real/aocs/gyro_sensor.hpp @@ -7,8 +7,8 @@ #define S2E_COMPONENTS_REAL_AOCS_GYRO_SENSOR_HPP_ #include -#include #include +#include #include "../../base/component.hpp" #include "../../base/sensor.hpp" diff --git a/src/components/real/aocs/magnetometer.hpp b/src/components/real/aocs/magnetometer.hpp index 3059d0750..5140eb7ef 100644 --- a/src/components/real/aocs/magnetometer.hpp +++ b/src/components/real/aocs/magnetometer.hpp @@ -7,8 +7,8 @@ #define S2E_COMPONENTS_REAL_AOCS_MAGNETOMETER_HPP_ #include -#include #include +#include #include "../../base/component.hpp" #include "../../base/sensor.hpp" diff --git a/src/components/real/aocs/magnetorquer.cpp b/src/components/real/aocs/magnetorquer.cpp index c28e8e5f4..135a3782f 100644 --- a/src/components/real/aocs/magnetorquer.cpp +++ b/src/components/real/aocs/magnetorquer.cpp @@ -5,10 +5,10 @@ #include "magnetorquer.hpp" +#include #include #include #include -#include #include Magnetorquer::Magnetorquer(const int prescaler, ClockGenerator* clock_generator, const int component_id, const libra::Quaternion& quaternion_b2c, diff --git a/src/components/real/aocs/magnetorquer.hpp b/src/components/real/aocs/magnetorquer.hpp index bddcc0b91..8a8bbc1a7 100644 --- a/src/components/real/aocs/magnetorquer.hpp +++ b/src/components/real/aocs/magnetorquer.hpp @@ -7,12 +7,12 @@ #define S2E_COMPONENTS_REAL_AOCS_MAGNETORQUER_HPP_ #include +#include #include #include #include #include #include -#include #include "../../base/component.hpp" diff --git a/src/components/real/aocs/reaction_wheel.hpp b/src/components/real/aocs/reaction_wheel.hpp index 2edb4b865..6e684db1f 100644 --- a/src/components/real/aocs/reaction_wheel.hpp +++ b/src/components/real/aocs/reaction_wheel.hpp @@ -6,10 +6,10 @@ #ifndef S2E_COMPONENTS_REAL_AOCS_REACTION_WHEEL_HPP_ #define S2E_COMPONENTS_REAL_AOCS_REACTION_WHEEL_HPP_ -#include -#include #include #include +#include +#include #include #include diff --git a/src/components/real/aocs/star_sensor.cpp b/src/components/real/aocs/star_sensor.cpp index 2aad6aaca..86826b98c 100644 --- a/src/components/real/aocs/star_sensor.cpp +++ b/src/components/real/aocs/star_sensor.cpp @@ -6,10 +6,10 @@ #include "star_sensor.hpp" #include +#include #include #include #include -#include #include #include diff --git a/src/components/real/aocs/star_sensor.hpp b/src/components/real/aocs/star_sensor.hpp index a6aa0bcff..67ba9c3c9 100644 --- a/src/components/real/aocs/star_sensor.hpp +++ b/src/components/real/aocs/star_sensor.hpp @@ -8,11 +8,11 @@ #include #include +#include #include #include #include #include -#include #include #include "../../base/component.hpp" diff --git a/src/components/real/aocs/sun_sensor.cpp b/src/components/real/aocs/sun_sensor.cpp index b6759ea3a..d0d9b599f 100644 --- a/src/components/real/aocs/sun_sensor.cpp +++ b/src/components/real/aocs/sun_sensor.cpp @@ -8,8 +8,8 @@ #include #include using libra::NormalRand; -#include #include +#include #include using namespace std; diff --git a/src/components/real/aocs/sun_sensor.hpp b/src/components/real/aocs/sun_sensor.hpp index fb0f5fc2a..255c834a7 100644 --- a/src/components/real/aocs/sun_sensor.hpp +++ b/src/components/real/aocs/sun_sensor.hpp @@ -8,10 +8,10 @@ #include #include +#include #include #include #include -#include #include "../../base/component.hpp" diff --git a/src/components/real/mission/telescope.hpp b/src/components/real/mission/telescope.hpp index b253ceb05..6151c070e 100644 --- a/src/components/real/mission/telescope.hpp +++ b/src/components/real/mission/telescope.hpp @@ -10,9 +10,9 @@ #include #include #include +#include #include #include -#include #include #include "../../base/component.hpp" diff --git a/src/components/real/power/csv_scenario_interface.hpp b/src/components/real/power/csv_scenario_interface.hpp index 65956c6a3..6e54f3d6f 100644 --- a/src/components/real/power/csv_scenario_interface.hpp +++ b/src/components/real/power/csv_scenario_interface.hpp @@ -6,8 +6,8 @@ #ifndef S2E_COMPONENTS_REAL_POWER_CSV_SCENARIO_INTERFACE_HPP_ #define S2E_COMPONENTS_REAL_POWER_CSV_SCENARIO_INTERFACE_HPP_ -#include #include +#include #include #include diff --git a/src/components/real/power/solar_array_panel.hpp b/src/components/real/power/solar_array_panel.hpp index 766e2c327..e7150e911 100644 --- a/src/components/real/power/solar_array_panel.hpp +++ b/src/components/real/power/solar_array_panel.hpp @@ -8,8 +8,8 @@ #include #include -#include #include +#include #include "../../base/component.hpp" diff --git a/src/components/real/propulsion/simple_thruster.hpp b/src/components/real/propulsion/simple_thruster.hpp index 7cb355901..cbceafc71 100644 --- a/src/components/real/propulsion/simple_thruster.hpp +++ b/src/components/real/propulsion/simple_thruster.hpp @@ -7,10 +7,10 @@ #define S2E_COMPONENTS_REAL_PROPULSION_SIMPLE_THRUSTER_HPP_ #include +#include #include #include #include -#include #include #include "../../base/component.hpp" diff --git a/src/disturbances/air_drag.hpp b/src/disturbances/air_drag.hpp index d5463eeb9..b794cd3b4 100644 --- a/src/disturbances/air_drag.hpp +++ b/src/disturbances/air_drag.hpp @@ -9,9 +9,9 @@ #include #include "../environment/local/atmosphere.hpp" +#include "../logger/loggable.hpp" #include "../math_physics/math/quaternion.hpp" #include "../math_physics/math/vector.hpp" -#include "../logger/loggable.hpp" #include "surface_force.hpp" /** diff --git a/src/disturbances/gravity_gradient.hpp b/src/disturbances/gravity_gradient.hpp index 8b32f1e85..c43b328e8 100644 --- a/src/disturbances/gravity_gradient.hpp +++ b/src/disturbances/gravity_gradient.hpp @@ -8,10 +8,10 @@ #include +#include "../logger/loggable.hpp" #include "../math_physics/math/matrix.hpp" #include "../math_physics/math/matrix_vector.hpp" #include "../math_physics/math/vector.hpp" -#include "../logger/loggable.hpp" #include "disturbance.hpp" /** diff --git a/src/disturbances/magnetic_disturbance.cpp b/src/disturbances/magnetic_disturbance.cpp index 5026e6573..0dce38b1e 100644 --- a/src/disturbances/magnetic_disturbance.cpp +++ b/src/disturbances/magnetic_disturbance.cpp @@ -8,10 +8,10 @@ #include #include +#include "../logger/log_utility.hpp" #include "../math_physics/randomization/global_randomization.hpp" #include "../math_physics/randomization/normal_randomization.hpp" #include "../math_physics/randomization/random_walk.hpp" -#include "../logger/log_utility.hpp" MagneticDisturbance::MagneticDisturbance(const ResidualMagneticMoment& rmm_params, const bool is_calculation_enabled) : Disturbance(is_calculation_enabled, true), residual_magnetic_moment_(rmm_params) { diff --git a/src/disturbances/magnetic_disturbance.hpp b/src/disturbances/magnetic_disturbance.hpp index 91f65049f..d056cc43f 100644 --- a/src/disturbances/magnetic_disturbance.hpp +++ b/src/disturbances/magnetic_disturbance.hpp @@ -8,8 +8,8 @@ #include -#include "../math_physics/math/vector.hpp" #include "../logger/loggable.hpp" +#include "../math_physics/math/vector.hpp" #include "../simulation/spacecraft/structure/residual_magnetic_moment.hpp" #include "disturbance.hpp" diff --git a/src/disturbances/solar_radiation_pressure_disturbance.hpp b/src/disturbances/solar_radiation_pressure_disturbance.hpp index d4cecde70..5dc04a51c 100644 --- a/src/disturbances/solar_radiation_pressure_disturbance.hpp +++ b/src/disturbances/solar_radiation_pressure_disturbance.hpp @@ -8,8 +8,8 @@ #include -#include "../math_physics/math/vector.hpp" #include "../logger/loggable.hpp" +#include "../math_physics/math/vector.hpp" #include "surface_force.hpp" /** diff --git a/src/disturbances/third_body_gravity.hpp b/src/disturbances/third_body_gravity.hpp index 089e30b01..564a823ce 100644 --- a/src/disturbances/third_body_gravity.hpp +++ b/src/disturbances/third_body_gravity.hpp @@ -10,8 +10,8 @@ #include #include -#include "../math_physics/math/vector.hpp" #include "../logger/loggable.hpp" +#include "../math_physics/math/vector.hpp" #include "disturbance.hpp" /** diff --git a/src/dynamics/attitude/attitude.hpp b/src/dynamics/attitude/attitude.hpp index 1bd6bb0e7..54f63def9 100644 --- a/src/dynamics/attitude/attitude.hpp +++ b/src/dynamics/attitude/attitude.hpp @@ -6,9 +6,9 @@ #ifndef S2E_DYNAMICS_ATTITUDE_ATTITUDE_HPP_ #define S2E_DYNAMICS_ATTITUDE_ATTITUDE_HPP_ +#include #include #include -#include #include #include diff --git a/src/dynamics/orbit/orbit.hpp b/src/dynamics/orbit/orbit.hpp index dad33a79c..6ddcfe289 100644 --- a/src/dynamics/orbit/orbit.hpp +++ b/src/dynamics/orbit/orbit.hpp @@ -8,13 +8,13 @@ #include #include +#include #include #include #include #include #include #include -#include /** * @enum OrbitPropagateMode diff --git a/src/environment/global/celestial_information.hpp b/src/environment/global/celestial_information.hpp index 1197e0d6f..0c4ac86bb 100644 --- a/src/environment/global/celestial_information.hpp +++ b/src/environment/global/celestial_information.hpp @@ -10,8 +10,8 @@ #include #include "earth_rotation.hpp" -#include "math_physics/math/vector.hpp" #include "logger/loggable.hpp" +#include "math_physics/math/vector.hpp" #include "moon_rotation.hpp" #include "simulation_time.hpp" diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index 3a00fe8ef..1ecf7c6a7 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -9,9 +9,9 @@ #include #include "environment/global/physical_constants.hpp" +#include "logger/log_utility.hpp" #include "math_physics/math/constants.hpp" #include "math_physics/time_system/date_time_format.hpp" -#include "logger/log_utility.hpp" #include "setting_file_reader/initialize_file_access.hpp" #include "utilities/macros.hpp" diff --git a/src/environment/global/gnss_satellites.hpp b/src/environment/global/gnss_satellites.hpp index 775be5f79..533af1a26 100644 --- a/src/environment/global/gnss_satellites.hpp +++ b/src/environment/global/gnss_satellites.hpp @@ -16,9 +16,9 @@ #include #include "earth_rotation.hpp" +#include "logger/loggable.hpp" #include "math_physics/gnss/gnss_satellite_number.hpp" #include "math_physics/math/vector.hpp" -#include "logger/loggable.hpp" #include "simulation_time.hpp" /** diff --git a/src/environment/global/hipparcos_catalogue.hpp b/src/environment/global/hipparcos_catalogue.hpp index 5283d5daa..a1b9540a3 100644 --- a/src/environment/global/hipparcos_catalogue.hpp +++ b/src/environment/global/hipparcos_catalogue.hpp @@ -8,9 +8,9 @@ #include +#include "logger/loggable.hpp" #include "math_physics/math/quaternion.hpp" #include "math_physics/math/vector.hpp" -#include "logger/loggable.hpp" /** *@struct HipparcosData diff --git a/src/environment/global/simulation_time.hpp b/src/environment/global/simulation_time.hpp index 17273a0f8..f993b5ec8 100644 --- a/src/environment/global/simulation_time.hpp +++ b/src/environment/global/simulation_time.hpp @@ -14,10 +14,10 @@ // #include #include +#include "logger/loggable.hpp" #include "math_physics/orbit/sgp4/sgp4ext.h" #include "math_physics/orbit/sgp4/sgp4io.h" #include "math_physics/orbit/sgp4/sgp4unit.h" -#include "logger/loggable.hpp" /** *@struct TimeState diff --git a/src/environment/local/atmosphere.cpp b/src/environment/local/atmosphere.cpp index 91cf47473..87fbdbabc 100644 --- a/src/environment/local/atmosphere.cpp +++ b/src/environment/local/atmosphere.cpp @@ -5,13 +5,13 @@ #include "atmosphere.hpp" +#include "logger/log_utility.hpp" #include "math_physics/atmosphere/harris_priester_model.hpp" #include "math_physics/atmosphere/simple_air_density_model.hpp" #include "math_physics/math/vector.hpp" #include "math_physics/randomization/global_randomization.hpp" #include "math_physics/randomization/normal_randomization.hpp" #include "math_physics/randomization/random_walk.hpp" -#include "logger/log_utility.hpp" #include "setting_file_reader/initialize_file_access.hpp" Atmosphere::Atmosphere(const std::string model, const std::string space_weather_file_name, const double gauss_standard_deviation_rate, diff --git a/src/environment/local/atmosphere.hpp b/src/environment/local/atmosphere.hpp index 033cecd8c..8489891d8 100644 --- a/src/environment/local/atmosphere.hpp +++ b/src/environment/local/atmosphere.hpp @@ -11,9 +11,9 @@ #include "dynamics/orbit/orbit.hpp" #include "environment/global/simulation_time.hpp" #include "environment/local/local_celestial_information.hpp" +#include "logger/loggable.hpp" #include "math_physics/atmosphere/wrapper_nrlmsise00.hpp" #include "math_physics/math/vector.hpp" -#include "logger/loggable.hpp" /** * @class Atmosphere diff --git a/src/environment/local/geomagnetic_field.hpp b/src/environment/local/geomagnetic_field.hpp index 52792577a..8a4e6ba99 100644 --- a/src/environment/local/geomagnetic_field.hpp +++ b/src/environment/local/geomagnetic_field.hpp @@ -6,10 +6,10 @@ #ifndef S2E_ENVIRONMENT_LOCAL_GEOMAGNETIC_FIELD_HPP_ #define S2E_ENVIRONMENT_LOCAL_GEOMAGNETIC_FIELD_HPP_ +#include "logger/loggable.hpp" #include "math_physics/geodesy/geodetic_position.hpp" #include "math_physics/math/quaternion.hpp" #include "math_physics/math/vector.hpp" -#include "logger/loggable.hpp" /** * @class GeomagneticField diff --git a/src/environment/local/solar_radiation_pressure_environment.cpp b/src/environment/local/solar_radiation_pressure_environment.cpp index 719cfad48..16d380a54 100644 --- a/src/environment/local/solar_radiation_pressure_environment.cpp +++ b/src/environment/local/solar_radiation_pressure_environment.cpp @@ -8,9 +8,9 @@ #include #include +#include "logger/log_utility.hpp" #include "math_physics/math/constants.hpp" #include "math_physics/math/vector.hpp" -#include "logger/log_utility.hpp" #include "setting_file_reader/initialize_file_access.hpp" SolarRadiationPressureEnvironment::SolarRadiationPressureEnvironment(LocalCelestialInformation* local_celestial_information) diff --git a/src/math_physics/gnss/antex_file_reader.hpp b/src/math_physics/gnss/antex_file_reader.hpp index 7fb8b0031..953800d9f 100644 --- a/src/math_physics/gnss/antex_file_reader.hpp +++ b/src/math_physics/gnss/antex_file_reader.hpp @@ -10,9 +10,9 @@ #include +#include #include #include -#include #include #include diff --git a/src/math_physics/gnss/sp3_file_reader.hpp b/src/math_physics/gnss/sp3_file_reader.hpp index ba446f0aa..565382899 100644 --- a/src/math_physics/gnss/sp3_file_reader.hpp +++ b/src/math_physics/gnss/sp3_file_reader.hpp @@ -10,10 +10,10 @@ #include +#include #include #include #include -#include #include #include diff --git a/src/simulation/ground_station/ground_station.cpp b/src/simulation/ground_station/ground_station.cpp index c19b6467f..32805e502 100644 --- a/src/simulation/ground_station/ground_station.cpp +++ b/src/simulation/ground_station/ground_station.cpp @@ -6,9 +6,9 @@ #include "ground_station.hpp" #include -#include #include #include +#include #include #include #include diff --git a/src/simulation/monte_carlo_simulation/monte_carlo_simulation_executor.hpp b/src/simulation/monte_carlo_simulation/monte_carlo_simulation_executor.hpp index 2dd3ed9a2..57440e33d 100644 --- a/src/simulation/monte_carlo_simulation/monte_carlo_simulation_executor.hpp +++ b/src/simulation/monte_carlo_simulation/monte_carlo_simulation_executor.hpp @@ -6,8 +6,8 @@ #ifndef S2E_SIMULATION_MONTE_CARLO_SIMULATION_MONTE_CARLO_SIMULATION_EXECUTOR_HPP_ #define S2E_SIMULATION_MONTE_CARLO_SIMULATION_MONTE_CARLO_SIMULATION_EXECUTOR_HPP_ -#include #include +#include #include // #include "simulation_object.hpp" #include "initialize_monte_carlo_parameters.hpp" diff --git a/src/simulation/monte_carlo_simulation/simulation_object.hpp b/src/simulation/monte_carlo_simulation/simulation_object.hpp index 01cd7603e..daf6d23ee 100644 --- a/src/simulation/monte_carlo_simulation/simulation_object.hpp +++ b/src/simulation/monte_carlo_simulation/simulation_object.hpp @@ -7,9 +7,9 @@ #define S2E_SIMULATION_MONTE_CARLO_SIMULATION_SIMULATION_OBJECT_HPP_ #include +#include #include #include -#include #include #include diff --git a/src/simulation/spacecraft/installed_components.hpp b/src/simulation/spacecraft/installed_components.hpp index 42688707b..5806f6b34 100644 --- a/src/simulation/spacecraft/installed_components.hpp +++ b/src/simulation/spacecraft/installed_components.hpp @@ -6,8 +6,8 @@ #ifndef S2E_SIMULATION_SPACECRAFT_INSTALLED_COMPONENTS_HPP_ #define S2E_SIMULATION_SPACECRAFT_INSTALLED_COMPONENTS_HPP_ -#include #include +#include /** * @class InstalledComponents From e30960e39bfa83bb04afe033a211ac8e5b7ef24f Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Thu, 7 Mar 2024 22:17:16 +0900 Subject: [PATCH 185/456] Fix unexpected replace --- src/math_physics/planet_rotation/moon_rotation_utilities.cpp | 2 +- src/math_physics/planet_rotation/moon_rotation_utilities.hpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/math_physics/planet_rotation/moon_rotation_utilities.cpp b/src/math_physics/planet_rotation/moon_rotation_utilities.cpp index 8678bd490..e31574783 100644 --- a/src/math_physics/planet_rotation/moon_rotation_utilities.cpp +++ b/src/math_physics/planet_rotation/moon_rotation_utilities.cpp @@ -2,7 +2,7 @@ * @file moon_rotation_utilities.cpp * @brief Functions to calculate the moon rotation frame conversion * @note Ref: A Standardized Lunar Coordinate System for the Lunar Reconnaissance Orbiter and Lunar Datasets - * https://lunar.gsfc.nasa.gov/math_physics/LunCoordWhitePaper-10-08.pdf + * https://lunar.gsfc.nasa.gov/library/LunCoordWhitePaper-10-08.pdf * https://naif.jpl.nasa.gov/pub/naif/generic_kernels/spk/planets/de430_moon_coord.pdf */ diff --git a/src/math_physics/planet_rotation/moon_rotation_utilities.hpp b/src/math_physics/planet_rotation/moon_rotation_utilities.hpp index 34b2d5efe..314bbdaeb 100644 --- a/src/math_physics/planet_rotation/moon_rotation_utilities.hpp +++ b/src/math_physics/planet_rotation/moon_rotation_utilities.hpp @@ -2,7 +2,7 @@ * @file moon_rotation_utilities.hpp * @brief Functions to calculate the moon rotation frame conversion * @note Ref: A Standardized Lunar Coordinate System for the Lunar Reconnaissance Orbiter and Lunar Datasets - * https://lunar.gsfc.nasa.gov/math_physics/LunCoordWhitePaper-10-08.pdf + * https://lunar.gsfc.nasa.gov/library/LunCoordWhitePaper-10-08.pdf * https://naif.jpl.nasa.gov/pub/naif/generic_kernels/spk/planets/de430_moon_coord.pdf */ From 3e3f1e9c84344f8c47f9c6b96b9bdc0274e0c1c6 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Thu, 7 Mar 2024 22:21:03 +0900 Subject: [PATCH 186/456] Fix unexpected replace --- src/environment/global/celestial_information.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/environment/global/celestial_information.hpp b/src/environment/global/celestial_information.hpp index 0c4ac86bb..676ed1ce8 100644 --- a/src/environment/global/celestial_information.hpp +++ b/src/environment/global/celestial_information.hpp @@ -235,7 +235,7 @@ class CelestialInformation : public ILoggable { std::string inertial_frame_name_; //!< Definition of inertial frame std::string center_body_name_; //!< Center object name of inertial frame std::string aberration_correction_setting_; //!< Stellar aberration correction - //!< Ref：http://fermi.gsfc.nasa.gov/ssc/math_physics/fug/051108/Aberration_Julie.ppt + //!< Ref：http://fermi.gsfc.nasa.gov/ssc/library/fug/051108/Aberration_Julie.ppt // Calculated values double* celestial_body_position_from_center_i_m_; //!< Position vector list at inertial frame [m] From 3c142b2174011e5b464e018254adb3104ee17cf7 Mon Sep 17 00:00:00 2001 From: "renovate[bot]" <29139614+renovate[bot]@users.noreply.github.com> Date: Tue, 12 Mar 2024 07:43:13 +0000 Subject: [PATCH 187/456] Update dependency numpy-quaternion to v2023.0.3 --- scripts/Plot/Pipfile | 2 +- scripts/Plot/Pipfile.lock | 208 ++++++++++++++++++++------------------ 2 files changed, 109 insertions(+), 101 deletions(-) diff --git a/scripts/Plot/Pipfile b/scripts/Plot/Pipfile index 0b9e89182..6ac2b122e 100644 --- a/scripts/Plot/Pipfile +++ b/scripts/Plot/Pipfile @@ -9,7 +9,7 @@ matplotlib = "==3.7.2" numpy = "==1.24.3" pandas = "==2.0.3" numpy-stl = "==3.0.1" -numpy-quaternion = "==2023.0.2" +numpy-quaternion = "==2023.0.3" python-utils = "==3.5.2" [dev-packages] diff --git a/scripts/Plot/Pipfile.lock b/scripts/Plot/Pipfile.lock index ecc9b0a59..e34e59e44 100644 --- a/scripts/Plot/Pipfile.lock +++ b/scripts/Plot/Pipfile.lock @@ -1,7 +1,7 @@ { "_meta": { "hash": { - "sha256": 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000000000..c749d90e3 --- /dev/null +++ b/src/components/real/cdh/c2a_communication.h @@ -0,0 +1,26 @@ +/* + * @file c2a_communication.h + * @brief C2A communication functions + */ + +#ifndef C2A_COMMUNICATION_H_ +#define C2A_COMMUNICATION_H_ + +// If the character encoding of C2A is UTF-8, the following functions are not necessary, +// and users can directory use SendFromObc_C2A and ReceivedByObc_C2A UART +// TODO: Delete these functions since C2A is changed to use UTF-8 + +// C2A communication functions +int OBC_C2A_SendFromObc(int port_id, unsigned char* buffer, int offset, int length); +int OBC_C2A_ReceivedByObc(int port_id, unsigned char* buffer, int offset, int length); + +// I2C +int OBC_C2A_I2cWriteCommand(int port_id, const unsigned char i2c_address, const unsigned char* data, const unsigned char length); +int OBC_C2A_I2cWriteRegister(int port_id, const unsigned char i2c_address, const unsigned char* data, const unsigned char length); +int OBC_C2A_I2cReadRegister(int port_id, const unsigned char i2c_address, unsigned char* data, const unsigned char length); + +// GPIO +int OBC_C2A_GpioWrite(int port_id, const bool is_high); +bool OBC_C2A_GpioRead(int port_id); // return false when the port_id is not used + +#endif // C2A_COMMUNICATION_H_ diff --git a/src/components/real/cdh/on_board_computer_with_c2a.hpp b/src/components/real/cdh/on_board_computer_with_c2a.hpp index c194f70e4..dc05f6661 100644 --- a/src/components/real/cdh/on_board_computer_with_c2a.hpp +++ b/src/components/real/cdh/on_board_computer_with_c2a.hpp @@ -9,6 +9,7 @@ #include #include "on_board_computer.hpp" +#include "c2a_communication.h" /* * @class ObcWithC2a @@ -270,21 +271,4 @@ class ObcWithC2a : public OnBoardComputer { static std::map gpio_ports_c2a_; //!< GPIO ports }; -// If the character encoding of C2A is UTF-8, the following functions are not necessary, -// and users can directory use SendFromObc_C2A and ReceivedByObc_C2A UART -// TODO: Delete these functions since C2A is changed to use UTF-8 - -// C2A communication functions -int OBC_C2A_SendFromObc(int port_id, unsigned char* buffer, int offset, int length); -int OBC_C2A_ReceivedByObc(int port_id, unsigned char* buffer, int offset, int length); - -// I2C -int OBC_C2A_I2cWriteCommand(int port_id, const unsigned char i2c_address, const unsigned char* data, const unsigned char length); -int OBC_C2A_I2cWriteRegister(int port_id, const unsigned char i2c_address, const unsigned char* data, const unsigned char length); -int OBC_C2A_I2cReadRegister(int port_id, const unsigned char i2c_address, unsigned char* data, const unsigned char length); - -// GPIO -int OBC_C2A_GpioWrite(int port_id, const bool is_high); -bool OBC_C2A_GpioRead(int port_id); // return false when the port_id is not used - #endif // S2E_COMPONENTS_REAL_CDH_OBC_C2A_HPP_ From 715b1ff5a6c73aca74f7f672c2b1947ee32ea3ca Mon Sep 17 00:00:00 2001 From: "MYCOMPUTER\\nlab" Date: Fri, 15 Mar 2024 17:31:20 +0900 Subject: [PATCH 189/456] modify include --- src/components/CMakeLists.txt | 4 ++-- src/simulation/hils/hils_port_manager.hpp | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/src/components/CMakeLists.txt b/src/components/CMakeLists.txt index 36d90a7b8..b5d49d1c7 100644 --- a/src/components/CMakeLists.txt +++ b/src/components/CMakeLists.txt @@ -57,8 +57,8 @@ ports/i2c_port.cpp if(USE_HILS) set(SOURCE_FILES ${SOURCE_FILES} - hils/ports/hils_uart_port.cpp - hils/ports/hils_i2c_target_port.cpp + ports/hils_uart_port.cpp + ports/hils_i2c_target_port.cpp ) endif() diff --git a/src/simulation/hils/hils_port_manager.hpp b/src/simulation/hils/hils_port_manager.hpp index d4db5958e..9fbeaf2c7 100644 --- a/src/simulation/hils/hils_port_manager.hpp +++ b/src/simulation/hils/hils_port_manager.hpp @@ -7,8 +7,8 @@ #define S2E_SIMULATION_HILS_HILS_PORT_MANAGER_HPP_ #ifdef USE_HILS -#include "ports/hils_i2c_target_port.hpp" -#include "ports/hils_uart_port.hpp" +#include "../../components/ports/hils_i2c_target_port.hpp" +#include "../../components/ports/hils_uart_port.hpp" #endif #include From 0e79928c9a47248cb9bf17c2bda8f5149fdf05b0 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sun, 24 Mar 2024 19:10:47 +0900 Subject: [PATCH 190/456] Fix include path for orbit observer --- src/components/ideal/orbit_observer.cpp | 4 ++-- src/components/ideal/orbit_observer.hpp | 6 +++--- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/src/components/ideal/orbit_observer.cpp b/src/components/ideal/orbit_observer.cpp index 61fe2b002..ce6e5035e 100644 --- a/src/components/ideal/orbit_observer.cpp +++ b/src/components/ideal/orbit_observer.cpp @@ -5,8 +5,8 @@ #include "orbit_observer.hpp" -#include -#include +#include +#include OrbitObserver::OrbitObserver(const int prescaler, ClockGenerator* clock_generator, const NoiseFrame noise_frame, const libra::Vector<6> error_standard_deviation, const Orbit& orbit) diff --git a/src/components/ideal/orbit_observer.hpp b/src/components/ideal/orbit_observer.hpp index 490489957..976a8d236 100644 --- a/src/components/ideal/orbit_observer.hpp +++ b/src/components/ideal/orbit_observer.hpp @@ -7,9 +7,9 @@ #define S2E_COMPONENTS_IDEAL_ORBIT_OBSERVER_HPP_ #include -#include -#include -#include +#include +#include +#include #include "../base/component.hpp" From e2480cf4fabf7c087d8c79ae597e38ccf5b409db Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sun, 24 Mar 2024 19:15:24 +0900 Subject: [PATCH 191/456] Fix format --- src/components/ideal/orbit_observer.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/components/ideal/orbit_observer.cpp b/src/components/ideal/orbit_observer.cpp index ce6e5035e..19d26c8b9 100644 --- a/src/components/ideal/orbit_observer.cpp +++ b/src/components/ideal/orbit_observer.cpp @@ -5,8 +5,8 @@ #include "orbit_observer.hpp" -#include #include +#include OrbitObserver::OrbitObserver(const int prescaler, ClockGenerator* clock_generator, const NoiseFrame noise_frame, const libra::Vector<6> error_standard_deviation, const Orbit& orbit) From 6f95f218ffa2fba659e77b51a3a7bb09e83ebb33 Mon Sep 17 00:00:00 2001 From: hirotaka_sekine Date: Tue, 26 Mar 2024 18:44:41 +0900 Subject: [PATCH 192/456] restore changes --- src/components/ports/hils_i2c_target_port.hpp | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/src/components/ports/hils_i2c_target_port.hpp b/src/components/ports/hils_i2c_target_port.hpp index a9e2c8663..08437cbc4 100644 --- a/src/components/ports/hils_i2c_target_port.hpp +++ b/src/components/ports/hils_i2c_target_port.hpp @@ -10,6 +10,9 @@ #include "hils_uart_port.hpp" +const unsigned int kDefaultCommandSize = 0xff; //!< Default command size +const unsigned int kDefaultTxSize = 0xff; //!< Default TX size + /** * @class HilsI2cTargetPort * @brief Class to control I2C-USB converter for the target(device) side from COM port @@ -93,8 +96,6 @@ class HilsI2cTargetPort : public HilsUartPort { int GetStoredFrameCounter(); private: - const unsigned int kDefaultCommandSize = 0xff; //!< Default command size - const unsigned int kDefaultTxSize = 0xff; //!< Default TX size unsigned char max_register_number_ = 0xff; //!< Maximum register number unsigned char saved_register_address_ = 0x00; //!< Saved register address unsigned int stored_frame_counter_ = 0; //!< Send a few frames of telemetry to the converter in advance. From 3886a386329645863ba35e5f7c9d87ce6d406096 Mon Sep 17 00:00:00 2001 From: "renovate[bot]" <29139614+renovate[bot]@users.noreply.github.com> Date: Tue, 26 Mar 2024 14:16:52 +0000 Subject: [PATCH 193/456] Update actions/setup-python action to v5.1.0 --- .github/workflows/build.yml | 2 +- .github/workflows/validate-scripts.yml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index d3ae0dc23..9bb75dab4 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -239,7 +239,7 @@ jobs: ver=$(grep python_version ./Pipfile | sed -e 's/^python_version\s=\s"\(.*\)"$/\1/') echo "version=$ver" >> "$GITHUB_OUTPUT" - - uses: actions/setup-python@v5.0.0 + - uses: actions/setup-python@v5.1.0 with: python-version: ${{ steps.python-version.outputs.version }} diff --git a/.github/workflows/validate-scripts.yml b/.github/workflows/validate-scripts.yml index 97973876c..899eca69a 100644 --- a/.github/workflows/validate-scripts.yml +++ b/.github/workflows/validate-scripts.yml @@ -28,7 +28,7 @@ jobs: ver=$(grep python_version ./Pipfile | sed -e 's/^python_version\s=\s"\(.*\)"$/\1/') echo "version=${ver}" >> "$GITHUB_OUTPUT" - - uses: actions/setup-python@v5.0.0 + - uses: actions/setup-python@v5.1.0 with: python-version: ${{ steps.python-version.outputs.version }} From 058636292371d44c7644bdc772a616cbd6d8eed2 Mon Sep 17 00:00:00 2001 From: TomokiMochizuki Date: Mon, 15 Apr 2024 18:13:17 +0900 Subject: [PATCH 194/456] add parameters for flexible structure --- .../initialize_files/sample_structure.ini | 18 ++++++++++++++++++ .../structure/initialize_structure.cpp | 12 +++++++++++- .../structure/kinematics_parameters.cpp | 11 ++++++++++- .../structure/kinematics_parameters.hpp | 15 ++++++++++++--- 4 files changed, 51 insertions(+), 5 deletions(-) diff --git a/data/sample/initialize_files/sample_structure.ini b/data/sample/initialize_files/sample_structure.ini index b7c707cb5..fdd24de37 100644 --- a/data/sample/initialize_files/sample_structure.ini +++ b/data/sample/initialize_files/sample_structure.ini @@ -24,6 +24,24 @@ center_of_gravity_b_m(0) = 0.01 center_of_gravity_b_m(1) = 0.01 center_of_gravity_b_m(2) = 0.01 +// Inertia Tensor of Flexible Structure @ body fixed frame [kg・m2] +// If you want to ignore the flexible structure, set all params of the inertia tensor at 0.0 [kg・m2] +inertia_tensor_flexible_structure_kgm2(0) = 0.1 // I_xx +inertia_tensor_flexible_structure_kgm2(1) = 0.0 // I_xy +inertia_tensor_flexible_structure_kgm2(2) = 0.0 // I_xz +inertia_tensor_flexible_structure_kgm2(3) = 0.0 // I_yx +inertia_tensor_flexible_structure_kgm2(4) = 0.1 // I_yy +inertia_tensor_flexible_structure_kgm2(5) = 0.0 // I_yz +inertia_tensor_flexible_structure_kgm2(6) = 0.0 // I_zx +inertia_tensor_flexible_structure_kgm2(7) = 0.0 // I_zy +inertia_tensor_flexible_structure_kgm2(8) = 0.1 // I_zz + +// Damping ratio of the flexible structure +zeta_flexible_structure = 0.01 + +// Intrinsic angular velocity [rad/s] +omega_flexible_structure_rad_s = 25.5097 // 4.06 Hz + [SURFACES] number_of_surfaces = 6 diff --git a/src/simulation/spacecraft/structure/initialize_structure.cpp b/src/simulation/spacecraft/structure/initialize_structure.cpp index e1def4ea9..8cfd0af65 100644 --- a/src/simulation/spacecraft/structure/initialize_structure.cpp +++ b/src/simulation/spacecraft/structure/initialize_structure.cpp @@ -24,8 +24,18 @@ KinematicsParameters InitKinematicsParameters(std::string file_name) { inertia_tensor_b_kgm2[i][j] = inertia_vec[i * 3 + j]; } } + libra::Matrix<3, 3> inertia_tensor_flexible_b_kgm2; + conf.ReadVector(section, "inertia_tensor_flexible_structure_kgm2", inertia_vec); + for (int i = 0; i < 3; i++) { + for (int j = 0; j < 3; j++) { + inertia_tensor_flexible_b_kgm2[i][j] = inertia_vec[i * 3 + j]; + } + } + double zeta_flexible = conf.ReadDouble(section, "zeta_flexible_structure"); + double omega_flexible_rad_s = conf.ReadDouble(section, "omega_flexible_structure_rad_s"); - KinematicsParameters kinematics_params(center_of_gravity_b_m, mass_kg, inertia_tensor_b_kgm2); + KinematicsParameters kinematics_params(center_of_gravity_b_m, mass_kg, inertia_tensor_b_kgm2, inertia_tensor_flexible_b_kgm2, zeta_flexible, + omega_flexible_rad_s); return kinematics_params; } diff --git a/src/simulation/spacecraft/structure/kinematics_parameters.cpp b/src/simulation/spacecraft/structure/kinematics_parameters.cpp index bd2cc3346..014a7f6c5 100644 --- a/src/simulation/spacecraft/structure/kinematics_parameters.cpp +++ b/src/simulation/spacecraft/structure/kinematics_parameters.cpp @@ -6,4 +6,13 @@ #include "kinematics_parameters.hpp" KinematicsParameters::KinematicsParameters(libra::Vector<3> center_of_gravity_b_m, double mass_kg, libra::Matrix<3, 3> inertia_tensor_b_kgm2) - : center_of_gravity_b_m_(center_of_gravity_b_m), mass_kg_(mass_kg), inertia_tensor_b_kgm2_(inertia_tensor_b_kgm2) {} \ No newline at end of file + : center_of_gravity_b_m_(center_of_gravity_b_m), mass_kg_(mass_kg), inertia_tensor_b_kgm2_(inertia_tensor_b_kgm2) {} + +KinematicsParameters::KinematicsParameters(libra::Vector<3> center_of_gravity_b_m, double mass_kg, libra::Matrix<3, 3> inertia_tensor_b_kgm2, + libra::Matrix<3, 3> inertia_tensor_flexible_b_kgm2, double zeta_flexible, double omega_flexible_rad_s) + : center_of_gravity_b_m_(center_of_gravity_b_m), + mass_kg_(mass_kg), + inertia_tensor_b_kgm2_(inertia_tensor_b_kgm2), + inertia_tensor_flexible_b_kgm2_(inertia_tensor_flexible_b_kgm2), + zeta_flexible_(zeta_flexible), + omega_flexible_rad_s_(omega_flexible_rad_s) {} \ No newline at end of file diff --git a/src/simulation/spacecraft/structure/kinematics_parameters.hpp b/src/simulation/spacecraft/structure/kinematics_parameters.hpp index be864b402..09e2823d8 100644 --- a/src/simulation/spacecraft/structure/kinematics_parameters.hpp +++ b/src/simulation/spacecraft/structure/kinematics_parameters.hpp @@ -20,6 +20,12 @@ class KinematicsParameters { * @brief Constructor */ KinematicsParameters(libra::Vector<3> center_of_gravity_b_m, double mass_kg, libra::Matrix<3, 3> inertia_tensor_b_kgm2); + /** + * @fn KinematicsParameters + * @brief Constructor + */ + KinematicsParameters(libra::Vector<3> center_of_gravity_b_m, double mass_kg, libra::Matrix<3, 3> inertia_tensor_b_kgm2, + libra::Matrix<3, 3> inertia_tensor_flexible_b_kgm2, double zeta_flexible, double omega_flexible_rad_s); /** * @fn ~KinematicsParameters * @brief Destructor @@ -81,9 +87,12 @@ class KinematicsParameters { } private: - libra::Vector<3> center_of_gravity_b_m_; //!< Position vector of center of gravity at body frame [m] - double mass_kg_; //!< Mass of the satellite [kg] - libra::Matrix<3, 3> inertia_tensor_b_kgm2_; //!< Inertia tensor at body frame [kgm2] + libra::Vector<3> center_of_gravity_b_m_; //!< Position vector of center of gravity at body frame [m] + double mass_kg_; //!< Mass of the satellite [kg] + libra::Matrix<3, 3> inertia_tensor_b_kgm2_; //!< Inertia tensor at body frame [kgm2] + libra::Matrix<3, 3> inertia_tensor_flexible_b_kgm2_{0}; //!< Inertia tensor of the flexible structure at body frame [kgm2] + double zeta_flexible_ = 0; //!< Damping ratio of the flexible structure [] + double omega_flexible_rad_s_ = 0; //!< Intrinsic angular velocity [rad/s] }; #endif // S2E_SIMULATION_SPACECRAFT_STRUCTURE_KINEMATICS_PARAMETERS_HPP_ From 42abb82a88a585f9214bd4c62e5588e5114614a4 Mon Sep 17 00:00:00 2001 From: TomokiMochizuki Date: Mon, 15 Apr 2024 22:44:18 +0900 Subject: [PATCH 195/456] calculate flexible structure using RK4 method --- src/dynamics/attitude/attitude_rk4.cpp | 62 ++++++++++++++++--- src/dynamics/attitude/attitude_rk4.hpp | 35 +++++++++-- src/dynamics/attitude/initialize_attitude.cpp | 7 ++- src/dynamics/attitude/initialize_attitude.hpp | 4 +- src/dynamics/dynamics.cpp | 7 ++- .../structure/kinematics_parameters.hpp | 15 +++++ 6 files changed, 112 insertions(+), 18 deletions(-) diff --git a/src/dynamics/attitude/attitude_rk4.cpp b/src/dynamics/attitude/attitude_rk4.cpp index 669b3b61c..717eef90a 100644 --- a/src/dynamics/attitude/attitude_rk4.cpp +++ b/src/dynamics/attitude/attitude_rk4.cpp @@ -24,6 +24,28 @@ AttitudeRk4::AttitudeRk4(const libra::Vector<3>& angular_velocity_b_rad_s, const CalcAngularMomentum(); } +AttitudeRk4::AttitudeRk4(const libra::Vector<3>& angular_velocity_b_rad_s, const libra::Quaternion& quaternion_i2b, + const libra::Matrix<3, 3>& inertia_tensor_kgm2, const libra::Matrix<3, 3>& inertia_tensor_flexible_kgm2, + const double zeta_flexible, const double omega_flexible_rad_s, const libra::Vector<3>& torque_b_Nm, + const double propagation_step_s, const std::string& simulation_object_name) + : Attitude(inertia_tensor_kgm2, simulation_object_name) { + angular_velocity_b_rad_s_ = angular_velocity_b_rad_s; + quaternion_i2b_ = quaternion_i2b; + torque_b_Nm_ = torque_b_Nm; + propagation_step_s_ = propagation_step_s; + current_propagation_time_s_ = 0.0; + angular_momentum_reaction_wheel_b_Nms_ = libra::Vector<3>(0.0); + previous_inertia_tensor_kgm2_ = inertia_tensor_kgm2_; + inertia_tensor_flexible_kgm2_ = inertia_tensor_flexible_kgm2; + zeta_flexible_ = zeta_flexible; + omega_flexible_rad_s_ = omega_flexible_rad_s; + inverse_inertia_tensor_ = CalcInverseMatrix(inertia_tensor_kgm2_); + inverse_equivalent_inertia_tensor_flexible_ = CalcInverseMatrix(inertia_tensor_kgm2_) * (inertia_tensor_kgm2_ + inertia_tensor_flexible_kgm2_) * + CalcInverseMatrix(inertia_tensor_flexible_kgm2_); + inverse_inertia_tensor_total_ = CalcInverseMatrix(inertia_tensor_kgm2_ + inertia_tensor_flexible_kgm2_); + CalcAngularMomentum(); +} + AttitudeRk4::~AttitudeRk4() {} void AttitudeRk4::SetParameters(const MonteCarloSimulationExecutor& mc_simulator) { @@ -79,18 +101,30 @@ libra::Matrix<4, 4> AttitudeRk4::CalcAngularVelocityMatrix(libra::Vector<3> angu return angular_velocity_matrix; } -libra::Vector<7> AttitudeRk4::AttitudeDynamicsAndKinematics(libra::Vector<7> x, double t) { +libra::Vector<10> AttitudeRk4::AttitudeDynamicsAndKinematics(libra::Vector<10> x, double t) { UNUSED(t); - libra::Vector<7> dxdt; + libra::Vector<10> dxdt; libra::Vector<3> omega_b; for (int i = 0; i < 3; i++) { omega_b[i] = x[i]; } + libra::Vector<3> omega_flexible; + for (int i = 0; i < 3; i++) { + omega_flexible[i] = x[i + 7]; + } + libra::Vector<3> angular_momentum_total_b_Nms = (previous_inertia_tensor_kgm2_ * omega_b) + angular_momentum_reaction_wheel_b_Nms_; - libra::Vector<3> rhs = - inverse_inertia_tensor_ * (torque_b_Nm_ - libra::OuterProduct(omega_b, angular_momentum_total_b_Nms) - torque_inertia_tensor_change_b_Nm_); + libra::Vector<3> net_torque_b_Nm = torque_b_Nm_ - libra::OuterProduct(omega_b, angular_momentum_total_b_Nms) - torque_inertia_tensor_change_b_Nm_; + + libra::Vector<3> angular_accelaration_flexible_rad_s2 = + inverse_equivalent_inertia_tensor_flexible_ * + (-2 * zeta_flexible_ * omega_flexible_rad_s_ * inertia_tensor_flexible_kgm2_ * omega_flexible - + omega_flexible_rad_s_ * omega_flexible_rad_s_ * inertia_tensor_flexible_kgm2_ * eular_angular_flexible_rad_) - + inverse_inertia_tensor_ * net_torque_b_Nm; + + libra::Vector<3> rhs = inverse_inertia_tensor_total_ * net_torque_b_Nm - inertia_tensor_flexible_kgm2_ * angular_accelaration_flexible_rad_s2; for (int i = 0; i < 3; ++i) { dxdt[i] = rhs[i]; @@ -107,20 +141,27 @@ libra::Vector<7> AttitudeRk4::AttitudeDynamicsAndKinematics(libra::Vector<7> x, dxdt[i + 3] = d_quaternion[i]; } + for (int i = 0; i < 3; i++) { + dxdt[i + 7] = angular_accelaration_flexible_rad_s2[i]; + } + return dxdt; } void AttitudeRk4::RungeKuttaOneStep(double t, double dt) { - libra::Vector<7> x; + libra::Vector<10> x; for (int i = 0; i < 3; i++) { x[i] = angular_velocity_b_rad_s_[i]; } for (int i = 0; i < 4; i++) { x[i + 3] = quaternion_i2b_[i]; } + for (int i = 0; i < 3; i++) { + x[i + 7] = angular_velocity_flexible_rad_s_[i]; + } - libra::Vector<7> k1, k2, k3, k4; - libra::Vector<7> xk2, xk3, xk4; + libra::Vector<10> k1, k2, k3, k4; + libra::Vector<10> xk2, xk3, xk4; k1 = AttitudeDynamicsAndKinematics(x, t); xk2 = x + (dt / 2.0) * k1; @@ -133,7 +174,7 @@ void AttitudeRk4::RungeKuttaOneStep(double t, double dt) { k4 = AttitudeDynamicsAndKinematics(xk4, (t + dt)); - libra::Vector<7> next_x = x + (dt / 6.0) * (k1 + 2.0 * k2 + 2.0 * k3 + k4); + libra::Vector<10> next_x = x + (dt / 6.0) * (k1 + 2.0 * k2 + 2.0 * k3 + k4); for (int i = 0; i < 3; i++) { angular_velocity_b_rad_s_[i] = next_x[i]; @@ -142,4 +183,9 @@ void AttitudeRk4::RungeKuttaOneStep(double t, double dt) { quaternion_i2b_[i] = next_x[i + 3]; } quaternion_i2b_.Normalize(); + + eular_angular_flexible_rad_ += dt * angular_velocity_flexible_rad_s_; + for (int i = 0; i < 3; i++) { + angular_velocity_flexible_rad_s_[i] = next_x[i + 7]; + } } diff --git a/src/dynamics/attitude/attitude_rk4.hpp b/src/dynamics/attitude/attitude_rk4.hpp index 58e09a703..947932901 100644 --- a/src/dynamics/attitude/attitude_rk4.hpp +++ b/src/dynamics/attitude/attitude_rk4.hpp @@ -27,6 +27,23 @@ class AttitudeRk4 : public Attitude { AttitudeRk4(const libra::Vector<3>& angular_velocity_b_rad_s, const libra::Quaternion& quaternion_i2b, const libra::Matrix<3, 3>& inertia_tensor_kgm2, const libra::Vector<3>& torque_b_Nm, const double propagation_step_s, const std::string& simulation_object_name = "attitude"); + /** + * @fn AttitudeRk4 + * @brief Constructor + * @param [in] angular_velocity_b_rad_s: Initial value of spacecraft angular velocity of the body fixed frame [rad/s] + * @param [in] quaternion_i2b: Initial value of attitude quaternion from the inertial frame to the body fixed frame + * @param [in] inertia_tensor_kgm2: Initial value of inertia tensor of the spacecraft [kg m^2] + * @param [in] inertia_tensor_flexible_kgm2: Initial value of inertia tensor of the flexible structure [kg m^2] + * @param [in] zeta_flexible: Initial value of damping ratio of the flexible structure [] + * @param [in] omega_flexible_rad_s: Initial value of intrinsic angular velocity [rad/s] + * @param [in] torque_b_Nm: Initial torque acting on the spacecraft in the body fixed frame [Nm] + * @param [in] propagation_step_s: Initial value of propagation step width [sec] + * @param [in] simulation_object_name: Simulation object name for Monte-Carlo simulation + */ + AttitudeRk4(const libra::Vector<3>& angular_velocity_b_rad_s, const libra::Quaternion& quaternion_i2b, + const libra::Matrix<3, 3>& inertia_tensor_kgm2, const libra::Matrix<3, 3>& inertia_tensor_flexible_kgm2, const double zeta_flexible, + const double omega_flexible_rad_s, const libra::Vector<3>& torque_b_Nm, const double propagation_step_s, + const std::string& simulation_object_name = "attitude"); /** * @fn ~AttitudeRk4 * @brief Destructor @@ -48,10 +65,18 @@ class AttitudeRk4 : public Attitude { virtual void SetParameters(const MonteCarloSimulationExecutor& mc_simulator); private: - double current_propagation_time_s_; //!< current time [sec] - libra::Matrix<3, 3> inverse_inertia_tensor_; //!< Inverse of inertia tensor - libra::Matrix<3, 3> previous_inertia_tensor_kgm2_; //!< Previous inertia tensor [kgm2] - libra::Vector<3> torque_inertia_tensor_change_b_Nm_; //!< Torque generated by inertia tensor change [Nm] + double current_propagation_time_s_; //!< current time [sec] + libra::Matrix<3, 3> inverse_inertia_tensor_; //!< Inverse of inertia tensor + libra::Matrix<3, 3> previous_inertia_tensor_kgm2_; //!< Previous inertia tensor [kgm2] + libra::Vector<3> torque_inertia_tensor_change_b_Nm_; //!< Torque generated by inertia tensor change [Nm] + libra::Matrix<3, 3> inertia_tensor_flexible_kgm2_; //!< Inertia tensor of the flexible structure [kgm2] + libra::Matrix<3, 3> inverse_equivalent_inertia_tensor_flexible_; //!< Inverse of inertia tensor of the flexible structure + libra::Matrix<3, 3> inverse_inertia_tensor_total_; //!< Inverse of inertia tensor of the spacecraft + double zeta_flexible_; //!< Damping ratio of the flexible structure [] + double omega_flexible_rad_s_; //!< Intrinsic angular velocity [rad/s] + + libra::Vector<3> angular_velocity_flexible_rad_s_; //!< Angular velocity of the flexible structure with respect to the inertial frame [rad/s] + libra::Vector<3> eular_angular_flexible_rad_; //!< Eular angle of the flexible structure with respect to the inertial frame [rad/s] /** * @fn CalcAngularVelocityMatrix @@ -65,7 +90,7 @@ class AttitudeRk4 : public Attitude { * @param [in] x: State vector (angular velocity and quaternion) * @param [in] t: Unused TODO: remove? */ - libra::Vector<7> AttitudeDynamicsAndKinematics(libra::Vector<7> x, double t); + libra::Vector<10> AttitudeDynamicsAndKinematics(libra::Vector<10> x, double t); /** * @fn RungeKuttaOneStep * @brief Equation for one step of Runge-Kutta method diff --git a/src/dynamics/attitude/initialize_attitude.cpp b/src/dynamics/attitude/initialize_attitude.cpp index da7fd02ab..048adc861 100644 --- a/src/dynamics/attitude/initialize_attitude.cpp +++ b/src/dynamics/attitude/initialize_attitude.cpp @@ -7,7 +7,9 @@ #include Attitude* InitAttitude(std::string file_name, const Orbit* orbit, const LocalCelestialInformation* local_celestial_information, - const double step_width_s, const libra::Matrix<3, 3>& inertia_tensor_kgm2, const int spacecraft_id) { + const double step_width_s, const libra::Matrix<3, 3>& inertia_tensor_kgm2, + const libra::Matrix<3, 3>& inertia_tensor_flexible_kgm2, const double zeta_flexible, const double omega_flexible_rad_s, + const int spacecraft_id) { IniAccess ini_file(file_name); const char* section_ = "ATTITUDE"; std::string mc_name = "attitude" + std::to_string(spacecraft_id); @@ -25,7 +27,8 @@ Attitude* InitAttitude(std::string file_name, const Orbit* orbit, const LocalCel libra::Vector<3> torque_b; ini_file.ReadVector(section_, "initial_torque_b_Nm", torque_b); - attitude = new AttitudeRk4(omega_b, quaternion_i2b, inertia_tensor_kgm2, torque_b, step_width_s, mc_name); + attitude = new AttitudeRk4(omega_b, quaternion_i2b, inertia_tensor_kgm2, inertia_tensor_flexible_kgm2, zeta_flexible, omega_flexible_rad_s, + torque_b, step_width_s, mc_name); } else if (propagate_mode == "RK4" && initialize_mode == "CONTROLLED") { // Initialize with Controlled attitude (attitude_tmp temporary used) IniAccess ini_file_ca(file_name); diff --git a/src/dynamics/attitude/initialize_attitude.hpp b/src/dynamics/attitude/initialize_attitude.hpp index 964d6cbb0..e48dca266 100644 --- a/src/dynamics/attitude/initialize_attitude.hpp +++ b/src/dynamics/attitude/initialize_attitude.hpp @@ -21,6 +21,8 @@ * @param [in] spacecraft_id: Satellite ID */ Attitude* InitAttitude(std::string file_name, const Orbit* orbit, const LocalCelestialInformation* local_celestial_information, - const double step_width_s, const libra::Matrix<3, 3>& inertia_tensor_kgm2, const int spacecraft_id); + const double step_width_s, const libra::Matrix<3, 3>& inertia_tensor_kgm2, + const libra::Matrix<3, 3>& inertia_tensor_flexible_kgm2, const double zeta_flexible, const double omega_flexible_rad_s, + const int spacecraft_id); #endif // S2E_DYNAMICS_ATTITUDE_INITIALIZE_ATTITUDE_HPP_ diff --git a/src/dynamics/dynamics.cpp b/src/dynamics/dynamics.cpp index 04d0886a7..5d2033e04 100644 --- a/src/dynamics/dynamics.cpp +++ b/src/dynamics/dynamics.cpp @@ -27,8 +27,11 @@ void Dynamics::Initialize(const SimulationConfiguration* simulation_configuratio orbit_ = InitOrbit(&(local_celestial_information.GetGlobalInformation()), simulation_configuration->spacecraft_file_list_[spacecraft_id], simulation_time->GetOrbitRkStepTime_s(), simulation_time->GetCurrentTime_jd(), local_celestial_information.GetGlobalInformation().GetCenterBodyGravityConstant_m3_s2(), "ORBIT", relative_information); - attitude_ = InitAttitude(simulation_configuration->spacecraft_file_list_[spacecraft_id], orbit_, &local_celestial_information, - simulation_time->GetAttitudeRkStepTime_s(), structure->GetKinematicsParameters().GetInertiaTensor_b_kgm2(), spacecraft_id); + attitude_ = + InitAttitude(simulation_configuration->spacecraft_file_list_[spacecraft_id], orbit_, &local_celestial_information, + simulation_time->GetAttitudeRkStepTime_s(), structure->GetKinematicsParameters().GetInertiaTensor_b_kgm2(), + structure->GetKinematicsParameters().GetInertiaTensorFlexible_b_kgm2(), structure->GetKinematicsParameters().GetZetaFlexible(), + structure->GetKinematicsParameters().GetOmegaFlexible_rad_s(), spacecraft_id); temperature_ = InitTemperature(simulation_configuration->spacecraft_file_list_[spacecraft_id], simulation_time->GetThermalRkStepTime_s(), &(local_environment_->GetSolarRadiationPressure())); diff --git a/src/simulation/spacecraft/structure/kinematics_parameters.hpp b/src/simulation/spacecraft/structure/kinematics_parameters.hpp index 09e2823d8..e8ac0cf8c 100644 --- a/src/simulation/spacecraft/structure/kinematics_parameters.hpp +++ b/src/simulation/spacecraft/structure/kinematics_parameters.hpp @@ -48,6 +48,21 @@ class KinematicsParameters { * @brief Return Inertia tensor at body frame [kgm2] */ inline const libra::Matrix<3, 3>& GetInertiaTensor_b_kgm2() const { return inertia_tensor_b_kgm2_; } + /** + * @fn GetInertiaTensorFlexible_b_kgm2 + * @brief Return Inertia tensor of the flexible structure at body frame [kgm2] + */ + inline const libra::Matrix<3, 3>& GetInertiaTensorFlexible_b_kgm2() const { return inertia_tensor_flexible_b_kgm2_; } + /** + * @fn GetZetaFlexible + * @brief Return Damping ratio of the flexible structure [] + */ + inline const double& GetZetaFlexible() const { return zeta_flexible_; } + /** + * @fn GetOmegaFlexible_rad_s + * @brief Return Intrinsic angular velocity [rad/s] + */ + inline const double& GetOmegaFlexible_rad_s() const { return omega_flexible_rad_s_; } // Setter /** From 0595bf23bb694fc064f96f541b9bf8a363bc3cf4 Mon Sep 17 00:00:00 2001 From: TomokiMochizuki Date: Tue, 16 Apr 2024 14:23:59 +0900 Subject: [PATCH 196/456] add Logger --- src/dynamics/attitude/attitude_rk4.cpp | 18 ++++++++++++++++++ src/dynamics/attitude/attitude_rk4.hpp | 12 ++++++++++++ 2 files changed, 30 insertions(+) diff --git a/src/dynamics/attitude/attitude_rk4.cpp b/src/dynamics/attitude/attitude_rk4.cpp index 717eef90a..acc29ab24 100644 --- a/src/dynamics/attitude/attitude_rk4.cpp +++ b/src/dynamics/attitude/attitude_rk4.cpp @@ -48,6 +48,24 @@ AttitudeRk4::AttitudeRk4(const libra::Vector<3>& angular_velocity_b_rad_s, const AttitudeRk4::~AttitudeRk4() {} +std::string AttitudeRk4::GetLogHeader() const { + std::string str_tmp = ""; + + str_tmp += WriteVector("eular_angular_flexible", "c", "rad", 3); + str_tmp += WriteVector("angular_velocity_flexible", "c", "rad/s", 3); + + return str_tmp; +} + +std::string AttitudeRk4::GetLogValue() const { + std::string str_tmp = ""; + + str_tmp += WriteVector(eular_angular_flexible_rad_); + str_tmp += WriteVector(angular_velocity_flexible_rad_s_); + + return str_tmp; +} + void AttitudeRk4::SetParameters(const MonteCarloSimulationExecutor& mc_simulator) { Attitude::SetParameters(mc_simulator); GetInitializedMonteCarloParameterVector(mc_simulator, "angular_velocity_b_rad_s", angular_velocity_b_rad_s_); diff --git a/src/dynamics/attitude/attitude_rk4.hpp b/src/dynamics/attitude/attitude_rk4.hpp index 947932901..4e8ca626a 100644 --- a/src/dynamics/attitude/attitude_rk4.hpp +++ b/src/dynamics/attitude/attitude_rk4.hpp @@ -57,6 +57,18 @@ class AttitudeRk4 : public Attitude { */ virtual void Propagate(const double end_time_s); + // Override ILoggable + /** + * @fn GetLogHeader + * @brief Override GetLogHeader function of ILoggable + */ + virtual std::string GetLogHeader() const; + /** + * @fn GetLogValue + * @brief Override GetLogValue function of ILoggable + */ + virtual std::string GetLogValue() const; + /** * @fn SetParameters * @brief Set parameters for Monte-Carlo simulation From 429ddf139adddf7879e099a22a522c5b9362945f Mon Sep 17 00:00:00 2001 From: TomokiMochizuki Date: Tue, 16 Apr 2024 19:02:52 +0900 Subject: [PATCH 197/456] fix small --- src/dynamics/attitude/attitude_rk4.cpp | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/src/dynamics/attitude/attitude_rk4.cpp b/src/dynamics/attitude/attitude_rk4.cpp index acc29ab24..6d858b1ae 100644 --- a/src/dynamics/attitude/attitude_rk4.cpp +++ b/src/dynamics/attitude/attitude_rk4.cpp @@ -51,6 +51,11 @@ AttitudeRk4::~AttitudeRk4() {} std::string AttitudeRk4::GetLogHeader() const { std::string str_tmp = ""; + str_tmp += WriteVector("spacecraft_angular_velocity", "b", "rad/s", 3); + str_tmp += WriteQuaternion("spacecraft_quaternion", "i2b"); + str_tmp += WriteVector("spacecraft_torque", "b", "Nm", 3); + str_tmp += WriteScalar("spacecraft_total_angular_momentum", "Nms"); + str_tmp += WriteScalar("spacecraft_kinematic_energy", "J"); str_tmp += WriteVector("eular_angular_flexible", "c", "rad", 3); str_tmp += WriteVector("angular_velocity_flexible", "c", "rad/s", 3); @@ -60,6 +65,11 @@ std::string AttitudeRk4::GetLogHeader() const { std::string AttitudeRk4::GetLogValue() const { std::string str_tmp = ""; + str_tmp += WriteVector(angular_velocity_b_rad_s_); + str_tmp += WriteQuaternion(quaternion_i2b_); + str_tmp += WriteVector(torque_b_Nm_); + str_tmp += WriteScalar(angular_momentum_total_Nms_); + str_tmp += WriteScalar(kinetic_energy_J_); str_tmp += WriteVector(eular_angular_flexible_rad_); str_tmp += WriteVector(angular_velocity_flexible_rad_s_); From c1eafd914c657c5bc4cddbfaf19b13c0cd017b43 Mon Sep 17 00:00:00 2001 From: TomokiMochizuki Date: Wed, 17 Apr 2024 12:09:52 +0900 Subject: [PATCH 198/456] simplify equation --- src/dynamics/attitude/attitude_rk4.cpp | 10 ++++------ src/dynamics/attitude/attitude_rk4.hpp | 4 ++-- 2 files changed, 6 insertions(+), 8 deletions(-) diff --git a/src/dynamics/attitude/attitude_rk4.cpp b/src/dynamics/attitude/attitude_rk4.cpp index 6d858b1ae..a2a831e28 100644 --- a/src/dynamics/attitude/attitude_rk4.cpp +++ b/src/dynamics/attitude/attitude_rk4.cpp @@ -37,8 +37,8 @@ AttitudeRk4::AttitudeRk4(const libra::Vector<3>& angular_velocity_b_rad_s, const angular_momentum_reaction_wheel_b_Nms_ = libra::Vector<3>(0.0); previous_inertia_tensor_kgm2_ = inertia_tensor_kgm2_; inertia_tensor_flexible_kgm2_ = inertia_tensor_flexible_kgm2; - zeta_flexible_ = zeta_flexible; - omega_flexible_rad_s_ = omega_flexible_rad_s; + attenuateion_coefficient_ = 2 * zeta_flexible * omega_flexible_rad_s * inertia_tensor_flexible_kgm2; + spring_constant_ = omega_flexible_rad_s * omega_flexible_rad_s * inertia_tensor_flexible_kgm2; inverse_inertia_tensor_ = CalcInverseMatrix(inertia_tensor_kgm2_); inverse_equivalent_inertia_tensor_flexible_ = CalcInverseMatrix(inertia_tensor_kgm2_) * (inertia_tensor_kgm2_ + inertia_tensor_flexible_kgm2_) * CalcInverseMatrix(inertia_tensor_flexible_kgm2_); @@ -147,12 +147,10 @@ libra::Vector<10> AttitudeRk4::AttitudeDynamicsAndKinematics(libra::Vector<10> x libra::Vector<3> net_torque_b_Nm = torque_b_Nm_ - libra::OuterProduct(omega_b, angular_momentum_total_b_Nms) - torque_inertia_tensor_change_b_Nm_; libra::Vector<3> angular_accelaration_flexible_rad_s2 = - inverse_equivalent_inertia_tensor_flexible_ * - (-2 * zeta_flexible_ * omega_flexible_rad_s_ * inertia_tensor_flexible_kgm2_ * omega_flexible - - omega_flexible_rad_s_ * omega_flexible_rad_s_ * inertia_tensor_flexible_kgm2_ * eular_angular_flexible_rad_) - + -(inverse_equivalent_inertia_tensor_flexible_ * (attenuateion_coefficient_ * omega_flexible + spring_constant_ * eular_angular_flexible_rad_)) - inverse_inertia_tensor_ * net_torque_b_Nm; - libra::Vector<3> rhs = inverse_inertia_tensor_total_ * net_torque_b_Nm - inertia_tensor_flexible_kgm2_ * angular_accelaration_flexible_rad_s2; + libra::Vector<3> rhs = inverse_inertia_tensor_total_ * (net_torque_b_Nm - inertia_tensor_flexible_kgm2_ * angular_accelaration_flexible_rad_s2); for (int i = 0; i < 3; ++i) { dxdt[i] = rhs[i]; diff --git a/src/dynamics/attitude/attitude_rk4.hpp b/src/dynamics/attitude/attitude_rk4.hpp index 4e8ca626a..538ba786c 100644 --- a/src/dynamics/attitude/attitude_rk4.hpp +++ b/src/dynamics/attitude/attitude_rk4.hpp @@ -84,8 +84,8 @@ class AttitudeRk4 : public Attitude { libra::Matrix<3, 3> inertia_tensor_flexible_kgm2_; //!< Inertia tensor of the flexible structure [kgm2] libra::Matrix<3, 3> inverse_equivalent_inertia_tensor_flexible_; //!< Inverse of inertia tensor of the flexible structure libra::Matrix<3, 3> inverse_inertia_tensor_total_; //!< Inverse of inertia tensor of the spacecraft - double zeta_flexible_; //!< Damping ratio of the flexible structure [] - double omega_flexible_rad_s_; //!< Intrinsic angular velocity [rad/s] + libra::Matrix<3, 3> attenuateion_coefficient_; //!< Attenuation coefficient + libra::Matrix<3, 3> spring_constant_; //!< Spring constant libra::Vector<3> angular_velocity_flexible_rad_s_; //!< Angular velocity of the flexible structure with respect to the inertial frame [rad/s] libra::Vector<3> eular_angular_flexible_rad_; //!< Eular angle of the flexible structure with respect to the inertial frame [rad/s] From a62de895083cedfc7ab4cb653b9c7792ae58fec7 Mon Sep 17 00:00:00 2001 From: TomokiMochizuki Date: Thu, 18 Apr 2024 13:33:36 +0900 Subject: [PATCH 199/456] rename variables --- .../initialize_files/sample_structure.ini | 5 ++-- src/dynamics/attitude/attitude_rk4.cpp | 10 ++++---- src/dynamics/attitude/attitude_rk4.hpp | 10 ++++---- src/dynamics/attitude/initialize_attitude.cpp | 8 +++---- src/dynamics/attitude/initialize_attitude.hpp | 4 ++-- src/dynamics/dynamics.cpp | 10 ++++---- .../structure/initialize_structure.cpp | 13 +++++++---- .../structure/kinematics_parameters.cpp | 7 +++--- .../structure/kinematics_parameters.hpp | 23 ++++++++++--------- 9 files changed, 49 insertions(+), 41 deletions(-) diff --git a/data/sample/initialize_files/sample_structure.ini b/data/sample/initialize_files/sample_structure.ini index fdd24de37..5aa7af050 100644 --- a/data/sample/initialize_files/sample_structure.ini +++ b/data/sample/initialize_files/sample_structure.ini @@ -24,6 +24,7 @@ center_of_gravity_b_m(0) = 0.01 center_of_gravity_b_m(1) = 0.01 center_of_gravity_b_m(2) = 0.01 +[KINEMATIC_PARAMETERS_FOR_FLEXIBLE_STRUCTURE] // Inertia Tensor of Flexible Structure @ body fixed frame [kg・m2] // If you want to ignore the flexible structure, set all params of the inertia tensor at 0.0 [kg・m2] inertia_tensor_flexible_structure_kgm2(0) = 0.1 // I_xx @@ -37,10 +38,10 @@ inertia_tensor_flexible_structure_kgm2(7) = 0.0 // I_zy inertia_tensor_flexible_structure_kgm2(8) = 0.1 // I_zz // Damping ratio of the flexible structure -zeta_flexible_structure = 0.01 +damping_ratio_flexible_structure = 0.01 // Intrinsic angular velocity [rad/s] -omega_flexible_structure_rad_s = 25.5097 // 4.06 Hz +intrinsic_angular_velocity_flexible_structure_rad_s = 25.5097 // 4.06 Hz [SURFACES] number_of_surfaces = 6 diff --git a/src/dynamics/attitude/attitude_rk4.cpp b/src/dynamics/attitude/attitude_rk4.cpp index a2a831e28..a0a027f4b 100644 --- a/src/dynamics/attitude/attitude_rk4.cpp +++ b/src/dynamics/attitude/attitude_rk4.cpp @@ -26,8 +26,8 @@ AttitudeRk4::AttitudeRk4(const libra::Vector<3>& angular_velocity_b_rad_s, const AttitudeRk4::AttitudeRk4(const libra::Vector<3>& angular_velocity_b_rad_s, const libra::Quaternion& quaternion_i2b, const libra::Matrix<3, 3>& inertia_tensor_kgm2, const libra::Matrix<3, 3>& inertia_tensor_flexible_kgm2, - const double zeta_flexible, const double omega_flexible_rad_s, const libra::Vector<3>& torque_b_Nm, - const double propagation_step_s, const std::string& simulation_object_name) + const double damping_ratio_flexible_structure, const double intrinsic_angular_velocity_flexible_structure_rad_s, + const libra::Vector<3>& torque_b_Nm, const double propagation_step_s, const std::string& simulation_object_name) : Attitude(inertia_tensor_kgm2, simulation_object_name) { angular_velocity_b_rad_s_ = angular_velocity_b_rad_s; quaternion_i2b_ = quaternion_i2b; @@ -37,8 +37,10 @@ AttitudeRk4::AttitudeRk4(const libra::Vector<3>& angular_velocity_b_rad_s, const angular_momentum_reaction_wheel_b_Nms_ = libra::Vector<3>(0.0); previous_inertia_tensor_kgm2_ = inertia_tensor_kgm2_; inertia_tensor_flexible_kgm2_ = inertia_tensor_flexible_kgm2; - attenuateion_coefficient_ = 2 * zeta_flexible * omega_flexible_rad_s * inertia_tensor_flexible_kgm2; - spring_constant_ = omega_flexible_rad_s * omega_flexible_rad_s * inertia_tensor_flexible_kgm2; + attenuateion_coefficient_ = + 2 * damping_ratio_flexible_structure * intrinsic_angular_velocity_flexible_structure_rad_s * inertia_tensor_flexible_kgm2; + spring_constant_ = + intrinsic_angular_velocity_flexible_structure_rad_s * intrinsic_angular_velocity_flexible_structure_rad_s * inertia_tensor_flexible_kgm2; inverse_inertia_tensor_ = CalcInverseMatrix(inertia_tensor_kgm2_); inverse_equivalent_inertia_tensor_flexible_ = CalcInverseMatrix(inertia_tensor_kgm2_) * (inertia_tensor_kgm2_ + inertia_tensor_flexible_kgm2_) * CalcInverseMatrix(inertia_tensor_flexible_kgm2_); diff --git a/src/dynamics/attitude/attitude_rk4.hpp b/src/dynamics/attitude/attitude_rk4.hpp index 538ba786c..ea227f550 100644 --- a/src/dynamics/attitude/attitude_rk4.hpp +++ b/src/dynamics/attitude/attitude_rk4.hpp @@ -34,16 +34,16 @@ class AttitudeRk4 : public Attitude { * @param [in] quaternion_i2b: Initial value of attitude quaternion from the inertial frame to the body fixed frame * @param [in] inertia_tensor_kgm2: Initial value of inertia tensor of the spacecraft [kg m^2] * @param [in] inertia_tensor_flexible_kgm2: Initial value of inertia tensor of the flexible structure [kg m^2] - * @param [in] zeta_flexible: Initial value of damping ratio of the flexible structure [] - * @param [in] omega_flexible_rad_s: Initial value of intrinsic angular velocity [rad/s] + * @param [in] damping_ratio_flexible_structure: Initial value of damping ratio of the flexible structure [] + * @param [in] intrinsic_angular_velocity_flexible_structure_rad_s: Initial value of intrinsic angular velocity [rad/s] * @param [in] torque_b_Nm: Initial torque acting on the spacecraft in the body fixed frame [Nm] * @param [in] propagation_step_s: Initial value of propagation step width [sec] * @param [in] simulation_object_name: Simulation object name for Monte-Carlo simulation */ AttitudeRk4(const libra::Vector<3>& angular_velocity_b_rad_s, const libra::Quaternion& quaternion_i2b, - const libra::Matrix<3, 3>& inertia_tensor_kgm2, const libra::Matrix<3, 3>& inertia_tensor_flexible_kgm2, const double zeta_flexible, - const double omega_flexible_rad_s, const libra::Vector<3>& torque_b_Nm, const double propagation_step_s, - const std::string& simulation_object_name = "attitude"); + const libra::Matrix<3, 3>& inertia_tensor_kgm2, const libra::Matrix<3, 3>& inertia_tensor_flexible_kgm2, + const double damping_ratio_flexible_structure, const double intrinsic_angular_velocity_flexible_structure_rad_s, + const libra::Vector<3>& torque_b_Nm, const double propagation_step_s, const std::string& simulation_object_name = "attitude"); /** * @fn ~AttitudeRk4 * @brief Destructor diff --git a/src/dynamics/attitude/initialize_attitude.cpp b/src/dynamics/attitude/initialize_attitude.cpp index 048adc861..3a9d87068 100644 --- a/src/dynamics/attitude/initialize_attitude.cpp +++ b/src/dynamics/attitude/initialize_attitude.cpp @@ -8,8 +8,8 @@ Attitude* InitAttitude(std::string file_name, const Orbit* orbit, const LocalCelestialInformation* local_celestial_information, const double step_width_s, const libra::Matrix<3, 3>& inertia_tensor_kgm2, - const libra::Matrix<3, 3>& inertia_tensor_flexible_kgm2, const double zeta_flexible, const double omega_flexible_rad_s, - const int spacecraft_id) { + const libra::Matrix<3, 3>& inertia_tensor_flexible_kgm2, const double damping_ratio_flexible_structure, + const double intrinsic_angular_velocity_flexible_structure_rad_s, const int spacecraft_id) { IniAccess ini_file(file_name); const char* section_ = "ATTITUDE"; std::string mc_name = "attitude" + std::to_string(spacecraft_id); @@ -27,8 +27,8 @@ Attitude* InitAttitude(std::string file_name, const Orbit* orbit, const LocalCel libra::Vector<3> torque_b; ini_file.ReadVector(section_, "initial_torque_b_Nm", torque_b); - attitude = new AttitudeRk4(omega_b, quaternion_i2b, inertia_tensor_kgm2, inertia_tensor_flexible_kgm2, zeta_flexible, omega_flexible_rad_s, - torque_b, step_width_s, mc_name); + attitude = new AttitudeRk4(omega_b, quaternion_i2b, inertia_tensor_kgm2, inertia_tensor_flexible_kgm2, damping_ratio_flexible_structure, + intrinsic_angular_velocity_flexible_structure_rad_s, torque_b, step_width_s, mc_name); } else if (propagate_mode == "RK4" && initialize_mode == "CONTROLLED") { // Initialize with Controlled attitude (attitude_tmp temporary used) IniAccess ini_file_ca(file_name); diff --git a/src/dynamics/attitude/initialize_attitude.hpp b/src/dynamics/attitude/initialize_attitude.hpp index e48dca266..fa73d753c 100644 --- a/src/dynamics/attitude/initialize_attitude.hpp +++ b/src/dynamics/attitude/initialize_attitude.hpp @@ -22,7 +22,7 @@ */ Attitude* InitAttitude(std::string file_name, const Orbit* orbit, const LocalCelestialInformation* local_celestial_information, const double step_width_s, const libra::Matrix<3, 3>& inertia_tensor_kgm2, - const libra::Matrix<3, 3>& inertia_tensor_flexible_kgm2, const double zeta_flexible, const double omega_flexible_rad_s, - const int spacecraft_id); + const libra::Matrix<3, 3>& inertia_tensor_flexible_kgm2, const double damping_ratio_flexible_structure, + const double intrinsic_angular_velocity_flexible_structure_rad_s, const int spacecraft_id); #endif // S2E_DYNAMICS_ATTITUDE_INITIALIZE_ATTITUDE_HPP_ diff --git a/src/dynamics/dynamics.cpp b/src/dynamics/dynamics.cpp index 5d2033e04..6180757ea 100644 --- a/src/dynamics/dynamics.cpp +++ b/src/dynamics/dynamics.cpp @@ -27,11 +27,11 @@ void Dynamics::Initialize(const SimulationConfiguration* simulation_configuratio orbit_ = InitOrbit(&(local_celestial_information.GetGlobalInformation()), simulation_configuration->spacecraft_file_list_[spacecraft_id], simulation_time->GetOrbitRkStepTime_s(), simulation_time->GetCurrentTime_jd(), local_celestial_information.GetGlobalInformation().GetCenterBodyGravityConstant_m3_s2(), "ORBIT", relative_information); - attitude_ = - InitAttitude(simulation_configuration->spacecraft_file_list_[spacecraft_id], orbit_, &local_celestial_information, - simulation_time->GetAttitudeRkStepTime_s(), structure->GetKinematicsParameters().GetInertiaTensor_b_kgm2(), - structure->GetKinematicsParameters().GetInertiaTensorFlexible_b_kgm2(), structure->GetKinematicsParameters().GetZetaFlexible(), - structure->GetKinematicsParameters().GetOmegaFlexible_rad_s(), spacecraft_id); + attitude_ = InitAttitude(simulation_configuration->spacecraft_file_list_[spacecraft_id], orbit_, &local_celestial_information, + simulation_time->GetAttitudeRkStepTime_s(), structure->GetKinematicsParameters().GetInertiaTensor_b_kgm2(), + structure->GetKinematicsParameters().GetInertiaTensorFlexible_b_kgm2(), + structure->GetKinematicsParameters().GetDampingRatioFlexibleStructure(), + structure->GetKinematicsParameters().GetIntrinsicAngularVelocityFlexibleStructure_rad_s(), spacecraft_id); temperature_ = InitTemperature(simulation_configuration->spacecraft_file_list_[spacecraft_id], simulation_time->GetThermalRkStepTime_s(), &(local_environment_->GetSolarRadiationPressure())); diff --git a/src/simulation/spacecraft/structure/initialize_structure.cpp b/src/simulation/spacecraft/structure/initialize_structure.cpp index 8cfd0af65..3615f12a2 100644 --- a/src/simulation/spacecraft/structure/initialize_structure.cpp +++ b/src/simulation/spacecraft/structure/initialize_structure.cpp @@ -24,18 +24,21 @@ KinematicsParameters InitKinematicsParameters(std::string file_name) { inertia_tensor_b_kgm2[i][j] = inertia_vec[i * 3 + j]; } } + + const char* section_flexible_structure = "KINEMATIC_PARAMETERS_FOR_FLEXIBLE_STRUCTURE"; libra::Matrix<3, 3> inertia_tensor_flexible_b_kgm2; - conf.ReadVector(section, "inertia_tensor_flexible_structure_kgm2", inertia_vec); + conf.ReadVector(section_flexible_structure, "inertia_tensor_flexible_structure_kgm2", inertia_vec); for (int i = 0; i < 3; i++) { for (int j = 0; j < 3; j++) { inertia_tensor_flexible_b_kgm2[i][j] = inertia_vec[i * 3 + j]; } } - double zeta_flexible = conf.ReadDouble(section, "zeta_flexible_structure"); - double omega_flexible_rad_s = conf.ReadDouble(section, "omega_flexible_structure_rad_s"); + double damping_ratio_flexible_structure = conf.ReadDouble(section_flexible_structure, "damping_ratio_flexible_structure"); + double intrinsic_angular_velocity_flexible_structure_rad_s = + conf.ReadDouble(section_flexible_structure, "intrinsic_angular_velocity_flexible_structure_rad_s"); - KinematicsParameters kinematics_params(center_of_gravity_b_m, mass_kg, inertia_tensor_b_kgm2, inertia_tensor_flexible_b_kgm2, zeta_flexible, - omega_flexible_rad_s); + KinematicsParameters kinematics_params(center_of_gravity_b_m, mass_kg, inertia_tensor_b_kgm2, inertia_tensor_flexible_b_kgm2, + damping_ratio_flexible_structure, intrinsic_angular_velocity_flexible_structure_rad_s); return kinematics_params; } diff --git a/src/simulation/spacecraft/structure/kinematics_parameters.cpp b/src/simulation/spacecraft/structure/kinematics_parameters.cpp index 014a7f6c5..33f3d3513 100644 --- a/src/simulation/spacecraft/structure/kinematics_parameters.cpp +++ b/src/simulation/spacecraft/structure/kinematics_parameters.cpp @@ -9,10 +9,11 @@ KinematicsParameters::KinematicsParameters(libra::Vector<3> center_of_gravity_b_ : center_of_gravity_b_m_(center_of_gravity_b_m), mass_kg_(mass_kg), inertia_tensor_b_kgm2_(inertia_tensor_b_kgm2) {} KinematicsParameters::KinematicsParameters(libra::Vector<3> center_of_gravity_b_m, double mass_kg, libra::Matrix<3, 3> inertia_tensor_b_kgm2, - libra::Matrix<3, 3> inertia_tensor_flexible_b_kgm2, double zeta_flexible, double omega_flexible_rad_s) + libra::Matrix<3, 3> inertia_tensor_flexible_b_kgm2, double damping_ratio_flexible_structure, + double intrinsic_angular_velocity_flexible_structure_rad_s) : center_of_gravity_b_m_(center_of_gravity_b_m), mass_kg_(mass_kg), inertia_tensor_b_kgm2_(inertia_tensor_b_kgm2), inertia_tensor_flexible_b_kgm2_(inertia_tensor_flexible_b_kgm2), - zeta_flexible_(zeta_flexible), - omega_flexible_rad_s_(omega_flexible_rad_s) {} \ No newline at end of file + damping_ratio_flexible_structure_(damping_ratio_flexible_structure), + intrinsic_angular_velocity_flexible_structure_rad_s_(intrinsic_angular_velocity_flexible_structure_rad_s) {} \ No newline at end of file diff --git a/src/simulation/spacecraft/structure/kinematics_parameters.hpp b/src/simulation/spacecraft/structure/kinematics_parameters.hpp index e8ac0cf8c..7acfc6749 100644 --- a/src/simulation/spacecraft/structure/kinematics_parameters.hpp +++ b/src/simulation/spacecraft/structure/kinematics_parameters.hpp @@ -25,7 +25,8 @@ class KinematicsParameters { * @brief Constructor */ KinematicsParameters(libra::Vector<3> center_of_gravity_b_m, double mass_kg, libra::Matrix<3, 3> inertia_tensor_b_kgm2, - libra::Matrix<3, 3> inertia_tensor_flexible_b_kgm2, double zeta_flexible, double omega_flexible_rad_s); + libra::Matrix<3, 3> inertia_tensor_flexible_b_kgm2, double damping_ratio_flexible_structure, + double intrinsic_angular_velocity_flexible_structure_rad_s); /** * @fn ~KinematicsParameters * @brief Destructor @@ -54,15 +55,15 @@ class KinematicsParameters { */ inline const libra::Matrix<3, 3>& GetInertiaTensorFlexible_b_kgm2() const { return inertia_tensor_flexible_b_kgm2_; } /** - * @fn GetZetaFlexible + * @fn GetDampingRatioFlexibleStructure * @brief Return Damping ratio of the flexible structure [] */ - inline const double& GetZetaFlexible() const { return zeta_flexible_; } + inline const double& GetDampingRatioFlexibleStructure() const { return damping_ratio_flexible_structure_; } /** - * @fn GetOmegaFlexible_rad_s + * @fn GetIntrinsicAngularVelocityFlexibleStructure_rad_s * @brief Return Intrinsic angular velocity [rad/s] */ - inline const double& GetOmegaFlexible_rad_s() const { return omega_flexible_rad_s_; } + inline const double& GetIntrinsicAngularVelocityFlexibleStructure_rad_s() const { return intrinsic_angular_velocity_flexible_structure_rad_s_; } // Setter /** @@ -102,12 +103,12 @@ class KinematicsParameters { } private: - libra::Vector<3> center_of_gravity_b_m_; //!< Position vector of center of gravity at body frame [m] - double mass_kg_; //!< Mass of the satellite [kg] - libra::Matrix<3, 3> inertia_tensor_b_kgm2_; //!< Inertia tensor at body frame [kgm2] - libra::Matrix<3, 3> inertia_tensor_flexible_b_kgm2_{0}; //!< Inertia tensor of the flexible structure at body frame [kgm2] - double zeta_flexible_ = 0; //!< Damping ratio of the flexible structure [] - double omega_flexible_rad_s_ = 0; //!< Intrinsic angular velocity [rad/s] + libra::Vector<3> center_of_gravity_b_m_; //!< Position vector of center of gravity at body frame [m] + double mass_kg_; //!< Mass of the satellite [kg] + libra::Matrix<3, 3> inertia_tensor_b_kgm2_; //!< Inertia tensor at body frame [kgm2] + libra::Matrix<3, 3> inertia_tensor_flexible_b_kgm2_{0}; //!< Inertia tensor of the flexible structure at body frame [kgm2] + double damping_ratio_flexible_structure_ = 0; //!< Damping ratio of the flexible structure [] + double intrinsic_angular_velocity_flexible_structure_rad_s_ = 0; //!< Intrinsic angular velocity [rad/s] }; #endif // S2E_SIMULATION_SPACECRAFT_STRUCTURE_KINEMATICS_PARAMETERS_HPP_ From b00f483235a198b46738e61f8a8ddc4f34064fac Mon Sep 17 00:00:00 2001 From: TomokiMochizuki Date: Thu, 25 Apr 2024 14:59:11 +0900 Subject: [PATCH 200/456] create attitude_with_cantilever_vibration.cpp/hpp --- .../initialize_files/sample_satellite.ini | 3 +- .../initialize_files/sample_structure.ini | 35 ++- src/dynamics/CMakeLists.txt | 1 + src/dynamics/attitude/attitude_rk4.cpp | 90 +------- src/dynamics/attitude/attitude_rk4.hpp | 47 +--- .../attitude_with_cantilever_vibration.cpp | 205 ++++++++++++++++++ .../attitude_with_cantilever_vibration.hpp | 101 +++++++++ src/dynamics/attitude/initialize_attitude.cpp | 59 ++--- src/dynamics/attitude/initialize_attitude.hpp | 5 +- src/dynamics/dynamics.cpp | 5 +- .../structure/initialize_structure.cpp | 15 +- .../structure/kinematics_parameters.cpp | 10 - .../structure/kinematics_parameters.hpp | 31 +-- 13 files changed, 380 insertions(+), 227 deletions(-) create mode 100644 src/dynamics/attitude/attitude_with_cantilever_vibration.cpp create mode 100644 src/dynamics/attitude/attitude_with_cantilever_vibration.hpp diff --git a/data/sample/initialize_files/sample_satellite.ini b/data/sample/initialize_files/sample_satellite.ini index 3bfa7303b..ca0751766 100644 --- a/data/sample/initialize_files/sample_satellite.ini +++ b/data/sample/initialize_files/sample_satellite.ini @@ -1,12 +1,13 @@ [ATTITUDE] // Attitude propagation mode // RK4 : Attitude Propagation with RK4 including disturbances and control torque +// CANTILEVER_VIBRATION : Attitude Propagation with the consideration of the cantilever vibration (flexible structure) including disturbances and control torque. // CONTROLLED : Attitude Calculation with Controlled Attitude mode. All disturbances and control torque are ignored. propagate_mode = RK4 // Initialize Attitude mode // MANUAL : Initialize Quaternion_i2b manually below -// CONTROLLED : Initialize attitude with given condition. Valid only when Attitude propagation mode is RK4. +// CONTROLLED : Initialize attitude with given condition. Valid except when Attitude propagation mode is CONTROLLED. initialize_mode = MANUAL // Initial angular velocity at body frame [rad/s] diff --git a/data/sample/initialize_files/sample_structure.ini b/data/sample/initialize_files/sample_structure.ini index 5aa7af050..4ca6cf64b 100644 --- a/data/sample/initialize_files/sample_structure.ini +++ b/data/sample/initialize_files/sample_structure.ini @@ -24,24 +24,23 @@ center_of_gravity_b_m(0) = 0.01 center_of_gravity_b_m(1) = 0.01 center_of_gravity_b_m(2) = 0.01 -[KINEMATIC_PARAMETERS_FOR_FLEXIBLE_STRUCTURE] -// Inertia Tensor of Flexible Structure @ body fixed frame [kg・m2] -// If you want to ignore the flexible structure, set all params of the inertia tensor at 0.0 [kg・m2] -inertia_tensor_flexible_structure_kgm2(0) = 0.1 // I_xx -inertia_tensor_flexible_structure_kgm2(1) = 0.0 // I_xy -inertia_tensor_flexible_structure_kgm2(2) = 0.0 // I_xz -inertia_tensor_flexible_structure_kgm2(3) = 0.0 // I_yx -inertia_tensor_flexible_structure_kgm2(4) = 0.1 // I_yy -inertia_tensor_flexible_structure_kgm2(5) = 0.0 // I_yz -inertia_tensor_flexible_structure_kgm2(6) = 0.0 // I_zx -inertia_tensor_flexible_structure_kgm2(7) = 0.0 // I_zy -inertia_tensor_flexible_structure_kgm2(8) = 0.1 // I_zz - -// Damping ratio of the flexible structure -damping_ratio_flexible_structure = 0.01 - -// Intrinsic angular velocity [rad/s] -intrinsic_angular_velocity_flexible_structure_rad_s = 25.5097 // 4.06 Hz +[CANTILEVER_PARAMETERS] +// Inertia Tensor of cantilever (flexible structure) @ body fixed frame [kg・m2] +inertia_tensor_cantilever_kgm2(0) = 0.1 // I_xx +inertia_tensor_cantilever_kgm2(1) = 0.0 // I_xy +inertia_tensor_cantilever_kgm2(2) = 0.0 // I_xz +inertia_tensor_cantilever_kgm2(3) = 0.0 // I_yx +inertia_tensor_cantilever_kgm2(4) = 0.1 // I_yy +inertia_tensor_cantilever_kgm2(5) = 0.0 // I_yz +inertia_tensor_cantilever_kgm2(6) = 0.0 // I_zx +inertia_tensor_cantilever_kgm2(7) = 0.0 // I_zy +inertia_tensor_cantilever_kgm2(8) = 0.1 // I_zz + +// Damping ratio of the cantilever +damping_ratio_cantilever = 0.01 + +// Intrinsic angular velocity of the cantilever [rad/s] +intrinsic_angular_velocity_cantilever_rad_s = 25.5097 // 4.06 Hz [SURFACES] number_of_surfaces = 6 diff --git a/src/dynamics/CMakeLists.txt b/src/dynamics/CMakeLists.txt index bc95612b4..eb4de1bca 100644 --- a/src/dynamics/CMakeLists.txt +++ b/src/dynamics/CMakeLists.txt @@ -18,6 +18,7 @@ add_library(${PROJECT_NAME} STATIC attitude/attitude.cpp attitude/attitude_rk4.cpp + attitude/attitude_with_cantilever_vibration.cpp attitude/controlled_attitude.cpp attitude/initialize_attitude.cpp diff --git a/src/dynamics/attitude/attitude_rk4.cpp b/src/dynamics/attitude/attitude_rk4.cpp index a0a027f4b..669b3b61c 100644 --- a/src/dynamics/attitude/attitude_rk4.cpp +++ b/src/dynamics/attitude/attitude_rk4.cpp @@ -24,60 +24,8 @@ AttitudeRk4::AttitudeRk4(const libra::Vector<3>& angular_velocity_b_rad_s, const CalcAngularMomentum(); } -AttitudeRk4::AttitudeRk4(const libra::Vector<3>& angular_velocity_b_rad_s, const libra::Quaternion& quaternion_i2b, - const libra::Matrix<3, 3>& inertia_tensor_kgm2, const libra::Matrix<3, 3>& inertia_tensor_flexible_kgm2, - const double damping_ratio_flexible_structure, const double intrinsic_angular_velocity_flexible_structure_rad_s, - const libra::Vector<3>& torque_b_Nm, const double propagation_step_s, const std::string& simulation_object_name) - : Attitude(inertia_tensor_kgm2, simulation_object_name) { - angular_velocity_b_rad_s_ = angular_velocity_b_rad_s; - quaternion_i2b_ = quaternion_i2b; - torque_b_Nm_ = torque_b_Nm; - propagation_step_s_ = propagation_step_s; - current_propagation_time_s_ = 0.0; - angular_momentum_reaction_wheel_b_Nms_ = libra::Vector<3>(0.0); - previous_inertia_tensor_kgm2_ = inertia_tensor_kgm2_; - inertia_tensor_flexible_kgm2_ = inertia_tensor_flexible_kgm2; - attenuateion_coefficient_ = - 2 * damping_ratio_flexible_structure * intrinsic_angular_velocity_flexible_structure_rad_s * inertia_tensor_flexible_kgm2; - spring_constant_ = - intrinsic_angular_velocity_flexible_structure_rad_s * intrinsic_angular_velocity_flexible_structure_rad_s * inertia_tensor_flexible_kgm2; - inverse_inertia_tensor_ = CalcInverseMatrix(inertia_tensor_kgm2_); - inverse_equivalent_inertia_tensor_flexible_ = CalcInverseMatrix(inertia_tensor_kgm2_) * (inertia_tensor_kgm2_ + inertia_tensor_flexible_kgm2_) * - CalcInverseMatrix(inertia_tensor_flexible_kgm2_); - inverse_inertia_tensor_total_ = CalcInverseMatrix(inertia_tensor_kgm2_ + inertia_tensor_flexible_kgm2_); - CalcAngularMomentum(); -} - AttitudeRk4::~AttitudeRk4() {} -std::string AttitudeRk4::GetLogHeader() const { - std::string str_tmp = ""; - - str_tmp += WriteVector("spacecraft_angular_velocity", "b", "rad/s", 3); - str_tmp += WriteQuaternion("spacecraft_quaternion", "i2b"); - str_tmp += WriteVector("spacecraft_torque", "b", "Nm", 3); - str_tmp += WriteScalar("spacecraft_total_angular_momentum", "Nms"); - str_tmp += WriteScalar("spacecraft_kinematic_energy", "J"); - str_tmp += WriteVector("eular_angular_flexible", "c", "rad", 3); - str_tmp += WriteVector("angular_velocity_flexible", "c", "rad/s", 3); - - return str_tmp; -} - -std::string AttitudeRk4::GetLogValue() const { - std::string str_tmp = ""; - - str_tmp += WriteVector(angular_velocity_b_rad_s_); - str_tmp += WriteQuaternion(quaternion_i2b_); - str_tmp += WriteVector(torque_b_Nm_); - str_tmp += WriteScalar(angular_momentum_total_Nms_); - str_tmp += WriteScalar(kinetic_energy_J_); - str_tmp += WriteVector(eular_angular_flexible_rad_); - str_tmp += WriteVector(angular_velocity_flexible_rad_s_); - - return str_tmp; -} - void AttitudeRk4::SetParameters(const MonteCarloSimulationExecutor& mc_simulator) { Attitude::SetParameters(mc_simulator); GetInitializedMonteCarloParameterVector(mc_simulator, "angular_velocity_b_rad_s", angular_velocity_b_rad_s_); @@ -131,28 +79,18 @@ libra::Matrix<4, 4> AttitudeRk4::CalcAngularVelocityMatrix(libra::Vector<3> angu return angular_velocity_matrix; } -libra::Vector<10> AttitudeRk4::AttitudeDynamicsAndKinematics(libra::Vector<10> x, double t) { +libra::Vector<7> AttitudeRk4::AttitudeDynamicsAndKinematics(libra::Vector<7> x, double t) { UNUSED(t); - libra::Vector<10> dxdt; + libra::Vector<7> dxdt; libra::Vector<3> omega_b; for (int i = 0; i < 3; i++) { omega_b[i] = x[i]; } - libra::Vector<3> omega_flexible; - for (int i = 0; i < 3; i++) { - omega_flexible[i] = x[i + 7]; - } - libra::Vector<3> angular_momentum_total_b_Nms = (previous_inertia_tensor_kgm2_ * omega_b) + angular_momentum_reaction_wheel_b_Nms_; - libra::Vector<3> net_torque_b_Nm = torque_b_Nm_ - libra::OuterProduct(omega_b, angular_momentum_total_b_Nms) - torque_inertia_tensor_change_b_Nm_; - - libra::Vector<3> angular_accelaration_flexible_rad_s2 = - -(inverse_equivalent_inertia_tensor_flexible_ * (attenuateion_coefficient_ * omega_flexible + spring_constant_ * eular_angular_flexible_rad_)) - - inverse_inertia_tensor_ * net_torque_b_Nm; - - libra::Vector<3> rhs = inverse_inertia_tensor_total_ * (net_torque_b_Nm - inertia_tensor_flexible_kgm2_ * angular_accelaration_flexible_rad_s2); + libra::Vector<3> rhs = + inverse_inertia_tensor_ * (torque_b_Nm_ - libra::OuterProduct(omega_b, angular_momentum_total_b_Nms) - torque_inertia_tensor_change_b_Nm_); for (int i = 0; i < 3; ++i) { dxdt[i] = rhs[i]; @@ -169,27 +107,20 @@ libra::Vector<10> AttitudeRk4::AttitudeDynamicsAndKinematics(libra::Vector<10> x dxdt[i + 3] = d_quaternion[i]; } - for (int i = 0; i < 3; i++) { - dxdt[i + 7] = angular_accelaration_flexible_rad_s2[i]; - } - return dxdt; } void AttitudeRk4::RungeKuttaOneStep(double t, double dt) { - libra::Vector<10> x; + libra::Vector<7> x; for (int i = 0; i < 3; i++) { x[i] = angular_velocity_b_rad_s_[i]; } for (int i = 0; i < 4; i++) { x[i + 3] = quaternion_i2b_[i]; } - for (int i = 0; i < 3; i++) { - x[i + 7] = angular_velocity_flexible_rad_s_[i]; - } - libra::Vector<10> k1, k2, k3, k4; - libra::Vector<10> xk2, xk3, xk4; + libra::Vector<7> k1, k2, k3, k4; + libra::Vector<7> xk2, xk3, xk4; k1 = AttitudeDynamicsAndKinematics(x, t); xk2 = x + (dt / 2.0) * k1; @@ -202,7 +133,7 @@ void AttitudeRk4::RungeKuttaOneStep(double t, double dt) { k4 = AttitudeDynamicsAndKinematics(xk4, (t + dt)); - libra::Vector<10> next_x = x + (dt / 6.0) * (k1 + 2.0 * k2 + 2.0 * k3 + k4); + libra::Vector<7> next_x = x + (dt / 6.0) * (k1 + 2.0 * k2 + 2.0 * k3 + k4); for (int i = 0; i < 3; i++) { angular_velocity_b_rad_s_[i] = next_x[i]; @@ -211,9 +142,4 @@ void AttitudeRk4::RungeKuttaOneStep(double t, double dt) { quaternion_i2b_[i] = next_x[i + 3]; } quaternion_i2b_.Normalize(); - - eular_angular_flexible_rad_ += dt * angular_velocity_flexible_rad_s_; - for (int i = 0; i < 3; i++) { - angular_velocity_flexible_rad_s_[i] = next_x[i + 7]; - } } diff --git a/src/dynamics/attitude/attitude_rk4.hpp b/src/dynamics/attitude/attitude_rk4.hpp index ea227f550..58e09a703 100644 --- a/src/dynamics/attitude/attitude_rk4.hpp +++ b/src/dynamics/attitude/attitude_rk4.hpp @@ -27,23 +27,6 @@ class AttitudeRk4 : public Attitude { AttitudeRk4(const libra::Vector<3>& angular_velocity_b_rad_s, const libra::Quaternion& quaternion_i2b, const libra::Matrix<3, 3>& inertia_tensor_kgm2, const libra::Vector<3>& torque_b_Nm, const double propagation_step_s, const std::string& simulation_object_name = "attitude"); - /** - * @fn AttitudeRk4 - * @brief Constructor - * @param [in] angular_velocity_b_rad_s: Initial value of spacecraft angular velocity of the body fixed frame [rad/s] - * @param [in] quaternion_i2b: Initial value of attitude quaternion from the inertial frame to the body fixed frame - * @param [in] inertia_tensor_kgm2: Initial value of inertia tensor of the spacecraft [kg m^2] - * @param [in] inertia_tensor_flexible_kgm2: Initial value of inertia tensor of the flexible structure [kg m^2] - * @param [in] damping_ratio_flexible_structure: Initial value of damping ratio of the flexible structure [] - * @param [in] intrinsic_angular_velocity_flexible_structure_rad_s: Initial value of intrinsic angular velocity [rad/s] - * @param [in] torque_b_Nm: Initial torque acting on the spacecraft in the body fixed frame [Nm] - * @param [in] propagation_step_s: Initial value of propagation step width [sec] - * @param [in] simulation_object_name: Simulation object name for Monte-Carlo simulation - */ - AttitudeRk4(const libra::Vector<3>& angular_velocity_b_rad_s, const libra::Quaternion& quaternion_i2b, - const libra::Matrix<3, 3>& inertia_tensor_kgm2, const libra::Matrix<3, 3>& inertia_tensor_flexible_kgm2, - const double damping_ratio_flexible_structure, const double intrinsic_angular_velocity_flexible_structure_rad_s, - const libra::Vector<3>& torque_b_Nm, const double propagation_step_s, const std::string& simulation_object_name = "attitude"); /** * @fn ~AttitudeRk4 * @brief Destructor @@ -57,18 +40,6 @@ class AttitudeRk4 : public Attitude { */ virtual void Propagate(const double end_time_s); - // Override ILoggable - /** - * @fn GetLogHeader - * @brief Override GetLogHeader function of ILoggable - */ - virtual std::string GetLogHeader() const; - /** - * @fn GetLogValue - * @brief Override GetLogValue function of ILoggable - */ - virtual std::string GetLogValue() const; - /** * @fn SetParameters * @brief Set parameters for Monte-Carlo simulation @@ -77,18 +48,10 @@ class AttitudeRk4 : public Attitude { virtual void SetParameters(const MonteCarloSimulationExecutor& mc_simulator); private: - double current_propagation_time_s_; //!< current time [sec] - libra::Matrix<3, 3> inverse_inertia_tensor_; //!< Inverse of inertia tensor - libra::Matrix<3, 3> previous_inertia_tensor_kgm2_; //!< Previous inertia tensor [kgm2] - libra::Vector<3> torque_inertia_tensor_change_b_Nm_; //!< Torque generated by inertia tensor change [Nm] - libra::Matrix<3, 3> inertia_tensor_flexible_kgm2_; //!< Inertia tensor of the flexible structure [kgm2] - libra::Matrix<3, 3> inverse_equivalent_inertia_tensor_flexible_; //!< Inverse of inertia tensor of the flexible structure - libra::Matrix<3, 3> inverse_inertia_tensor_total_; //!< Inverse of inertia tensor of the spacecraft - libra::Matrix<3, 3> attenuateion_coefficient_; //!< Attenuation coefficient - libra::Matrix<3, 3> spring_constant_; //!< Spring constant - - libra::Vector<3> angular_velocity_flexible_rad_s_; //!< Angular velocity of the flexible structure with respect to the inertial frame [rad/s] - libra::Vector<3> eular_angular_flexible_rad_; //!< Eular angle of the flexible structure with respect to the inertial frame [rad/s] + double current_propagation_time_s_; //!< current time [sec] + libra::Matrix<3, 3> inverse_inertia_tensor_; //!< Inverse of inertia tensor + libra::Matrix<3, 3> previous_inertia_tensor_kgm2_; //!< Previous inertia tensor [kgm2] + libra::Vector<3> torque_inertia_tensor_change_b_Nm_; //!< Torque generated by inertia tensor change [Nm] /** * @fn CalcAngularVelocityMatrix @@ -102,7 +65,7 @@ class AttitudeRk4 : public Attitude { * @param [in] x: State vector (angular velocity and quaternion) * @param [in] t: Unused TODO: remove? */ - libra::Vector<10> AttitudeDynamicsAndKinematics(libra::Vector<10> x, double t); + libra::Vector<7> AttitudeDynamicsAndKinematics(libra::Vector<7> x, double t); /** * @fn RungeKuttaOneStep * @brief Equation for one step of Runge-Kutta method diff --git a/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp b/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp new file mode 100644 index 000000000..cbe68cff4 --- /dev/null +++ b/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp @@ -0,0 +1,205 @@ +/** + * @file attitude_with_cantilever_vibration.cpp + * @brief Class to calculate spacecraft attitude with Runge-Kutta method + */ +#include "attitude_with_cantilever_vibration.hpp" + +#include +#include +#include +#include + +AttitudeWithCantileverVibration::AttitudeWithCantileverVibration( + const libra::Vector<3>& angular_velocity_b_rad_s, const libra::Quaternion& quaternion_i2b, const libra::Matrix<3, 3>& inertia_tensor_kgm2, + const libra::Matrix<3, 3>& inertia_tensor_cantilever_kgm2, const double damping_ratio_cantilever, + const double intrinsic_angular_velocity_cantilever_rad_s, const libra::Vector<3>& torque_b_Nm, const double propagation_step_s, + const std::string& simulation_object_name) + : Attitude(inertia_tensor_kgm2, simulation_object_name) { + angular_velocity_b_rad_s_ = angular_velocity_b_rad_s; + quaternion_i2b_ = quaternion_i2b; + torque_b_Nm_ = torque_b_Nm; + propagation_step_s_ = propagation_step_s; + current_propagation_time_s_ = 0.0; + angular_momentum_reaction_wheel_b_Nms_ = libra::Vector<3>(0.0); + previous_inertia_tensor_kgm2_ = inertia_tensor_kgm2_; + inertia_tensor_cantilever_kgm2_ = inertia_tensor_cantilever_kgm2; + attenuateion_coefficient_ = 2 * damping_ratio_cantilever * intrinsic_angular_velocity_cantilever_rad_s; + spring_coefficient_ = pow(intrinsic_angular_velocity_cantilever_rad_s, 2.0); + inverse_inertia_tensor_ = CalcInverseMatrix(inertia_tensor_kgm2_); + inverse_equivalent_inertia_tensor_cantilever_ = CalcInverseMatrix(inertia_tensor_kgm2_ - inertia_tensor_cantilever_kgm2_) * inertia_tensor_kgm2_; + CalcAngularMomentum(); +} + +AttitudeWithCantileverVibration::~AttitudeWithCantileverVibration() {} + +std::string AttitudeWithCantileverVibration::GetLogHeader() const { + std::string str_tmp = Attitude::GetLogHeader(); + + str_tmp += WriteVector("eular_angular_cantilever", "c", "rad", 3); + str_tmp += WriteVector("angular_velocity_cantilever", "c", "rad/s", 3); + + return str_tmp; +} + +std::string AttitudeWithCantileverVibration::GetLogValue() const { + std::string str_tmp = Attitude::GetLogValue(); + + str_tmp += WriteVector(eular_angular_cantilever_rad_); + str_tmp += WriteVector(angular_velocity_cantilever_rad_s_); + + return str_tmp; +} + +void AttitudeWithCantileverVibration::SetParameters(const MonteCarloSimulationExecutor& mc_simulator) { + Attitude::SetParameters(mc_simulator); + GetInitializedMonteCarloParameterVector(mc_simulator, "angular_velocity_b_rad_s", angular_velocity_b_rad_s_); + + // TODO: Consider the following calculation is needed here? + current_propagation_time_s_ = 0.0; + angular_momentum_reaction_wheel_b_Nms_ = libra::Vector<3>(0.0); //!< Consider how to handle this variable + CalcAngularMomentum(); +} + +void AttitudeWithCantileverVibration::Propagate(const double end_time_s) { + if (!is_calc_enabled_) return; + + libra::Matrix<3, 3> dot_inertia_tensor = + (1.0 / (end_time_s - current_propagation_time_s_)) * (inertia_tensor_kgm2_ - previous_inertia_tensor_kgm2_); + torque_inertia_tensor_change_b_Nm_ = dot_inertia_tensor * angular_velocity_b_rad_s_; + inverse_inertia_tensor_ = CalcInverseMatrix(inertia_tensor_kgm2_); + + while (end_time_s - current_propagation_time_s_ - propagation_step_s_ > 1.0e-6) { + RungeKuttaOneStep(current_propagation_time_s_, propagation_step_s_); + current_propagation_time_s_ += propagation_step_s_; + } + RungeKuttaOneStep(current_propagation_time_s_, end_time_s - current_propagation_time_s_); + + // Update information + current_propagation_time_s_ = end_time_s; + previous_inertia_tensor_kgm2_ = inertia_tensor_kgm2_; + CalcAngularMomentum(); +} + +libra::Matrix<4, 4> AttitudeWithCantileverVibration::CalcAngularVelocityMatrix(libra::Vector<3> angular_velocity_b_rad_s) { + libra::Matrix<4, 4> angular_velocity_matrix; + + angular_velocity_matrix[0][0] = 0.0f; + angular_velocity_matrix[0][1] = angular_velocity_b_rad_s[2]; + angular_velocity_matrix[0][2] = -angular_velocity_b_rad_s[1]; + angular_velocity_matrix[0][3] = angular_velocity_b_rad_s[0]; + angular_velocity_matrix[1][0] = -angular_velocity_b_rad_s[2]; + angular_velocity_matrix[1][1] = 0.0f; + angular_velocity_matrix[1][2] = angular_velocity_b_rad_s[0]; + angular_velocity_matrix[1][3] = angular_velocity_b_rad_s[1]; + angular_velocity_matrix[2][0] = angular_velocity_b_rad_s[1]; + angular_velocity_matrix[2][1] = -angular_velocity_b_rad_s[0]; + angular_velocity_matrix[2][2] = 0.0f; + angular_velocity_matrix[2][3] = angular_velocity_b_rad_s[2]; + angular_velocity_matrix[3][0] = -angular_velocity_b_rad_s[0]; + angular_velocity_matrix[3][1] = -angular_velocity_b_rad_s[1]; + angular_velocity_matrix[3][2] = -angular_velocity_b_rad_s[2]; + angular_velocity_matrix[3][3] = 0.0f; + + return angular_velocity_matrix; +} + +libra::Vector<13> AttitudeWithCantileverVibration::AttitudeDynamicsAndKinematics(libra::Vector<13> x, double t) { + UNUSED(t); + + libra::Vector<13> dxdt; + + libra::Vector<3> omega_b; + for (int i = 0; i < 3; i++) { + omega_b[i] = x[i]; + } + libra::Vector<3> omega_cantilever; + for (int i = 0; i < 3; i++) { + omega_cantilever[i] = x[i + 3]; + } + + libra::Vector<3> angular_momentum_total_b_Nms = (previous_inertia_tensor_kgm2_ * omega_b) + angular_momentum_reaction_wheel_b_Nms_; + libra::Vector<3> net_torque_b_Nm = torque_b_Nm_ - libra::OuterProduct(omega_b, angular_momentum_total_b_Nms) - torque_inertia_tensor_change_b_Nm_; + + libra::Vector<3> angular_accelaration_cantilever_rad_s2 = + -(inverse_equivalent_inertia_tensor_cantilever_ * + (attenuateion_coefficient_ * omega_cantilever + spring_coefficient_ * eular_angular_cantilever_rad_)) - + inverse_inertia_tensor_ * net_torque_b_Nm; + + libra::Vector<3> rhs = inverse_inertia_tensor_ * (net_torque_b_Nm - inertia_tensor_cantilever_kgm2_ * angular_accelaration_cantilever_rad_s2); + + for (int i = 0; i < 3; ++i) { + dxdt[i] = rhs[i]; + } + + for (int i = 0; i < 3; i++) { + dxdt[i + 3] = angular_accelaration_cantilever_rad_s2[i]; + } + + libra::Vector<4> quaternion_i2b; + for (int i = 0; i < 4; i++) { + quaternion_i2b[i] = x[i + 6]; + } + + libra::Vector<4> d_quaternion = 0.5 * CalcAngularVelocityMatrix(omega_b) * quaternion_i2b; + + for (int i = 0; i < 4; i++) { + dxdt[i + 6] = d_quaternion[i]; + } + + libra::Vector<3> euler_angle_cantilever_rad; + for (int i = 0; i < 3; i++) { + euler_angle_cantilever_rad[i] = x[i + 3]; + } + + for (int i = 0; i < 3; i++) { + dxdt[i + 10] = euler_angle_cantilever_rad[i]; + } + + return dxdt; +} + +void AttitudeWithCantileverVibration::RungeKuttaOneStep(double t, double dt) { + libra::Vector<13> x; + for (int i = 0; i < 3; i++) { + x[i] = angular_velocity_b_rad_s_[i]; + } + for (int i = 0; i < 3; i++) { + x[i + 3] = angular_velocity_cantilever_rad_s_[i]; + } + for (int i = 0; i < 4; i++) { + x[i + 6] = quaternion_i2b_[i]; + } + for (int i = 0; i < 3; i++) { + x[i + 10] = eular_angular_cantilever_rad_[i]; + } + + libra::Vector<13> k1, k2, k3, k4; + libra::Vector<13> xk2, xk3, xk4; + + k1 = AttitudeDynamicsAndKinematics(x, t); + xk2 = x + (dt / 2.0) * k1; + + k2 = AttitudeDynamicsAndKinematics(xk2, (t + dt / 2.0)); + xk3 = x + (dt / 2.0) * k2; + + k3 = AttitudeDynamicsAndKinematics(xk3, (t + dt / 2.0)); + xk4 = x + dt * k3; + + k4 = AttitudeDynamicsAndKinematics(xk4, (t + dt)); + + libra::Vector<13> next_x = x + (dt / 6.0) * (k1 + 2.0 * k2 + 2.0 * k3 + k4); + + for (int i = 0; i < 3; i++) { + angular_velocity_b_rad_s_[i] = next_x[i]; + } + for (int i = 0; i < 3; i++) { + angular_velocity_cantilever_rad_s_[i] = next_x[i + 3]; + } + for (int i = 0; i < 4; i++) { + quaternion_i2b_[i] = next_x[i + 6]; + } + quaternion_i2b_.Normalize(); + for (int i = 0; i < 3; i++) { + eular_angular_cantilever_rad_[i] = next_x[i + 10]; + } +} diff --git a/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp b/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp new file mode 100644 index 000000000..bded5f89e --- /dev/null +++ b/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp @@ -0,0 +1,101 @@ +/** + * @file attitude_with_cantilever_vibration.hpp + * @brief Class to calculate spacecraft attitude with Runge-Kutta method + */ + +#ifndef S2E_DYNAMICS_ATTITUDE_ATTITUDE_WITH_CANTILEVER_VIBRATION_HPP_ +#define S2E_DYNAMICS_ATTITUDE_ATTITUDE_WITH_CANTILEVER_VIBRATION_HPP_ + +#include "attitude.hpp" + +/** + * @class AttitudeWithCantileverVibration + * @brief Class to calculate spacecraft attitude with Runge-Kutta method + */ +class AttitudeWithCantileverVibration : public Attitude { + public: + /** + * @fn AttitudeWithCantileverVibration + * @brief Constructor + * @param [in] angular_velocity_b_rad_s: Initial value of spacecraft angular velocity of the body fixed frame [rad/s] + * @param [in] quaternion_i2b: Initial value of attitude quaternion from the inertial frame to the body fixed frame + * @param [in] inertia_tensor_kgm2: Initial value of inertia tensor of the spacecraft [kg m^2] + * @param [in] inertia_tensor_cantilever_kgm2: Initial value of inertia tensor of the cantilever [kg m^2] + * @param [in] damping_ratio_cantilever: Initial value of damping ratio of the cantilever [] + * @param [in] intrinsic_angular_velocity_cantilever_rad_s: Initial value of intrinsic angular velocity [rad/s] + * @param [in] torque_b_Nm: Initial torque acting on the spacecraft in the body fixed frame [Nm] + * @param [in] propagation_step_s: Initial value of propagation step width [sec] + * @param [in] simulation_object_name: Simulation object name for Monte-Carlo simulation + */ + AttitudeWithCantileverVibration(const libra::Vector<3>& angular_velocity_b_rad_s, const libra::Quaternion& quaternion_i2b, + const libra::Matrix<3, 3>& inertia_tensor_kgm2, const libra::Matrix<3, 3>& inertia_tensor_cantilever_kgm2, + const double damping_ratio_cantilever, const double intrinsic_angular_velocity_cantilever_rad_s, + const libra::Vector<3>& torque_b_Nm, const double propagation_step_s, + const std::string& simulation_object_name = "attitude"); + /** + * @fn ~AttitudeWithCantileverVibration + * @brief Destructor + */ + ~AttitudeWithCantileverVibration(); + + /** + * @fn Propagate + * @brief Attitude propagation + * @param [in] end_time_s: Propagation endtime [sec] + */ + virtual void Propagate(const double end_time_s); + + // Override ILoggable + /** + * @fn GetLogHeader + * @brief Override GetLogHeader function of ILoggable + */ + virtual std::string GetLogHeader() const; + /** + * @fn GetLogValue + * @brief Override GetLogValue function of ILoggable + */ + virtual std::string GetLogValue() const; + + /** + * @fn SetParameters + * @brief Set parameters for Monte-Carlo simulation + * @param [in] mc_simulator: Monte-Carlo simulation executor + */ + virtual void SetParameters(const MonteCarloSimulationExecutor& mc_simulator); + + private: + double current_propagation_time_s_; //!< current time [sec] + libra::Matrix<3, 3> inverse_inertia_tensor_; //!< Inverse of inertia tensor + libra::Matrix<3, 3> previous_inertia_tensor_kgm2_; //!< Previous inertia tensor [kgm2] + libra::Vector<3> torque_inertia_tensor_change_b_Nm_; //!< Torque generated by inertia tensor change [Nm] + libra::Matrix<3, 3> inertia_tensor_cantilever_kgm2_; //!< Inertia tensor of the cantilever [kgm2] + libra::Matrix<3, 3> inverse_equivalent_inertia_tensor_cantilever_; //!< Inverse of inertia tensor of the cantilever + double attenuateion_coefficient_; //!< Attenuation coefficient + double spring_coefficient_; //!< Spring coefficient + libra::Vector<3> angular_velocity_cantilever_rad_s_; //!< Angular velocity of the cantilever with respect to the body frame [rad/s] + libra::Vector<3> eular_angular_cantilever_rad_; //!< Eular angle of the cantilever with respect to the body frame [rad/s] + + /** + * @fn CalcAngularVelocityMatrix + * @brief Generate angular velocity matrix for kinematics calculation + * @param [in] angular_velocity_b_rad_s: Angular velocity [rad/s] + */ + libra::Matrix<4, 4> CalcAngularVelocityMatrix(libra::Vector<3> angular_velocity_b_rad_s); + /** + * @fn AttitudeDynamicsAndKinematics + * @brief Dynamics equation with kinematics + * @param [in] x: State vector (angular velocity and quaternion) + * @param [in] t: Unused TODO: remove? + */ + libra::Vector<13> AttitudeDynamicsAndKinematics(libra::Vector<13> x, double t); + /** + * @fn RungeKuttaOneStep + * @brief Equation for one step of Runge-Kutta method + * @param [in] t: Unused TODO: remove? + * @param [in] dt: Step width [sec] + */ + void RungeKuttaOneStep(double t, double dt); +}; + +#endif // S2E_DYNAMICS_ATTITUDE_ATTITUDE_WITH_CANTILEVER_VIBRATION_HPP_ diff --git a/src/dynamics/attitude/initialize_attitude.cpp b/src/dynamics/attitude/initialize_attitude.cpp index 3a9d87068..0f3962b79 100644 --- a/src/dynamics/attitude/initialize_attitude.cpp +++ b/src/dynamics/attitude/initialize_attitude.cpp @@ -7,9 +7,7 @@ #include Attitude* InitAttitude(std::string file_name, const Orbit* orbit, const LocalCelestialInformation* local_celestial_information, - const double step_width_s, const libra::Matrix<3, 3>& inertia_tensor_kgm2, - const libra::Matrix<3, 3>& inertia_tensor_flexible_kgm2, const double damping_ratio_flexible_structure, - const double intrinsic_angular_velocity_flexible_structure_rad_s, const int spacecraft_id) { + const double step_width_s, const libra::Matrix<3, 3>& inertia_tensor_kgm2, const int spacecraft_id) { IniAccess ini_file(file_name); const char* section_ = "ATTITUDE"; std::string mc_name = "attitude" + std::to_string(spacecraft_id); @@ -18,18 +16,10 @@ Attitude* InitAttitude(std::string file_name, const Orbit* orbit, const LocalCel const std::string propagate_mode = ini_file.ReadString(section_, "propagate_mode"); const std::string initialize_mode = ini_file.ReadString(section_, "initialize_mode"); - if (propagate_mode == "RK4" && initialize_mode == "MANUAL") { - // RK4 propagator - libra::Vector<3> omega_b; - ini_file.ReadVector(section_, "initial_angular_velocity_b_rad_s", omega_b); - libra::Quaternion quaternion_i2b; - ini_file.ReadQuaternion(section_, "initial_quaternion_i2b", quaternion_i2b); - libra::Vector<3> torque_b; - ini_file.ReadVector(section_, "initial_torque_b_Nm", torque_b); - - attitude = new AttitudeRk4(omega_b, quaternion_i2b, inertia_tensor_kgm2, inertia_tensor_flexible_kgm2, damping_ratio_flexible_structure, - intrinsic_angular_velocity_flexible_structure_rad_s, torque_b, step_width_s, mc_name); - } else if (propagate_mode == "RK4" && initialize_mode == "CONTROLLED") { + libra::Vector<3> omega_b; + libra::Quaternion quaternion_i2b; + libra::Vector<3> torque_b; + if (initialize_mode == "CONTROLLED") { // Initialize with Controlled attitude (attitude_tmp temporary used) IniAccess ini_file_ca(file_name); const char* section_ca_ = "CONTROLLED_ATTITUDE"; @@ -38,7 +28,7 @@ Attitude* InitAttitude(std::string file_name, const Orbit* orbit, const LocalCel AttitudeControlMode main_mode = ConvertStringToCtrlMode(main_mode_in); AttitudeControlMode sub_mode = ConvertStringToCtrlMode(sub_mode_in); - libra::Quaternion quaternion_i2b; + ini_file_ca.ReadQuaternion(section_, "initial_quaternion_i2b", quaternion_i2b); libra::Vector<3> main_target_direction_b, sub_target_direction_b; ini_file_ca.ReadVector(section_ca_, "main_pointing_direction_b", main_target_direction_b); @@ -48,10 +38,36 @@ Attitude* InitAttitude(std::string file_name, const Orbit* orbit, const LocalCel inertia_tensor_kgm2, local_celestial_information, orbit, mc_name_temp); attitude_temp->Propagate(step_width_s); quaternion_i2b = attitude_temp->GetQuaternion_i2b(); - libra::Vector<3> omega_b = libra::Vector<3>(0.0); - libra::Vector<3> torque_b = libra::Vector<3>(0.0); + omega_b = libra::Vector<3>(0.0); + torque_b = libra::Vector<3>(0.0); + } else { + // Including the case: initialize_mode == "MANUAL" + ini_file.ReadVector(section_, "initial_angular_velocity_b_rad_s", omega_b); + ini_file.ReadQuaternion(section_, "initial_quaternion_i2b", quaternion_i2b); + ini_file.ReadVector(section_, "initial_torque_b_Nm", torque_b); + } + if (propagate_mode == "RK4") { attitude = new AttitudeRk4(omega_b, quaternion_i2b, inertia_tensor_kgm2, torque_b, step_width_s, mc_name); + } else if (propagate_mode == "CANTILEVER_VIBRATION") { + std::string ini_structure_name = ini_file.ReadString("SETTING_FILES", "structure_file"); + IniAccess ini_structure(ini_structure_name); + + const char* section_cantilever = "CANTILEVER_PARAMETERS"; + libra::Matrix<3, 3> inertia_tensor_cantilever_kgm2; + libra::Vector<9> inertia_vec; + ini_structure.ReadVector(section_cantilever, "inertia_tensor_cantilever_kgm2", inertia_vec); + for (int i = 0; i < 3; i++) { + for (int j = 0; j < 3; j++) { + inertia_tensor_cantilever_kgm2[i][j] = inertia_vec[i * 3 + j]; + } + } + double damping_ratio_cantilever = ini_structure.ReadDouble(section_cantilever, "damping_ratio_cantilever"); + double intrinsic_angular_velocity_cantilever_rad_s = ini_structure.ReadDouble(section_cantilever, "intrinsic_angular_velocity_cantilever_rad_s"); + + attitude = + new AttitudeWithCantileverVibration(omega_b, quaternion_i2b, inertia_tensor_kgm2, inertia_tensor_cantilever_kgm2, damping_ratio_cantilever, + intrinsic_angular_velocity_cantilever_rad_s, torque_b, step_width_s, mc_name); } else if (propagate_mode == "CONTROLLED") { // Controlled attitude IniAccess ini_file_ca(file_name); @@ -73,13 +89,6 @@ Attitude* InitAttitude(std::string file_name, const Orbit* orbit, const LocalCel std::cerr << "ERROR: attitude propagation mode: " << propagate_mode << " is not defined!" << std::endl; std::cerr << "The attitude mode is automatically set as RK4" << std::endl; - libra::Vector<3> omega_b; - ini_file.ReadVector(section_, "initial_angular_velocity_b_rad_s", omega_b); - libra::Quaternion quaternion_i2b; - ini_file.ReadQuaternion(section_, "initial_quaternion_i2b", quaternion_i2b); - libra::Vector<3> torque_b; - ini_file.ReadVector(section_, "initial_torque_b_Nm", torque_b); - attitude = new AttitudeRk4(omega_b, quaternion_i2b, inertia_tensor_kgm2, torque_b, step_width_s, mc_name); } diff --git a/src/dynamics/attitude/initialize_attitude.hpp b/src/dynamics/attitude/initialize_attitude.hpp index fa73d753c..8d6ec1e5c 100644 --- a/src/dynamics/attitude/initialize_attitude.hpp +++ b/src/dynamics/attitude/initialize_attitude.hpp @@ -8,6 +8,7 @@ #include "attitude.hpp" #include "attitude_rk4.hpp" +#include "attitude_with_cantilever_vibration.hpp" #include "controlled_attitude.hpp" /** @@ -21,8 +22,6 @@ * @param [in] spacecraft_id: Satellite ID */ Attitude* InitAttitude(std::string file_name, const Orbit* orbit, const LocalCelestialInformation* local_celestial_information, - const double step_width_s, const libra::Matrix<3, 3>& inertia_tensor_kgm2, - const libra::Matrix<3, 3>& inertia_tensor_flexible_kgm2, const double damping_ratio_flexible_structure, - const double intrinsic_angular_velocity_flexible_structure_rad_s, const int spacecraft_id); + const double step_width_s, const libra::Matrix<3, 3>& inertia_tensor_kgm2, const int spacecraft_id); #endif // S2E_DYNAMICS_ATTITUDE_INITIALIZE_ATTITUDE_HPP_ diff --git a/src/dynamics/dynamics.cpp b/src/dynamics/dynamics.cpp index 6180757ea..04d0886a7 100644 --- a/src/dynamics/dynamics.cpp +++ b/src/dynamics/dynamics.cpp @@ -28,10 +28,7 @@ void Dynamics::Initialize(const SimulationConfiguration* simulation_configuratio simulation_time->GetOrbitRkStepTime_s(), simulation_time->GetCurrentTime_jd(), local_celestial_information.GetGlobalInformation().GetCenterBodyGravityConstant_m3_s2(), "ORBIT", relative_information); attitude_ = InitAttitude(simulation_configuration->spacecraft_file_list_[spacecraft_id], orbit_, &local_celestial_information, - simulation_time->GetAttitudeRkStepTime_s(), structure->GetKinematicsParameters().GetInertiaTensor_b_kgm2(), - structure->GetKinematicsParameters().GetInertiaTensorFlexible_b_kgm2(), - structure->GetKinematicsParameters().GetDampingRatioFlexibleStructure(), - structure->GetKinematicsParameters().GetIntrinsicAngularVelocityFlexibleStructure_rad_s(), spacecraft_id); + simulation_time->GetAttitudeRkStepTime_s(), structure->GetKinematicsParameters().GetInertiaTensor_b_kgm2(), spacecraft_id); temperature_ = InitTemperature(simulation_configuration->spacecraft_file_list_[spacecraft_id], simulation_time->GetThermalRkStepTime_s(), &(local_environment_->GetSolarRadiationPressure())); diff --git a/src/simulation/spacecraft/structure/initialize_structure.cpp b/src/simulation/spacecraft/structure/initialize_structure.cpp index 3615f12a2..e1def4ea9 100644 --- a/src/simulation/spacecraft/structure/initialize_structure.cpp +++ b/src/simulation/spacecraft/structure/initialize_structure.cpp @@ -25,20 +25,7 @@ KinematicsParameters InitKinematicsParameters(std::string file_name) { } } - const char* section_flexible_structure = "KINEMATIC_PARAMETERS_FOR_FLEXIBLE_STRUCTURE"; - libra::Matrix<3, 3> inertia_tensor_flexible_b_kgm2; - conf.ReadVector(section_flexible_structure, "inertia_tensor_flexible_structure_kgm2", inertia_vec); - for (int i = 0; i < 3; i++) { - for (int j = 0; j < 3; j++) { - inertia_tensor_flexible_b_kgm2[i][j] = inertia_vec[i * 3 + j]; - } - } - double damping_ratio_flexible_structure = conf.ReadDouble(section_flexible_structure, "damping_ratio_flexible_structure"); - double intrinsic_angular_velocity_flexible_structure_rad_s = - conf.ReadDouble(section_flexible_structure, "intrinsic_angular_velocity_flexible_structure_rad_s"); - - KinematicsParameters kinematics_params(center_of_gravity_b_m, mass_kg, inertia_tensor_b_kgm2, inertia_tensor_flexible_b_kgm2, - damping_ratio_flexible_structure, intrinsic_angular_velocity_flexible_structure_rad_s); + KinematicsParameters kinematics_params(center_of_gravity_b_m, mass_kg, inertia_tensor_b_kgm2); return kinematics_params; } diff --git a/src/simulation/spacecraft/structure/kinematics_parameters.cpp b/src/simulation/spacecraft/structure/kinematics_parameters.cpp index 33f3d3513..752ed08f1 100644 --- a/src/simulation/spacecraft/structure/kinematics_parameters.cpp +++ b/src/simulation/spacecraft/structure/kinematics_parameters.cpp @@ -7,13 +7,3 @@ KinematicsParameters::KinematicsParameters(libra::Vector<3> center_of_gravity_b_m, double mass_kg, libra::Matrix<3, 3> inertia_tensor_b_kgm2) : center_of_gravity_b_m_(center_of_gravity_b_m), mass_kg_(mass_kg), inertia_tensor_b_kgm2_(inertia_tensor_b_kgm2) {} - -KinematicsParameters::KinematicsParameters(libra::Vector<3> center_of_gravity_b_m, double mass_kg, libra::Matrix<3, 3> inertia_tensor_b_kgm2, - libra::Matrix<3, 3> inertia_tensor_flexible_b_kgm2, double damping_ratio_flexible_structure, - double intrinsic_angular_velocity_flexible_structure_rad_s) - : center_of_gravity_b_m_(center_of_gravity_b_m), - mass_kg_(mass_kg), - inertia_tensor_b_kgm2_(inertia_tensor_b_kgm2), - inertia_tensor_flexible_b_kgm2_(inertia_tensor_flexible_b_kgm2), - damping_ratio_flexible_structure_(damping_ratio_flexible_structure), - intrinsic_angular_velocity_flexible_structure_rad_s_(intrinsic_angular_velocity_flexible_structure_rad_s) {} \ No newline at end of file diff --git a/src/simulation/spacecraft/structure/kinematics_parameters.hpp b/src/simulation/spacecraft/structure/kinematics_parameters.hpp index 7acfc6749..be864b402 100644 --- a/src/simulation/spacecraft/structure/kinematics_parameters.hpp +++ b/src/simulation/spacecraft/structure/kinematics_parameters.hpp @@ -20,13 +20,6 @@ class KinematicsParameters { * @brief Constructor */ KinematicsParameters(libra::Vector<3> center_of_gravity_b_m, double mass_kg, libra::Matrix<3, 3> inertia_tensor_b_kgm2); - /** - * @fn KinematicsParameters - * @brief Constructor - */ - KinematicsParameters(libra::Vector<3> center_of_gravity_b_m, double mass_kg, libra::Matrix<3, 3> inertia_tensor_b_kgm2, - libra::Matrix<3, 3> inertia_tensor_flexible_b_kgm2, double damping_ratio_flexible_structure, - double intrinsic_angular_velocity_flexible_structure_rad_s); /** * @fn ~KinematicsParameters * @brief Destructor @@ -49,21 +42,6 @@ class KinematicsParameters { * @brief Return Inertia tensor at body frame [kgm2] */ inline const libra::Matrix<3, 3>& GetInertiaTensor_b_kgm2() const { return inertia_tensor_b_kgm2_; } - /** - * @fn GetInertiaTensorFlexible_b_kgm2 - * @brief Return Inertia tensor of the flexible structure at body frame [kgm2] - */ - inline const libra::Matrix<3, 3>& GetInertiaTensorFlexible_b_kgm2() const { return inertia_tensor_flexible_b_kgm2_; } - /** - * @fn GetDampingRatioFlexibleStructure - * @brief Return Damping ratio of the flexible structure [] - */ - inline const double& GetDampingRatioFlexibleStructure() const { return damping_ratio_flexible_structure_; } - /** - * @fn GetIntrinsicAngularVelocityFlexibleStructure_rad_s - * @brief Return Intrinsic angular velocity [rad/s] - */ - inline const double& GetIntrinsicAngularVelocityFlexibleStructure_rad_s() const { return intrinsic_angular_velocity_flexible_structure_rad_s_; } // Setter /** @@ -103,12 +81,9 @@ class KinematicsParameters { } private: - libra::Vector<3> center_of_gravity_b_m_; //!< Position vector of center of gravity at body frame [m] - double mass_kg_; //!< Mass of the satellite [kg] - libra::Matrix<3, 3> inertia_tensor_b_kgm2_; //!< Inertia tensor at body frame [kgm2] - libra::Matrix<3, 3> inertia_tensor_flexible_b_kgm2_{0}; //!< Inertia tensor of the flexible structure at body frame [kgm2] - double damping_ratio_flexible_structure_ = 0; //!< Damping ratio of the flexible structure [] - double intrinsic_angular_velocity_flexible_structure_rad_s_ = 0; //!< Intrinsic angular velocity [rad/s] + libra::Vector<3> center_of_gravity_b_m_; //!< Position vector of center of gravity at body frame [m] + double mass_kg_; //!< Mass of the satellite [kg] + libra::Matrix<3, 3> inertia_tensor_b_kgm2_; //!< Inertia tensor at body frame [kgm2] }; #endif // S2E_SIMULATION_SPACECRAFT_STRUCTURE_KINEMATICS_PARAMETERS_HPP_ From 0965cf75ecdf7980f757429e68775a978c3afda0 Mon Sep 17 00:00:00 2001 From: TomokiMochizuki Date: Sun, 28 Apr 2024 16:05:24 +0900 Subject: [PATCH 201/456] fix small --- .../attitude/attitude_with_cantilever_vibration.cpp | 10 +++++----- .../attitude/attitude_with_cantilever_vibration.hpp | 2 +- 2 files changed, 6 insertions(+), 6 deletions(-) diff --git a/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp b/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp index cbe68cff4..85fae7a19 100644 --- a/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp +++ b/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp @@ -35,7 +35,7 @@ AttitudeWithCantileverVibration::~AttitudeWithCantileverVibration() {} std::string AttitudeWithCantileverVibration::GetLogHeader() const { std::string str_tmp = Attitude::GetLogHeader(); - str_tmp += WriteVector("eular_angular_cantilever", "c", "rad", 3); + str_tmp += WriteVector("euler_angular_cantilever", "c", "rad", 3); str_tmp += WriteVector("angular_velocity_cantilever", "c", "rad/s", 3); return str_tmp; @@ -44,7 +44,7 @@ std::string AttitudeWithCantileverVibration::GetLogHeader() const { std::string AttitudeWithCantileverVibration::GetLogValue() const { std::string str_tmp = Attitude::GetLogValue(); - str_tmp += WriteVector(eular_angular_cantilever_rad_); + str_tmp += WriteVector(euler_angular_cantilever_rad_); str_tmp += WriteVector(angular_velocity_cantilever_rad_s_); return str_tmp; @@ -122,7 +122,7 @@ libra::Vector<13> AttitudeWithCantileverVibration::AttitudeDynamicsAndKinematics libra::Vector<3> angular_accelaration_cantilever_rad_s2 = -(inverse_equivalent_inertia_tensor_cantilever_ * - (attenuateion_coefficient_ * omega_cantilever + spring_coefficient_ * eular_angular_cantilever_rad_)) - + (attenuateion_coefficient_ * omega_cantilever + spring_coefficient_ * euler_angular_cantilever_rad_)) - inverse_inertia_tensor_ * net_torque_b_Nm; libra::Vector<3> rhs = inverse_inertia_tensor_ * (net_torque_b_Nm - inertia_tensor_cantilever_kgm2_ * angular_accelaration_cantilever_rad_s2); @@ -170,7 +170,7 @@ void AttitudeWithCantileverVibration::RungeKuttaOneStep(double t, double dt) { x[i + 6] = quaternion_i2b_[i]; } for (int i = 0; i < 3; i++) { - x[i + 10] = eular_angular_cantilever_rad_[i]; + x[i + 10] = euler_angular_cantilever_rad_[i]; } libra::Vector<13> k1, k2, k3, k4; @@ -200,6 +200,6 @@ void AttitudeWithCantileverVibration::RungeKuttaOneStep(double t, double dt) { } quaternion_i2b_.Normalize(); for (int i = 0; i < 3; i++) { - eular_angular_cantilever_rad_[i] = next_x[i + 10]; + euler_angular_cantilever_rad_[i] = next_x[i + 10]; } } diff --git a/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp b/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp index bded5f89e..577805206 100644 --- a/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp +++ b/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp @@ -74,7 +74,7 @@ class AttitudeWithCantileverVibration : public Attitude { double attenuateion_coefficient_; //!< Attenuation coefficient double spring_coefficient_; //!< Spring coefficient libra::Vector<3> angular_velocity_cantilever_rad_s_; //!< Angular velocity of the cantilever with respect to the body frame [rad/s] - libra::Vector<3> eular_angular_cantilever_rad_; //!< Eular angle of the cantilever with respect to the body frame [rad/s] + libra::Vector<3> euler_angular_cantilever_rad_; //!< Euler angle of the cantilever with respect to the body frame [rad/s] /** * @fn CalcAngularVelocityMatrix From c2cfbce784e0b5884ea82995b333315b687312fc Mon Sep 17 00:00:00 2001 From: TomokiMochizuki Date: Mon, 29 Apr 2024 16:35:40 +0900 Subject: [PATCH 202/456] rename variables and fix algorithm --- .../attitude_with_cantilever_vibration.cpp | 29 ++++++++++--------- 1 file changed, 15 insertions(+), 14 deletions(-) diff --git a/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp b/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp index 85fae7a19..b9d71ce70 100644 --- a/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp +++ b/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp @@ -108,21 +108,27 @@ libra::Vector<13> AttitudeWithCantileverVibration::AttitudeDynamicsAndKinematics libra::Vector<13> dxdt; - libra::Vector<3> omega_b; + libra::Vector<3> omega_b_rad_s; for (int i = 0; i < 3; i++) { - omega_b[i] = x[i]; + omega_b_rad_s[i] = x[i]; } - libra::Vector<3> omega_cantilever; + libra::Vector<3> omega_cantilever_rad_s; for (int i = 0; i < 3; i++) { - omega_cantilever[i] = x[i + 3]; + omega_cantilever_rad_s[i] = x[i + 3]; } - libra::Vector<3> angular_momentum_total_b_Nms = (previous_inertia_tensor_kgm2_ * omega_b) + angular_momentum_reaction_wheel_b_Nms_; - libra::Vector<3> net_torque_b_Nm = torque_b_Nm_ - libra::OuterProduct(omega_b, angular_momentum_total_b_Nms) - torque_inertia_tensor_change_b_Nm_; + libra::Vector<3> euler_angle_cantilever_rad; + for (int i = 0; i < 3; i++) { + euler_angle_cantilever_rad[i] = x[i + 10]; + } + + libra::Vector<3> angular_momentum_total_b_Nms = (previous_inertia_tensor_kgm2_ * omega_b_rad_s) + angular_momentum_reaction_wheel_b_Nms_; + libra::Vector<3> net_torque_b_Nm = + torque_b_Nm_ - libra::OuterProduct(omega_b_rad_s, angular_momentum_total_b_Nms) - torque_inertia_tensor_change_b_Nm_; libra::Vector<3> angular_accelaration_cantilever_rad_s2 = -(inverse_equivalent_inertia_tensor_cantilever_ * - (attenuateion_coefficient_ * omega_cantilever + spring_coefficient_ * euler_angular_cantilever_rad_)) - + (attenuateion_coefficient_ * omega_cantilever_rad_s + spring_coefficient_ * euler_angle_cantilever_rad)) - inverse_inertia_tensor_ * net_torque_b_Nm; libra::Vector<3> rhs = inverse_inertia_tensor_ * (net_torque_b_Nm - inertia_tensor_cantilever_kgm2_ * angular_accelaration_cantilever_rad_s2); @@ -140,19 +146,14 @@ libra::Vector<13> AttitudeWithCantileverVibration::AttitudeDynamicsAndKinematics quaternion_i2b[i] = x[i + 6]; } - libra::Vector<4> d_quaternion = 0.5 * CalcAngularVelocityMatrix(omega_b) * quaternion_i2b; + libra::Vector<4> d_quaternion = 0.5 * CalcAngularVelocityMatrix(omega_b_rad_s) * quaternion_i2b; for (int i = 0; i < 4; i++) { dxdt[i + 6] = d_quaternion[i]; } - libra::Vector<3> euler_angle_cantilever_rad; - for (int i = 0; i < 3; i++) { - euler_angle_cantilever_rad[i] = x[i + 3]; - } - for (int i = 0; i < 3; i++) { - dxdt[i + 10] = euler_angle_cantilever_rad[i]; + dxdt[i + 10] = omega_cantilever_rad_s[i]; } return dxdt; From 1f64ba6c1a916c62b60cd4a8db3bc39584d8bd7c Mon Sep 17 00:00:00 2001 From: TomokiMochizuki Date: Tue, 30 Apr 2024 21:28:09 +0900 Subject: [PATCH 203/456] fix small --- src/dynamics/attitude/attitude_with_cantilever_vibration.cpp | 2 -- src/simulation/spacecraft/structure/kinematics_parameters.cpp | 2 +- 2 files changed, 1 insertion(+), 3 deletions(-) diff --git a/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp b/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp index b9d71ce70..66b8d6d33 100644 --- a/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp +++ b/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp @@ -4,9 +4,7 @@ */ #include "attitude_with_cantilever_vibration.hpp" -#include #include -#include #include AttitudeWithCantileverVibration::AttitudeWithCantileverVibration( diff --git a/src/simulation/spacecraft/structure/kinematics_parameters.cpp b/src/simulation/spacecraft/structure/kinematics_parameters.cpp index 752ed08f1..bd2cc3346 100644 --- a/src/simulation/spacecraft/structure/kinematics_parameters.cpp +++ b/src/simulation/spacecraft/structure/kinematics_parameters.cpp @@ -6,4 +6,4 @@ #include "kinematics_parameters.hpp" KinematicsParameters::KinematicsParameters(libra::Vector<3> center_of_gravity_b_m, double mass_kg, libra::Matrix<3, 3> inertia_tensor_b_kgm2) - : center_of_gravity_b_m_(center_of_gravity_b_m), mass_kg_(mass_kg), inertia_tensor_b_kgm2_(inertia_tensor_b_kgm2) {} + : center_of_gravity_b_m_(center_of_gravity_b_m), mass_kg_(mass_kg), inertia_tensor_b_kgm2_(inertia_tensor_b_kgm2) {} \ No newline at end of file From c2f09e9ec3753664775050ed19afd26235b548a3 Mon Sep 17 00:00:00 2001 From: TomokiMochizuki Date: Wed, 22 May 2024 10:21:35 +0900 Subject: [PATCH 204/456] move function CalcAngularVelocityMatrix --- src/dynamics/attitude/attitude.cpp | 23 +++++++++++++++++++ src/dynamics/attitude/attitude.hpp | 17 ++++++++++---- src/dynamics/attitude/attitude_rk4.cpp | 23 ------------------- src/dynamics/attitude/attitude_rk4.hpp | 6 ----- .../attitude_with_cantilever_vibration.cpp | 23 ------------------- .../attitude_with_cantilever_vibration.hpp | 6 ----- 6 files changed, 35 insertions(+), 63 deletions(-) diff --git a/src/dynamics/attitude/attitude.cpp b/src/dynamics/attitude/attitude.cpp index fa73b6c98..943111e10 100644 --- a/src/dynamics/attitude/attitude.cpp +++ b/src/dynamics/attitude/attitude.cpp @@ -56,3 +56,26 @@ void Attitude::CalcAngularMomentum(void) { kinetic_energy_J_ = 0.5 * libra::InnerProduct(angular_momentum_spacecraft_b_Nms_, angular_velocity_b_rad_s_); } + +libra::Matrix<4, 4> Attitude::CalcAngularVelocityMatrix(libra::Vector<3> angular_velocity_b_rad_s) { + libra::Matrix<4, 4> angular_velocity_matrix; + + angular_velocity_matrix[0][0] = 0.0f; + angular_velocity_matrix[0][1] = angular_velocity_b_rad_s[2]; + angular_velocity_matrix[0][2] = -angular_velocity_b_rad_s[1]; + angular_velocity_matrix[0][3] = angular_velocity_b_rad_s[0]; + angular_velocity_matrix[1][0] = -angular_velocity_b_rad_s[2]; + angular_velocity_matrix[1][1] = 0.0f; + angular_velocity_matrix[1][2] = angular_velocity_b_rad_s[0]; + angular_velocity_matrix[1][3] = angular_velocity_b_rad_s[1]; + angular_velocity_matrix[2][0] = angular_velocity_b_rad_s[1]; + angular_velocity_matrix[2][1] = -angular_velocity_b_rad_s[0]; + angular_velocity_matrix[2][2] = 0.0f; + angular_velocity_matrix[2][3] = angular_velocity_b_rad_s[2]; + angular_velocity_matrix[3][0] = -angular_velocity_b_rad_s[0]; + angular_velocity_matrix[3][1] = -angular_velocity_b_rad_s[1]; + angular_velocity_matrix[3][2] = -angular_velocity_b_rad_s[2]; + angular_velocity_matrix[3][3] = 0.0f; + + return angular_velocity_matrix; +} diff --git a/src/dynamics/attitude/attitude.hpp b/src/dynamics/attitude/attitude.hpp index 54f63def9..28ae9fb82 100644 --- a/src/dynamics/attitude/attitude.hpp +++ b/src/dynamics/attitude/attitude.hpp @@ -114,11 +114,11 @@ class Attitude : public ILoggable, public SimulationObject { virtual void SetParameters(const MonteCarloSimulationExecutor& mc_simulator); protected: - bool is_calc_enabled_ = true; //!< Calculation flag - double propagation_step_s_; //!< Propagation step [sec] - libra::Vector<3> angular_velocity_b_rad_s_; //!< Angular velocity of spacecraft body fixed frame with respect to the inertial frame [rad/s] - libra::Quaternion quaternion_i2b_; //!< Attitude quaternion from the inertial frame to the body fixed frame - libra::Vector<3> torque_b_Nm_; //!< Torque in the body fixed frame [Nm] + bool is_calc_enabled_ = true; //!< Calculation flag + double propagation_step_s_; //!< Propagation step [sec] + libra::Vector<3> angular_velocity_b_rad_s_; //!< Angular velocity of spacecraft body fixed frame with respect to the inertial frame [rad/s] + libra::Quaternion quaternion_i2b_; //!< Attitude quaternion from the inertial frame to the body fixed frame + libra::Vector<3> torque_b_Nm_; //!< Torque in the body fixed frame [Nm] const libra::Matrix<3, 3>& inertia_tensor_kgm2_; //!< Inertia tensor of the spacecraft [kg m^2] @@ -134,6 +134,13 @@ class Attitude : public ILoggable, public SimulationObject { * @brief Calculate angular momentum */ void CalcAngularMomentum(void); + + /** + * @fn CalcAngularVelocityMatrix + * @brief Generate angular velocity matrix for kinematics calculation + * @param [in] angular_velocity_b_rad_s: Angular velocity [rad/s] + */ + libra::Matrix<4, 4> CalcAngularVelocityMatrix(libra::Vector<3> angular_velocity_b_rad_s); }; #endif // S2E_DYNAMICS_ATTITUDE_ATTITUDE_HPP_ diff --git a/src/dynamics/attitude/attitude_rk4.cpp b/src/dynamics/attitude/attitude_rk4.cpp index 669b3b61c..1c2b9c838 100644 --- a/src/dynamics/attitude/attitude_rk4.cpp +++ b/src/dynamics/attitude/attitude_rk4.cpp @@ -56,29 +56,6 @@ void AttitudeRk4::Propagate(const double end_time_s) { CalcAngularMomentum(); } -libra::Matrix<4, 4> AttitudeRk4::CalcAngularVelocityMatrix(libra::Vector<3> angular_velocity_b_rad_s) { - libra::Matrix<4, 4> angular_velocity_matrix; - - angular_velocity_matrix[0][0] = 0.0f; - angular_velocity_matrix[0][1] = angular_velocity_b_rad_s[2]; - angular_velocity_matrix[0][2] = -angular_velocity_b_rad_s[1]; - angular_velocity_matrix[0][3] = angular_velocity_b_rad_s[0]; - angular_velocity_matrix[1][0] = -angular_velocity_b_rad_s[2]; - angular_velocity_matrix[1][1] = 0.0f; - angular_velocity_matrix[1][2] = angular_velocity_b_rad_s[0]; - angular_velocity_matrix[1][3] = angular_velocity_b_rad_s[1]; - angular_velocity_matrix[2][0] = angular_velocity_b_rad_s[1]; - angular_velocity_matrix[2][1] = -angular_velocity_b_rad_s[0]; - angular_velocity_matrix[2][2] = 0.0f; - angular_velocity_matrix[2][3] = angular_velocity_b_rad_s[2]; - angular_velocity_matrix[3][0] = -angular_velocity_b_rad_s[0]; - angular_velocity_matrix[3][1] = -angular_velocity_b_rad_s[1]; - angular_velocity_matrix[3][2] = -angular_velocity_b_rad_s[2]; - angular_velocity_matrix[3][3] = 0.0f; - - return angular_velocity_matrix; -} - libra::Vector<7> AttitudeRk4::AttitudeDynamicsAndKinematics(libra::Vector<7> x, double t) { UNUSED(t); diff --git a/src/dynamics/attitude/attitude_rk4.hpp b/src/dynamics/attitude/attitude_rk4.hpp index 58e09a703..2b754cbc7 100644 --- a/src/dynamics/attitude/attitude_rk4.hpp +++ b/src/dynamics/attitude/attitude_rk4.hpp @@ -53,12 +53,6 @@ class AttitudeRk4 : public Attitude { libra::Matrix<3, 3> previous_inertia_tensor_kgm2_; //!< Previous inertia tensor [kgm2] libra::Vector<3> torque_inertia_tensor_change_b_Nm_; //!< Torque generated by inertia tensor change [Nm] - /** - * @fn CalcAngularVelocityMatrix - * @brief Generate angular velocity matrix for kinematics calculation - * @param [in] angular_velocity_b_rad_s: Angular velocity [rad/s] - */ - libra::Matrix<4, 4> CalcAngularVelocityMatrix(libra::Vector<3> angular_velocity_b_rad_s); /** * @fn AttitudeDynamicsAndKinematics * @brief Dynamics equation with kinematics diff --git a/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp b/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp index 66b8d6d33..cfd6af30e 100644 --- a/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp +++ b/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp @@ -78,29 +78,6 @@ void AttitudeWithCantileverVibration::Propagate(const double end_time_s) { CalcAngularMomentum(); } -libra::Matrix<4, 4> AttitudeWithCantileverVibration::CalcAngularVelocityMatrix(libra::Vector<3> angular_velocity_b_rad_s) { - libra::Matrix<4, 4> angular_velocity_matrix; - - angular_velocity_matrix[0][0] = 0.0f; - angular_velocity_matrix[0][1] = angular_velocity_b_rad_s[2]; - angular_velocity_matrix[0][2] = -angular_velocity_b_rad_s[1]; - angular_velocity_matrix[0][3] = angular_velocity_b_rad_s[0]; - angular_velocity_matrix[1][0] = -angular_velocity_b_rad_s[2]; - angular_velocity_matrix[1][1] = 0.0f; - angular_velocity_matrix[1][2] = angular_velocity_b_rad_s[0]; - angular_velocity_matrix[1][3] = angular_velocity_b_rad_s[1]; - angular_velocity_matrix[2][0] = angular_velocity_b_rad_s[1]; - angular_velocity_matrix[2][1] = -angular_velocity_b_rad_s[0]; - angular_velocity_matrix[2][2] = 0.0f; - angular_velocity_matrix[2][3] = angular_velocity_b_rad_s[2]; - angular_velocity_matrix[3][0] = -angular_velocity_b_rad_s[0]; - angular_velocity_matrix[3][1] = -angular_velocity_b_rad_s[1]; - angular_velocity_matrix[3][2] = -angular_velocity_b_rad_s[2]; - angular_velocity_matrix[3][3] = 0.0f; - - return angular_velocity_matrix; -} - libra::Vector<13> AttitudeWithCantileverVibration::AttitudeDynamicsAndKinematics(libra::Vector<13> x, double t) { UNUSED(t); diff --git a/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp b/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp index 577805206..fe5e9b8cd 100644 --- a/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp +++ b/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp @@ -76,12 +76,6 @@ class AttitudeWithCantileverVibration : public Attitude { libra::Vector<3> angular_velocity_cantilever_rad_s_; //!< Angular velocity of the cantilever with respect to the body frame [rad/s] libra::Vector<3> euler_angular_cantilever_rad_; //!< Euler angle of the cantilever with respect to the body frame [rad/s] - /** - * @fn CalcAngularVelocityMatrix - * @brief Generate angular velocity matrix for kinematics calculation - * @param [in] angular_velocity_b_rad_s: Angular velocity [rad/s] - */ - libra::Matrix<4, 4> CalcAngularVelocityMatrix(libra::Vector<3> angular_velocity_b_rad_s); /** * @fn AttitudeDynamicsAndKinematics * @brief Dynamics equation with kinematics From 00efcf3ded8a2199f34a02e8e5b430a8f2dc829b Mon Sep 17 00:00:00 2001 From: TomokiMochizuki Date: Wed, 5 Jun 2024 16:53:41 +0900 Subject: [PATCH 205/456] [update] use the library libra::numerical_integrator --- src/dynamics/attitude/attitude.cpp | 2 +- src/dynamics/attitude/attitude.hpp | 14 +- .../attitude_with_cantilever_vibration.cpp | 123 +++++---------- .../attitude_with_cantilever_vibration.hpp | 44 ++++-- ...ode_attitude_with_cantilever_vibration.hpp | 147 ++++++++++++++++++ 5 files changed, 224 insertions(+), 106 deletions(-) create mode 100644 src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp diff --git a/src/dynamics/attitude/attitude.cpp b/src/dynamics/attitude/attitude.cpp index 943111e10..505f081c9 100644 --- a/src/dynamics/attitude/attitude.cpp +++ b/src/dynamics/attitude/attitude.cpp @@ -57,7 +57,7 @@ void Attitude::CalcAngularMomentum(void) { kinetic_energy_J_ = 0.5 * libra::InnerProduct(angular_momentum_spacecraft_b_Nms_, angular_velocity_b_rad_s_); } -libra::Matrix<4, 4> Attitude::CalcAngularVelocityMatrix(libra::Vector<3> angular_velocity_b_rad_s) { +libra::Matrix<4, 4> CalcAngularVelocityMatrix(libra::Vector<3> angular_velocity_b_rad_s) { libra::Matrix<4, 4> angular_velocity_matrix; angular_velocity_matrix[0][0] = 0.0f; diff --git a/src/dynamics/attitude/attitude.hpp b/src/dynamics/attitude/attitude.hpp index 28ae9fb82..b17a92162 100644 --- a/src/dynamics/attitude/attitude.hpp +++ b/src/dynamics/attitude/attitude.hpp @@ -134,13 +134,13 @@ class Attitude : public ILoggable, public SimulationObject { * @brief Calculate angular momentum */ void CalcAngularMomentum(void); - - /** - * @fn CalcAngularVelocityMatrix - * @brief Generate angular velocity matrix for kinematics calculation - * @param [in] angular_velocity_b_rad_s: Angular velocity [rad/s] - */ - libra::Matrix<4, 4> CalcAngularVelocityMatrix(libra::Vector<3> angular_velocity_b_rad_s); }; +/** + * @fn CalcAngularVelocityMatrix + * @brief Generate angular velocity matrix for kinematics calculation + * @param [in] angular_velocity_b_rad_s: Angular velocity [rad/s] + */ +libra::Matrix<4, 4> CalcAngularVelocityMatrix(libra::Vector<3> angular_velocity_b_rad_s); + #endif // S2E_DYNAMICS_ATTITUDE_ATTITUDE_HPP_ diff --git a/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp b/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp index cfd6af30e..1ec339e0f 100644 --- a/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp +++ b/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp @@ -5,6 +5,7 @@ #include "attitude_with_cantilever_vibration.hpp" #include +#include #include AttitudeWithCantileverVibration::AttitudeWithCantileverVibration( @@ -12,7 +13,8 @@ AttitudeWithCantileverVibration::AttitudeWithCantileverVibration( const libra::Matrix<3, 3>& inertia_tensor_cantilever_kgm2, const double damping_ratio_cantilever, const double intrinsic_angular_velocity_cantilever_rad_s, const libra::Vector<3>& torque_b_Nm, const double propagation_step_s, const std::string& simulation_object_name) - : Attitude(inertia_tensor_kgm2, simulation_object_name) { + : Attitude(inertia_tensor_kgm2, simulation_object_name), + numerical_integrator_(propagation_step_s, attitude_ode_, libra::numerical_integration::NumericalIntegrationMethod::kRk4) { angular_velocity_b_rad_s_ = angular_velocity_b_rad_s; quaternion_i2b_ = quaternion_i2b; torque_b_Nm_ = torque_b_Nm; @@ -21,11 +23,12 @@ AttitudeWithCantileverVibration::AttitudeWithCantileverVibration( angular_momentum_reaction_wheel_b_Nms_ = libra::Vector<3>(0.0); previous_inertia_tensor_kgm2_ = inertia_tensor_kgm2_; inertia_tensor_cantilever_kgm2_ = inertia_tensor_cantilever_kgm2; - attenuateion_coefficient_ = 2 * damping_ratio_cantilever * intrinsic_angular_velocity_cantilever_rad_s; + attenuation_coefficient_ = 2 * damping_ratio_cantilever * intrinsic_angular_velocity_cantilever_rad_s; spring_coefficient_ = pow(intrinsic_angular_velocity_cantilever_rad_s, 2.0); inverse_inertia_tensor_ = CalcInverseMatrix(inertia_tensor_kgm2_); inverse_equivalent_inertia_tensor_cantilever_ = CalcInverseMatrix(inertia_tensor_kgm2_ - inertia_tensor_cantilever_kgm2_) * inertia_tensor_kgm2_; CalcAngularMomentum(); + SetOdeParameters(); } AttitudeWithCantileverVibration::~AttitudeWithCantileverVibration() {} @@ -58,19 +61,36 @@ void AttitudeWithCantileverVibration::SetParameters(const MonteCarloSimulationEx CalcAngularMomentum(); } +void AttitudeWithCantileverVibration::SetOdeParameters() { + attitude_ode_.SetAttenuationCoefficient(attenuation_coefficient_); + attitude_ode_.SetSpringCoefficient(spring_coefficient_); + attitude_ode_.SetTorque_b_Nm(torque_b_Nm_); + attitude_ode_.SetTorqueInertiaTensor_b_Nm(torque_inertia_tensor_b_Nm_); + attitude_ode_.SetAngularMomentumReactionWheel_b_Nms(angular_momentum_reaction_wheel_b_Nms_); + attitude_ode_.SetInverseInertiaTensor(inverse_inertia_tensor_); + attitude_ode_.SetPreviousInertiaTensor_kgm2(previous_inertia_tensor_kgm2_); + attitude_ode_.SetInertiaTensorCantilever_kgm2(inertia_tensor_cantilever_kgm2_); + attitude_ode_.SetInverseEquivalentInertiaTensorCantilever(inverse_equivalent_inertia_tensor_cantilever_); +} + void AttitudeWithCantileverVibration::Propagate(const double end_time_s) { if (!is_calc_enabled_) return; libra::Matrix<3, 3> dot_inertia_tensor = (1.0 / (end_time_s - current_propagation_time_s_)) * (inertia_tensor_kgm2_ - previous_inertia_tensor_kgm2_); - torque_inertia_tensor_change_b_Nm_ = dot_inertia_tensor * angular_velocity_b_rad_s_; + torque_inertia_tensor_b_Nm_ = dot_inertia_tensor * angular_velocity_b_rad_s_; inverse_inertia_tensor_ = CalcInverseMatrix(inertia_tensor_kgm2_); + SetOdeParameters(); + libra::Vector<13> state = SetStateFromPhysicalQuantities(); + numerical_integrator_.GetIntegrator()->SetState(propagation_step_s_, state); while (end_time_s - current_propagation_time_s_ - propagation_step_s_ > 1.0e-6) { - RungeKuttaOneStep(current_propagation_time_s_, propagation_step_s_); + numerical_integrator_.GetIntegrator()->Integrate(); current_propagation_time_s_ += propagation_step_s_; } - RungeKuttaOneStep(current_propagation_time_s_, end_time_s - current_propagation_time_s_); + numerical_integrator_.GetIntegrator()->SetState(end_time_s - current_propagation_time_s_, numerical_integrator_.GetIntegrator()->GetState()); + numerical_integrator_.GetIntegrator()->Integrate(); + SetPhysicalQuantitiesFromState(numerical_integrator_.GetIntegrator()->GetState()); // Update information current_propagation_time_s_ = end_time_s; @@ -78,104 +98,35 @@ void AttitudeWithCantileverVibration::Propagate(const double end_time_s) { CalcAngularMomentum(); } -libra::Vector<13> AttitudeWithCantileverVibration::AttitudeDynamicsAndKinematics(libra::Vector<13> x, double t) { - UNUSED(t); - - libra::Vector<13> dxdt; - - libra::Vector<3> omega_b_rad_s; - for (int i = 0; i < 3; i++) { - omega_b_rad_s[i] = x[i]; - } - libra::Vector<3> omega_cantilever_rad_s; +libra::Vector<13> AttitudeWithCantileverVibration::SetStateFromPhysicalQuantities() { + libra::Vector<13> state; for (int i = 0; i < 3; i++) { - omega_cantilever_rad_s[i] = x[i + 3]; + state[i] = angular_velocity_b_rad_s_[i]; } - - libra::Vector<3> euler_angle_cantilever_rad; for (int i = 0; i < 3; i++) { - euler_angle_cantilever_rad[i] = x[i + 10]; + state[i + 3] = angular_velocity_cantilever_rad_s_[i]; } - - libra::Vector<3> angular_momentum_total_b_Nms = (previous_inertia_tensor_kgm2_ * omega_b_rad_s) + angular_momentum_reaction_wheel_b_Nms_; - libra::Vector<3> net_torque_b_Nm = - torque_b_Nm_ - libra::OuterProduct(omega_b_rad_s, angular_momentum_total_b_Nms) - torque_inertia_tensor_change_b_Nm_; - - libra::Vector<3> angular_accelaration_cantilever_rad_s2 = - -(inverse_equivalent_inertia_tensor_cantilever_ * - (attenuateion_coefficient_ * omega_cantilever_rad_s + spring_coefficient_ * euler_angle_cantilever_rad)) - - inverse_inertia_tensor_ * net_torque_b_Nm; - - libra::Vector<3> rhs = inverse_inertia_tensor_ * (net_torque_b_Nm - inertia_tensor_cantilever_kgm2_ * angular_accelaration_cantilever_rad_s2); - - for (int i = 0; i < 3; ++i) { - dxdt[i] = rhs[i]; - } - - for (int i = 0; i < 3; i++) { - dxdt[i + 3] = angular_accelaration_cantilever_rad_s2[i]; - } - - libra::Vector<4> quaternion_i2b; for (int i = 0; i < 4; i++) { - quaternion_i2b[i] = x[i + 6]; + state[i + 6] = quaternion_i2b_[i]; } - - libra::Vector<4> d_quaternion = 0.5 * CalcAngularVelocityMatrix(omega_b_rad_s) * quaternion_i2b; - - for (int i = 0; i < 4; i++) { - dxdt[i + 6] = d_quaternion[i]; - } - for (int i = 0; i < 3; i++) { - dxdt[i + 10] = omega_cantilever_rad_s[i]; + state[i + 10] = euler_angular_cantilever_rad_[i]; } - - return dxdt; + return state; } -void AttitudeWithCantileverVibration::RungeKuttaOneStep(double t, double dt) { - libra::Vector<13> x; - for (int i = 0; i < 3; i++) { - x[i] = angular_velocity_b_rad_s_[i]; - } - for (int i = 0; i < 3; i++) { - x[i + 3] = angular_velocity_cantilever_rad_s_[i]; - } - for (int i = 0; i < 4; i++) { - x[i + 6] = quaternion_i2b_[i]; - } - for (int i = 0; i < 3; i++) { - x[i + 10] = euler_angular_cantilever_rad_[i]; - } - - libra::Vector<13> k1, k2, k3, k4; - libra::Vector<13> xk2, xk3, xk4; - - k1 = AttitudeDynamicsAndKinematics(x, t); - xk2 = x + (dt / 2.0) * k1; - - k2 = AttitudeDynamicsAndKinematics(xk2, (t + dt / 2.0)); - xk3 = x + (dt / 2.0) * k2; - - k3 = AttitudeDynamicsAndKinematics(xk3, (t + dt / 2.0)); - xk4 = x + dt * k3; - - k4 = AttitudeDynamicsAndKinematics(xk4, (t + dt)); - - libra::Vector<13> next_x = x + (dt / 6.0) * (k1 + 2.0 * k2 + 2.0 * k3 + k4); - +void AttitudeWithCantileverVibration::SetPhysicalQuantitiesFromState(libra::Vector<13> state) { for (int i = 0; i < 3; i++) { - angular_velocity_b_rad_s_[i] = next_x[i]; + angular_velocity_b_rad_s_[i] = state[i]; } for (int i = 0; i < 3; i++) { - angular_velocity_cantilever_rad_s_[i] = next_x[i + 3]; + angular_velocity_cantilever_rad_s_[i] = state[i + 3]; } for (int i = 0; i < 4; i++) { - quaternion_i2b_[i] = next_x[i + 6]; + quaternion_i2b_[i] = state[i + 6]; } quaternion_i2b_.Normalize(); for (int i = 0; i < 3; i++) { - euler_angular_cantilever_rad_[i] = next_x[i + 10]; + euler_angular_cantilever_rad_[i] = state[i + 10]; } } diff --git a/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp b/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp index fe5e9b8cd..8b01c0fb4 100644 --- a/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp +++ b/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp @@ -6,7 +6,11 @@ #ifndef S2E_DYNAMICS_ATTITUDE_ATTITUDE_WITH_CANTILEVER_VIBRATION_HPP_ #define S2E_DYNAMICS_ATTITUDE_ATTITUDE_WITH_CANTILEVER_VIBRATION_HPP_ +#include +#include + #include "attitude.hpp" +#include "ode_attitude_with_cantilever_vibration.hpp" /** * @class AttitudeWithCantileverVibration @@ -56,6 +60,16 @@ class AttitudeWithCantileverVibration : public Attitude { * @brief Override GetLogValue function of ILoggable */ virtual std::string GetLogValue() const; + /** + * @fn GetPreviousInertiaTensor_b_kgm2 + * @brief Return previous inertia tensor [kg m^2] + */ + inline libra::Matrix<3, 3> GetPreviousInertiaTensor_b_kgm2() const { return previous_inertia_tensor_kgm2_; } + /** + * @fn GetTorqueInertiaTensor_b_Nm + * @brief Return torque generated by inertia tensor [Nm] + */ + inline libra::Vector<3> GetTorqueInertiaTensor_b_Nm() const { return torque_inertia_tensor_b_Nm_; } /** * @fn SetParameters @@ -64,32 +78,38 @@ class AttitudeWithCantileverVibration : public Attitude { */ virtual void SetParameters(const MonteCarloSimulationExecutor& mc_simulator); + /** + * @fn SetOdeParameters + * @brief Set parameters for ordinary differential equations + */ + void SetOdeParameters(); + private: double current_propagation_time_s_; //!< current time [sec] libra::Matrix<3, 3> inverse_inertia_tensor_; //!< Inverse of inertia tensor libra::Matrix<3, 3> previous_inertia_tensor_kgm2_; //!< Previous inertia tensor [kgm2] - libra::Vector<3> torque_inertia_tensor_change_b_Nm_; //!< Torque generated by inertia tensor change [Nm] + libra::Vector<3> torque_inertia_tensor_b_Nm_; //!< Torque generated by inertia tensor [Nm] libra::Matrix<3, 3> inertia_tensor_cantilever_kgm2_; //!< Inertia tensor of the cantilever [kgm2] libra::Matrix<3, 3> inverse_equivalent_inertia_tensor_cantilever_; //!< Inverse of inertia tensor of the cantilever - double attenuateion_coefficient_; //!< Attenuation coefficient + double attenuation_coefficient_; //!< Attenuation coefficient double spring_coefficient_; //!< Spring coefficient libra::Vector<3> angular_velocity_cantilever_rad_s_; //!< Angular velocity of the cantilever with respect to the body frame [rad/s] libra::Vector<3> euler_angular_cantilever_rad_; //!< Euler angle of the cantilever with respect to the body frame [rad/s] + libra::numerical_integration::AttitudeWithCantileverVibrationOde attitude_ode_; + libra::numerical_integration::NumericalIntegratorManager<13> numerical_integrator_; + /** - * @fn AttitudeDynamicsAndKinematics - * @brief Dynamics equation with kinematics - * @param [in] x: State vector (angular velocity and quaternion) - * @param [in] t: Unused TODO: remove? + * @fn SetStateFromPhysicalQuantities + * @brief Set state for calculating the ordinary differential equation from physical quantities */ - libra::Vector<13> AttitudeDynamicsAndKinematics(libra::Vector<13> x, double t); + libra::Vector<13> SetStateFromPhysicalQuantities(); + /** - * @fn RungeKuttaOneStep - * @brief Equation for one step of Runge-Kutta method - * @param [in] t: Unused TODO: remove? - * @param [in] dt: Step width [sec] + * @fn SetPhysicalQuantitiesFromState + * @brief Set physical quantities from state acquired by calculation of the ordinary differential equation */ - void RungeKuttaOneStep(double t, double dt); + void SetPhysicalQuantitiesFromState(libra::Vector<13> state); }; #endif // S2E_DYNAMICS_ATTITUDE_ATTITUDE_WITH_CANTILEVER_VIBRATION_HPP_ diff --git a/src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp b/src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp new file mode 100644 index 000000000..ce428057b --- /dev/null +++ b/src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp @@ -0,0 +1,147 @@ +/** + * @file ode_attitude.hpp + * @brief Class to implement Ordinary Differential Equations for Attitude + */ + +#ifndef S2E_DYNAMICS_ATTITUDE_ODE_ATTITUDE_HPP_ +#define S2E_DYNAMICS_ATTITUDE_ODE_ATTITUDE_HPP_ + +#include +#include + +#include "attitude.hpp" + +namespace libra::numerical_integration { +/** + * @class AttitudeWithCantileverVibrationOde + * @brief Class to implement Ordinary Differential Equations for Attitude with Cantilever Vibration + */ +class AttitudeWithCantileverVibrationOde : public InterfaceOde<13> { + public: + Vector<13> DerivativeFunction(const double time_s, const Vector<13>& state) const override { + UNUSED(time_s); + + libra::Vector<13> output; + + libra::Vector<3> omega_b_rad_s; + for (int i = 0; i < 3; i++) { + omega_b_rad_s[i] = state[i]; + } + libra::Vector<3> omega_cantilever_rad_s; + for (int i = 0; i < 3; i++) { + omega_cantilever_rad_s[i] = state[i + 3]; + } + + libra::Vector<3> euler_angle_cantilever_rad; + for (int i = 0; i < 3; i++) { + euler_angle_cantilever_rad[i] = state[i + 10]; + } + + libra::Vector<3> angular_momentum_total_b_Nms = (previous_inertia_tensor_kgm2_ * omega_b_rad_s) + angular_momentum_reaction_wheel_b_Nms_; + libra::Vector<3> net_torque_b_Nm = torque_b_Nm_ - libra::OuterProduct(omega_b_rad_s, angular_momentum_total_b_Nms) - torque_inertia_tensor_b_Nm_; + + libra::Vector<3> angular_accelaration_cantilever_rad_s2 = + -(inverse_equivalent_inertia_tensor_cantilever_ * + (attenuation_coefficient_ * omega_cantilever_rad_s + spring_coefficient_ * euler_angle_cantilever_rad)) - + inverse_inertia_tensor_ * net_torque_b_Nm; + + libra::Vector<3> rhs = inverse_inertia_tensor_ * (net_torque_b_Nm - inertia_tensor_cantilever_kgm2_ * angular_accelaration_cantilever_rad_s2); + + for (int i = 0; i < 3; ++i) { + output[i] = rhs[i]; + } + + for (int i = 0; i < 3; i++) { + output[i + 3] = angular_accelaration_cantilever_rad_s2[i]; + } + + libra::Vector<4> quaternion_i2b; + for (int i = 0; i < 4; i++) { + quaternion_i2b[i] = state[i + 6]; + } + + libra::Vector<4> d_quaternion = 0.5 * CalcAngularVelocityMatrix(omega_b_rad_s) * quaternion_i2b; + + for (int i = 0; i < 4; i++) { + output[i + 6] = d_quaternion[i]; + } + + for (int i = 0; i < 3; i++) { + output[i + 10] = omega_cantilever_rad_s[i]; + } + + return output; + } + + // Setter + /** + * @fn SetAttenuationCoefficient + * @brief Set attenuation coefficient + */ + inline void SetAttenuationCoefficient(const double attenuation_coefficient) { attenuation_coefficient_ = attenuation_coefficient; } + /** + * @fn SetSpringCoefficient + * @brief Set spring coefficient + */ + inline void SetSpringCoefficient(const double spring_coefficient) { spring_coefficient_ = spring_coefficient; } + /** + * @fn SetTorque_b_Nm + * @brief Set torque acting on the spacecraft on the body fixed frame [Nm] + */ + inline void SetTorque_b_Nm(const libra::Vector<3> torque_b_Nm) { torque_b_Nm_ = torque_b_Nm; } + /** + * @fn SetTorqueInertiaTensor_b_Nm + * @brief Set torque generated by inertia tensor [Nm] + */ + inline void SetTorqueInertiaTensor_b_Nm(const libra::Vector<3> torque_inertia_tensor_b_Nm) { + torque_inertia_tensor_b_Nm_ = torque_inertia_tensor_b_Nm; + } + /** + * @fn SetAngularMomentumReactionWheel_b_Nms + * @brief Set angular momentum of reaction wheel in the body fixed frame [Nms] + */ + inline void SetAngularMomentumReactionWheel_b_Nms(const libra::Vector<3> angular_momentum_reaction_wheel_b_Nms) { + angular_momentum_reaction_wheel_b_Nms_ = angular_momentum_reaction_wheel_b_Nms; + } + /** + * @fn SetInverseInertiaTensor + * @brief Set inverse of inertia tensor + */ + inline void SetInverseInertiaTensor(const libra::Matrix<3, 3> inverse_inertia_tensor) { inverse_inertia_tensor_ = inverse_inertia_tensor; } + /** + * @fn SetPreviousInertiaTensor_kgm2 + * @brief Set previous inertia tensor [kgm2] + */ + inline void SetPreviousInertiaTensor_kgm2(const libra::Matrix<3, 3> previous_inertia_tensor_kgm2) { + previous_inertia_tensor_kgm2_ = previous_inertia_tensor_kgm2; + } + /** + * @fn SetInertiaTensorCantilever_kgm2 + * @brief Set inertia tensor of the cantilever [kgm2] + */ + inline void SetInertiaTensorCantilever_kgm2(const libra::Matrix<3, 3> inertia_tensor_cantilever_kgm2) { + inertia_tensor_cantilever_kgm2_ = inertia_tensor_cantilever_kgm2; + } + /** + * @fn SetInverseEquivalentInertiaTensorCantilever + * @brief Set inverse of inertia tensor of the cantilever + */ + inline void SetInverseEquivalentInertiaTensorCantilever(const libra::Matrix<3, 3> inverse_equivalent_inertia_tensor_cantilever) { + inverse_equivalent_inertia_tensor_cantilever_ = inverse_equivalent_inertia_tensor_cantilever; + } + + protected: + double attenuation_coefficient_ = 0.0; //!< Attenuation coefficient + double spring_coefficient_ = 0.0; //!< Spring coefficient + libra::Vector<3> torque_b_Nm_{0.0}; //!< Torque in the body fixed frame [Nm] + libra::Vector<3> torque_inertia_tensor_b_Nm_{0.0}; //!< Torque generated by inertia tensor [Nm] + libra::Vector<3> angular_momentum_reaction_wheel_b_Nms_{0.0}; //!< Angular momentum of reaction wheel in the body fixed frame [Nms] + libra::Matrix<3, 3> inverse_inertia_tensor_{0.0}; //!< Inverse of inertia tensor + libra::Matrix<3, 3> previous_inertia_tensor_kgm2_{0.0}; //!< Previous inertia tensor [kgm2] + libra::Matrix<3, 3> inertia_tensor_cantilever_kgm2_{0.0}; //!< Inertia tensor of the cantilever [kgm2] + libra::Matrix<3, 3> inverse_equivalent_inertia_tensor_cantilever_{0.0}; //!< Inverse of inertia tensor of the cantilever +}; + +} // namespace libra::numerical_integration + +#endif // S2E_DYNAMICS_ATTITUDE_ODE_ATTITUDE_HPP_ From 1e0939aeccbb1c68bef9cfc7b5f8ace8c2f72afb Mon Sep 17 00:00:00 2001 From: TomokiMochizuki Date: Wed, 5 Jun 2024 16:57:18 +0900 Subject: [PATCH 206/456] remove unnecessary includes --- src/dynamics/attitude/attitude_with_cantilever_vibration.cpp | 1 - 1 file changed, 1 deletion(-) diff --git a/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp b/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp index 1ec339e0f..b2792dc80 100644 --- a/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp +++ b/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp @@ -5,7 +5,6 @@ #include "attitude_with_cantilever_vibration.hpp" #include -#include #include AttitudeWithCantileverVibration::AttitudeWithCantileverVibration( From 190c37b07102dccc214b7487f746d98392ae4c74 Mon Sep 17 00:00:00 2001 From: TomokiMochizuki Date: Wed, 5 Jun 2024 18:23:56 +0900 Subject: [PATCH 207/456] add python script --- scripts/Plot/plot_euler_angle_observer.py | 75 +++++++++++++++++++++++ 1 file changed, 75 insertions(+) create mode 100644 scripts/Plot/plot_euler_angle_observer.py diff --git a/scripts/Plot/plot_euler_angle_observer.py b/scripts/Plot/plot_euler_angle_observer.py new file mode 100644 index 000000000..554579786 --- /dev/null +++ b/scripts/Plot/plot_euler_angle_observer.py @@ -0,0 +1,75 @@ +# +# Plot Angular Velocity Observer +# +# arg[1] : read_file_tag : time tag for default CSV output log file. ex. 220627_142946 +# + +# +# Import +# +# plots +import matplotlib.pyplot as plt +# local function +from common import find_latest_log_tag +from common import add_log_file_arguments +from common import read_3d_vector_from_csv +from common import read_scalar_from_csv +# arguments +import argparse + +# Arguments +aparser = argparse.ArgumentParser() +aparser = add_log_file_arguments(aparser) +aparser.add_argument('--no-gui', action='store_true') +args = aparser.parse_args() + +# +# Read Arguments +# +# log file path +path_to_logs = args.logs_dir + +read_file_tag = args.file_tag +if read_file_tag == None: + print("file tag does not found. use latest.") + read_file_tag = find_latest_log_tag(path_to_logs) + +print("log: " + read_file_tag) + +# +# CSV file name +# +read_file_name = path_to_logs + '/' + 'logs_' + read_file_tag + '/' + read_file_tag + '_default.csv' + +# +# Data read and edit +# +# Read S2E CSV +time = read_scalar_from_csv(read_file_name, 'elapsed_time[s]') + +euler_angle_cantilever_rad = read_3d_vector_from_csv(read_file_name, 'euler_angular_cantilever_c', 'rad') + +# +# Plot +# +unit = ' rad' + +fig, axis = plt.subplots(3, 1, squeeze = False, tight_layout = True, sharex = True) +axis[0, 0].plot(time[0][0:1200], euler_angle_cantilever_rad[0][0:1200], c="orange", label="TRUE-X") +axis[0, 0].legend(loc = 'upper right') + +axis[1, 0].plot(time[0][0:1200], euler_angle_cantilever_rad[1][0:1200], c="green", label="TRUE-Y") +axis[1, 0].legend(loc = 'upper right') + +axis[2, 0].plot(time[0][0:1200], euler_angle_cantilever_rad[2][0:1200], c="blue", label="TRUE-Z") +axis[2, 0].legend(loc = 'upper right') + +fig.suptitle("Euler Angle Observer") +fig.supylabel("Euler Angle [" + unit + "]") +fig.supxlabel("Time [s]") + +# Data save +if args.no_gui: + plt.savefig(read_file_tag + "_angular_velocity_observer.png") # save last figure only +else: + plt.show() From b1378eb7c6e7483fec0d297b89554948347be85a Mon Sep 17 00:00:00 2001 From: TomokiMochizuki Date: Wed, 5 Jun 2024 18:58:13 +0900 Subject: [PATCH 208/456] fix based on comments --- .../attitude_with_cantilever_vibration.cpp | 18 +++++++++--------- .../attitude_with_cantilever_vibration.hpp | 4 ++-- .../ode_attitude_with_cantilever_vibration.hpp | 12 +++++++----- 3 files changed, 18 insertions(+), 16 deletions(-) diff --git a/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp b/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp index b2792dc80..2c18f4086 100644 --- a/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp +++ b/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp @@ -1,6 +1,6 @@ /** * @file attitude_with_cantilever_vibration.cpp - * @brief Class to calculate spacecraft attitude with Runge-Kutta method + * @brief Class to calculate spacecraft attitude with cantilever vibration */ #include "attitude_with_cantilever_vibration.hpp" @@ -99,33 +99,33 @@ void AttitudeWithCantileverVibration::Propagate(const double end_time_s) { libra::Vector<13> AttitudeWithCantileverVibration::SetStateFromPhysicalQuantities() { libra::Vector<13> state; - for (int i = 0; i < 3; i++) { + for (size_t i = 0; i < 3; i++) { state[i] = angular_velocity_b_rad_s_[i]; } - for (int i = 0; i < 3; i++) { + for (size_t i = 0; i < 3; i++) { state[i + 3] = angular_velocity_cantilever_rad_s_[i]; } - for (int i = 0; i < 4; i++) { + for (size_t i = 0; i < 4; i++) { state[i + 6] = quaternion_i2b_[i]; } - for (int i = 0; i < 3; i++) { + for (size_t i = 0; i < 3; i++) { state[i + 10] = euler_angular_cantilever_rad_[i]; } return state; } void AttitudeWithCantileverVibration::SetPhysicalQuantitiesFromState(libra::Vector<13> state) { - for (int i = 0; i < 3; i++) { + for (size_t i = 0; i < 3; i++) { angular_velocity_b_rad_s_[i] = state[i]; } - for (int i = 0; i < 3; i++) { + for (size_t i = 0; i < 3; i++) { angular_velocity_cantilever_rad_s_[i] = state[i + 3]; } - for (int i = 0; i < 4; i++) { + for (size_t i = 0; i < 4; i++) { quaternion_i2b_[i] = state[i + 6]; } quaternion_i2b_.Normalize(); - for (int i = 0; i < 3; i++) { + for (size_t i = 0; i < 3; i++) { euler_angular_cantilever_rad_[i] = state[i + 10]; } } diff --git a/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp b/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp index 8b01c0fb4..4850da55b 100644 --- a/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp +++ b/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp @@ -1,6 +1,6 @@ /** * @file attitude_with_cantilever_vibration.hpp - * @brief Class to calculate spacecraft attitude with Runge-Kutta method + * @brief Class to calculate spacecraft attitude with cantilever vibration */ #ifndef S2E_DYNAMICS_ATTITUDE_ATTITUDE_WITH_CANTILEVER_VIBRATION_HPP_ @@ -14,7 +14,7 @@ /** * @class AttitudeWithCantileverVibration - * @brief Class to calculate spacecraft attitude with Runge-Kutta method + * @brief Class to calculate spacecraft attitude with cantilever vibration */ class AttitudeWithCantileverVibration : public Attitude { public: diff --git a/src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp b/src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp index ce428057b..9d57f0675 100644 --- a/src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp +++ b/src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp @@ -1,10 +1,10 @@ /** - * @file ode_attitude.hpp - * @brief Class to implement Ordinary Differential Equations for Attitude + * @file ode_attitude_with_cantilever_vibration.hpp + * @brief Class to implement Ordinary Differential Equations for Attitude propagator with cantilever vibration */ -#ifndef S2E_DYNAMICS_ATTITUDE_ODE_ATTITUDE_HPP_ -#define S2E_DYNAMICS_ATTITUDE_ODE_ATTITUDE_HPP_ +#ifndef S2E_DYNAMICS_ATTITUDE_ODE_ATTITUDE_WITH_CANTILEVER_VIBRATION_HPP_ +#define S2E_DYNAMICS_ATTITUDE_ODE_ATTITUDE_WITH_CANTILEVER_VIBRATION_HPP_ #include #include @@ -15,6 +15,8 @@ namespace libra::numerical_integration { /** * @class AttitudeWithCantileverVibrationOde * @brief Class to implement Ordinary Differential Equations for Attitude with Cantilever Vibration + * @note State variables in this ODE compose the following elenents (in order): angular_velocity_b_rad_s_ (3-dimension), + * angular_velocity_cantilever_rad_s_ (3-dimension), quaternion_i2b_ (4-dmension), and euler_angular_cantilever_rad_ (3-dimension) */ class AttitudeWithCantileverVibrationOde : public InterfaceOde<13> { public: @@ -144,4 +146,4 @@ class AttitudeWithCantileverVibrationOde : public InterfaceOde<13> { } // namespace libra::numerical_integration -#endif // S2E_DYNAMICS_ATTITUDE_ODE_ATTITUDE_HPP_ +#endif // S2E_DYNAMICS_ATTITUDE_ODE_ATTITUDE_WITH_CANTILEVER_VIBRATION_HPP_ From 6016ffb65de2db42205cb2e0df8d9bc0e1f5454c Mon Sep 17 00:00:00 2001 From: TomokiMochizuki Date: Wed, 5 Jun 2024 18:59:02 +0900 Subject: [PATCH 209/456] fix small --- .../ode_attitude_with_cantilever_vibration.hpp | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp b/src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp index 9d57f0675..36a04a691 100644 --- a/src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp +++ b/src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp @@ -26,16 +26,16 @@ class AttitudeWithCantileverVibrationOde : public InterfaceOde<13> { libra::Vector<13> output; libra::Vector<3> omega_b_rad_s; - for (int i = 0; i < 3; i++) { + for (size_t i = 0; i < 3; i++) { omega_b_rad_s[i] = state[i]; } libra::Vector<3> omega_cantilever_rad_s; - for (int i = 0; i < 3; i++) { + for (size_t i = 0; i < 3; i++) { omega_cantilever_rad_s[i] = state[i + 3]; } libra::Vector<3> euler_angle_cantilever_rad; - for (int i = 0; i < 3; i++) { + for (size_t i = 0; i < 3; i++) { euler_angle_cantilever_rad[i] = state[i + 10]; } @@ -49,26 +49,26 @@ class AttitudeWithCantileverVibrationOde : public InterfaceOde<13> { libra::Vector<3> rhs = inverse_inertia_tensor_ * (net_torque_b_Nm - inertia_tensor_cantilever_kgm2_ * angular_accelaration_cantilever_rad_s2); - for (int i = 0; i < 3; ++i) { + for (size_t i = 0; i < 3; ++i) { output[i] = rhs[i]; } - for (int i = 0; i < 3; i++) { + for (size_t i = 0; i < 3; i++) { output[i + 3] = angular_accelaration_cantilever_rad_s2[i]; } libra::Vector<4> quaternion_i2b; - for (int i = 0; i < 4; i++) { + for (size_t i = 0; i < 4; i++) { quaternion_i2b[i] = state[i + 6]; } libra::Vector<4> d_quaternion = 0.5 * CalcAngularVelocityMatrix(omega_b_rad_s) * quaternion_i2b; - for (int i = 0; i < 4; i++) { + for (size_t i = 0; i < 4; i++) { output[i + 6] = d_quaternion[i]; } - for (int i = 0; i < 3; i++) { + for (size_t i = 0; i < 3; i++) { output[i + 10] = omega_cantilever_rad_s[i]; } From 0061c26889a42cc9ed7434a2ee5da295fb85a056 Mon Sep 17 00:00:00 2001 From: TomokiMochizuki Date: Wed, 5 Jun 2024 19:02:49 +0900 Subject: [PATCH 210/456] change order to define variables --- .../ode_attitude_with_cantilever_vibration.hpp | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp b/src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp index 36a04a691..cabadaacc 100644 --- a/src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp +++ b/src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp @@ -34,6 +34,11 @@ class AttitudeWithCantileverVibrationOde : public InterfaceOde<13> { omega_cantilever_rad_s[i] = state[i + 3]; } + libra::Vector<4> quaternion_i2b; + for (size_t i = 0; i < 4; i++) { + quaternion_i2b[i] = state[i + 6]; + } + libra::Vector<3> euler_angle_cantilever_rad; for (size_t i = 0; i < 3; i++) { euler_angle_cantilever_rad[i] = state[i + 10]; @@ -57,11 +62,6 @@ class AttitudeWithCantileverVibrationOde : public InterfaceOde<13> { output[i + 3] = angular_accelaration_cantilever_rad_s2[i]; } - libra::Vector<4> quaternion_i2b; - for (size_t i = 0; i < 4; i++) { - quaternion_i2b[i] = state[i + 6]; - } - libra::Vector<4> d_quaternion = 0.5 * CalcAngularVelocityMatrix(omega_b_rad_s) * quaternion_i2b; for (size_t i = 0; i < 4; i++) { From c6ef5da20323dbed918e874897b47b29a7a2af38 Mon Sep 17 00:00:00 2001 From: TomokiMochizuki Date: Wed, 5 Jun 2024 20:17:24 +0900 Subject: [PATCH 211/456] replace pravate variables --- .../attitude_with_cantilever_vibration.cpp | 47 +++++++++---------- .../attitude_with_cantilever_vibration.hpp | 29 ++---------- ...ode_attitude_with_cantilever_vibration.hpp | 37 +++++++++++++++ 3 files changed, 62 insertions(+), 51 deletions(-) diff --git a/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp b/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp index 2c18f4086..83f432144 100644 --- a/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp +++ b/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp @@ -20,14 +20,21 @@ AttitudeWithCantileverVibration::AttitudeWithCantileverVibration( propagation_step_s_ = propagation_step_s; current_propagation_time_s_ = 0.0; angular_momentum_reaction_wheel_b_Nms_ = libra::Vector<3>(0.0); - previous_inertia_tensor_kgm2_ = inertia_tensor_kgm2_; - inertia_tensor_cantilever_kgm2_ = inertia_tensor_cantilever_kgm2; - attenuation_coefficient_ = 2 * damping_ratio_cantilever * intrinsic_angular_velocity_cantilever_rad_s; - spring_coefficient_ = pow(intrinsic_angular_velocity_cantilever_rad_s, 2.0); - inverse_inertia_tensor_ = CalcInverseMatrix(inertia_tensor_kgm2_); - inverse_equivalent_inertia_tensor_cantilever_ = CalcInverseMatrix(inertia_tensor_kgm2_ - inertia_tensor_cantilever_kgm2_) * inertia_tensor_kgm2_; + + attitude_ode_.SetInertiaTensorCantilever_kgm2(inertia_tensor_cantilever_kgm2); + attitude_ode_.SetPreviousInertiaTensor_kgm2(inertia_tensor_kgm2_); + double attenuation_coefficient = 2 * damping_ratio_cantilever * intrinsic_angular_velocity_cantilever_rad_s; + attitude_ode_.SetAttenuationCoefficient(attenuation_coefficient); + double spring_coefficient = pow(intrinsic_angular_velocity_cantilever_rad_s, 2.0); + attitude_ode_.SetSpringCoefficient(spring_coefficient); + attitude_ode_.SetInverseInertiaTensor(CalcInverseMatrix(inertia_tensor_kgm2_)); + libra::Matrix<3, 3> inverse_equivalent_inertia_tensor_cantilever = + CalcInverseMatrix(inertia_tensor_kgm2_ - inertia_tensor_cantilever_kgm2) * inertia_tensor_kgm2_; + attitude_ode_.SetInverseEquivalentInertiaTensorCantilever(inverse_equivalent_inertia_tensor_cantilever); + attitude_ode_.SetTorque_b_Nm(torque_b_Nm_); + attitude_ode_.SetAngularMomentumReactionWheel_b_Nms(angular_momentum_reaction_wheel_b_Nms_); + CalcAngularMomentum(); - SetOdeParameters(); } AttitudeWithCantileverVibration::~AttitudeWithCantileverVibration() {} @@ -60,26 +67,16 @@ void AttitudeWithCantileverVibration::SetParameters(const MonteCarloSimulationEx CalcAngularMomentum(); } -void AttitudeWithCantileverVibration::SetOdeParameters() { - attitude_ode_.SetAttenuationCoefficient(attenuation_coefficient_); - attitude_ode_.SetSpringCoefficient(spring_coefficient_); - attitude_ode_.SetTorque_b_Nm(torque_b_Nm_); - attitude_ode_.SetTorqueInertiaTensor_b_Nm(torque_inertia_tensor_b_Nm_); - attitude_ode_.SetAngularMomentumReactionWheel_b_Nms(angular_momentum_reaction_wheel_b_Nms_); - attitude_ode_.SetInverseInertiaTensor(inverse_inertia_tensor_); - attitude_ode_.SetPreviousInertiaTensor_kgm2(previous_inertia_tensor_kgm2_); - attitude_ode_.SetInertiaTensorCantilever_kgm2(inertia_tensor_cantilever_kgm2_); - attitude_ode_.SetInverseEquivalentInertiaTensorCantilever(inverse_equivalent_inertia_tensor_cantilever_); -} - void AttitudeWithCantileverVibration::Propagate(const double end_time_s) { if (!is_calc_enabled_) return; - libra::Matrix<3, 3> dot_inertia_tensor = - (1.0 / (end_time_s - current_propagation_time_s_)) * (inertia_tensor_kgm2_ - previous_inertia_tensor_kgm2_); - torque_inertia_tensor_b_Nm_ = dot_inertia_tensor * angular_velocity_b_rad_s_; - inverse_inertia_tensor_ = CalcInverseMatrix(inertia_tensor_kgm2_); - SetOdeParameters(); + libra::Matrix<3, 3> previous_inertia_tensor_kgm2 = attitude_ode_.GetPreviousInertiaTensor_kgm2(); + libra::Matrix<3, 3> dot_inertia_tensor = (1.0 / (end_time_s - current_propagation_time_s_)) * (inertia_tensor_kgm2_ - previous_inertia_tensor_kgm2); + libra::Vector<3> torque_inertia_tensor_b_Nm = dot_inertia_tensor * angular_velocity_b_rad_s_; + attitude_ode_.SetTorqueInertiaTensor_b_Nm(torque_inertia_tensor_b_Nm); + attitude_ode_.SetInverseInertiaTensor(CalcInverseMatrix(inertia_tensor_kgm2_)); + attitude_ode_.SetTorque_b_Nm(torque_b_Nm_); + attitude_ode_.SetAngularMomentumReactionWheel_b_Nms(angular_momentum_reaction_wheel_b_Nms_); libra::Vector<13> state = SetStateFromPhysicalQuantities(); numerical_integrator_.GetIntegrator()->SetState(propagation_step_s_, state); @@ -93,7 +90,7 @@ void AttitudeWithCantileverVibration::Propagate(const double end_time_s) { // Update information current_propagation_time_s_ = end_time_s; - previous_inertia_tensor_kgm2_ = inertia_tensor_kgm2_; + attitude_ode_.SetPreviousInertiaTensor_kgm2(inertia_tensor_kgm2_); CalcAngularMomentum(); } diff --git a/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp b/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp index 4850da55b..612141cce 100644 --- a/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp +++ b/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp @@ -60,16 +60,6 @@ class AttitudeWithCantileverVibration : public Attitude { * @brief Override GetLogValue function of ILoggable */ virtual std::string GetLogValue() const; - /** - * @fn GetPreviousInertiaTensor_b_kgm2 - * @brief Return previous inertia tensor [kg m^2] - */ - inline libra::Matrix<3, 3> GetPreviousInertiaTensor_b_kgm2() const { return previous_inertia_tensor_kgm2_; } - /** - * @fn GetTorqueInertiaTensor_b_Nm - * @brief Return torque generated by inertia tensor [Nm] - */ - inline libra::Vector<3> GetTorqueInertiaTensor_b_Nm() const { return torque_inertia_tensor_b_Nm_; } /** * @fn SetParameters @@ -78,23 +68,10 @@ class AttitudeWithCantileverVibration : public Attitude { */ virtual void SetParameters(const MonteCarloSimulationExecutor& mc_simulator); - /** - * @fn SetOdeParameters - * @brief Set parameters for ordinary differential equations - */ - void SetOdeParameters(); - private: - double current_propagation_time_s_; //!< current time [sec] - libra::Matrix<3, 3> inverse_inertia_tensor_; //!< Inverse of inertia tensor - libra::Matrix<3, 3> previous_inertia_tensor_kgm2_; //!< Previous inertia tensor [kgm2] - libra::Vector<3> torque_inertia_tensor_b_Nm_; //!< Torque generated by inertia tensor [Nm] - libra::Matrix<3, 3> inertia_tensor_cantilever_kgm2_; //!< Inertia tensor of the cantilever [kgm2] - libra::Matrix<3, 3> inverse_equivalent_inertia_tensor_cantilever_; //!< Inverse of inertia tensor of the cantilever - double attenuation_coefficient_; //!< Attenuation coefficient - double spring_coefficient_; //!< Spring coefficient - libra::Vector<3> angular_velocity_cantilever_rad_s_; //!< Angular velocity of the cantilever with respect to the body frame [rad/s] - libra::Vector<3> euler_angular_cantilever_rad_; //!< Euler angle of the cantilever with respect to the body frame [rad/s] + double current_propagation_time_s_; //!< current time [sec] + libra::Vector<3> angular_velocity_cantilever_rad_s_; //!< Angular velocity of the cantilever with respect to the body frame [rad/s] + libra::Vector<3> euler_angular_cantilever_rad_; //!< Euler angle of the cantilever with respect to the body frame [rad/s] libra::numerical_integration::AttitudeWithCantileverVibrationOde attitude_ode_; libra::numerical_integration::NumericalIntegratorManager<13> numerical_integrator_; diff --git a/src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp b/src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp index cabadaacc..48d73373e 100644 --- a/src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp +++ b/src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp @@ -75,6 +75,43 @@ class AttitudeWithCantileverVibrationOde : public InterfaceOde<13> { return output; } + // Getter + /** + * @fn GetAttenuationCoefficient + * @brief Get attenuation coefficient + */ + inline double GetAttenuationCoefficient() { return attenuation_coefficient_; } + /** + * @fn GetSpringCoefficient + * @brief Get spring coefficient + */ + inline double GetSpringCoefficient() { return spring_coefficient_; } + /** + * @fn GetTorqueInertiaTensor_b_Nm + * @brief Get torque generated by inertia tensor [Nm] + */ + inline libra::Vector<3> GetTorqueInertiaTensor_b_Nm() { return torque_inertia_tensor_b_Nm_; } + /** + * @fn GetInverseInertiaTensor + * @brief Get inverse of inertia tensor + */ + inline libra::Matrix<3, 3> GetInverseInertiaTensor() { return inverse_inertia_tensor_; } + /** + * @fn GetPreviousInertiaTensor_kgm2 + * @brief Get previous inertia tensor [kgm2] + */ + inline libra::Matrix<3, 3> GetPreviousInertiaTensor_kgm2() { return previous_inertia_tensor_kgm2_; } + /** + * @fn GetInertiaTensorCantilever_kgm2 + * @brief Get inertia tensor of the cantilever [kgm2] + */ + inline libra::Matrix<3, 3> GetInertiaTensorCantilever_kgm2() { return inertia_tensor_cantilever_kgm2_; } + /** + * @fn GetInverseEquivalentInertiaTensorCantilever + * @brief Get inverse of inertia tensor of the cantilever + */ + inline libra::Matrix<3, 3> GetInverseEquivalentInertiaTensorCantilever() { return inverse_equivalent_inertia_tensor_cantilever_; } + // Setter /** * @fn SetAttenuationCoefficient From 1effa87e64b0b934d9d75ceb5f3193b2fa242d7c Mon Sep 17 00:00:00 2001 From: TomokiMochizuki Date: Thu, 6 Jun 2024 10:40:03 +0900 Subject: [PATCH 212/456] rename python file --- ...ngle_observer.py => plot_euler_angle_cantilever_observer.py} | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) rename scripts/Plot/{plot_euler_angle_observer.py => plot_euler_angle_cantilever_observer.py} (97%) diff --git a/scripts/Plot/plot_euler_angle_observer.py b/scripts/Plot/plot_euler_angle_cantilever_observer.py similarity index 97% rename from scripts/Plot/plot_euler_angle_observer.py rename to scripts/Plot/plot_euler_angle_cantilever_observer.py index 554579786..975d7fc7f 100644 --- a/scripts/Plot/plot_euler_angle_observer.py +++ b/scripts/Plot/plot_euler_angle_cantilever_observer.py @@ -1,5 +1,5 @@ # -# Plot Angular Velocity Observer +# Plot Euler Angle of Cantilever Observer # # arg[1] : read_file_tag : time tag for default CSV output log file. ex. 220627_142946 # From 0545a049c6311724c475472009c3781011fd6164 Mon Sep 17 00:00:00 2001 From: TomokiMochizuki Date: Thu, 6 Jun 2024 10:58:09 +0900 Subject: [PATCH 213/456] add comment --- data/sample/initialize_files/sample_structure.ini | 1 + src/dynamics/attitude/attitude_with_cantilever_vibration.cpp | 4 +++- 2 files changed, 4 insertions(+), 1 deletion(-) diff --git a/data/sample/initialize_files/sample_structure.ini b/data/sample/initialize_files/sample_structure.ini index 4ca6cf64b..62bc8c4ac 100644 --- a/data/sample/initialize_files/sample_structure.ini +++ b/data/sample/initialize_files/sample_structure.ini @@ -25,6 +25,7 @@ center_of_gravity_b_m(1) = 0.01 center_of_gravity_b_m(2) = 0.01 [CANTILEVER_PARAMETERS] +// Currently, the cantilever frame has the same coordinate system as the body frame of the satellite // Inertia Tensor of cantilever (flexible structure) @ body fixed frame [kg・m2] inertia_tensor_cantilever_kgm2(0) = 0.1 // I_xx inertia_tensor_cantilever_kgm2(1) = 0.0 // I_xy diff --git a/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp b/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp index 83f432144..e38f82741 100644 --- a/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp +++ b/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp @@ -4,6 +4,7 @@ */ #include "attitude_with_cantilever_vibration.hpp" +#include #include #include @@ -63,7 +64,7 @@ void AttitudeWithCantileverVibration::SetParameters(const MonteCarloSimulationEx // TODO: Consider the following calculation is needed here? current_propagation_time_s_ = 0.0; - angular_momentum_reaction_wheel_b_Nms_ = libra::Vector<3>(0.0); //!< Consider how to handle this variable + angular_momentum_reaction_wheel_b_Nms_ = libra::Vector<3>(0.0); //!< TODO: Consider how to handle this variable CalcAngularMomentum(); } @@ -71,6 +72,7 @@ void AttitudeWithCantileverVibration::Propagate(const double end_time_s) { if (!is_calc_enabled_) return; libra::Matrix<3, 3> previous_inertia_tensor_kgm2 = attitude_ode_.GetPreviousInertiaTensor_kgm2(); + assert(end_time_s - current_propagation_time_s_ > 1e-6); libra::Matrix<3, 3> dot_inertia_tensor = (1.0 / (end_time_s - current_propagation_time_s_)) * (inertia_tensor_kgm2_ - previous_inertia_tensor_kgm2); libra::Vector<3> torque_inertia_tensor_b_Nm = dot_inertia_tensor * angular_velocity_b_rad_s_; attitude_ode_.SetTorqueInertiaTensor_b_Nm(torque_inertia_tensor_b_Nm); From fbe212ccac78b9f063f5d0d853c32d4daf61c309 Mon Sep 17 00:00:00 2001 From: TomokiMochizuki Date: Thu, 6 Jun 2024 15:57:32 +0900 Subject: [PATCH 214/456] remove SetStateFromPhysicalQuantities --- .../attitude_with_cantilever_vibration.cpp | 43 ++---------- .../attitude_with_cantilever_vibration.hpp | 12 ---- ...ode_attitude_with_cantilever_vibration.hpp | 68 +++++++++++++++---- 3 files changed, 61 insertions(+), 62 deletions(-) diff --git a/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp b/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp index e38f82741..9c4f339f4 100644 --- a/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp +++ b/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp @@ -14,7 +14,8 @@ AttitudeWithCantileverVibration::AttitudeWithCantileverVibration( const double intrinsic_angular_velocity_cantilever_rad_s, const libra::Vector<3>& torque_b_Nm, const double propagation_step_s, const std::string& simulation_object_name) : Attitude(inertia_tensor_kgm2, simulation_object_name), - numerical_integrator_(propagation_step_s, attitude_ode_, libra::numerical_integration::NumericalIntegrationMethod::kRk4) { + numerical_integrator_(propagation_step_s, attitude_ode_, + libra::numerical_integration::NumericalIntegrationMethod::kRk4) { //!< TODO: Set NumericalIntegrationMethod in *.ini file angular_velocity_b_rad_s_ = angular_velocity_b_rad_s; quaternion_i2b_ = quaternion_i2b; torque_b_Nm_ = torque_b_Nm; @@ -80,7 +81,8 @@ void AttitudeWithCantileverVibration::Propagate(const double end_time_s) { attitude_ode_.SetTorque_b_Nm(torque_b_Nm_); attitude_ode_.SetAngularMomentumReactionWheel_b_Nms(angular_momentum_reaction_wheel_b_Nms_); - libra::Vector<13> state = SetStateFromPhysicalQuantities(); + libra::Vector<13> state = attitude_ode_.SetStateFromPhysicalQuantities(angular_velocity_b_rad_s_, angular_velocity_cantilever_rad_s_, + quaternion_i2b_, euler_angular_cantilever_rad_); numerical_integrator_.GetIntegrator()->SetState(propagation_step_s_, state); while (end_time_s - current_propagation_time_s_ - propagation_step_s_ > 1.0e-6) { numerical_integrator_.GetIntegrator()->Integrate(); @@ -88,43 +90,12 @@ void AttitudeWithCantileverVibration::Propagate(const double end_time_s) { } numerical_integrator_.GetIntegrator()->SetState(end_time_s - current_propagation_time_s_, numerical_integrator_.GetIntegrator()->GetState()); numerical_integrator_.GetIntegrator()->Integrate(); - SetPhysicalQuantitiesFromState(numerical_integrator_.GetIntegrator()->GetState()); + attitude_ode_.SetPhysicalQuantitiesFromState(numerical_integrator_.GetIntegrator()->GetState(), angular_velocity_b_rad_s_, + angular_velocity_cantilever_rad_s_, quaternion_i2b_, euler_angular_cantilever_rad_); + quaternion_i2b_.Normalize(); // Update information current_propagation_time_s_ = end_time_s; attitude_ode_.SetPreviousInertiaTensor_kgm2(inertia_tensor_kgm2_); CalcAngularMomentum(); } - -libra::Vector<13> AttitudeWithCantileverVibration::SetStateFromPhysicalQuantities() { - libra::Vector<13> state; - for (size_t i = 0; i < 3; i++) { - state[i] = angular_velocity_b_rad_s_[i]; - } - for (size_t i = 0; i < 3; i++) { - state[i + 3] = angular_velocity_cantilever_rad_s_[i]; - } - for (size_t i = 0; i < 4; i++) { - state[i + 6] = quaternion_i2b_[i]; - } - for (size_t i = 0; i < 3; i++) { - state[i + 10] = euler_angular_cantilever_rad_[i]; - } - return state; -} - -void AttitudeWithCantileverVibration::SetPhysicalQuantitiesFromState(libra::Vector<13> state) { - for (size_t i = 0; i < 3; i++) { - angular_velocity_b_rad_s_[i] = state[i]; - } - for (size_t i = 0; i < 3; i++) { - angular_velocity_cantilever_rad_s_[i] = state[i + 3]; - } - for (size_t i = 0; i < 4; i++) { - quaternion_i2b_[i] = state[i + 6]; - } - quaternion_i2b_.Normalize(); - for (size_t i = 0; i < 3; i++) { - euler_angular_cantilever_rad_[i] = state[i + 10]; - } -} diff --git a/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp b/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp index 612141cce..c2383d716 100644 --- a/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp +++ b/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp @@ -75,18 +75,6 @@ class AttitudeWithCantileverVibration : public Attitude { libra::numerical_integration::AttitudeWithCantileverVibrationOde attitude_ode_; libra::numerical_integration::NumericalIntegratorManager<13> numerical_integrator_; - - /** - * @fn SetStateFromPhysicalQuantities - * @brief Set state for calculating the ordinary differential equation from physical quantities - */ - libra::Vector<13> SetStateFromPhysicalQuantities(); - - /** - * @fn SetPhysicalQuantitiesFromState - * @brief Set physical quantities from state acquired by calculation of the ordinary differential equation - */ - void SetPhysicalQuantitiesFromState(libra::Vector<13> state); }; #endif // S2E_DYNAMICS_ATTITUDE_ATTITUDE_WITH_CANTILEVER_VIBRATION_HPP_ diff --git a/src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp b/src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp index 48d73373e..da10a3e7d 100644 --- a/src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp +++ b/src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp @@ -20,29 +20,66 @@ namespace libra::numerical_integration { */ class AttitudeWithCantileverVibrationOde : public InterfaceOde<13> { public: - Vector<13> DerivativeFunction(const double time_s, const Vector<13>& state) const override { - UNUSED(time_s); - - libra::Vector<13> output; - - libra::Vector<3> omega_b_rad_s; + /** + * @fn SetStateFromPhysicalQuantities + * @brief Set state for calculating the ordinary differential equation from physical quantities + * @param [in] angular_velocity_b_rad_s: Angular velocity of the spacecraft @ body-fixed frame [rad/s] + * @param [in] angular_velocity_cantilever_rad_s: Angular velocity of the cantilever @ body frame [rad/s] + * @param [in] quaternion_i2b: True attitude of the spacecraft expressed by quaternion from the inertial frame to the body-fixed frame + * @param [in] euler_angule_cantilever_rad: Euler angle of the cantilever@ body-fixed frame [rad] + */ + libra::Vector<13> SetStateFromPhysicalQuantities(const libra::Vector<3> angular_velocity_b_rad_s, + const libra::Vector<3> angular_velocity_cantilever_rad_s, const libra::Quaternion quaternion_i2b, + const libra::Vector<3> euler_angule_cantilever_rad) const { + libra::Vector<13> state; for (size_t i = 0; i < 3; i++) { - omega_b_rad_s[i] = state[i]; + state[i] = angular_velocity_b_rad_s[i]; } - libra::Vector<3> omega_cantilever_rad_s; for (size_t i = 0; i < 3; i++) { - omega_cantilever_rad_s[i] = state[i + 3]; + state[i + 3] = angular_velocity_cantilever_rad_s[i]; } + for (size_t i = 0; i < 4; i++) { + state[i + 6] = quaternion_i2b[i]; + } + for (size_t i = 0; i < 3; i++) { + state[i + 10] = euler_angule_cantilever_rad[i]; + } + return state; + } - libra::Vector<4> quaternion_i2b; + /** + * @fn SetPhysicalQuantitiesFromState + * @brief Set physical quantities from state acquired by calculation of the ordinary differential equation + * @param [in] state: state variables used to calculate the ordinary differential equation + */ + void SetPhysicalQuantitiesFromState(const libra::Vector<13> state, libra::Vector<3>& angular_velocity_b_rad_s, + libra::Vector<3>& angular_velocity_cantilever_rad_s, libra::Quaternion& quaternion_i2b, + libra::Vector<3>& euler_angular_cantilever_rad) const { + for (size_t i = 0; i < 3; i++) { + angular_velocity_b_rad_s[i] = state[i]; + } + for (size_t i = 0; i < 3; i++) { + angular_velocity_cantilever_rad_s[i] = state[i + 3]; + } for (size_t i = 0; i < 4; i++) { quaternion_i2b[i] = state[i + 6]; } - - libra::Vector<3> euler_angle_cantilever_rad; for (size_t i = 0; i < 3; i++) { - euler_angle_cantilever_rad[i] = state[i + 10]; + euler_angular_cantilever_rad[i] = state[i + 10]; } + } + + Vector<13> DerivativeFunction(const double time_s, const Vector<13>& state) const override { + UNUSED(time_s); + + libra::Vector<13> output; + + libra::Vector<3> omega_b_rad_s; + libra::Vector<3> omega_cantilever_rad_s; + libra::Quaternion quaternion_i2b; + libra::Vector<3> euler_angle_cantilever_rad; + + SetPhysicalQuantitiesFromState(state, omega_b_rad_s, omega_cantilever_rad_s, quaternion_i2b, euler_angle_cantilever_rad); libra::Vector<3> angular_momentum_total_b_Nms = (previous_inertia_tensor_kgm2_ * omega_b_rad_s) + angular_momentum_reaction_wheel_b_Nms_; libra::Vector<3> net_torque_b_Nm = torque_b_Nm_ - libra::OuterProduct(omega_b_rad_s, angular_momentum_total_b_Nms) - torque_inertia_tensor_b_Nm_; @@ -62,7 +99,7 @@ class AttitudeWithCantileverVibrationOde : public InterfaceOde<13> { output[i + 3] = angular_accelaration_cantilever_rad_s2[i]; } - libra::Vector<4> d_quaternion = 0.5 * CalcAngularVelocityMatrix(omega_b_rad_s) * quaternion_i2b; + libra::Vector<4> d_quaternion = 0.5 * CalcAngularVelocityMatrix(omega_b_rad_s) * (libra::Vector<4>(quaternion_i2b)); for (size_t i = 0; i < 4; i++) { output[i + 6] = d_quaternion[i]; @@ -72,6 +109,9 @@ class AttitudeWithCantileverVibrationOde : public InterfaceOde<13> { output[i + 10] = omega_cantilever_rad_s[i]; } + // The function is used to output the derivative of each corresponding physical quantity. + output = SetStateFromPhysicalQuantities(rhs, angular_accelaration_cantilever_rad_s2, libra::Quaternion(d_quaternion), omega_cantilever_rad_s); + return output; } From d243540a1acefde7df0b8b37357df6840dea7339 Mon Sep 17 00:00:00 2001 From: TomokiMochizuki Date: Fri, 7 Jun 2024 10:22:58 +0900 Subject: [PATCH 215/456] fix small --- src/dynamics/attitude/attitude.hpp | 1 - 1 file changed, 1 deletion(-) diff --git a/src/dynamics/attitude/attitude.hpp b/src/dynamics/attitude/attitude.hpp index b17a92162..94f63d882 100644 --- a/src/dynamics/attitude/attitude.hpp +++ b/src/dynamics/attitude/attitude.hpp @@ -119,7 +119,6 @@ class Attitude : public ILoggable, public SimulationObject { libra::Vector<3> angular_velocity_b_rad_s_; //!< Angular velocity of spacecraft body fixed frame with respect to the inertial frame [rad/s] libra::Quaternion quaternion_i2b_; //!< Attitude quaternion from the inertial frame to the body fixed frame libra::Vector<3> torque_b_Nm_; //!< Torque in the body fixed frame [Nm] - const libra::Matrix<3, 3>& inertia_tensor_kgm2_; //!< Inertia tensor of the spacecraft [kg m^2] libra::Vector<3> angular_momentum_spacecraft_b_Nms_; //!< Angular momentum of spacecraft in the body fixed frame [Nms] From 1d971db9a292e7e05011b77ed38a3b863b98b56b Mon Sep 17 00:00:00 2001 From: TomokiM Date: Thu, 27 Jun 2024 10:03:16 +0900 Subject: [PATCH 216/456] initialize variables --- .../attitude/attitude_with_cantilever_vibration.hpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp b/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp index c2383d716..e24f3e489 100644 --- a/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp +++ b/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp @@ -69,9 +69,9 @@ class AttitudeWithCantileverVibration : public Attitude { virtual void SetParameters(const MonteCarloSimulationExecutor& mc_simulator); private: - double current_propagation_time_s_; //!< current time [sec] - libra::Vector<3> angular_velocity_cantilever_rad_s_; //!< Angular velocity of the cantilever with respect to the body frame [rad/s] - libra::Vector<3> euler_angular_cantilever_rad_; //!< Euler angle of the cantilever with respect to the body frame [rad/s] + double current_propagation_time_s_; //!< current time [sec] + libra::Vector<3> angular_velocity_cantilever_rad_s_{0.0}; //!< Angular velocity of the cantilever with respect to the body frame [rad/s] + libra::Vector<3> euler_angular_cantilever_rad_{0.0}; //!< Euler angle of the cantilever with respect to the body frame [rad/s] libra::numerical_integration::AttitudeWithCantileverVibrationOde attitude_ode_; libra::numerical_integration::NumericalIntegratorManager<13> numerical_integrator_; From 834480524e2274eba0a9fe82dafefef627d3feb2 Mon Sep 17 00:00:00 2001 From: "renovate[bot]" <29139614+renovate[bot]@users.noreply.github.com> Date: Thu, 27 Jun 2024 01:24:36 +0000 Subject: [PATCH 217/456] Update dependency numpy-quaternion to v2023.0.4 --- scripts/Plot/Pipfile | 2 +- scripts/Plot/Pipfile.lock | 347 +++++++++++++++++++------------------- 2 files changed, 175 insertions(+), 174 deletions(-) diff --git a/scripts/Plot/Pipfile b/scripts/Plot/Pipfile index 6ac2b122e..38356acf7 100644 --- a/scripts/Plot/Pipfile +++ b/scripts/Plot/Pipfile @@ -9,7 +9,7 @@ matplotlib = "==3.7.2" numpy = "==1.24.3" pandas = "==2.0.3" numpy-stl = "==3.0.1" -numpy-quaternion = "==2023.0.3" +numpy-quaternion = "==2023.0.4" python-utils = "==3.5.2" [dev-packages] diff --git a/scripts/Plot/Pipfile.lock b/scripts/Plot/Pipfile.lock index e34e59e44..67cf279cc 100644 --- a/scripts/Plot/Pipfile.lock +++ 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"version": "==3.19.2" } }, "develop": {} From dfecbd43e49d08f4089ab646aa94284782e257f1 Mon Sep 17 00:00:00 2001 From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com> Date: Sat, 6 Jul 2024 14:52:58 +0000 Subject: [PATCH 218/456] Bump certifi from 2024.6.2 to 2024.7.4 in /scripts/Plot Bumps [certifi](https://github.com/certifi/python-certifi) from 2024.6.2 to 2024.7.4. - [Commits](https://github.com/certifi/python-certifi/compare/2024.06.02...2024.07.04) --- updated-dependencies: - dependency-name: certifi dependency-type: indirect ... Signed-off-by: dependabot[bot] --- scripts/Plot/Pipfile.lock | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/scripts/Plot/Pipfile.lock b/scripts/Plot/Pipfile.lock index 67cf279cc..7a98a2a8a 100644 --- a/scripts/Plot/Pipfile.lock +++ b/scripts/Plot/Pipfile.lock @@ -78,11 +78,12 @@ }, "certifi": { "hashes": [ - "sha256:3cd43f1c6fa7dedc5899d69d3ad0398fd018ad1a17fba83ddaf78aa46c747516", - "sha256:ddc6c8ce995e6987e7faf5e3f1b02b302836a0e5d98ece18392cb1a36c72ad56" + "sha256:5a1e7645bc0ec61a09e26c36f6106dd4cf40c6db3a1fb6352b0244e7fb057c7b", + "sha256:c198e21b1289c2ab85ee4e67bb4b4ef3ead0892059901a8d5b622f24a1101e90" ], + "index": "pypi", "markers": "python_version >= '3.6'", - "version": "==2024.6.2" + "version": "==2024.7.4" }, "contourpy": { "hashes": [ From f85a003171ab9a2438c74a5ead340fad754c90c6 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 20 Jul 2024 09:11:16 +0900 Subject: [PATCH 219/456] Rename namespace libra to namespace math in math directory --- src/math_physics/math/constants.hpp | 2 +- src/math_physics/math/interpolation.cpp | 2 +- src/math_physics/math/interpolation.hpp | 2 +- src/math_physics/math/matrix.hpp | 2 +- src/math_physics/math/matrix_template_functions.hpp | 2 +- src/math_physics/math/matrix_vector.hpp | 2 +- src/math_physics/math/matrix_vector_template_functions.hpp | 2 +- src/math_physics/math/ordinary_differential_equation.hpp | 2 +- .../math/ordinary_differential_equation_template_functions.hpp | 2 +- src/math_physics/math/quaternion.cpp | 2 +- src/math_physics/math/quaternion.hpp | 2 +- src/math_physics/math/s2e_math.cpp | 2 +- src/math_physics/math/s2e_math.hpp | 2 +- src/math_physics/math/vector.cpp | 2 +- src/math_physics/math/vector.hpp | 2 +- src/math_physics/math/vector_template_functions.hpp | 2 +- 16 files changed, 16 insertions(+), 16 deletions(-) diff --git a/src/math_physics/math/constants.hpp b/src/math_physics/math/constants.hpp index 998b265fd..bcae848b9 100644 --- a/src/math_physics/math/constants.hpp +++ b/src/math_physics/math/constants.hpp @@ -8,7 +8,7 @@ #include // std::is_floating_point_v -namespace libra { +namespace math // instead of C++20 std::numbers inline namespace numbers { diff --git a/src/math_physics/math/interpolation.cpp b/src/math_physics/math/interpolation.cpp index c787d98f5..33cb52bd5 100644 --- a/src/math_physics/math/interpolation.cpp +++ b/src/math_physics/math/interpolation.cpp @@ -7,7 +7,7 @@ #include -namespace libra { +namespace math double Interpolation::CalcPolynomial(const double x) const { // Search nearest point diff --git a/src/math_physics/math/interpolation.hpp b/src/math_physics/math/interpolation.hpp index ef71186b4..166498ebd 100644 --- a/src/math_physics/math/interpolation.hpp +++ b/src/math_physics/math/interpolation.hpp @@ -9,7 +9,7 @@ #include #include -namespace libra { +namespace math /** * @class Interpolation diff --git a/src/math_physics/math/matrix.hpp b/src/math_physics/math/matrix.hpp index 4b9f6b91f..c54052475 100644 --- a/src/math_physics/math/matrix.hpp +++ b/src/math_physics/math/matrix.hpp @@ -9,7 +9,7 @@ #include // for size_t #include // for ostream, cout -namespace libra { +namespace math /** * @class Matrix diff --git a/src/math_physics/math/matrix_template_functions.hpp b/src/math_physics/math/matrix_template_functions.hpp index a31c74a35..521114e3d 100644 --- a/src/math_physics/math/matrix_template_functions.hpp +++ b/src/math_physics/math/matrix_template_functions.hpp @@ -9,7 +9,7 @@ #include #include // for cout -namespace libra { +namespace math template Matrix::Matrix(const T& n) { diff --git a/src/math_physics/math/matrix_vector.hpp b/src/math_physics/math/matrix_vector.hpp index 5e932fbb3..1ee34c228 100644 --- a/src/math_physics/math/matrix_vector.hpp +++ b/src/math_physics/math/matrix_vector.hpp @@ -9,7 +9,7 @@ #include "matrix.hpp" #include "vector.hpp" -namespace libra { +namespace math /** * @fn operator* diff --git a/src/math_physics/math/matrix_vector_template_functions.hpp b/src/math_physics/math/matrix_vector_template_functions.hpp index 5955dad48..b1229fae5 100644 --- a/src/math_physics/math/matrix_vector_template_functions.hpp +++ b/src/math_physics/math/matrix_vector_template_functions.hpp @@ -8,7 +8,7 @@ #include // for invalid_argument. -namespace libra { +namespace math template Vector operator*(const Matrix& matrix, const Vector& vector) { diff --git a/src/math_physics/math/ordinary_differential_equation.hpp b/src/math_physics/math/ordinary_differential_equation.hpp index 4ac81717b..87fb1fe84 100644 --- a/src/math_physics/math/ordinary_differential_equation.hpp +++ b/src/math_physics/math/ordinary_differential_equation.hpp @@ -8,7 +8,7 @@ #include "./vector.hpp" -namespace libra { +namespace math /** * @class OrdinaryDifferentialEquation diff --git a/src/math_physics/math/ordinary_differential_equation_template_functions.hpp b/src/math_physics/math/ordinary_differential_equation_template_functions.hpp index 644a77589..9ba56d399 100644 --- a/src/math_physics/math/ordinary_differential_equation_template_functions.hpp +++ b/src/math_physics/math/ordinary_differential_equation_template_functions.hpp @@ -5,7 +5,7 @@ #ifndef S2E_LIBRARY_MATH_ORDINARY_DIFFERENTIA_EQUATION_TEMPLATE_FUNCTIONS_HPP_ #define S2E_LIBRARY_MATH_ORDINARY_DIFFERENTIA_EQUATION_TEMPLATE_FUNCTIONS_HPP_ -namespace libra { +namespace math template OrdinaryDifferentialEquation::OrdinaryDifferentialEquation(double step_width_s) diff --git a/src/math_physics/math/quaternion.cpp b/src/math_physics/math/quaternion.cpp index a6b398a1c..512fff855 100644 --- a/src/math_physics/math/quaternion.cpp +++ b/src/math_physics/math/quaternion.cpp @@ -9,7 +9,7 @@ #include #include -namespace libra { +namespace math Quaternion::Quaternion(const Vector<3>& rotation_axis, const double rotation_angle_rad) { double half_rotation_angle_rad = rotation_angle_rad * 0.5; diff --git a/src/math_physics/math/quaternion.hpp b/src/math_physics/math/quaternion.hpp index e49722e64..c22cb7c66 100644 --- a/src/math_physics/math/quaternion.hpp +++ b/src/math_physics/math/quaternion.hpp @@ -9,7 +9,7 @@ #include "matrix.hpp" #include "vector.hpp" -namespace libra { +namespace math /** * @class Quaternion diff --git a/src/math_physics/math/s2e_math.cpp b/src/math_physics/math/s2e_math.cpp index 7ae8f5777..916a3e6b5 100644 --- a/src/math_physics/math/s2e_math.cpp +++ b/src/math_physics/math/s2e_math.cpp @@ -7,7 +7,7 @@ #include -namespace libra { +namespace math double WrapTo2Pi(const double angle_rad) { double angle_out = angle_rad; if (angle_out < 0.0) { diff --git a/src/math_physics/math/s2e_math.hpp b/src/math_physics/math/s2e_math.hpp index b2095ad21..d235bb023 100644 --- a/src/math_physics/math/s2e_math.hpp +++ b/src/math_physics/math/s2e_math.hpp @@ -8,7 +8,7 @@ #include -namespace libra { +namespace math /** * @fn WrapTo2Pi diff --git a/src/math_physics/math/vector.cpp b/src/math_physics/math/vector.cpp index bd4f3501f..cde34ea28 100644 --- a/src/math_physics/math/vector.cpp +++ b/src/math_physics/math/vector.cpp @@ -7,7 +7,7 @@ #include "constants.hpp" -namespace libra { +namespace math Vector<3, double> ConvertFrameOrthogonal2Polar(const Vector<3, double>& orthogonal) { Vector<3, double> polar; // vector on the polar coordinate polar.FillUp(0.0); diff --git a/src/math_physics/math/vector.hpp b/src/math_physics/math/vector.hpp index 5901c34c4..08870ac7b 100644 --- a/src/math_physics/math/vector.hpp +++ b/src/math_physics/math/vector.hpp @@ -12,7 +12,7 @@ #define dot InnerProduct #define cross OuterProduct -namespace libra { +namespace math /** * @class Vector * @brief Class for mathematical vector diff --git a/src/math_physics/math/vector_template_functions.hpp b/src/math_physics/math/vector_template_functions.hpp index 4706eab2a..065ab4c1e 100644 --- a/src/math_physics/math/vector_template_functions.hpp +++ b/src/math_physics/math/vector_template_functions.hpp @@ -8,7 +8,7 @@ #include -namespace libra { +namespace math template Vector::Vector(const T& n) { From 09020aa3442c887b0a1c6a38ae48b114c72af2da Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 20 Jul 2024 09:20:44 +0900 Subject: [PATCH 220/456] Replace libra::Matrix to math::Matrix --- src/components/base/sensor.hpp | 4 +- .../base/sensor_template_functions.hpp | 4 +- .../examples/example_change_structure.cpp | 2 +- src/components/real/aocs/magnetorquer.cpp | 8 +-- src/components/real/aocs/magnetorquer.hpp | 6 +-- .../aocs/mtq_magnetometer_interference.cpp | 2 +- .../aocs/mtq_magnetometer_interference.hpp | 2 +- src/components/real/mission/telescope.cpp | 2 +- src/disturbances/air_drag.cpp | 2 +- src/disturbances/geopotential.cpp | 4 +- src/disturbances/gravity_gradient.cpp | 2 +- src/disturbances/gravity_gradient.hpp | 2 +- src/disturbances/lunar_gravity_field.cpp | 4 +- src/dynamics/attitude/attitude.cpp | 6 +-- src/dynamics/attitude/attitude.hpp | 8 +-- src/dynamics/attitude/attitude_rk4.cpp | 4 +- src/dynamics/attitude/attitude_rk4.hpp | 6 +-- .../attitude_with_cantilever_vibration.cpp | 10 ++-- .../attitude_with_cantilever_vibration.hpp | 2 +- src/dynamics/attitude/controlled_attitude.cpp | 16 +++--- src/dynamics/attitude/controlled_attitude.hpp | 4 +- src/dynamics/attitude/initialize_attitude.cpp | 4 +- src/dynamics/attitude/initialize_attitude.hpp | 2 +- ...ode_attitude_with_cantilever_vibration.hpp | 24 ++++----- src/dynamics/orbit/orbit.cpp | 4 +- src/dynamics/orbit/relative_orbit.hpp | 4 +- src/environment/global/earth_rotation.cpp | 34 ++++++------ src/environment/global/earth_rotation.hpp | 16 +++--- src/environment/global/moon_rotation.hpp | 4 +- src/logger/log_utility.hpp | 4 +- .../geodesy/geodetic_position.cpp | 2 +- .../gravity/gravity_potential.cpp | 4 +- .../gravity/gravity_potential.hpp | 2 +- .../gravity/test_gravity_potential.cpp | 12 ++--- src/math_physics/math/test_matrix.cpp | 54 +++++++++---------- src/math_physics/math/test_matrix_vector.cpp | 6 +-- src/math_physics/math/test_quaternion.cpp | 4 +- src/math_physics/orbit/kepler_orbit.cpp | 8 +-- src/math_physics/orbit/kepler_orbit.hpp | 2 +- .../orbit/relative_orbit_models.cpp | 8 +-- .../orbit/relative_orbit_models.hpp | 4 +- .../moon_rotation_utilities.cpp | 14 ++--- .../moon_rotation_utilities.hpp | 6 +-- .../ground_station/ground_station.cpp | 2 +- .../structure/initialize_structure.cpp | 2 +- .../structure/kinematics_parameters.cpp | 2 +- .../structure/kinematics_parameters.hpp | 8 +-- 47 files changed, 168 insertions(+), 168 deletions(-) diff --git a/src/components/base/sensor.hpp b/src/components/base/sensor.hpp index 66b1bb1ce..df7d67baf 100644 --- a/src/components/base/sensor.hpp +++ b/src/components/base/sensor.hpp @@ -31,7 +31,7 @@ class Sensor { * @param [in] random_walk_standard_deviation_c: Standard deviation of random wark at the component frame * @param [in] random_walk_limit_c: Limit of random walk at the component frame */ - Sensor(const libra::Matrix& scale_factor, const libra::Vector& range_to_const_c, const libra::Vector& range_to_zero_c, + Sensor(const math::Matrix& scale_factor, const libra::Vector& range_to_const_c, const libra::Vector& range_to_zero_c, const libra::Vector& bias_noise_c, const libra::Vector& normal_random_standard_deviation_c, const double random_walk_step_width_s, const libra::Vector& random_walk_standard_deviation_c, const libra::Vector& random_walk_limit_c); /** @@ -52,7 +52,7 @@ class Sensor { libra::Vector Measure(const libra::Vector true_value_c); private: - libra::Matrix scale_factor_; //!< Scale factor matrix + math::Matrix scale_factor_; //!< Scale factor matrix libra::Vector range_to_const_c_; //!< Output range limit to be constant output value at the component frame libra::Vector range_to_zero_c_; //!< Output range limit to be zero output value at the component frame libra::NormalRand normal_random_noise_c_[N]; //!< Normal random diff --git a/src/components/base/sensor_template_functions.hpp b/src/components/base/sensor_template_functions.hpp index e7c66b7d7..305b066f5 100644 --- a/src/components/base/sensor_template_functions.hpp +++ b/src/components/base/sensor_template_functions.hpp @@ -10,7 +10,7 @@ #include template -Sensor::Sensor(const libra::Matrix& scale_factor, const libra::Vector& range_to_const_c, const libra::Vector& range_to_zero_c, +Sensor::Sensor(const math::Matrix& scale_factor, const libra::Vector& range_to_const_c, const libra::Vector& range_to_zero_c, const libra::Vector& bias_noise_c, const libra::Vector& normal_random_standard_deviation_c, const double random_walk_step_width_s, const libra::Vector& random_walk_standard_deviation_c, const libra::Vector& random_walk_limit_c) @@ -82,7 +82,7 @@ Sensor ReadSensorInformation(const std::string file_name, const double step_w libra::Vector scale_factor_vector; ini_file.ReadVector(section.c_str(), "scale_factor_c", scale_factor_vector); - libra::Matrix scale_factor_c; + math::Matrix scale_factor_c; if (scale_factor_vector.CalcNorm() == 0.0) { scale_factor_c = libra::MakeIdentityMatrix(); } else { diff --git a/src/components/examples/example_change_structure.cpp b/src/components/examples/example_change_structure.cpp index 21bc129d0..87e589700 100644 --- a/src/components/examples/example_change_structure.cpp +++ b/src/components/examples/example_change_structure.cpp @@ -35,7 +35,7 @@ void ExampleChangeStructure::MainRoutine(const int time_count) { structure_->GetToSetSurfaces()[0].SetArea_m2(0.5); // Inertia Tensor - libra::Matrix<3, 3> inertia_tensor_b_kgm2(0.0); + math::Matrix<3, 3> inertia_tensor_b_kgm2(0.0); inertia_tensor_b_kgm2[0][0] = 0.2; inertia_tensor_b_kgm2[1][1] = 0.2; inertia_tensor_b_kgm2[2][2] = 0.2; diff --git a/src/components/real/aocs/magnetorquer.cpp b/src/components/real/aocs/magnetorquer.cpp index 135a3782f..c727f91d7 100644 --- a/src/components/real/aocs/magnetorquer.cpp +++ b/src/components/real/aocs/magnetorquer.cpp @@ -12,7 +12,7 @@ #include Magnetorquer::Magnetorquer(const int prescaler, ClockGenerator* clock_generator, const int component_id, const libra::Quaternion& quaternion_b2c, - const libra::Matrix& scale_factor, + const math::Matrix& scale_factor, const libra::Vector& max_magnetic_moment_c_Am2, const libra::Vector& min_magnetic_moment_c_Am2, const libra::Vector& bias_noise_c_Am2_, double random_walk_step_width_s, const libra::Vector& random_walk_standard_deviation_c_Am2, @@ -34,7 +34,7 @@ Magnetorquer::Magnetorquer(const int prescaler, ClockGenerator* clock_generator, } Magnetorquer::Magnetorquer(const int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, const int component_id, - const libra::Quaternion& quaternion_b2c, const libra::Matrix& scale_factor, + const libra::Quaternion& quaternion_b2c, const math::Matrix& scale_factor, const libra::Vector& max_magnetic_moment_c_Am2, const libra::Vector& min_magnetic_moment_c_Am2, const libra::Vector& bias_noise_c_Am2_, double random_walk_step_width_s, const libra::Vector& random_walk_standard_deviation_c_Am2, @@ -123,7 +123,7 @@ Magnetorquer InitMagnetorquer(ClockGenerator* clock_generator, int actuator_id, libra::Vector sf_vec; magtorquer_conf.ReadVector(MTSection, "scale_factor_c", sf_vec); - libra::Matrix scale_factor; + math::Matrix scale_factor; for (size_t i = 0; i < kMtqDimension; i++) { for (size_t j = 0; j < kMtqDimension; j++) { scale_factor[i][j] = sf_vec[i * kMtqDimension + j]; @@ -168,7 +168,7 @@ Magnetorquer InitMagnetorquer(ClockGenerator* clock_generator, PowerPort* power_ libra::Vector sf_vec; magtorquer_conf.ReadVector(MTSection, "scale_factor_c", sf_vec); - libra::Matrix scale_factor; + math::Matrix scale_factor; for (size_t i = 0; i < kMtqDimension; i++) { for (size_t j = 0; j < kMtqDimension; j++) { scale_factor[i][j] = sf_vec[i * kMtqDimension + j]; diff --git a/src/components/real/aocs/magnetorquer.hpp b/src/components/real/aocs/magnetorquer.hpp index 8a8bbc1a7..541466933 100644 --- a/src/components/real/aocs/magnetorquer.hpp +++ b/src/components/real/aocs/magnetorquer.hpp @@ -42,7 +42,7 @@ class Magnetorquer : public Component, public ILoggable { * @param [in] geomagnetic_field: Geomagnetic environment */ Magnetorquer(const int prescaler, ClockGenerator* clock_generator, const int component_id, const libra::Quaternion& quaternion_b2c, - const libra::Matrix& scale_factor, const libra::Vector& max_magnetic_moment_c_Am2, + const math::Matrix& scale_factor, const libra::Vector& max_magnetic_moment_c_Am2, const libra::Vector& min_magnetic_moment_c_Am2, const libra::Vector& bias_noise_c_Am2_, double random_walk_step_width_s, const libra::Vector& random_walk_standard_deviation_c_Am2, const libra::Vector& random_walk_limit_c_Am2, @@ -66,7 +66,7 @@ class Magnetorquer : public Component, public ILoggable { * @param [in] geomagnetic_field: Geomagnetic environment */ Magnetorquer(const int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, const int component_id, - const libra::Quaternion& quaternion_b2c, const libra::Matrix& scale_factor, + const libra::Quaternion& quaternion_b2c, const math::Matrix& scale_factor, const libra::Vector& max_magnetic_moment_c_Am2, const libra::Vector& min_magnetic_moment_c_Am2, const libra::Vector& bias_noise_c_Am2_, double random_walk_step_width_s, const libra::Vector& random_walk_standard_deviation_c_Am2, const libra::Vector& random_walk_limit_c_Am2, @@ -128,7 +128,7 @@ class Magnetorquer : public Component, public ILoggable { libra::Vector output_magnetic_moment_b_Am2_{0.0}; //!< Output output magnetic moment in the body fixed frame [Am2] libra::Quaternion quaternion_b2c_{0.0, 0.0, 0.0, 1.0}; //!< Quaternion from body frame to component frame libra::Quaternion quaternion_c2b_{0.0, 0.0, 0.0, 1.0}; //!< Quaternion from component frame to body frame - libra::Matrix scale_factor_; //!< Scale factor matrix + math::Matrix scale_factor_; //!< Scale factor matrix libra::Vector max_magnetic_moment_c_Am2_{100.0}; //!< Maximum magnetic moment in the component frame [Am2] libra::Vector min_magnetic_moment_c_Am2_{-100.0}; //!< Minimum magnetic moment in the component frame [Am2] diff --git a/src/components/real/aocs/mtq_magnetometer_interference.cpp b/src/components/real/aocs/mtq_magnetometer_interference.cpp index 617cec6d3..8c3b5ae8d 100644 --- a/src/components/real/aocs/mtq_magnetometer_interference.cpp +++ b/src/components/real/aocs/mtq_magnetometer_interference.cpp @@ -19,7 +19,7 @@ MtqMagnetometerInterference::MtqMagnetometerInterference(const std::string file_ for (size_t degree = 1; degree <= polynomial_degree_; degree++) { const std::string key_name = "additional_bias_by_mtq_coefficients_" + std::to_string(static_cast(degree)); libra::Vector<9> additional_bias_by_mtq_coefficients_vec; - libra::Matrix<3, 3> additional_bias_by_mtq_coefficients; + math::Matrix<3, 3> additional_bias_by_mtq_coefficients; ini_file.ReadVector(section.c_str(), key_name.c_str(), additional_bias_by_mtq_coefficients_vec); for (size_t i = 0; i < 3; i++) { for (size_t j = 0; j < 3; j++) { diff --git a/src/components/real/aocs/mtq_magnetometer_interference.hpp b/src/components/real/aocs/mtq_magnetometer_interference.hpp index 5afe4a54e..10d48a88e 100644 --- a/src/components/real/aocs/mtq_magnetometer_interference.hpp +++ b/src/components/real/aocs/mtq_magnetometer_interference.hpp @@ -31,7 +31,7 @@ class MtqMagnetometerInterference { protected: size_t polynomial_degree_; //!< Polynomial degree - std::vector> additional_bias_by_mtq_coefficients_; //!< Polynomial coefficients of additional bias noise + std::vector> additional_bias_by_mtq_coefficients_; //!< Polynomial coefficients of additional bias noise libra::Vector<3> previous_added_bias_c_nT_{0.0}; Magnetometer& magnetometer_; //!< Magnetometer diff --git a/src/components/real/mission/telescope.cpp b/src/components/real/mission/telescope.cpp index 6112d2def..3652e6895 100644 --- a/src/components/real/mission/telescope.cpp +++ b/src/components/real/mission/telescope.cpp @@ -176,7 +176,7 @@ void Telescope::ObserveGroundPositionDeviation() { Quaternion quaternion_i2b = attitude_->GetQuaternion_i2b(); libra::Vector<3> spacecraft_position_ecef_m = orbit_->GetPosition_ecef_m(); libra::Vector<3> direction_ecef = (initial_ground_position_ecef_m_ - spacecraft_position_ecef_m).CalcNormalizedVector(); - libra::Matrix<3, 3> dcm_ecef_to_i = local_celestial_information_->GetGlobalInformation().GetEarthRotation().GetDcmJ2000ToEcef().Transpose(); + math::Matrix<3, 3> dcm_ecef_to_i = local_celestial_information_->GetGlobalInformation().GetEarthRotation().GetDcmJ2000ToEcef().Transpose(); libra::Vector<3> direction_i = (dcm_ecef_to_i * direction_ecef).CalcNormalizedVector(); libra::Vector<3> direction_b = quaternion_i2b.FrameConversion(direction_i); libra::Vector<3> target_c = quaternion_b2c_.FrameConversion(direction_b); diff --git a/src/disturbances/air_drag.cpp b/src/disturbances/air_drag.cpp index c3df5cc19..ed8e274c7 100644 --- a/src/disturbances/air_drag.cpp +++ b/src/disturbances/air_drag.cpp @@ -26,7 +26,7 @@ AirDrag::AirDrag(const std::vector& surfaces, const libra::Vector<3>& c void AirDrag::Update(const LocalEnvironment& local_environment, const Dynamics& dynamics) { double air_density_kg_m3 = local_environment.GetAtmosphere().GetAirDensity_kg_m3(); - libra::Matrix<3, 3> dcm_ecef2eci = + math::Matrix<3, 3> dcm_ecef2eci = local_environment.GetCelestialInformation().GetGlobalInformation().GetEarthRotation().GetDcmJ2000ToEcef().Transpose(); libra::Vector<3> relative_velocity_wrt_atmosphere_i_m_s = dcm_ecef2eci * dynamics.GetOrbit().GetVelocity_ecef_m_s(); libra::Quaternion quaternion_i2b = dynamics.GetAttitude().GetQuaternion_i2b(); diff --git a/src/disturbances/geopotential.cpp b/src/disturbances/geopotential.cpp index 7be1ceba6..412e0de07 100644 --- a/src/disturbances/geopotential.cpp +++ b/src/disturbances/geopotential.cpp @@ -83,8 +83,8 @@ void Geopotential::Update(const LocalEnvironment &local_environment, const Dynam UNUSED(time_ms_); #endif - libra::Matrix<3, 3> trans_eci2ecef_ = local_environment.GetCelestialInformation().GetGlobalInformation().GetEarthRotation().GetDcmJ2000ToEcef(); - libra::Matrix<3, 3> trans_ecef2eci = trans_eci2ecef_.Transpose(); + math::Matrix<3, 3> trans_eci2ecef_ = local_environment.GetCelestialInformation().GetGlobalInformation().GetEarthRotation().GetDcmJ2000ToEcef(); + math::Matrix<3, 3> trans_ecef2eci = trans_eci2ecef_.Transpose(); acceleration_i_m_s2_ = trans_ecef2eci * acceleration_ecef_m_s2_; } diff --git a/src/disturbances/gravity_gradient.cpp b/src/disturbances/gravity_gradient.cpp index d59c02dbd..17daa5ba5 100644 --- a/src/disturbances/gravity_gradient.cpp +++ b/src/disturbances/gravity_gradient.cpp @@ -24,7 +24,7 @@ void GravityGradient::Update(const LocalEnvironment& local_environment, const Dy } libra::Vector<3> GravityGradient::CalcTorque_b_Nm(const libra::Vector<3> earth_position_from_sc_b_m, - const libra::Matrix<3, 3> inertia_tensor_b_kgm2) { + const math::Matrix<3, 3> inertia_tensor_b_kgm2) { double r_norm_m = earth_position_from_sc_b_m.CalcNorm(); libra::Vector<3> u_b = earth_position_from_sc_b_m; // TODO: make undestructive normalize function for Vector u_b /= r_norm_m; diff --git a/src/disturbances/gravity_gradient.hpp b/src/disturbances/gravity_gradient.hpp index c43b328e8..327c4873e 100644 --- a/src/disturbances/gravity_gradient.hpp +++ b/src/disturbances/gravity_gradient.hpp @@ -65,7 +65,7 @@ class GravityGradient : public Disturbance { * @param [in] inertia_tensor_b_kgm2: Inertia Tensor at body frame [kg*m^2] * @return Calculated torque at body frame [Nm] */ - libra::Vector<3> CalcTorque_b_Nm(const libra::Vector<3> earth_position_from_sc_b_m, const libra::Matrix<3, 3> inertia_tensor_b_kgm2); + libra::Vector<3> CalcTorque_b_Nm(const libra::Vector<3> earth_position_from_sc_b_m, const math::Matrix<3, 3> inertia_tensor_b_kgm2); }; /** diff --git a/src/disturbances/lunar_gravity_field.cpp b/src/disturbances/lunar_gravity_field.cpp index 8de4db364..a794f8c71 100644 --- a/src/disturbances/lunar_gravity_field.cpp +++ b/src/disturbances/lunar_gravity_field.cpp @@ -88,7 +88,7 @@ bool LunarGravityField::ReadCoefficientsGrgm1200a(std::string file_name) { void LunarGravityField::Update(const LocalEnvironment &local_environment, const Dynamics &dynamics) { const CelestialInformation global_celestial_information = local_environment.GetCelestialInformation().GetGlobalInformation(); - libra::Matrix<3, 3> dcm_mci2mcmf_ = global_celestial_information.GetMoonRotation().GetDcmJ2000ToMcmf(); + math::Matrix<3, 3> dcm_mci2mcmf_ = global_celestial_information.GetMoonRotation().GetDcmJ2000ToMcmf(); libra::Vector<3> spacecraft_position_mci_m = dynamics.GetOrbit().GetPosition_i_m(); libra::Vector<3> spacecraft_position_mcmf_m = dcm_mci2mcmf_ * spacecraft_position_mci_m; @@ -107,7 +107,7 @@ void LunarGravityField::Update(const LocalEnvironment &local_environment, const UNUSED(time_ms_); #endif - libra::Matrix<3, 3> dcm_mcmf2i = dcm_mci2mcmf_.Transpose(); + math::Matrix<3, 3> dcm_mcmf2i = dcm_mci2mcmf_.Transpose(); acceleration_i_m_s2_ = dcm_mcmf2i * acceleration_mcmf_m_s2_; } diff --git a/src/dynamics/attitude/attitude.cpp b/src/dynamics/attitude/attitude.cpp index 505f081c9..fb3621da0 100644 --- a/src/dynamics/attitude/attitude.cpp +++ b/src/dynamics/attitude/attitude.cpp @@ -6,7 +6,7 @@ #include -Attitude::Attitude(const libra::Matrix<3, 3>& inertia_tensor_kgm2, const std::string& simulation_object_name) +Attitude::Attitude(const math::Matrix<3, 3>& inertia_tensor_kgm2, const std::string& simulation_object_name) : SimulationObject(simulation_object_name), inertia_tensor_kgm2_(inertia_tensor_kgm2) { angular_velocity_b_rad_s_ = libra::Vector<3>(0.0); quaternion_i2b_ = libra::Quaternion(0.0, 0.0, 0.0, 1.0); @@ -57,8 +57,8 @@ void Attitude::CalcAngularMomentum(void) { kinetic_energy_J_ = 0.5 * libra::InnerProduct(angular_momentum_spacecraft_b_Nms_, angular_velocity_b_rad_s_); } -libra::Matrix<4, 4> CalcAngularVelocityMatrix(libra::Vector<3> angular_velocity_b_rad_s) { - libra::Matrix<4, 4> angular_velocity_matrix; +math::Matrix<4, 4> CalcAngularVelocityMatrix(libra::Vector<3> angular_velocity_b_rad_s) { + math::Matrix<4, 4> angular_velocity_matrix; angular_velocity_matrix[0][0] = 0.0f; angular_velocity_matrix[0][1] = angular_velocity_b_rad_s[2]; diff --git a/src/dynamics/attitude/attitude.hpp b/src/dynamics/attitude/attitude.hpp index 94f63d882..1ff73967b 100644 --- a/src/dynamics/attitude/attitude.hpp +++ b/src/dynamics/attitude/attitude.hpp @@ -23,7 +23,7 @@ class Attitude : public ILoggable, public SimulationObject { * @brief Constructor * @param [in] simulation_object_name: Simulation object name for Monte-Carlo simulation */ - Attitude(const libra::Matrix<3, 3>& inertia_tensor_kgm2, const std::string& simulation_object_name = "attitude"); + Attitude(const math::Matrix<3, 3>& inertia_tensor_kgm2, const std::string& simulation_object_name = "attitude"); /** * @fn ~Attitude * @brief Destructor @@ -60,7 +60,7 @@ class Attitude : public ILoggable, public SimulationObject { * @fn GetInertiaTensor_b_kgm2 * @brief Return inertia tensor [kg m^2] */ - inline libra::Matrix<3, 3> GetInertiaTensor_b_kgm2() const { return inertia_tensor_kgm2_; } + inline math::Matrix<3, 3> GetInertiaTensor_b_kgm2() const { return inertia_tensor_kgm2_; } // Setter /** @@ -119,7 +119,7 @@ class Attitude : public ILoggable, public SimulationObject { libra::Vector<3> angular_velocity_b_rad_s_; //!< Angular velocity of spacecraft body fixed frame with respect to the inertial frame [rad/s] libra::Quaternion quaternion_i2b_; //!< Attitude quaternion from the inertial frame to the body fixed frame libra::Vector<3> torque_b_Nm_; //!< Torque in the body fixed frame [Nm] - const libra::Matrix<3, 3>& inertia_tensor_kgm2_; //!< Inertia tensor of the spacecraft [kg m^2] + const math::Matrix<3, 3>& inertia_tensor_kgm2_; //!< Inertia tensor of the spacecraft [kg m^2] libra::Vector<3> angular_momentum_spacecraft_b_Nms_; //!< Angular momentum of spacecraft in the body fixed frame [Nms] libra::Vector<3> angular_momentum_reaction_wheel_b_Nms_; //!< Angular momentum of reaction wheel in the body fixed frame [Nms] @@ -140,6 +140,6 @@ class Attitude : public ILoggable, public SimulationObject { * @brief Generate angular velocity matrix for kinematics calculation * @param [in] angular_velocity_b_rad_s: Angular velocity [rad/s] */ -libra::Matrix<4, 4> CalcAngularVelocityMatrix(libra::Vector<3> angular_velocity_b_rad_s); +math::Matrix<4, 4> CalcAngularVelocityMatrix(libra::Vector<3> angular_velocity_b_rad_s); #endif // S2E_DYNAMICS_ATTITUDE_ATTITUDE_HPP_ diff --git a/src/dynamics/attitude/attitude_rk4.cpp b/src/dynamics/attitude/attitude_rk4.cpp index 1c2b9c838..d92a34e31 100644 --- a/src/dynamics/attitude/attitude_rk4.cpp +++ b/src/dynamics/attitude/attitude_rk4.cpp @@ -10,7 +10,7 @@ #include AttitudeRk4::AttitudeRk4(const libra::Vector<3>& angular_velocity_b_rad_s, const libra::Quaternion& quaternion_i2b, - const libra::Matrix<3, 3>& inertia_tensor_kgm2, const libra::Vector<3>& torque_b_Nm, const double propagation_step_s, + const math::Matrix<3, 3>& inertia_tensor_kgm2, const libra::Vector<3>& torque_b_Nm, const double propagation_step_s, const std::string& simulation_object_name) : Attitude(inertia_tensor_kgm2, simulation_object_name) { angular_velocity_b_rad_s_ = angular_velocity_b_rad_s; @@ -39,7 +39,7 @@ void AttitudeRk4::SetParameters(const MonteCarloSimulationExecutor& mc_simulator void AttitudeRk4::Propagate(const double end_time_s) { if (!is_calc_enabled_) return; - libra::Matrix<3, 3> dot_inertia_tensor = + math::Matrix<3, 3> dot_inertia_tensor = (1.0 / (end_time_s - current_propagation_time_s_)) * (inertia_tensor_kgm2_ - previous_inertia_tensor_kgm2_); torque_inertia_tensor_change_b_Nm_ = dot_inertia_tensor * angular_velocity_b_rad_s_; inverse_inertia_tensor_ = CalcInverseMatrix(inertia_tensor_kgm2_); diff --git a/src/dynamics/attitude/attitude_rk4.hpp b/src/dynamics/attitude/attitude_rk4.hpp index 2b754cbc7..1898d4355 100644 --- a/src/dynamics/attitude/attitude_rk4.hpp +++ b/src/dynamics/attitude/attitude_rk4.hpp @@ -25,7 +25,7 @@ class AttitudeRk4 : public Attitude { * @param [in] simulation_object_name: Simulation object name for Monte-Carlo simulation */ AttitudeRk4(const libra::Vector<3>& angular_velocity_b_rad_s, const libra::Quaternion& quaternion_i2b, - const libra::Matrix<3, 3>& inertia_tensor_kgm2, const libra::Vector<3>& torque_b_Nm, const double propagation_step_s, + const math::Matrix<3, 3>& inertia_tensor_kgm2, const libra::Vector<3>& torque_b_Nm, const double propagation_step_s, const std::string& simulation_object_name = "attitude"); /** * @fn ~AttitudeRk4 @@ -49,8 +49,8 @@ class AttitudeRk4 : public Attitude { private: double current_propagation_time_s_; //!< current time [sec] - libra::Matrix<3, 3> inverse_inertia_tensor_; //!< Inverse of inertia tensor - libra::Matrix<3, 3> previous_inertia_tensor_kgm2_; //!< Previous inertia tensor [kgm2] + math::Matrix<3, 3> inverse_inertia_tensor_; //!< Inverse of inertia tensor + math::Matrix<3, 3> previous_inertia_tensor_kgm2_; //!< Previous inertia tensor [kgm2] libra::Vector<3> torque_inertia_tensor_change_b_Nm_; //!< Torque generated by inertia tensor change [Nm] /** diff --git a/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp b/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp index 9c4f339f4..20aa3f234 100644 --- a/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp +++ b/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp @@ -9,8 +9,8 @@ #include AttitudeWithCantileverVibration::AttitudeWithCantileverVibration( - const libra::Vector<3>& angular_velocity_b_rad_s, const libra::Quaternion& quaternion_i2b, const libra::Matrix<3, 3>& inertia_tensor_kgm2, - const libra::Matrix<3, 3>& inertia_tensor_cantilever_kgm2, const double damping_ratio_cantilever, + const libra::Vector<3>& angular_velocity_b_rad_s, const libra::Quaternion& quaternion_i2b, const math::Matrix<3, 3>& inertia_tensor_kgm2, + const math::Matrix<3, 3>& inertia_tensor_cantilever_kgm2, const double damping_ratio_cantilever, const double intrinsic_angular_velocity_cantilever_rad_s, const libra::Vector<3>& torque_b_Nm, const double propagation_step_s, const std::string& simulation_object_name) : Attitude(inertia_tensor_kgm2, simulation_object_name), @@ -30,7 +30,7 @@ AttitudeWithCantileverVibration::AttitudeWithCantileverVibration( double spring_coefficient = pow(intrinsic_angular_velocity_cantilever_rad_s, 2.0); attitude_ode_.SetSpringCoefficient(spring_coefficient); attitude_ode_.SetInverseInertiaTensor(CalcInverseMatrix(inertia_tensor_kgm2_)); - libra::Matrix<3, 3> inverse_equivalent_inertia_tensor_cantilever = + math::Matrix<3, 3> inverse_equivalent_inertia_tensor_cantilever = CalcInverseMatrix(inertia_tensor_kgm2_ - inertia_tensor_cantilever_kgm2) * inertia_tensor_kgm2_; attitude_ode_.SetInverseEquivalentInertiaTensorCantilever(inverse_equivalent_inertia_tensor_cantilever); attitude_ode_.SetTorque_b_Nm(torque_b_Nm_); @@ -72,9 +72,9 @@ void AttitudeWithCantileverVibration::SetParameters(const MonteCarloSimulationEx void AttitudeWithCantileverVibration::Propagate(const double end_time_s) { if (!is_calc_enabled_) return; - libra::Matrix<3, 3> previous_inertia_tensor_kgm2 = attitude_ode_.GetPreviousInertiaTensor_kgm2(); + math::Matrix<3, 3> previous_inertia_tensor_kgm2 = attitude_ode_.GetPreviousInertiaTensor_kgm2(); assert(end_time_s - current_propagation_time_s_ > 1e-6); - libra::Matrix<3, 3> dot_inertia_tensor = (1.0 / (end_time_s - current_propagation_time_s_)) * (inertia_tensor_kgm2_ - previous_inertia_tensor_kgm2); + math::Matrix<3, 3> dot_inertia_tensor = (1.0 / (end_time_s - current_propagation_time_s_)) * (inertia_tensor_kgm2_ - previous_inertia_tensor_kgm2); libra::Vector<3> torque_inertia_tensor_b_Nm = dot_inertia_tensor * angular_velocity_b_rad_s_; attitude_ode_.SetTorqueInertiaTensor_b_Nm(torque_inertia_tensor_b_Nm); attitude_ode_.SetInverseInertiaTensor(CalcInverseMatrix(inertia_tensor_kgm2_)); diff --git a/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp b/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp index e24f3e489..d917fc1e0 100644 --- a/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp +++ b/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp @@ -32,7 +32,7 @@ class AttitudeWithCantileverVibration : public Attitude { * @param [in] simulation_object_name: Simulation object name for Monte-Carlo simulation */ AttitudeWithCantileverVibration(const libra::Vector<3>& angular_velocity_b_rad_s, const libra::Quaternion& quaternion_i2b, - const libra::Matrix<3, 3>& inertia_tensor_kgm2, const libra::Matrix<3, 3>& inertia_tensor_cantilever_kgm2, + const math::Matrix<3, 3>& inertia_tensor_kgm2, const math::Matrix<3, 3>& inertia_tensor_cantilever_kgm2, const double damping_ratio_cantilever, const double intrinsic_angular_velocity_cantilever_rad_s, const libra::Vector<3>& torque_b_Nm, const double propagation_step_s, const std::string& simulation_object_name = "attitude"); diff --git a/src/dynamics/attitude/controlled_attitude.cpp b/src/dynamics/attitude/controlled_attitude.cpp index a77002962..155445ffc 100644 --- a/src/dynamics/attitude/controlled_attitude.cpp +++ b/src/dynamics/attitude/controlled_attitude.cpp @@ -9,7 +9,7 @@ ControlledAttitude::ControlledAttitude(const AttitudeControlMode main_mode, const AttitudeControlMode sub_mode, const libra::Quaternion quaternion_i2b, const libra::Vector<3> main_target_direction_b, - const libra::Vector<3> sub_target_direction_b, const libra::Matrix<3, 3>& inertia_tensor_kgm2, + const libra::Vector<3> sub_target_direction_b, const math::Matrix<3, 3>& inertia_tensor_kgm2, const LocalCelestialInformation* local_celestial_information, const Orbit* orbit, const std::string& simulation_object_name) : Attitude(inertia_tensor_kgm2, simulation_object_name), @@ -94,7 +94,7 @@ libra::Vector<3> ControlledAttitude::CalcTargetDirection_i(AttitudeControlMode m } else if (mode == AttitudeControlMode::kVelocityDirectionPointing) { direction = orbit_->GetVelocity_i_m_s(); } else if (mode == AttitudeControlMode::kGroundSpeedDirectionPointing) { - libra::Matrix<3, 3> dcm_ecef2eci = local_celestial_information_->GetGlobalInformation().GetEarthRotation().GetDcmJ2000ToEcef().Transpose(); + math::Matrix<3, 3> dcm_ecef2eci = local_celestial_information_->GetGlobalInformation().GetEarthRotation().GetDcmJ2000ToEcef().Transpose(); direction = dcm_ecef2eci * orbit_->GetVelocity_ecef_m_s(); } else if (mode == AttitudeControlMode::kOrbitNormalPointing) { direction = OuterProduct(orbit_->GetPosition_i_m(), orbit_->GetVelocity_i_m_s()); @@ -105,16 +105,16 @@ libra::Vector<3> ControlledAttitude::CalcTargetDirection_i(AttitudeControlMode m void ControlledAttitude::PointingControl(const libra::Vector<3> main_direction_i, const libra::Vector<3> sub_direction_i) { // Calc DCM ECI->Target - libra::Matrix<3, 3> dcm_t2i = CalcDcm(main_direction_i, sub_direction_i); + math::Matrix<3, 3> dcm_t2i = CalcDcm(main_direction_i, sub_direction_i); // Calc DCM Target->body - libra::Matrix<3, 3> dcm_t2b = CalcDcm(main_target_direction_b_, sub_target_direction_b_); + math::Matrix<3, 3> dcm_t2b = CalcDcm(main_target_direction_b_, sub_target_direction_b_); // Calc DCM ECI->body - libra::Matrix<3, 3> dcm_i2b = dcm_t2b * dcm_t2i.Transpose(); + math::Matrix<3, 3> dcm_i2b = dcm_t2b * dcm_t2i.Transpose(); // Convert to Quaternion quaternion_i2b_ = libra::Quaternion::ConvertFromDcm(dcm_i2b); } -libra::Matrix<3, 3> ControlledAttitude::CalcDcm(const libra::Vector<3> main_direction, const libra::Vector<3> sub_direction) { +math::Matrix<3, 3> ControlledAttitude::CalcDcm(const libra::Vector<3> main_direction, const libra::Vector<3> sub_direction) { // Calc basis vectors libra::Vector<3> ex, ey, ez; ex = main_direction; @@ -125,7 +125,7 @@ libra::Matrix<3, 3> ControlledAttitude::CalcDcm(const libra::Vector<3> main_dire ez = tmp3.CalcNormalizedVector(); // Generate DCM - libra::Matrix<3, 3> dcm; + math::Matrix<3, 3> dcm; for (int i = 0; i < 3; i++) { dcm[i][0] = ex[i]; dcm[i][1] = ey[i]; @@ -166,7 +166,7 @@ void ControlledAttitude::CalcAngularVelocity(const double current_time_s) { angular_velocity_b_rad_s_[i] = q_diff[i]; angular_acc_b_rad_s2_[i] = (previous_omega_b_rad_s_[i] - angular_velocity_b_rad_s_[i]) / time_diff_sec; } - libra::Matrix<3, 3> inv_inertia_tensor = CalcInverseMatrix(inertia_tensor_kgm2_); + math::Matrix<3, 3> inv_inertia_tensor = CalcInverseMatrix(inertia_tensor_kgm2_); controlled_torque_b_Nm = inv_inertia_tensor * angular_acc_b_rad_s2_; } else { angular_velocity_b_rad_s_ = libra::Vector<3>(0.0); diff --git a/src/dynamics/attitude/controlled_attitude.hpp b/src/dynamics/attitude/controlled_attitude.hpp index dbc7debe1..c41ff82be 100644 --- a/src/dynamics/attitude/controlled_attitude.hpp +++ b/src/dynamics/attitude/controlled_attitude.hpp @@ -56,7 +56,7 @@ class ControlledAttitude : public Attitude { */ ControlledAttitude(const AttitudeControlMode main_mode, const AttitudeControlMode sub_mode, const libra::Quaternion quaternion_i2b, const libra::Vector<3> main_target_direction_b, const libra::Vector<3> sub_target_direction_b, - const libra::Matrix<3, 3>& inertia_tensor_kgm2, const LocalCelestialInformation* local_celestial_information, const Orbit* orbit, + const math::Matrix<3, 3>& inertia_tensor_kgm2, const LocalCelestialInformation* local_celestial_information, const Orbit* orbit, const std::string& simulation_object_name = "attitude"); /** * @fn ~ControlledAttitude @@ -146,7 +146,7 @@ class ControlledAttitude : public Attitude { * @param [in] main_direction: Main target direction * @param [in] sub_direction: Sub target direction */ - libra::Matrix<3, 3> CalcDcm(const libra::Vector<3> main_direction, const libra::Vector<3> sub_direction); + math::Matrix<3, 3> CalcDcm(const libra::Vector<3> main_direction, const libra::Vector<3> sub_direction); }; #endif // S2E_DYNAMICS_ATTITUDE_CONTROLLED_ATTITUDE_HPP_ diff --git a/src/dynamics/attitude/initialize_attitude.cpp b/src/dynamics/attitude/initialize_attitude.cpp index 0f3962b79..daee72780 100644 --- a/src/dynamics/attitude/initialize_attitude.cpp +++ b/src/dynamics/attitude/initialize_attitude.cpp @@ -7,7 +7,7 @@ #include Attitude* InitAttitude(std::string file_name, const Orbit* orbit, const LocalCelestialInformation* local_celestial_information, - const double step_width_s, const libra::Matrix<3, 3>& inertia_tensor_kgm2, const int spacecraft_id) { + const double step_width_s, const math::Matrix<3, 3>& inertia_tensor_kgm2, const int spacecraft_id) { IniAccess ini_file(file_name); const char* section_ = "ATTITUDE"; std::string mc_name = "attitude" + std::to_string(spacecraft_id); @@ -54,7 +54,7 @@ Attitude* InitAttitude(std::string file_name, const Orbit* orbit, const LocalCel IniAccess ini_structure(ini_structure_name); const char* section_cantilever = "CANTILEVER_PARAMETERS"; - libra::Matrix<3, 3> inertia_tensor_cantilever_kgm2; + math::Matrix<3, 3> inertia_tensor_cantilever_kgm2; libra::Vector<9> inertia_vec; ini_structure.ReadVector(section_cantilever, "inertia_tensor_cantilever_kgm2", inertia_vec); for (int i = 0; i < 3; i++) { diff --git a/src/dynamics/attitude/initialize_attitude.hpp b/src/dynamics/attitude/initialize_attitude.hpp index 8d6ec1e5c..f9b1bebd4 100644 --- a/src/dynamics/attitude/initialize_attitude.hpp +++ b/src/dynamics/attitude/initialize_attitude.hpp @@ -22,6 +22,6 @@ * @param [in] spacecraft_id: Satellite ID */ Attitude* InitAttitude(std::string file_name, const Orbit* orbit, const LocalCelestialInformation* local_celestial_information, - const double step_width_s, const libra::Matrix<3, 3>& inertia_tensor_kgm2, const int spacecraft_id); + const double step_width_s, const math::Matrix<3, 3>& inertia_tensor_kgm2, const int spacecraft_id); #endif // S2E_DYNAMICS_ATTITUDE_INITIALIZE_ATTITUDE_HPP_ diff --git a/src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp b/src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp index da10a3e7d..4f6ec3745 100644 --- a/src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp +++ b/src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp @@ -135,22 +135,22 @@ class AttitudeWithCantileverVibrationOde : public InterfaceOde<13> { * @fn GetInverseInertiaTensor * @brief Get inverse of inertia tensor */ - inline libra::Matrix<3, 3> GetInverseInertiaTensor() { return inverse_inertia_tensor_; } + inline math::Matrix<3, 3> GetInverseInertiaTensor() { return inverse_inertia_tensor_; } /** * @fn GetPreviousInertiaTensor_kgm2 * @brief Get previous inertia tensor [kgm2] */ - inline libra::Matrix<3, 3> GetPreviousInertiaTensor_kgm2() { return previous_inertia_tensor_kgm2_; } + inline math::Matrix<3, 3> GetPreviousInertiaTensor_kgm2() { return previous_inertia_tensor_kgm2_; } /** * @fn GetInertiaTensorCantilever_kgm2 * @brief Get inertia tensor of the cantilever [kgm2] */ - inline libra::Matrix<3, 3> GetInertiaTensorCantilever_kgm2() { return inertia_tensor_cantilever_kgm2_; } + inline math::Matrix<3, 3> GetInertiaTensorCantilever_kgm2() { return inertia_tensor_cantilever_kgm2_; } /** * @fn GetInverseEquivalentInertiaTensorCantilever * @brief Get inverse of inertia tensor of the cantilever */ - inline libra::Matrix<3, 3> GetInverseEquivalentInertiaTensorCantilever() { return inverse_equivalent_inertia_tensor_cantilever_; } + inline math::Matrix<3, 3> GetInverseEquivalentInertiaTensorCantilever() { return inverse_equivalent_inertia_tensor_cantilever_; } // Setter /** @@ -186,26 +186,26 @@ class AttitudeWithCantileverVibrationOde : public InterfaceOde<13> { * @fn SetInverseInertiaTensor * @brief Set inverse of inertia tensor */ - inline void SetInverseInertiaTensor(const libra::Matrix<3, 3> inverse_inertia_tensor) { inverse_inertia_tensor_ = inverse_inertia_tensor; } + inline void SetInverseInertiaTensor(const math::Matrix<3, 3> inverse_inertia_tensor) { inverse_inertia_tensor_ = inverse_inertia_tensor; } /** * @fn SetPreviousInertiaTensor_kgm2 * @brief Set previous inertia tensor [kgm2] */ - inline void SetPreviousInertiaTensor_kgm2(const libra::Matrix<3, 3> previous_inertia_tensor_kgm2) { + inline void SetPreviousInertiaTensor_kgm2(const math::Matrix<3, 3> previous_inertia_tensor_kgm2) { previous_inertia_tensor_kgm2_ = previous_inertia_tensor_kgm2; } /** * @fn SetInertiaTensorCantilever_kgm2 * @brief Set inertia tensor of the cantilever [kgm2] */ - inline void SetInertiaTensorCantilever_kgm2(const libra::Matrix<3, 3> inertia_tensor_cantilever_kgm2) { + inline void SetInertiaTensorCantilever_kgm2(const math::Matrix<3, 3> inertia_tensor_cantilever_kgm2) { inertia_tensor_cantilever_kgm2_ = inertia_tensor_cantilever_kgm2; } /** * @fn SetInverseEquivalentInertiaTensorCantilever * @brief Set inverse of inertia tensor of the cantilever */ - inline void SetInverseEquivalentInertiaTensorCantilever(const libra::Matrix<3, 3> inverse_equivalent_inertia_tensor_cantilever) { + inline void SetInverseEquivalentInertiaTensorCantilever(const math::Matrix<3, 3> inverse_equivalent_inertia_tensor_cantilever) { inverse_equivalent_inertia_tensor_cantilever_ = inverse_equivalent_inertia_tensor_cantilever; } @@ -215,10 +215,10 @@ class AttitudeWithCantileverVibrationOde : public InterfaceOde<13> { libra::Vector<3> torque_b_Nm_{0.0}; //!< Torque in the body fixed frame [Nm] libra::Vector<3> torque_inertia_tensor_b_Nm_{0.0}; //!< Torque generated by inertia tensor [Nm] libra::Vector<3> angular_momentum_reaction_wheel_b_Nms_{0.0}; //!< Angular momentum of reaction wheel in the body fixed frame [Nms] - libra::Matrix<3, 3> inverse_inertia_tensor_{0.0}; //!< Inverse of inertia tensor - libra::Matrix<3, 3> previous_inertia_tensor_kgm2_{0.0}; //!< Previous inertia tensor [kgm2] - libra::Matrix<3, 3> inertia_tensor_cantilever_kgm2_{0.0}; //!< Inertia tensor of the cantilever [kgm2] - libra::Matrix<3, 3> inverse_equivalent_inertia_tensor_cantilever_{0.0}; //!< Inverse of inertia tensor of the cantilever + math::Matrix<3, 3> inverse_inertia_tensor_{0.0}; //!< Inverse of inertia tensor + math::Matrix<3, 3> previous_inertia_tensor_kgm2_{0.0}; //!< Previous inertia tensor [kgm2] + math::Matrix<3, 3> inertia_tensor_cantilever_kgm2_{0.0}; //!< Inertia tensor of the cantilever [kgm2] + math::Matrix<3, 3> inverse_equivalent_inertia_tensor_cantilever_{0.0}; //!< Inverse of inertia tensor of the cantilever }; } // namespace libra::numerical_integration diff --git a/src/dynamics/orbit/orbit.cpp b/src/dynamics/orbit/orbit.cpp index 80a03d6a0..ca204c69f 100644 --- a/src/dynamics/orbit/orbit.cpp +++ b/src/dynamics/orbit/orbit.cpp @@ -13,7 +13,7 @@ libra::Quaternion Orbit::CalcQuaternion_i2lvlh() const { libra::Vector<3> lvlh_y = OuterProduct(lvlh_z, lvlh_x); libra::Vector<3> lvlh_ey = lvlh_y.CalcNormalizedVector(); - libra::Matrix<3, 3> dcm_i2lvlh; + math::Matrix<3, 3> dcm_i2lvlh; dcm_i2lvlh[0][0] = lvlh_ex[0]; dcm_i2lvlh[0][1] = lvlh_ex[1]; dcm_i2lvlh[0][2] = lvlh_ex[2]; @@ -29,7 +29,7 @@ libra::Quaternion Orbit::CalcQuaternion_i2lvlh() const { } void Orbit::TransformEciToEcef(void) { - libra::Matrix<3, 3> dcm_i_to_xcxf = celestial_information_->GetEarthRotation().GetDcmJ2000ToEcef(); + math::Matrix<3, 3> dcm_i_to_xcxf = celestial_information_->GetEarthRotation().GetDcmJ2000ToEcef(); spacecraft_position_ecef_m_ = dcm_i_to_xcxf * spacecraft_position_i_m_; // convert velocity vector in ECI to the vector in ECEF diff --git a/src/dynamics/orbit/relative_orbit.hpp b/src/dynamics/orbit/relative_orbit.hpp index f7445d101..79b016d3e 100644 --- a/src/dynamics/orbit/relative_orbit.hpp +++ b/src/dynamics/orbit/relative_orbit.hpp @@ -73,8 +73,8 @@ class RelativeOrbit : public Orbit, public libra::OrdinaryDifferentialEquation<6 double propagation_time_s_; //!< Simulation current time for numerical integration by RK4 [sec] double propagation_step_s_; //!< Step width for RK4 [sec] - libra::Matrix<6, 6> system_matrix_; //!< System matrix - libra::Matrix<6, 6> stm_; //!< State transition matrix + math::Matrix<6, 6> system_matrix_; //!< System matrix + math::Matrix<6, 6> stm_; //!< State transition matrix libra::Vector<6> initial_state_; //!< Initial state (Position and Velocity) libra::Vector<3> relative_position_lvlh_m_; //!< Relative position in the LVLH frame diff --git a/src/environment/global/earth_rotation.cpp b/src/environment/global/earth_rotation.cpp index 569c4a293..c7550537d 100644 --- a/src/environment/global/earth_rotation.cpp +++ b/src/environment/global/earth_rotation.cpp @@ -125,10 +125,10 @@ void EarthRotation::Update(const double julian_date) { terrestrial_time_julian_century[i + 1] = terrestrial_time_julian_century[i] * terrestrial_time_julian_century[0]; } - libra::Matrix<3, 3> dcm_precession; - libra::Matrix<3, 3> dcm_nutation; - libra::Matrix<3, 3> dcm_rotation; - libra::Matrix<3, 3> dcm_polar_motion; + math::Matrix<3, 3> dcm_precession; + math::Matrix<3, 3> dcm_nutation; + math::Matrix<3, 3> dcm_rotation; + math::Matrix<3, 3> dcm_polar_motion; // Nutation + Precession dcm_precession = Precession(terrestrial_time_julian_century); dcm_nutation = Nutation(terrestrial_time_julian_century); // epsilon_rad_, d_epsilon_rad_, d_psi_rad_ are updated in this procedure @@ -154,9 +154,9 @@ void EarthRotation::Update(const double julian_date) { } } -libra::Matrix<3, 3> EarthRotation::AxialRotation(const double gast_rad) { return libra::MakeRotationMatrixZ(gast_rad); } +math::Matrix<3, 3> EarthRotation::AxialRotation(const double gast_rad) { return libra::MakeRotationMatrixZ(gast_rad); } -libra::Matrix<3, 3> EarthRotation::Nutation(const double (&t_tt_century)[4]) { +math::Matrix<3, 3> EarthRotation::Nutation(const double (&t_tt_century)[4]) { // Mean obliquity of the ecliptic epsilon_rad_ = c_epsilon_rad_[0]; for (int i = 0; i < 3; i++) { @@ -208,17 +208,17 @@ libra::Matrix<3, 3> EarthRotation::Nutation(const double (&t_tt_century)[4]) { c_d_epsilon_rad_[7] * cos(2 * l_rad + lm_rad) + c_d_epsilon_rad_[8] * cos(2 * ld_rad - ls_rad); double epsi_mod_rad = epsilon_rad_ + d_epsilon_rad_; - libra::Matrix<3, 3> x_epsi_1st = libra::MakeRotationMatrixX(epsilon_rad_); - libra::Matrix<3, 3> z_d_psi = libra::MakeRotationMatrixZ(-d_psi_rad_); - libra::Matrix<3, 3> x_epsi_2nd = libra::MakeRotationMatrixX(-epsi_mod_rad); + math::Matrix<3, 3> x_epsi_1st = libra::MakeRotationMatrixX(epsilon_rad_); + math::Matrix<3, 3> z_d_psi = libra::MakeRotationMatrixZ(-d_psi_rad_); + math::Matrix<3, 3> x_epsi_2nd = libra::MakeRotationMatrixX(-epsi_mod_rad); - libra::Matrix<3, 3> dcm_nutation; + math::Matrix<3, 3> dcm_nutation; dcm_nutation = x_epsi_2nd * z_d_psi * x_epsi_1st; return dcm_nutation; } -libra::Matrix<3, 3> EarthRotation::Precession(const double (&t_tt_century)[4]) { +math::Matrix<3, 3> EarthRotation::Precession(const double (&t_tt_century)[4]) { // Compute precession angles(zeta, theta, z) double zeta_rad = 0.0; for (int i = 0; i < 3; i++) { @@ -234,18 +234,18 @@ libra::Matrix<3, 3> EarthRotation::Precession(const double (&t_tt_century)[4]) { } // Develop transformation matrix - libra::Matrix<3, 3> z_zeta = libra::MakeRotationMatrixZ(-zeta_rad); - libra::Matrix<3, 3> y_theta = libra::MakeRotationMatrixY(theta_rad); - libra::Matrix<3, 3> z_z = libra::MakeRotationMatrixZ(-z_rad); + math::Matrix<3, 3> z_zeta = libra::MakeRotationMatrixZ(-zeta_rad); + math::Matrix<3, 3> y_theta = libra::MakeRotationMatrixY(theta_rad); + math::Matrix<3, 3> z_z = libra::MakeRotationMatrixZ(-z_rad); - libra::Matrix<3, 3> dcm_precession; + math::Matrix<3, 3> dcm_precession; dcm_precession = z_z * y_theta * z_zeta; return dcm_precession; } -libra::Matrix<3, 3> EarthRotation::PolarMotion(const double x_p, const double y_p) { - libra::Matrix<3, 3> dcm_polar_motion; +math::Matrix<3, 3> EarthRotation::PolarMotion(const double x_p, const double y_p) { + math::Matrix<3, 3> dcm_polar_motion; dcm_polar_motion[0][0] = 1.0; dcm_polar_motion[0][1] = 0.0; diff --git a/src/environment/global/earth_rotation.hpp b/src/environment/global/earth_rotation.hpp index 118e55818..2376ff434 100644 --- a/src/environment/global/earth_rotation.hpp +++ b/src/environment/global/earth_rotation.hpp @@ -45,20 +45,20 @@ class EarthRotation { * @fn GetDcmJ2000ToEcef * @brief Return the DCM between J2000 inertial frame and the Earth Centered Earth Fixed frame */ - inline const libra::Matrix<3, 3> GetDcmJ2000ToEcef() const { return dcm_j2000_to_ecef_; }; + inline const math::Matrix<3, 3> GetDcmJ2000ToEcef() const { return dcm_j2000_to_ecef_; }; /** * @fn GetDcmTemeToEcef * @brief Return the DCM between TEME (Inertial frame used in SGP4) and the Earth Centered Earth Fixed frame */ - inline const libra::Matrix<3, 3> GetDcmTemeToEcef() const { return dcm_teme_to_ecef_; }; + inline const math::Matrix<3, 3> GetDcmTemeToEcef() const { return dcm_teme_to_ecef_; }; private: double d_psi_rad_; //!< Nutation in obliquity [rad] double d_epsilon_rad_; //!< Nutation in longitude [rad] double epsilon_rad_; //!< Mean obliquity of the ecliptic [rad] - libra::Matrix<3, 3> dcm_j2000_to_ecef_; //!< Direction Cosine Matrix J2000 to ECEF - libra::Matrix<3, 3> dcm_teme_to_ecef_; //!< Direction Cosine Matrix TEME to ECEF + math::Matrix<3, 3> dcm_j2000_to_ecef_; //!< Direction Cosine Matrix J2000 to ECEF + math::Matrix<3, 3> dcm_teme_to_ecef_; //!< Direction Cosine Matrix TEME to ECEF EarthRotationMode rotation_mode_; //!< Designation of dynamics model // Definitions of coefficients @@ -94,7 +94,7 @@ class EarthRotation { * @param [in] gast_rad: Greenwich 'Apparent' Sidereal Time [rad] * @return Rotation matrix */ - libra::Matrix<3, 3> AxialRotation(const double gast_rad); + math::Matrix<3, 3> AxialRotation(const double gast_rad); /** * @fn Nutation @@ -102,7 +102,7 @@ class EarthRotation { * @param [in] t_tt_century: nth power of julian century for terrestrial time * @return Rotation matrix */ - libra::Matrix<3, 3> Nutation(const double (&t_tt_century)[4]); + math::Matrix<3, 3> Nutation(const double (&t_tt_century)[4]); /** * @fn Precession @@ -110,14 +110,14 @@ class EarthRotation { * @param [in] t_tt_century: nth power of julian century for terrestrial time * @return Rotation matrix */ - libra::Matrix<3, 3> Precession(const double (&t_tt_century)[4]); + math::Matrix<3, 3> Precession(const double (&t_tt_century)[4]); /** * @fn PolarMotion * @brief Calculate movement of the coordinate axes due to Polar Motion * @note Currently, this function is not used. */ - libra::Matrix<3, 3> PolarMotion(const double x_p, const double y_p); + math::Matrix<3, 3> PolarMotion(const double x_p, const double y_p); }; EarthRotationMode ConvertEarthRotationMode(const std::string mode); diff --git a/src/environment/global/moon_rotation.hpp b/src/environment/global/moon_rotation.hpp index 754f6fde4..ba4fb2947 100644 --- a/src/environment/global/moon_rotation.hpp +++ b/src/environment/global/moon_rotation.hpp @@ -53,11 +53,11 @@ class MoonRotation { * @brief Return the DCM between J2000 inertial frame and the Moon Centered Moon Fixed frame * @note Because this is just a DCM, users need to consider the origin of the vector, which you want to convert with this matrix. */ - inline const libra::Matrix<3, 3> GetDcmJ2000ToMcmf() const { return dcm_j2000_to_mcmf_; }; + inline const math::Matrix<3, 3> GetDcmJ2000ToMcmf() const { return dcm_j2000_to_mcmf_; }; private: MoonRotationMode mode_; //!< Rotation mode - libra::Matrix<3, 3> dcm_j2000_to_mcmf_; //!< Direction Cosine Matrix J2000 to MCMF (Moon Centered Moon Fixed) + math::Matrix<3, 3> dcm_j2000_to_mcmf_; //!< Direction Cosine Matrix J2000 to MCMF (Moon Centered Moon Fixed) const CelestialInformation &celestial_information_; //!< Celestial Information to get moon orbit }; diff --git a/src/logger/log_utility.hpp b/src/logger/log_utility.hpp index c47e373cd..4b5a18e31 100644 --- a/src/logger/log_utility.hpp +++ b/src/logger/log_utility.hpp @@ -52,7 +52,7 @@ inline std::string WriteVector(const std::string name, const std::string frame, * @param [in] matrix: matrix value */ template -inline std::string WriteMatrix(const libra::Matrix matrix, const int precision = 6); +inline std::string WriteMatrix(const math::Matrix matrix, const int precision = 6); /** * @fn WriteMatrix * @brief Write header for matrix value @@ -115,7 +115,7 @@ std::string WriteVector(const std::string name, const std::string frame, const s } template -std::string WriteMatrix(const libra::Matrix matrix, const int precision) { +std::string WriteMatrix(const math::Matrix matrix, const int precision) { std::stringstream str_tmp; for (size_t n = 0; n < ROW; n++) { diff --git a/src/math_physics/geodesy/geodetic_position.cpp b/src/math_physics/geodesy/geodetic_position.cpp index cd491b920..7ca1051ee 100644 --- a/src/math_physics/geodesy/geodetic_position.cpp +++ b/src/math_physics/geodesy/geodetic_position.cpp @@ -70,7 +70,7 @@ libra::Vector<3> GeodeticPosition::CalcEcefPosition() const { } void GeodeticPosition::CalcQuaternionXcxfToLtc() { - libra::Matrix<3, 3> dcm_xcxf_to_ltc; + math::Matrix<3, 3> dcm_xcxf_to_ltc; dcm_xcxf_to_ltc[0][0] = -sin(longitude_rad_); dcm_xcxf_to_ltc[0][1] = cos(longitude_rad_); dcm_xcxf_to_ltc[0][2] = 0; diff --git a/src/math_physics/gravity/gravity_potential.cpp b/src/math_physics/gravity/gravity_potential.cpp index 895273523..c784dc1a6 100644 --- a/src/math_physics/gravity/gravity_potential.cpp +++ b/src/math_physics/gravity/gravity_potential.cpp @@ -93,8 +93,8 @@ libra::Vector<3> GravityPotential::CalcAcceleration_xcxf_m_s2(const libra::Vecto return acceleration_xcxf_m_s2; } -libra::Matrix<3, 3> GravityPotential::CalcPartialDerivative_xcxf_s2(const libra::Vector<3> &position_xcxf_m) { - libra::Matrix<3, 3> partial_derivative(0.0); +math::Matrix<3, 3> GravityPotential::CalcPartialDerivative_xcxf_s2(const libra::Vector<3> &position_xcxf_m) { + math::Matrix<3, 3> partial_derivative(0.0); if (degree_ <= 0) return partial_derivative; xcxf_x_m_ = position_xcxf_m[0]; diff --git a/src/math_physics/gravity/gravity_potential.hpp b/src/math_physics/gravity/gravity_potential.hpp index 37af3c634..b0cc45f7f 100644 --- a/src/math_physics/gravity/gravity_potential.hpp +++ b/src/math_physics/gravity/gravity_potential.hpp @@ -54,7 +54,7 @@ class GravityPotential { * @param [in] position_xcxf_m: Position of the spacecraft in the XCXF frame [m] * @return Partial derivative of acceleration in XCXF frame [-/s2] */ - libra::Matrix<3, 3> CalcPartialDerivative_xcxf_s2(const libra::Vector<3> &position_xcxf_m); + math::Matrix<3, 3> CalcPartialDerivative_xcxf_s2(const libra::Vector<3> &position_xcxf_m); private: size_t degree_ = 0; //!< Maximum degree diff --git a/src/math_physics/gravity/test_gravity_potential.cpp b/src/math_physics/gravity/test_gravity_potential.cpp index 47b745788..ea0539511 100644 --- a/src/math_physics/gravity/test_gravity_potential.cpp +++ b/src/math_physics/gravity/test_gravity_potential.cpp @@ -66,7 +66,7 @@ TEST(GravityPotential, PartialDerivative1) { // Calculation check libra::Vector<3> position_xcxf_m; - libra::Matrix<3, 3> partial_derivative_xcxf_s2; + math::Matrix<3, 3> partial_derivative_xcxf_s2; const double accuracy = 1.0e-3; // Calc Partial Derivative @@ -77,7 +77,7 @@ TEST(GravityPotential, PartialDerivative1) { // Calc Acceleration and numerical partial derivatives double d_r = 1e-9; - libra::Matrix<3, 3> numerical_partial_derivative_xcxf_s2; + math::Matrix<3, 3> numerical_partial_derivative_xcxf_s2; for (size_t i = 0; i < 3; i++) { libra::Vector<3> position_1_xcxf_m = position_xcxf_m; libra::Vector<3> position_2_xcxf_m = position_xcxf_m; @@ -92,7 +92,7 @@ TEST(GravityPotential, PartialDerivative1) { } // Compare numerical and analytical calculation - libra::Matrix<3, 3> diff; + math::Matrix<3, 3> diff; for (size_t i = 0; i < 3; i++) { for (size_t j = 0; j < 3; j++) { EXPECT_NEAR(numerical_partial_derivative_xcxf_s2[i][j], partial_derivative_xcxf_s2[i][j], accuracy); @@ -119,7 +119,7 @@ TEST(GravityPotential, PartialDerivative2) { // Calculation check libra::Vector<3> position_xcxf_m; - libra::Matrix<3, 3> partial_derivative_xcxf_s2; + math::Matrix<3, 3> partial_derivative_xcxf_s2; const double accuracy = 1.0e-3; // Calc Partial Derivative @@ -130,7 +130,7 @@ TEST(GravityPotential, PartialDerivative2) { // Calc Acceleration and numerical partial derivatives double d_r = 1e-9; - libra::Matrix<3, 3> numerical_partial_derivative_xcxf_s2; + math::Matrix<3, 3> numerical_partial_derivative_xcxf_s2; for (size_t i = 0; i < 3; i++) { libra::Vector<3> position_1_xcxf_m = position_xcxf_m; libra::Vector<3> position_2_xcxf_m = position_xcxf_m; @@ -145,7 +145,7 @@ TEST(GravityPotential, PartialDerivative2) { } // Compare numerical and analytical calculation - libra::Matrix<3, 3> diff; + math::Matrix<3, 3> diff; for (size_t i = 0; i < 3; i++) { for (size_t j = 0; j < 3; j++) { EXPECT_NEAR(numerical_partial_derivative_xcxf_s2[i][j], partial_derivative_xcxf_s2[i][j], accuracy); diff --git a/src/math_physics/math/test_matrix.cpp b/src/math_physics/math/test_matrix.cpp index 87080d601..1db12d6cd 100644 --- a/src/math_physics/math/test_matrix.cpp +++ b/src/math_physics/math/test_matrix.cpp @@ -14,7 +14,7 @@ TEST(Matrix, ConstructorWithNumber) { const size_t R = 6; const size_t C = 3; double initialize_value = 2.0; - libra::Matrix m(initialize_value); + math::Matrix m(initialize_value); for (size_t r = 0; r < R; r++) { for (size_t c = 0; c < C; c++) { @@ -30,7 +30,7 @@ TEST(Matrix, ConstructorWithNumber) { TEST(Matrix, GetLength) { const size_t R = 6; const size_t C = 3; - libra::Matrix m; + math::Matrix m; EXPECT_EQ(R, m.GetRowLength()); EXPECT_EQ(C, m.GetColumnLength()); @@ -43,8 +43,8 @@ TEST(Matrix, OperatorPlusEqual) { const size_t R = 6; const size_t C = 3; double initialize_value = 2.0; - libra::Matrix m(initialize_value); - libra::Matrix adding; + math::Matrix m(initialize_value); + math::Matrix adding; for (size_t r = 0; r < R; r++) { for (size_t c = 0; c < C; c++) { @@ -71,8 +71,8 @@ TEST(Matrix, OperatorMinusEqual) { const size_t R = 6; const size_t C = 3; double initialize_value = 2.0; - libra::Matrix m(initialize_value); - libra::Matrix subtracting; + math::Matrix m(initialize_value); + math::Matrix subtracting; for (size_t r = 0; r < R; r++) { for (size_t c = 0; c < C; c++) { @@ -99,7 +99,7 @@ TEST(Matrix, OperatorMultiplyEqual) { const size_t R = 6; const size_t C = 3; - libra::Matrix m; + math::Matrix m; double multiplying = 2.0; for (size_t r = 0; r < R; r++) { @@ -125,7 +125,7 @@ TEST(Matrix, OperatorDivideEqual) { const size_t R = 6; const size_t C = 3; - libra::Matrix m; + math::Matrix m; double dividing = 2.0; for (size_t r = 0; r < R; r++) { @@ -152,7 +152,7 @@ TEST(Matrix, FillUp) { const size_t C = 3; double value = 3.0; - libra::Matrix m; + math::Matrix m; m.FillUp(value); @@ -169,7 +169,7 @@ TEST(Matrix, FillUp) { */ TEST(Matrix, CalcTrace) { const size_t N = 6; - libra::Matrix m; + math::Matrix m; for (size_t r = 0; r < N; r++) { for (size_t c = 0; c < N; c++) { @@ -201,8 +201,8 @@ TEST(Matrix, OperatorPlus) { const size_t R = 6; const size_t C = 3; double initialize_value = -2.0; - libra::Matrix m(initialize_value); - libra::Matrix adding; + math::Matrix m(initialize_value); + math::Matrix adding; for (size_t r = 0; r < R; r++) { for (size_t c = 0; c < C; c++) { @@ -210,7 +210,7 @@ TEST(Matrix, OperatorPlus) { } } - libra::Matrix added = m + adding; + math::Matrix added = m + adding; for (size_t r = 0; r < R; r++) { for (size_t c = 0; c < C; c++) { @@ -230,8 +230,8 @@ TEST(Matrix, OperatorMinus) { const size_t R = 6; const size_t C = 3; double initialize_value = 0.6; - libra::Matrix m(initialize_value); - libra::Matrix subtracting; + math::Matrix m(initialize_value); + math::Matrix subtracting; for (size_t r = 0; r < R; r++) { for (size_t c = 0; c < C; c++) { @@ -239,7 +239,7 @@ TEST(Matrix, OperatorMinus) { } } - libra::Matrix subtracted = m - subtracting; + math::Matrix subtracted = m - subtracting; for (size_t r = 0; r < R; r++) { for (size_t c = 0; c < C; c++) { @@ -259,7 +259,7 @@ TEST(Matrix, OperatorMultiplyScalar) { const size_t R = 6; const size_t C = 3; - libra::Matrix m; + math::Matrix m; double multiplying = 0.3; for (size_t r = 0; r < R; r++) { @@ -268,7 +268,7 @@ TEST(Matrix, OperatorMultiplyScalar) { } } - libra::Matrix subtracted = multiplying * m; + math::Matrix subtracted = multiplying * m; for (size_t r = 0; r < R; r++) { for (size_t c = 0; c < C; c++) { @@ -287,8 +287,8 @@ TEST(Matrix, OperatorMultiplyMatrix) { const size_t R = 2; const size_t C = 3; - libra::Matrix a; - libra::Matrix b; + math::Matrix a; + math::Matrix b; a[0][0] = 1.0; a[0][1] = 2.0; @@ -304,7 +304,7 @@ TEST(Matrix, OperatorMultiplyMatrix) { b[2][0] = 5.0; b[2][1] = 6.0; - libra::Matrix result = a * b; + math::Matrix result = a * b; EXPECT_DOUBLE_EQ(22.0, result[0][0]); EXPECT_DOUBLE_EQ(28.0, result[0][1]); @@ -319,14 +319,14 @@ TEST(Matrix, Transpose) { const size_t R = 6; const size_t C = 3; - libra::Matrix m; + math::Matrix m; for (size_t r = 0; r < R; r++) { for (size_t c = 0; c < C; c++) { m[r][c] = r * c; } } - libra::Matrix transposed = m.Transpose(); + math::Matrix transposed = m.Transpose(); for (size_t r = 0; r < R; r++) { for (size_t c = 0; c < C; c++) { @@ -344,7 +344,7 @@ TEST(Matrix, Transpose) { TEST(Matrix, MakeIdentityMatrix) { const size_t N = 6; - libra::Matrix m = libra::MakeIdentityMatrix(); + math::Matrix m = libra::MakeIdentityMatrix(); for (size_t r = 0; r < N; r++) { for (size_t c = 0; c < N; c++) { @@ -364,7 +364,7 @@ TEST(Matrix, MakeRotationMatrixX) { const size_t N = 3; double theta_rad = -45.0 * libra::deg_to_rad; - libra::Matrix m = libra::MakeRotationMatrixX(theta_rad); + math::Matrix m = libra::MakeRotationMatrixX(theta_rad); EXPECT_DOUBLE_EQ(1.0, m[0][0]); EXPECT_DOUBLE_EQ(0.0, m[0][1]); @@ -384,7 +384,7 @@ TEST(Matrix, MakeRotationMatrixY) { const size_t N = 3; double theta_rad = 120.0 * libra::deg_to_rad; - libra::Matrix m = libra::MakeRotationMatrixY(theta_rad); + math::Matrix m = libra::MakeRotationMatrixY(theta_rad); EXPECT_DOUBLE_EQ(cos(theta_rad), m[0][0]); EXPECT_DOUBLE_EQ(0.0, m[0][1]); @@ -404,7 +404,7 @@ TEST(Matrix, MakeRotationMatrixZ) { const size_t N = 3; double theta_rad = 30.0 * libra::deg_to_rad; - libra::Matrix m = libra::MakeRotationMatrixZ(theta_rad); + math::Matrix m = libra::MakeRotationMatrixZ(theta_rad); EXPECT_DOUBLE_EQ(cos(theta_rad), m[0][0]); EXPECT_DOUBLE_EQ(sin(theta_rad), m[0][1]); diff --git a/src/math_physics/math/test_matrix_vector.cpp b/src/math_physics/math/test_matrix_vector.cpp index af17b6fe2..25e9f56c5 100644 --- a/src/math_physics/math/test_matrix_vector.cpp +++ b/src/math_physics/math/test_matrix_vector.cpp @@ -14,7 +14,7 @@ TEST(MatrixVector, MultiplyMatrixVector) { const size_t R = 3; const size_t C = 2; - libra::Matrix m; + math::Matrix m; libra::Vector v; m[0][0] = 1.0; @@ -40,7 +40,7 @@ TEST(MatrixVector, MultiplyMatrixVector) { TEST(MatrixVector, CalcInverseMatrix) { const size_t N = 3; - libra::Matrix m; + math::Matrix m; m[0][0] = 1.0; m[0][1] = 1.0; @@ -52,7 +52,7 @@ TEST(MatrixVector, CalcInverseMatrix) { m[2][1] = -2.0; m[2][2] = 1.0; - libra::Matrix inverse = libra::CalcInverseMatrix(m); + math::Matrix inverse = libra::CalcInverseMatrix(m); EXPECT_NEAR(-1.0, inverse[0][0], 1e-10); EXPECT_NEAR(-1.0, inverse[0][1], 1e-10); diff --git a/src/math_physics/math/test_quaternion.cpp b/src/math_physics/math/test_quaternion.cpp index 12053cca2..ae66539c8 100644 --- a/src/math_physics/math/test_quaternion.cpp +++ b/src/math_physics/math/test_quaternion.cpp @@ -232,7 +232,7 @@ TEST(Quaternion, ConvertToDcmY) { libra::Quaternion q(0.0, 1.0, 0.0, 1.0); q.Normalize(); - libra::Matrix<3, 3> dcm = q.ConvertToDcm(); + math::Matrix<3, 3> dcm = q.ConvertToDcm(); // Check nondestructive function EXPECT_DOUBLE_EQ(0.0, q[0]); @@ -266,7 +266,7 @@ TEST(Quaternion, ConvertToDcm) { libra::Quaternion q(0.5, 0.3, 0.1, 1.0); q.Normalize(); - libra::Matrix<3, 3> dcm = q.ConvertToDcm(); + math::Matrix<3, 3> dcm = q.ConvertToDcm(); // Check nondestructive function const double accuracy = 1.0e-5; diff --git a/src/math_physics/orbit/kepler_orbit.cpp b/src/math_physics/orbit/kepler_orbit.cpp index 4c2714925..5b6d2622c 100644 --- a/src/math_physics/orbit/kepler_orbit.cpp +++ b/src/math_physics/orbit/kepler_orbit.cpp @@ -22,10 +22,10 @@ void KeplerOrbit::CalcConstKeplerMotion() { mean_motion_rad_s_ = sqrt(gravity_constant_m3_s2_ / a_m3); // DCM - libra::Matrix<3, 3> dcm_arg_perigee = libra::MakeRotationMatrixZ(-1.0 * oe_.GetArgPerigee_rad()); - libra::Matrix<3, 3> dcm_inclination = libra::MakeRotationMatrixX(-1.0 * oe_.GetInclination_rad()); - libra::Matrix<3, 3> dcm_raan = libra::MakeRotationMatrixZ(-1.0 * oe_.GetRaan_rad()); - libra::Matrix<3, 3> dcm_inc_arg = dcm_inclination * dcm_arg_perigee; + math::Matrix<3, 3> dcm_arg_perigee = libra::MakeRotationMatrixZ(-1.0 * oe_.GetArgPerigee_rad()); + math::Matrix<3, 3> dcm_inclination = libra::MakeRotationMatrixX(-1.0 * oe_.GetInclination_rad()); + math::Matrix<3, 3> dcm_raan = libra::MakeRotationMatrixZ(-1.0 * oe_.GetRaan_rad()); + math::Matrix<3, 3> dcm_inc_arg = dcm_inclination * dcm_arg_perigee; dcm_inplane_to_i_ = dcm_raan * dcm_inc_arg; } diff --git a/src/math_physics/orbit/kepler_orbit.hpp b/src/math_physics/orbit/kepler_orbit.hpp index 0d83142eb..7b6697f79 100644 --- a/src/math_physics/orbit/kepler_orbit.hpp +++ b/src/math_physics/orbit/kepler_orbit.hpp @@ -60,7 +60,7 @@ class KeplerOrbit { double gravity_constant_m3_s2_; //!< Gravity constant of the center body [m3/s2] OrbitalElements oe_; //!< Orbital elements double mean_motion_rad_s_; //!< Mean motion of the orbit [rad/s] - libra::Matrix<3, 3> dcm_inplane_to_i_; //!< Direction cosine matrix from the in-plane frame to the inertial frame + math::Matrix<3, 3> dcm_inplane_to_i_; //!< Direction cosine matrix from the in-plane frame to the inertial frame /** * @fn CalcConstKeplerMotion diff --git a/src/math_physics/orbit/relative_orbit_models.cpp b/src/math_physics/orbit/relative_orbit_models.cpp index 95263cd93..e7c83ca9a 100644 --- a/src/math_physics/orbit/relative_orbit_models.cpp +++ b/src/math_physics/orbit/relative_orbit_models.cpp @@ -4,8 +4,8 @@ */ #include "relative_orbit_models.hpp" -libra::Matrix<6, 6> CalcHillSystemMatrix(double orbit_radius_m, double gravity_constant_m3_s2) { - libra::Matrix<6, 6> system_matrix; +math::Matrix<6, 6> CalcHillSystemMatrix(double orbit_radius_m, double gravity_constant_m3_s2) { + math::Matrix<6, 6> system_matrix; double n = sqrt(gravity_constant_m3_s2 / pow(orbit_radius_m, 3)); system_matrix[0][0] = 0.0; @@ -48,8 +48,8 @@ libra::Matrix<6, 6> CalcHillSystemMatrix(double orbit_radius_m, double gravity_c return system_matrix; } -libra::Matrix<6, 6> CalcHcwStm(double orbit_radius_m, double gravity_constant_m3_s2, double elapsed_time_s) { - libra::Matrix<6, 6> stm; +math::Matrix<6, 6> CalcHcwStm(double orbit_radius_m, double gravity_constant_m3_s2, double elapsed_time_s) { + math::Matrix<6, 6> stm; double n = sqrt(gravity_constant_m3_s2 / pow(orbit_radius_m, 3)); double t = elapsed_time_s; diff --git a/src/math_physics/orbit/relative_orbit_models.hpp b/src/math_physics/orbit/relative_orbit_models.hpp index a77fb5d45..ff120823d 100644 --- a/src/math_physics/orbit/relative_orbit_models.hpp +++ b/src/math_physics/orbit/relative_orbit_models.hpp @@ -29,7 +29,7 @@ enum class StmModel { kHcw = 0 }; * @param [in] gravity_constant_m3_s2: Gravity constant of the center body [m3/s2] * @return System matrix */ -libra::Matrix<6, 6> CalcHillSystemMatrix(const double orbit_radius_m, const double gravity_constant_m3_s2); +math::Matrix<6, 6> CalcHillSystemMatrix(const double orbit_radius_m, const double gravity_constant_m3_s2); // STMs /** @@ -40,6 +40,6 @@ libra::Matrix<6, 6> CalcHillSystemMatrix(const double orbit_radius_m, const doub * @param [in] elapsed_time_s: Elapsed time [s] * @return State Transition Matrix */ -libra::Matrix<6, 6> CalcHcwStm(const double orbit_radius_m, const double gravity_constant_m3_s2, const double elapsed_time_s); +math::Matrix<6, 6> CalcHcwStm(const double orbit_radius_m, const double gravity_constant_m3_s2, const double elapsed_time_s); #endif // S2E_LIBRARY_ORBIT_RELATIVE_ORBIT_MODEL_HPP_ diff --git a/src/math_physics/planet_rotation/moon_rotation_utilities.cpp b/src/math_physics/planet_rotation/moon_rotation_utilities.cpp index e31574783..08f2670a9 100644 --- a/src/math_physics/planet_rotation/moon_rotation_utilities.cpp +++ b/src/math_physics/planet_rotation/moon_rotation_utilities.cpp @@ -10,14 +10,14 @@ #include -libra::Matrix<3, 3> CalcDcmEciToPrincipalAxis(const libra::Vector<3> moon_position_eci_m, const libra::Vector<3> moon_velocity_eci_m_s) { - libra::Matrix<3, 3> dcm_eci2me = CalcDcmEciToMeanEarth(moon_position_eci_m, moon_velocity_eci_m_s); - libra::Matrix<3, 3> dcm_me2pa = CalcDcmMeanEarthToPrincipalAxis(); +math::Matrix<3, 3> CalcDcmEciToPrincipalAxis(const libra::Vector<3> moon_position_eci_m, const libra::Vector<3> moon_velocity_eci_m_s) { + math::Matrix<3, 3> dcm_eci2me = CalcDcmEciToMeanEarth(moon_position_eci_m, moon_velocity_eci_m_s); + math::Matrix<3, 3> dcm_me2pa = CalcDcmMeanEarthToPrincipalAxis(); return dcm_me2pa * dcm_eci2me; } -libra::Matrix<3, 3> CalcDcmEciToMeanEarth(const libra::Vector<3> moon_position_eci_m, const libra::Vector<3> moon_velocity_eci_m_s) { +math::Matrix<3, 3> CalcDcmEciToMeanEarth(const libra::Vector<3> moon_position_eci_m, const libra::Vector<3> moon_velocity_eci_m_s) { libra::Vector<3> me_ex_eci = -1.0 * moon_position_eci_m.CalcNormalizedVector(); libra::Vector<3> moon_orbit_norm = libra::OuterProduct(moon_position_eci_m, moon_velocity_eci_m_s); @@ -25,7 +25,7 @@ libra::Matrix<3, 3> CalcDcmEciToMeanEarth(const libra::Vector<3> moon_position_e libra::Vector<3> me_ey_eci = libra::OuterProduct(me_ez_eci, me_ex_eci); - libra::Matrix<3, 3> dcm_eci_to_me; + math::Matrix<3, 3> dcm_eci_to_me; for (size_t i = 0; i < 3; i++) { dcm_eci_to_me[0][i] = me_ex_eci[i]; dcm_eci_to_me[1][i] = me_ey_eci[i]; @@ -35,13 +35,13 @@ libra::Matrix<3, 3> CalcDcmEciToMeanEarth(const libra::Vector<3> moon_position_e return dcm_eci_to_me; } -libra::Matrix<3, 3> CalcDcmMeanEarthToPrincipalAxis() { +math::Matrix<3, 3> CalcDcmMeanEarthToPrincipalAxis() { // The correction values between DE430 Principal Axis and Mean Earth frame const double theta_x_rad = 0.285 * libra::arcsec_to_rad; const double theta_y_rad = 78.580 * libra::arcsec_to_rad; const double theta_z_rad = 67.573 * libra::arcsec_to_rad; - libra::Matrix<3, 3> dcm_me_pa = + math::Matrix<3, 3> dcm_me_pa = libra::MakeRotationMatrixZ(theta_z_rad) * libra::MakeRotationMatrixY(theta_y_rad) * libra::MakeRotationMatrixX(theta_x_rad); return dcm_me_pa; diff --git a/src/math_physics/planet_rotation/moon_rotation_utilities.hpp b/src/math_physics/planet_rotation/moon_rotation_utilities.hpp index 314bbdaeb..79cc6e6f6 100644 --- a/src/math_physics/planet_rotation/moon_rotation_utilities.hpp +++ b/src/math_physics/planet_rotation/moon_rotation_utilities.hpp @@ -18,7 +18,7 @@ * @param[in] moon_position_eci_m: Moon position vector @ ECI frame [m] * @param[in] moon_velocity_eci_m_s: Moon velocity vector @ ECI frame [m/s] */ -libra::Matrix<3, 3> CalcDcmEciToPrincipalAxis(const libra::Vector<3> moon_position_eci_m, const libra::Vector<3> moon_velocity_eci_m_s); +math::Matrix<3, 3> CalcDcmEciToPrincipalAxis(const libra::Vector<3> moon_position_eci_m, const libra::Vector<3> moon_velocity_eci_m_s); /** * @fn CalcDcmEciToMeanEarth @@ -26,12 +26,12 @@ libra::Matrix<3, 3> CalcDcmEciToPrincipalAxis(const libra::Vector<3> moon_positi * @param[in] moon_position_eci_m: Moon position vector @ ECI frame [m] * @param[in] moon_velocity_eci_m_s: Moon velocity vector @ ECI frame [m/s] */ -libra::Matrix<3, 3> CalcDcmEciToMeanEarth(const libra::Vector<3> moon_position_eci_m, const libra::Vector<3> moon_velocity_eci_m_s); +math::Matrix<3, 3> CalcDcmEciToMeanEarth(const libra::Vector<3> moon_position_eci_m, const libra::Vector<3> moon_velocity_eci_m_s); /** * @fn CalcDcmMeToPrincipalAxis * @brief Calculate DCM from ME (Mean Earth) moon fixed frame to PA (Principal Axis) moon fixed frame */ -libra::Matrix<3, 3> CalcDcmMeanEarthToPrincipalAxis(); +math::Matrix<3, 3> CalcDcmMeanEarthToPrincipalAxis(); #endif // S2E_LIBRARY_PLANET_ROTATION_MOON_MEAN_EARTH_PRINCIPAL_AXIS_FRAME_HPP_ diff --git a/src/simulation/ground_station/ground_station.cpp b/src/simulation/ground_station/ground_station.cpp index 32805e502..cfe2bff44 100644 --- a/src/simulation/ground_station/ground_station.cpp +++ b/src/simulation/ground_station/ground_station.cpp @@ -46,7 +46,7 @@ void GroundStation::Initialize(const SimulationConfiguration* configuration, con void GroundStation::LogSetup(Logger& logger) { logger.AddLogList(this); } void GroundStation::Update(const EarthRotation& celestial_rotation, const Spacecraft& spacecraft) { - libra::Matrix<3, 3> dcm_ecef2eci = celestial_rotation.GetDcmJ2000ToEcef().Transpose(); + math::Matrix<3, 3> dcm_ecef2eci = celestial_rotation.GetDcmJ2000ToEcef().Transpose(); position_i_m_ = dcm_ecef2eci * position_ecef_m_; is_visible_[spacecraft.GetSpacecraftId()] = CalcIsVisible(spacecraft.GetDynamics().GetOrbit().GetPosition_ecef_m()); diff --git a/src/simulation/spacecraft/structure/initialize_structure.cpp b/src/simulation/spacecraft/structure/initialize_structure.cpp index e1def4ea9..463c06285 100644 --- a/src/simulation/spacecraft/structure/initialize_structure.cpp +++ b/src/simulation/spacecraft/structure/initialize_structure.cpp @@ -17,7 +17,7 @@ KinematicsParameters InitKinematicsParameters(std::string file_name) { conf.ReadVector(section, "center_of_gravity_b_m", center_of_gravity_b_m); double mass_kg = conf.ReadDouble(section, "mass_kg"); libra::Vector<9> inertia_vec; - libra::Matrix<3, 3> inertia_tensor_b_kgm2; + math::Matrix<3, 3> inertia_tensor_b_kgm2; conf.ReadVector(section, "inertia_tensor_kgm2", inertia_vec); for (int i = 0; i < 3; i++) { for (int j = 0; j < 3; j++) { diff --git a/src/simulation/spacecraft/structure/kinematics_parameters.cpp b/src/simulation/spacecraft/structure/kinematics_parameters.cpp index bd2cc3346..37cefb0a9 100644 --- a/src/simulation/spacecraft/structure/kinematics_parameters.cpp +++ b/src/simulation/spacecraft/structure/kinematics_parameters.cpp @@ -5,5 +5,5 @@ #include "kinematics_parameters.hpp" -KinematicsParameters::KinematicsParameters(libra::Vector<3> center_of_gravity_b_m, double mass_kg, libra::Matrix<3, 3> inertia_tensor_b_kgm2) +KinematicsParameters::KinematicsParameters(libra::Vector<3> center_of_gravity_b_m, double mass_kg, math::Matrix<3, 3> inertia_tensor_b_kgm2) : center_of_gravity_b_m_(center_of_gravity_b_m), mass_kg_(mass_kg), inertia_tensor_b_kgm2_(inertia_tensor_b_kgm2) {} \ No newline at end of file diff --git a/src/simulation/spacecraft/structure/kinematics_parameters.hpp b/src/simulation/spacecraft/structure/kinematics_parameters.hpp index be864b402..91916000b 100644 --- a/src/simulation/spacecraft/structure/kinematics_parameters.hpp +++ b/src/simulation/spacecraft/structure/kinematics_parameters.hpp @@ -19,7 +19,7 @@ class KinematicsParameters { * @fn KinematicsParameters * @brief Constructor */ - KinematicsParameters(libra::Vector<3> center_of_gravity_b_m, double mass_kg, libra::Matrix<3, 3> inertia_tensor_b_kgm2); + KinematicsParameters(libra::Vector<3> center_of_gravity_b_m, double mass_kg, math::Matrix<3, 3> inertia_tensor_b_kgm2); /** * @fn ~KinematicsParameters * @brief Destructor @@ -41,7 +41,7 @@ class KinematicsParameters { * @fn GetInertiaTensor_b_kgm2 * @brief Return Inertia tensor at body frame [kgm2] */ - inline const libra::Matrix<3, 3>& GetInertiaTensor_b_kgm2() const { return inertia_tensor_b_kgm2_; } + inline const math::Matrix<3, 3>& GetInertiaTensor_b_kgm2() const { return inertia_tensor_b_kgm2_; } // Setter /** @@ -75,7 +75,7 @@ class KinematicsParameters { * @brief Inertia tensor at body frame * @param [in] inertia_tensor_b_kgm2: Inertia tensor at body frame [kgm2] */ - inline void SetInertiaTensor_b_kgm2(const libra::Matrix<3, 3> inertia_tensor_b_kgm2) { + inline void SetInertiaTensor_b_kgm2(const math::Matrix<3, 3> inertia_tensor_b_kgm2) { // TODO add assertion check inertia_tensor_b_kgm2_ = inertia_tensor_b_kgm2; } @@ -83,7 +83,7 @@ class KinematicsParameters { private: libra::Vector<3> center_of_gravity_b_m_; //!< Position vector of center of gravity at body frame [m] double mass_kg_; //!< Mass of the satellite [kg] - libra::Matrix<3, 3> inertia_tensor_b_kgm2_; //!< Inertia tensor at body frame [kgm2] + math::Matrix<3, 3> inertia_tensor_b_kgm2_; //!< Inertia tensor at body frame [kgm2] }; #endif // S2E_SIMULATION_SPACECRAFT_STRUCTURE_KINEMATICS_PARAMETERS_HPP_ From f3d4ebfead1fd79600f7a5f1b1279ef1705e455e Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 20 Jul 2024 09:21:21 +0900 Subject: [PATCH 221/456] Replace libra::Vector to math::Vector --- src/components/base/sensor.hpp | 16 ++-- .../base/sensor_template_functions.hpp | 30 +++---- .../ideal/angular_velocity_observer.hpp | 4 +- src/components/ideal/attitude_observer.cpp | 2 +- src/components/ideal/force_generator.cpp | 16 ++-- src/components/ideal/force_generator.hpp | 16 ++-- src/components/ideal/orbit_observer.cpp | 12 +-- src/components/ideal/orbit_observer.hpp | 10 +-- src/components/ideal/torque_generator.cpp | 10 +-- src/components/ideal/torque_generator.hpp | 8 +- src/components/real/aocs/gnss_receiver.cpp | 54 ++++++------ src/components/real/aocs/gnss_receiver.hpp | 30 +++---- src/components/real/aocs/gyro_sensor.hpp | 4 +- src/components/real/aocs/magnetometer.hpp | 10 +-- src/components/real/aocs/magnetorquer.cpp | 50 +++++------ src/components/real/aocs/magnetorquer.hpp | 40 ++++----- .../aocs/mtq_magnetometer_interference.cpp | 8 +- .../aocs/mtq_magnetometer_interference.hpp | 2 +- src/components/real/aocs/reaction_wheel.cpp | 22 ++--- src/components/real/aocs/reaction_wheel.hpp | 22 ++--- .../real/aocs/reaction_wheel_jitter.hpp | 36 ++++---- .../real/aocs/reaction_wheel_ode.cpp | 4 +- .../real/aocs/reaction_wheel_ode.hpp | 2 +- src/components/real/aocs/star_sensor.cpp | 26 +++--- src/components/real/aocs/star_sensor.hpp | 16 ++-- src/components/real/aocs/sun_sensor.cpp | 10 +-- src/components/real/aocs/sun_sensor.hpp | 8 +- src/components/real/communication/antenna.hpp | 2 +- src/components/real/mission/telescope.cpp | 24 +++--- src/components/real/mission/telescope.hpp | 22 ++--- .../real/power/csv_scenario_interface.cpp | 4 +- .../real/power/csv_scenario_interface.hpp | 2 +- .../real/power/solar_array_panel.cpp | 18 ++-- .../real/power/solar_array_panel.hpp | 8 +- .../real/propulsion/simple_thruster.cpp | 18 ++-- src/disturbances/air_drag.cpp | 8 +- src/disturbances/air_drag.hpp | 6 +- src/disturbances/disturbance.hpp | 24 +++--- src/disturbances/disturbances.hpp | 6 +- src/disturbances/geopotential.cpp | 4 +- src/disturbances/geopotential.hpp | 2 +- src/disturbances/gravity_gradient.cpp | 4 +- src/disturbances/gravity_gradient.hpp | 2 +- src/disturbances/lunar_gravity_field.cpp | 8 +- src/disturbances/lunar_gravity_field.hpp | 2 +- src/disturbances/magnetic_disturbance.cpp | 4 +- src/disturbances/magnetic_disturbance.hpp | 4 +- .../solar_radiation_pressure_disturbance.cpp | 6 +- .../solar_radiation_pressure_disturbance.hpp | 4 +- src/disturbances/surface_force.cpp | 24 +++--- src/disturbances/surface_force.hpp | 10 +-- src/disturbances/third_body_gravity.cpp | 14 +-- src/disturbances/third_body_gravity.hpp | 4 +- src/dynamics/attitude/attitude.cpp | 14 +-- src/dynamics/attitude/attitude.hpp | 24 +++--- src/dynamics/attitude/attitude_rk4.cpp | 30 +++---- src/dynamics/attitude/attitude_rk4.hpp | 8 +- .../attitude_with_cantilever_vibration.cpp | 12 +-- .../attitude_with_cantilever_vibration.hpp | 8 +- src/dynamics/attitude/controlled_attitude.cpp | 38 ++++---- src/dynamics/attitude/controlled_attitude.hpp | 18 ++-- src/dynamics/attitude/initialize_attitude.cpp | 14 +-- ...ode_attitude_with_cantilever_vibration.hpp | 46 +++++----- src/dynamics/dynamics.cpp | 2 +- src/dynamics/dynamics.hpp | 6 +- .../orbit/encke_orbit_propagation.cpp | 16 ++-- .../orbit/encke_orbit_propagation.hpp | 16 ++-- src/dynamics/orbit/initialize_orbit.cpp | 34 ++++---- src/dynamics/orbit/initialize_orbit.hpp | 2 +- src/dynamics/orbit/orbit.cpp | 18 ++-- src/dynamics/orbit/orbit.hpp | 36 ++++---- src/dynamics/orbit/relative_orbit.cpp | 18 ++-- src/dynamics/orbit/relative_orbit.hpp | 10 +-- src/dynamics/orbit/rk4_orbit_propagation.cpp | 8 +- src/dynamics/orbit/rk4_orbit_propagation.hpp | 6 +- src/dynamics/thermal/node.cpp | 6 +- src/dynamics/thermal/node.hpp | 6 +- src/dynamics/thermal/temperature.cpp | 8 +- src/dynamics/thermal/temperature.hpp | 6 +- .../global/celestial_information.hpp | 30 +++---- src/environment/global/gnss_satellites.cpp | 8 +- src/environment/global/gnss_satellites.hpp | 4 +- .../global/hipparcos_catalogue.cpp | 10 +-- .../global/hipparcos_catalogue.hpp | 4 +- src/environment/global/moon_rotation.cpp | 4 +- src/environment/local/atmosphere.cpp | 2 +- src/environment/local/geomagnetic_field.cpp | 4 +- src/environment/local/geomagnetic_field.hpp | 8 +- .../local/local_celestial_information.cpp | 44 +++++----- .../local/local_celestial_information.hpp | 18 ++-- .../solar_radiation_pressure_environment.cpp | 8 +- src/logger/log_utility.hpp | 4 +- .../atmosphere/harris_priester_model.cpp | 6 +- .../atmosphere/harris_priester_model.hpp | 2 +- .../geodesy/geodetic_position.cpp | 6 +- .../geodesy/geodetic_position.hpp | 4 +- src/math_physics/gnss/antex_file_reader.cpp | 2 +- src/math_physics/gnss/antex_file_reader.hpp | 6 +- src/math_physics/gnss/sp3_file_reader.cpp | 10 +-- src/math_physics/gnss/sp3_file_reader.hpp | 10 +-- .../gravity/gravity_potential.cpp | 6 +- .../gravity/gravity_potential.hpp | 4 +- .../gravity/test_gravity_potential.cpp | 28 +++--- .../math/ordinary_differential_equation.hpp | 2 +- src/math_physics/math/test_matrix_vector.cpp | 4 +- src/math_physics/math/test_quaternion.cpp | 44 +++++----- src/math_physics/math/test_vector.cpp | 86 +++++++++---------- .../dormand_prince_5.hpp | 2 +- .../dormand_prince_5_implementation.hpp | 2 +- .../test_runge_kutta.cpp | 86 +++++++++---------- .../optics/gaussian_beam_base.cpp | 4 +- .../optics/gaussian_beam_base.hpp | 12 +-- .../orbit/interpolation_orbit.cpp | 6 +- .../orbit/interpolation_orbit.hpp | 4 +- src/math_physics/orbit/kepler_orbit.cpp | 4 +- src/math_physics/orbit/kepler_orbit.hpp | 8 +- src/math_physics/orbit/orbital_elements.cpp | 12 +-- src/math_physics/orbit/orbital_elements.hpp | 8 +- .../orbit/test_interpolation_orbit.cpp | 4 +- .../moon_rotation_utilities.cpp | 12 +-- .../moon_rotation_utilities.hpp | 4 +- .../randomization/random_walk.hpp | 6 +- .../random_walk_template_functions.hpp | 4 +- .../initialize_file_access.hpp | 4 +- .../ground_station/ground_station.cpp | 6 +- .../initialize_monte_carlo_parameters.cpp | 38 ++++---- .../initialize_monte_carlo_parameters.hpp | 18 ++-- .../initialize_monte_carlo_simulation.cpp | 4 +- .../monte_carlo_simulation_executor.hpp | 10 +-- .../simulation_object.hpp | 4 +- .../relative_information.cpp | 44 +++++----- .../relative_information.hpp | 20 ++--- .../spacecraft/installed_components.cpp | 8 +- .../spacecraft/installed_components.hpp | 4 +- .../structure/initialize_structure.cpp | 6 +- .../structure/kinematics_parameters.cpp | 2 +- .../structure/kinematics_parameters.hpp | 8 +- .../structure/residual_magnetic_moment.hpp | 2 +- .../spacecraft/structure/surface.cpp | 2 +- .../spacecraft/structure/surface.hpp | 14 +-- .../spacecraft/sample_components.cpp | 14 +-- .../spacecraft/sample_components.hpp | 4 +- 142 files changed, 935 insertions(+), 935 deletions(-) diff --git a/src/components/base/sensor.hpp b/src/components/base/sensor.hpp index df7d67baf..382cb6f1f 100644 --- a/src/components/base/sensor.hpp +++ b/src/components/base/sensor.hpp @@ -31,9 +31,9 @@ class Sensor { * @param [in] random_walk_standard_deviation_c: Standard deviation of random wark at the component frame * @param [in] random_walk_limit_c: Limit of random walk at the component frame */ - Sensor(const math::Matrix& scale_factor, const libra::Vector& range_to_const_c, const libra::Vector& range_to_zero_c, - const libra::Vector& bias_noise_c, const libra::Vector& normal_random_standard_deviation_c, const double random_walk_step_width_s, - const libra::Vector& random_walk_standard_deviation_c, const libra::Vector& random_walk_limit_c); + Sensor(const math::Matrix& scale_factor, const math::Vector& range_to_const_c, const math::Vector& range_to_zero_c, + const math::Vector& bias_noise_c, const math::Vector& normal_random_standard_deviation_c, const double random_walk_step_width_s, + const math::Vector& random_walk_standard_deviation_c, const math::Vector& random_walk_limit_c); /** * @fn ~Sensor * @brief Destructor @@ -41,7 +41,7 @@ class Sensor { ~Sensor(); protected: - libra::Vector bias_noise_c_; //!< Constant bias noise at the component frame + math::Vector bias_noise_c_; //!< Constant bias noise at the component frame /** * @fn Measure @@ -49,12 +49,12 @@ class Sensor { * @param [in] true_value_c: True value at the component frame * @return Observed value with noise at the component frame */ - libra::Vector Measure(const libra::Vector true_value_c); + math::Vector Measure(const math::Vector true_value_c); private: math::Matrix scale_factor_; //!< Scale factor matrix - libra::Vector range_to_const_c_; //!< Output range limit to be constant output value at the component frame - libra::Vector range_to_zero_c_; //!< Output range limit to be zero output value at the component frame + math::Vector range_to_const_c_; //!< Output range limit to be constant output value at the component frame + math::Vector range_to_zero_c_; //!< Output range limit to be zero output value at the component frame libra::NormalRand normal_random_noise_c_[N]; //!< Normal random RandomWalk random_walk_noise_c_; //!< Random Walk @@ -64,7 +64,7 @@ class Sensor { * @param [in] input_c: Input value at the component frame * @return Clipped value */ - libra::Vector Clip(const libra::Vector input_c); + math::Vector Clip(const math::Vector input_c); /** * @fn RangeCheck * @brief Check the range_to_const_c_ and range_to_zero_c_ is correct and fixed the values diff --git a/src/components/base/sensor_template_functions.hpp b/src/components/base/sensor_template_functions.hpp index 305b066f5..c488e7958 100644 --- a/src/components/base/sensor_template_functions.hpp +++ b/src/components/base/sensor_template_functions.hpp @@ -10,10 +10,10 @@ #include template -Sensor::Sensor(const math::Matrix& scale_factor, const libra::Vector& range_to_const_c, const libra::Vector& range_to_zero_c, - const libra::Vector& bias_noise_c, const libra::Vector& normal_random_standard_deviation_c, - const double random_walk_step_width_s, const libra::Vector& random_walk_standard_deviation_c, - const libra::Vector& random_walk_limit_c) +Sensor::Sensor(const math::Matrix& scale_factor, const math::Vector& range_to_const_c, const math::Vector& range_to_zero_c, + const math::Vector& bias_noise_c, const math::Vector& normal_random_standard_deviation_c, + const double random_walk_step_width_s, const math::Vector& random_walk_standard_deviation_c, + const math::Vector& random_walk_limit_c) : bias_noise_c_(bias_noise_c), scale_factor_(scale_factor), range_to_const_c_(range_to_const_c), @@ -29,8 +29,8 @@ template Sensor::~Sensor() {} template -libra::Vector Sensor::Measure(const libra::Vector true_value_c) { - libra::Vector calc_value_c; +math::Vector Sensor::Measure(const math::Vector true_value_c) { + math::Vector calc_value_c; calc_value_c = scale_factor_ * true_value_c; calc_value_c += bias_noise_c_; for (size_t i = 0; i < N; ++i) { @@ -42,8 +42,8 @@ libra::Vector Sensor::Measure(const libra::Vector true_value_c) { } template -libra::Vector Sensor::Clip(const libra::Vector input_c) { - libra::Vector output_c; +math::Vector Sensor::Clip(const math::Vector input_c) { + math::Vector output_c; for (size_t i = 0; i < N; ++i) { if (input_c[i] >= range_to_const_c_[i] && input_c[i] < range_to_zero_c_[i]) { output_c[i] = range_to_const_c_[i]; @@ -80,7 +80,7 @@ Sensor ReadSensorInformation(const std::string file_name, const double step_w IniAccess ini_file(file_name); std::string section = "SENSOR_BASE_" + component_name; - libra::Vector scale_factor_vector; + math::Vector scale_factor_vector; ini_file.ReadVector(section.c_str(), "scale_factor_c", scale_factor_vector); math::Matrix scale_factor_c; if (scale_factor_vector.CalcNorm() == 0.0) { @@ -94,26 +94,26 @@ Sensor ReadSensorInformation(const std::string file_name, const double step_w } std::string key_name; - libra::Vector constant_bias_c; + math::Vector constant_bias_c; key_name = "constant_bias_c_" + unit; ini_file.ReadVector(section.c_str(), key_name.c_str(), constant_bias_c); - libra::Vector normal_random_standard_deviation_c; + math::Vector normal_random_standard_deviation_c; key_name = "normal_random_standard_deviation_c_" + unit; ini_file.ReadVector(section.c_str(), key_name.c_str(), normal_random_standard_deviation_c); - libra::Vector random_walk_standard_deviation_c; + math::Vector random_walk_standard_deviation_c; key_name = "random_walk_standard_deviation_c_" + unit; ini_file.ReadVector(section.c_str(), key_name.c_str(), random_walk_standard_deviation_c); - libra::Vector random_walk_limit_c; + math::Vector random_walk_limit_c; key_name = "random_walk_limit_c_" + unit; ini_file.ReadVector(section.c_str(), key_name.c_str(), random_walk_limit_c); key_name = "range_to_constant_" + unit; double range_to_const = ini_file.ReadDouble(section.c_str(), key_name.c_str()); - libra::Vector range_to_const_c{range_to_const}; + math::Vector range_to_const_c{range_to_const}; key_name = "range_to_zero_" + unit; double range_to_zero = ini_file.ReadDouble(section.c_str(), key_name.c_str()); - libra::Vector range_to_zero_c{range_to_zero}; + math::Vector range_to_zero_c{range_to_zero}; Sensor sensor_base(scale_factor_c, range_to_const_c, range_to_zero_c, constant_bias_c, normal_random_standard_deviation_c, step_width_s, random_walk_standard_deviation_c, random_walk_limit_c); diff --git a/src/components/ideal/angular_velocity_observer.hpp b/src/components/ideal/angular_velocity_observer.hpp index 5ec2e69c4..82d509f5d 100644 --- a/src/components/ideal/angular_velocity_observer.hpp +++ b/src/components/ideal/angular_velocity_observer.hpp @@ -57,10 +57,10 @@ class AngularVelocityObserver : public Component, public Sensor<3>, public ILogg * @fn GetAngularVelocity_b_rad_s * @brief Return observed angular velocity */ - inline libra::Vector<3> GetAngularVelocity_b_rad_s() const { return angular_velocity_b_rad_s_; } + inline math::Vector<3> GetAngularVelocity_b_rad_s() const { return angular_velocity_b_rad_s_; } protected: - libra::Vector<3> angular_velocity_b_rad_s_{0.0}; //!< Observed angular velocity [rad/s] + math::Vector<3> angular_velocity_b_rad_s_{0.0}; //!< Observed angular velocity [rad/s] const Attitude& attitude_; //!< Dynamics information }; diff --git a/src/components/ideal/attitude_observer.cpp b/src/components/ideal/attitude_observer.cpp index b098c0b22..58dd24d60 100644 --- a/src/components/ideal/attitude_observer.cpp +++ b/src/components/ideal/attitude_observer.cpp @@ -18,7 +18,7 @@ void AttitudeObserver::MainRoutine(const int time_count) { UNUSED(time_count); // Error calculation - libra::Vector<3> random_direction; + math::Vector<3> random_direction; random_direction[0] = direction_noise_; random_direction[1] = direction_noise_; random_direction[2] = direction_noise_; diff --git a/src/components/ideal/force_generator.cpp b/src/components/ideal/force_generator.cpp index 13efaa32b..cf5105f5c 100644 --- a/src/components/ideal/force_generator.cpp +++ b/src/components/ideal/force_generator.cpp @@ -29,9 +29,9 @@ void ForceGenerator::MainRoutine(const int time_count) { double norm_ordered_force = ordered_force_b_N_.CalcNorm(); if (norm_ordered_force > 0.0 + DBL_EPSILON) { // Add noise only when the force is generated - libra::Vector<3> true_direction = generated_force_b_N_.CalcNormalizedVector(); + math::Vector<3> true_direction = generated_force_b_N_.CalcNormalizedVector(); libra::Quaternion error_quaternion = GenerateDirectionNoiseQuaternion(true_direction, direction_error_standard_deviation_rad_); - libra::Vector<3> converted_direction = error_quaternion.FrameConversion(true_direction); + math::Vector<3> converted_direction = error_quaternion.FrameConversion(true_direction); double force_norm_with_error = norm_ordered_force + magnitude_noise_; generated_force_b_N_ = force_norm_with_error * converted_direction; } @@ -49,16 +49,16 @@ void ForceGenerator::PowerOffRoutine() { generated_force_rtn_N_ *= 0.0; } -void ForceGenerator::SetForce_i_N(const libra::Vector<3> force_i_N) { +void ForceGenerator::SetForce_i_N(const math::Vector<3> force_i_N) { libra::Quaternion q_i2b = dynamics_->GetAttitude().GetQuaternion_i2b(); ordered_force_b_N_ = q_i2b.FrameConversion(force_i_N); } -void ForceGenerator::SetForce_rtn_N(const libra::Vector<3> force_rtn_N) { +void ForceGenerator::SetForce_rtn_N(const math::Vector<3> force_rtn_N) { libra::Quaternion q_i2b = dynamics_->GetAttitude().GetQuaternion_i2b(); libra::Quaternion q_i2rtn = dynamics_->GetOrbit().CalcQuaternion_i2lvlh(); - libra::Vector<3> force_i_N = q_i2rtn.InverseFrameConversion(force_rtn_N); + math::Vector<3> force_i_N = q_i2rtn.InverseFrameConversion(force_rtn_N); ordered_force_b_N_ = q_i2b.FrameConversion(force_i_N); } @@ -85,14 +85,14 @@ std::string ForceGenerator::GetLogValue() const { return str_tmp; } -libra::Quaternion ForceGenerator::GenerateDirectionNoiseQuaternion(libra::Vector<3> true_direction, const double error_standard_deviation_rad) { - libra::Vector<3> random_direction; +libra::Quaternion ForceGenerator::GenerateDirectionNoiseQuaternion(math::Vector<3> true_direction, const double error_standard_deviation_rad) { + math::Vector<3> random_direction; random_direction[0] = direction_noise_; random_direction[1] = direction_noise_; random_direction[2] = direction_noise_; random_direction = random_direction.CalcNormalizedVector(); - libra::Vector<3> rotation_axis; + math::Vector<3> rotation_axis; rotation_axis = OuterProduct(true_direction, random_direction); double norm_rotation_axis = rotation_axis.CalcNorm(); if (norm_rotation_axis < 0.0 + DBL_EPSILON) { diff --git a/src/components/ideal/force_generator.hpp b/src/components/ideal/force_generator.hpp index 53adf392c..f4395663e 100644 --- a/src/components/ideal/force_generator.hpp +++ b/src/components/ideal/force_generator.hpp @@ -81,23 +81,23 @@ class ForceGenerator : public Component, public ILoggable { * @fn SetForce_b_N * @brief Set ordered force in the body fixed frame [N] */ - inline void SetForce_b_N(const libra::Vector<3> force_b_N) { ordered_force_b_N_ = force_b_N; }; + inline void SetForce_b_N(const math::Vector<3> force_b_N) { ordered_force_b_N_ = force_b_N; }; /** * @fn SetForce_i_N * @brief Set ordered force in the inertial frame [N] */ - void SetForce_i_N(const libra::Vector<3> force_i_N); + void SetForce_i_N(const math::Vector<3> force_i_N); /** * @fn SetForce_rtn_N * @brief Set ordered force in the RTN frame [N] */ - void SetForce_rtn_N(const libra::Vector<3> force_rtn_N); + void SetForce_rtn_N(const math::Vector<3> force_rtn_N); protected: - libra::Vector<3> ordered_force_b_N_{0.0}; //!< Ordered force in the body fixed frame [N] - libra::Vector<3> generated_force_b_N_{0.0}; //!< Generated force in the body fixed frame [N] - libra::Vector<3> generated_force_i_N_{0.0}; //!< Generated force in the inertial frame [N] - libra::Vector<3> generated_force_rtn_N_{0.0}; //!< Generated force in the RTN frame [N] + math::Vector<3> ordered_force_b_N_{0.0}; //!< Ordered force in the body fixed frame [N] + math::Vector<3> generated_force_b_N_{0.0}; //!< Generated force in the body fixed frame [N] + math::Vector<3> generated_force_i_N_{0.0}; //!< Generated force in the inertial frame [N] + math::Vector<3> generated_force_rtn_N_{0.0}; //!< Generated force in the RTN frame [N] // Noise libra::NormalRand magnitude_noise_; //!< Normal random for magnitude noise @@ -110,7 +110,7 @@ class ForceGenerator : public Component, public ILoggable { * @param [in] true_direction: True direction * @param [in] error_standard_deviation_rad: Standard deviation of direction error [rad] */ - libra::Quaternion GenerateDirectionNoiseQuaternion(libra::Vector<3> true_direction, const double error_standard_deviation_rad); + libra::Quaternion GenerateDirectionNoiseQuaternion(math::Vector<3> true_direction, const double error_standard_deviation_rad); const Dynamics* dynamics_; //!< Spacecraft dynamics information }; diff --git a/src/components/ideal/orbit_observer.cpp b/src/components/ideal/orbit_observer.cpp index 19d26c8b9..b287ee680 100644 --- a/src/components/ideal/orbit_observer.cpp +++ b/src/components/ideal/orbit_observer.cpp @@ -9,7 +9,7 @@ #include OrbitObserver::OrbitObserver(const int prescaler, ClockGenerator* clock_generator, const NoiseFrame noise_frame, - const libra::Vector<6> error_standard_deviation, const Orbit& orbit) + const math::Vector<6> error_standard_deviation, const Orbit& orbit) : Component(prescaler, clock_generator), noise_frame_(noise_frame), orbit_(orbit) { for (size_t i = 0; i < 6; i++) { normal_random_noise_[i].SetParameters(0.0, error_standard_deviation[i], global_randomization.MakeSeed()); @@ -20,10 +20,10 @@ void OrbitObserver::MainRoutine(const int time_count) { UNUSED(time_count); // Calc noise - libra::Vector<3> position_error_i_m{0.0}; - libra::Vector<3> position_error_rtn_m{0.0}; - libra::Vector<3> velocity_error_i_m_s{0.0}; - libra::Vector<3> velocity_error_rtn_m_s{0.0}; + math::Vector<3> position_error_i_m{0.0}; + math::Vector<3> position_error_rtn_m{0.0}; + math::Vector<3> velocity_error_i_m_s{0.0}; + math::Vector<3> velocity_error_rtn_m_s{0.0}; libra::Quaternion q_i2rtn = orbit_.CalcQuaternion_i2lvlh(); switch (noise_frame_) { case NoiseFrame::kInertial: @@ -93,7 +93,7 @@ OrbitObserver InitializeOrbitObserver(ClockGenerator* clock_generator, const std // Noise const NoiseFrame noise_frame = SetNoiseFrame(ini_file.ReadString("ORBIT_OBSERVER", "noise_frame")); - libra::Vector<6> noise_standard_deviation; + math::Vector<6> noise_standard_deviation; ini_file.ReadVector("ORBIT_OBSERVER", "noise_standard_deviation", noise_standard_deviation); OrbitObserver orbit_observer(prescaler, clock_generator, noise_frame, noise_standard_deviation, orbit); diff --git a/src/components/ideal/orbit_observer.hpp b/src/components/ideal/orbit_observer.hpp index 976a8d236..c1746af81 100644 --- a/src/components/ideal/orbit_observer.hpp +++ b/src/components/ideal/orbit_observer.hpp @@ -37,7 +37,7 @@ class OrbitObserver : public Component, public ILoggable { * @param [in] error_standard_deviation: Position and Velocity standard deviation noise [m, m/s] * @param [in] orbit: Orbit information */ - OrbitObserver(const int prescaler, ClockGenerator* clock_generator, const NoiseFrame noise_frame, const libra::Vector<6> error_standard_deviation, + OrbitObserver(const int prescaler, ClockGenerator* clock_generator, const NoiseFrame noise_frame, const math::Vector<6> error_standard_deviation, const Orbit& orbit); /** @@ -69,17 +69,17 @@ class OrbitObserver : public Component, public ILoggable { * @fn GetPosition_i_m * @brief Return observed position */ - inline const libra::Vector<3> GetPosition_i_m() const { return observed_position_i_m_; }; + inline const math::Vector<3> GetPosition_i_m() const { return observed_position_i_m_; }; /** * @fn GetVelocity_i_m_s * @brief Return observed velocity */ - inline const libra::Vector<3> GetVelocity_i_m_s() const { return observed_velocity_i_m_s_; }; + inline const math::Vector<3> GetVelocity_i_m_s() const { return observed_velocity_i_m_s_; }; protected: - libra::Vector<3> observed_position_i_m_{0.0}; //!< Observed position @ inertial frame [m] - libra::Vector<3> observed_velocity_i_m_s_{0.0}; //!< Observed velocity @ inertial frame [m/s] + math::Vector<3> observed_position_i_m_{0.0}; //!< Observed position @ inertial frame [m] + math::Vector<3> observed_velocity_i_m_s_{0.0}; //!< Observed velocity @ inertial frame [m/s] NoiseFrame noise_frame_; //!< Noise definition frame libra::NormalRand normal_random_noise_[6]; //!< Position and Velocity noise [m, m/s] diff --git a/src/components/ideal/torque_generator.cpp b/src/components/ideal/torque_generator.cpp index a2adb097c..b0a137d9b 100644 --- a/src/components/ideal/torque_generator.cpp +++ b/src/components/ideal/torque_generator.cpp @@ -29,9 +29,9 @@ void TorqueGenerator::MainRoutine(const int time_count) { double norm_ordered_torque = ordered_torque_b_Nm_.CalcNorm(); if (norm_ordered_torque > 0.0 + DBL_EPSILON) { // Add noise only when the torque is generated - libra::Vector<3> true_direction = generated_torque_b_Nm_.CalcNormalizedVector(); + math::Vector<3> true_direction = generated_torque_b_Nm_.CalcNormalizedVector(); libra::Quaternion error_quaternion = GenerateDirectionNoiseQuaternion(true_direction, direction_error_standard_deviation_rad_); - libra::Vector<3> converted_direction = error_quaternion.FrameConversion(true_direction); + math::Vector<3> converted_direction = error_quaternion.FrameConversion(true_direction); double torque_norm_with_error = norm_ordered_torque + magnitude_noise_; generated_torque_b_Nm_ = torque_norm_with_error * converted_direction; } @@ -58,14 +58,14 @@ std::string TorqueGenerator::GetLogValue() const { return str_tmp; } -libra::Quaternion TorqueGenerator::GenerateDirectionNoiseQuaternion(libra::Vector<3> true_direction, const double error_standard_deviation_rad) { - libra::Vector<3> random_direction; +libra::Quaternion TorqueGenerator::GenerateDirectionNoiseQuaternion(math::Vector<3> true_direction, const double error_standard_deviation_rad) { + math::Vector<3> random_direction; random_direction[0] = direction_noise_; random_direction[1] = direction_noise_; random_direction[2] = direction_noise_; random_direction = random_direction.CalcNormalizedVector(); - libra::Vector<3> rotation_axis; + math::Vector<3> rotation_axis; rotation_axis = OuterProduct(true_direction, random_direction); double norm_rotation_axis = rotation_axis.CalcNorm(); if (norm_rotation_axis < 0.0 + DBL_EPSILON) { diff --git a/src/components/ideal/torque_generator.hpp b/src/components/ideal/torque_generator.hpp index 10aacf19d..5fafc2c4c 100644 --- a/src/components/ideal/torque_generator.hpp +++ b/src/components/ideal/torque_generator.hpp @@ -71,11 +71,11 @@ class TorqueGenerator : public Component, public ILoggable { * @fn SetTorque_b_Nm * @brief Set ordered torque in the body fixed frame [Nm] */ - inline void SetTorque_b_Nm(const libra::Vector<3> torque_b_Nm) { ordered_torque_b_Nm_ = torque_b_Nm; }; + inline void SetTorque_b_Nm(const math::Vector<3> torque_b_Nm) { ordered_torque_b_Nm_ = torque_b_Nm; }; protected: - libra::Vector<3> ordered_torque_b_Nm_{0.0}; //!< Ordered torque in the body fixed frame [Nm] - libra::Vector<3> generated_torque_b_Nm_{0.0}; //!< Generated torque in the body fixed frame [Nm] + math::Vector<3> ordered_torque_b_Nm_{0.0}; //!< Ordered torque in the body fixed frame [Nm] + math::Vector<3> generated_torque_b_Nm_{0.0}; //!< Generated torque in the body fixed frame [Nm] // Noise libra::NormalRand magnitude_noise_; //!< Normal random for magnitude noise @@ -88,7 +88,7 @@ class TorqueGenerator : public Component, public ILoggable { * @param [in] true_direction: True direction * @param [in] error_standard_deviation_rad: Standard deviation of direction error [rad] */ - libra::Quaternion GenerateDirectionNoiseQuaternion(libra::Vector<3> true_direction, const double error_standard_deviation_rad); + libra::Quaternion GenerateDirectionNoiseQuaternion(math::Vector<3> true_direction, const double error_standard_deviation_rad); const Dynamics* dynamics_; //!< Spacecraft dynamics information }; diff --git a/src/components/real/aocs/gnss_receiver.cpp b/src/components/real/aocs/gnss_receiver.cpp index a1f11880b..d9bd1a4fd 100644 --- a/src/components/real/aocs/gnss_receiver.cpp +++ b/src/components/real/aocs/gnss_receiver.cpp @@ -12,9 +12,9 @@ #include GnssReceiver::GnssReceiver(const int prescaler, ClockGenerator* clock_generator, const size_t component_id, const AntennaModel antenna_model, - const libra::Vector<3> antenna_position_b_m, const libra::Quaternion quaternion_b2c, const double half_width_deg, - const libra::Vector<3> position_noise_standard_deviation_ecef_m, - const libra::Vector<3> velocity_noise_standard_deviation_ecef_m_s, const Dynamics* dynamics, + const math::Vector<3> antenna_position_b_m, const libra::Quaternion quaternion_b2c, const double half_width_deg, + const math::Vector<3> position_noise_standard_deviation_ecef_m, + const math::Vector<3> velocity_noise_standard_deviation_ecef_m_s, const Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time) : Component(prescaler, clock_generator), component_id_(component_id), @@ -32,9 +32,9 @@ GnssReceiver::GnssReceiver(const int prescaler, ClockGenerator* clock_generator, } GnssReceiver::GnssReceiver(const int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, const size_t component_id, - const AntennaModel antenna_model, const libra::Vector<3> antenna_position_b_m, const libra::Quaternion quaternion_b2c, - const double half_width_deg, const libra::Vector<3> position_noise_standard_deviation_ecef_m, - const libra::Vector<3> velocity_noise_standard_deviation_ecef_m_s, const Dynamics* dynamics, + const AntennaModel antenna_model, const math::Vector<3> antenna_position_b_m, const libra::Quaternion quaternion_b2c, + const double half_width_deg, const math::Vector<3> position_noise_standard_deviation_ecef_m, + const math::Vector<3> velocity_noise_standard_deviation_ecef_m_s, const Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time) : Component(prescaler, clock_generator, power_port), component_id_(component_id), @@ -56,7 +56,7 @@ void GnssReceiver::MainRoutine(const int time_count) { // Antenna checking // TODO: Use ECEF position only - libra::Vector<3> position_true_eci = dynamics_->GetOrbit().GetPosition_i_m(); + math::Vector<3> position_true_eci = dynamics_->GetOrbit().GetPosition_i_m(); libra::Quaternion quaternion_i2b = dynamics_->GetAttitude().GetQuaternion_i2b(); CheckAntenna(position_true_eci, quaternion_i2b); @@ -74,7 +74,7 @@ void GnssReceiver::MainRoutine(const int time_count) { ConvertJulianDayToGpsTime(simulation_time_->GetCurrentTime_jd()); } -void GnssReceiver::CheckAntenna(const libra::Vector<3> position_true_eci_m, const libra::Quaternion quaternion_i2b) { +void GnssReceiver::CheckAntenna(const math::Vector<3> position_true_eci_m, const libra::Quaternion quaternion_i2b) { if (antenna_model_ == AntennaModel::kSimple) { CheckAntennaSimple(position_true_eci_m, quaternion_i2b); } else if (antenna_model_ == AntennaModel::kCone) { @@ -84,15 +84,15 @@ void GnssReceiver::CheckAntenna(const libra::Vector<3> position_true_eci_m, cons } } -void GnssReceiver::CheckAntennaSimple(const libra::Vector<3> position_true_eci_m, const libra::Quaternion quaternion_i2b) { +void GnssReceiver::CheckAntennaSimple(const math::Vector<3> position_true_eci_m, const libra::Quaternion quaternion_i2b) { // Simplest model // GNSS satellites are visible when antenna directs anti-earth direction // Antenna normal vector at inertial frame - libra::Vector<3> antenna_direction_c(0.0); + math::Vector<3> antenna_direction_c(0.0); antenna_direction_c[2] = 1.0; - libra::Vector<3> antenna_direction_b = quaternion_b2c_.InverseFrameConversion(antenna_direction_c); - libra::Vector<3> antenna_direction_i = quaternion_i2b.InverseFrameConversion(antenna_direction_b); + math::Vector<3> antenna_direction_b = quaternion_b2c_.InverseFrameConversion(antenna_direction_c); + math::Vector<3> antenna_direction_i = quaternion_i2b.InverseFrameConversion(antenna_direction_b); double inner = InnerProduct(position_true_eci_m, antenna_direction_i); if (inner <= 0.0) { @@ -102,18 +102,18 @@ void GnssReceiver::CheckAntennaSimple(const libra::Vector<3> position_true_eci_m } } -void GnssReceiver::CheckAntennaCone(const libra::Vector<3> position_true_eci_m, const libra::Quaternion quaternion_i2b) { +void GnssReceiver::CheckAntennaCone(const math::Vector<3> position_true_eci_m, const libra::Quaternion quaternion_i2b) { // Cone model gnss_information_list_.clear(); // Antenna pointing direction vector at inertial frame - libra::Vector<3> antenna_pointing_direction_c(0.0); + math::Vector<3> antenna_pointing_direction_c(0.0); antenna_pointing_direction_c[2] = 1.0; - libra::Vector<3> antenna_pointing_direction_b = quaternion_b2c_.InverseFrameConversion(antenna_pointing_direction_c); - libra::Vector<3> antenna_pointing_direction_i = quaternion_i2b.InverseFrameConversion(antenna_pointing_direction_b); + math::Vector<3> antenna_pointing_direction_b = quaternion_b2c_.InverseFrameConversion(antenna_pointing_direction_c); + math::Vector<3> antenna_pointing_direction_i = quaternion_i2b.InverseFrameConversion(antenna_pointing_direction_b); // Antenna position vector at inertial frame - libra::Vector<3> antenna_position_i_m = position_true_eci_m + quaternion_i2b.InverseFrameConversion(antenna_position_b_m_); + math::Vector<3> antenna_position_i_m = position_true_eci_m + quaternion_i2b.InverseFrameConversion(antenna_position_b_m_); // initialize visible_satellite_number_ = 0; @@ -122,9 +122,9 @@ void GnssReceiver::CheckAntennaCone(const libra::Vector<3> position_true_eci_m, for (size_t i = 0; i < number_of_calculated_gnss_satellites; i++) { // compute direction from sat to gnss in body-fixed frame - libra::Vector<3> gnss_satellite_position_i_m = gnss_satellites_->GetPosition_eci_m(i); - libra::Vector<3> antenna_to_gnss_satellite_i_m = gnss_satellite_position_i_m - antenna_position_i_m; - libra::Vector<3> antenna_to_gnss_satellite_direction_i = antenna_to_gnss_satellite_i_m.CalcNormalizedVector(); + math::Vector<3> gnss_satellite_position_i_m = gnss_satellites_->GetPosition_eci_m(i); + math::Vector<3> antenna_to_gnss_satellite_i_m = gnss_satellite_position_i_m - antenna_position_i_m; + math::Vector<3> antenna_to_gnss_satellite_direction_i = antenna_to_gnss_satellite_i_m.CalcNormalizedVector(); // Check GNSS satellites are visible from the receiver(not care antenna direction) bool is_gnss_satellite_visible_from_receiver = false; @@ -161,10 +161,10 @@ void GnssReceiver::CheckAntennaCone(const libra::Vector<3> position_true_eci_m, } } -void GnssReceiver::SetGnssInfo(const libra::Vector<3> antenna_to_satellite_i_m, const libra::Quaternion quaternion_i2b, +void GnssReceiver::SetGnssInfo(const math::Vector<3> antenna_to_satellite_i_m, const libra::Quaternion quaternion_i2b, const std::size_t gnss_system_id) { - libra::Vector<3> antenna_to_satellite_direction_b = quaternion_i2b.FrameConversion(antenna_to_satellite_i_m); - libra::Vector<3> antenna_to_satellite_direction_c = quaternion_b2c_.FrameConversion(antenna_to_satellite_direction_b); + math::Vector<3> antenna_to_satellite_direction_b = quaternion_i2b.FrameConversion(antenna_to_satellite_i_m); + math::Vector<3> antenna_to_satellite_direction_c = quaternion_b2c_.FrameConversion(antenna_to_satellite_direction_b); double distance_m = antenna_to_satellite_i_m.CalcNorm(); double longitude_rad = AcTan(antenna_to_satellite_direction_c[1], antenna_to_satellite_direction_c[0]); @@ -175,7 +175,7 @@ void GnssReceiver::SetGnssInfo(const libra::Vector<3> antenna_to_satellite_i_m, gnss_information_list_.push_back(gnss_info_new); } -void GnssReceiver::AddNoise(const libra::Vector<3> position_true_ecef_m, const libra::Vector<3> velocity_true_ecef_m_s) { +void GnssReceiver::AddNoise(const math::Vector<3> position_true_ecef_m, const math::Vector<3> velocity_true_ecef_m_s) { for (size_t i = 0; i < 3; i++) { position_ecef_m_[i] = position_true_ecef_m[i] + position_random_noise_ecef_m_[i]; velocity_ecef_m_s_[i] = velocity_true_ecef_m_s[i] + velocity_random_noise_ecef_m_s_[i]; @@ -252,11 +252,11 @@ AntennaModel SetAntennaModel(const std::string antenna_model) { typedef struct _gnss_receiver_param { int prescaler; AntennaModel antenna_model; - libra::Vector<3> antenna_pos_b; + math::Vector<3> antenna_pos_b; libra::Quaternion quaternion_b2c; double half_width_deg; - libra::Vector<3> position_noise_standard_deviation_ecef_m; - libra::Vector<3> velocity_noise_standard_deviation_ecef_m_s; + math::Vector<3> position_noise_standard_deviation_ecef_m; + math::Vector<3> velocity_noise_standard_deviation_ecef_m_s; } GnssReceiverParam; GnssReceiverParam ReadGnssReceiverIni(const std::string file_name, const GnssSatellites* gnss_satellites, const size_t component_id) { diff --git a/src/components/real/aocs/gnss_receiver.hpp b/src/components/real/aocs/gnss_receiver.hpp index 1345217b5..5b1acb425 100644 --- a/src/components/real/aocs/gnss_receiver.hpp +++ b/src/components/real/aocs/gnss_receiver.hpp @@ -59,8 +59,8 @@ class GnssReceiver : public Component, public ILoggable { * @param [in] simulation_time: Simulation time information */ GnssReceiver(const int prescaler, ClockGenerator* clock_generator, const size_t component_id, const AntennaModel antenna_model, - const libra::Vector<3> antenna_position_b_m, const libra::Quaternion quaternion_b2c, const double half_width_deg, - const libra::Vector<3> position_noise_standard_deviation_ecef_m, const libra::Vector<3> velocity_noise_standard_deviation_ecef_m_s, + const math::Vector<3> antenna_position_b_m, const libra::Quaternion quaternion_b2c, const double half_width_deg, + const math::Vector<3> position_noise_standard_deviation_ecef_m, const math::Vector<3> velocity_noise_standard_deviation_ecef_m_s, const Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time); /** * @fn GnssReceiver @@ -79,9 +79,9 @@ class GnssReceiver : public Component, public ILoggable { * @param [in] simulation_time: Simulation time information */ GnssReceiver(const int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, const size_t component_id, - const AntennaModel antenna_model, const libra::Vector<3> antenna_position_b_m, const libra::Quaternion quaternion_b2c, - const double half_width_deg, const libra::Vector<3> position_noise_standard_deviation_ecef_m, - const libra::Vector<3> velocity_noise_standard_deviation_ecef_m_s, const Dynamics* dynamics, const GnssSatellites* gnss_satellites, + const AntennaModel antenna_model, const math::Vector<3> antenna_position_b_m, const libra::Quaternion quaternion_b2c, + const double half_width_deg, const math::Vector<3> position_noise_standard_deviation_ecef_m, + const math::Vector<3> velocity_noise_standard_deviation_ecef_m_s, const Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time); // Override functions for Component @@ -102,7 +102,7 @@ class GnssReceiver : public Component, public ILoggable { * @fn GetMeasuredPosition_ecef_m * @brief Return Observed position in the ECEF frame [m] */ - inline const libra::Vector<3> GetMeasuredPosition_ecef_m(void) const { return position_ecef_m_; } + inline const math::Vector<3> GetMeasuredPosition_ecef_m(void) const { return position_ecef_m_; } /** * @fn GetMeasuredGeodeticPosition * @brief Return Observed position in the LLH frame [m] @@ -112,7 +112,7 @@ class GnssReceiver : public Component, public ILoggable { * @fn GetMeasuredVelocity_ecef_m_s * @brief Return Observed velocity in the ECEF frame [m/s] */ - inline const libra::Vector<3> GetMeasuredVelocity_ecef_m_s(void) const { return velocity_ecef_m_s_; } + inline const math::Vector<3> GetMeasuredVelocity_ecef_m_s(void) const { return velocity_ecef_m_s_; } // Override ILoggable /** @@ -131,7 +131,7 @@ class GnssReceiver : public Component, public ILoggable { const size_t component_id_; //!< Receiver ID // Antenna - libra::Vector<3> antenna_position_b_m_; //!< GNSS antenna position at the body-fixed frame [m] + math::Vector<3> antenna_position_b_m_; //!< GNSS antenna position at the body-fixed frame [m] libra::Quaternion quaternion_b2c_; //!< Quaternion from body frame to component frame (antenna frame) double half_width_deg_ = 0.0; //!< Half width of the antenna cone model [deg] AntennaModel antenna_model_; //!< Antenna model @@ -139,8 +139,8 @@ class GnssReceiver : public Component, public ILoggable { // Simple position observation libra::NormalRand position_random_noise_ecef_m_[3]; //!< Random noise for position at the ECEF frame [m] libra::NormalRand velocity_random_noise_ecef_m_s_[3]; //!< Random noise for velocity at the ECEF frame [m] - libra::Vector<3> position_ecef_m_{0.0}; //!< Observed position in the ECEF frame [m] - libra::Vector<3> velocity_ecef_m_s_{0.0}; //!< Observed velocity in the ECEF frame [m/s] + math::Vector<3> position_ecef_m_{0.0}; //!< Observed position in the ECEF frame [m] + math::Vector<3> velocity_ecef_m_s_{0.0}; //!< Observed velocity in the ECEF frame [m/s] GeodeticPosition geodetic_position_; //!< Observed position in the geodetic frame // Time observation @@ -166,7 +166,7 @@ class GnssReceiver : public Component, public ILoggable { * @param [in] position_true_i_m: True position of the spacecraft in the ECI frame [m] * @param [in] quaternion_i2b: True attitude of the spacecraft expressed by quaternion from the inertial frame to the body-fixed frame */ - void CheckAntenna(const libra::Vector<3> position_true_i_m, const libra::Quaternion quaternion_i2b); + void CheckAntenna(const math::Vector<3> position_true_i_m, const libra::Quaternion quaternion_i2b); /** * @fn CheckAntennaSimple * @brief Check the antenna can detect GNSS signal with Simple mode @@ -174,7 +174,7 @@ class GnssReceiver : public Component, public ILoggable { * @param [in] position_true_i_m: True position of the spacecraft in the ECI frame [m] * @param [in] quaternion_i2b: True attitude of the spacecraft expressed by quaternion from the inertial frame to the body-fixed frame */ - void CheckAntennaSimple(const libra::Vector<3> position_true_i_m, const libra::Quaternion quaternion_i2b); + void CheckAntennaSimple(const math::Vector<3> position_true_i_m, const libra::Quaternion quaternion_i2b); /** * @fn CheckAntennaCone * @brief Check the antenna can detect GNSS signal with Cone mode @@ -182,7 +182,7 @@ class GnssReceiver : public Component, public ILoggable { * @param [in] position_true_i_m: True position of the spacecraft in the ECI frame [m] * @param [in] quaternion_i2b: True attitude of the spacecraft expressed by quaternion from the inertial frame to the body-fixed frame */ - void CheckAntennaCone(const libra::Vector<3> position_true_i_m, const libra::Quaternion quaternion_i2b); + void CheckAntennaCone(const math::Vector<3> position_true_i_m, const libra::Quaternion quaternion_i2b); /** * @fn SetGnssInfo * @brief Calculate and set the GnssInfo values of target GNSS satellite @@ -190,14 +190,14 @@ class GnssReceiver : public Component, public ILoggable { * @param [in] quaternion_i2b: True attitude of the spacecraft expressed by quaternion from the inertial frame to the body-fixed frame * @param [in] gnss_system_id: ID of target GNSS satellite */ - void SetGnssInfo(const libra::Vector<3> antenna_to_satellite_i_m, const libra::Quaternion quaternion_i2b, const size_t gnss_system_id); + void SetGnssInfo(const math::Vector<3> antenna_to_satellite_i_m, const libra::Quaternion quaternion_i2b, const size_t gnss_system_id); /** * @fn AddNoise * @brief Substitutional method for "Measure" in other sensor models inherited Sensor class * @param [in] position_true_ecef_m: True position of the spacecraft in the ECEF frame [m] * @param [in] velocity_true_ecef_m_s: True velocity of the spacecraft in the ECEF frame [m/s] */ - void AddNoise(const libra::Vector<3> position_true_ecef_m, const libra::Vector<3> velocity_true_ecef_m_s); + void AddNoise(const math::Vector<3> position_true_ecef_m, const math::Vector<3> velocity_true_ecef_m_s); /** * @fn ConvertJulianDayToGpsTime * @brief Convert Julian day to GPS time diff --git a/src/components/real/aocs/gyro_sensor.hpp b/src/components/real/aocs/gyro_sensor.hpp index 239bb29df..cece441a3 100644 --- a/src/components/real/aocs/gyro_sensor.hpp +++ b/src/components/real/aocs/gyro_sensor.hpp @@ -75,10 +75,10 @@ class GyroSensor : public Component, public Sensor, public ILogg * @fn GetMeasuredAngularVelocity_c_rad_s * @brief Return observed angular velocity of the component frame with respect to the inertial frame */ - inline const libra::Vector& GetMeasuredAngularVelocity_c_rad_s(void) const { return angular_velocity_c_rad_s_; } + inline const math::Vector& GetMeasuredAngularVelocity_c_rad_s(void) const { return angular_velocity_c_rad_s_; } protected: - libra::Vector angular_velocity_c_rad_s_{ + math::Vector angular_velocity_c_rad_s_{ 0.0}; //!< Observed angular velocity of the component frame with respect to the inertial frame [rad/s] unsigned int sensor_id_ = 0; //!< Sensor ID libra::Quaternion quaternion_b2c_{0.0, 0.0, 0.0, 1.0}; //!< Quaternion from body frame to component frame diff --git a/src/components/real/aocs/magnetometer.hpp b/src/components/real/aocs/magnetometer.hpp index 5140eb7ef..376f6fed7 100644 --- a/src/components/real/aocs/magnetometer.hpp +++ b/src/components/real/aocs/magnetometer.hpp @@ -75,30 +75,30 @@ class Magnetometer : public Component, public Sensor, pu * @fn GetMeasuredMagneticField_c_nT * @brief Return observed magnetic field on the component frame */ - inline const libra::Vector& GetMeasuredMagneticField_c_nT(void) const { return magnetic_field_c_nT_; } + inline const math::Vector& GetMeasuredMagneticField_c_nT(void) const { return magnetic_field_c_nT_; } /** * @fn SetConstantBiasNoise_c_nT * @brief Set constant bias noise at component frame [nT] * @param [in] constant_noise_c_nT: Constant bias noise at component frame [nT] */ - inline void SetConstantBiasNoise_c_nT(libra::Vector constant_noise_c_nT) { bias_noise_c_ = constant_noise_c_nT; } + inline void SetConstantBiasNoise_c_nT(math::Vector constant_noise_c_nT) { bias_noise_c_ = constant_noise_c_nT; } /** * @fn AddConstantBiasNoise_c_nT * @brief Add constant bias noise at component frame [nT] * @param [in] constant_noise_c_nT: Additional constant bias noise at component frame [nT] */ - inline void AddConstantBiasNoise_c_nT(libra::Vector constant_noise_c_nT) { bias_noise_c_ += constant_noise_c_nT; } + inline void AddConstantBiasNoise_c_nT(math::Vector constant_noise_c_nT) { bias_noise_c_ += constant_noise_c_nT; } /** * @fn GetConstantBiasNoise_c_nT * @brief Get constant bias noise at component frame [nT] */ - inline libra::Vector GetConstantBiasNoise_c_nT() const { return bias_noise_c_; } + inline math::Vector GetConstantBiasNoise_c_nT() const { return bias_noise_c_; } protected: - libra::Vector magnetic_field_c_nT_{0.0}; //!< Observed magnetic field on the component frame [nT] + math::Vector magnetic_field_c_nT_{0.0}; //!< Observed magnetic field on the component frame [nT] unsigned int sensor_id_ = 0; //!< Sensor ID libra::Quaternion quaternion_b2c_{0.0, 0.0, 0.0, 1.0}; //!< Quaternion from body frame to component frame diff --git a/src/components/real/aocs/magnetorquer.cpp b/src/components/real/aocs/magnetorquer.cpp index c727f91d7..9d51a50dc 100644 --- a/src/components/real/aocs/magnetorquer.cpp +++ b/src/components/real/aocs/magnetorquer.cpp @@ -13,11 +13,11 @@ Magnetorquer::Magnetorquer(const int prescaler, ClockGenerator* clock_generator, const int component_id, const libra::Quaternion& quaternion_b2c, const math::Matrix& scale_factor, - const libra::Vector& max_magnetic_moment_c_Am2, - const libra::Vector& min_magnetic_moment_c_Am2, const libra::Vector& bias_noise_c_Am2_, - double random_walk_step_width_s, const libra::Vector& random_walk_standard_deviation_c_Am2, - const libra::Vector& random_walk_limit_c_Am2, - const libra::Vector& normal_random_standard_deviation_c_Am2, const GeomagneticField* geomagnetic_field) + const math::Vector& max_magnetic_moment_c_Am2, + const math::Vector& min_magnetic_moment_c_Am2, const math::Vector& bias_noise_c_Am2_, + double random_walk_step_width_s, const math::Vector& random_walk_standard_deviation_c_Am2, + const math::Vector& random_walk_limit_c_Am2, + const math::Vector& normal_random_standard_deviation_c_Am2, const GeomagneticField* geomagnetic_field) : Component(prescaler, clock_generator), component_id_(component_id), quaternion_b2c_(quaternion_b2c), @@ -35,11 +35,11 @@ Magnetorquer::Magnetorquer(const int prescaler, ClockGenerator* clock_generator, Magnetorquer::Magnetorquer(const int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, const int component_id, const libra::Quaternion& quaternion_b2c, const math::Matrix& scale_factor, - const libra::Vector& max_magnetic_moment_c_Am2, - const libra::Vector& min_magnetic_moment_c_Am2, const libra::Vector& bias_noise_c_Am2_, - double random_walk_step_width_s, const libra::Vector& random_walk_standard_deviation_c_Am2, - const libra::Vector& random_walk_limit_c_Am2, - const libra::Vector& normal_random_standard_deviation_c_Am2, const GeomagneticField* geomagnetic_field) + const math::Vector& max_magnetic_moment_c_Am2, + const math::Vector& min_magnetic_moment_c_Am2, const math::Vector& bias_noise_c_Am2_, + double random_walk_step_width_s, const math::Vector& random_walk_standard_deviation_c_Am2, + const math::Vector& random_walk_limit_c_Am2, + const math::Vector& normal_random_standard_deviation_c_Am2, const GeomagneticField* geomagnetic_field) : Component(prescaler, clock_generator, power_port), component_id_(component_id), quaternion_b2c_(quaternion_b2c), @@ -67,7 +67,7 @@ void Magnetorquer::PowerOffRoutine() { output_magnetic_moment_b_Am2_ *= 0.0; } -libra::Vector Magnetorquer::CalcOutputTorque(void) { +math::Vector Magnetorquer::CalcOutputTorque(void) { for (size_t i = 0; i < kMtqDimension; ++i) { // Limit Check if (output_magnetic_moment_c_Am2_[i] > max_magnetic_moment_c_Am2_[i]) { @@ -121,7 +121,7 @@ Magnetorquer InitMagnetorquer(ClockGenerator* clock_generator, int actuator_id, int prescaler = magtorquer_conf.ReadInt(MTSection, "prescaler"); if (prescaler <= 1) prescaler = 1; - libra::Vector sf_vec; + math::Vector sf_vec; magtorquer_conf.ReadVector(MTSection, "scale_factor_c", sf_vec); math::Matrix scale_factor; for (size_t i = 0; i < kMtqDimension; i++) { @@ -133,21 +133,21 @@ Magnetorquer InitMagnetorquer(ClockGenerator* clock_generator, int actuator_id, libra::Quaternion quaternion_b2c; magtorquer_conf.ReadQuaternion(MTSection, "quaternion_b2c", quaternion_b2c); - libra::Vector max_magnetic_moment_c_Am2; + math::Vector max_magnetic_moment_c_Am2; magtorquer_conf.ReadVector(MTSection, "max_output_magnetic_moment_c_Am2", max_magnetic_moment_c_Am2); - libra::Vector min_magnetic_moment_c_Am2; + math::Vector min_magnetic_moment_c_Am2; magtorquer_conf.ReadVector(MTSection, "min_output_magnetic_moment_c_Am2", min_magnetic_moment_c_Am2); - libra::Vector bias_noise_c_Am2; + math::Vector bias_noise_c_Am2; magtorquer_conf.ReadVector(MTSection, "constant_bias_noise_c_Am2", bias_noise_c_Am2); double random_walk_step_width_s = component_step_time_s * (double)prescaler; - libra::Vector random_walk_standard_deviation_c_Am2; + math::Vector random_walk_standard_deviation_c_Am2; magtorquer_conf.ReadVector(MTSection, "random_walk_standard_deviation_c_Am2", random_walk_standard_deviation_c_Am2); - libra::Vector random_walk_limit_c_Am2; + math::Vector random_walk_limit_c_Am2; magtorquer_conf.ReadVector(MTSection, "random_walk_limit_c_Am2", random_walk_limit_c_Am2); - libra::Vector normal_random_standard_deviation_c_Am2; + math::Vector normal_random_standard_deviation_c_Am2; magtorquer_conf.ReadVector(MTSection, "white_noise_standard_deviation_c_Am2", normal_random_standard_deviation_c_Am2); Magnetorquer magtorquer(prescaler, clock_generator, actuator_id, quaternion_b2c, scale_factor, max_magnetic_moment_c_Am2, min_magnetic_moment_c_Am2, @@ -166,7 +166,7 @@ Magnetorquer InitMagnetorquer(ClockGenerator* clock_generator, PowerPort* power_ int prescaler = magtorquer_conf.ReadInt(MTSection, "prescaler"); if (prescaler <= 1) prescaler = 1; - libra::Vector sf_vec; + math::Vector sf_vec; magtorquer_conf.ReadVector(MTSection, "scale_factor_c", sf_vec); math::Matrix scale_factor; for (size_t i = 0; i < kMtqDimension; i++) { @@ -178,21 +178,21 @@ Magnetorquer InitMagnetorquer(ClockGenerator* clock_generator, PowerPort* power_ libra::Quaternion quaternion_b2c; magtorquer_conf.ReadQuaternion(MTSection, "quaternion_b2c", quaternion_b2c); - libra::Vector max_magnetic_moment_c_Am2; + math::Vector max_magnetic_moment_c_Am2; magtorquer_conf.ReadVector(MTSection, "max_output_magnetic_moment_c_Am2", max_magnetic_moment_c_Am2); - libra::Vector min_magnetic_moment_c_Am2; + math::Vector min_magnetic_moment_c_Am2; magtorquer_conf.ReadVector(MTSection, "min_output_magnetic_moment_c_Am2", min_magnetic_moment_c_Am2); - libra::Vector bias_noise_c_Am2; + math::Vector bias_noise_c_Am2; magtorquer_conf.ReadVector(MTSection, "constant_bias_noise_c_Am2", bias_noise_c_Am2); double random_walk_step_width_s = component_step_time_s * (double)prescaler; - libra::Vector random_walk_standard_deviation_c_Am2; + math::Vector random_walk_standard_deviation_c_Am2; magtorquer_conf.ReadVector(MTSection, "random_walk_standard_deviation_c_Am2", random_walk_standard_deviation_c_Am2); - libra::Vector random_walk_limit_c_Am2; + math::Vector random_walk_limit_c_Am2; magtorquer_conf.ReadVector(MTSection, "random_walk_limit_c_Am2", random_walk_limit_c_Am2); - libra::Vector normal_random_standard_deviation_c_Am2; + math::Vector normal_random_standard_deviation_c_Am2; magtorquer_conf.ReadVector(MTSection, "white_noise_standard_deviation_c_Am2", normal_random_standard_deviation_c_Am2); // PowerPort diff --git a/src/components/real/aocs/magnetorquer.hpp b/src/components/real/aocs/magnetorquer.hpp index 541466933..19abefdf7 100644 --- a/src/components/real/aocs/magnetorquer.hpp +++ b/src/components/real/aocs/magnetorquer.hpp @@ -42,11 +42,11 @@ class Magnetorquer : public Component, public ILoggable { * @param [in] geomagnetic_field: Geomagnetic environment */ Magnetorquer(const int prescaler, ClockGenerator* clock_generator, const int component_id, const libra::Quaternion& quaternion_b2c, - const math::Matrix& scale_factor, const libra::Vector& max_magnetic_moment_c_Am2, - const libra::Vector& min_magnetic_moment_c_Am2, const libra::Vector& bias_noise_c_Am2_, - double random_walk_step_width_s, const libra::Vector& random_walk_standard_deviation_c_Am2, - const libra::Vector& random_walk_limit_c_Am2, - const libra::Vector& normal_random_standard_deviation_c_Am2, const GeomagneticField* geomagnetic_field); + const math::Matrix& scale_factor, const math::Vector& max_magnetic_moment_c_Am2, + const math::Vector& min_magnetic_moment_c_Am2, const math::Vector& bias_noise_c_Am2_, + double random_walk_step_width_s, const math::Vector& random_walk_standard_deviation_c_Am2, + const math::Vector& random_walk_limit_c_Am2, + const math::Vector& normal_random_standard_deviation_c_Am2, const GeomagneticField* geomagnetic_field); /** * @fn Magnetorquer * @brief Constructor with power port @@ -67,10 +67,10 @@ class Magnetorquer : public Component, public ILoggable { */ Magnetorquer(const int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, const int component_id, const libra::Quaternion& quaternion_b2c, const math::Matrix& scale_factor, - const libra::Vector& max_magnetic_moment_c_Am2, const libra::Vector& min_magnetic_moment_c_Am2, - const libra::Vector& bias_noise_c_Am2_, double random_walk_step_width_s, - const libra::Vector& random_walk_standard_deviation_c_Am2, const libra::Vector& random_walk_limit_c_Am2, - const libra::Vector& normal_random_standard_deviation_c_Am2, const GeomagneticField* geomagnetic_field); + const math::Vector& max_magnetic_moment_c_Am2, const math::Vector& min_magnetic_moment_c_Am2, + const math::Vector& bias_noise_c_Am2_, double random_walk_step_width_s, + const math::Vector& random_walk_standard_deviation_c_Am2, const math::Vector& random_walk_limit_c_Am2, + const math::Vector& normal_random_standard_deviation_c_Am2, const GeomagneticField* geomagnetic_field); // Override functions for Component /** @@ -100,39 +100,39 @@ class Magnetorquer : public Component, public ILoggable { * @fn GetOutputTorque_b_Nm * @brief Return output torque in the body fixed frame [Nm] */ - inline const libra::Vector& GetOutputTorque_b_Nm(void) const { return torque_b_Nm_; }; + inline const math::Vector& GetOutputTorque_b_Nm(void) const { return torque_b_Nm_; }; /** * @fn SetOutputMagneticMoment_c_Am2 * @brief Set output magnetic moment in the component frame [Am2] */ - inline void SetOutputMagneticMoment_c_Am2(const libra::Vector mag_moment_c) { output_magnetic_moment_c_Am2_ = mag_moment_c; }; + inline void SetOutputMagneticMoment_c_Am2(const math::Vector mag_moment_c) { output_magnetic_moment_c_Am2_ = mag_moment_c; }; /** * @fn SetOutputMagneticMoment_b_Am2 * @brief Return output magnetic moment in the body fixed frame [Am2] */ - inline const libra::Vector& SetOutputMagneticMoment_b_Am2(void) const { return output_magnetic_moment_b_Am2_; }; + inline const math::Vector& SetOutputMagneticMoment_b_Am2(void) const { return output_magnetic_moment_b_Am2_; }; /** * @fn GetOutputMagneticMoment_b_Am2 * @brief Return output magnetic moment in the body fixed frame [Am2] */ - inline const libra::Vector& GetOutputMagneticMoment_c_Am2(void) const { return output_magnetic_moment_c_Am2_; }; + inline const math::Vector& GetOutputMagneticMoment_c_Am2(void) const { return output_magnetic_moment_c_Am2_; }; protected: const int component_id_ = 0; //!< Actuator ID const double kConvertNanoT2T = 1.0e-9; //!< Constant to convert nT to T - libra::Vector torque_b_Nm_{0.0}; //!< Output torque in the body fixed frame [Nm] - libra::Vector output_magnetic_moment_c_Am2_{0.0}; //!< Output output magnetic moment in the component frame [Am2] - libra::Vector output_magnetic_moment_b_Am2_{0.0}; //!< Output output magnetic moment in the body fixed frame [Am2] + math::Vector torque_b_Nm_{0.0}; //!< Output torque in the body fixed frame [Nm] + math::Vector output_magnetic_moment_c_Am2_{0.0}; //!< Output output magnetic moment in the component frame [Am2] + math::Vector output_magnetic_moment_b_Am2_{0.0}; //!< Output output magnetic moment in the body fixed frame [Am2] libra::Quaternion quaternion_b2c_{0.0, 0.0, 0.0, 1.0}; //!< Quaternion from body frame to component frame libra::Quaternion quaternion_c2b_{0.0, 0.0, 0.0, 1.0}; //!< Quaternion from component frame to body frame math::Matrix scale_factor_; //!< Scale factor matrix - libra::Vector max_magnetic_moment_c_Am2_{100.0}; //!< Maximum magnetic moment in the component frame [Am2] - libra::Vector min_magnetic_moment_c_Am2_{-100.0}; //!< Minimum magnetic moment in the component frame [Am2] + math::Vector max_magnetic_moment_c_Am2_{100.0}; //!< Maximum magnetic moment in the component frame [Am2] + math::Vector min_magnetic_moment_c_Am2_{-100.0}; //!< Minimum magnetic moment in the component frame [Am2] - libra::Vector bias_noise_c_Am2_{0.0}; //!< Constant bias noise in the component frame [Am2] + math::Vector bias_noise_c_Am2_{0.0}; //!< Constant bias noise in the component frame [Am2] RandomWalk random_walk_c_Am2_; //!< Random walk noise libra::NormalRand random_noise_c_Am2_[kMtqDimension]; //!< Normal random noise @@ -143,7 +143,7 @@ class Magnetorquer : public Component, public ILoggable { * @brief Calculate output torque * @return Output torque in the body fixed frame [Nm] */ - libra::Vector CalcOutputTorque(void); + math::Vector CalcOutputTorque(void); }; /** diff --git a/src/components/real/aocs/mtq_magnetometer_interference.cpp b/src/components/real/aocs/mtq_magnetometer_interference.cpp index 8c3b5ae8d..9aa2bb1e2 100644 --- a/src/components/real/aocs/mtq_magnetometer_interference.cpp +++ b/src/components/real/aocs/mtq_magnetometer_interference.cpp @@ -18,7 +18,7 @@ MtqMagnetometerInterference::MtqMagnetometerInterference(const std::string file_ for (size_t degree = 1; degree <= polynomial_degree_; degree++) { const std::string key_name = "additional_bias_by_mtq_coefficients_" + std::to_string(static_cast(degree)); - libra::Vector<9> additional_bias_by_mtq_coefficients_vec; + math::Vector<9> additional_bias_by_mtq_coefficients_vec; math::Matrix<3, 3> additional_bias_by_mtq_coefficients; ini_file.ReadVector(section.c_str(), key_name.c_str(), additional_bias_by_mtq_coefficients_vec); for (size_t i = 0; i < 3; i++) { @@ -35,10 +35,10 @@ void MtqMagnetometerInterference::UpdateInterference(void) { magnetometer_.AddConstantBiasNoise_c_nT(-1.0 * previous_added_bias_c_nT_); // Calculate bias - libra::Vector<3> additional_bias_c_nT{0.0}; - libra::Vector<3> mtq_output_c_Am2 = magnetorquer_.GetOutputMagneticMoment_c_Am2(); + math::Vector<3> additional_bias_c_nT{0.0}; + math::Vector<3> mtq_output_c_Am2 = magnetorquer_.GetOutputMagneticMoment_c_Am2(); for (size_t degree = 1; degree <= polynomial_degree_; degree++) { - libra::Vector<3> hadamard_mtq; + math::Vector<3> hadamard_mtq; for (size_t axis = 0; axis < 3; axis++) { hadamard_mtq[axis] = pow(mtq_output_c_Am2[axis], degree); } diff --git a/src/components/real/aocs/mtq_magnetometer_interference.hpp b/src/components/real/aocs/mtq_magnetometer_interference.hpp index 10d48a88e..7c93c64d8 100644 --- a/src/components/real/aocs/mtq_magnetometer_interference.hpp +++ b/src/components/real/aocs/mtq_magnetometer_interference.hpp @@ -32,7 +32,7 @@ class MtqMagnetometerInterference { protected: size_t polynomial_degree_; //!< Polynomial degree std::vector> additional_bias_by_mtq_coefficients_; //!< Polynomial coefficients of additional bias noise - libra::Vector<3> previous_added_bias_c_nT_{0.0}; + math::Vector<3> previous_added_bias_c_nT_{0.0}; Magnetometer& magnetometer_; //!< Magnetometer const Magnetorquer& magnetorquer_; //!< Magnetorquer diff --git a/src/components/real/aocs/reaction_wheel.cpp b/src/components/real/aocs/reaction_wheel.cpp index cd275985c..1c16d6376 100644 --- a/src/components/real/aocs/reaction_wheel.cpp +++ b/src/components/real/aocs/reaction_wheel.cpp @@ -13,7 +13,7 @@ ReactionWheel::ReactionWheel(const int prescaler, ClockGenerator* clock_generator, const int component_id, const double step_width_s, const double rotor_inertia_kgm2, const double max_torque_Nm, const double max_velocity_rpm, - const libra::Quaternion quaternion_b2c, const libra::Vector<3> position_b_m, const double dead_time_s, + const libra::Quaternion quaternion_b2c, const math::Vector<3> position_b_m, const double dead_time_s, const double time_constant_s, const std::vector friction_coefficients, const double stop_limit_angular_velocity_rad_s, const bool is_calc_jitter_enabled, const bool is_log_jitter_enabled, const int fast_prescaler, ReactionWheelJitter& rw_jitter, bool drive_flag, const double init_velocity_rad_s) @@ -40,7 +40,7 @@ ReactionWheel::ReactionWheel(const int prescaler, ClockGenerator* clock_generato ReactionWheel::ReactionWheel(const int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, const int component_id, const double step_width_s, const double rotor_inertia_kgm2, const double max_torque_Nm, const double max_velocity_rpm, - const libra::Quaternion quaternion_b2c, const libra::Vector<3> position_b_m, const double dead_time_s, + const libra::Quaternion quaternion_b2c, const math::Vector<3> position_b_m, const double dead_time_s, const double time_constant_s, const std::vector friction_coefficients, const double stop_limit_angular_velocity_rad_s, const bool is_calc_jitter_enabled, const bool is_log_jitter_enabled, const int fast_prescaler, ReactionWheelJitter& rw_jitter, const bool drive_flag, const double init_velocity_rad_s) @@ -66,7 +66,7 @@ ReactionWheel::ReactionWheel(const int prescaler, ClockGenerator* clock_generato } void ReactionWheel::Initialize() { - rotation_axis_c_ = libra::Vector<3>(0.0); + rotation_axis_c_ = math::Vector<3>(0.0); rotation_axis_c_[2] = 1.0; rotation_axis_b_ = quaternion_b2c_.InverseFrameConversion(rotation_axis_c_); @@ -99,7 +99,7 @@ void ReactionWheel::FastUpdate() { } } -libra::Vector<3> ReactionWheel::CalcTorque() { +math::Vector<3> ReactionWheel::CalcTorque() { if (!drive_flag_) // RW idle mode -> coasting mode { // Clear delay buffer @@ -116,7 +116,7 @@ libra::Vector<3> ReactionWheel::CalcTorque() { if (abs_angular_velocity_rad_s < stop_limit_angular_velocity_rad_s_) { // Stop rotation rotation_direction = 0.0; - libra::Vector<1> zero_rad_s{0.0}; + math::Vector<1> zero_rad_s{0.0}; ode_angular_velocity_.Setup(0.0, zero_rad_s); } else if (angular_velocity_rad_s_ > 0.0) { rotation_direction = -1.0; @@ -150,7 +150,7 @@ libra::Vector<3> ReactionWheel::CalcTorque() { return output_torque_b_Nm_; } -const libra::Vector<3> ReactionWheel::GetOutputTorque_b_Nm() const { +const math::Vector<3> ReactionWheel::GetOutputTorque_b_Nm() const { if (is_calculated_jitter_) { // Add jitter_force_b_N_-derived torque and jitter_torque_b_Nm_ to output_torque_b return output_torque_b_Nm_ - libra::OuterProduct(position_b_m_, rw_jitter_.GetJitterForce_b_N()) - rw_jitter_.GetJitterTorque_b_Nm(); @@ -159,11 +159,11 @@ const libra::Vector<3> ReactionWheel::GetOutputTorque_b_Nm() const { } } -const libra::Vector<3> ReactionWheel::GetJitterForce_b_N() const { +const math::Vector<3> ReactionWheel::GetJitterForce_b_N() const { if (is_calculated_jitter_) { return rw_jitter_.GetJitterForce_b_N(); } else { - libra::Vector<3> zero{0.0}; + math::Vector<3> zero{0.0}; return zero; } } @@ -239,7 +239,7 @@ double max_torque_Nm; double max_velocity_rpm; // Mounting libra::Quaternion quaternion_b2c; -libra::Vector<3> position_b_m; +math::Vector<3> position_b_m; // Time delay double dead_time_s; double time_constant_s; @@ -279,9 +279,9 @@ void InitParams(int actuator_id, std::string file_name, double compo_update_step rw_ini_file.ReadQuaternion(rw_section, "quaternion_b2c", quaternion_b2c); } else // direction_determination_mode == "DIRECTION" { - libra::Vector<3> direction_b; + math::Vector<3> direction_b; rw_ini_file.ReadVector(rw_section, "direction_b", direction_b); - libra::Vector<3> direction_c(0.0); + math::Vector<3> direction_c(0.0); direction_c[2] = 1.0; libra::Quaternion q(direction_b, direction_c); quaternion_b2c = q.Conjugate(); diff --git a/src/components/real/aocs/reaction_wheel.hpp b/src/components/real/aocs/reaction_wheel.hpp index 6e684db1f..48b3d258b 100644 --- a/src/components/real/aocs/reaction_wheel.hpp +++ b/src/components/real/aocs/reaction_wheel.hpp @@ -50,7 +50,7 @@ class ReactionWheel : public Component, public ILoggable { */ ReactionWheel(const int prescaler, ClockGenerator* clock_generator, const int component_id, const double step_width_s, const double rotor_inertia_kgm2, const double max_torque_Nm, const double max_velocity_rpm, const libra::Quaternion quaternion_b2c, - const libra::Vector<3> position_b_m, const double dead_time_s, const double time_constant_s, + const math::Vector<3> position_b_m, const double dead_time_s, const double time_constant_s, const std::vector friction_coefficients, const double stop_limit_angular_velocity_rad_s, const bool is_calc_jitter_enabled, const bool is_log_jitter_enabled, const int fast_prescaler, ReactionWheelJitter& rw_jitter, const bool drive_flag = false, const double init_velocity_rad_s = 0.0); @@ -80,7 +80,7 @@ class ReactionWheel : public Component, public ILoggable { */ ReactionWheel(const int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, const int component_id, const double step_width_s, const double rotor_inertia_kgm2, const double max_torque_Nm, const double max_velocity_rpm, const libra::Quaternion quaternion_b2c, - const libra::Vector<3> position_b_m, const double dead_time_s, const double time_constant_s, + const math::Vector<3> position_b_m, const double dead_time_s, const double time_constant_s, const std::vector friction_coefficients, const double stop_limit_angular_velocity_rad_s, const bool is_calc_jitter_enabled, const bool is_log_jitter_enabled, const int fast_prescaler, ReactionWheelJitter& rw_jitter, const bool drive_flag = false, const double init_velocity_rad_s = 0.0); @@ -119,12 +119,12 @@ class ReactionWheel : public Component, public ILoggable { * @fn GetOutputTorque_b_Nm * @brief Return output torque in the body fixed frame [Nm] */ - const libra::Vector<3> GetOutputTorque_b_Nm() const; + const math::Vector<3> GetOutputTorque_b_Nm() const; /** * @fn GetJitterForce_b_N * @brief Return output force by jitter in the body fixed frame [N] */ - inline const libra::Vector<3> GetJitterForce_b_N() const; + inline const math::Vector<3> GetJitterForce_b_N() const; /** * @fn GetDriveFlag * @brief Return drive flag @@ -144,7 +144,7 @@ class ReactionWheel : public Component, public ILoggable { * @fn GetAngularMomentum_b_Nms * @brief Return angular momentum of RW [Nms] */ - inline const libra::Vector<3> GetAngularMomentum_b_Nms() const { return angular_momentum_b_Nms_; }; + inline const math::Vector<3> GetAngularMomentum_b_Nms() const { return angular_momentum_b_Nms_; }; // Setter /** @@ -175,9 +175,9 @@ class ReactionWheel : public Component, public ILoggable { const double max_torque_Nm_; //!< Maximum output torque [Nm] const double max_velocity_rpm_; //!< Maximum angular velocity of rotor [rpm] const libra::Quaternion quaternion_b2c_; //!< Quaternion from body frame to component frame - const libra::Vector<3> position_b_m_; //!< Position of RW in the body fixed frame [m] - libra::Vector<3> rotation_axis_c_; //!< Wheel rotation axis on the component frame. Constant as (0 0 1). (Output torque is minus direction) - libra::Vector<3> rotation_axis_b_; //!< Wheel rotation vector in the body fixed frame. + const math::Vector<3> position_b_m_; //!< Position of RW in the body fixed frame [m] + math::Vector<3> rotation_axis_c_; //!< Wheel rotation axis on the component frame. Constant as (0 0 1). (Output torque is minus direction) + math::Vector<3> rotation_axis_b_; //!< Wheel rotation vector in the body fixed frame. // Parameters for control delay const double step_width_s_; //!< step width for ReactionWheelOde [sec] @@ -199,8 +199,8 @@ class ReactionWheel : public Component, public ILoggable { double angular_velocity_rpm_ = 0.0; //!< Current angular velocity [rpm] double angular_velocity_rad_s_ = 0.0; //!< Current angular velocity [rad/s] // Output at body frame - libra::Vector<3> output_torque_b_Nm_{0.0}; //!< Output torque in the body fixed frame [Nm] - libra::Vector<3> angular_momentum_b_Nms_{0.0}; //!< Angular momentum of RW [Nms] + math::Vector<3> output_torque_b_Nm_{0.0}; //!< Output torque in the body fixed frame [Nm] + math::Vector<3> angular_momentum_b_Nms_{0.0}; //!< Angular momentum of RW [Nms] // ODE double velocity_limit_rpm_; //!< Velocity limit defined by users [RPM] @@ -216,7 +216,7 @@ class ReactionWheel : public Component, public ILoggable { * @fn CalcTorque * @brief Calculation of generated torque */ - libra::Vector<3> CalcTorque(); + math::Vector<3> CalcTorque(); /** * @fn Initialize * @brief Initialize function diff --git a/src/components/real/aocs/reaction_wheel_jitter.hpp b/src/components/real/aocs/reaction_wheel_jitter.hpp index 9eb241525..1034c75c7 100644 --- a/src/components/real/aocs/reaction_wheel_jitter.hpp +++ b/src/components/real/aocs/reaction_wheel_jitter.hpp @@ -55,24 +55,24 @@ class ReactionWheelJitter { * @fn GetJitterForce_b_N * @brief Return generated jitter force in the body fixed frame [N] */ - const libra::Vector<3> GetJitterForce_b_N() const { return jitter_force_b_N_; } + const math::Vector<3> GetJitterForce_b_N() const { return jitter_force_b_N_; } /** * @fn GetJitterTorque_b_Nm * @brief Return generated jitter torque in the body fixed frame [Nm] */ - const libra::Vector<3> GetJitterTorque_b_Nm() const { return jitter_torque_b_Nm_; } + const math::Vector<3> GetJitterTorque_b_Nm() const { return jitter_torque_b_Nm_; } /** * @fn GetJitterForce_c_N * @brief Return generated jitter force in the components frame [N] */ - const libra::Vector<3> GetJitterForce_c_N() const { + const math::Vector<3> GetJitterForce_c_N() const { return considers_structural_resonance_ ? filtered_jitter_force_n_c_ : unfiltered_jitter_force_n_c_; } /** * @fn GetJitterTorque_c_Nm * @brief Return generated jitter torque in the component frame [Nm] */ - const libra::Vector<3> GetJitterTorque_c_Nm() const { + const math::Vector<3> GetJitterTorque_c_Nm() const { return considers_structural_resonance_ ? filtered_jitter_torque_n_c_ : unfiltered_jitter_torque_n_c_; } @@ -94,22 +94,22 @@ class ReactionWheelJitter { std::vector jitter_torque_rotation_phase_; //!< 2 * pi * h_i * Omega * t [rad] // Variables for solving difference equations in component frame - libra::Vector<3> unfiltered_jitter_force_n_c_{0.0}; - libra::Vector<3> unfiltered_jitter_force_n_1_c_{0.0}; - libra::Vector<3> unfiltered_jitter_force_n_2_c_{0.0}; - libra::Vector<3> unfiltered_jitter_torque_n_c_{0.0}; - libra::Vector<3> unfiltered_jitter_torque_n_1_c_{0.0}; - libra::Vector<3> unfiltered_jitter_torque_n_2_c_{0.0}; - libra::Vector<3> filtered_jitter_force_n_c_{0.0}; - libra::Vector<3> filtered_jitter_force_n_1_c_{0.0}; - libra::Vector<3> filtered_jitter_force_n_2_c_{0.0}; - libra::Vector<3> filtered_jitter_torque_n_c_{0.0}; - libra::Vector<3> filtered_jitter_torque_n_1_c_{0.0}; - libra::Vector<3> filtered_jitter_torque_n_2_c_{0.0}; + math::Vector<3> unfiltered_jitter_force_n_c_{0.0}; + math::Vector<3> unfiltered_jitter_force_n_1_c_{0.0}; + math::Vector<3> unfiltered_jitter_force_n_2_c_{0.0}; + math::Vector<3> unfiltered_jitter_torque_n_c_{0.0}; + math::Vector<3> unfiltered_jitter_torque_n_1_c_{0.0}; + math::Vector<3> unfiltered_jitter_torque_n_2_c_{0.0}; + math::Vector<3> filtered_jitter_force_n_c_{0.0}; + math::Vector<3> filtered_jitter_force_n_1_c_{0.0}; + math::Vector<3> filtered_jitter_force_n_2_c_{0.0}; + math::Vector<3> filtered_jitter_torque_n_c_{0.0}; + math::Vector<3> filtered_jitter_torque_n_1_c_{0.0}; + math::Vector<3> filtered_jitter_torque_n_2_c_{0.0}; double coefficients_[6]; //!< Coefficients of difference equation - libra::Vector<3> jitter_force_b_N_{0.0}; //!< Generated jitter force in the body frame [N] - libra::Vector<3> jitter_torque_b_Nm_{0.0}; //!< Generated jitter torque in the body frame [Nm] + math::Vector<3> jitter_force_b_N_{0.0}; //!< Generated jitter force in the body frame [N] + math::Vector<3> jitter_torque_b_Nm_{0.0}; //!< Generated jitter torque in the body frame [Nm] /** * @fn AddStructuralResonance diff --git a/src/components/real/aocs/reaction_wheel_ode.cpp b/src/components/real/aocs/reaction_wheel_ode.cpp index 2ef53768e..48b440089 100644 --- a/src/components/real/aocs/reaction_wheel_ode.cpp +++ b/src/components/real/aocs/reaction_wheel_ode.cpp @@ -8,10 +8,10 @@ ReactionWheelOde::ReactionWheelOde(const double step_width_s, const double velocity_limit_rad_s, const double initial_angular_velocity_rad_s) : OrdinaryDifferentialEquation<1>(step_width_s), velocity_limit_rad_s_(velocity_limit_rad_s) { - this->Setup(0.0, libra::Vector<1>(initial_angular_velocity_rad_s)); + this->Setup(0.0, math::Vector<1>(initial_angular_velocity_rad_s)); } -void ReactionWheelOde::DerivativeFunction(double x, const libra::Vector<1> &state, libra::Vector<1> &rhs) { +void ReactionWheelOde::DerivativeFunction(double x, const math::Vector<1> &state, math::Vector<1> &rhs) { UNUSED(x); double angular_velocity_rad_s = state[0]; diff --git a/src/components/real/aocs/reaction_wheel_ode.hpp b/src/components/real/aocs/reaction_wheel_ode.hpp index 6a4b333ae..d36792e88 100644 --- a/src/components/real/aocs/reaction_wheel_ode.hpp +++ b/src/components/real/aocs/reaction_wheel_ode.hpp @@ -53,7 +53,7 @@ class ReactionWheelOde : public libra::OrdinaryDifferentialEquation<1> { * @param [in] state: State vector * @param [out] rhs: Differentiated value of state vector */ - void DerivativeFunction(double x, const libra::Vector<1>& state, libra::Vector<1>& rhs) override; + void DerivativeFunction(double x, const math::Vector<1>& state, math::Vector<1>& rhs) override; double velocity_limit_rad_s_; double angular_acceleration_rad_s2_ = 0.0; //!< Angular acceleration [rad/s2] diff --git a/src/components/real/aocs/star_sensor.cpp b/src/components/real/aocs/star_sensor.cpp index 86826b98c..c698533a9 100644 --- a/src/components/real/aocs/star_sensor.cpp +++ b/src/components/real/aocs/star_sensor.cpp @@ -79,9 +79,9 @@ void StarSensor::Initialize() { delay_buffer_[i] = measured_quaternion_i2c_; } - sight_direction_c_ = libra::Vector<3>(0.0); - first_orthogonal_direction_c = libra::Vector<3>(0.0); - second_orthogonal_direction_c = libra::Vector<3>(0.0); + sight_direction_c_ = math::Vector<3>(0.0); + first_orthogonal_direction_c = math::Vector<3>(0.0); + second_orthogonal_direction_c = math::Vector<3>(0.0); sight_direction_c_[0] = 1.0; //(1,0,0)@Component coordinates, viewing direction first_orthogonal_direction_c[1] = 1.0; //(0,1,0)@Component coordinates, line-of-sight orthogonal direction second_orthogonal_direction_c[2] = 1.0; //(0,0,1)@Component coordinates, line-of-sight orthogonal direction @@ -112,7 +112,7 @@ void StarSensor::update(const LocalCelestialInformation* local_celestial_informa // Random noise on orthogonal direction of sight. Range [0:2pi] double rot = libra::tau * double(rotation_noise_); // Calc observation error on orthogonal direction of sight - libra::Vector<3> rot_axis = cos(rot) * first_orthogonal_direction_c + sin(rot) * second_orthogonal_direction_c; + math::Vector<3> rot_axis = cos(rot) * first_orthogonal_direction_c + sin(rot) * second_orthogonal_direction_c; libra::Quaternion q_ortho(rot_axis, orthogonal_direction_noise_); // Judge errors AllJudgement(local_celestial_information, attitude); @@ -137,9 +137,9 @@ void StarSensor::AllJudgement(const LocalCelestialInformation* local_celestial_i error_flag_ = false; } -int StarSensor::SunJudgement(const libra::Vector<3>& sun_b) { +int StarSensor::SunJudgement(const math::Vector<3>& sun_b) { libra::Quaternion q_c2b = quaternion_b2c_.Conjugate(); - libra::Vector<3> sight_b = q_c2b.FrameConversion(sight_direction_c_); + math::Vector<3> sight_b = q_c2b.FrameConversion(sight_direction_c_); double sun_angle_rad = CalAngleVector_rad(sun_b, sight_b); if (sun_angle_rad < sun_forbidden_angle_rad_) return 1; @@ -147,9 +147,9 @@ int StarSensor::SunJudgement(const libra::Vector<3>& sun_b) { return 0; } -int StarSensor::EarthJudgement(const libra::Vector<3>& earth_b) { +int StarSensor::EarthJudgement(const math::Vector<3>& earth_b) { libra::Quaternion q_c2b = quaternion_b2c_.Conjugate(); - libra::Vector<3> sight_b = q_c2b.FrameConversion(sight_direction_c_); + math::Vector<3> sight_b = q_c2b.FrameConversion(sight_direction_c_); double earth_size_rad = atan2(environment::earth_equatorial_radius_m, earth_b.CalcNorm()); // angles between sat<->earth_center & sat<->earth_edge double earth_center_angle_rad = CalAngleVector_rad(earth_b, sight_b); // angles between sat<->earth_center & sat_sight @@ -160,9 +160,9 @@ int StarSensor::EarthJudgement(const libra::Vector<3>& earth_b) { return 0; } -int StarSensor::MoonJudgement(const libra::Vector<3>& moon_b) { +int StarSensor::MoonJudgement(const math::Vector<3>& moon_b) { libra::Quaternion q_c2b = quaternion_b2c_.Conjugate(); - libra::Vector<3> sight_b = q_c2b.FrameConversion(sight_direction_c_); + math::Vector<3> sight_b = q_c2b.FrameConversion(sight_direction_c_); double moon_angle_rad = CalAngleVector_rad(moon_b, sight_b); if (moon_angle_rad < moon_forbidden_angle_rad_) return 1; @@ -170,7 +170,7 @@ int StarSensor::MoonJudgement(const libra::Vector<3>& moon_b) { return 0; } -int StarSensor::CaptureRateJudgement(const libra::Vector<3>& omega_b_rad_s) { +int StarSensor::CaptureRateJudgement(const math::Vector<3>& omega_b_rad_s) { double omega_norm = omega_b_rad_s.CalcNorm(); if (omega_norm > capture_rate_limit_rad_s_) return 1; @@ -199,8 +199,8 @@ std::string StarSensor::GetLogValue() const { } double StarSensor::CalAngleVector_rad(const Vector<3>& vector1, const Vector<3>& vector2) { - libra::Vector<3> vect1_normal = vector1.CalcNormalizedVector(); - libra::Vector<3> vect2_normal = vector2.CalcNormalizedVector(); + math::Vector<3> vect1_normal = vector1.CalcNormalizedVector(); + math::Vector<3> vect2_normal = vector2.CalcNormalizedVector(); double cosTheta = InnerProduct(vect1_normal, vect2_normal); // Calc cos value double theta_rad = acos(cosTheta); diff --git a/src/components/real/aocs/star_sensor.hpp b/src/components/real/aocs/star_sensor.hpp index 67ba9c3c9..5bda47f79 100644 --- a/src/components/real/aocs/star_sensor.hpp +++ b/src/components/real/aocs/star_sensor.hpp @@ -110,9 +110,9 @@ class StarSensor : public Component, public ILoggable { const int component_id_; //!< Sensor ID libra::Quaternion quaternion_b2c_; //!< Quaternion from body frame to component frame libra::Quaternion measured_quaternion_i2c_ = {0.0, 0.0, 0.0, 1.0}; //!< StarSensor observed quaternion - libra::Vector<3> sight_direction_c_; //!< Sight direction vector at component frame - libra::Vector<3> first_orthogonal_direction_c; //!< The first orthogonal direction of sight at component frame - libra::Vector<3> second_orthogonal_direction_c; //!< The second orthogonal direction of sight at component frame + math::Vector<3> sight_direction_c_; //!< Sight direction vector at component frame + math::Vector<3> first_orthogonal_direction_c; //!< The first orthogonal direction of sight at component frame + math::Vector<3> second_orthogonal_direction_c; //!< The second orthogonal direction of sight at component frame // Noise parameters libra::MinimalStandardLcgWithShuffle rotation_noise_; //!< Randomize object for orthogonal direction @@ -168,28 +168,28 @@ class StarSensor : public Component, public ILoggable { * @param [in] sun_b: Sun direction vector in the body fixed frame * @return 1: violated, 0: not violated */ - int SunJudgement(const libra::Vector<3>& sun_b); + int SunJudgement(const math::Vector<3>& sun_b); /** * @fn EarthJudgement * @brief Judge violation of earth forbidden angle * @param [in] earth_b: Earth direction vector in the body fixed frame * @return 1: violated, 0: not violated */ - int EarthJudgement(const libra::Vector<3>& earth_b); + int EarthJudgement(const math::Vector<3>& earth_b); /** * @fn MoonJudgement * @brief Judge violation of moon forbidden angle * @param [in] moon_b: Moon direction vector in the body fixed frame * @return 1: violated, 0: not violated */ - int MoonJudgement(const libra::Vector<3>& moon_b); + int MoonJudgement(const math::Vector<3>& moon_b); /** * @fn CaptureRateJudgement * @brief Judge violation of angular velocity limit * @param [in] omega_b_rad_s: Angular velocity of spacecraft in the body fixed frame * @return 1: violated, 0: not violated */ - int CaptureRateJudgement(const libra::Vector<3>& omega_b_rad_s); + int CaptureRateJudgement(const math::Vector<3>& omega_b_rad_s); /** * @fn CalAngleVector_rad * @brief Calculate angle between two vectors @@ -197,7 +197,7 @@ class StarSensor : public Component, public ILoggable { * @param [in] vector2: Second vector * @return Angle between two vectors [rad] */ - double CalAngleVector_rad(const libra::Vector<3>& vector1, const libra::Vector<3>& vector2); + double CalAngleVector_rad(const math::Vector<3>& vector1, const math::Vector<3>& vector2); /** * @fn Initialize diff --git a/src/components/real/aocs/sun_sensor.cpp b/src/components/real/aocs/sun_sensor.cpp index d0d9b599f..8b0164114 100644 --- a/src/components/real/aocs/sun_sensor.cpp +++ b/src/components/real/aocs/sun_sensor.cpp @@ -59,8 +59,8 @@ void SunSensor::MainRoutine(const int time_count) { } void SunSensor::Measure() { - libra::Vector<3> sun_pos_b = local_celestial_information_->GetPositionFromSpacecraft_b_m("SUN"); - libra::Vector<3> sun_dir_b = sun_pos_b.CalcNormalizedVector(); + math::Vector<3> sun_pos_b = local_celestial_information_->GetPositionFromSpacecraft_b_m("SUN"); + math::Vector<3> sun_dir_b = sun_pos_b.CalcNormalizedVector(); sun_direction_true_c_ = quaternion_b2c_.FrameConversion(sun_dir_b); // Frame conversion from body to component @@ -87,7 +87,7 @@ void SunSensor::Measure() { measured_sun_direction_c_ = measured_sun_direction_c_.CalcNormalizedVector(); } else { - measured_sun_direction_c_ = libra::Vector<3>(0); + measured_sun_direction_c_ = math::Vector<3>(0); alpha_rad_ = 0.0; beta_rad_ = 0.0; } @@ -96,7 +96,7 @@ void SunSensor::Measure() { } void SunSensor::SunDetectionJudgement() { - libra::Vector<3> sun_direction_c = sun_direction_true_c_.CalcNormalizedVector(); + math::Vector<3> sun_direction_c = sun_direction_true_c_.CalcNormalizedVector(); double sun_angle_ = acos(sun_direction_c[2]); @@ -112,7 +112,7 @@ void SunSensor::SunDetectionJudgement() { } void SunSensor::CalcSolarIlluminance() { - libra::Vector<3> sun_direction_c = sun_direction_true_c_.CalcNormalizedVector(); + math::Vector<3> sun_direction_c = sun_direction_true_c_.CalcNormalizedVector(); double sun_angle_ = acos(sun_direction_c[2]); if (sun_angle_ > libra::pi_2) { diff --git a/src/components/real/aocs/sun_sensor.hpp b/src/components/real/aocs/sun_sensor.hpp index 255c834a7..28b40575e 100644 --- a/src/components/real/aocs/sun_sensor.hpp +++ b/src/components/real/aocs/sun_sensor.hpp @@ -80,8 +80,8 @@ class SunSensor : public Component, public ILoggable { // Getter inline bool GetSunDetectedFlag() const { return sun_detected_flag_; }; - inline const libra::Vector<3> GetMeasuredSunDirection_c() const { return measured_sun_direction_c_; }; - inline const libra::Vector<3> GetMeasuredSunDirection_b() const { return quaternion_b2c_.Conjugate().FrameConversion(measured_sun_direction_c_); }; + inline const math::Vector<3> GetMeasuredSunDirection_c() const { return measured_sun_direction_c_; }; + inline const math::Vector<3> GetMeasuredSunDirection_b() const { return quaternion_b2c_.Conjugate().FrameConversion(measured_sun_direction_c_); }; inline double GetSunAngleAlpha_rad() const { return alpha_rad_; }; inline double GetSunAngleBeta_rad() const { return beta_rad_; }; inline double GetSolarIlluminance_W_m2() const { return solar_illuminance_W_m2_; }; @@ -91,8 +91,8 @@ class SunSensor : public Component, public ILoggable { libra::Quaternion quaternion_b2c_; //!< Quaternion from body frame to component frame (Z-axis of the component is sight direction) double intensity_lower_threshold_percent_; //!< If the light intensity becomes smaller than this, it becomes impossible to get the sun direction - libra::Vector<3> sun_direction_true_c_{0.0}; //!< True value of sun vector in the component frame - libra::Vector<3> measured_sun_direction_c_{0.0}; //!< Measured sun vector in the component frame + math::Vector<3> sun_direction_true_c_{0.0}; //!< True value of sun vector in the component frame + math::Vector<3> measured_sun_direction_c_{0.0}; //!< Measured sun vector in the component frame double alpha_rad_ = 0.0; //!< Angle between Z-axis and the sun direction projected on XZ plane [rad] double beta_rad_ = 0.0; //!< Angle between Z-axis and the sun direction projected on YZ plane [rad] diff --git a/src/components/real/communication/antenna.hpp b/src/components/real/communication/antenna.hpp index acee9935f..d83f03e3a 100644 --- a/src/components/real/communication/antenna.hpp +++ b/src/components/real/communication/antenna.hpp @@ -9,7 +9,7 @@ #include #include using libra::Quaternion; -using libra::Vector; +using math::Vector; #include #include "./antenna_radiation_pattern.hpp" diff --git a/src/components/real/mission/telescope.cpp b/src/components/real/mission/telescope.cpp index 3652e6895..df87a245b 100644 --- a/src/components/real/mission/telescope.cpp +++ b/src/components/real/mission/telescope.cpp @@ -58,7 +58,7 @@ Telescope::Telescope(ClockGenerator* clock_generator, const libra::Quaternion& q } // Get initial spacecraft position in ECEF if (orbit_ != nullptr) { - libra::Vector<3> initial_spacecraft_position_ecef_m = orbit_->GetPosition_ecef_m(); + math::Vector<3> initial_spacecraft_position_ecef_m = orbit_->GetPosition_ecef_m(); initial_ground_position_ecef_m_ = environment::earth_equatorial_radius_m * initial_spacecraft_position_ecef_m; initial_ground_position_ecef_m_ /= (orbit_->GetGeodeticPosition().GetAltitude_m() + environment::earth_equatorial_radius_m); } @@ -91,9 +91,9 @@ void Telescope::MainRoutine(const int time_count) { ObserveGroundPositionDeviation(); } -bool Telescope::JudgeForbiddenAngle(const libra::Vector<3>& target_b, const double forbidden_angle) { +bool Telescope::JudgeForbiddenAngle(const math::Vector<3>& target_b, const double forbidden_angle) { libra::Quaternion q_c2b = quaternion_b2c_.Conjugate(); - libra::Vector<3> sight_b = q_c2b.FrameConversion(sight_direction_c_); + math::Vector<3> sight_b = q_c2b.FrameConversion(sight_direction_c_); double angle_rad = libra::CalcAngleTwoVectors_rad(target_b, sight_b); if (angle_rad < forbidden_angle) { return true; @@ -101,8 +101,8 @@ bool Telescope::JudgeForbiddenAngle(const libra::Vector<3>& target_b, const doub return false; } -void Telescope::Observe(libra::Vector<2>& position_image_sensor, const libra::Vector<3, double> target_b) { - libra::Vector<3, double> target_c = quaternion_b2c_.FrameConversion(target_b); +void Telescope::Observe(math::Vector<2>& position_image_sensor, const math::Vector<3, double> target_b) { + math::Vector<3, double> target_c = quaternion_b2c_.FrameConversion(target_b); double arg_x = atan2(target_c[2], target_c[0]); // Angle from X-axis on XZ plane in the component frame double arg_y = atan2(target_c[1], target_c[0]); // Angle from X-axis on XY plane in the component frame @@ -122,8 +122,8 @@ void Telescope::ObserveStars() { size_t count = 0; // Counter for while loop while (star_list_in_sight.size() < number_of_logged_stars_) { - libra::Vector<3> target_b = hipparcos_->GetStarDirection_b(count, quaternion_i2b); - libra::Vector<3> target_c = quaternion_b2c_.FrameConversion(target_b); + math::Vector<3> target_b = hipparcos_->GetStarDirection_b(count, quaternion_i2b); + math::Vector<3> target_c = quaternion_b2c_.FrameConversion(target_b); double arg_x = atan2(target_c[2], target_c[0]); // Angle from X-axis on XZ plane in the component frame double arg_y = atan2(target_c[1], target_c[0]); // Angle from X-axis on XY plane in the component frame @@ -174,12 +174,12 @@ void Telescope::ObserveGroundPositionDeviation() { } Quaternion quaternion_i2b = attitude_->GetQuaternion_i2b(); - libra::Vector<3> spacecraft_position_ecef_m = orbit_->GetPosition_ecef_m(); - libra::Vector<3> direction_ecef = (initial_ground_position_ecef_m_ - spacecraft_position_ecef_m).CalcNormalizedVector(); + math::Vector<3> spacecraft_position_ecef_m = orbit_->GetPosition_ecef_m(); + math::Vector<3> direction_ecef = (initial_ground_position_ecef_m_ - spacecraft_position_ecef_m).CalcNormalizedVector(); math::Matrix<3, 3> dcm_ecef_to_i = local_celestial_information_->GetGlobalInformation().GetEarthRotation().GetDcmJ2000ToEcef().Transpose(); - libra::Vector<3> direction_i = (dcm_ecef_to_i * direction_ecef).CalcNormalizedVector(); - libra::Vector<3> direction_b = quaternion_i2b.FrameConversion(direction_i); - libra::Vector<3> target_c = quaternion_b2c_.FrameConversion(direction_b); + math::Vector<3> direction_i = (dcm_ecef_to_i * direction_ecef).CalcNormalizedVector(); + math::Vector<3> direction_b = quaternion_i2b.FrameConversion(direction_i); + math::Vector<3> target_c = quaternion_b2c_.FrameConversion(direction_b); // Ground position in the image sensor in the satellite frame double ground_angle_z_rad = atan2(target_c[2], target_c[0]); diff --git a/src/components/real/mission/telescope.hpp b/src/components/real/mission/telescope.hpp index 6151c070e..12a87b064 100644 --- a/src/components/real/mission/telescope.hpp +++ b/src/components/real/mission/telescope.hpp @@ -23,7 +23,7 @@ */ struct Star { HipparcosData hipparcos_data; //!< Hipparcos data - libra::Vector<2> position_image_sensor; //!< Position of image sensor + math::Vector<2> position_image_sensor; //!< Position of image sensor }; /* @@ -68,7 +68,7 @@ class Telescope : public Component, public ILoggable { protected: private: libra::Quaternion quaternion_b2c_; //!< Quaternion from the body frame to component frame - libra::Vector<3> sight_direction_c_; //!< Sight direction vector in the component frame + math::Vector<3> sight_direction_c_; //!< Sight direction vector in the component frame double sun_forbidden_angle_rad_; //!< Sun forbidden angle [rad] double earth_forbidden_angle_rad_; //!< Earth forbidden angle [rad] @@ -89,10 +89,10 @@ class Telescope : public Component, public ILoggable { size_t number_of_logged_stars_; //!< Number of logged stars - libra::Vector<2> sun_position_image_sensor{-1}; //!< Position of the sun on the image plane - libra::Vector<2> earth_position_image_sensor{-1}; //!< Position of the earth on the image plane - libra::Vector<2> moon_position_image_sensor{-1}; //!< Position of the moon on the image plane - libra::Vector<3> initial_ground_position_ecef_m_; //!< Initial spacecraft position + math::Vector<2> sun_position_image_sensor{-1}; //!< Position of the sun on the image plane + math::Vector<2> earth_position_image_sensor{-1}; //!< Position of the earth on the image plane + math::Vector<2> moon_position_image_sensor{-1}; //!< Position of the moon on the image plane + math::Vector<3> initial_ground_position_ecef_m_; //!< Initial spacecraft position std::vector star_list_in_sight; //!< Star information in the field of view @@ -102,7 +102,7 @@ class Telescope : public Component, public ILoggable { * @param [in] target_b: Direction vector of target on the body fixed frame * @param [in] forbidden_angle: Forbidden angle [rad] */ - bool JudgeForbiddenAngle(const libra::Vector<3>& target_b, const double forbidden_angle); + bool JudgeForbiddenAngle(const math::Vector<3>& target_b, const double forbidden_angle); // Override functions for Component /** @@ -117,7 +117,7 @@ class Telescope : public Component, public ILoggable { * @param [out] position_image_sensor: Position on image sensor plane * @param [in] target_b: Direction vector of target on the body fixed frame */ - void Observe(libra::Vector<2>& position_image_sensor, const libra::Vector<3, double> target_b); + void Observe(math::Vector<2>& position_image_sensor, const math::Vector<3, double> target_b); /** * @fn ObserveStars * @brief Observe stars from Hipparcos catalogue @@ -147,9 +147,9 @@ class Telescope : public Component, public ILoggable { virtual std::string GetLogValue() const; // For debug ********************************************** - // libra::Vector<3> sun_pos_c; - // libra::Vector<3> earth_pos_c; - // libra::Vector<3> moon_pos_c; + // math::Vector<3> sun_pos_c; + // math::Vector<3> earth_pos_c; + // math::Vector<3> moon_pos_c; // double angle_sun; // double angle_earth; // double angle_moon; diff --git a/src/components/real/power/csv_scenario_interface.cpp b/src/components/real/power/csv_scenario_interface.cpp index 2f30e38a6..d0b5c1beb 100644 --- a/src/components/real/power/csv_scenario_interface.cpp +++ b/src/components/real/power/csv_scenario_interface.cpp @@ -36,8 +36,8 @@ void CsvScenarioInterface::Initialize(const std::string file_name) { bool CsvScenarioInterface::IsCsvScenarioEnabled() { return CsvScenarioInterface::is_csv_scenario_enabled_; } -libra::Vector<3> CsvScenarioInterface::GetSunDirectionBody(const double time_query) { - libra::Vector<3> sun_dir_b; +math::Vector<3> CsvScenarioInterface::GetSunDirectionBody(const double time_query) { + math::Vector<3> sun_dir_b; sun_dir_b[0] = GetValueFromBuffer("sun_dir_b_x", time_query); sun_dir_b[1] = GetValueFromBuffer("sun_dir_b_y", time_query); sun_dir_b[2] = GetValueFromBuffer("sun_dir_b_z", time_query); diff --git a/src/components/real/power/csv_scenario_interface.hpp b/src/components/real/power/csv_scenario_interface.hpp index 6e54f3d6f..30f96ead1 100644 --- a/src/components/real/power/csv_scenario_interface.hpp +++ b/src/components/real/power/csv_scenario_interface.hpp @@ -36,7 +36,7 @@ class CsvScenarioInterface { * @brief Return sun direction vector in the body fixed frame * @param [in] time_query: Time query */ - static libra::Vector<3> GetSunDirectionBody(const double time_query); + static math::Vector<3> GetSunDirectionBody(const double time_query); /** * @fn GetSunFlag * @brief Return sun flag diff --git a/src/components/real/power/solar_array_panel.cpp b/src/components/real/power/solar_array_panel.cpp index 3ea0df5e9..43a22afa8 100644 --- a/src/components/real/power/solar_array_panel.cpp +++ b/src/components/real/power/solar_array_panel.cpp @@ -10,7 +10,7 @@ #include SolarArrayPanel::SolarArrayPanel(const int prescaler, ClockGenerator* clock_generator, int component_id, int number_of_series, int number_of_parallel, - double cell_area_m2, libra::Vector<3> normal_vector, double cell_efficiency, double transmission_efficiency, + double cell_area_m2, math::Vector<3> normal_vector, double cell_efficiency, double transmission_efficiency, const SolarRadiationPressureEnvironment* srp_environment, const LocalCelestialInformation* local_celestial_information, double component_step_time_s) : Component(prescaler, clock_generator), @@ -29,7 +29,7 @@ SolarArrayPanel::SolarArrayPanel(const int prescaler, ClockGenerator* clock_gene } SolarArrayPanel::SolarArrayPanel(const int prescaler, ClockGenerator* clock_generator, int component_id, int number_of_series, int number_of_parallel, - double cell_area_m2, libra::Vector<3> normal_vector, double cell_efficiency, double transmission_efficiency, + double cell_area_m2, math::Vector<3> normal_vector, double cell_efficiency, double transmission_efficiency, const SolarRadiationPressureEnvironment* srp_environment, double component_step_time_s) : Component(prescaler, clock_generator), component_id_(component_id), @@ -46,7 +46,7 @@ SolarArrayPanel::SolarArrayPanel(const int prescaler, ClockGenerator* clock_gene } SolarArrayPanel::SolarArrayPanel(ClockGenerator* clock_generator, int component_id, int number_of_series, int number_of_parallel, double cell_area_m2, - libra::Vector<3> normal_vector, double cell_efficiency, double transmission_efficiency, + math::Vector<3> normal_vector, double cell_efficiency, double transmission_efficiency, const SolarRadiationPressureEnvironment* srp_environment, const LocalCelestialInformation* local_celestial_information) : Component(10, clock_generator), @@ -99,14 +99,14 @@ void SolarArrayPanel::MainRoutine(const int time_count) { if (CsvScenarioInterface::IsCsvScenarioEnabled()) { double time_query = compo_step_time_s_ * time_count; const auto solar_constant = srp_environment_->GetSolarConstant_W_m2(); - libra::Vector<3> sun_direction_body = CsvScenarioInterface::GetSunDirectionBody(time_query); - libra::Vector<3> normalized_sun_direction_body = sun_direction_body.CalcNormalizedVector(); + math::Vector<3> sun_direction_body = CsvScenarioInterface::GetSunDirectionBody(time_query); + math::Vector<3> normalized_sun_direction_body = sun_direction_body.CalcNormalizedVector(); power_generation_W_ = cell_efficiency_ * transmission_efficiency_ * solar_constant * (int)CsvScenarioInterface::GetSunFlag(time_query) * cell_area_m2_ * number_of_parallel_ * number_of_series_ * InnerProduct(normal_vector_, normalized_sun_direction_body); } else { const auto power_density = srp_environment_->GetPowerDensity_W_m2(); - libra::Vector<3> sun_pos_b = local_celestial_information_->GetPositionFromSpacecraft_b_m("SUN"); - libra::Vector<3> sun_dir_b = sun_pos_b.CalcNormalizedVector(); + math::Vector<3> sun_pos_b = local_celestial_information_->GetPositionFromSpacecraft_b_m("SUN"); + math::Vector<3> sun_dir_b = sun_pos_b.CalcNormalizedVector(); power_generation_W_ = cell_efficiency_ * transmission_efficiency_ * power_density * cell_area_m2_ * number_of_parallel_ * number_of_series_ * InnerProduct(normal_vector_, sun_dir_b); // TODO: Improve implementation. For example, update IV curve with sun direction and calculate generated power @@ -133,7 +133,7 @@ SolarArrayPanel InitSAP(ClockGenerator* clock_generator, int sap_id, const std:: double cell_area_m2; cell_area_m2 = sap_conf.ReadDouble(section_name.c_str(), "cell_area_m2"); - libra::Vector<3> normal_vector; + math::Vector<3> normal_vector; sap_conf.ReadVector(section_name.c_str(), "normal_vector_b", normal_vector); double cell_efficiency; @@ -166,7 +166,7 @@ SolarArrayPanel InitSAP(ClockGenerator* clock_generator, int sap_id, const std:: double cell_area_m2; cell_area_m2 = sap_conf.ReadDouble(section_name.c_str(), "cell_area_m2"); - libra::Vector<3> normal_vector; + math::Vector<3> normal_vector; sap_conf.ReadVector(section_name.c_str(), "normal_vector_b", normal_vector); double cell_efficiency; diff --git a/src/components/real/power/solar_array_panel.hpp b/src/components/real/power/solar_array_panel.hpp index e7150e911..e7cd68377 100644 --- a/src/components/real/power/solar_array_panel.hpp +++ b/src/components/real/power/solar_array_panel.hpp @@ -32,7 +32,7 @@ class SolarArrayPanel : public Component, public ILoggable { * @param [in] component_step_time_s: Component step time [sec] */ SolarArrayPanel(const int prescaler, ClockGenerator* clock_generator, int component_id, int number_of_series, int number_of_parallel, - double cell_area_m2, libra::Vector<3> normal_vector, double cell_efficiency, double transmission_efficiency, + double cell_area_m2, math::Vector<3> normal_vector, double cell_efficiency, double transmission_efficiency, const SolarRadiationPressureEnvironment* srp_environment, const LocalCelestialInformation* local_celestial_information, double component_step_time_s); /** @@ -51,7 +51,7 @@ class SolarArrayPanel : public Component, public ILoggable { * @param [in] component_step_time_s: Component step time [sec] */ SolarArrayPanel(const int prescaler, ClockGenerator* clock_generator, int component_id, int number_of_series, int number_of_parallel, - double cell_area_m2, libra::Vector<3> normal_vector, double cell_efficiency, double transmission_efficiency, + double cell_area_m2, math::Vector<3> normal_vector, double cell_efficiency, double transmission_efficiency, const SolarRadiationPressureEnvironment* srp_environment, double component_step_time_s); /** * @fn SolarArrayPanel @@ -69,7 +69,7 @@ class SolarArrayPanel : public Component, public ILoggable { * @param [in] local_celestial_information: Local celestial information */ SolarArrayPanel(ClockGenerator* clock_generator, int component_id, int number_of_series, int number_of_parallel, double cell_area_m2, - libra::Vector<3> normal_vector, double cell_efficiency, double transmission_efficiency, + math::Vector<3> normal_vector, double cell_efficiency, double transmission_efficiency, const SolarRadiationPressureEnvironment* srp_environment, const LocalCelestialInformation* local_celestial_information); /** * @fn SolarArrayPanel @@ -111,7 +111,7 @@ class SolarArrayPanel : public Component, public ILoggable { const int number_of_series_; //!< Number of series connected solar cells const int number_of_parallel_; //!< Number of parallel connected solar cells const double cell_area_m2_; //!< Solar cell area [m^2] - const libra::Vector<3> normal_vector_; //!< Normal vector of SolarArrayPanel on the body fixed frame + const math::Vector<3> normal_vector_; //!< Normal vector of SolarArrayPanel on the body fixed frame const double cell_efficiency_; //!< Power generation efficiency of solar cell const double transmission_efficiency_; //!< Efficiency of transmission to PCU diff --git a/src/components/real/propulsion/simple_thruster.cpp b/src/components/real/propulsion/simple_thruster.cpp index 252204cda..f22953960 100644 --- a/src/components/real/propulsion/simple_thruster.cpp +++ b/src/components/real/propulsion/simple_thruster.cpp @@ -11,7 +11,7 @@ // Constructor SimpleThruster::SimpleThruster(const int prescaler, ClockGenerator* clock_generator, const int component_id, - const libra::Vector<3> thruster_position_b_m, const libra::Vector<3> thrust_direction_b, const double max_magnitude_N, + const math::Vector<3> thruster_position_b_m, const math::Vector<3> thrust_direction_b, const double max_magnitude_N, const double magnitude_standard_deviation_N, const double direction_standard_deviation_rad, const Structure* structure, const Dynamics* dynamics) : Component(prescaler, clock_generator), @@ -26,7 +26,7 @@ SimpleThruster::SimpleThruster(const int prescaler, ClockGenerator* clock_genera } SimpleThruster::SimpleThruster(const int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, const int component_id, - const libra::Vector<3> thruster_position_b_m, const libra::Vector<3> thrust_direction_b, const double max_magnitude_N, + const math::Vector<3> thruster_position_b_m, const math::Vector<3> thrust_direction_b, const double max_magnitude_N, const double magnitude_standard_deviation_N, const double direction_standard_deviation_rad, const Structure* structure, const Dynamics* dynamics) : Component(prescaler, clock_generator, power_port), @@ -66,9 +66,9 @@ void SimpleThruster::CalcThrust() { output_thrust_b_N_ = mag * CalcThrustDirection(); } -void SimpleThruster::CalcTorque(const libra::Vector<3> center_of_mass_b_m) { - libra::Vector<3> vector_center2thruster = thruster_position_b_m_ - center_of_mass_b_m; - libra::Vector<3> torque = OuterProduct(vector_center2thruster, output_thrust_b_N_); +void SimpleThruster::CalcTorque(const math::Vector<3> center_of_mass_b_m) { + math::Vector<3> vector_center2thruster = thruster_position_b_m_ - center_of_mass_b_m; + math::Vector<3> torque = OuterProduct(vector_center2thruster, output_thrust_b_N_); output_torque_b_Nm_ = torque; } @@ -95,10 +95,10 @@ std::string SimpleThruster::GetLogValue() const { double SimpleThruster::CalcThrustMagnitude() { return duty_ * thrust_magnitude_max_N_; } -libra::Vector<3> SimpleThruster::CalcThrustDirection() { - libra::Vector<3> thrust_dir_b_true = thrust_direction_b_; +math::Vector<3> SimpleThruster::CalcThrustDirection() { + math::Vector<3> thrust_dir_b_true = thrust_direction_b_; if (direction_noise_standard_deviation_rad_ > 0.0 + DBL_EPSILON) { - libra::Vector<3> ex; // Fixme: to use outer product to generate orthogonal vector + math::Vector<3> ex; // Fixme: to use outer product to generate orthogonal vector ex[0] = 1.0; ex[1] = 0.0; ex[2] = 0.0; @@ -111,7 +111,7 @@ libra::Vector<3> SimpleThruster::CalcThrustDirection() { } libra::Quaternion make_axis_rot(thrust_dir_b_true, make_axis_rot_rad); - libra::Vector<3> axis_rot = make_axis_rot.FrameConversion(ex); + math::Vector<3> axis_rot = make_axis_rot.FrameConversion(ex); libra::Quaternion err_rot(axis_rot, direction_random_noise_); // Generate error quaternion thrust_dir_b_true = err_rot.FrameConversion(thrust_dir_b_true); // Add error diff --git a/src/disturbances/air_drag.cpp b/src/disturbances/air_drag.cpp index ed8e274c7..d9123f17b 100644 --- a/src/disturbances/air_drag.cpp +++ b/src/disturbances/air_drag.cpp @@ -12,7 +12,7 @@ #include "../logger/log_utility.hpp" -AirDrag::AirDrag(const std::vector& surfaces, const libra::Vector<3>& center_of_gravity_b_m, const double wall_temperature_K, +AirDrag::AirDrag(const std::vector& surfaces, const math::Vector<3>& center_of_gravity_b_m, const double wall_temperature_K, const double molecular_temperature_K, const double molecular_weight_g_mol, const bool is_calculation_enabled) : SurfaceForce(surfaces, center_of_gravity_b_m, is_calculation_enabled), wall_temperature_K_(wall_temperature_K), @@ -28,13 +28,13 @@ void AirDrag::Update(const LocalEnvironment& local_environment, const Dynamics& math::Matrix<3, 3> dcm_ecef2eci = local_environment.GetCelestialInformation().GetGlobalInformation().GetEarthRotation().GetDcmJ2000ToEcef().Transpose(); - libra::Vector<3> relative_velocity_wrt_atmosphere_i_m_s = dcm_ecef2eci * dynamics.GetOrbit().GetVelocity_ecef_m_s(); + math::Vector<3> relative_velocity_wrt_atmosphere_i_m_s = dcm_ecef2eci * dynamics.GetOrbit().GetVelocity_ecef_m_s(); libra::Quaternion quaternion_i2b = dynamics.GetAttitude().GetQuaternion_i2b(); - libra::Vector<3> velocity_b_m_s = quaternion_i2b.FrameConversion(relative_velocity_wrt_atmosphere_i_m_s); + math::Vector<3> velocity_b_m_s = quaternion_i2b.FrameConversion(relative_velocity_wrt_atmosphere_i_m_s); CalcTorqueForce(velocity_b_m_s, air_density_kg_m3); } -void AirDrag::CalcCoefficients(const libra::Vector<3>& velocity_b_m_s, const double air_density_kg_m3) { +void AirDrag::CalcCoefficients(const math::Vector<3>& velocity_b_m_s, const double air_density_kg_m3) { double velocity_norm_m_s = velocity_b_m_s.CalcNorm(); CalcCnCt(velocity_b_m_s); for (size_t i = 0; i < surfaces_.size(); i++) { diff --git a/src/disturbances/air_drag.hpp b/src/disturbances/air_drag.hpp index b794cd3b4..6d5fe54fd 100644 --- a/src/disturbances/air_drag.hpp +++ b/src/disturbances/air_drag.hpp @@ -30,7 +30,7 @@ class AirDrag : public SurfaceForce { * @param [in] molecular_weight_g_mol: Molecular weight [g/mol] * @param [in] is_calculation_enabled: Calculation flag */ - AirDrag(const std::vector& surfaces, const libra::Vector<3>& center_of_gravity_b_m, const double wall_temperature_K, + AirDrag(const std::vector& surfaces, const math::Vector<3>& center_of_gravity_b_m, const double wall_temperature_K, const double molecular_temperature_K, const double molecular_weight_g_mol, const bool is_calculation_enabled = true); /** @@ -66,7 +66,7 @@ class AirDrag : public SurfaceForce { * @param [in] velocity_b_m_s: Spacecraft's velocity vector in the body frame [m/s] * @param [in] air_density_kg_m3: Air density around the spacecraft [kg/m^3] */ - void CalcCoefficients(const libra::Vector<3>& velocity_b_m_s, const double air_density_kg_m3); + void CalcCoefficients(const math::Vector<3>& velocity_b_m_s, const double air_density_kg_m3); // internal function for calculation /** @@ -74,7 +74,7 @@ class AirDrag : public SurfaceForce { * @brief Calculate the Cn and Ct * @param [in] velocity_b_m_s: Spacecraft's velocity vector in the body frame [m/s] */ - void CalcCnCt(const libra::Vector<3>& velocity_b_m_s); + void CalcCnCt(const math::Vector<3>& velocity_b_m_s); /** * @fn CalcFunctionPi * @brief Calculate The Pi function in the algorithm diff --git a/src/disturbances/disturbance.hpp b/src/disturbances/disturbance.hpp index c898f18f0..b59bc7735 100644 --- a/src/disturbances/disturbance.hpp +++ b/src/disturbances/disturbance.hpp @@ -23,10 +23,10 @@ class Disturbance : public ILoggable { */ Disturbance(const bool is_calculation_enabled = true, const bool is_attitude_dependent = true) : is_calculation_enabled_(is_calculation_enabled), is_attitude_dependent_(is_attitude_dependent) { - force_b_N_ = libra::Vector<3>(0.0); - torque_b_Nm_ = libra::Vector<3>(0.0); - acceleration_i_m_s2_ = libra::Vector<3>(0.0); - acceleration_b_m_s2_ = libra::Vector<3>(0.0); + force_b_N_ = math::Vector<3>(0.0); + torque_b_Nm_ = math::Vector<3>(0.0); + acceleration_i_m_s2_ = math::Vector<3>(0.0); + acceleration_b_m_s2_ = math::Vector<3>(0.0); } /** @@ -60,22 +60,22 @@ class Disturbance : public ILoggable { * @fn GetTorque_b_Nm * @brief Return the disturbance torque in the body frame [Nm] */ - virtual inline libra::Vector<3> GetTorque_b_Nm() { return torque_b_Nm_; } + virtual inline math::Vector<3> GetTorque_b_Nm() { return torque_b_Nm_; } /** * @fn GetForce_b_N * @brief Return the disturbance force in the body frame [N] */ - virtual inline libra::Vector<3> GetForce_b_N() { return force_b_N_; } + virtual inline math::Vector<3> GetForce_b_N() { return force_b_N_; } /** * @fn GetAcceleration_b_m_s2 * @brief Return the disturbance acceleration in the body frame [m/s2] */ - virtual inline libra::Vector<3> GetAcceleration_b_m_s2() { return acceleration_b_m_s2_; } + virtual inline math::Vector<3> GetAcceleration_b_m_s2() { return acceleration_b_m_s2_; } /** * @fn GetAcceleration_i_m_s2 * @brief Return the disturbance acceleration in the inertial frame [m/s2] */ - virtual inline libra::Vector<3> GetAcceleration_i_m_s2() { return acceleration_i_m_s2_; } + virtual inline math::Vector<3> GetAcceleration_i_m_s2() { return acceleration_i_m_s2_; } /** * @fn IsAttitudeDependent * @brief Return the attitude dependent flag @@ -85,10 +85,10 @@ class Disturbance : public ILoggable { protected: bool is_calculation_enabled_; //!< Flag to calculate the disturbance bool is_attitude_dependent_; //!< Flag to show the disturbance depends on attitude information - libra::Vector<3> force_b_N_; //!< Disturbance force in the body frame [N] - libra::Vector<3> torque_b_Nm_; //!< Disturbance torque in the body frame [Nm] - libra::Vector<3> acceleration_b_m_s2_; //!< Disturbance acceleration in the body frame [m/s2] - libra::Vector<3> acceleration_i_m_s2_; //!< Disturbance acceleration in the inertial frame [m/s2] + math::Vector<3> force_b_N_; //!< Disturbance force in the body frame [N] + math::Vector<3> torque_b_Nm_; //!< Disturbance torque in the body frame [Nm] + math::Vector<3> acceleration_b_m_s2_; //!< Disturbance acceleration in the body frame [m/s2] + math::Vector<3> acceleration_i_m_s2_; //!< Disturbance acceleration in the inertial frame [m/s2] }; #endif // S2E_DISTURBANCES_DISTURBANCE_HPP_ diff --git a/src/disturbances/disturbances.hpp b/src/disturbances/disturbances.hpp index d5eeaaa40..62af465ba 100644 --- a/src/disturbances/disturbances.hpp +++ b/src/disturbances/disturbances.hpp @@ -55,19 +55,19 @@ class Disturbances { * @fn GetTorque * @brief Return total disturbance torque in the body frame [Nm] */ - inline libra::Vector<3> GetTorque_b_Nm() { return total_torque_b_Nm_; } + inline math::Vector<3> GetTorque_b_Nm() { return total_torque_b_Nm_; } /** * @fn GetTorque * @brief Return total disturbance force in the body frame [N] */ - inline libra::Vector<3> GetForce_b_N() { return total_force_b_N_; } + inline math::Vector<3> GetForce_b_N() { return total_force_b_N_; } /** * @fn GetTorque * @brief Return total disturbance acceleration in the inertial frame [m/s2] */ - inline libra::Vector<3> GetAcceleration_i_m_s2() { return total_acceleration_i_m_s2_; } + inline math::Vector<3> GetAcceleration_i_m_s2() { return total_acceleration_i_m_s2_; } private: std::string initialize_file_name_; //!< Initialization file name diff --git a/src/disturbances/geopotential.cpp b/src/disturbances/geopotential.cpp index 412e0de07..cd2d1b03f 100644 --- a/src/disturbances/geopotential.cpp +++ b/src/disturbances/geopotential.cpp @@ -20,8 +20,8 @@ Geopotential::Geopotential(const int degree, const std::string file_path, const bool is_calculation_enabled) : Disturbance(is_calculation_enabled, false), degree_(degree) { // Initialize - acceleration_ecef_m_s2_ = libra::Vector<3>(0.0); - debug_pos_ecef_m_ = libra::Vector<3>(0.0); + acceleration_ecef_m_s2_ = math::Vector<3>(0.0); + debug_pos_ecef_m_ = math::Vector<3>(0.0); // degree if (degree_ > 360) { degree_ = 360; diff --git a/src/disturbances/geopotential.hpp b/src/disturbances/geopotential.hpp index 1360183fb..8eee6692d 100644 --- a/src/disturbances/geopotential.hpp +++ b/src/disturbances/geopotential.hpp @@ -67,7 +67,7 @@ class Geopotential : public Disturbance { Vector<3> acceleration_ecef_m_s2_; //!< Calculated acceleration in the ECEF frame [m/s2] // debug - libra::Vector<3> debug_pos_ecef_m_; //!< Spacecraft position in ECEF frame [m] + math::Vector<3> debug_pos_ecef_m_; //!< Spacecraft position in ECEF frame [m] double time_ms_ = 0.0; //!< Calculation time [ms] /** diff --git a/src/disturbances/gravity_gradient.cpp b/src/disturbances/gravity_gradient.cpp index 17daa5ba5..853aa40b9 100644 --- a/src/disturbances/gravity_gradient.cpp +++ b/src/disturbances/gravity_gradient.cpp @@ -23,10 +23,10 @@ void GravityGradient::Update(const LocalEnvironment& local_environment, const Dy dynamics.GetAttitude().GetInertiaTensor_b_kgm2()); } -libra::Vector<3> GravityGradient::CalcTorque_b_Nm(const libra::Vector<3> earth_position_from_sc_b_m, +math::Vector<3> GravityGradient::CalcTorque_b_Nm(const math::Vector<3> earth_position_from_sc_b_m, const math::Matrix<3, 3> inertia_tensor_b_kgm2) { double r_norm_m = earth_position_from_sc_b_m.CalcNorm(); - libra::Vector<3> u_b = earth_position_from_sc_b_m; // TODO: make undestructive normalize function for Vector + math::Vector<3> u_b = earth_position_from_sc_b_m; // TODO: make undestructive normalize function for Vector u_b /= r_norm_m; double coeff = 3.0 * gravity_constant_m3_s2_ / pow(r_norm_m, 3.0); diff --git a/src/disturbances/gravity_gradient.hpp b/src/disturbances/gravity_gradient.hpp index 327c4873e..be957e19c 100644 --- a/src/disturbances/gravity_gradient.hpp +++ b/src/disturbances/gravity_gradient.hpp @@ -65,7 +65,7 @@ class GravityGradient : public Disturbance { * @param [in] inertia_tensor_b_kgm2: Inertia Tensor at body frame [kg*m^2] * @return Calculated torque at body frame [Nm] */ - libra::Vector<3> CalcTorque_b_Nm(const libra::Vector<3> earth_position_from_sc_b_m, const math::Matrix<3, 3> inertia_tensor_b_kgm2); + math::Vector<3> CalcTorque_b_Nm(const math::Vector<3> earth_position_from_sc_b_m, const math::Matrix<3, 3> inertia_tensor_b_kgm2); }; /** diff --git a/src/disturbances/lunar_gravity_field.cpp b/src/disturbances/lunar_gravity_field.cpp index a794f8c71..769372476 100644 --- a/src/disturbances/lunar_gravity_field.cpp +++ b/src/disturbances/lunar_gravity_field.cpp @@ -20,8 +20,8 @@ LunarGravityField::LunarGravityField(const int degree, const std::string file_path, const bool is_calculation_enabled) : Disturbance(is_calculation_enabled, false), degree_(degree) { // Initialize - acceleration_mcmf_m_s2_ = libra::Vector<3>(0.0); - debug_pos_mcmf_m_ = libra::Vector<3>(0.0); + acceleration_mcmf_m_s2_ = math::Vector<3>(0.0); + debug_pos_mcmf_m_ = math::Vector<3>(0.0); debug_pos_mcmf_m_[0] = 2000000; debug_pos_mcmf_m_[1] = 2000000; debug_pos_mcmf_m_[2] = 2000000; @@ -90,8 +90,8 @@ void LunarGravityField::Update(const LocalEnvironment &local_environment, const const CelestialInformation global_celestial_information = local_environment.GetCelestialInformation().GetGlobalInformation(); math::Matrix<3, 3> dcm_mci2mcmf_ = global_celestial_information.GetMoonRotation().GetDcmJ2000ToMcmf(); - libra::Vector<3> spacecraft_position_mci_m = dynamics.GetOrbit().GetPosition_i_m(); - libra::Vector<3> spacecraft_position_mcmf_m = dcm_mci2mcmf_ * spacecraft_position_mci_m; + math::Vector<3> spacecraft_position_mci_m = dynamics.GetOrbit().GetPosition_i_m(); + math::Vector<3> spacecraft_position_mcmf_m = dcm_mci2mcmf_ * spacecraft_position_mci_m; #ifdef DEBUG_LUNAR_GRAVITY_FIELD std::chrono::system_clock::time_point start, end; diff --git a/src/disturbances/lunar_gravity_field.hpp b/src/disturbances/lunar_gravity_field.hpp index 61c592ab3..5818b619f 100644 --- a/src/disturbances/lunar_gravity_field.hpp +++ b/src/disturbances/lunar_gravity_field.hpp @@ -71,7 +71,7 @@ class LunarGravityField : public Disturbance { Vector<3> acceleration_mcmf_m_s2_; //!< Calculated acceleration in the MCMF(Moon Centered Moon Fixed) frame [m/s2] // debug - libra::Vector<3> debug_pos_mcmf_m_; //!< Spacecraft position in MCMF frame [m] + math::Vector<3> debug_pos_mcmf_m_; //!< Spacecraft position in MCMF frame [m] double time_ms_ = 0.0; //!< Calculation time [ms] /** diff --git a/src/disturbances/magnetic_disturbance.cpp b/src/disturbances/magnetic_disturbance.cpp index 0dce38b1e..2b3c4c069 100644 --- a/src/disturbances/magnetic_disturbance.cpp +++ b/src/disturbances/magnetic_disturbance.cpp @@ -31,8 +31,8 @@ void MagneticDisturbance::Update(const LocalEnvironment& local_environment, cons } void MagneticDisturbance::CalcRMM() { - static libra::Vector<3> random_walk_std_dev(residual_magnetic_moment_.GetRandomWalkStandardDeviation_Am2()); - static libra::Vector<3> random_walk_limit(residual_magnetic_moment_.GetRandomWalkLimit_Am2()); + static math::Vector<3> random_walk_std_dev(residual_magnetic_moment_.GetRandomWalkStandardDeviation_Am2()); + static math::Vector<3> random_walk_limit(residual_magnetic_moment_.GetRandomWalkLimit_Am2()); static RandomWalk<3> random_walk(0.1, random_walk_std_dev, random_walk_limit); // [FIXME] step width is constant static libra::NormalRand normal_random(0.0, residual_magnetic_moment_.GetRandomNoiseStandardDeviation_Am2(), global_randomization.MakeSeed()); diff --git a/src/disturbances/magnetic_disturbance.hpp b/src/disturbances/magnetic_disturbance.hpp index d056cc43f..38683a33b 100644 --- a/src/disturbances/magnetic_disturbance.hpp +++ b/src/disturbances/magnetic_disturbance.hpp @@ -50,7 +50,7 @@ class MagneticDisturbance : public Disturbance { private: const double kMagUnit_ = 1.0e-9; //!< Constant value to change the unit [nT] -> [T] - libra::Vector<3> rmm_b_Am2_; //!< True RMM of the spacecraft in the body frame [Am2] + math::Vector<3> rmm_b_Am2_; //!< True RMM of the spacecraft in the body frame [Am2] const ResidualMagneticMoment& residual_magnetic_moment_; //!< RMM parameters /** @@ -64,7 +64,7 @@ class MagneticDisturbance : public Disturbance { * @param [in] magnetic_field_b_nT: Magnetic field vector at the body frame [nT] * @return Calculated disturbance torque in body frame [Nm] */ - libra::Vector<3> CalcTorque_b_Nm(const libra::Vector<3>& magnetic_field_b_nT); + math::Vector<3> CalcTorque_b_Nm(const math::Vector<3>& magnetic_field_b_nT); }; /** diff --git a/src/disturbances/solar_radiation_pressure_disturbance.cpp b/src/disturbances/solar_radiation_pressure_disturbance.cpp index 3ecd0ca8d..b07d2a858 100644 --- a/src/disturbances/solar_radiation_pressure_disturbance.cpp +++ b/src/disturbances/solar_radiation_pressure_disturbance.cpp @@ -11,17 +11,17 @@ #include "../logger/log_utility.hpp" SolarRadiationPressureDisturbance::SolarRadiationPressureDisturbance(const std::vector& surfaces, - const libra::Vector<3>& center_of_gravity_b_m, const bool is_calculation_enabled) + const math::Vector<3>& center_of_gravity_b_m, const bool is_calculation_enabled) : SurfaceForce(surfaces, center_of_gravity_b_m, is_calculation_enabled) {} void SolarRadiationPressureDisturbance::Update(const LocalEnvironment& local_environment, const Dynamics& dynamics) { UNUSED(dynamics); - libra::Vector<3> sun_position_from_sc_b_m = local_environment.GetCelestialInformation().GetPositionFromSpacecraft_b_m("SUN"); + math::Vector<3> sun_position_from_sc_b_m = local_environment.GetCelestialInformation().GetPositionFromSpacecraft_b_m("SUN"); CalcTorqueForce(sun_position_from_sc_b_m, local_environment.GetSolarRadiationPressure().GetPressure_N_m2()); } -void SolarRadiationPressureDisturbance::CalcCoefficients(const libra::Vector<3>& input_direction_b, const double item) { +void SolarRadiationPressureDisturbance::CalcCoefficients(const math::Vector<3>& input_direction_b, const double item) { UNUSED(input_direction_b); for (size_t i = 0; i < surfaces_.size(); i++) { // Calculate for each surface diff --git a/src/disturbances/solar_radiation_pressure_disturbance.hpp b/src/disturbances/solar_radiation_pressure_disturbance.hpp index 5dc04a51c..7ec4e9bbc 100644 --- a/src/disturbances/solar_radiation_pressure_disturbance.hpp +++ b/src/disturbances/solar_radiation_pressure_disturbance.hpp @@ -25,7 +25,7 @@ class SolarRadiationPressureDisturbance : public SurfaceForce { * @param [in] center_of_gravity_b_m: Center of gravity position at the body frame [m] * @param [in] is_calculation_enabled: Calculation flag */ - SolarRadiationPressureDisturbance(const std::vector& surfaces, const libra::Vector<3>& center_of_gravity_b_m, + SolarRadiationPressureDisturbance(const std::vector& surfaces, const math::Vector<3>& center_of_gravity_b_m, const bool is_calculation_enabled = true); /** @@ -55,7 +55,7 @@ class SolarRadiationPressureDisturbance : public SurfaceForce { * @param [in] input_direction_b: Direction vector of the sun at the body frame * @param [in] item: Solar pressure [N/m^2] */ - void CalcCoefficients(const libra::Vector<3>& input_direction_b, const double item); + void CalcCoefficients(const math::Vector<3>& input_direction_b, const double item); }; /** diff --git a/src/disturbances/surface_force.cpp b/src/disturbances/surface_force.cpp index 8cf5c7278..348944267 100644 --- a/src/disturbances/surface_force.cpp +++ b/src/disturbances/surface_force.cpp @@ -7,7 +7,7 @@ #include "../math_physics/math/vector.hpp" -SurfaceForce::SurfaceForce(const std::vector& surfaces, const libra::Vector<3>& center_of_gravity_b_m, const bool is_calculation_enabled) +SurfaceForce::SurfaceForce(const std::vector& surfaces, const math::Vector<3>& center_of_gravity_b_m, const bool is_calculation_enabled) : Disturbance(is_calculation_enabled, true), surfaces_(surfaces), center_of_gravity_b_m_(center_of_gravity_b_m) { // Initialize vectors size_t num = surfaces_.size(); @@ -17,23 +17,23 @@ SurfaceForce::SurfaceForce(const std::vector& surfaces, const libra::Ve sin_theta_.assign(num, 0.0); } -libra::Vector<3> SurfaceForce::CalcTorqueForce(libra::Vector<3>& input_direction_b, double item) { +math::Vector<3> SurfaceForce::CalcTorqueForce(math::Vector<3>& input_direction_b, double item) { CalcTheta(input_direction_b); CalcCoefficients(input_direction_b, item); - libra::Vector<3> force_b_N(0.0); - libra::Vector<3> torque_b_Nm(0.0); - libra::Vector<3> input_b_normal = input_direction_b.CalcNormalizedVector(); + math::Vector<3> force_b_N(0.0); + math::Vector<3> torque_b_Nm(0.0); + math::Vector<3> input_b_normal = input_direction_b.CalcNormalizedVector(); for (size_t i = 0; i < surfaces_.size(); i++) { if (cos_theta_[i] > 0.0) { // if the surface faces to the disturbance source (sun or air) // calc direction of in-plane force - libra::Vector<3> normal = surfaces_[i].GetNormal_b(); - libra::Vector<3> ncu = OuterProduct(input_b_normal, normal); - libra::Vector<3> ncu_normalized = ncu.CalcNormalizedVector(); - libra::Vector<3> in_plane_force_direction = OuterProduct(ncu_normalized, normal); + math::Vector<3> normal = surfaces_[i].GetNormal_b(); + math::Vector<3> ncu = OuterProduct(input_b_normal, normal); + math::Vector<3> ncu_normalized = ncu.CalcNormalizedVector(); + math::Vector<3> in_plane_force_direction = OuterProduct(ncu_normalized, normal); // calc force - libra::Vector<3> force_per_surface_b_N = -1.0 * normal_coefficients_[i] * normal + tangential_coefficients_[i] * in_plane_force_direction; + math::Vector<3> force_per_surface_b_N = -1.0 * normal_coefficients_[i] * normal + tangential_coefficients_[i] * in_plane_force_direction; force_b_N += force_per_surface_b_N; // calc torque torque_b_Nm += OuterProduct(surfaces_[i].GetPosition_b_m() - center_of_gravity_b_m_, force_per_surface_b_N); @@ -44,8 +44,8 @@ libra::Vector<3> SurfaceForce::CalcTorqueForce(libra::Vector<3>& input_direction return torque_b_Nm_; } -void SurfaceForce::CalcTheta(libra::Vector<3>& input_direction_b) { - libra::Vector<3> input_b_normal = input_direction_b.CalcNormalizedVector(); +void SurfaceForce::CalcTheta(math::Vector<3>& input_direction_b) { + math::Vector<3> input_b_normal = input_direction_b.CalcNormalizedVector(); for (size_t i = 0; i < surfaces_.size(); i++) { cos_theta_[i] = InnerProduct(surfaces_[i].GetNormal_b(), input_b_normal); diff --git a/src/disturbances/surface_force.hpp b/src/disturbances/surface_force.hpp index b07b7101f..49e4bd46d 100644 --- a/src/disturbances/surface_force.hpp +++ b/src/disturbances/surface_force.hpp @@ -28,7 +28,7 @@ class SurfaceForce : public Disturbance { * @param [in] center_of_gravity_b_m: Center of gravity position at the body frame [m] * @param [in] is_calculation_enabled: Calculation flag */ - SurfaceForce(const std::vector& surfaces, const libra::Vector<3>& center_of_gravity_b_m, const bool is_calculation_enabled = true); + SurfaceForce(const std::vector& surfaces, const math::Vector<3>& center_of_gravity_b_m, const bool is_calculation_enabled = true); /** * @fn ~SurfaceForce * @brief Destructor @@ -38,7 +38,7 @@ class SurfaceForce : public Disturbance { protected: // Spacecraft Structure parameters const std::vector& surfaces_; //!< List of surfaces - const libra::Vector<3>& center_of_gravity_b_m_; //!< Position vector of the center of mass_kg at body frame [m] + const math::Vector<3>& center_of_gravity_b_m_; //!< Position vector of the center of mass_kg at body frame [m] // Internal calculated variables std::vector normal_coefficients_; //!< coefficients for out-plane force for each surface @@ -54,13 +54,13 @@ class SurfaceForce : public Disturbance { * @param [in] item: Parameter which decide the magnitude of the disturbances (e.g., Solar flux, air density) * @return Calculated disturbance torque in body frame [Nm] */ - libra::Vector<3> CalcTorqueForce(libra::Vector<3>& input_direction_b, double item); + math::Vector<3> CalcTorqueForce(math::Vector<3>& input_direction_b, double item); /** * @fn CalcTheta * @brief Calculate cosX and sinX * @param [in] input_direction_b: Direction of disturbance source at the body frame */ - void CalcTheta(libra::Vector<3>& input_direction_b); + void CalcTheta(math::Vector<3>& input_direction_b); /** * @fn CalcCoefficients @@ -68,7 +68,7 @@ class SurfaceForce : public Disturbance { * @param [in] input_direction_b: Direction of disturbance source at the body frame * @param [in] item: Parameter which decide the magnitude of the disturbances (e.g., Solar flux, air density) */ - virtual void CalcCoefficients(const libra::Vector<3>& input_direction_b, const double item) = 0; + virtual void CalcCoefficients(const math::Vector<3>& input_direction_b, const double item) = 0; }; #endif // S2E_DISTURBANCES_SURFACE_FORCE_HPP_ diff --git a/src/disturbances/third_body_gravity.cpp b/src/disturbances/third_body_gravity.cpp index 86917898d..72bb2d24f 100644 --- a/src/disturbances/third_body_gravity.cpp +++ b/src/disturbances/third_body_gravity.cpp @@ -9,18 +9,18 @@ ThirdBodyGravity::ThirdBodyGravity(std::set third_body_list, const bool is_calculation_enabled) : Disturbance(is_calculation_enabled, false), third_body_list_(third_body_list) { - acceleration_i_m_s2_ = libra::Vector<3>(0.0); + acceleration_i_m_s2_ = math::Vector<3>(0.0); } ThirdBodyGravity::~ThirdBodyGravity() {} void ThirdBodyGravity::Update(const LocalEnvironment& local_environment, const Dynamics& dynamics) { - acceleration_i_m_s2_ = libra::Vector<3>(0.0); // initialize + acceleration_i_m_s2_ = math::Vector<3>(0.0); // initialize - libra::Vector<3> sc_position_i_m = dynamics.GetOrbit().GetPosition_i_m(); + math::Vector<3> sc_position_i_m = dynamics.GetOrbit().GetPosition_i_m(); for (auto third_body : third_body_list_) { - libra::Vector<3> third_body_position_from_sc_i_m = local_environment.GetCelestialInformation().GetPositionFromSpacecraft_i_m(third_body.c_str()); - libra::Vector<3> third_body_pos_i_m = sc_position_i_m + third_body_position_from_sc_i_m; + math::Vector<3> third_body_position_from_sc_i_m = local_environment.GetCelestialInformation().GetPositionFromSpacecraft_i_m(third_body.c_str()); + math::Vector<3> third_body_pos_i_m = sc_position_i_m + third_body_position_from_sc_i_m; double gravity_constant = local_environment.GetCelestialInformation().GetGlobalInformation().GetGravityConstant_m3_s2(third_body.c_str()); third_body_acceleration_i_m_s2_ = CalcAcceleration_i_m_s2(third_body_pos_i_m, third_body_position_from_sc_i_m, gravity_constant); @@ -28,8 +28,8 @@ void ThirdBodyGravity::Update(const LocalEnvironment& local_environment, const D } } -libra::Vector<3> ThirdBodyGravity::CalcAcceleration_i_m_s2(const libra::Vector<3> s, const libra::Vector<3> sr, const double gravity_constant_m_s2) { - libra::Vector<3> acceleration_i_m_s2; +math::Vector<3> ThirdBodyGravity::CalcAcceleration_i_m_s2(const math::Vector<3> s, const math::Vector<3> sr, const double gravity_constant_m_s2) { + math::Vector<3> acceleration_i_m_s2; double s_norm = s.CalcNorm(); double s_norm3 = s_norm * s_norm * s_norm; diff --git a/src/disturbances/third_body_gravity.hpp b/src/disturbances/third_body_gravity.hpp index 564a823ce..9d95d2ed1 100644 --- a/src/disturbances/third_body_gravity.hpp +++ b/src/disturbances/third_body_gravity.hpp @@ -43,7 +43,7 @@ class ThirdBodyGravity : public Disturbance { private: std::set third_body_list_; //!< List of celestial bodies to calculate the third body disturbances - libra::Vector<3> third_body_acceleration_i_m_s2_{0.0}; //!< Calculated third body disturbance acceleration in the inertial frame [m/s2] + math::Vector<3> third_body_acceleration_i_m_s2_{0.0}; //!< Calculated third body disturbance acceleration in the inertial frame [m/s2] // Override classes for ILoggable /** @@ -65,7 +65,7 @@ class ThirdBodyGravity : public Disturbance { * @param [in] GM: The gravitational constants of the third celestial body [m3/s2] * @return Third body disturbance acceleration in the inertial frame in unit [m/s2] */ - libra::Vector<3> CalcAcceleration_i_m_s2(const libra::Vector<3> s, const libra::Vector<3> sr, const double gravity_constant_m_s2); + math::Vector<3> CalcAcceleration_i_m_s2(const math::Vector<3> s, const math::Vector<3> sr, const double gravity_constant_m_s2); }; /** diff --git a/src/dynamics/attitude/attitude.cpp b/src/dynamics/attitude/attitude.cpp index fb3621da0..3e7fe70c5 100644 --- a/src/dynamics/attitude/attitude.cpp +++ b/src/dynamics/attitude/attitude.cpp @@ -8,13 +8,13 @@ Attitude::Attitude(const math::Matrix<3, 3>& inertia_tensor_kgm2, const std::string& simulation_object_name) : SimulationObject(simulation_object_name), inertia_tensor_kgm2_(inertia_tensor_kgm2) { - angular_velocity_b_rad_s_ = libra::Vector<3>(0.0); + angular_velocity_b_rad_s_ = math::Vector<3>(0.0); quaternion_i2b_ = libra::Quaternion(0.0, 0.0, 0.0, 1.0); - torque_b_Nm_ = libra::Vector<3>(0.0); - angular_momentum_spacecraft_b_Nms_ = libra::Vector<3>(0.0); - angular_momentum_reaction_wheel_b_Nms_ = libra::Vector<3>(0.0); - angular_momentum_total_b_Nms_ = libra::Vector<3>(0.0); - angular_momentum_total_i_Nms_ = libra::Vector<3>(0.0); + torque_b_Nm_ = math::Vector<3>(0.0); + angular_momentum_spacecraft_b_Nms_ = math::Vector<3>(0.0); + angular_momentum_reaction_wheel_b_Nms_ = math::Vector<3>(0.0); + angular_momentum_total_b_Nms_ = math::Vector<3>(0.0); + angular_momentum_total_i_Nms_ = math::Vector<3>(0.0); angular_momentum_total_Nms_ = 0.0; kinetic_energy_J_ = 0.0; } @@ -57,7 +57,7 @@ void Attitude::CalcAngularMomentum(void) { kinetic_energy_J_ = 0.5 * libra::InnerProduct(angular_momentum_spacecraft_b_Nms_, angular_velocity_b_rad_s_); } -math::Matrix<4, 4> CalcAngularVelocityMatrix(libra::Vector<3> angular_velocity_b_rad_s) { +math::Matrix<4, 4> CalcAngularVelocityMatrix(math::Vector<3> angular_velocity_b_rad_s) { math::Matrix<4, 4> angular_velocity_matrix; angular_velocity_matrix[0][0] = 0.0f; diff --git a/src/dynamics/attitude/attitude.hpp b/src/dynamics/attitude/attitude.hpp index 1ff73967b..89449af15 100644 --- a/src/dynamics/attitude/attitude.hpp +++ b/src/dynamics/attitude/attitude.hpp @@ -40,7 +40,7 @@ class Attitude : public ILoggable, public SimulationObject { * @fn GetAngularVelocity_b_rad_s * @brief Return angular velocity of spacecraft body-fixed frame with respect to the inertial frame [rad/s] */ - inline libra::Vector<3> GetAngularVelocity_b_rad_s() const { return angular_velocity_b_rad_s_; } + inline math::Vector<3> GetAngularVelocity_b_rad_s() const { return angular_velocity_b_rad_s_; } /** * @fn GetQuaternion_i2b * @brief Return attitude quaternion from the inertial frame to the body fixed frame @@ -67,7 +67,7 @@ class Attitude : public ILoggable, public SimulationObject { * @fn SetAngularVelocity_b_rad_s * @brief Set angular velocity of the body fixed frame with respect to the inertial frame [rad/s] */ - inline void SetAngularVelocity_b_rad_s(const libra::Vector<3> angular_velocity_b_rad_s) { angular_velocity_b_rad_s_ = angular_velocity_b_rad_s; } + inline void SetAngularVelocity_b_rad_s(const math::Vector<3> angular_velocity_b_rad_s) { angular_velocity_b_rad_s_ = angular_velocity_b_rad_s; } /** * @fn SetQuaternion_i2b * @brief Set attitude quaternion from the inertial frame to the body frame @@ -77,17 +77,17 @@ class Attitude : public ILoggable, public SimulationObject { * @fn SetTorque_b_Nm * @brief Set torque acting on the spacecraft on the body fixed frame [Nm] */ - inline void SetTorque_b_Nm(const libra::Vector<3> torque_b_Nm) { torque_b_Nm_ = torque_b_Nm; } + inline void SetTorque_b_Nm(const math::Vector<3> torque_b_Nm) { torque_b_Nm_ = torque_b_Nm; } /** * @fn AddTorque_b_Nm * @brief Add torque acting on the spacecraft on the body fixed frame [Nm] */ - inline void AddTorque_b_Nm(const libra::Vector<3> torque_b_Nm) { torque_b_Nm_ += torque_b_Nm; } + inline void AddTorque_b_Nm(const math::Vector<3> torque_b_Nm) { torque_b_Nm_ += torque_b_Nm; } /** * @fn SetRwAngularMomentum_b_Nms * @brief Set angular momentum of reaction wheel in the body fixed frame [Nms] */ - inline void SetRwAngularMomentum_b_Nms(const libra::Vector<3> angular_momentum_rw_b_Nms) { + inline void SetRwAngularMomentum_b_Nms(const math::Vector<3> angular_momentum_rw_b_Nms) { angular_momentum_reaction_wheel_b_Nms_ = angular_momentum_rw_b_Nms; } @@ -116,15 +116,15 @@ class Attitude : public ILoggable, public SimulationObject { protected: bool is_calc_enabled_ = true; //!< Calculation flag double propagation_step_s_; //!< Propagation step [sec] - libra::Vector<3> angular_velocity_b_rad_s_; //!< Angular velocity of spacecraft body fixed frame with respect to the inertial frame [rad/s] + math::Vector<3> angular_velocity_b_rad_s_; //!< Angular velocity of spacecraft body fixed frame with respect to the inertial frame [rad/s] libra::Quaternion quaternion_i2b_; //!< Attitude quaternion from the inertial frame to the body fixed frame - libra::Vector<3> torque_b_Nm_; //!< Torque in the body fixed frame [Nm] + math::Vector<3> torque_b_Nm_; //!< Torque in the body fixed frame [Nm] const math::Matrix<3, 3>& inertia_tensor_kgm2_; //!< Inertia tensor of the spacecraft [kg m^2] - libra::Vector<3> angular_momentum_spacecraft_b_Nms_; //!< Angular momentum of spacecraft in the body fixed frame [Nms] - libra::Vector<3> angular_momentum_reaction_wheel_b_Nms_; //!< Angular momentum of reaction wheel in the body fixed frame [Nms] - libra::Vector<3> angular_momentum_total_b_Nms_; //!< Total angular momentum of spacecraft in the body fixed frame [Nms] - libra::Vector<3> angular_momentum_total_i_Nms_; //!< Total angular momentum of spacecraft in the inertial frame [Nms] + math::Vector<3> angular_momentum_spacecraft_b_Nms_; //!< Angular momentum of spacecraft in the body fixed frame [Nms] + math::Vector<3> angular_momentum_reaction_wheel_b_Nms_; //!< Angular momentum of reaction wheel in the body fixed frame [Nms] + math::Vector<3> angular_momentum_total_b_Nms_; //!< Total angular momentum of spacecraft in the body fixed frame [Nms] + math::Vector<3> angular_momentum_total_i_Nms_; //!< Total angular momentum of spacecraft in the inertial frame [Nms] double angular_momentum_total_Nms_; //!< Norm of total angular momentum [Nms] double kinetic_energy_J_; //!< Rotational Kinetic Energy of Spacecraft [J] @@ -140,6 +140,6 @@ class Attitude : public ILoggable, public SimulationObject { * @brief Generate angular velocity matrix for kinematics calculation * @param [in] angular_velocity_b_rad_s: Angular velocity [rad/s] */ -math::Matrix<4, 4> CalcAngularVelocityMatrix(libra::Vector<3> angular_velocity_b_rad_s); +math::Matrix<4, 4> CalcAngularVelocityMatrix(math::Vector<3> angular_velocity_b_rad_s); #endif // S2E_DYNAMICS_ATTITUDE_ATTITUDE_HPP_ diff --git a/src/dynamics/attitude/attitude_rk4.cpp b/src/dynamics/attitude/attitude_rk4.cpp index d92a34e31..40ee81dc3 100644 --- a/src/dynamics/attitude/attitude_rk4.cpp +++ b/src/dynamics/attitude/attitude_rk4.cpp @@ -9,8 +9,8 @@ #include #include -AttitudeRk4::AttitudeRk4(const libra::Vector<3>& angular_velocity_b_rad_s, const libra::Quaternion& quaternion_i2b, - const math::Matrix<3, 3>& inertia_tensor_kgm2, const libra::Vector<3>& torque_b_Nm, const double propagation_step_s, +AttitudeRk4::AttitudeRk4(const math::Vector<3>& angular_velocity_b_rad_s, const libra::Quaternion& quaternion_i2b, + const math::Matrix<3, 3>& inertia_tensor_kgm2, const math::Vector<3>& torque_b_Nm, const double propagation_step_s, const std::string& simulation_object_name) : Attitude(inertia_tensor_kgm2, simulation_object_name) { angular_velocity_b_rad_s_ = angular_velocity_b_rad_s; @@ -18,7 +18,7 @@ AttitudeRk4::AttitudeRk4(const libra::Vector<3>& angular_velocity_b_rad_s, const torque_b_Nm_ = torque_b_Nm; propagation_step_s_ = propagation_step_s; current_propagation_time_s_ = 0.0; - angular_momentum_reaction_wheel_b_Nms_ = libra::Vector<3>(0.0); + angular_momentum_reaction_wheel_b_Nms_ = math::Vector<3>(0.0); previous_inertia_tensor_kgm2_ = inertia_tensor_kgm2_; inverse_inertia_tensor_ = CalcInverseMatrix(inertia_tensor_kgm2_); CalcAngularMomentum(); @@ -32,7 +32,7 @@ void AttitudeRk4::SetParameters(const MonteCarloSimulationExecutor& mc_simulator // TODO: Consider the following calculation is needed here? current_propagation_time_s_ = 0.0; - angular_momentum_reaction_wheel_b_Nms_ = libra::Vector<3>(0.0); //!< Consider how to handle this variable + angular_momentum_reaction_wheel_b_Nms_ = math::Vector<3>(0.0); //!< Consider how to handle this variable CalcAngularMomentum(); } @@ -56,29 +56,29 @@ void AttitudeRk4::Propagate(const double end_time_s) { CalcAngularMomentum(); } -libra::Vector<7> AttitudeRk4::AttitudeDynamicsAndKinematics(libra::Vector<7> x, double t) { +math::Vector<7> AttitudeRk4::AttitudeDynamicsAndKinematics(math::Vector<7> x, double t) { UNUSED(t); - libra::Vector<7> dxdt; + math::Vector<7> dxdt; - libra::Vector<3> omega_b; + math::Vector<3> omega_b; for (int i = 0; i < 3; i++) { omega_b[i] = x[i]; } - libra::Vector<3> angular_momentum_total_b_Nms = (previous_inertia_tensor_kgm2_ * omega_b) + angular_momentum_reaction_wheel_b_Nms_; - libra::Vector<3> rhs = + math::Vector<3> angular_momentum_total_b_Nms = (previous_inertia_tensor_kgm2_ * omega_b) + angular_momentum_reaction_wheel_b_Nms_; + math::Vector<3> rhs = inverse_inertia_tensor_ * (torque_b_Nm_ - libra::OuterProduct(omega_b, angular_momentum_total_b_Nms) - torque_inertia_tensor_change_b_Nm_); for (int i = 0; i < 3; ++i) { dxdt[i] = rhs[i]; } - libra::Vector<4> quaternion_i2b; + math::Vector<4> quaternion_i2b; for (int i = 0; i < 4; i++) { quaternion_i2b[i] = x[i + 3]; } - libra::Vector<4> d_quaternion = 0.5 * CalcAngularVelocityMatrix(omega_b) * quaternion_i2b; + math::Vector<4> d_quaternion = 0.5 * CalcAngularVelocityMatrix(omega_b) * quaternion_i2b; for (int i = 0; i < 4; i++) { dxdt[i + 3] = d_quaternion[i]; @@ -88,7 +88,7 @@ libra::Vector<7> AttitudeRk4::AttitudeDynamicsAndKinematics(libra::Vector<7> x, } void AttitudeRk4::RungeKuttaOneStep(double t, double dt) { - libra::Vector<7> x; + math::Vector<7> x; for (int i = 0; i < 3; i++) { x[i] = angular_velocity_b_rad_s_[i]; } @@ -96,8 +96,8 @@ void AttitudeRk4::RungeKuttaOneStep(double t, double dt) { x[i + 3] = quaternion_i2b_[i]; } - libra::Vector<7> k1, k2, k3, k4; - libra::Vector<7> xk2, xk3, xk4; + math::Vector<7> k1, k2, k3, k4; + math::Vector<7> xk2, xk3, xk4; k1 = AttitudeDynamicsAndKinematics(x, t); xk2 = x + (dt / 2.0) * k1; @@ -110,7 +110,7 @@ void AttitudeRk4::RungeKuttaOneStep(double t, double dt) { k4 = AttitudeDynamicsAndKinematics(xk4, (t + dt)); - libra::Vector<7> next_x = x + (dt / 6.0) * (k1 + 2.0 * k2 + 2.0 * k3 + k4); + math::Vector<7> next_x = x + (dt / 6.0) * (k1 + 2.0 * k2 + 2.0 * k3 + k4); for (int i = 0; i < 3; i++) { angular_velocity_b_rad_s_[i] = next_x[i]; diff --git a/src/dynamics/attitude/attitude_rk4.hpp b/src/dynamics/attitude/attitude_rk4.hpp index 1898d4355..33dd8002e 100644 --- a/src/dynamics/attitude/attitude_rk4.hpp +++ b/src/dynamics/attitude/attitude_rk4.hpp @@ -24,8 +24,8 @@ class AttitudeRk4 : public Attitude { * @param [in] propagation_step_s: Initial value of propagation step width [sec] * @param [in] simulation_object_name: Simulation object name for Monte-Carlo simulation */ - AttitudeRk4(const libra::Vector<3>& angular_velocity_b_rad_s, const libra::Quaternion& quaternion_i2b, - const math::Matrix<3, 3>& inertia_tensor_kgm2, const libra::Vector<3>& torque_b_Nm, const double propagation_step_s, + AttitudeRk4(const math::Vector<3>& angular_velocity_b_rad_s, const libra::Quaternion& quaternion_i2b, + const math::Matrix<3, 3>& inertia_tensor_kgm2, const math::Vector<3>& torque_b_Nm, const double propagation_step_s, const std::string& simulation_object_name = "attitude"); /** * @fn ~AttitudeRk4 @@ -51,7 +51,7 @@ class AttitudeRk4 : public Attitude { double current_propagation_time_s_; //!< current time [sec] math::Matrix<3, 3> inverse_inertia_tensor_; //!< Inverse of inertia tensor math::Matrix<3, 3> previous_inertia_tensor_kgm2_; //!< Previous inertia tensor [kgm2] - libra::Vector<3> torque_inertia_tensor_change_b_Nm_; //!< Torque generated by inertia tensor change [Nm] + math::Vector<3> torque_inertia_tensor_change_b_Nm_; //!< Torque generated by inertia tensor change [Nm] /** * @fn AttitudeDynamicsAndKinematics @@ -59,7 +59,7 @@ class AttitudeRk4 : public Attitude { * @param [in] x: State vector (angular velocity and quaternion) * @param [in] t: Unused TODO: remove? */ - libra::Vector<7> AttitudeDynamicsAndKinematics(libra::Vector<7> x, double t); + math::Vector<7> AttitudeDynamicsAndKinematics(math::Vector<7> x, double t); /** * @fn RungeKuttaOneStep * @brief Equation for one step of Runge-Kutta method diff --git a/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp b/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp index 20aa3f234..ecee04374 100644 --- a/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp +++ b/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp @@ -9,9 +9,9 @@ #include AttitudeWithCantileverVibration::AttitudeWithCantileverVibration( - const libra::Vector<3>& angular_velocity_b_rad_s, const libra::Quaternion& quaternion_i2b, const math::Matrix<3, 3>& inertia_tensor_kgm2, + const math::Vector<3>& angular_velocity_b_rad_s, const libra::Quaternion& quaternion_i2b, const math::Matrix<3, 3>& inertia_tensor_kgm2, const math::Matrix<3, 3>& inertia_tensor_cantilever_kgm2, const double damping_ratio_cantilever, - const double intrinsic_angular_velocity_cantilever_rad_s, const libra::Vector<3>& torque_b_Nm, const double propagation_step_s, + const double intrinsic_angular_velocity_cantilever_rad_s, const math::Vector<3>& torque_b_Nm, const double propagation_step_s, const std::string& simulation_object_name) : Attitude(inertia_tensor_kgm2, simulation_object_name), numerical_integrator_(propagation_step_s, attitude_ode_, @@ -21,7 +21,7 @@ AttitudeWithCantileverVibration::AttitudeWithCantileverVibration( torque_b_Nm_ = torque_b_Nm; propagation_step_s_ = propagation_step_s; current_propagation_time_s_ = 0.0; - angular_momentum_reaction_wheel_b_Nms_ = libra::Vector<3>(0.0); + angular_momentum_reaction_wheel_b_Nms_ = math::Vector<3>(0.0); attitude_ode_.SetInertiaTensorCantilever_kgm2(inertia_tensor_cantilever_kgm2); attitude_ode_.SetPreviousInertiaTensor_kgm2(inertia_tensor_kgm2_); @@ -65,7 +65,7 @@ void AttitudeWithCantileverVibration::SetParameters(const MonteCarloSimulationEx // TODO: Consider the following calculation is needed here? current_propagation_time_s_ = 0.0; - angular_momentum_reaction_wheel_b_Nms_ = libra::Vector<3>(0.0); //!< TODO: Consider how to handle this variable + angular_momentum_reaction_wheel_b_Nms_ = math::Vector<3>(0.0); //!< TODO: Consider how to handle this variable CalcAngularMomentum(); } @@ -75,13 +75,13 @@ void AttitudeWithCantileverVibration::Propagate(const double end_time_s) { math::Matrix<3, 3> previous_inertia_tensor_kgm2 = attitude_ode_.GetPreviousInertiaTensor_kgm2(); assert(end_time_s - current_propagation_time_s_ > 1e-6); math::Matrix<3, 3> dot_inertia_tensor = (1.0 / (end_time_s - current_propagation_time_s_)) * (inertia_tensor_kgm2_ - previous_inertia_tensor_kgm2); - libra::Vector<3> torque_inertia_tensor_b_Nm = dot_inertia_tensor * angular_velocity_b_rad_s_; + math::Vector<3> torque_inertia_tensor_b_Nm = dot_inertia_tensor * angular_velocity_b_rad_s_; attitude_ode_.SetTorqueInertiaTensor_b_Nm(torque_inertia_tensor_b_Nm); attitude_ode_.SetInverseInertiaTensor(CalcInverseMatrix(inertia_tensor_kgm2_)); attitude_ode_.SetTorque_b_Nm(torque_b_Nm_); attitude_ode_.SetAngularMomentumReactionWheel_b_Nms(angular_momentum_reaction_wheel_b_Nms_); - libra::Vector<13> state = attitude_ode_.SetStateFromPhysicalQuantities(angular_velocity_b_rad_s_, angular_velocity_cantilever_rad_s_, + math::Vector<13> state = attitude_ode_.SetStateFromPhysicalQuantities(angular_velocity_b_rad_s_, angular_velocity_cantilever_rad_s_, quaternion_i2b_, euler_angular_cantilever_rad_); numerical_integrator_.GetIntegrator()->SetState(propagation_step_s_, state); while (end_time_s - current_propagation_time_s_ - propagation_step_s_ > 1.0e-6) { diff --git a/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp b/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp index d917fc1e0..e336bafad 100644 --- a/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp +++ b/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp @@ -31,10 +31,10 @@ class AttitudeWithCantileverVibration : public Attitude { * @param [in] propagation_step_s: Initial value of propagation step width [sec] * @param [in] simulation_object_name: Simulation object name for Monte-Carlo simulation */ - AttitudeWithCantileverVibration(const libra::Vector<3>& angular_velocity_b_rad_s, const libra::Quaternion& quaternion_i2b, + AttitudeWithCantileverVibration(const math::Vector<3>& angular_velocity_b_rad_s, const libra::Quaternion& quaternion_i2b, const math::Matrix<3, 3>& inertia_tensor_kgm2, const math::Matrix<3, 3>& inertia_tensor_cantilever_kgm2, const double damping_ratio_cantilever, const double intrinsic_angular_velocity_cantilever_rad_s, - const libra::Vector<3>& torque_b_Nm, const double propagation_step_s, + const math::Vector<3>& torque_b_Nm, const double propagation_step_s, const std::string& simulation_object_name = "attitude"); /** * @fn ~AttitudeWithCantileverVibration @@ -70,8 +70,8 @@ class AttitudeWithCantileverVibration : public Attitude { private: double current_propagation_time_s_; //!< current time [sec] - libra::Vector<3> angular_velocity_cantilever_rad_s_{0.0}; //!< Angular velocity of the cantilever with respect to the body frame [rad/s] - libra::Vector<3> euler_angular_cantilever_rad_{0.0}; //!< Euler angle of the cantilever with respect to the body frame [rad/s] + math::Vector<3> angular_velocity_cantilever_rad_s_{0.0}; //!< Angular velocity of the cantilever with respect to the body frame [rad/s] + math::Vector<3> euler_angular_cantilever_rad_{0.0}; //!< Euler angle of the cantilever with respect to the body frame [rad/s] libra::numerical_integration::AttitudeWithCantileverVibrationOde attitude_ode_; libra::numerical_integration::NumericalIntegratorManager<13> numerical_integrator_; diff --git a/src/dynamics/attitude/controlled_attitude.cpp b/src/dynamics/attitude/controlled_attitude.cpp index 155445ffc..d28b2c178 100644 --- a/src/dynamics/attitude/controlled_attitude.cpp +++ b/src/dynamics/attitude/controlled_attitude.cpp @@ -8,8 +8,8 @@ #include ControlledAttitude::ControlledAttitude(const AttitudeControlMode main_mode, const AttitudeControlMode sub_mode, - const libra::Quaternion quaternion_i2b, const libra::Vector<3> main_target_direction_b, - const libra::Vector<3> sub_target_direction_b, const math::Matrix<3, 3>& inertia_tensor_kgm2, + const libra::Quaternion quaternion_i2b, const math::Vector<3> main_target_direction_b, + const math::Vector<3> sub_target_direction_b, const math::Matrix<3, 3>& inertia_tensor_kgm2, const LocalCelestialInformation* local_celestial_information, const Orbit* orbit, const std::string& simulation_object_name) : Attitude(inertia_tensor_kgm2, simulation_object_name), @@ -54,7 +54,7 @@ void ControlledAttitude::Initialize(void) { } void ControlledAttitude::Propagate(const double end_time_s) { - libra::Vector<3> main_direction_i, sub_direction_i; + math::Vector<3> main_direction_i, sub_direction_i; if (!is_calc_enabled_) return; if (main_mode_ == AttitudeControlMode::kInertialStabilize) { @@ -73,22 +73,22 @@ void ControlledAttitude::Propagate(const double end_time_s) { return; } -libra::Vector<3> ControlledAttitude::CalcTargetDirection_i(AttitudeControlMode mode) { - libra::Vector<3> direction; +math::Vector<3> ControlledAttitude::CalcTargetDirection_i(AttitudeControlMode mode) { + math::Vector<3> direction; if (mode == AttitudeControlMode::kSunPointing) { direction = local_celestial_information_->GetPositionFromSpacecraft_i_m("SUN"); // When the local_celestial_information is not initialized. FIXME: This is temporary codes for attitude initialize. if (direction.CalcNorm() == 0.0) { - libra::Vector<3> sun_position_i_m = local_celestial_information_->GetGlobalInformation().GetPositionFromCenter_i_m("SUN"); - libra::Vector<3> spacecraft_position_i_m = orbit_->GetPosition_i_m(); + math::Vector<3> sun_position_i_m = local_celestial_information_->GetGlobalInformation().GetPositionFromCenter_i_m("SUN"); + math::Vector<3> spacecraft_position_i_m = orbit_->GetPosition_i_m(); direction = sun_position_i_m - spacecraft_position_i_m; } } else if (mode == AttitudeControlMode::kEarthCenterPointing) { direction = local_celestial_information_->GetPositionFromSpacecraft_i_m("EARTH"); // When the local_celestial_information is not initialized. FIXME: This is temporary codes for attitude initialize. if (direction.CalcNorm() == 0.0) { - libra::Vector<3> earth_position_i_m = local_celestial_information_->GetGlobalInformation().GetPositionFromCenter_i_m("EARTH"); - libra::Vector<3> spacecraft_position_i_m = orbit_->GetPosition_i_m(); + math::Vector<3> earth_position_i_m = local_celestial_information_->GetGlobalInformation().GetPositionFromCenter_i_m("EARTH"); + math::Vector<3> spacecraft_position_i_m = orbit_->GetPosition_i_m(); direction = earth_position_i_m - spacecraft_position_i_m; } } else if (mode == AttitudeControlMode::kVelocityDirectionPointing) { @@ -103,7 +103,7 @@ libra::Vector<3> ControlledAttitude::CalcTargetDirection_i(AttitudeControlMode m return direction; } -void ControlledAttitude::PointingControl(const libra::Vector<3> main_direction_i, const libra::Vector<3> sub_direction_i) { +void ControlledAttitude::PointingControl(const math::Vector<3> main_direction_i, const math::Vector<3> sub_direction_i) { // Calc DCM ECI->Target math::Matrix<3, 3> dcm_t2i = CalcDcm(main_direction_i, sub_direction_i); // Calc DCM Target->body @@ -114,14 +114,14 @@ void ControlledAttitude::PointingControl(const libra::Vector<3> main_direction_i quaternion_i2b_ = libra::Quaternion::ConvertFromDcm(dcm_i2b); } -math::Matrix<3, 3> ControlledAttitude::CalcDcm(const libra::Vector<3> main_direction, const libra::Vector<3> sub_direction) { +math::Matrix<3, 3> ControlledAttitude::CalcDcm(const math::Vector<3> main_direction, const math::Vector<3> sub_direction) { // Calc basis vectors - libra::Vector<3> ex, ey, ez; + math::Vector<3> ex, ey, ez; ex = main_direction; - libra::Vector<3> tmp1 = OuterProduct(ex, sub_direction); - libra::Vector<3> tmp2 = OuterProduct(tmp1, ex); + math::Vector<3> tmp1 = OuterProduct(ex, sub_direction); + math::Vector<3> tmp2 = OuterProduct(tmp1, ex); ey = tmp2.CalcNormalizedVector(); - libra::Vector<3> tmp3 = OuterProduct(ex, ey); + math::Vector<3> tmp3 = OuterProduct(ex, ey); ez = tmp3.CalcNormalizedVector(); // Generate DCM @@ -153,7 +153,7 @@ AttitudeControlMode ConvertStringToCtrlMode(const std::string mode) { } void ControlledAttitude::CalcAngularVelocity(const double current_time_s) { - libra::Vector<3> controlled_torque_b_Nm(0.0); + math::Vector<3> controlled_torque_b_Nm(0.0); if (previous_calc_time_s_ > 0.0) { double time_diff_sec = current_time_s - previous_calc_time_s_; @@ -161,7 +161,7 @@ void ControlledAttitude::CalcAngularVelocity(const double current_time_s) { libra::Quaternion q_diff = prev_q_b2i * quaternion_i2b_; q_diff = (2.0 / time_diff_sec) * q_diff; - libra::Vector<3> angular_acc_b_rad_s2_; + math::Vector<3> angular_acc_b_rad_s2_; for (int i = 0; i < 3; i++) { angular_velocity_b_rad_s_[i] = q_diff[i]; angular_acc_b_rad_s2_[i] = (previous_omega_b_rad_s_[i] - angular_velocity_b_rad_s_[i]) / time_diff_sec; @@ -169,8 +169,8 @@ void ControlledAttitude::CalcAngularVelocity(const double current_time_s) { math::Matrix<3, 3> inv_inertia_tensor = CalcInverseMatrix(inertia_tensor_kgm2_); controlled_torque_b_Nm = inv_inertia_tensor * angular_acc_b_rad_s2_; } else { - angular_velocity_b_rad_s_ = libra::Vector<3>(0.0); - controlled_torque_b_Nm = libra::Vector<3>(0.0); + angular_velocity_b_rad_s_ = math::Vector<3>(0.0); + controlled_torque_b_Nm = math::Vector<3>(0.0); } // Add torque with disturbances AddTorque_b_Nm(controlled_torque_b_Nm); diff --git a/src/dynamics/attitude/controlled_attitude.hpp b/src/dynamics/attitude/controlled_attitude.hpp index c41ff82be..35fe317f9 100644 --- a/src/dynamics/attitude/controlled_attitude.hpp +++ b/src/dynamics/attitude/controlled_attitude.hpp @@ -55,7 +55,7 @@ class ControlledAttitude : public Attitude { * @param [in] simulation_object_name: Simulation object name for Monte-Carlo simulation */ ControlledAttitude(const AttitudeControlMode main_mode, const AttitudeControlMode sub_mode, const libra::Quaternion quaternion_i2b, - const libra::Vector<3> main_target_direction_b, const libra::Vector<3> sub_target_direction_b, + const math::Vector<3> main_target_direction_b, const math::Vector<3> sub_target_direction_b, const math::Matrix<3, 3>& inertia_tensor_kgm2, const LocalCelestialInformation* local_celestial_information, const Orbit* orbit, const std::string& simulation_object_name = "attitude"); /** @@ -84,12 +84,12 @@ class ControlledAttitude : public Attitude { * @fn SetMainTargetDirection_b * @brief Set main target direction on the body fixed frame */ - inline void SetMainTargetDirection_b(libra::Vector<3> main_target_direction_b) { main_target_direction_b_ = main_target_direction_b; } + inline void SetMainTargetDirection_b(math::Vector<3> main_target_direction_b) { main_target_direction_b_ = main_target_direction_b; } /** * @fn SetSubTargetDirection_b * @brief Set sub target direction on the body fixed frame */ - inline void SetSubTargetDirection_b(libra::Vector<3> sub_target_direction_b) { sub_target_direction_b_ = sub_target_direction_b; } + inline void SetSubTargetDirection_b(math::Vector<3> sub_target_direction_b) { sub_target_direction_b_ = sub_target_direction_b; } /** * @fn Propagate @@ -101,11 +101,11 @@ class ControlledAttitude : public Attitude { private: AttitudeControlMode main_mode_; //!< Main control mode AttitudeControlMode sub_mode_; //!< Sub control mode - libra::Vector<3> main_target_direction_b_; //!< Main target direction on the body fixed frame - libra::Vector<3> sub_target_direction_b_; //!< Sub target direction on tge body fixed frame + math::Vector<3> main_target_direction_b_; //!< Main target direction on the body fixed frame + math::Vector<3> sub_target_direction_b_; //!< Sub target direction on tge body fixed frame double previous_calc_time_s_ = -1.0; //!< Previous time of velocity calculation [sec] libra::Quaternion previous_quaternion_i2b_; //!< Previous quaternion - libra::Vector<3> previous_omega_b_rad_s_; //!< Previous angular velocity [rad/s] + math::Vector<3> previous_omega_b_rad_s_; //!< Previous angular velocity [rad/s] const double kMinDirectionAngle_rad = 30.0 * libra::deg_to_rad; //!< Minimum angle b/w main and sub direction // TODO Change with ini file @@ -126,14 +126,14 @@ class ControlledAttitude : public Attitude { * @param [in] mode: Attitude control mode * @return Target direction at the inertia frame */ - libra::Vector<3> CalcTargetDirection_i(AttitudeControlMode mode); + math::Vector<3> CalcTargetDirection_i(AttitudeControlMode mode); /** * @fn PointingControl * @brief Calculate attitude quaternion * @param [in] main_direction_i: Main target direction in the inertial frame * @param [in] sub_direction_i: Sub target direction in the inertial frame */ - void PointingControl(const libra::Vector<3> main_direction_i, const libra::Vector<3> sub_direction_i); + void PointingControl(const math::Vector<3> main_direction_i, const math::Vector<3> sub_direction_i); /** * @fn CalcAngularVelocity * @brief Calculate angular velocity @@ -146,7 +146,7 @@ class ControlledAttitude : public Attitude { * @param [in] main_direction: Main target direction * @param [in] sub_direction: Sub target direction */ - math::Matrix<3, 3> CalcDcm(const libra::Vector<3> main_direction, const libra::Vector<3> sub_direction); + math::Matrix<3, 3> CalcDcm(const math::Vector<3> main_direction, const math::Vector<3> sub_direction); }; #endif // S2E_DYNAMICS_ATTITUDE_CONTROLLED_ATTITUDE_HPP_ diff --git a/src/dynamics/attitude/initialize_attitude.cpp b/src/dynamics/attitude/initialize_attitude.cpp index daee72780..a57f34e65 100644 --- a/src/dynamics/attitude/initialize_attitude.cpp +++ b/src/dynamics/attitude/initialize_attitude.cpp @@ -16,9 +16,9 @@ Attitude* InitAttitude(std::string file_name, const Orbit* orbit, const LocalCel const std::string propagate_mode = ini_file.ReadString(section_, "propagate_mode"); const std::string initialize_mode = ini_file.ReadString(section_, "initialize_mode"); - libra::Vector<3> omega_b; + math::Vector<3> omega_b; libra::Quaternion quaternion_i2b; - libra::Vector<3> torque_b; + math::Vector<3> torque_b; if (initialize_mode == "CONTROLLED") { // Initialize with Controlled attitude (attitude_tmp temporary used) IniAccess ini_file_ca(file_name); @@ -30,7 +30,7 @@ Attitude* InitAttitude(std::string file_name, const Orbit* orbit, const LocalCel AttitudeControlMode sub_mode = ConvertStringToCtrlMode(sub_mode_in); ini_file_ca.ReadQuaternion(section_, "initial_quaternion_i2b", quaternion_i2b); - libra::Vector<3> main_target_direction_b, sub_target_direction_b; + math::Vector<3> main_target_direction_b, sub_target_direction_b; ini_file_ca.ReadVector(section_ca_, "main_pointing_direction_b", main_target_direction_b); ini_file_ca.ReadVector(section_ca_, "sub_pointing_direction_b", sub_target_direction_b); std::string mc_name_temp = section_ + std::to_string(spacecraft_id) + "_TEMP"; @@ -38,8 +38,8 @@ Attitude* InitAttitude(std::string file_name, const Orbit* orbit, const LocalCel inertia_tensor_kgm2, local_celestial_information, orbit, mc_name_temp); attitude_temp->Propagate(step_width_s); quaternion_i2b = attitude_temp->GetQuaternion_i2b(); - omega_b = libra::Vector<3>(0.0); - torque_b = libra::Vector<3>(0.0); + omega_b = math::Vector<3>(0.0); + torque_b = math::Vector<3>(0.0); } else { // Including the case: initialize_mode == "MANUAL" ini_file.ReadVector(section_, "initial_angular_velocity_b_rad_s", omega_b); @@ -55,7 +55,7 @@ Attitude* InitAttitude(std::string file_name, const Orbit* orbit, const LocalCel const char* section_cantilever = "CANTILEVER_PARAMETERS"; math::Matrix<3, 3> inertia_tensor_cantilever_kgm2; - libra::Vector<9> inertia_vec; + math::Vector<9> inertia_vec; ini_structure.ReadVector(section_cantilever, "inertia_tensor_cantilever_kgm2", inertia_vec); for (int i = 0; i < 3; i++) { for (int j = 0; j < 3; j++) { @@ -79,7 +79,7 @@ Attitude* InitAttitude(std::string file_name, const Orbit* orbit, const LocalCel AttitudeControlMode sub_mode = ConvertStringToCtrlMode(sub_mode_in); libra::Quaternion quaternion_i2b; ini_file_ca.ReadQuaternion(section_, "initial_quaternion_i2b", quaternion_i2b); - libra::Vector<3> main_target_direction_b, sub_target_direction_b; + math::Vector<3> main_target_direction_b, sub_target_direction_b; ini_file_ca.ReadVector(section_ca_, "main_pointing_direction_b", main_target_direction_b); ini_file_ca.ReadVector(section_ca_, "sub_pointing_direction_b", sub_target_direction_b); diff --git a/src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp b/src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp index 4f6ec3745..28f4b5ac9 100644 --- a/src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp +++ b/src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp @@ -28,10 +28,10 @@ class AttitudeWithCantileverVibrationOde : public InterfaceOde<13> { * @param [in] quaternion_i2b: True attitude of the spacecraft expressed by quaternion from the inertial frame to the body-fixed frame * @param [in] euler_angule_cantilever_rad: Euler angle of the cantilever@ body-fixed frame [rad] */ - libra::Vector<13> SetStateFromPhysicalQuantities(const libra::Vector<3> angular_velocity_b_rad_s, - const libra::Vector<3> angular_velocity_cantilever_rad_s, const libra::Quaternion quaternion_i2b, - const libra::Vector<3> euler_angule_cantilever_rad) const { - libra::Vector<13> state; + math::Vector<13> SetStateFromPhysicalQuantities(const math::Vector<3> angular_velocity_b_rad_s, + const math::Vector<3> angular_velocity_cantilever_rad_s, const libra::Quaternion quaternion_i2b, + const math::Vector<3> euler_angule_cantilever_rad) const { + math::Vector<13> state; for (size_t i = 0; i < 3; i++) { state[i] = angular_velocity_b_rad_s[i]; } @@ -52,9 +52,9 @@ class AttitudeWithCantileverVibrationOde : public InterfaceOde<13> { * @brief Set physical quantities from state acquired by calculation of the ordinary differential equation * @param [in] state: state variables used to calculate the ordinary differential equation */ - void SetPhysicalQuantitiesFromState(const libra::Vector<13> state, libra::Vector<3>& angular_velocity_b_rad_s, - libra::Vector<3>& angular_velocity_cantilever_rad_s, libra::Quaternion& quaternion_i2b, - libra::Vector<3>& euler_angular_cantilever_rad) const { + void SetPhysicalQuantitiesFromState(const math::Vector<13> state, math::Vector<3>& angular_velocity_b_rad_s, + math::Vector<3>& angular_velocity_cantilever_rad_s, libra::Quaternion& quaternion_i2b, + math::Vector<3>& euler_angular_cantilever_rad) const { for (size_t i = 0; i < 3; i++) { angular_velocity_b_rad_s[i] = state[i]; } @@ -72,24 +72,24 @@ class AttitudeWithCantileverVibrationOde : public InterfaceOde<13> { Vector<13> DerivativeFunction(const double time_s, const Vector<13>& state) const override { UNUSED(time_s); - libra::Vector<13> output; + math::Vector<13> output; - libra::Vector<3> omega_b_rad_s; - libra::Vector<3> omega_cantilever_rad_s; + math::Vector<3> omega_b_rad_s; + math::Vector<3> omega_cantilever_rad_s; libra::Quaternion quaternion_i2b; - libra::Vector<3> euler_angle_cantilever_rad; + math::Vector<3> euler_angle_cantilever_rad; SetPhysicalQuantitiesFromState(state, omega_b_rad_s, omega_cantilever_rad_s, quaternion_i2b, euler_angle_cantilever_rad); - libra::Vector<3> angular_momentum_total_b_Nms = (previous_inertia_tensor_kgm2_ * omega_b_rad_s) + angular_momentum_reaction_wheel_b_Nms_; - libra::Vector<3> net_torque_b_Nm = torque_b_Nm_ - libra::OuterProduct(omega_b_rad_s, angular_momentum_total_b_Nms) - torque_inertia_tensor_b_Nm_; + math::Vector<3> angular_momentum_total_b_Nms = (previous_inertia_tensor_kgm2_ * omega_b_rad_s) + angular_momentum_reaction_wheel_b_Nms_; + math::Vector<3> net_torque_b_Nm = torque_b_Nm_ - libra::OuterProduct(omega_b_rad_s, angular_momentum_total_b_Nms) - torque_inertia_tensor_b_Nm_; - libra::Vector<3> angular_accelaration_cantilever_rad_s2 = + math::Vector<3> angular_accelaration_cantilever_rad_s2 = -(inverse_equivalent_inertia_tensor_cantilever_ * (attenuation_coefficient_ * omega_cantilever_rad_s + spring_coefficient_ * euler_angle_cantilever_rad)) - inverse_inertia_tensor_ * net_torque_b_Nm; - libra::Vector<3> rhs = inverse_inertia_tensor_ * (net_torque_b_Nm - inertia_tensor_cantilever_kgm2_ * angular_accelaration_cantilever_rad_s2); + math::Vector<3> rhs = inverse_inertia_tensor_ * (net_torque_b_Nm - inertia_tensor_cantilever_kgm2_ * angular_accelaration_cantilever_rad_s2); for (size_t i = 0; i < 3; ++i) { output[i] = rhs[i]; @@ -99,7 +99,7 @@ class AttitudeWithCantileverVibrationOde : public InterfaceOde<13> { output[i + 3] = angular_accelaration_cantilever_rad_s2[i]; } - libra::Vector<4> d_quaternion = 0.5 * CalcAngularVelocityMatrix(omega_b_rad_s) * (libra::Vector<4>(quaternion_i2b)); + math::Vector<4> d_quaternion = 0.5 * CalcAngularVelocityMatrix(omega_b_rad_s) * (math::Vector<4>(quaternion_i2b)); for (size_t i = 0; i < 4; i++) { output[i + 6] = d_quaternion[i]; @@ -130,7 +130,7 @@ class AttitudeWithCantileverVibrationOde : public InterfaceOde<13> { * @fn GetTorqueInertiaTensor_b_Nm * @brief Get torque generated by inertia tensor [Nm] */ - inline libra::Vector<3> GetTorqueInertiaTensor_b_Nm() { return torque_inertia_tensor_b_Nm_; } + inline math::Vector<3> GetTorqueInertiaTensor_b_Nm() { return torque_inertia_tensor_b_Nm_; } /** * @fn GetInverseInertiaTensor * @brief Get inverse of inertia tensor @@ -167,19 +167,19 @@ class AttitudeWithCantileverVibrationOde : public InterfaceOde<13> { * @fn SetTorque_b_Nm * @brief Set torque acting on the spacecraft on the body fixed frame [Nm] */ - inline void SetTorque_b_Nm(const libra::Vector<3> torque_b_Nm) { torque_b_Nm_ = torque_b_Nm; } + inline void SetTorque_b_Nm(const math::Vector<3> torque_b_Nm) { torque_b_Nm_ = torque_b_Nm; } /** * @fn SetTorqueInertiaTensor_b_Nm * @brief Set torque generated by inertia tensor [Nm] */ - inline void SetTorqueInertiaTensor_b_Nm(const libra::Vector<3> torque_inertia_tensor_b_Nm) { + inline void SetTorqueInertiaTensor_b_Nm(const math::Vector<3> torque_inertia_tensor_b_Nm) { torque_inertia_tensor_b_Nm_ = torque_inertia_tensor_b_Nm; } /** * @fn SetAngularMomentumReactionWheel_b_Nms * @brief Set angular momentum of reaction wheel in the body fixed frame [Nms] */ - inline void SetAngularMomentumReactionWheel_b_Nms(const libra::Vector<3> angular_momentum_reaction_wheel_b_Nms) { + inline void SetAngularMomentumReactionWheel_b_Nms(const math::Vector<3> angular_momentum_reaction_wheel_b_Nms) { angular_momentum_reaction_wheel_b_Nms_ = angular_momentum_reaction_wheel_b_Nms; } /** @@ -212,9 +212,9 @@ class AttitudeWithCantileverVibrationOde : public InterfaceOde<13> { protected: double attenuation_coefficient_ = 0.0; //!< Attenuation coefficient double spring_coefficient_ = 0.0; //!< Spring coefficient - libra::Vector<3> torque_b_Nm_{0.0}; //!< Torque in the body fixed frame [Nm] - libra::Vector<3> torque_inertia_tensor_b_Nm_{0.0}; //!< Torque generated by inertia tensor [Nm] - libra::Vector<3> angular_momentum_reaction_wheel_b_Nms_{0.0}; //!< Angular momentum of reaction wheel in the body fixed frame [Nms] + math::Vector<3> torque_b_Nm_{0.0}; //!< Torque in the body fixed frame [Nm] + math::Vector<3> torque_inertia_tensor_b_Nm_{0.0}; //!< Torque generated by inertia tensor [Nm] + math::Vector<3> angular_momentum_reaction_wheel_b_Nms_{0.0}; //!< Angular momentum of reaction wheel in the body fixed frame [Nms] math::Matrix<3, 3> inverse_inertia_tensor_{0.0}; //!< Inverse of inertia tensor math::Matrix<3, 3> previous_inertia_tensor_kgm2_{0.0}; //!< Previous inertia tensor [kgm2] math::Matrix<3, 3> inertia_tensor_cantilever_kgm2_{0.0}; //!< Inertia tensor of the cantilever [kgm2] diff --git a/src/dynamics/dynamics.cpp b/src/dynamics/dynamics.cpp index 04d0886a7..ef54a9f29 100644 --- a/src/dynamics/dynamics.cpp +++ b/src/dynamics/dynamics.cpp @@ -59,7 +59,7 @@ void Dynamics::Update(const SimulationTime* simulation_time, const LocalCelestia } void Dynamics::ClearForceTorque(void) { - libra::Vector<3> zero(0.0); + math::Vector<3> zero(0.0); attitude_->SetTorque_b_Nm(zero); orbit_->SetAcceleration_i_m_s2(zero); } diff --git a/src/dynamics/dynamics.hpp b/src/dynamics/dynamics.hpp index e8a366555..327cc399a 100644 --- a/src/dynamics/dynamics.hpp +++ b/src/dynamics/dynamics.hpp @@ -63,13 +63,13 @@ class Dynamics { * @brief Add input torque for the attitude dynamics propagation * @param [in] torque_b_Nm: Torque in the body fixed frame [Nm] */ - inline void AddTorque_b_Nm(libra::Vector<3> torque_b_Nm) { attitude_->AddTorque_b_Nm(torque_b_Nm); } + inline void AddTorque_b_Nm(math::Vector<3> torque_b_Nm) { attitude_->AddTorque_b_Nm(torque_b_Nm); } /** * @fn AddForce_b_N * @brief Add input force for the orbit dynamics propagation * @param [in] force_b_N: Force in the body fixed frame [N] */ - inline void AddForce_b_N(libra::Vector<3> force_b_N) { + inline void AddForce_b_N(math::Vector<3> force_b_N) { orbit_->AddForce_b_N(force_b_N, attitude_->GetQuaternion_i2b(), structure_->GetKinematicsParameters().GetMass_kg()); } /** @@ -77,7 +77,7 @@ class Dynamics { * @brief Add input acceleration for the orbit dynamics propagation * @param [in] acceleration_i_m_s2: Acceleration in the inertial fixed frame [N] */ - inline void AddAcceleration_i_m_s2(libra::Vector<3> acceleration_i_m_s2) { orbit_->AddAcceleration_i_m_s2(acceleration_i_m_s2); } + inline void AddAcceleration_i_m_s2(math::Vector<3> acceleration_i_m_s2) { orbit_->AddAcceleration_i_m_s2(acceleration_i_m_s2); } /** * @fn ClearForceTorque diff --git a/src/dynamics/orbit/encke_orbit_propagation.cpp b/src/dynamics/orbit/encke_orbit_propagation.cpp index 55dd09adc..7cb480bca 100644 --- a/src/dynamics/orbit/encke_orbit_propagation.cpp +++ b/src/dynamics/orbit/encke_orbit_propagation.cpp @@ -10,8 +10,8 @@ #include "../../math_physics/orbit/orbital_elements.hpp" EnckeOrbitPropagation::EnckeOrbitPropagation(const CelestialInformation* celestial_information, const double gravity_constant_m3_s2, - const double propagation_step_s, const double current_time_jd, const libra::Vector<3> position_i_m, - const libra::Vector<3> velocity_i_m_s, const double error_tolerance) + const double propagation_step_s, const double current_time_jd, const math::Vector<3> position_i_m, + const math::Vector<3> velocity_i_m_s, const double error_tolerance) : Orbit(celestial_information), libra::OrdinaryDifferentialEquation<6>(propagation_step_s), gravity_constant_m3_s2_(gravity_constant_m3_s2), @@ -60,9 +60,9 @@ void EnckeOrbitPropagation::Propagate(const double end_time_s, const double curr } // Functions for OrdinaryDifferentialEquation -void EnckeOrbitPropagation::DerivativeFunction(double t, const libra::Vector<6>& state, libra::Vector<6>& rhs) { +void EnckeOrbitPropagation::DerivativeFunction(double t, const math::Vector<6>& state, math::Vector<6>& rhs) { UNUSED(t); - libra::Vector<3> difference_position_i_m_m, difference_acc_i_m_s2; + math::Vector<3> difference_position_i_m_m, difference_acc_i_m_s2; for (int i = 0; i < 3; i++) { difference_position_i_m_m[i] = state[i]; } @@ -83,7 +83,7 @@ void EnckeOrbitPropagation::DerivativeFunction(double t, const libra::Vector<6>& } // Private Functions -void EnckeOrbitPropagation::Initialize(double current_time_jd, libra::Vector<3> reference_position_i_m, libra::Vector<3> reference_velocity_i_m_s) { +void EnckeOrbitPropagation::Initialize(double current_time_jd, math::Vector<3> reference_position_i_m, math::Vector<3> reference_velocity_i_m_s) { // General spacecraft_acceleration_i_m_s2_.FillUp(0.0); @@ -97,7 +97,7 @@ void EnckeOrbitPropagation::Initialize(double current_time_jd, libra::Vector<3> difference_position_i_m_.FillUp(0.0); difference_velocity_i_m_s_.FillUp(0.0); - libra::Vector<6> zero(0.0f); + math::Vector<6> zero(0.0f); Setup(0.0, zero); UpdateSatOrbit(); @@ -111,11 +111,11 @@ void EnckeOrbitPropagation::UpdateSatOrbit() { TransformEcefToGeodetic(); } -double EnckeOrbitPropagation::CalcQFunction(libra::Vector<3> difference_position_i_m) { +double EnckeOrbitPropagation::CalcQFunction(math::Vector<3> difference_position_i_m) { double r2; r2 = InnerProduct(spacecraft_position_i_m_, spacecraft_position_i_m_); - libra::Vector<3> dr_2r; + math::Vector<3> dr_2r; dr_2r = difference_position_i_m - 2.0 * spacecraft_position_i_m_; double q = InnerProduct(difference_position_i_m, dr_2r) / r2; diff --git a/src/dynamics/orbit/encke_orbit_propagation.hpp b/src/dynamics/orbit/encke_orbit_propagation.hpp index f8648730a..54b324fe1 100644 --- a/src/dynamics/orbit/encke_orbit_propagation.hpp +++ b/src/dynamics/orbit/encke_orbit_propagation.hpp @@ -28,7 +28,7 @@ class EnckeOrbitPropagation : public Orbit, public libra::OrdinaryDifferentialEq * @param [in] error_tolerance: Error tolerance threshold */ EnckeOrbitPropagation(const CelestialInformation* celestial_information, const double gravity_constant_m3_s2, const double propagation_step_s, - const double current_time_jd, const libra::Vector<3> position_i_m, const libra::Vector<3> velocity_i_m_s, + const double current_time_jd, const math::Vector<3> position_i_m, const math::Vector<3> velocity_i_m_s, const double error_tolerance); /** * @fn ~EnckeOrbitPropagation @@ -53,7 +53,7 @@ class EnckeOrbitPropagation : public Orbit, public libra::OrdinaryDifferentialEq * @param [in] state: Position and velocity as state vector * @param [out] rhs: Output of the function */ - virtual void DerivativeFunction(double t, const libra::Vector<6>& state, libra::Vector<6>& rhs); + virtual void DerivativeFunction(double t, const math::Vector<6>& state, math::Vector<6>& rhs); private: // General @@ -63,13 +63,13 @@ class EnckeOrbitPropagation : public Orbit, public libra::OrdinaryDifferentialEq double propagation_time_s_; //!< Simulation current time for numerical integration by RK4 // reference orbit - libra::Vector<3> reference_position_i_m_; //!< Reference orbit position in the inertial frame [m] - libra::Vector<3> reference_velocity_i_m_s_; //!< Reference orbit velocity in the inertial frame [m/s] + math::Vector<3> reference_position_i_m_; //!< Reference orbit position in the inertial frame [m] + math::Vector<3> reference_velocity_i_m_s_; //!< Reference orbit velocity in the inertial frame [m/s] KeplerOrbit reference_kepler_orbit; //!< Reference Kepler orbital element // difference orbit - libra::Vector<3> difference_position_i_m_; //!< Difference orbit position in the inertial frame [m] - libra::Vector<3> difference_velocity_i_m_s_; //!< Difference orbit velocity in the inertial frame [m/s] + math::Vector<3> difference_position_i_m_; //!< Difference orbit position in the inertial frame [m] + math::Vector<3> difference_velocity_i_m_s_; //!< Difference orbit velocity in the inertial frame [m/s] // functions /** @@ -79,7 +79,7 @@ class EnckeOrbitPropagation : public Orbit, public libra::OrdinaryDifferentialEq * @param [in] reference_position_i_m: Initial value of reference orbit position in the inertial frame [m] * @param [in] reference_velocity_i_m_s: Initial value of reference orbit position in the inertial frame [m] */ - void Initialize(const double current_time_jd, const libra::Vector<3> reference_position_i_m, const libra::Vector<3> reference_velocity_i_m_s); + void Initialize(const double current_time_jd, const math::Vector<3> reference_position_i_m, const math::Vector<3> reference_velocity_i_m_s); /** * @fn UpdateSatOrbit * @brief Update satellite orbit @@ -90,7 +90,7 @@ class EnckeOrbitPropagation : public Orbit, public libra::OrdinaryDifferentialEq * @brief Calculate Q function * @param [in] difference_position_i_m: Difference of position in the inertial frame [m] */ - double CalcQFunction(const libra::Vector<3> difference_position_i_m); + double CalcQFunction(const math::Vector<3> difference_position_i_m); }; #endif // S2E_DYNAMICS_ORBIT_ENCKE_ORBIT_PROPAGATION_HPP_ diff --git a/src/dynamics/orbit/initialize_orbit.cpp b/src/dynamics/orbit/initialize_orbit.cpp index 4ab11afdb..9921da134 100644 --- a/src/dynamics/orbit/initialize_orbit.cpp +++ b/src/dynamics/orbit/initialize_orbit.cpp @@ -26,9 +26,9 @@ Orbit* InitOrbit(const CelestialInformation* celestial_information, std::string if (propagate_mode == "RK4") { // initialize RK4 orbit propagator - libra::Vector<3> position_i_m; - libra::Vector<3> velocity_i_m_s; - libra::Vector<6> pos_vel = InitializePosVel(initialize_file, current_time_jd, gravity_constant_m3_s2); + math::Vector<3> position_i_m; + math::Vector<3> velocity_i_m_s; + math::Vector<6> pos_vel = InitializePosVel(initialize_file, current_time_jd, gravity_constant_m3_s2); for (size_t i = 0; i < 3; i++) { position_i_m[i] = pos_vel[i]; velocity_i_m_s[i] = pos_vel[i + 3]; @@ -49,9 +49,9 @@ Orbit* InitOrbit(const CelestialInformation* celestial_information, std::string RelativeOrbitModel relative_dynamics_model_type = (RelativeOrbitModel)(conf.ReadInt(section_, "relative_dynamics_model_type")); StmModel stm_model_type = (StmModel)(conf.ReadInt(section_, "stm_model_type")); - libra::Vector<3> init_relative_position_lvlh; + math::Vector<3> init_relative_position_lvlh; conf.ReadVector<3>(section_, "initial_relative_position_lvlh_m", init_relative_position_lvlh); - libra::Vector<3> init_relative_velocity_lvlh; + math::Vector<3> init_relative_velocity_lvlh; conf.ReadVector<3>(section_, "initial_relative_velocity_lvlh_m_s", init_relative_velocity_lvlh); // There is a possibility that the orbit of the reference sat is not initialized when RelativeOrbit initialization is called To ensure that @@ -66,9 +66,9 @@ Orbit* InitOrbit(const CelestialInformation* celestial_information, std::string // TODO: init_mode_kepler should be removed in the next major update if (initialize_mode == OrbitInitializeMode::kInertialPositionAndVelocity) { // initialize with position and velocity - libra::Vector<3> init_pos_m; + math::Vector<3> init_pos_m; conf.ReadVector<3>(section_, "initial_position_i_m", init_pos_m); - libra::Vector<3> init_vel_m_s; + math::Vector<3> init_vel_m_s; conf.ReadVector<3>(section_, "initial_velocity_i_m_s", init_vel_m_s); oe = OrbitalElements(gravity_constant_m3_s2, current_time_jd, init_pos_m, init_vel_m_s); } else { @@ -85,9 +85,9 @@ Orbit* InitOrbit(const CelestialInformation* celestial_information, std::string orbit = new KeplerOrbitPropagation(celestial_information, current_time_jd, kepler_orbit); } else if (propagate_mode == "ENCKE") { // initialize orbit for Encke's method - libra::Vector<3> position_i_m; - libra::Vector<3> velocity_i_m_s; - libra::Vector<6> pos_vel = InitializePosVel(initialize_file, current_time_jd, gravity_constant_m3_s2); + math::Vector<3> position_i_m; + math::Vector<3> velocity_i_m_s; + math::Vector<6> pos_vel = InitializePosVel(initialize_file, current_time_jd, gravity_constant_m3_s2); for (size_t i = 0; i < 3; i++) { position_i_m[i] = pos_vel[i]; velocity_i_m_s[i] = pos_vel[i + 3]; @@ -100,9 +100,9 @@ Orbit* InitOrbit(const CelestialInformation* celestial_information, std::string std::cerr << "ERROR: orbit propagation mode: " << propagate_mode << " is not defined!" << std::endl; std::cerr << "The orbit mode is automatically set as RK4" << std::endl; - libra::Vector<3> position_i_m; - libra::Vector<3> velocity_i_m_s; - libra::Vector<6> pos_vel = InitializePosVel(initialize_file, current_time_jd, gravity_constant_m3_s2); + math::Vector<3> position_i_m; + math::Vector<3> velocity_i_m_s; + math::Vector<6> pos_vel = InitializePosVel(initialize_file, current_time_jd, gravity_constant_m3_s2); for (size_t i = 0; i < 3; i++) { position_i_m[i] = pos_vel[i]; velocity_i_m_s[i] = pos_vel[i + 3]; @@ -115,12 +115,12 @@ Orbit* InitOrbit(const CelestialInformation* celestial_information, std::string return orbit; } -libra::Vector<6> InitializePosVel(std::string initialize_file, double current_time_jd, double gravity_constant_m3_s2, std::string section) { +math::Vector<6> InitializePosVel(std::string initialize_file, double current_time_jd, double gravity_constant_m3_s2, std::string section) { auto conf = IniAccess(initialize_file); const char* section_ = section.c_str(); - libra::Vector<3> position_i_m; - libra::Vector<3> velocity_i_m_s; - libra::Vector<6> pos_vel; + math::Vector<3> position_i_m; + math::Vector<3> velocity_i_m_s; + math::Vector<6> pos_vel; OrbitInitializeMode initialize_mode = SetOrbitInitializeMode(conf.ReadString(section_, "initialize_mode")); if (initialize_mode == OrbitInitializeMode::kOrbitalElements) { diff --git a/src/dynamics/orbit/initialize_orbit.hpp b/src/dynamics/orbit/initialize_orbit.hpp index e2b8363a8..6b3aad69f 100644 --- a/src/dynamics/orbit/initialize_orbit.hpp +++ b/src/dynamics/orbit/initialize_orbit.hpp @@ -35,6 +35,6 @@ Orbit* InitOrbit(const CelestialInformation* celestial_information, std::string * @param [in] gravity_constant_m3_s2: Gravity constant [m3/s2] * @param [in] section: Section name */ -libra::Vector<6> InitializePosVel(std::string initialize_file, double current_time_jd, double gravity_constant_m3_s2, std::string section = "ORBIT"); +math::Vector<6> InitializePosVel(std::string initialize_file, double current_time_jd, double gravity_constant_m3_s2, std::string section = "ORBIT"); #endif // S2E_DYNAMICS_ORBIT_INITIALIZE_ORBIT_HPP_ diff --git a/src/dynamics/orbit/orbit.cpp b/src/dynamics/orbit/orbit.cpp index ca204c69f..9a89390a6 100644 --- a/src/dynamics/orbit/orbit.cpp +++ b/src/dynamics/orbit/orbit.cpp @@ -5,13 +5,13 @@ #include "orbit.hpp" libra::Quaternion Orbit::CalcQuaternion_i2lvlh() const { - libra::Vector<3> lvlh_x = spacecraft_position_i_m_; // x-axis in LVLH frame is position vector direction from geocenter to satellite - libra::Vector<3> lvlh_ex = lvlh_x.CalcNormalizedVector(); - libra::Vector<3> lvlh_z = + math::Vector<3> lvlh_x = spacecraft_position_i_m_; // x-axis in LVLH frame is position vector direction from geocenter to satellite + math::Vector<3> lvlh_ex = lvlh_x.CalcNormalizedVector(); + math::Vector<3> lvlh_z = OuterProduct(spacecraft_position_i_m_, spacecraft_velocity_i_m_s_); // z-axis in LVLH frame is angular momentum vector direction of orbit - libra::Vector<3> lvlh_ez = lvlh_z.CalcNormalizedVector(); - libra::Vector<3> lvlh_y = OuterProduct(lvlh_z, lvlh_x); - libra::Vector<3> lvlh_ey = lvlh_y.CalcNormalizedVector(); + math::Vector<3> lvlh_ez = lvlh_z.CalcNormalizedVector(); + math::Vector<3> lvlh_y = OuterProduct(lvlh_z, lvlh_x); + math::Vector<3> lvlh_ey = lvlh_y.CalcNormalizedVector(); math::Matrix<3, 3> dcm_i2lvlh; dcm_i2lvlh[0][0] = lvlh_ex[0]; @@ -33,10 +33,10 @@ void Orbit::TransformEciToEcef(void) { spacecraft_position_ecef_m_ = dcm_i_to_xcxf * spacecraft_position_i_m_; // convert velocity vector in ECI to the vector in ECEF - libra::Vector<3> earth_angular_velocity_i_rad_s{0.0}; + math::Vector<3> earth_angular_velocity_i_rad_s{0.0}; earth_angular_velocity_i_rad_s[2] = environment::earth_mean_angular_velocity_rad_s; - libra::Vector<3> we_cross_r = OuterProduct(earth_angular_velocity_i_rad_s, spacecraft_position_i_m_); - libra::Vector<3> velocity_we_cross_r = spacecraft_velocity_i_m_s_ - we_cross_r; + math::Vector<3> we_cross_r = OuterProduct(earth_angular_velocity_i_rad_s, spacecraft_position_i_m_); + math::Vector<3> velocity_we_cross_r = spacecraft_velocity_i_m_s_ - we_cross_r; spacecraft_velocity_ecef_m_s_ = dcm_i_to_xcxf * velocity_we_cross_r; } diff --git a/src/dynamics/orbit/orbit.hpp b/src/dynamics/orbit/orbit.hpp index 6ddcfe289..496774cf3 100644 --- a/src/dynamics/orbit/orbit.hpp +++ b/src/dynamics/orbit/orbit.hpp @@ -88,27 +88,27 @@ class Orbit : public ILoggable { * @fn GetPosition_i_m * @brief Return spacecraft position in the inertial frame [m] */ - inline libra::Vector<3> GetPosition_i_m() const { return spacecraft_position_i_m_; } + inline math::Vector<3> GetPosition_i_m() const { return spacecraft_position_i_m_; } /** * @fn GetPosition_ecef_m * @brief Return spacecraft position in the ECEF frame [m] */ - inline libra::Vector<3> GetPosition_ecef_m() const { return spacecraft_position_ecef_m_; } + inline math::Vector<3> GetPosition_ecef_m() const { return spacecraft_position_ecef_m_; } /** * @fn GetVelocity_i_m_s * @brief Return spacecraft velocity in the inertial frame [m/s] */ - inline libra::Vector<3> GetVelocity_i_m_s() const { return spacecraft_velocity_i_m_s_; } + inline math::Vector<3> GetVelocity_i_m_s() const { return spacecraft_velocity_i_m_s_; } /** * @fn GetVelocity_b_m_s * @brief Return spacecraft velocity in the body fixed frame [m/s] */ - inline libra::Vector<3> GetVelocity_b_m_s() const { return spacecraft_velocity_b_m_s_; } + inline math::Vector<3> GetVelocity_b_m_s() const { return spacecraft_velocity_b_m_s_; } /** * @fn GetVelocity_ecef_m_s * @brief Return spacecraft velocity in the ECEF frame [m/s] */ - inline libra::Vector<3> GetVelocity_ecef_m_s() const { return spacecraft_velocity_ecef_m_s_; } + inline math::Vector<3> GetVelocity_ecef_m_s() const { return spacecraft_velocity_ecef_m_s_; } /** * @fn GetGeodeticPosition * @brief Return spacecraft position in the geodetic frame [m] @@ -119,8 +119,8 @@ class Orbit : public ILoggable { inline double GetLatitude_rad() const { return spacecraft_geodetic_position_.GetLatitude_rad(); } inline double GetLongitude_rad() const { return spacecraft_geodetic_position_.GetLongitude_rad(); } inline double GetAltitude_m() const { return spacecraft_geodetic_position_.GetAltitude_m(); } - inline libra::Vector<3> GetLatLonAlt() const { - libra::Vector<3> vec; + inline math::Vector<3> GetLatLonAlt() const { + math::Vector<3> vec; vec(0) = spacecraft_geodetic_position_.GetLatitude_rad(); vec(1) = spacecraft_geodetic_position_.GetLongitude_rad(); vec(2) = spacecraft_geodetic_position_.GetAltitude_m(); @@ -137,15 +137,15 @@ class Orbit : public ILoggable { * @fn SetAcceleration_i_m_s2 * @brief Set acceleration in the inertial frame [m/s2] */ - inline void SetAcceleration_i_m_s2(const libra::Vector<3> acceleration_i_m_s2) { spacecraft_acceleration_i_m_s2_ = acceleration_i_m_s2; } + inline void SetAcceleration_i_m_s2(const math::Vector<3> acceleration_i_m_s2) { spacecraft_acceleration_i_m_s2_ = acceleration_i_m_s2; } /** * @fn AddForce_i_N * @brief Add force * @param [in] force_i: Force in the inertial frame [N] * @param [in] spacecraft_mass_kg: Mass of spacecraft [kg] */ - inline void AddForce_i_N(const libra::Vector<3> force_i_N, double spacecraft_mass_kg) { - libra::Vector<3> acceleration_i_m_s2 = force_i_N; + inline void AddForce_i_N(const math::Vector<3> force_i_N, double spacecraft_mass_kg) { + math::Vector<3> acceleration_i_m_s2 = force_i_N; acceleration_i_m_s2 /= spacecraft_mass_kg; // FIXME spacecraft_acceleration_i_m_s2_ += acceleration_i_m_s2; } @@ -153,7 +153,7 @@ class Orbit : public ILoggable { * @fn AddAcceleration_i_m_s2 * @brief Add acceleration in the inertial frame [m/s2] */ - inline void AddAcceleration_i_m_s2(const libra::Vector<3> acceleration_i_m_s2) { spacecraft_acceleration_i_m_s2_ += acceleration_i_m_s2; } + inline void AddAcceleration_i_m_s2(const math::Vector<3> acceleration_i_m_s2) { spacecraft_acceleration_i_m_s2_ += acceleration_i_m_s2; } /** * @fn AddForce_i_N * @brief Add force @@ -161,7 +161,7 @@ class Orbit : public ILoggable { * @param [in] quaternion_i2b: Quaternion from the inertial frame to the body fixed frame * @param [in] spacecraft_mass_kg: Mass of spacecraft [kg] */ - inline void AddForce_b_N(const libra::Vector<3> force_b_N, const libra::Quaternion quaternion_i2b, const double spacecraft_mass_kg) { + inline void AddForce_b_N(const math::Vector<3> force_b_N, const libra::Quaternion quaternion_i2b, const double spacecraft_mass_kg) { auto force_i = quaternion_i2b.InverseFrameConversion(force_b_N); AddForce_i_N(force_i, spacecraft_mass_kg); } @@ -191,15 +191,15 @@ class Orbit : public ILoggable { bool is_calc_enabled_ = false; //!< Calculate flag OrbitPropagateMode propagate_mode_; //!< Propagation mode - libra::Vector<3> spacecraft_position_i_m_; //!< Spacecraft position in the inertial frame [m] - libra::Vector<3> spacecraft_position_ecef_m_; //!< Spacecraft position in the ECEF frame [m] + math::Vector<3> spacecraft_position_i_m_; //!< Spacecraft position in the inertial frame [m] + math::Vector<3> spacecraft_position_ecef_m_; //!< Spacecraft position in the ECEF frame [m] GeodeticPosition spacecraft_geodetic_position_; //!< Spacecraft position in the Geodetic frame - libra::Vector<3> spacecraft_velocity_i_m_s_; //!< Spacecraft velocity in the inertial frame [m/s] - libra::Vector<3> spacecraft_velocity_b_m_s_; //!< Spacecraft velocity in the body frame [m/s] - libra::Vector<3> spacecraft_velocity_ecef_m_s_; //!< Spacecraft velocity in the ECEF frame [m/s] + math::Vector<3> spacecraft_velocity_i_m_s_; //!< Spacecraft velocity in the inertial frame [m/s] + math::Vector<3> spacecraft_velocity_b_m_s_; //!< Spacecraft velocity in the body frame [m/s] + math::Vector<3> spacecraft_velocity_ecef_m_s_; //!< Spacecraft velocity in the ECEF frame [m/s] - libra::Vector<3> spacecraft_acceleration_i_m_s2_; //!< Spacecraft acceleration in the inertial frame [m/s2] + math::Vector<3> spacecraft_acceleration_i_m_s2_; //!< Spacecraft acceleration in the inertial frame [m/s2] //!< NOTE: Clear to zero at the end of the Propagate function // Frame Conversion TODO: consider other planet diff --git a/src/dynamics/orbit/relative_orbit.cpp b/src/dynamics/orbit/relative_orbit.cpp index 402129504..bc05b06d8 100644 --- a/src/dynamics/orbit/relative_orbit.cpp +++ b/src/dynamics/orbit/relative_orbit.cpp @@ -9,7 +9,7 @@ #include "rk4_orbit_propagation.hpp" RelativeOrbit::RelativeOrbit(const CelestialInformation* celestial_information, double gravity_constant_m3_s2, double time_step_s, - int reference_spacecraft_id, libra::Vector<3> relative_position_lvlh_m, libra::Vector<3> relative_velocity_lvlh_m_s, + int reference_spacecraft_id, math::Vector<3> relative_position_lvlh_m, math::Vector<3> relative_velocity_lvlh_m_s, RelativeOrbitUpdateMethod update_method, RelativeOrbitModel relative_dynamics_model_type, StmModel stm_model_type, RelativeInformation* relative_information) : Orbit(celestial_information), @@ -30,7 +30,7 @@ RelativeOrbit::RelativeOrbit(const CelestialInformation* celestial_information, RelativeOrbit::~RelativeOrbit() {} -void RelativeOrbit::InitializeState(libra::Vector<3> relative_position_lvlh_m, libra::Vector<3> relative_velocity_lvlh_m_s, +void RelativeOrbit::InitializeState(math::Vector<3> relative_position_lvlh_m, math::Vector<3> relative_velocity_lvlh_m_s, double gravity_constant_m3_s2, double initial_time_s) { relative_position_lvlh_m_ = relative_position_lvlh_m; relative_velocity_lvlh_m_s_ = relative_velocity_lvlh_m_s; @@ -38,8 +38,8 @@ void RelativeOrbit::InitializeState(libra::Vector<3> relative_position_lvlh_m, l // Disturbance acceleration are not considered in relative orbit propagation spacecraft_acceleration_i_m_s2_ *= 0.0; - libra::Vector<3> reference_sat_position_i = relative_information_->GetReferenceSatDynamics(reference_spacecraft_id_)->GetOrbit().GetPosition_i_m(); - libra::Vector<3> reference_sat_velocity_i = + math::Vector<3> reference_sat_position_i = relative_information_->GetReferenceSatDynamics(reference_spacecraft_id_)->GetOrbit().GetPosition_i_m(); + math::Vector<3> reference_sat_velocity_i = relative_information_->GetReferenceSatDynamics(reference_spacecraft_id_)->GetOrbit().GetVelocity_i_m_s(); libra::Quaternion q_i2lvlh = relative_information_->GetReferenceSatDynamics(reference_spacecraft_id_)->GetOrbit().CalcQuaternion_i2lvlh(); libra::Quaternion q_lvlh2i = q_i2lvlh.Conjugate(); @@ -108,8 +108,8 @@ void RelativeOrbit::Propagate(const double end_time_s, const double current_time PropagateStm(end_time_s); } - libra::Vector<3> reference_sat_position_i = relative_information_->GetReferenceSatDynamics(reference_spacecraft_id_)->GetOrbit().GetPosition_i_m(); - libra::Vector<3> reference_sat_velocity_i = + math::Vector<3> reference_sat_position_i = relative_information_->GetReferenceSatDynamics(reference_spacecraft_id_)->GetOrbit().GetPosition_i_m(); + math::Vector<3> reference_sat_velocity_i = relative_information_->GetReferenceSatDynamics(reference_spacecraft_id_)->GetOrbit().GetVelocity_i_m_s(); libra::Quaternion q_i2lvlh = relative_information_->GetReferenceSatDynamics(reference_spacecraft_id_)->GetOrbit().CalcQuaternion_i2lvlh(); libra::Quaternion q_lvlh2i = q_i2lvlh.Conjugate(); @@ -139,7 +139,7 @@ void RelativeOrbit::PropagateRk4(double elapsed_sec) { } void RelativeOrbit::PropagateStm(double elapsed_sec) { - libra::Vector<6> current_state; + math::Vector<6> current_state; CalculateStm(stm_model_type_, &(relative_information_->GetReferenceSatDynamics(reference_spacecraft_id_)->GetOrbit()), gravity_constant_m3_s2_, elapsed_sec); current_state = stm_ * initial_state_; @@ -152,8 +152,8 @@ void RelativeOrbit::PropagateStm(double elapsed_sec) { relative_velocity_lvlh_m_s_[2] = current_state[5]; } -void RelativeOrbit::DerivativeFunction(double t, const libra::Vector<6>& state, - libra::Vector<6>& rhs) // only for RK4 relative dynamics propagation +void RelativeOrbit::DerivativeFunction(double t, const math::Vector<6>& state, + math::Vector<6>& rhs) // only for RK4 relative dynamics propagation { rhs = system_matrix_ * state; (void)t; diff --git a/src/dynamics/orbit/relative_orbit.hpp b/src/dynamics/orbit/relative_orbit.hpp index 79b016d3e..eaa1e56cd 100644 --- a/src/dynamics/orbit/relative_orbit.hpp +++ b/src/dynamics/orbit/relative_orbit.hpp @@ -40,7 +40,7 @@ class RelativeOrbit : public Orbit, public libra::OrdinaryDifferentialEquation<6 * @param [in] relative_information: Relative information */ RelativeOrbit(const CelestialInformation* celestial_information, double gravity_constant_m3_s2, double time_step_s, int reference_spacecraft_id, - libra::Vector<3> relative_position_lvlh_m, libra::Vector<3> relative_velocity_lvlh_m_s, RelativeOrbitUpdateMethod update_method, + math::Vector<3> relative_position_lvlh_m, math::Vector<3> relative_velocity_lvlh_m_s, RelativeOrbitUpdateMethod update_method, RelativeOrbitModel relative_dynamics_model_type, StmModel stm_model_type, RelativeInformation* relative_information); /** * @fn ~RelativeOrbit @@ -76,9 +76,9 @@ class RelativeOrbit : public Orbit, public libra::OrdinaryDifferentialEquation<6 math::Matrix<6, 6> system_matrix_; //!< System matrix math::Matrix<6, 6> stm_; //!< State transition matrix - libra::Vector<6> initial_state_; //!< Initial state (Position and Velocity) - libra::Vector<3> relative_position_lvlh_m_; //!< Relative position in the LVLH frame - libra::Vector<3> relative_velocity_lvlh_m_s_; //!< Relative velocity in the LVLH frame + math::Vector<6> initial_state_; //!< Initial state (Position and Velocity) + math::Vector<3> relative_position_lvlh_m_; //!< Relative position in the LVLH frame + math::Vector<3> relative_velocity_lvlh_m_s_; //!< Relative velocity in the LVLH frame RelativeOrbitUpdateMethod update_method_; //!< Update method RelativeOrbitModel relative_dynamics_model_type_; //!< Relative dynamics model type @@ -93,7 +93,7 @@ class RelativeOrbit : public Orbit, public libra::OrdinaryDifferentialEquation<6 * @param [in] gravity_constant_m3_s2: Gravity constant of the center body [m3/s2] * @param [in] initial_time_s: Initialize time [sec] */ - void InitializeState(libra::Vector<3> relative_position_lvlh_m, libra::Vector<3> relative_velocity_lvlh_m_s, double gravity_constant_m3_s2, + void InitializeState(math::Vector<3> relative_position_lvlh_m, math::Vector<3> relative_velocity_lvlh_m_s, double gravity_constant_m3_s2, double initial_time_s = 0); /** * @fn CalculateSystemMatrix diff --git a/src/dynamics/orbit/rk4_orbit_propagation.cpp b/src/dynamics/orbit/rk4_orbit_propagation.cpp index ff14b33cc..38a6e39b2 100644 --- a/src/dynamics/orbit/rk4_orbit_propagation.cpp +++ b/src/dynamics/orbit/rk4_orbit_propagation.cpp @@ -9,7 +9,7 @@ #include Rk4OrbitPropagation::Rk4OrbitPropagation(const CelestialInformation* celestial_information, double gravity_constant_m3_s2, double time_step_s, - libra::Vector<3> position_i_m, libra::Vector<3> velocity_i_m_s, double initial_time_s) + math::Vector<3> position_i_m, math::Vector<3> velocity_i_m_s, double initial_time_s) : Orbit(celestial_information), OrdinaryDifferentialEquation<6>(time_step_s), gravity_constant_m3_s2_(gravity_constant_m3_s2) { propagate_mode_ = OrbitPropagateMode::kRk4; @@ -22,7 +22,7 @@ Rk4OrbitPropagation::Rk4OrbitPropagation(const CelestialInformation* celestial_i Rk4OrbitPropagation::~Rk4OrbitPropagation() {} -void Rk4OrbitPropagation::DerivativeFunction(double t, const libra::Vector<6>& state, libra::Vector<6>& rhs) { +void Rk4OrbitPropagation::DerivativeFunction(double t, const math::Vector<6>& state, math::Vector<6>& rhs) { double x = state[0], y = state[1], z = state[2]; double vx = state[3], vy = state[4], vz = state[5]; @@ -38,9 +38,9 @@ void Rk4OrbitPropagation::DerivativeFunction(double t, const libra::Vector<6>& s (void)t; } -void Rk4OrbitPropagation::Initialize(libra::Vector<3> position_i_m, libra::Vector<3> velocity_i_m_s, double initial_time_s) { +void Rk4OrbitPropagation::Initialize(math::Vector<3> position_i_m, math::Vector<3> velocity_i_m_s, double initial_time_s) { // state vector [x,y,z,vx,vy,vz] - libra::Vector<6> init_state; + math::Vector<6> init_state; init_state[0] = position_i_m[0]; init_state[1] = position_i_m[1]; init_state[2] = position_i_m[2]; diff --git a/src/dynamics/orbit/rk4_orbit_propagation.hpp b/src/dynamics/orbit/rk4_orbit_propagation.hpp index 253a3178b..5291d7e56 100644 --- a/src/dynamics/orbit/rk4_orbit_propagation.hpp +++ b/src/dynamics/orbit/rk4_orbit_propagation.hpp @@ -28,7 +28,7 @@ class Rk4OrbitPropagation : public Orbit, public libra::OrdinaryDifferentialEqua * @param [in] initial_time_s: Initial time [sec] */ Rk4OrbitPropagation(const CelestialInformation* celestial_information, double gravity_constant_m3_s2, double time_step_s, - libra::Vector<3> position_i_m, libra::Vector<3> velocity_i_m_s, double initial_time_s = 0); + math::Vector<3> position_i_m, math::Vector<3> velocity_i_m_s, double initial_time_s = 0); /** * @fn ~Rk4OrbitPropagation * @brief Destructor @@ -43,7 +43,7 @@ class Rk4OrbitPropagation : public Orbit, public libra::OrdinaryDifferentialEqua * @param [in] state: Position and velocity as state vector * @param [out] rhs: Output of the function */ - virtual void DerivativeFunction(double t, const libra::Vector<6>& state, libra::Vector<6>& rhs); + virtual void DerivativeFunction(double t, const math::Vector<6>& state, math::Vector<6>& rhs); // Override Orbit /** @@ -66,7 +66,7 @@ class Rk4OrbitPropagation : public Orbit, public libra::OrdinaryDifferentialEqua * @param [in] velocity_i_m_s: Initial value of velocity in the inertial frame [m/s] * @param [in] initial_time_s: Initial time [sec] */ - void Initialize(libra::Vector<3> position_i_m, libra::Vector<3> velocity_i_m_s, double initial_time_s = 0); + void Initialize(math::Vector<3> position_i_m, math::Vector<3> velocity_i_m_s, double initial_time_s = 0); }; #endif // S2E_DYNAMICS_ORBIT_RK4_ORBIT_PROPAGATION_HPP_ diff --git a/src/dynamics/thermal/node.cpp b/src/dynamics/thermal/node.cpp index e641ca2df..c40038d5f 100644 --- a/src/dynamics/thermal/node.cpp +++ b/src/dynamics/thermal/node.cpp @@ -13,7 +13,7 @@ using namespace std; using namespace libra; Node::Node(const size_t node_id, const string node_name, const NodeType node_type, const size_t heater_id, const double temperature_ini_K, - const double capacity_J_K, const double alpha, const double area_m2, libra::Vector<3> normal_vector_b) + const double capacity_J_K, const double alpha, const double area_m2, math::Vector<3> normal_vector_b) : node_id_(node_id), node_name_(node_name), heater_id_(heater_id), @@ -29,7 +29,7 @@ Node::Node(const size_t node_id, const string node_name, const NodeType node_typ Node::~Node() {} -double Node::CalcSolarRadiation_W(libra::Vector<3> sun_direction_b, double solar_flux_W_m2) { +double Node::CalcSolarRadiation_W(math::Vector<3> sun_direction_b, double solar_flux_W_m2) { double cos_theta = InnerProduct(sun_direction_b, normal_vector_b_); // calculate sun_power @@ -147,7 +147,7 @@ Node InitNode(const std::vector& node_str) { capacity_J_K = stod(node_str[index_capacity]); alpha = stod(node_str[index_alpha]); area_m2 = stod(node_str[index_area]); - libra::Vector<3> normal_v_b; + math::Vector<3> normal_v_b; for (size_t i = 0; i < 3; i++) { normal_v_b[i] = stod(node_str[index_normal_v_b_head + i]); } diff --git a/src/dynamics/thermal/node.hpp b/src/dynamics/thermal/node.hpp index 23640a13a..de4653d3e 100644 --- a/src/dynamics/thermal/node.hpp +++ b/src/dynamics/thermal/node.hpp @@ -45,7 +45,7 @@ class Node { * @param[in] normal_vector_b: Normal vector of face with possibility of solar incidence (Body frame) */ Node(const size_t node_id, const std::string node_name, const NodeType node_type, const size_t heater_id, const double temperature_ini_K, - const double capacity_J_K, const double alpha, const double area_m2, libra::Vector<3> normal_vector_b); + const double capacity_J_K, const double alpha, const double area_m2, math::Vector<3> normal_vector_b); /** * @fn ~Node * @brief Destroy the Node object @@ -58,7 +58,7 @@ class Node { * @param sun_direction_b: Sun direction in body frame * @return double: Solar Radiation [W] */ - double CalcSolarRadiation_W(libra::Vector<3> sun_direction_b, double solar_flux_W_m2); + double CalcSolarRadiation_W(math::Vector<3> sun_direction_b, double solar_flux_W_m2); // Getter /** @@ -136,7 +136,7 @@ class Node { double area_m2_; double solar_radiation_W_; NodeType node_type_; - libra::Vector<3> normal_vector_b_; + math::Vector<3> normal_vector_b_; /** * @fn AssertNodeParams diff --git a/src/dynamics/thermal/temperature.cpp b/src/dynamics/thermal/temperature.cpp index deb464820..b86e873fe 100644 --- a/src/dynamics/thermal/temperature.cpp +++ b/src/dynamics/thermal/temperature.cpp @@ -47,10 +47,10 @@ Temperature::Temperature() { Temperature::~Temperature() {} -void Temperature::Propagate(libra::Vector<3> sun_position_b_m, const double time_end_s) { +void Temperature::Propagate(math::Vector<3> sun_position_b_m, const double time_end_s) { if (!is_calc_enabled_) return; double sun_distance_m = sun_position_b_m.CalcNorm(); - libra::Vector<3> sun_direction_b; + math::Vector<3> sun_direction_b; for (size_t i = 0; i < 3; i++) { sun_direction_b[i] = sun_position_b_m[i] / sun_distance_m; } @@ -84,7 +84,7 @@ void Temperature::Propagate(libra::Vector<3> sun_position_b_m, const double time } } -void Temperature::CalcRungeOneStep(double time_now_s, double time_step_s, libra::Vector<3> sun_direction_b, size_t node_num) { +void Temperature::CalcRungeOneStep(double time_now_s, double time_step_s, math::Vector<3> sun_direction_b, size_t node_num) { vector temperatures_now_K(node_num); for (size_t i = 0; i < node_num; i++) { temperatures_now_K[i] = nodes_[i].GetTemperature_K(); @@ -120,7 +120,7 @@ void Temperature::CalcRungeOneStep(double time_now_s, double time_step_s, libra: } } -vector Temperature::CalcTemperatureDifferentials(vector temperatures_K, double t, libra::Vector<3> sun_direction_b, size_t node_num) { +vector Temperature::CalcTemperatureDifferentials(vector temperatures_K, double t, math::Vector<3> sun_direction_b, size_t node_num) { // TODO: consider the following unused arguments are really needed UNUSED(temperatures_K); diff --git a/src/dynamics/thermal/temperature.hpp b/src/dynamics/thermal/temperature.hpp index 2b9105217..08eceb28f 100644 --- a/src/dynamics/thermal/temperature.hpp +++ b/src/dynamics/thermal/temperature.hpp @@ -54,7 +54,7 @@ class Temperature : public ILoggable { * @param[in] sun_direction_b: Sun position in body frame [m] * @param[in] node_num: Number of nodes */ - void CalcRungeOneStep(double time_now_s, double time_step_s, libra::Vector<3> sun_direction_b, size_t node_num); + void CalcRungeOneStep(double time_now_s, double time_step_s, math::Vector<3> sun_direction_b, size_t node_num); /** * @fn CalcTemperatureDifferentials * @brief Calculate differential of thermal equilibrium equation @@ -65,7 +65,7 @@ class Temperature : public ILoggable { * @param node_num: Number of nodes * @return std::vector: Differential of thermal equilibrium equation at time now */ - std::vector CalcTemperatureDifferentials(std::vector temperatures_K, double time_now_s, const libra::Vector<3> sun_direction_b, + std::vector CalcTemperatureDifferentials(std::vector temperatures_K, double time_now_s, const math::Vector<3> sun_direction_b, size_t node_num); public: @@ -108,7 +108,7 @@ class Temperature : public ILoggable { * @param[in] sun_position_b_m: Sun position in body frame [m] * @param time_end_s: Time to finish propagation [s] */ - void Propagate(libra::Vector<3> sun_position_b_m, const double time_end_s); + void Propagate(math::Vector<3> sun_position_b_m, const double time_end_s); // Getter /** diff --git a/src/environment/global/celestial_information.hpp b/src/environment/global/celestial_information.hpp index 676ed1ce8..50103ffca 100644 --- a/src/environment/global/celestial_information.hpp +++ b/src/environment/global/celestial_information.hpp @@ -73,8 +73,8 @@ class CelestialInformation : public ILoggable { * @brief Return position from the center body in the inertial frame [m] * @param [in] id: ID of CelestialInformation list */ - inline libra::Vector<3> GetPositionFromCenter_i_m(const unsigned int id) const { - libra::Vector<3> pos(0.0); + inline math::Vector<3> GetPositionFromCenter_i_m(const unsigned int id) const { + math::Vector<3> pos(0.0); if (id > number_of_selected_bodies_) return pos; for (int i = 0; i < 3; i++) pos[i] = celestial_body_position_from_center_i_m_[id * 3 + i]; return pos; @@ -84,7 +84,7 @@ class CelestialInformation : public ILoggable { * @brief Return position from the center body in the inertial frame [m] * @param [in] body_name: Name of the body defined in the SPICE */ - inline libra::Vector<3> GetPositionFromCenter_i_m(const char* body_name) const { + inline math::Vector<3> GetPositionFromCenter_i_m(const char* body_name) const { int id = CalcBodyIdFromName(body_name); return GetPositionFromCenter_i_m(id); } @@ -94,11 +94,11 @@ class CelestialInformation : public ILoggable { * @param [in] target_body_name: Name of the target body defined in the SPICE * @param [in] reference_body_name: Name of the reference body defined in the SPICE */ - inline libra::Vector<3> GetPositionFromSelectedBody_i_m(const char* target_body_name, const char* reference_body_name) const { + inline math::Vector<3> GetPositionFromSelectedBody_i_m(const char* target_body_name, const char* reference_body_name) const { int target_id = CalcBodyIdFromName(target_body_name); - libra::Vector<3> target_body_position_i_m = GetPositionFromCenter_i_m(target_id); + math::Vector<3> target_body_position_i_m = GetPositionFromCenter_i_m(target_id); int reference_id = CalcBodyIdFromName(reference_body_name); - libra::Vector<3> reference_body_position_i_m = GetPositionFromCenter_i_m(reference_id); + math::Vector<3> reference_body_position_i_m = GetPositionFromCenter_i_m(reference_id); return target_body_position_i_m - reference_body_position_i_m; } @@ -108,8 +108,8 @@ class CelestialInformation : public ILoggable { * @brief Return velocity from the center body in the inertial frame [m/s] * @param [in] id: ID of CelestialInformation list */ - inline libra::Vector<3> GetVelocityFromCenter_i_m_s(const unsigned int id) const { - libra::Vector<3> vel(0.0); + inline math::Vector<3> GetVelocityFromCenter_i_m_s(const unsigned int id) const { + math::Vector<3> vel(0.0); if (id > number_of_selected_bodies_) return vel; for (int i = 0; i < 3; i++) vel[i] = celestial_body_velocity_from_center_i_m_s_[id * 3 + i]; return vel; @@ -119,7 +119,7 @@ class CelestialInformation : public ILoggable { * @brief Return velocity from the center body in the inertial frame [m/s] * @param [in] body_name: Name of the body defined in the SPICE */ - inline libra::Vector<3> GetVelocityFromCenter_i_m_s(const char* body_name) const { + inline math::Vector<3> GetVelocityFromCenter_i_m_s(const char* body_name) const { int id = CalcBodyIdFromName(body_name); return GetVelocityFromCenter_i_m_s(id); } @@ -129,11 +129,11 @@ class CelestialInformation : public ILoggable { * @param [in] target_body_name: Name of the target body defined in the SPICE * @param [in] reference_body_name: Name of the reference body defined in the SPICE */ - inline libra::Vector<3> GetVelocityFromSelectedBody_i_m_s(const char* target_body_name, const char* reference_body_name) const { + inline math::Vector<3> GetVelocityFromSelectedBody_i_m_s(const char* target_body_name, const char* reference_body_name) const { int target_id = CalcBodyIdFromName(target_body_name); - libra::Vector<3> target_body_velocity_i_m_s = GetVelocityFromCenter_i_m_s(target_id); + math::Vector<3> target_body_velocity_i_m_s = GetVelocityFromCenter_i_m_s(target_id); int reference_id = CalcBodyIdFromName(reference_body_name); - libra::Vector<3> reference_body_velocity_i_m_s = GetVelocityFromCenter_i_m_s(reference_id); + math::Vector<3> reference_body_velocity_i_m_s = GetVelocityFromCenter_i_m_s(reference_id); return target_body_velocity_i_m_s - reference_body_velocity_i_m_s; } @@ -160,8 +160,8 @@ class CelestialInformation : public ILoggable { * @brief Return 3 axis planetographic radii of a celestial body [m] * @param [in] id: ID of CelestialInformation list */ - inline libra::Vector<3> GetRadii_m(const unsigned int id) const { - libra::Vector<3> radii(0.0); + inline math::Vector<3> GetRadii_m(const unsigned int id) const { + math::Vector<3> radii(0.0); if (id > number_of_selected_bodies_) return radii; for (int i = 0; i < 3; i++) radii[i] = celestial_body_planetographic_radii_m_[id * 3 + i]; return radii; @@ -171,7 +171,7 @@ class CelestialInformation : public ILoggable { * @brief Return 3 axis planetographic radii of a celestial body [m] * @param [in] body_name: Name of the body defined in the SPICE */ - inline libra::Vector<3> GetRadiiFromName_m(const char* body_name) const { + inline math::Vector<3> GetRadiiFromName_m(const char* body_name) const { int id = CalcBodyIdFromName(body_name); return GetRadii_m(id); } diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index 1ecf7c6a7..4d4c9ee14 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -72,8 +72,8 @@ void GnssSatellites::Update(const SimulationTime& simulation_time) { return; } -libra::Vector<3> GnssSatellites::GetPosition_ecef_m(const size_t gnss_satellite_id, const EpochTime time) const { - if (gnss_satellite_id > number_of_calculated_gnss_satellites_) return libra::Vector<3>(0.0); +math::Vector<3> GnssSatellites::GetPosition_ecef_m(const size_t gnss_satellite_id, const EpochTime time) const { + if (gnss_satellite_id > number_of_calculated_gnss_satellites_) return math::Vector<3>(0.0); EpochTime target_time; @@ -84,7 +84,7 @@ libra::Vector<3> GnssSatellites::GetPosition_ecef_m(const size_t gnss_satellite_ } double diff_s = target_time.GetTimeWithFraction_s() - reference_time_.GetTimeWithFraction_s(); - if (diff_s < 0.0 || diff_s > 1e6) return libra::Vector<3>(0.0); + if (diff_s < 0.0 || diff_s > 1e6) return math::Vector<3>(0.0); const double kOrbitalPeriodCorrection_s = 24 * 60 * 60 * 1.003; // See http://acc.igs.org/orbits/orbit-interp_gpssoln03.pdf return orbit_[gnss_satellite_id].CalcPositionWithTrigonometric(diff_s, libra::tau / kOrbitalPeriodCorrection_s); @@ -129,7 +129,7 @@ bool GnssSatellites::UpdateInterpolationInformation() { for (size_t gnss_id = 0; gnss_id < number_of_calculated_gnss_satellites_; gnss_id++) { EpochTime sp3_time = EpochTime(sp3_file.GetEpochData(reference_interpolation_id_)); double time_diff_s = sp3_time.GetTimeWithFraction_s() - reference_time_.GetTimeWithFraction_s(); - libra::Vector<3> sp3_position_m = 1000.0 * sp3_file.GetSatellitePosition_km(reference_interpolation_id_, gnss_id); + math::Vector<3> sp3_position_m = 1000.0 * sp3_file.GetSatellitePosition_km(reference_interpolation_id_, gnss_id); orbit_[gnss_id].PushAndPopData(time_diff_s, sp3_position_m); clock_[gnss_id].PushAndPopData(time_diff_s, sp3_file.GetSatelliteClockOffset(reference_interpolation_id_, gnss_id)); diff --git a/src/environment/global/gnss_satellites.hpp b/src/environment/global/gnss_satellites.hpp index 533af1a26..c9d475416 100644 --- a/src/environment/global/gnss_satellites.hpp +++ b/src/environment/global/gnss_satellites.hpp @@ -75,7 +75,7 @@ class GnssSatellites : public ILoggable { */ void Update(const SimulationTime& simulation_time); - inline libra::Vector<3> GetPosition_eci_m(const size_t gnss_satellite_id) const { + inline math::Vector<3> GetPosition_eci_m(const size_t gnss_satellite_id) const { // TODO: Add target time for earth rotation calculation return earth_rotation_.GetDcmJ2000ToEcef().Transpose() * GetPosition_ecef_m(gnss_satellite_id); } @@ -87,7 +87,7 @@ class GnssSatellites : public ILoggable { * @param [in] time: Target time to get the GNSS satellite. When the argument is not set, the last updated time is used for the calculation. * @return GNSS satellite position at ECEF frame at the time. Or return zero vector when the arguments are out of range. */ - libra::Vector<3> GetPosition_ecef_m(const size_t gnss_satellite_id, const EpochTime time = EpochTime(0, 0.0)) const; + math::Vector<3> GetPosition_ecef_m(const size_t gnss_satellite_id, const EpochTime time = EpochTime(0, 0.0)) const; /** * @fn GetGetClock_s diff --git a/src/environment/global/hipparcos_catalogue.cpp b/src/environment/global/hipparcos_catalogue.cpp index 5ab550fe7..014dce7f8 100644 --- a/src/environment/global/hipparcos_catalogue.cpp +++ b/src/environment/global/hipparcos_catalogue.cpp @@ -50,8 +50,8 @@ bool HipparcosCatalogue::ReadContents(const std::string& file_name, const char d return true; } -libra::Vector<3> HipparcosCatalogue::GetStarDirection_i(size_t rank) const { - libra::Vector<3> direction_i; +math::Vector<3> HipparcosCatalogue::GetStarDirection_i(size_t rank) const { + math::Vector<3> direction_i; double ra_rad = GetRightAscension_deg(rank) * libra::deg_to_rad; double de_rad = GetDeclination_deg(rank) * libra::deg_to_rad; @@ -62,9 +62,9 @@ libra::Vector<3> HipparcosCatalogue::GetStarDirection_i(size_t rank) const { return direction_i; } -libra::Vector<3> HipparcosCatalogue::GetStarDirection_b(size_t rank, libra::Quaternion quaternion_i2b) const { - libra::Vector<3> direction_i; - libra::Vector<3> direction_b; +math::Vector<3> HipparcosCatalogue::GetStarDirection_b(size_t rank, libra::Quaternion quaternion_i2b) const { + math::Vector<3> direction_i; + math::Vector<3> direction_b; direction_i = GetStarDirection_i(rank); direction_b = quaternion_i2b.FrameConversion(direction_i); diff --git a/src/environment/global/hipparcos_catalogue.hpp b/src/environment/global/hipparcos_catalogue.hpp index a1b9540a3..c22a831a7 100644 --- a/src/environment/global/hipparcos_catalogue.hpp +++ b/src/environment/global/hipparcos_catalogue.hpp @@ -82,14 +82,14 @@ class HipparcosCatalogue : public ILoggable { *@brief Return direction vector of a star in the inertial frame *@param [in] rank: Rank of star magnitude in read catalogue */ - libra::Vector<3> GetStarDirection_i(size_t rank) const; + math::Vector<3> GetStarDirection_i(size_t rank) const; /** *@fn GetStarDir_b *@brief Return direction vector of a star in the body-fixed frame *@param [in] rank: Rank of star magnitude in read catalogue *@param [in] quaternion_i2b: Quaternion from the inertial frame to the body-fixed frame */ - libra::Vector<3> GetStarDirection_b(size_t rank, libra::Quaternion quaternion_i2b) const; + math::Vector<3> GetStarDirection_b(size_t rank, libra::Quaternion quaternion_i2b) const; // Override ILoggable /** diff --git a/src/environment/global/moon_rotation.cpp b/src/environment/global/moon_rotation.cpp index d80c4adf3..b1a28dcf4 100644 --- a/src/environment/global/moon_rotation.cpp +++ b/src/environment/global/moon_rotation.cpp @@ -17,8 +17,8 @@ MoonRotation::MoonRotation(const CelestialInformation& celestial_information, Mo void MoonRotation::Update(const SimulationTime& simulation_time) { if (mode_ == MoonRotationMode::kSimple) { - libra::Vector<3> moon_position_eci_m = celestial_information_.GetPositionFromSelectedBody_i_m("MOON", "EARTH"); - libra::Vector<3> moon_velocity_eci_m_s = celestial_information_.GetVelocityFromSelectedBody_i_m_s("MOON", "EARTH"); + math::Vector<3> moon_position_eci_m = celestial_information_.GetPositionFromSelectedBody_i_m("MOON", "EARTH"); + math::Vector<3> moon_velocity_eci_m_s = celestial_information_.GetVelocityFromSelectedBody_i_m_s("MOON", "EARTH"); dcm_j2000_to_mcmf_ = CalcDcmEciToPrincipalAxis(moon_position_eci_m, moon_velocity_eci_m_s); } else if (mode_ == MoonRotationMode::kIauMoon) { ConstSpiceChar from[] = "J2000"; diff --git a/src/environment/local/atmosphere.cpp b/src/environment/local/atmosphere.cpp index 87fbdbabc..c8199102d 100644 --- a/src/environment/local/atmosphere.cpp +++ b/src/environment/local/atmosphere.cpp @@ -66,7 +66,7 @@ double Atmosphere::CalcAirDensity_kg_m3(const double decimal_year, const Orbit& manual_average_f107_, manual_ap_); } else if (model_ == "HARRIS_PRIESTER") { // Harris-Priester - libra::Vector<3> sun_direction_eci = local_celestial_information_->GetGlobalInformation().GetPositionFromCenter_i_m("SUN").CalcNormalizedVector(); + math::Vector<3> sun_direction_eci = local_celestial_information_->GetGlobalInformation().GetPositionFromCenter_i_m("SUN").CalcNormalizedVector(); air_density_kg_m3_ = libra::atmosphere::CalcAirDensityWithHarrisPriester_kg_m3(orbit.GetGeodeticPosition(), sun_direction_eci); } else { // No suitable model diff --git a/src/environment/local/geomagnetic_field.cpp b/src/environment/local/geomagnetic_field.cpp index 6c9390d78..6ee47afe7 100644 --- a/src/environment/local/geomagnetic_field.cpp +++ b/src/environment/local/geomagnetic_field.cpp @@ -40,8 +40,8 @@ void GeomagneticField::CalcMagneticField(const double decimal_year, const double } void GeomagneticField::AddNoise(double* magnetic_field_array_i_nT) { - static libra::Vector<3> standard_deviation(random_walk_standard_deviation_nT_); - static libra::Vector<3> limit(random_walk_limit_nT_); + static math::Vector<3> standard_deviation(random_walk_standard_deviation_nT_); + static math::Vector<3> limit(random_walk_limit_nT_); static RandomWalk<3> random_walk(0.1, standard_deviation, limit); static libra::NormalRand white_noise(0.0, white_noise_standard_deviation_nT_, global_randomization.MakeSeed()); diff --git a/src/environment/local/geomagnetic_field.hpp b/src/environment/local/geomagnetic_field.hpp index 8a4e6ba99..acda8a2bf 100644 --- a/src/environment/local/geomagnetic_field.hpp +++ b/src/environment/local/geomagnetic_field.hpp @@ -50,12 +50,12 @@ class GeomagneticField : public ILoggable { * @fn GetGeomagneticField_i_nT * @brief Return magnetic field vector in the inertial frame [nT] */ - inline libra::Vector<3> GetGeomagneticField_i_nT() const { return magnetic_field_i_nT_; } + inline math::Vector<3> GetGeomagneticField_i_nT() const { return magnetic_field_i_nT_; } /** * @fn GetGeomagneticField_b_nT * @brief Return magnetic field vector in the body fixed frame [nT] */ - inline libra::Vector<3> GetGeomagneticField_b_nT() const { return magnetic_field_b_nT_; } + inline math::Vector<3> GetGeomagneticField_b_nT() const { return magnetic_field_b_nT_; } // Override ILoggable /** @@ -70,8 +70,8 @@ class GeomagneticField : public ILoggable { virtual std::string GetLogValue() const; private: - libra::Vector<3> magnetic_field_i_nT_; //!< Magnetic field vector at the inertial frame [nT] - libra::Vector<3> magnetic_field_b_nT_; //!< Magnetic field vector at the spacecraft body fixed frame [nT] + math::Vector<3> magnetic_field_i_nT_; //!< Magnetic field vector at the inertial frame [nT] + math::Vector<3> magnetic_field_b_nT_; //!< Magnetic field vector at the spacecraft body fixed frame [nT] double random_walk_standard_deviation_nT_; //!< Standard deviation of Random Walk [nT] double random_walk_limit_nT_; //!< Limit of Random Walk [nT] double white_noise_standard_deviation_nT_; //!< Standard deviation of white noise [nT] diff --git a/src/environment/local/local_celestial_information.cpp b/src/environment/local/local_celestial_information.cpp index b980a4263..0fd6213f6 100644 --- a/src/environment/local/local_celestial_information.cpp +++ b/src/environment/local/local_celestial_information.cpp @@ -43,11 +43,11 @@ LocalCelestialInformation::~LocalCelestialInformation() { delete[] celestial_body_velocity_from_spacecraft_b_m_s_; } -void LocalCelestialInformation::UpdateAllObjectsInformation(const libra::Vector<3> spacecraft_position_from_center_i_m, - const libra::Vector<3> spacecraft_velocity_from_center_i_m_s, +void LocalCelestialInformation::UpdateAllObjectsInformation(const math::Vector<3> spacecraft_position_from_center_i_m, + const math::Vector<3> spacecraft_velocity_from_center_i_m_s, const libra::Quaternion quaternion_i2b, - const libra::Vector<3> spacecraft_angular_velocity_rad_s) { - libra::Vector<3> celestial_body_position_i_m, celestial_body_velocity_i_m_s; + const math::Vector<3> spacecraft_angular_velocity_rad_s) { + math::Vector<3> celestial_body_position_i_m, celestial_body_velocity_i_m_s; for (int i = 0; i < global_celestial_information_->GetNumberOfSelectedBodies(); i++) { celestial_body_position_i_m = global_celestial_information_->GetPositionFromCenter_i_m(i); celestial_body_velocity_i_m_s = global_celestial_information_->GetVelocityFromCenter_i_m_s(i); @@ -62,8 +62,8 @@ void LocalCelestialInformation::UpdateAllObjectsInformation(const libra::Vector< return; } -void LocalCelestialInformation::CalcAllPosVel_b(const libra::Quaternion quaternion_i2b, const libra::Vector<3> spacecraft_angular_velocity_rad_s) { - libra::Vector<3> celestial_body_position_i_m, celestial_body_velocity_i_m_s; +void LocalCelestialInformation::CalcAllPosVel_b(const libra::Quaternion quaternion_i2b, const math::Vector<3> spacecraft_angular_velocity_rad_s) { + math::Vector<3> celestial_body_position_i_m, celestial_body_velocity_i_m_s; double r_buf1_i[3], velocity_buf1_i[3], r_buf1_b[3], velocity_buf1_b[3]; double r_buf2_i[3], velocity_buf2_i[3], r_buf2_b[3], velocity_buf2_b[3]; for (int i = 0; i < global_celestial_information_->GetNumberOfSelectedBodies(); i++) { @@ -90,49 +90,49 @@ void LocalCelestialInformation::CalcAllPosVel_b(const libra::Quaternion quaterni } void LocalCelestialInformation::ConvertInertialToBody(const double* input_i, double* output_b, libra::Quaternion quaternion_i2b) { - libra::Vector<3> temp_i; + math::Vector<3> temp_i; for (int i = 0; i < 3; i++) { temp_i[i] = input_i[i]; } - libra::Vector<3> temp_b = quaternion_i2b.FrameConversion(temp_i); + math::Vector<3> temp_b = quaternion_i2b.FrameConversion(temp_i); for (int i = 0; i < 3; i++) { output_b[i] = temp_b[i]; } } void LocalCelestialInformation::ConvertVelocityInertialToBody(const double* position_i, const double* velocity_i, double* velocity_b, - const libra::Quaternion quaternion_i2b, const libra::Vector<3> angular_velocity_b) { + const libra::Quaternion quaternion_i2b, const math::Vector<3> angular_velocity_b) { // copy input vector - libra::Vector<3> vi; + math::Vector<3> vi; for (int i = 0; i < 3; i++) { vi[i] = velocity_i[i]; } - libra::Vector<3> ri; + math::Vector<3> ri; for (int i = 0; i < 3; i++) { ri[i] = position_i[i]; } // convert body rate vector into that in inertial coordinate - libra::Vector<3> wb; + math::Vector<3> wb; for (int i = 0; i < 3; i++) { wb[i] = angular_velocity_b[i]; } // compute cross term wxr - libra::Vector<3> wxposition_i = OuterProduct(wb, ri); + math::Vector<3> wxposition_i = OuterProduct(wb, ri); // compute dr/dt + wxr for (int i = 0; i < 3; i++) { vi[i] = vi[i] - wxposition_i[i]; } // convert vector in inertial coordinate into that in body coordinate - libra::Vector<3> temp_b = quaternion_i2b.FrameConversion(vi); + math::Vector<3> temp_b = quaternion_i2b.FrameConversion(vi); for (int i = 0; i < 3; i++) { velocity_b[i] = temp_b[i]; } } -libra::Vector<3> LocalCelestialInformation::GetPositionFromSpacecraft_i_m(const char* body_name) const { - libra::Vector<3> position; +math::Vector<3> LocalCelestialInformation::GetPositionFromSpacecraft_i_m(const char* body_name) const { + math::Vector<3> position; int index = 0; index = global_celestial_information_->CalcBodyIdFromName(body_name); for (int i = 0; i < 3; i++) { @@ -141,14 +141,14 @@ libra::Vector<3> LocalCelestialInformation::GetPositionFromSpacecraft_i_m(const return position; } -libra::Vector<3> LocalCelestialInformation::GetCenterBodyPositionFromSpacecraft_i_m() const { +math::Vector<3> LocalCelestialInformation::GetCenterBodyPositionFromSpacecraft_i_m() const { std::string body_name = global_celestial_information_->GetCenterBodyName(); - libra::Vector<3> position = GetPositionFromSpacecraft_i_m(body_name.c_str()); + math::Vector<3> position = GetPositionFromSpacecraft_i_m(body_name.c_str()); return position; } -libra::Vector<3> LocalCelestialInformation::GetPositionFromSpacecraft_b_m(const char* body_name) const { - libra::Vector<3> position; +math::Vector<3> LocalCelestialInformation::GetPositionFromSpacecraft_b_m(const char* body_name) const { + math::Vector<3> position; int index = 0; index = global_celestial_information_->CalcBodyIdFromName(body_name); for (int i = 0; i < 3; i++) { @@ -157,9 +157,9 @@ libra::Vector<3> LocalCelestialInformation::GetPositionFromSpacecraft_b_m(const return position; } -libra::Vector<3> LocalCelestialInformation::GetCenterBodyPositionFromSpacecraft_b_m(void) const { +math::Vector<3> LocalCelestialInformation::GetCenterBodyPositionFromSpacecraft_b_m(void) const { std::string body_name = global_celestial_information_->GetCenterBodyName(); - libra::Vector<3> position = GetPositionFromSpacecraft_b_m(body_name.c_str()); + math::Vector<3> position = GetPositionFromSpacecraft_b_m(body_name.c_str()); return position; } diff --git a/src/environment/local/local_celestial_information.hpp b/src/environment/local/local_celestial_information.hpp index 5d21b7da1..f8b14b097 100644 --- a/src/environment/local/local_celestial_information.hpp +++ b/src/environment/local/local_celestial_information.hpp @@ -34,33 +34,33 @@ class LocalCelestialInformation : public ILoggable { * @param [in] quaternion_i2b: Spacecraft attitude quaternion from the inertial frame to the body fixed frame * @param [in] spacecraft_angular_velocity_rad_s: Spacecraft angular velocity with respect to the inertial frame [rad/s] */ - void UpdateAllObjectsInformation(const libra::Vector<3> spacecraft_position_from_center_i_m, - const libra::Vector<3> spacecraft_velocity_from_center_i_m_s, const libra::Quaternion quaternion_i2b, - const libra::Vector<3> spacecraft_angular_velocity_rad_s); + void UpdateAllObjectsInformation(const math::Vector<3> spacecraft_position_from_center_i_m, + const math::Vector<3> spacecraft_velocity_from_center_i_m_s, const libra::Quaternion quaternion_i2b, + const math::Vector<3> spacecraft_angular_velocity_rad_s); /** * @fn GetPositionFromSpacecraft_i_m * @brief Return position of a selected body (Origin: Spacecraft, Frame: Inertial frame) * @param [in] body_name Celestial body name */ - libra::Vector<3> GetPositionFromSpacecraft_i_m(const char* body_name) const; + math::Vector<3> GetPositionFromSpacecraft_i_m(const char* body_name) const; /** * @fn GetCenterBodyPositionFromSpacecraft_i_m * @brief Return position of the center body (Origin: Spacecraft, Frame: Inertial frame) */ - libra::Vector<3> GetCenterBodyPositionFromSpacecraft_i_m(void) const; + math::Vector<3> GetCenterBodyPositionFromSpacecraft_i_m(void) const; /** * @fn GetPositionFromSpacecraft_b_m * @brief Return position of a selected body (Origin: Spacecraft, Frame: Body fixed frame) * @param [in] body_name Celestial body name */ - libra::Vector<3> GetPositionFromSpacecraft_b_m(const char* body_name) const; + math::Vector<3> GetPositionFromSpacecraft_b_m(const char* body_name) const; /** * @fn GetCenterBodyPositionFromSpacecraft_b_m * @brief Return position of the center body (Origin: Spacecraft, Frame: Body fixed frame) */ - libra::Vector<3> GetCenterBodyPositionFromSpacecraft_b_m(void) const; + math::Vector<3> GetCenterBodyPositionFromSpacecraft_b_m(void) const; /** * @fn GetGlobalInfo @@ -96,7 +96,7 @@ class LocalCelestialInformation : public ILoggable { * @param [in] quaternion_i2b: Spacecraft attitude quaternion from the inertial frame to the body fixed frame * @param [in] spacecraft_angular_velocity_rad_s: Spacecraft angular velocity with respect to the inertial frame [rad/s] */ - void CalcAllPosVel_b(const libra::Quaternion quaternion_i2b, const libra::Vector<3> spacecraft_angular_velocity_rad_s); + void CalcAllPosVel_b(const libra::Quaternion quaternion_i2b, const math::Vector<3> spacecraft_angular_velocity_rad_s); /** * @fn ConvertInertialToBody @@ -117,7 +117,7 @@ class LocalCelestialInformation : public ILoggable { * @param [in] angular_velocity_b: Spacecraft angular velocity with respect to the inertial frame [rad/s] */ void ConvertVelocityInertialToBody(const double* position_i, const double* velocity_i, double* velocity_b, const libra::Quaternion quaternion_i2b, - const libra::Vector<3> angular_velocity_b); + const math::Vector<3> angular_velocity_b); }; #endif // S2E_ENVIRONMENT_LOCAL_LOCAL_CELESTIAL_INFORMATION_HPP_ diff --git a/src/environment/local/solar_radiation_pressure_environment.cpp b/src/environment/local/solar_radiation_pressure_environment.cpp index 16d380a54..2a088127d 100644 --- a/src/environment/local/solar_radiation_pressure_environment.cpp +++ b/src/environment/local/solar_radiation_pressure_environment.cpp @@ -31,7 +31,7 @@ void SolarRadiationPressureEnvironment::UpdateAllStates() { } void SolarRadiationPressureEnvironment::UpdatePressure() { - const libra::Vector<3> r_sc2sun_eci = local_celestial_information_->GetPositionFromSpacecraft_i_m("SUN"); + const math::Vector<3> r_sc2sun_eci = local_celestial_information_->GetPositionFromSpacecraft_i_m("SUN"); const double distance_sat_to_sun = r_sc2sun_eci.CalcNorm(); solar_radiation_pressure_N_m2_ = solar_constant_W_m2_ / environment::speed_of_light_m_s / pow(distance_sat_to_sun / environment::astronomical_unit_m, 2.0); @@ -61,8 +61,8 @@ void SolarRadiationPressureEnvironment::CalcShadowCoefficient(std::string shadow return; } - const libra::Vector<3> r_sc2sun_eci = local_celestial_information_->GetPositionFromSpacecraft_i_m("SUN"); - const libra::Vector<3> r_sc2source_eci = local_celestial_information_->GetPositionFromSpacecraft_i_m(shadow_source_name.c_str()); + const math::Vector<3> r_sc2sun_eci = local_celestial_information_->GetPositionFromSpacecraft_i_m("SUN"); + const math::Vector<3> r_sc2source_eci = local_celestial_information_->GetPositionFromSpacecraft_i_m(shadow_source_name.c_str()); const double shadow_source_radius_m = local_celestial_information_->GetGlobalInformation().GetMeanRadiusFromName_m(shadow_source_name.c_str()); @@ -71,7 +71,7 @@ void SolarRadiationPressureEnvironment::CalcShadowCoefficient(std::string shadow const double sd_source = asin(shadow_source_radius_m / r_sc2source_eci.CalcNorm()); // Apparent radius of the shadow source // Angle of deviation from shadow source center to sun center - libra::Vector<3> r_source2sun_eci = r_sc2sun_eci - r_sc2source_eci; + math::Vector<3> r_source2sun_eci = r_sc2sun_eci - r_sc2source_eci; const double delta = acos(InnerProduct(r_sc2source_eci, r_sc2sun_eci - r_sc2source_eci) / r_sc2source_eci.CalcNorm() / r_source2sun_eci.CalcNorm()); // The angle between the center of the sun and the common chord const double x = (delta * delta + sd_sun * sd_sun - sd_source * sd_source) / (2.0 * delta); diff --git a/src/logger/log_utility.hpp b/src/logger/log_utility.hpp index 4b5a18e31..0f9884091 100644 --- a/src/logger/log_utility.hpp +++ b/src/logger/log_utility.hpp @@ -35,7 +35,7 @@ inline std::string WriteScalar(const std::string name, const std::string unit); * @param [in] precision: precision for the value (number of digit) */ template -inline std::string WriteVector(const libra::Vector vector, const int precision = 6); +inline std::string WriteVector(const math::Vector vector, const int precision = 6); /** * @fn WriteVector * @brief Write header for vector value @@ -91,7 +91,7 @@ std::string WriteScalar(const T scalar, const int precision) { std::string WriteScalar(const std::string name, const std::string unit) { return name + "[" + unit + "],"; } template -std::string WriteVector(const libra::Vector vector, const int precision) { +std::string WriteVector(const math::Vector vector, const int precision) { std::stringstream str_tmp; for (size_t n = 0; n < NUM; n++) { diff --git a/src/math_physics/atmosphere/harris_priester_model.cpp b/src/math_physics/atmosphere/harris_priester_model.cpp index 70ac6c5e4..ccaef17f3 100644 --- a/src/math_physics/atmosphere/harris_priester_model.cpp +++ b/src/math_physics/atmosphere/harris_priester_model.cpp @@ -28,20 +28,20 @@ double CalcScaleHeight_km(const std::map::const_iterator density */ double CalcApexDensity_g_km3(const std::map::const_iterator density_itr, const double altitude_km); -double CalcAirDensityWithHarrisPriester_kg_m3(const GeodeticPosition geodetic_position, const libra::Vector<3> sun_direction_eci, const double f10_7, +double CalcAirDensityWithHarrisPriester_kg_m3(const GeodeticPosition geodetic_position, const math::Vector<3> sun_direction_eci, const double f10_7, const double exponent_parameter) { // Altitude double altitude_km = geodetic_position.GetAltitude_m() / 1000.0; // Position - libra::Vector<3> position_ecef_m = geodetic_position.CalcEcefPosition(); + math::Vector<3> position_ecef_m = geodetic_position.CalcEcefPosition(); // Phi: angle between the satellite position and apex of the diurnal bulge double sun_ra_rad; //!< Right ascension of the sun phi double sun_dec_rad; //!< Declination of the sun theta sun_ra_rad = atan2(sun_direction_eci[1], sun_direction_eci[0]); sun_dec_rad = atan2(sun_direction_eci[2], sqrt(sun_direction_eci[0] * sun_direction_eci[0] + sun_direction_eci[1] * sun_direction_eci[1])); - libra::Vector<3> apex_direction; + math::Vector<3> apex_direction; const double lag_angle_rad = 30.0 * libra::deg_to_rad; double apex_ra_rad = sun_ra_rad + lag_angle_rad; apex_direction[0] = cos(sun_dec_rad) * cos(apex_ra_rad); diff --git a/src/math_physics/atmosphere/harris_priester_model.hpp b/src/math_physics/atmosphere/harris_priester_model.hpp index 77e9e7f46..ea40eeaf4 100644 --- a/src/math_physics/atmosphere/harris_priester_model.hpp +++ b/src/math_physics/atmosphere/harris_priester_model.hpp @@ -20,7 +20,7 @@ namespace libra::atmosphere { * @param [in] exponent_parameter: n in the equation. n=2 for low inclination orbit and n=6 for polar orbit. * @return Atmospheric density [kg/m^3] */ -double CalcAirDensityWithHarrisPriester_kg_m3(const GeodeticPosition geodetic_position, const libra::Vector<3> sun_direction_eci, +double CalcAirDensityWithHarrisPriester_kg_m3(const GeodeticPosition geodetic_position, const math::Vector<3> sun_direction_eci, const double f10_7 = 100.0, const double exponent_parameter = 4); } // namespace libra::atmosphere diff --git a/src/math_physics/geodesy/geodetic_position.cpp b/src/math_physics/geodesy/geodetic_position.cpp index 7ca1051ee..8a59652a0 100644 --- a/src/math_physics/geodesy/geodetic_position.cpp +++ b/src/math_physics/geodesy/geodetic_position.cpp @@ -23,7 +23,7 @@ GeodeticPosition::GeodeticPosition(const double latitude_rad, const double longi CalcQuaternionXcxfToLtc(); } -void GeodeticPosition::UpdateFromEcef(const libra::Vector<3> position_ecef_m) { +void GeodeticPosition::UpdateFromEcef(const math::Vector<3> position_ecef_m) { const double earth_radius_m = environment::earth_equatorial_radius_m; const double flattening = environment::earth_flattening; @@ -52,7 +52,7 @@ void GeodeticPosition::UpdateFromEcef(const libra::Vector<3> position_ecef_m) { return; } -libra::Vector<3> GeodeticPosition::CalcEcefPosition() const { +math::Vector<3> GeodeticPosition::CalcEcefPosition() const { const double earth_radius_m = environment::earth_equatorial_radius_m; const double flattening = environment::earth_flattening; @@ -61,7 +61,7 @@ libra::Vector<3> GeodeticPosition::CalcEcefPosition() const { double c = 1.0 / sqrt(1.0 - e2 * sin(latitude_rad_) * sin(latitude_rad_)); double n = c * earth_radius_m; - libra::Vector<3> pos_ecef_m; + math::Vector<3> pos_ecef_m; pos_ecef_m(0) = (n + altitude_m_) * cos(latitude_rad_) * cos(theta); pos_ecef_m(1) = (n + altitude_m_) * cos(latitude_rad_) * sin(theta); pos_ecef_m(2) = (n * (1.0 - e2) + altitude_m_) * sin(latitude_rad_); diff --git a/src/math_physics/geodesy/geodetic_position.hpp b/src/math_physics/geodesy/geodetic_position.hpp index 8a60cfa68..4b5f82cc3 100644 --- a/src/math_physics/geodesy/geodetic_position.hpp +++ b/src/math_physics/geodesy/geodetic_position.hpp @@ -34,13 +34,13 @@ class GeodeticPosition { * @brief Update geodetic position with position vector in the ECEF frame * @param [in] position_ecef_m: Position vector in the ECEF frame [m] */ - void UpdateFromEcef(const libra::Vector<3> position_ecef_m); + void UpdateFromEcef(const math::Vector<3> position_ecef_m); /** * @fn CalcEcefPosition * @brief Calculate and return the ECEF position from the geodetic position */ - libra::Vector<3> CalcEcefPosition() const; + math::Vector<3> CalcEcefPosition() const; // Getter /** diff --git a/src/math_physics/gnss/antex_file_reader.cpp b/src/math_physics/gnss/antex_file_reader.cpp index 6baf196e1..e9c379787 100644 --- a/src/math_physics/gnss/antex_file_reader.cpp +++ b/src/math_physics/gnss/antex_file_reader.cpp @@ -169,7 +169,7 @@ AntexPhaseCenterData AntexFileReader::ReadPhaseCenterData(std::ifstream& antex_f } // Phase center offset if (line.find("NORTH / EAST / UP") == ANTEX_LINE_TYPE_POSITION) { - libra::Vector<3> offset{0.0}; + math::Vector<3> offset{0.0}; sscanf(line.c_str(), "%lf %lf %lf", &offset[0], &offset[1], &offset[2]); phase_center_data.SetPhaseCenterOffset_mm(offset); } diff --git a/src/math_physics/gnss/antex_file_reader.hpp b/src/math_physics/gnss/antex_file_reader.hpp index 953800d9f..0cbf59d44 100644 --- a/src/math_physics/gnss/antex_file_reader.hpp +++ b/src/math_physics/gnss/antex_file_reader.hpp @@ -126,7 +126,7 @@ class AntexPhaseCenterData { * @fn SetPhaseCenterOffset_mm * @param[in] phase_center_offset_mm: Phase center offset vector [mm] */ - inline void SetPhaseCenterOffset_mm(const libra::Vector<3> phase_center_offset_mm) { phase_center_offset_mm_ = phase_center_offset_mm; } + inline void SetPhaseCenterOffset_mm(const math::Vector<3> phase_center_offset_mm) { phase_center_offset_mm_ = phase_center_offset_mm; } /** * @fn SetGridInformation * @param[in] grid_information: Grid information @@ -150,7 +150,7 @@ class AntexPhaseCenterData { * @fn GetPhaseCenterOffset_mm * @return Phase center offset vector [mm] */ - inline libra::Vector<3> GetPhaseCenterOffset_mm() const { return phase_center_offset_mm_; } + inline math::Vector<3> GetPhaseCenterOffset_mm() const { return phase_center_offset_mm_; } /** * @fn GetGridInformation * @return Grid information @@ -164,7 +164,7 @@ class AntexPhaseCenterData { private: std::string frequency_name_ = ""; //!< Frequency name - libra::Vector<3> phase_center_offset_mm_{0.0}; //!< Phase center offset [mm] + math::Vector<3> phase_center_offset_mm_{0.0}; //!< Phase center offset [mm] AntexGridDefinition grid_information_; //!< Grid information std::vector> phase_center_variation_matrix_mm_; //!< Phase center variation [mm] (column, row definition: [azimuth][zenith]) }; diff --git a/src/math_physics/gnss/sp3_file_reader.cpp b/src/math_physics/gnss/sp3_file_reader.cpp index f4a2a37fb..10043e10d 100644 --- a/src/math_physics/gnss/sp3_file_reader.cpp +++ b/src/math_physics/gnss/sp3_file_reader.cpp @@ -38,7 +38,7 @@ double Sp3FileReader::GetSatelliteClockOffset(const size_t epoch_id, const size_ return position_clock.clock_us_; } -libra::Vector<3> Sp3FileReader::GetSatellitePosition_km(const size_t epoch_id, const size_t satellite_id) { +math::Vector<3> Sp3FileReader::GetSatellitePosition_km(const size_t epoch_id, const size_t satellite_id) { Sp3PositionClock position_clock = GetPositionClock(epoch_id, satellite_id); return position_clock.position_km_; } @@ -312,7 +312,7 @@ Sp3PositionClock Sp3FileReader::DecodePositionClockData(std::string line) { position_clock.satellite_id_ = line.substr(1, 3); // Position and clock - libra::Vector<3> position_km; + math::Vector<3> position_km; for (size_t axis = 0; axis < 3; axis++) { position_km[axis] = stod(line.substr(4 + axis * 14, 14)); } @@ -321,7 +321,7 @@ Sp3PositionClock Sp3FileReader::DecodePositionClockData(std::string line) { // Standard deviations if (line.size() > 61) { - libra::Vector<3> position_standard_deviation; + math::Vector<3> position_standard_deviation; for (size_t axis = 0; axis < 3; axis++) { try { position_standard_deviation[axis] = stod(line.substr(61 + axis * 3, 2)); @@ -382,7 +382,7 @@ Sp3VelocityClockRate Sp3FileReader::DecodeVelocityClockRateData(std::string line velocity_clock_rate.satellite_id_ = line.substr(1, 3); // Velocity and clock rate - libra::Vector<3> velocity_dm_s; + math::Vector<3> velocity_dm_s; for (size_t axis = 0; axis < 3; axis++) { velocity_dm_s[axis] = stod(line.substr(4 + axis * 14, 14)); } @@ -391,7 +391,7 @@ Sp3VelocityClockRate Sp3FileReader::DecodeVelocityClockRateData(std::string line // Standard deviations if (line.size() > 60) { - libra::Vector<3> velocity_standard_deviation; + math::Vector<3> velocity_standard_deviation; for (size_t axis = 0; axis < 3; axis++) { velocity_standard_deviation[axis] = stod(line.substr(61 + axis * 2, 2)); } diff --git a/src/math_physics/gnss/sp3_file_reader.hpp b/src/math_physics/gnss/sp3_file_reader.hpp index 565382899..6b12e0be5 100644 --- a/src/math_physics/gnss/sp3_file_reader.hpp +++ b/src/math_physics/gnss/sp3_file_reader.hpp @@ -93,9 +93,9 @@ struct Sp3Header { */ struct Sp3PositionClock { std::string satellite_id_; //!< GNSS satellite ID - libra::Vector<3> position_km_{SP3_BAD_POSITION_VALUE}; //!< Satellite position [km] + math::Vector<3> position_km_{SP3_BAD_POSITION_VALUE}; //!< Satellite position [km] double clock_us_ = SP3_BAD_CLOCK_VALUE; //!< Satellite clock offset [us] - libra::Vector<3> position_standard_deviation_{0.0}; //!< Satellite position standard deviation [-] + math::Vector<3> position_standard_deviation_{0.0}; //!< Satellite position standard deviation [-] double clock_standard_deviation_ = 0.0; //!< Satellite clock offset standard deviation [-] bool clock_event_flag_ = false; //!< true when clock discontinuity is happened bool clock_prediction_flag_ = false; //!< true when clock data is predicted @@ -128,9 +128,9 @@ struct Sp3PositionClockCorrelation { */ struct Sp3VelocityClockRate { std::string satellite_id_; //!< GNSS satellite ID - libra::Vector<3> velocity_dm_s_{0.0}; //!< Satellite velocity [dm/s] + math::Vector<3> velocity_dm_s_{0.0}; //!< Satellite velocity [dm/s] double clock_rate_ = 0.0; //!< Satellite clock offset change rate [-] - libra::Vector<3> velocity_standard_deviation_{0.0}; //!< Satellite position standard deviation [-] + math::Vector<3> velocity_standard_deviation_{0.0}; //!< Satellite position standard deviation [-] double clock_rate_standard_deviation_ = 0.0; //!< Satellite clock offset standard deviation [-] }; @@ -176,7 +176,7 @@ class Sp3FileReader { DateTime GetEpochData(const size_t epoch_id) const; Sp3PositionClock GetPositionClock(const size_t epoch_id, const size_t satellite_id); double GetSatelliteClockOffset(const size_t epoch_id, const size_t satellite_id); - libra::Vector<3> GetSatellitePosition_km(const size_t epoch_id, const size_t satellite_id); + math::Vector<3> GetSatellitePosition_km(const size_t epoch_id, const size_t satellite_id); size_t SearchNearestEpochId(const EpochTime time); diff --git a/src/math_physics/gravity/gravity_potential.cpp b/src/math_physics/gravity/gravity_potential.cpp index c784dc1a6..f959b566a 100644 --- a/src/math_physics/gravity/gravity_potential.cpp +++ b/src/math_physics/gravity/gravity_potential.cpp @@ -26,8 +26,8 @@ GravityPotential::GravityPotential(const size_t degree, const std::vector GravityPotential::CalcAcceleration_xcxf_m_s2(const libra::Vector<3> &position_xcxf_m) { - libra::Vector<3> acceleration_xcxf_m_s2(0.0); +math::Vector<3> GravityPotential::CalcAcceleration_xcxf_m_s2(const math::Vector<3> &position_xcxf_m) { + math::Vector<3> acceleration_xcxf_m_s2(0.0); if (degree_ <= 0) return acceleration_xcxf_m_s2; // TODO: Consider this assertion is needed xcxf_x_m_ = position_xcxf_m[0]; @@ -93,7 +93,7 @@ libra::Vector<3> GravityPotential::CalcAcceleration_xcxf_m_s2(const libra::Vecto return acceleration_xcxf_m_s2; } -math::Matrix<3, 3> GravityPotential::CalcPartialDerivative_xcxf_s2(const libra::Vector<3> &position_xcxf_m) { +math::Matrix<3, 3> GravityPotential::CalcPartialDerivative_xcxf_s2(const math::Vector<3> &position_xcxf_m) { math::Matrix<3, 3> partial_derivative(0.0); if (degree_ <= 0) return partial_derivative; diff --git a/src/math_physics/gravity/gravity_potential.hpp b/src/math_physics/gravity/gravity_potential.hpp index b0cc45f7f..aafefda57 100644 --- a/src/math_physics/gravity/gravity_potential.hpp +++ b/src/math_physics/gravity/gravity_potential.hpp @@ -46,7 +46,7 @@ class GravityPotential { * @param [in] position_xcxf_m: Position of the spacecraft in the XCXF frame [m] * @return Acceleration in XCXF frame [m/s2] */ - libra::Vector<3> CalcAcceleration_xcxf_m_s2(const libra::Vector<3> &position_xcxf_m); + math::Vector<3> CalcAcceleration_xcxf_m_s2(const math::Vector<3> &position_xcxf_m); /** * @fn CalcAcceleration_xcxf_m_s2 @@ -54,7 +54,7 @@ class GravityPotential { * @param [in] position_xcxf_m: Position of the spacecraft in the XCXF frame [m] * @return Partial derivative of acceleration in XCXF frame [-/s2] */ - math::Matrix<3, 3> CalcPartialDerivative_xcxf_s2(const libra::Vector<3> &position_xcxf_m); + math::Matrix<3, 3> CalcPartialDerivative_xcxf_s2(const math::Vector<3> &position_xcxf_m); private: size_t degree_ = 0; //!< Maximum degree diff --git a/src/math_physics/gravity/test_gravity_potential.cpp b/src/math_physics/gravity/test_gravity_potential.cpp index ea0539511..df177e38f 100644 --- a/src/math_physics/gravity/test_gravity_potential.cpp +++ b/src/math_physics/gravity/test_gravity_potential.cpp @@ -23,8 +23,8 @@ TEST(GravityPotential, Acceleration) { GravityPotential gravity_potential_(degree, c_, s_, 1.0, 1.0); // Acceleration Calculation check - libra::Vector<3> position_xcxf_m; - libra::Vector<3> acceleration_xcxf_m_s2; + math::Vector<3> position_xcxf_m; + math::Vector<3> acceleration_xcxf_m_s2; const double accuracy = 1.0e-3; // Calc Acceleration @@ -65,7 +65,7 @@ TEST(GravityPotential, PartialDerivative1) { GravityPotential gravity_potential_(degree, c_, s_, 1.0, 1.0); // Calculation check - libra::Vector<3> position_xcxf_m; + math::Vector<3> position_xcxf_m; math::Matrix<3, 3> partial_derivative_xcxf_s2; const double accuracy = 1.0e-3; @@ -79,13 +79,13 @@ TEST(GravityPotential, PartialDerivative1) { double d_r = 1e-9; math::Matrix<3, 3> numerical_partial_derivative_xcxf_s2; for (size_t i = 0; i < 3; i++) { - libra::Vector<3> position_1_xcxf_m = position_xcxf_m; - libra::Vector<3> position_2_xcxf_m = position_xcxf_m; + math::Vector<3> position_1_xcxf_m = position_xcxf_m; + math::Vector<3> position_2_xcxf_m = position_xcxf_m; position_1_xcxf_m[i] = position_xcxf_m[i] - d_r / 2.0; position_2_xcxf_m[i] = position_xcxf_m[i] + d_r / 2.0; - libra::Vector<3> acceleration_1_xcxf_m_s2 = gravity_potential_.CalcAcceleration_xcxf_m_s2(position_1_xcxf_m); - libra::Vector<3> acceleration_2_xcxf_m_s2 = gravity_potential_.CalcAcceleration_xcxf_m_s2(position_2_xcxf_m); - libra::Vector<3> diff_acceleration_xcxf_m_s2 = acceleration_2_xcxf_m_s2 - acceleration_1_xcxf_m_s2; + math::Vector<3> acceleration_1_xcxf_m_s2 = gravity_potential_.CalcAcceleration_xcxf_m_s2(position_1_xcxf_m); + math::Vector<3> acceleration_2_xcxf_m_s2 = gravity_potential_.CalcAcceleration_xcxf_m_s2(position_2_xcxf_m); + math::Vector<3> diff_acceleration_xcxf_m_s2 = acceleration_2_xcxf_m_s2 - acceleration_1_xcxf_m_s2; for (size_t j = 0; j < 3; j++) { numerical_partial_derivative_xcxf_s2[i][j] = diff_acceleration_xcxf_m_s2[j] / d_r; } @@ -118,7 +118,7 @@ TEST(GravityPotential, PartialDerivative2) { GravityPotential gravity_potential_(degree, c_, s_, 1.0, 1.0); // Calculation check - libra::Vector<3> position_xcxf_m; + math::Vector<3> position_xcxf_m; math::Matrix<3, 3> partial_derivative_xcxf_s2; const double accuracy = 1.0e-3; @@ -132,13 +132,13 @@ TEST(GravityPotential, PartialDerivative2) { double d_r = 1e-9; math::Matrix<3, 3> numerical_partial_derivative_xcxf_s2; for (size_t i = 0; i < 3; i++) { - libra::Vector<3> position_1_xcxf_m = position_xcxf_m; - libra::Vector<3> position_2_xcxf_m = position_xcxf_m; + math::Vector<3> position_1_xcxf_m = position_xcxf_m; + math::Vector<3> position_2_xcxf_m = position_xcxf_m; position_1_xcxf_m[i] = position_xcxf_m[i] - d_r / 2.0; position_2_xcxf_m[i] = position_xcxf_m[i] + d_r / 2.0; - libra::Vector<3> acceleration_1_xcxf_m_s2 = gravity_potential_.CalcAcceleration_xcxf_m_s2(position_1_xcxf_m); - libra::Vector<3> acceleration_2_xcxf_m_s2 = gravity_potential_.CalcAcceleration_xcxf_m_s2(position_2_xcxf_m); - libra::Vector<3> diff_acceleration_xcxf_m_s2 = acceleration_2_xcxf_m_s2 - acceleration_1_xcxf_m_s2; + math::Vector<3> acceleration_1_xcxf_m_s2 = gravity_potential_.CalcAcceleration_xcxf_m_s2(position_1_xcxf_m); + math::Vector<3> acceleration_2_xcxf_m_s2 = gravity_potential_.CalcAcceleration_xcxf_m_s2(position_2_xcxf_m); + math::Vector<3> diff_acceleration_xcxf_m_s2 = acceleration_2_xcxf_m_s2 - acceleration_1_xcxf_m_s2; for (size_t j = 0; j < 3; j++) { numerical_partial_derivative_xcxf_s2[i][j] = diff_acceleration_xcxf_m_s2[j] / d_r; } diff --git a/src/math_physics/math/ordinary_differential_equation.hpp b/src/math_physics/math/ordinary_differential_equation.hpp index 87fb1fe84..bde476279 100644 --- a/src/math_physics/math/ordinary_differential_equation.hpp +++ b/src/math_physics/math/ordinary_differential_equation.hpp @@ -102,7 +102,7 @@ class OrdinaryDifferentialEquation { * @fn GetState * @brief Return current state vector for inheriting class */ - inline libra::Vector& GetState() { return state_; } + inline math::Vector& GetState() { return state_; } private: double independent_variable_; //!< Latest value of independent variable diff --git a/src/math_physics/math/test_matrix_vector.cpp b/src/math_physics/math/test_matrix_vector.cpp index 25e9f56c5..c2fb090e4 100644 --- a/src/math_physics/math/test_matrix_vector.cpp +++ b/src/math_physics/math/test_matrix_vector.cpp @@ -15,7 +15,7 @@ TEST(MatrixVector, MultiplyMatrixVector) { const size_t C = 2; math::Matrix m; - libra::Vector v; + math::Vector v; m[0][0] = 1.0; m[0][1] = 2.0; @@ -27,7 +27,7 @@ TEST(MatrixVector, MultiplyMatrixVector) { v[0] = 7.0; v[1] = 1.0; - libra::Vector result = m * v; + math::Vector result = m * v; EXPECT_DOUBLE_EQ(9.0, result[0]); EXPECT_DOUBLE_EQ(-7.0, result[1]); diff --git a/src/math_physics/math/test_quaternion.cpp b/src/math_physics/math/test_quaternion.cpp index ae66539c8..13bab0737 100644 --- a/src/math_physics/math/test_quaternion.cpp +++ b/src/math_physics/math/test_quaternion.cpp @@ -23,7 +23,7 @@ TEST(Quaternion, ConstructorFourNumber) { * @brief Test for constructor from Vector */ TEST(Quaternion, ConstructorVector) { - libra::Vector<4> v(0.5); + math::Vector<4> v(0.5); libra::Quaternion q(v); EXPECT_DOUBLE_EQ(0.5, q[0]); @@ -36,7 +36,7 @@ TEST(Quaternion, ConstructorVector) { * @brief Test for constructor from axis and rotation angle X rotation */ TEST(Quaternion, ConstructorAxisAndAngleX) { - libra::Vector<3> axis; + math::Vector<3> axis; axis[0] = 1.0; axis[1] = 0.0; axis[2] = 0.0; @@ -53,7 +53,7 @@ TEST(Quaternion, ConstructorAxisAndAngleX) { * @brief Test for constructor from axis and rotation angle Y rotation */ TEST(Quaternion, ConstructorAxisAndAngleY) { - libra::Vector<3> axis; + math::Vector<3> axis; axis[0] = 0.0; axis[1] = 1.0; axis[2] = 0.0; @@ -70,7 +70,7 @@ TEST(Quaternion, ConstructorAxisAndAngleY) { * @brief Test for constructor from axis and rotation angle Z rotation */ TEST(Quaternion, ConstructorAxisAndAngleZ) { - libra::Vector<3> axis; + math::Vector<3> axis; axis[0] = 0.0; axis[1] = 0.0; axis[2] = 1.0; @@ -87,7 +87,7 @@ TEST(Quaternion, ConstructorAxisAndAngleZ) { * @brief Test for constructor from axis and rotation angle All axes rotation */ TEST(Quaternion, ConstructorAxisAndAngleAll) { - libra::Vector<3> axis; + math::Vector<3> axis; axis[0] = 1.0; axis[1] = 1.0; axis[2] = 1.0; @@ -104,11 +104,11 @@ TEST(Quaternion, ConstructorAxisAndAngleAll) { * @brief Test for constructor from two vectors: No rotation */ TEST(Quaternion, ConstructorTwoVectorsNoRotation) { - libra::Vector<3> before; + math::Vector<3> before; before[0] = 0.0; before[1] = 0.0; before[2] = 2.0; // To check normalization - libra::Vector<3> after; + math::Vector<3> after; after[0] = 0.0; after[1] = 0.0; after[2] = 1.0; @@ -125,11 +125,11 @@ TEST(Quaternion, ConstructorTwoVectorsNoRotation) { * @brief Test for constructor from two vectors: X rotation */ TEST(Quaternion, ConstructorTwoVectorsX) { - libra::Vector<3> before; + math::Vector<3> before; before[0] = 0.0; before[1] = 0.0; before[2] = 1.0; - libra::Vector<3> after; + math::Vector<3> after; after[0] = 0.0; after[1] = 1.0; after[2] = 0.0; @@ -147,11 +147,11 @@ TEST(Quaternion, ConstructorTwoVectorsX) { * @brief Test for constructor from two vectors: Y rotation */ TEST(Quaternion, ConstructorTwoVectorsY) { - libra::Vector<3> before; + math::Vector<3> before; before[0] = 0.0; before[1] = 0.0; before[2] = 1.0; - libra::Vector<3> after; + math::Vector<3> after; after[0] = 1.0; after[1] = 0.0; after[2] = 0.0; @@ -169,11 +169,11 @@ TEST(Quaternion, ConstructorTwoVectorsY) { * @brief Test for constructor from two vectors: Z rotation */ TEST(Quaternion, ConstructorTwoVectorsZ) { - libra::Vector<3> before; + math::Vector<3> before; before[0] = 1.0; before[1] = 0.0; before[2] = 0.0; - libra::Vector<3> after; + math::Vector<3> after; after[0] = 0.0; after[1] = 1.0; after[2] = 0.0; @@ -294,7 +294,7 @@ TEST(Quaternion, ConvertToEulerX) { libra::Quaternion q(1.0, 0.0, 0.0, 1.0); q.Normalize(); - libra::Vector<3> euler = q.ConvertToEuler(); + math::Vector<3> euler = q.ConvertToEuler(); // Check nondestructive function EXPECT_DOUBLE_EQ(1.0 / sqrt(2.0), q[0]); @@ -322,7 +322,7 @@ TEST(Quaternion, ConvertToEuler) { libra::Quaternion q(0.5, 0.3, 0.1, 1.0); q.Normalize(); - libra::Vector<3> euler = q.ConvertToEuler(); + math::Vector<3> euler = q.ConvertToEuler(); // Check nondestructive function const double accuracy = 1.0e-7; @@ -344,19 +344,19 @@ TEST(Quaternion, FrameConversionZ) { libra::Quaternion q(0.0, 0.0, 1.0, 1.0); q.Normalize(); - libra::Vector<3> v; + math::Vector<3> v; v[0] = 1.0; v[1] = 0.0; v[2] = 0.0; - libra::Vector<3> v_frame_conv = q.FrameConversion(v); + math::Vector<3> v_frame_conv = q.FrameConversion(v); const double accuracy = 1.0e-7; EXPECT_NEAR(0.0, v_frame_conv[0], accuracy); EXPECT_NEAR(-1.0, v_frame_conv[1], accuracy); EXPECT_NEAR(0.0, v_frame_conv[2], accuracy); - libra::Vector<3> v_frame_conv_inv = q.InverseFrameConversion(v_frame_conv); + math::Vector<3> v_frame_conv_inv = q.InverseFrameConversion(v_frame_conv); for (size_t i = 0; i < 3; i++) { EXPECT_NEAR(v[i], v_frame_conv_inv[i], accuracy); @@ -369,13 +369,13 @@ TEST(Quaternion, FrameConversionZ) { TEST(Quaternion, FrameConversion) { libra::Quaternion q(0.5, 0.3, 0.1, 1.0); q.Normalize(); - libra::Vector<3> v; + math::Vector<3> v; v[0] = 1.0; v[1] = 0.0; v[2] = 0.0; - libra::Vector<3> v_frame_conv = q.FrameConversion(v); - libra::Vector<3> v_frame_conv_inv = q.InverseFrameConversion(v_frame_conv); + math::Vector<3> v_frame_conv = q.FrameConversion(v); + math::Vector<3> v_frame_conv_inv = q.InverseFrameConversion(v_frame_conv); const double accuracy = 1.0e-7; for (size_t i = 0; i < 3; i++) { @@ -389,7 +389,7 @@ TEST(Quaternion, FrameConversion) { TEST(Quaternion, ConvertToVector) { libra::Quaternion q(0.5, 0.3, 0.1, 1.0); - libra::Vector<4> v = q.ConvertToVector(); + math::Vector<4> v = q.ConvertToVector(); for (size_t i = 0; i < 4; i++) { EXPECT_DOUBLE_EQ(q[i], v[i]); diff --git a/src/math_physics/math/test_vector.cpp b/src/math_physics/math/test_vector.cpp index 9affb0fba..76342b84f 100644 --- a/src/math_physics/math/test_vector.cpp +++ b/src/math_physics/math/test_vector.cpp @@ -13,7 +13,7 @@ TEST(Vector, ConstructorWithNumber) { const size_t N = 6; double initialize_value = 2.0; - libra::Vector v(initialize_value); + math::Vector v(initialize_value); for (size_t i = 0; i < N; i++) { EXPECT_DOUBLE_EQ(initialize_value, v[i]); @@ -26,7 +26,7 @@ TEST(Vector, ConstructorWithNumber) { */ TEST(Vector, GetLength) { const size_t N = 6; - libra::Vector v; + math::Vector v; EXPECT_EQ(N, v.GetLength()); } @@ -37,8 +37,8 @@ TEST(Vector, GetLength) { TEST(Vector, OperatorPlusEqual) { const size_t N = 6; double initialize_value = 2.0; - libra::Vector v(initialize_value); - libra::Vector adding; + math::Vector v(initialize_value); + math::Vector adding; for (size_t i = 0; i < N; i++) { adding[i] = double(i); @@ -60,8 +60,8 @@ TEST(Vector, OperatorPlusEqual) { TEST(Vector, OperatorMinusEqual) { const size_t N = 6; double initialize_value = 2.0; - libra::Vector v(initialize_value); - libra::Vector subtracting; + math::Vector v(initialize_value); + math::Vector subtracting; for (size_t i = 0; i < N; i++) { subtracting[i] = double(i); @@ -82,7 +82,7 @@ TEST(Vector, OperatorMinusEqual) { */ TEST(Vector, OperatorMultiplyEqual) { const size_t N = 6; - libra::Vector v; + math::Vector v; double multiplying = 2.0; for (size_t i = 0; i < N; i++) { @@ -104,7 +104,7 @@ TEST(Vector, OperatorMultiplyEqual) { */ TEST(Vector, OperatorDivideEqual) { const size_t N = 6; - libra::Vector v; + math::Vector v; double dividing = 3.0; for (size_t i = 0; i < N; i++) { @@ -126,13 +126,13 @@ TEST(Vector, OperatorDivideEqual) { */ TEST(Vector, OperatorNegative) { const size_t N = 6; - libra::Vector v; + math::Vector v; for (size_t i = 0; i < N; i++) { v[i] = double(i); } - libra::Vector v_negative = -v; + math::Vector v_negative = -v; for (size_t i = 0; i < N; i++) { // Check nondestructive @@ -147,7 +147,7 @@ TEST(Vector, OperatorNegative) { */ TEST(Vector, FillUp) { const size_t N = 6; - libra::Vector v; + math::Vector v; for (size_t i = 0; i < N; i++) { v[i] = double(i); @@ -171,14 +171,14 @@ TEST(Vector, FillUp) { TEST(Vector, OperatorPlus) { const size_t N = 6; double initialize_value = 2.0; - libra::Vector v(initialize_value); - libra::Vector adding; + math::Vector v(initialize_value); + math::Vector adding; for (size_t i = 0; i < N; i++) { adding[i] = double(i); } - libra::Vector added = v + adding; + math::Vector added = v + adding; for (size_t i = 0; i < N; i++) { // Check nondestructive @@ -195,14 +195,14 @@ TEST(Vector, OperatorPlus) { TEST(Vector, OperatorMinus) { const size_t N = 6; double initialize_value = 2.0; - libra::Vector v(initialize_value); - libra::Vector subtracting; + math::Vector v(initialize_value); + math::Vector subtracting; for (size_t i = 0; i < N; i++) { subtracting[i] = double(i); } - libra::Vector subtracted = v - subtracting; + math::Vector subtracted = v - subtracting; for (size_t i = 0; i < N; i++) { // Check nondestructive @@ -218,8 +218,8 @@ TEST(Vector, OperatorMinus) { */ TEST(Vector, InnerProduct) { const size_t N = 3; - libra::Vector a; - libra::Vector b; + math::Vector a; + math::Vector b; for (size_t i = 0; i < N; i++) { a[i] = double(i + 1); @@ -235,8 +235,8 @@ TEST(Vector, InnerProduct) { */ TEST(Vector, InnerProductZero) { const size_t N = 3; - libra::Vector a; - libra::Vector b; + math::Vector a; + math::Vector b; a[0] = 1.0; a[1] = 0.0; @@ -255,8 +255,8 @@ TEST(Vector, InnerProductZero) { */ TEST(Vector, OuterProductZero) { const size_t N = 3; - libra::Vector a; - libra::Vector b; + math::Vector a; + math::Vector b; a[0] = 1.0; a[1] = 0.0; @@ -266,7 +266,7 @@ TEST(Vector, OuterProductZero) { b[1] = 0.0; b[2] = 0.0; - libra::Vector<3> result = OuterProduct(a, b); + math::Vector<3> result = OuterProduct(a, b); for (size_t i = 0; i < N; i++) { EXPECT_DOUBLE_EQ(0.0, result[i]); @@ -278,8 +278,8 @@ TEST(Vector, OuterProductZero) { */ TEST(Vector, OuterProductX) { const size_t N = 3; - libra::Vector a; - libra::Vector b; + math::Vector a; + math::Vector b; a[0] = 0.0; a[1] = 0.0; @@ -289,7 +289,7 @@ TEST(Vector, OuterProductX) { b[1] = 1.0; b[2] = 0.0; - libra::Vector<3> result = OuterProduct(a, b); + math::Vector<3> result = OuterProduct(a, b); EXPECT_DOUBLE_EQ(-1.0, result[0]); EXPECT_DOUBLE_EQ(0.0, result[1]); @@ -301,8 +301,8 @@ TEST(Vector, OuterProductX) { */ TEST(Vector, OuterProductY) { const size_t N = 3; - libra::Vector a; - libra::Vector b; + math::Vector a; + math::Vector b; a[0] = 0.0; a[1] = 0.0; @@ -312,7 +312,7 @@ TEST(Vector, OuterProductY) { b[1] = 0.0; b[2] = 0.0; - libra::Vector<3> result = OuterProduct(a, b); + math::Vector<3> result = OuterProduct(a, b); EXPECT_DOUBLE_EQ(0.0, result[0]); EXPECT_DOUBLE_EQ(1.0, result[1]); @@ -324,8 +324,8 @@ TEST(Vector, OuterProductY) { */ TEST(Vector, OuterProductZ) { const size_t N = 3; - libra::Vector a; - libra::Vector b; + math::Vector a; + math::Vector b; a[0] = 1.0; a[1] = 0.0; @@ -335,7 +335,7 @@ TEST(Vector, OuterProductZ) { b[1] = 1.0; b[2] = 0.0; - libra::Vector<3> result = OuterProduct(a, b); + math::Vector<3> result = OuterProduct(a, b); EXPECT_DOUBLE_EQ(0.0, result[0]); EXPECT_DOUBLE_EQ(0.0, result[1]); @@ -347,7 +347,7 @@ TEST(Vector, OuterProductZ) { */ TEST(Vector, CalcNorm) { const size_t N = 10; - libra::Vector v(1.0); + math::Vector v(1.0); double norm = v.CalcNorm(); @@ -364,9 +364,9 @@ TEST(Vector, CalcNorm) { */ TEST(Vector, Normalize) { const size_t N = 5; - libra::Vector v(1.0); + math::Vector v(1.0); - libra::Vector normalized = v.CalcNormalizedVector(); + math::Vector normalized = v.CalcNormalizedVector(); for (size_t i = 0; i < N; i++) { // Check nondestructive @@ -381,8 +381,8 @@ TEST(Vector, Normalize) { */ TEST(Vector, CalcAngleTwoVectors90deg) { const size_t N = 3; - libra::Vector a; - libra::Vector b; + math::Vector a; + math::Vector b; a[0] = 1.0; a[1] = 0.0; @@ -402,7 +402,7 @@ TEST(Vector, CalcAngleTwoVectors90deg) { */ TEST(Vector, CalcAngleTwoVectors0deg) { const size_t N = 3; - libra::Vector a; + math::Vector a; a[0] = 1.0; a[1] = 0.0; @@ -418,8 +418,8 @@ TEST(Vector, CalcAngleTwoVectors0deg) { */ TEST(Vector, CalcAngleTwoVectors45deg) { const size_t N = 3; - libra::Vector a; - libra::Vector b; + math::Vector a; + math::Vector b; a[0] = 0.0; a[1] = 1.0; @@ -439,9 +439,9 @@ TEST(Vector, CalcAngleTwoVectors45deg) { */ TEST(Vector, GenerateOrthogonalUnitVector) { const size_t N = 3; - libra::Vector a(1.0); + math::Vector a(1.0); - libra::Vector b = GenerateOrthogonalUnitVector(a); + math::Vector b = GenerateOrthogonalUnitVector(a); double angle_rad = CalcAngleTwoVectors_rad(a, b); diff --git a/src/math_physics/numerical_integration/dormand_prince_5.hpp b/src/math_physics/numerical_integration/dormand_prince_5.hpp index 702a8f9ad..f8198e509 100644 --- a/src/math_physics/numerical_integration/dormand_prince_5.hpp +++ b/src/math_physics/numerical_integration/dormand_prince_5.hpp @@ -36,7 +36,7 @@ class DormandPrince5 : public EmbeddedRungeKutta { Vector CalcInterpolationState(const double sigma) const override; private: - std::vector> coefficients_; //!< Coefficients to calculate interpolation weights + std::vector> coefficients_; //!< Coefficients to calculate interpolation weights /** * @fn CalcInterpolationWeights * @brief Calculate weights for interpolation diff --git a/src/math_physics/numerical_integration/dormand_prince_5_implementation.hpp b/src/math_physics/numerical_integration/dormand_prince_5_implementation.hpp index 28348cceb..8cfbe77de 100644 --- a/src/math_physics/numerical_integration/dormand_prince_5_implementation.hpp +++ b/src/math_physics/numerical_integration/dormand_prince_5_implementation.hpp @@ -75,7 +75,7 @@ DormandPrince5::DormandPrince5(const double step_width, const InterfaceOde this->rk_matrix_[6][5] = 11.0 / 84.0; // Interpolation coefficients - libra::Vector<5> coefficients_temp; + math::Vector<5> coefficients_temp; coefficients_temp[0] = 11282082432.0; coefficients_temp[1] = -32272833064.0; coefficients_temp[2] = 34969693132.0; diff --git a/src/math_physics/numerical_integration/test_runge_kutta.cpp b/src/math_physics/numerical_integration/test_runge_kutta.cpp index 9724d2b04..29df5be2e 100644 --- a/src/math_physics/numerical_integration/test_runge_kutta.cpp +++ b/src/math_physics/numerical_integration/test_runge_kutta.cpp @@ -18,7 +18,7 @@ TEST(NUMERICAL_INTEGRATION, Constructor) { libra::numerical_integration::ExampleLinearOde ode; libra::numerical_integration::RungeKutta4<1> linear_ode(0.1, ode); - libra::Vector<1> state = linear_ode.GetState(); + math::Vector<1> state = linear_ode.GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); } @@ -30,7 +30,7 @@ TEST(NUMERICAL_INTEGRATION, IntegrateLinearRk4) { libra::numerical_integration::ExampleLinearOde ode; libra::numerical_integration::RungeKutta4<1> rk4_ode(step_width_s, ode); - libra::Vector<1> state = rk4_ode.GetState(); + math::Vector<1> state = rk4_ode.GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); size_t step_num = 10000; @@ -51,7 +51,7 @@ TEST(NUMERICAL_INTEGRATION, IntegrateLinearRkf) { libra::numerical_integration::ExampleLinearOde ode; libra::numerical_integration::RungeKuttaFehlberg<1> rkf_ode(step_width_s, ode); - libra::Vector<1> state = rkf_ode.GetState(); + math::Vector<1> state = rkf_ode.GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); size_t step_num = 10000; @@ -72,7 +72,7 @@ TEST(NUMERICAL_INTEGRATION, IntegrateLinearDp5) { libra::numerical_integration::ExampleLinearOde ode; libra::numerical_integration::DormandPrince5<1> dp5_ode(step_width_s, ode); - libra::Vector<1> state = dp5_ode.GetState(); + math::Vector<1> state = dp5_ode.GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); size_t step_num = 10000; @@ -93,7 +93,7 @@ TEST(NUMERICAL_INTEGRATION, IntegrateLinearNumericalIntegratorManagerRk4) { libra::numerical_integration::ExampleLinearOde ode; libra::numerical_integration::NumericalIntegratorManager<1> numerical_integrator(step_width_s, ode); - libra::Vector<1> state = numerical_integrator.GetIntegrator()->GetState(); + math::Vector<1> state = numerical_integrator.GetIntegrator()->GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); size_t step_num = 10000; @@ -115,7 +115,7 @@ TEST(NUMERICAL_INTEGRATION, IntegrateLinearNumericalIntegratorManagerRkf) { libra::numerical_integration::NumericalIntegratorManager<1> numerical_integrator(step_width_s, ode, libra::numerical_integration::NumericalIntegrationMethod::kRkf); - libra::Vector<1> state = numerical_integrator.GetIntegrator()->GetState(); + math::Vector<1> state = numerical_integrator.GetIntegrator()->GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); size_t step_num = 10000; @@ -141,7 +141,7 @@ TEST(NUMERICAL_INTEGRATION, IntegrateLinearNumericalIntegratorManagerDp5) { libra::numerical_integration::NumericalIntegratorManager<1> numerical_integrator(step_width_s, ode, libra::numerical_integration::NumericalIntegrationMethod::kDp5); - libra::Vector<1> state = numerical_integrator.GetIntegrator()->GetState(); + math::Vector<1> state = numerical_integrator.GetIntegrator()->GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); size_t step_num = 10000; @@ -166,7 +166,7 @@ TEST(NUMERICAL_INTEGRATION, IntegrateQuadraticRk4) { libra::numerical_integration::ExampleQuadraticOde ode; libra::numerical_integration::RungeKutta4<1> rk4_ode(step_width_s, ode); - libra::Vector<1> state = rk4_ode.GetState(); + math::Vector<1> state = rk4_ode.GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); size_t step_num = 10000; @@ -187,7 +187,7 @@ TEST(NUMERICAL_INTEGRATION, IntegrateQuadraticRkf) { libra::numerical_integration::ExampleQuadraticOde ode; libra::numerical_integration::RungeKuttaFehlberg<1> rkf_ode(step_width_s, ode); - libra::Vector<1> state = rkf_ode.GetState(); + math::Vector<1> state = rkf_ode.GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); size_t step_num = 10000; @@ -208,7 +208,7 @@ TEST(NUMERICAL_INTEGRATION, InterpolationQuadraticRkf) { libra::numerical_integration::ExampleQuadraticOde ode; libra::numerical_integration::RungeKuttaFehlberg<1> rkf_ode(step_width_s, ode); - libra::Vector<1> state = rkf_ode.GetState(); + math::Vector<1> state = rkf_ode.GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); rkf_ode.Integrate(); @@ -237,7 +237,7 @@ TEST(NUMERICAL_INTEGRATION, IntegrateQuadraticDp5) { libra::numerical_integration::ExampleQuadraticOde ode; libra::numerical_integration::DormandPrince5<1> dp5_ode(step_width_s, ode); - libra::Vector<1> state = dp5_ode.GetState(); + math::Vector<1> state = dp5_ode.GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); size_t step_num = 10000; @@ -258,7 +258,7 @@ TEST(NUMERICAL_INTEGRATION, InterpolationQuadraticDp5) { libra::numerical_integration::ExampleQuadraticOde ode; libra::numerical_integration::DormandPrince5<1> dp5_ode(step_width_s, ode); - libra::Vector<1> state = dp5_ode.GetState(); + math::Vector<1> state = dp5_ode.GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); dp5_ode.Integrate(); @@ -287,12 +287,12 @@ TEST(NUMERICAL_INTEGRATION, Integrate1dPositionVelocityRk4) { libra::numerical_integration::Example1dPositionVelocityOde ode; libra::numerical_integration::RungeKutta4<2> rk4_ode(step_width_s, ode); - libra::Vector<2> initial_state(0.0); + math::Vector<2> initial_state(0.0); initial_state[0] = 0.0; initial_state[1] = 0.1; rk4_ode.SetState(0.0, initial_state); - libra::Vector<2> state = rk4_ode.GetState(); + math::Vector<2> state = rk4_ode.GetState(); EXPECT_DOUBLE_EQ(initial_state[0], state[0]); EXPECT_DOUBLE_EQ(initial_state[1], state[1]); @@ -301,7 +301,7 @@ TEST(NUMERICAL_INTEGRATION, Integrate1dPositionVelocityRk4) { rk4_ode.Integrate(); } state = rk4_ode.GetState(); - libra::Vector<2> estimated_result(0.0); + math::Vector<2> estimated_result(0.0); estimated_result[0] = (step_width_s * step_num) * initial_state[1] + initial_state[0]; estimated_result[1] = initial_state[1]; @@ -317,12 +317,12 @@ TEST(NUMERICAL_INTEGRATION, Integrate1dPositionVelocityRkf) { libra::numerical_integration::Example1dPositionVelocityOde ode; libra::numerical_integration::RungeKuttaFehlberg<2> rkf_ode(step_width_s, ode); - libra::Vector<2> initial_state(0.0); + math::Vector<2> initial_state(0.0); initial_state[0] = 0.0; initial_state[1] = 0.1; rkf_ode.SetState(0.0, initial_state); - libra::Vector<2> state = rkf_ode.GetState(); + math::Vector<2> state = rkf_ode.GetState(); EXPECT_DOUBLE_EQ(initial_state[0], state[0]); EXPECT_DOUBLE_EQ(initial_state[1], state[1]); @@ -331,7 +331,7 @@ TEST(NUMERICAL_INTEGRATION, Integrate1dPositionVelocityRkf) { rkf_ode.Integrate(); } state = rkf_ode.GetState(); - libra::Vector<2> estimated_result(0.0); + math::Vector<2> estimated_result(0.0); estimated_result[0] = (step_width_s * step_num) * initial_state[1] + initial_state[0]; estimated_result[1] = initial_state[1]; @@ -347,12 +347,12 @@ TEST(NUMERICAL_INTEGRATION, Integrate1dPositionVelocityDp5) { libra::numerical_integration::Example1dPositionVelocityOde ode; libra::numerical_integration::DormandPrince5<2> dp5_ode(step_width_s, ode); - libra::Vector<2> initial_state(0.0); + math::Vector<2> initial_state(0.0); initial_state[0] = 0.0; initial_state[1] = 0.1; dp5_ode.SetState(0.0, initial_state); - libra::Vector<2> state = dp5_ode.GetState(); + math::Vector<2> state = dp5_ode.GetState(); EXPECT_DOUBLE_EQ(initial_state[0], state[0]); EXPECT_DOUBLE_EQ(initial_state[1], state[1]); @@ -361,7 +361,7 @@ TEST(NUMERICAL_INTEGRATION, Integrate1dPositionVelocityDp5) { dp5_ode.Integrate(); } state = dp5_ode.GetState(); - libra::Vector<2> estimated_result(0.0); + math::Vector<2> estimated_result(0.0); estimated_result[0] = (step_width_s * step_num) * initial_state[1] + initial_state[0]; estimated_result[1] = initial_state[1]; @@ -379,7 +379,7 @@ TEST(NUMERICAL_INTEGRATION, Integrate2dTwoBodyOrbitSmallEccentricity) { libra::numerical_integration::RungeKuttaFehlberg<4> rkf_ode(step_width_s, ode); libra::numerical_integration::DormandPrince5<4> dp5_ode(step_width_s, ode); - libra::Vector<4> initial_state(0.0); + math::Vector<4> initial_state(0.0); const double eccentricity = 0.1; initial_state[0] = 1.0 - eccentricity; initial_state[1] = 0.0; @@ -389,9 +389,9 @@ TEST(NUMERICAL_INTEGRATION, Integrate2dTwoBodyOrbitSmallEccentricity) { rkf_ode.SetState(0.0, initial_state); dp5_ode.SetState(0.0, initial_state); - libra::Vector<4> state_rk4 = rk4_ode.GetState(); - libra::Vector<4> state_rkf = rkf_ode.GetState(); - libra::Vector<4> state_dp5 = dp5_ode.GetState(); + math::Vector<4> state_rk4 = rk4_ode.GetState(); + math::Vector<4> state_rkf = rkf_ode.GetState(); + math::Vector<4> state_dp5 = dp5_ode.GetState(); for (size_t i = 0; i < 4; i++) { EXPECT_DOUBLE_EQ(initial_state[i], state_rk4[i]); EXPECT_DOUBLE_EQ(initial_state[i], state_rkf[i]); @@ -409,8 +409,8 @@ TEST(NUMERICAL_INTEGRATION, Integrate2dTwoBodyOrbitSmallEccentricity) { state_dp5 = dp5_ode.GetState(); // Estimation by Kepler Orbit calculation - libra::Vector<3> initial_position(0.0); - libra::Vector<3> initial_velocity(0.0); + math::Vector<3> initial_position(0.0); + math::Vector<3> initial_velocity(0.0); initial_position[0] = initial_state[0]; initial_position[1] = initial_state[1]; @@ -449,7 +449,7 @@ TEST(NUMERICAL_INTEGRATION, Integrate2dTwoBodyOrbitLargeEccentricity) { libra::numerical_integration::RungeKuttaFehlberg<4> rkf_ode(step_width_s, ode); libra::numerical_integration::DormandPrince5<4> dp5_ode(step_width_s, ode); - libra::Vector<4> initial_state(0.0); + math::Vector<4> initial_state(0.0); const double eccentricity = 0.9; initial_state[0] = 1.0 - eccentricity; initial_state[1] = 0.0; @@ -459,9 +459,9 @@ TEST(NUMERICAL_INTEGRATION, Integrate2dTwoBodyOrbitLargeEccentricity) { rkf_ode.SetState(0.0, initial_state); dp5_ode.SetState(0.0, initial_state); - libra::Vector<4> state_rk4 = rk4_ode.GetState(); - libra::Vector<4> state_rkf = rkf_ode.GetState(); - libra::Vector<4> state_dp5 = dp5_ode.GetState(); + math::Vector<4> state_rk4 = rk4_ode.GetState(); + math::Vector<4> state_rkf = rkf_ode.GetState(); + math::Vector<4> state_dp5 = dp5_ode.GetState(); for (size_t i = 0; i < 4; i++) { EXPECT_DOUBLE_EQ(initial_state[i], state_rk4[i]); EXPECT_DOUBLE_EQ(initial_state[i], state_rkf[i]); @@ -479,8 +479,8 @@ TEST(NUMERICAL_INTEGRATION, Integrate2dTwoBodyOrbitLargeEccentricity) { state_dp5 = dp5_ode.GetState(); // Estimation by Kepler Orbit calculation - libra::Vector<3> initial_position(0.0); - libra::Vector<3> initial_velocity(0.0); + math::Vector<3> initial_position(0.0); + math::Vector<3> initial_velocity(0.0); initial_position[0] = initial_state[0]; initial_position[1] = initial_state[1]; @@ -518,7 +518,7 @@ TEST(NUMERICAL_INTEGRATION, Interpolation2dTwoBodyOrbitSmallEccentricity) { libra::numerical_integration::RungeKuttaFehlberg<4> rkf_ode(step_width_s, ode); libra::numerical_integration::DormandPrince5<4> dp5_ode(step_width_s, ode); - libra::Vector<4> initial_state(0.0); + math::Vector<4> initial_state(0.0); const double eccentricity = 0.1; initial_state[0] = 1.0 - eccentricity; initial_state[1] = 0.0; @@ -527,8 +527,8 @@ TEST(NUMERICAL_INTEGRATION, Interpolation2dTwoBodyOrbitSmallEccentricity) { rkf_ode.SetState(0.0, initial_state); dp5_ode.SetState(0.0, initial_state); - libra::Vector<4> state_rkf = rkf_ode.GetState(); - libra::Vector<4> state_dp5 = dp5_ode.GetState(); + math::Vector<4> state_rkf = rkf_ode.GetState(); + math::Vector<4> state_dp5 = dp5_ode.GetState(); for (size_t i = 0; i < 4; i++) { EXPECT_DOUBLE_EQ(initial_state[i], state_rkf[i]); EXPECT_DOUBLE_EQ(initial_state[i], state_dp5[i]); @@ -543,8 +543,8 @@ TEST(NUMERICAL_INTEGRATION, Interpolation2dTwoBodyOrbitSmallEccentricity) { state_dp5 = dp5_ode.GetState(); // Estimation by Kepler Orbit calculation - libra::Vector<3> initial_position(0.0); - libra::Vector<3> initial_velocity(0.0); + math::Vector<3> initial_position(0.0); + math::Vector<3> initial_velocity(0.0); // Final value initial_position[0] = initial_state[0]; @@ -613,7 +613,7 @@ TEST(NUMERICAL_INTEGRATION, Interpolation2dTwoBodyOrbitLargeEccentricity) { libra::numerical_integration::RungeKuttaFehlberg<4> rkf_ode(step_width_s, ode); libra::numerical_integration::DormandPrince5<4> dp5_ode(step_width_s, ode); - libra::Vector<4> initial_state(0.0); + math::Vector<4> initial_state(0.0); const double eccentricity = 0.8; initial_state[0] = 1.0 - eccentricity; initial_state[1] = 0.0; @@ -622,8 +622,8 @@ TEST(NUMERICAL_INTEGRATION, Interpolation2dTwoBodyOrbitLargeEccentricity) { rkf_ode.SetState(0.0, initial_state); dp5_ode.SetState(0.0, initial_state); - libra::Vector<4> state_rkf = rkf_ode.GetState(); - libra::Vector<4> state_dp5 = dp5_ode.GetState(); + math::Vector<4> state_rkf = rkf_ode.GetState(); + math::Vector<4> state_dp5 = dp5_ode.GetState(); for (size_t i = 0; i < 4; i++) { EXPECT_DOUBLE_EQ(initial_state[i], state_rkf[i]); EXPECT_DOUBLE_EQ(initial_state[i], state_dp5[i]); @@ -638,8 +638,8 @@ TEST(NUMERICAL_INTEGRATION, Interpolation2dTwoBodyOrbitLargeEccentricity) { state_dp5 = dp5_ode.GetState(); // Estimation by Kepler Orbit calculation - libra::Vector<3> initial_position(0.0); - libra::Vector<3> initial_velocity(0.0); + math::Vector<3> initial_position(0.0); + math::Vector<3> initial_velocity(0.0); // Final value initial_position[0] = initial_state[0]; diff --git a/src/math_physics/optics/gaussian_beam_base.cpp b/src/math_physics/optics/gaussian_beam_base.cpp index f47842dad..c3ec9c5a6 100644 --- a/src/math_physics/optics/gaussian_beam_base.cpp +++ b/src/math_physics/optics/gaussian_beam_base.cpp @@ -28,9 +28,9 @@ void GaussianBeamBase::SetTotalPower_W(const double total_power_W) { total_power_W_ = total_power_W; } -void GaussianBeamBase::SetPointingVector_i(const libra::Vector<3> pointing_vector_i) { pointing_vector_i_ = pointing_vector_i; } +void GaussianBeamBase::SetPointingVector_i(const math::Vector<3> pointing_vector_i) { pointing_vector_i_ = pointing_vector_i; } -void GaussianBeamBase::SetBeamWaistPosition_i_m(const libra::Vector<3> position_beam_waist_i_m) { +void GaussianBeamBase::SetBeamWaistPosition_i_m(const math::Vector<3> position_beam_waist_i_m) { position_beam_waist_i_m_ = position_beam_waist_i_m; } diff --git a/src/math_physics/optics/gaussian_beam_base.hpp b/src/math_physics/optics/gaussian_beam_base.hpp index e47e98428..ae96c14e6 100644 --- a/src/math_physics/optics/gaussian_beam_base.hpp +++ b/src/math_physics/optics/gaussian_beam_base.hpp @@ -48,12 +48,12 @@ class GaussianBeamBase { * @fn SetPointingVector_i * @brief Set pointing direction vector in the inertial frame */ - void SetPointingVector_i(const libra::Vector<3> pointing_vector_i); + void SetPointingVector_i(const math::Vector<3> pointing_vector_i); /** * @fn SetBeamWaistPosition_i_m * @brief Set position of beam waist in the inertial frame [m] (Not used?) */ - void SetBeamWaistPosition_i_m(const libra::Vector<3> position_beam_waist_i_m); + void SetBeamWaistPosition_i_m(const math::Vector<3> position_beam_waist_i_m); // Getter /** @@ -75,12 +75,12 @@ class GaussianBeamBase { * @fn GetPointingVector_i * @brief Return pointing direction vector in the inertial frame */ - inline const libra::Vector<3> GetPointingVector_i() const { return pointing_vector_i_; } + inline const math::Vector<3> GetPointingVector_i() const { return pointing_vector_i_; } /** * @fn GetBeamWaistPosition_i_m * @brief Return position of beam waist in the inertial frame [m] (Not used?) */ - inline const libra::Vector<3> GetBeamWaistPosition_i_m() const { return position_beam_waist_i_m_; } + inline const math::Vector<3> GetBeamWaistPosition_i_m() const { return position_beam_waist_i_m_; } // Calculate functions /** @@ -103,8 +103,8 @@ class GaussianBeamBase { double wavelength_m_; //!< Wavelength [m] double radius_beam_waist_m_; //!< Radius of beam waist [m] double total_power_W_; //!< Total power [W] - libra::Vector<3> pointing_vector_i_{0.0}; //!< Pointing direction vector in the inertial frame - libra::Vector<3> position_beam_waist_i_m_{0.0}; //!< Position of beam waist in the inertial frame [m] (Not used?) + math::Vector<3> pointing_vector_i_{0.0}; //!< Pointing direction vector in the inertial frame + math::Vector<3> position_beam_waist_i_m_{0.0}; //!< Position of beam waist in the inertial frame [m] (Not used?) }; #endif // S2E_LIBRARY_OPTICS_GAUSSIAN_BEAM_BASE_HPP_ diff --git a/src/math_physics/orbit/interpolation_orbit.cpp b/src/math_physics/orbit/interpolation_orbit.cpp index eca927e24..e0ea33692 100644 --- a/src/math_physics/orbit/interpolation_orbit.cpp +++ b/src/math_physics/orbit/interpolation_orbit.cpp @@ -16,7 +16,7 @@ InterpolationOrbit::InterpolationOrbit(const size_t degree) { } } -bool InterpolationOrbit::PushAndPopData(const double time, const libra::Vector<3> position) { +bool InterpolationOrbit::PushAndPopData(const double time, const math::Vector<3> position) { bool result; for (size_t axis = 0; axis < 3; axis++) { result = interpolation_position_[axis].PushAndPopData(time, position[axis]); @@ -27,8 +27,8 @@ bool InterpolationOrbit::PushAndPopData(const double time, const libra::Vector<3 return true; } -libra::Vector<3> InterpolationOrbit::CalcPositionWithTrigonometric(const double time, const double period) const { - libra::Vector<3> output_position; +math::Vector<3> InterpolationOrbit::CalcPositionWithTrigonometric(const double time, const double period) const { + math::Vector<3> output_position; for (size_t axis = 0; axis < 3; axis++) { output_position[axis] = interpolation_position_[axis].CalcTrigonometric(time, period); } diff --git a/src/math_physics/orbit/interpolation_orbit.hpp b/src/math_physics/orbit/interpolation_orbit.hpp index 2f8c4cfd1..d45df5af7 100644 --- a/src/math_physics/orbit/interpolation_orbit.hpp +++ b/src/math_physics/orbit/interpolation_orbit.hpp @@ -30,7 +30,7 @@ class InterpolationOrbit { * @param [in] time: time of the new data * @param [in] position: Satellite position of the new data */ - bool PushAndPopData(const double time, const libra::Vector<3> position); + bool PushAndPopData(const double time, const math::Vector<3> position); /** * @fn CalcPositionWithTrigonometric @@ -39,7 +39,7 @@ class InterpolationOrbit { * @param [in] period: Characteristic period * @return Calculated position */ - libra::Vector<3> CalcPositionWithTrigonometric(const double time, const double period = 0.0) const; + math::Vector<3> CalcPositionWithTrigonometric(const double time, const double period = 0.0) const; // Getters /** diff --git a/src/math_physics/orbit/kepler_orbit.cpp b/src/math_physics/orbit/kepler_orbit.cpp index 5b6d2622c..7bb6de1f0 100644 --- a/src/math_physics/orbit/kepler_orbit.cpp +++ b/src/math_physics/orbit/kepler_orbit.cpp @@ -50,12 +50,12 @@ void KeplerOrbit::CalcOrbit(double time_jday) { double a_sqrt_e_m = a_m * sqrt(1.0 - e * e); double e_cos_u = 1.0 - e * cos_u; - libra::Vector<3> pos_inplane_m; + math::Vector<3> pos_inplane_m; pos_inplane_m[0] = a_m * (cos_u - e); pos_inplane_m[1] = a_sqrt_e_m * sin_u; pos_inplane_m[2] = 0.0; - libra::Vector<3> vel_inplane_m_s; + math::Vector<3> vel_inplane_m_s; vel_inplane_m_s[0] = -1.0 * a_m * n_rad_s * sin_u / e_cos_u; vel_inplane_m_s[1] = n_rad_s * a_sqrt_e_m * cos_u / e_cos_u; vel_inplane_m_s[2] = 0.0; diff --git a/src/math_physics/orbit/kepler_orbit.hpp b/src/math_physics/orbit/kepler_orbit.hpp index 7b6697f79..6dc866a48 100644 --- a/src/math_physics/orbit/kepler_orbit.hpp +++ b/src/math_physics/orbit/kepler_orbit.hpp @@ -45,16 +45,16 @@ class KeplerOrbit { * @fn GetPosition_i_m * @brief Return position vector in the inertial frame [m] */ - inline const libra::Vector<3> GetPosition_i_m() const { return position_i_m_; } + inline const math::Vector<3> GetPosition_i_m() const { return position_i_m_; } /** * @fn GetVelocity_i_m_s * @brief Return velocity vector in the inertial frame [m/s] */ - inline const libra::Vector<3> GetVelocity_i_m_s() const { return velocity_i_m_s_; } + inline const math::Vector<3> GetVelocity_i_m_s() const { return velocity_i_m_s_; } protected: - libra::Vector<3> position_i_m_; //!< Position vector in the inertial frame [m] - libra::Vector<3> velocity_i_m_s_; //!< Velocity vector in the inertial frame [m/s] + math::Vector<3> position_i_m_; //!< Position vector in the inertial frame [m] + math::Vector<3> velocity_i_m_s_; //!< Velocity vector in the inertial frame [m/s] private: double gravity_constant_m3_s2_; //!< Gravity constant of the center body [m3/s2] diff --git a/src/math_physics/orbit/orbital_elements.cpp b/src/math_physics/orbit/orbital_elements.cpp index db7bd24a3..8c50d8109 100644 --- a/src/math_physics/orbit/orbital_elements.cpp +++ b/src/math_physics/orbit/orbital_elements.cpp @@ -22,20 +22,20 @@ OrbitalElements::OrbitalElements(const double epoch_jday, const double semi_majo epoch_jday_(epoch_jday) {} // initialize with position and velocity -OrbitalElements::OrbitalElements(const double gravity_constant_m3_s2, const double time_jday, const libra::Vector<3> position_i_m, - const libra::Vector<3> velocity_i_m_s) { +OrbitalElements::OrbitalElements(const double gravity_constant_m3_s2, const double time_jday, const math::Vector<3> position_i_m, + const math::Vector<3> velocity_i_m_s) { CalcOeFromPosVel(gravity_constant_m3_s2, time_jday, position_i_m, velocity_i_m_s); } OrbitalElements::~OrbitalElements() {} // Private Function -void OrbitalElements::CalcOeFromPosVel(const double gravity_constant_m3_s2, const double time_jday, const libra::Vector<3> position_i_m, - const libra::Vector<3> velocity_i_m_s) { +void OrbitalElements::CalcOeFromPosVel(const double gravity_constant_m3_s2, const double time_jday, const math::Vector<3> position_i_m, + const math::Vector<3> velocity_i_m_s) { // common variables double r_m = position_i_m.CalcNorm(); double v2_m2_s2 = InnerProduct(velocity_i_m_s, velocity_i_m_s); - libra::Vector<3> h; //!< angular momentum vector + math::Vector<3> h; //!< angular momentum vector h = OuterProduct(position_i_m, velocity_i_m_s); double h_norm = h.CalcNorm(); @@ -43,7 +43,7 @@ void OrbitalElements::CalcOeFromPosVel(const double gravity_constant_m3_s2, cons semi_major_axis_m_ = gravity_constant_m3_s2 / (2.0 * gravity_constant_m3_s2 / r_m - v2_m2_s2); // inclination - libra::Vector<3> h_direction = h.CalcNormalizedVector(); + math::Vector<3> h_direction = h.CalcNormalizedVector(); inclination_rad_ = acos(h_direction[2]); // RAAN diff --git a/src/math_physics/orbit/orbital_elements.hpp b/src/math_physics/orbit/orbital_elements.hpp index ca38435a1..9b813ac5a 100644 --- a/src/math_physics/orbit/orbital_elements.hpp +++ b/src/math_physics/orbit/orbital_elements.hpp @@ -39,8 +39,8 @@ class OrbitalElements { * @param[in] position_i_m: Position vector in the inertial frame [m] * @param[in] velocity_i_m_s: Velocity vector in the inertial frame [m/s] */ - OrbitalElements(const double gravity_constant_m3_s2, const double time_jday, const libra::Vector<3> position_i_m, - const libra::Vector<3> velocity_i_m_s); + OrbitalElements(const double gravity_constant_m3_s2, const double time_jday, const math::Vector<3> position_i_m, + const math::Vector<3> velocity_i_m_s); /** * @fn ~OrbitalElements * @brief Destructor @@ -100,8 +100,8 @@ class OrbitalElements { * @param[in] position_i_m: Position vector in the inertial frame [m] * @param[in] velocity_i_m_s: Velocity vector in the inertial frame [m/s] */ - void CalcOeFromPosVel(const double gravity_constant_m3_s2, const double time_jday, const libra::Vector<3> position_i_m, - const libra::Vector<3> velocity_i_m_s); + void CalcOeFromPosVel(const double gravity_constant_m3_s2, const double time_jday, const math::Vector<3> position_i_m, + const math::Vector<3> velocity_i_m_s); }; #endif // S2E_LIBRARY_ORBIT_ORBITAL_ELEMENTS_HPP_ diff --git a/src/math_physics/orbit/test_interpolation_orbit.cpp b/src/math_physics/orbit/test_interpolation_orbit.cpp index 5f5b7ade3..22439c87e 100644 --- a/src/math_physics/orbit/test_interpolation_orbit.cpp +++ b/src/math_physics/orbit/test_interpolation_orbit.cpp @@ -31,7 +31,7 @@ TEST(InterpolationOrbit, PushAndPop) { EXPECT_EQ(degree, interpolation_orbit.GetDegree()); for (size_t i = 0; i < degree; i++) { double time = (double)i; - libra::Vector<3> position{i * 2.0}; + math::Vector<3> position{i * 2.0}; bool ret = interpolation_orbit.PushAndPopData(time, position); EXPECT_TRUE(ret); } @@ -44,7 +44,7 @@ TEST(InterpolationOrbit, PushAndPop) { // False test double time = 2.0; - libra::Vector<3> position{-100.0}; + math::Vector<3> position{-100.0}; bool ret = interpolation_orbit.PushAndPopData(time, position); EXPECT_FALSE(ret); } diff --git a/src/math_physics/planet_rotation/moon_rotation_utilities.cpp b/src/math_physics/planet_rotation/moon_rotation_utilities.cpp index 08f2670a9..71ac96722 100644 --- a/src/math_physics/planet_rotation/moon_rotation_utilities.cpp +++ b/src/math_physics/planet_rotation/moon_rotation_utilities.cpp @@ -10,20 +10,20 @@ #include -math::Matrix<3, 3> CalcDcmEciToPrincipalAxis(const libra::Vector<3> moon_position_eci_m, const libra::Vector<3> moon_velocity_eci_m_s) { +math::Matrix<3, 3> CalcDcmEciToPrincipalAxis(const math::Vector<3> moon_position_eci_m, const math::Vector<3> moon_velocity_eci_m_s) { math::Matrix<3, 3> dcm_eci2me = CalcDcmEciToMeanEarth(moon_position_eci_m, moon_velocity_eci_m_s); math::Matrix<3, 3> dcm_me2pa = CalcDcmMeanEarthToPrincipalAxis(); return dcm_me2pa * dcm_eci2me; } -math::Matrix<3, 3> CalcDcmEciToMeanEarth(const libra::Vector<3> moon_position_eci_m, const libra::Vector<3> moon_velocity_eci_m_s) { - libra::Vector<3> me_ex_eci = -1.0 * moon_position_eci_m.CalcNormalizedVector(); +math::Matrix<3, 3> CalcDcmEciToMeanEarth(const math::Vector<3> moon_position_eci_m, const math::Vector<3> moon_velocity_eci_m_s) { + math::Vector<3> me_ex_eci = -1.0 * moon_position_eci_m.CalcNormalizedVector(); - libra::Vector<3> moon_orbit_norm = libra::OuterProduct(moon_position_eci_m, moon_velocity_eci_m_s); - libra::Vector<3> me_ez_eci = moon_orbit_norm.CalcNormalizedVector(); + math::Vector<3> moon_orbit_norm = libra::OuterProduct(moon_position_eci_m, moon_velocity_eci_m_s); + math::Vector<3> me_ez_eci = moon_orbit_norm.CalcNormalizedVector(); - libra::Vector<3> me_ey_eci = libra::OuterProduct(me_ez_eci, me_ex_eci); + math::Vector<3> me_ey_eci = libra::OuterProduct(me_ez_eci, me_ex_eci); math::Matrix<3, 3> dcm_eci_to_me; for (size_t i = 0; i < 3; i++) { diff --git a/src/math_physics/planet_rotation/moon_rotation_utilities.hpp b/src/math_physics/planet_rotation/moon_rotation_utilities.hpp index 79cc6e6f6..e2726f5e4 100644 --- a/src/math_physics/planet_rotation/moon_rotation_utilities.hpp +++ b/src/math_physics/planet_rotation/moon_rotation_utilities.hpp @@ -18,7 +18,7 @@ * @param[in] moon_position_eci_m: Moon position vector @ ECI frame [m] * @param[in] moon_velocity_eci_m_s: Moon velocity vector @ ECI frame [m/s] */ -math::Matrix<3, 3> CalcDcmEciToPrincipalAxis(const libra::Vector<3> moon_position_eci_m, const libra::Vector<3> moon_velocity_eci_m_s); +math::Matrix<3, 3> CalcDcmEciToPrincipalAxis(const math::Vector<3> moon_position_eci_m, const math::Vector<3> moon_velocity_eci_m_s); /** * @fn CalcDcmEciToMeanEarth @@ -26,7 +26,7 @@ math::Matrix<3, 3> CalcDcmEciToPrincipalAxis(const libra::Vector<3> moon_positio * @param[in] moon_position_eci_m: Moon position vector @ ECI frame [m] * @param[in] moon_velocity_eci_m_s: Moon velocity vector @ ECI frame [m/s] */ -math::Matrix<3, 3> CalcDcmEciToMeanEarth(const libra::Vector<3> moon_position_eci_m, const libra::Vector<3> moon_velocity_eci_m_s); +math::Matrix<3, 3> CalcDcmEciToMeanEarth(const math::Vector<3> moon_position_eci_m, const math::Vector<3> moon_velocity_eci_m_s); /** * @fn CalcDcmMeToPrincipalAxis diff --git a/src/math_physics/randomization/random_walk.hpp b/src/math_physics/randomization/random_walk.hpp index 306888d4b..90496a7cf 100644 --- a/src/math_physics/randomization/random_walk.hpp +++ b/src/math_physics/randomization/random_walk.hpp @@ -24,7 +24,7 @@ class RandomWalk : public libra::OrdinaryDifferentialEquation { * @param standard_deviation: Standard deviation of random walk excitation noise * @param limit: Limit of random walk */ - RandomWalk(double step_width_s, const libra::Vector& standard_deviation, const libra::Vector& limit); + RandomWalk(double step_width_s, const math::Vector& standard_deviation, const math::Vector& limit); /** * @fn DerivativeFunction @@ -33,10 +33,10 @@ class RandomWalk : public libra::OrdinaryDifferentialEquation { * @param [in] state: State vector * @param [out] rhs: Differentiated value of state vector */ - virtual void DerivativeFunction(double x, const libra::Vector& state, libra::Vector& rhs); + virtual void DerivativeFunction(double x, const math::Vector& state, math::Vector& rhs); private: - libra::Vector limit_; //!< Limit of random walk + math::Vector limit_; //!< Limit of random walk libra::NormalRand normal_randomizer_[N]; //!< Random walk excitation noise }; diff --git a/src/math_physics/randomization/random_walk_template_functions.hpp b/src/math_physics/randomization/random_walk_template_functions.hpp index 4242f6952..441d05a5b 100644 --- a/src/math_physics/randomization/random_walk_template_functions.hpp +++ b/src/math_physics/randomization/random_walk_template_functions.hpp @@ -10,7 +10,7 @@ #include template -RandomWalk::RandomWalk(double step_width_s, const libra::Vector& standard_deviation, const libra::Vector& limit) +RandomWalk::RandomWalk(double step_width_s, const math::Vector& standard_deviation, const math::Vector& limit) : libra::OrdinaryDifferentialEquation(step_width_s), limit_(limit) { // Set standard deviation for (size_t i = 0; i < N; ++i) { @@ -19,7 +19,7 @@ RandomWalk::RandomWalk(double step_width_s, const libra::Vector& standard_ } template -void RandomWalk::DerivativeFunction(double x, const libra::Vector& state, libra::Vector& rhs) { +void RandomWalk::DerivativeFunction(double x, const math::Vector& state, math::Vector& rhs) { UNUSED(x); // TODO: consider the x is really need for this function for (size_t i = 0; i < N; ++i) { diff --git a/src/setting_file_reader/initialize_file_access.hpp b/src/setting_file_reader/initialize_file_access.hpp index 81b547214..997a22c9f 100644 --- a/src/setting_file_reader/initialize_file_access.hpp +++ b/src/setting_file_reader/initialize_file_access.hpp @@ -110,7 +110,7 @@ class IniAccess { * @param[out] data: Read vector type data */ template - void ReadVector(const char* section_name, const char* key_name, libra::Vector& data); + void ReadVector(const char* section_name, const char* key_name, math::Vector& data); /** * @fn ReadStrVector * @brief Read list of string type @@ -208,7 +208,7 @@ class IniAccess { }; template -void IniAccess::ReadVector(const char* section_name, const char* key_name, libra::Vector& data) { +void IniAccess::ReadVector(const char* section_name, const char* key_name, math::Vector& data) { for (size_t i = 0; i < NumElement; i++) { std::stringstream c_name; c_name << key_name << "(" << i << ")"; diff --git a/src/simulation/ground_station/ground_station.cpp b/src/simulation/ground_station/ground_station.cpp index cfe2bff44..a90fd5d4d 100644 --- a/src/simulation/ground_station/ground_station.cpp +++ b/src/simulation/ground_station/ground_station.cpp @@ -52,12 +52,12 @@ void GroundStation::Update(const EarthRotation& celestial_rotation, const Spacec is_visible_[spacecraft.GetSpacecraftId()] = CalcIsVisible(spacecraft.GetDynamics().GetOrbit().GetPosition_ecef_m()); } -bool GroundStation::CalcIsVisible(const libra::Vector<3> spacecraft_position_ecef_m) { +bool GroundStation::CalcIsVisible(const math::Vector<3> spacecraft_position_ecef_m) { libra::Quaternion q_ecef_to_ltc = geodetic_position_.GetQuaternionXcxfToLtc(); - libra::Vector<3> sc_pos_ltc = q_ecef_to_ltc.FrameConversion(spacecraft_position_ecef_m - position_ecef_m_); // Satellite position in LTC frame [m] + math::Vector<3> sc_pos_ltc = q_ecef_to_ltc.FrameConversion(spacecraft_position_ecef_m - position_ecef_m_); // Satellite position in LTC frame [m] sc_pos_ltc = sc_pos_ltc.CalcNormalizedVector(); - libra::Vector<3> dir_gs_to_zenith = libra::Vector<3>(0); + math::Vector<3> dir_gs_to_zenith = math::Vector<3>(0); dir_gs_to_zenith[2] = 1; // Judge the satellite position angle is over the minimum elevation diff --git a/src/simulation/monte_carlo_simulation/initialize_monte_carlo_parameters.cpp b/src/simulation/monte_carlo_simulation/initialize_monte_carlo_parameters.cpp index 25bc20100..b6dd39c03 100644 --- a/src/simulation/monte_carlo_simulation/initialize_monte_carlo_parameters.cpp +++ b/src/simulation/monte_carlo_simulation/initialize_monte_carlo_parameters.cpp @@ -120,7 +120,7 @@ void InitializedMonteCarloParameters::GenerateCartesianNormal() { } } -void InitializedMonteCarloParameters::CalcCircularNormalUniform(libra::Vector<2>& destination, double r_mean, double r_sigma, double theta_min, +void InitializedMonteCarloParameters::CalcCircularNormalUniform(math::Vector<2>& destination, double r_mean, double r_sigma, double theta_min, double theta_max) { // r follows normal distribution, and θ follows uniform distribution in Circular frame double r = InitializedMonteCarloParameters::Generate1dNormal(r_mean, r_sigma); @@ -134,7 +134,7 @@ void InitializedMonteCarloParameters::GenerateCircularNormalUniform() { if (mean_or_min_.size() < dim || sigma_or_max_.size() < dim) { throw "Config parameters dimension unmatched."; } - libra::Vector temp_vec; + math::Vector temp_vec; CalcCircularNormalUniform(temp_vec, mean_or_min_[0], sigma_or_max_[0], mean_or_min_[1], sigma_or_max_[1]); randomized_value_.clear(); @@ -143,7 +143,7 @@ void InitializedMonteCarloParameters::GenerateCircularNormalUniform() { } } -void InitializedMonteCarloParameters::CalcCircularNormalNormal(libra::Vector<2>& destination, double r_mean, double r_sigma, double theta_mean, +void InitializedMonteCarloParameters::CalcCircularNormalNormal(math::Vector<2>& destination, double r_mean, double r_sigma, double theta_mean, double theta_sigma) { // r and θ follow normal distribution in Circular frame double r = InitializedMonteCarloParameters::Generate1dNormal(r_mean, r_sigma); @@ -157,7 +157,7 @@ void InitializedMonteCarloParameters::GenerateCircularNormalNormal() { if (mean_or_min_.size() < dim || sigma_or_max_.size() < dim) { throw "Config parameters dimension unmatched."; } - libra::Vector temp_vec; + math::Vector temp_vec; CalcCircularNormalNormal(temp_vec, mean_or_min_[0], sigma_or_max_[0], mean_or_min_[1], sigma_or_max_[1]); randomized_value_.clear(); @@ -166,7 +166,7 @@ void InitializedMonteCarloParameters::GenerateCircularNormalNormal() { } } -void InitializedMonteCarloParameters::CalcSphericalNormalUniformUniform(libra::Vector<3>& destination, double r_mean, double r_sigma, +void InitializedMonteCarloParameters::CalcSphericalNormalUniformUniform(math::Vector<3>& destination, double r_mean, double r_sigma, double theta_min, double theta_max, double phi_min, double phi_max) { // r follows normal distribution, and θ and φ follow uniform distribution in Spherical frame double r = InitializedMonteCarloParameters::Generate1dNormal(r_mean, r_sigma); @@ -182,7 +182,7 @@ void InitializedMonteCarloParameters::GenerateSphericalNormalUniformUniform() { if (mean_or_min_.size() < dim || sigma_or_max_.size() < dim) { throw "Config parameters dimension unmatched."; } - libra::Vector temp_vec; + math::Vector temp_vec; CalcSphericalNormalUniformUniform(temp_vec, mean_or_min_[0], sigma_or_max_[0], mean_or_min_[1], sigma_or_max_[1], mean_or_min_[2], sigma_or_max_[2]); @@ -192,29 +192,29 @@ void InitializedMonteCarloParameters::GenerateSphericalNormalUniformUniform() { } } -void InitializedMonteCarloParameters::CalcSphericalNormalNormal(libra::Vector<3>& destination, const libra::Vector<3>& mean_vec) { +void InitializedMonteCarloParameters::CalcSphericalNormalNormal(math::Vector<3>& destination, const math::Vector<3>& mean_vec) { // r and θ follow normal distribution, and mean vector angle φ follows uniform distribution [0,2*pi] - libra::Vector<3> mean_vec_dir; + math::Vector<3> mean_vec_dir; mean_vec_dir = 1.0 / mean_vec.CalcNorm() * mean_vec; // Unit vector of mean vector direction - libra::Vector<3> x_axis(0.0), y_axis(0.0); + math::Vector<3> x_axis(0.0), y_axis(0.0); x_axis[0] = 1.0; y_axis[1] = 1.0; - libra::Vector<3> op_x = OuterProduct(mean_vec_dir, x_axis); - libra::Vector<3> op_y = OuterProduct(mean_vec_dir, y_axis); + math::Vector<3> op_x = OuterProduct(mean_vec_dir, x_axis); + math::Vector<3> op_y = OuterProduct(mean_vec_dir, y_axis); // An unit vector perpendicular with the mean vector // In case of the mean vector is parallel with X or Y axis, selecting the axis depend on the norm of outer product - libra::Vector<3> normal_unit_vec = op_x.CalcNorm() > op_y.CalcNorm() ? op_x = op_x.CalcNormalizedVector() : op_y = op_y.CalcNormalizedVector(); + math::Vector<3> normal_unit_vec = op_x.CalcNorm() > op_y.CalcNorm() ? op_x = op_x.CalcNormalizedVector() : op_y = op_y.CalcNormalizedVector(); double rotation_angle_of_normal_unit_vec = InitializedMonteCarloParameters::Generate1dUniform(0.0, libra::tau); libra::Quaternion rotation_of_normal_unit_vec(mean_vec_dir, -rotation_angle_of_normal_unit_vec); // Use opposite sign to rotate the vector (not the frame) - libra::Vector<3> rotation_axis = rotation_of_normal_unit_vec.FrameConversion(normal_unit_vec); // Axis of mean vector rotation + math::Vector<3> rotation_axis = rotation_of_normal_unit_vec.FrameConversion(normal_unit_vec); // Axis of mean vector rotation double rotation_angle_of_mean_vec = InitializedMonteCarloParameters::Generate1dNormal(0.0, sigma_or_max_[1]); libra::Quaternion rotation_of_mean_vec(rotation_axis, -rotation_angle_of_mean_vec); // Use opposite sign to rotate the vector (not the frame) - libra::Vector<3> ret_vec = rotation_of_mean_vec.FrameConversion(mean_vec_dir); // Complete calculation of the direction + math::Vector<3> ret_vec = rotation_of_mean_vec.FrameConversion(mean_vec_dir); // Complete calculation of the direction ret_vec = InitializedMonteCarloParameters::Generate1dNormal(mean_vec.CalcNorm(), sigma_or_max_[0]) * ret_vec; // multiply norm @@ -228,7 +228,7 @@ void InitializedMonteCarloParameters::GenerateSphericalNormalNormal() { if (mean_or_min_.size() < dim || sigma_or_max_.size() < 2) { throw "Config parameters dimension unmatched."; } - libra::Vector temp_vec, temp_mean_vec; + math::Vector temp_vec, temp_mean_vec; for (int i = 0; i < dim; i++) { temp_mean_vec[i] = mean_or_min_[i]; } @@ -242,12 +242,12 @@ void InitializedMonteCarloParameters::GenerateSphericalNormalNormal() { void InitializedMonteCarloParameters::CalcQuaternionUniform(libra::Quaternion& destination) { // Perfectly Randomized libra::Quaternion - libra::Vector<3> x_axis(0.0); + math::Vector<3> x_axis(0.0); x_axis[0] = 1.0; // A direction vector converted from the X-axis by a quaternion may follows the uniform distribution in full sphere. libra::Quaternion first_cnv; - libra::Vector<3> x_axis_cnvd; + math::Vector<3> x_axis_cnvd; double theta = acos(1 - (1 - (-1)) * InitializedMonteCarloParameters::Generate1dUniform(0.0, 1.0)); double phi = InitializedMonteCarloParameters::Generate1dUniform(0, libra::tau); x_axis_cnvd[0] = sin(theta) * cos(phi); @@ -255,7 +255,7 @@ void InitializedMonteCarloParameters::CalcQuaternionUniform(libra::Quaternion& d x_axis_cnvd[2] = cos(theta); double cos_angle_between = InnerProduct(x_axis, x_axis_cnvd); - libra::Vector<3> op = OuterProduct(x_axis, x_axis_cnvd); + math::Vector<3> op = OuterProduct(x_axis, x_axis_cnvd); for (int i = 0; i < 3; i++) { first_cnv[i] = op[i]; } @@ -286,7 +286,7 @@ void InitializedMonteCarloParameters::GenerateQuaternionUniform() { void InitializedMonteCarloParameters::CalcQuaternionNormal(libra::Quaternion& destination, double theta_sigma) { // Angle from the default quaternion θ follows normal distribution // The rotation axis follows uniform distribution on full sphere - libra::Vector<3> rot_axis; + math::Vector<3> rot_axis; double theta = acos(1 - (1 - (-1)) * InitializedMonteCarloParameters::Generate1dUniform(0.0, 1.0)); double phi = InitializedMonteCarloParameters::Generate1dUniform(0, libra::tau); rot_axis[0] = sin(theta) * cos(phi); diff --git a/src/simulation/monte_carlo_simulation/initialize_monte_carlo_parameters.hpp b/src/simulation/monte_carlo_simulation/initialize_monte_carlo_parameters.hpp index cf73abc2a..0ea121585 100644 --- a/src/simulation/monte_carlo_simulation/initialize_monte_carlo_parameters.hpp +++ b/src/simulation/monte_carlo_simulation/initialize_monte_carlo_parameters.hpp @@ -52,7 +52,7 @@ class InitializedMonteCarloParameters { * @brief Set randomization parameters */ template - void SetRandomConfiguration(const libra::Vector& mean_or_min, const libra::Vector& sigma_or_max, + void SetRandomConfiguration(const math::Vector& mean_or_min, const math::Vector& sigma_or_max, RandomizationType random_type); // Getter @@ -61,7 +61,7 @@ class InitializedMonteCarloParameters { * @brief Get randomized vector value results */ template - void GetRandomizedVector(libra::Vector& destination) const; + void GetRandomizedVector(math::Vector& destination) const; /** * @fn GetRandomizedQuaternion * @brief Get randomized quaternion results @@ -175,23 +175,23 @@ class InitializedMonteCarloParameters { * @fn CalcCircularNormalUniform * @brief Calculate randomized value with CircularNormalUniform mode */ - void CalcCircularNormalUniform(libra::Vector<2>& destination, double r_mean, double r_sigma, double theta_min, double theta_max); + void CalcCircularNormalUniform(math::Vector<2>& destination, double r_mean, double r_sigma, double theta_min, double theta_max); /** * @fn CalcCircularNormalNormal * @brief Calculate randomized value with CircularNormalNormal mode */ - void CalcCircularNormalNormal(libra::Vector<2>& destination, double r_mean, double r_sigma, double theta_mean, double theta_sigma); + void CalcCircularNormalNormal(math::Vector<2>& destination, double r_mean, double r_sigma, double theta_mean, double theta_sigma); /** * @fn CalcSphericalNormalUniformUniform * @brief Calculate randomized value with SphericalNormalUniformUniform mode */ - void CalcSphericalNormalUniformUniform(libra::Vector<3>& destination, double r_mean, double r_sigma, double theta_min, double theta_max, + void CalcSphericalNormalUniformUniform(math::Vector<3>& destination, double r_mean, double r_sigma, double theta_min, double theta_max, double phi_min, double phi_max); /** * @fn CalcSphericalNormalNormal * @brief Calculate randomized value with SphericalNormalNormal mode */ - void CalcSphericalNormalNormal(libra::Vector<3>& destination, const libra::Vector<3>& mean_vec); + void CalcSphericalNormalNormal(math::Vector<3>& destination, const math::Vector<3>& mean_vec); /** * @fn CalcQuaternionUniform * @brief Calculate randomized value with QuaternionUniform mode @@ -205,8 +205,8 @@ class InitializedMonteCarloParameters { }; template -void InitializedMonteCarloParameters::SetRandomConfiguration(const libra::Vector& mean_or_min, - const libra::Vector& sigma_or_max, +void InitializedMonteCarloParameters::SetRandomConfiguration(const math::Vector& mean_or_min, + const math::Vector& sigma_or_max, InitializedMonteCarloParameters::RandomizationType random_type) { randomization_type_ = random_type; mean_or_min_.clear(); @@ -220,7 +220,7 @@ void InitializedMonteCarloParameters::SetRandomConfiguration(const libra::Vector } template -void InitializedMonteCarloParameters::GetRandomizedVector(libra::Vector& destination) const { +void InitializedMonteCarloParameters::GetRandomizedVector(math::Vector& destination) const { if (randomization_type_ == kNoRandomization) { ; } else if (NumElement > randomized_value_.size()) { diff --git a/src/simulation/monte_carlo_simulation/initialize_monte_carlo_simulation.cpp b/src/simulation/monte_carlo_simulation/initialize_monte_carlo_simulation.cpp index 267859b9a..8c3ad1e39 100644 --- a/src/simulation/monte_carlo_simulation/initialize_monte_carlo_simulation.cpp +++ b/src/simulation/monte_carlo_simulation/initialize_monte_carlo_simulation.cpp @@ -79,12 +79,12 @@ MonteCarloSimulationExecutor* InitMonteCarloSimulation(std::string file_name) { // Read mean_or_min vector key_name = so_dot_ip_str + MonteCarloSimulationExecutor::separator_ + "mean_or_min"; - libra::Vector<3> mean_or_min; + math::Vector<3> mean_or_min; ini_file.ReadVector(section, key_name.c_str(), mean_or_min); // Read sigma_or_max vector key_name = so_dot_ip_str + MonteCarloSimulationExecutor::separator_ + "sigma_or_max"; - libra::Vector<3> sigma_or_max; + math::Vector<3> sigma_or_max; ini_file.ReadVector(section, key_name.c_str(), sigma_or_max); // Write randomize setting diff --git a/src/simulation/monte_carlo_simulation/monte_carlo_simulation_executor.hpp b/src/simulation/monte_carlo_simulation/monte_carlo_simulation_executor.hpp index 57440e33d..0cf862dda 100644 --- a/src/simulation/monte_carlo_simulation/monte_carlo_simulation_executor.hpp +++ b/src/simulation/monte_carlo_simulation/monte_carlo_simulation_executor.hpp @@ -86,7 +86,7 @@ class MonteCarloSimulationExecutor { */ template void GetInitializedMonteCarloParameterVector(std::string so_name, std::string init_monte_carlo_parameter_name, - libra::Vector& destination) const; + math::Vector& destination) const; /** * @fn GetInitializedMonteCarloParameterDouble * @brief Get randomized value and store it in dest @@ -126,7 +126,7 @@ class MonteCarloSimulationExecutor { * @brief Add initialized parameter */ void AddInitializedMonteCarloParameter(std::string so_name, std::string init_monte_carlo_parameter_name, - const libra::Vector& mean_or_min, const libra::Vector& sigma_or_max, + const math::Vector& mean_or_min, const math::Vector& sigma_or_max, InitializedMonteCarloParameters::RandomizationType random_type); /** @@ -138,7 +138,7 @@ class MonteCarloSimulationExecutor { template void MonteCarloSimulationExecutor::GetInitializedMonteCarloParameterVector(std::string so_name, std::string init_monte_carlo_parameter_name, - libra::Vector& destination) const { + math::Vector& destination) const { if (!enabled_) return; std::string name = so_name + MonteCarloSimulationExecutor::separator_ + init_monte_carlo_parameter_name; if (init_parameter_list_.find(name) == init_parameter_list_.end()) { @@ -151,8 +151,8 @@ void MonteCarloSimulationExecutor::GetInitializedMonteCarloParameterVector(std:: template void MonteCarloSimulationExecutor::AddInitializedMonteCarloParameter(std::string so_name, std::string init_monte_carlo_parameter_name, - const libra::Vector& mean_or_min, - const libra::Vector& sigma_or_max, + const math::Vector& mean_or_min, + const math::Vector& sigma_or_max, InitializedMonteCarloParameters::RandomizationType random_type) { std::string name = so_name + MonteCarloSimulationExecutor::separator_ + init_monte_carlo_parameter_name; if (init_parameter_list_.find(name) == init_parameter_list_.end()) { diff --git a/src/simulation/monte_carlo_simulation/simulation_object.hpp b/src/simulation/monte_carlo_simulation/simulation_object.hpp index daf6d23ee..d0fe92f49 100644 --- a/src/simulation/monte_carlo_simulation/simulation_object.hpp +++ b/src/simulation/monte_carlo_simulation/simulation_object.hpp @@ -40,7 +40,7 @@ class SimulationObject { */ template void GetInitializedMonteCarloParameterVector(const MonteCarloSimulationExecutor& monte_carlo_simulator, std::string init_monte_carlo_parameter_name, - libra::Vector& destination) const; + math::Vector& destination) const; /** * @fn GetInitializedMonteCarloParameterDouble @@ -80,7 +80,7 @@ class SimulationObject { template void SimulationObject::GetInitializedMonteCarloParameterVector(const MonteCarloSimulationExecutor& monte_carlo_simulator, std::string init_monte_carlo_parameter_name, - libra::Vector& destination) const { + math::Vector& destination) const { monte_carlo_simulator.GetInitializedMonteCarloParameterVector(name_, init_monte_carlo_parameter_name, destination); } diff --git a/src/simulation/multiple_spacecraft/relative_information.cpp b/src/simulation/multiple_spacecraft/relative_information.cpp index 57f36d9c1..93b6e9e63 100644 --- a/src/simulation/multiple_spacecraft/relative_information.cpp +++ b/src/simulation/multiple_spacecraft/relative_information.cpp @@ -13,8 +13,8 @@ void RelativeInformation::Update() { for (size_t target_spacecraft_id = 0; target_spacecraft_id < dynamics_database_.size(); target_spacecraft_id++) { for (size_t reference_spacecraft_id = 0; reference_spacecraft_id < dynamics_database_.size(); reference_spacecraft_id++) { // Position - libra::Vector<3> target_sat_pos_i = dynamics_database_.at(target_spacecraft_id)->GetOrbit().GetPosition_i_m(); - libra::Vector<3> reference_sat_pos_i = dynamics_database_.at(reference_spacecraft_id)->GetOrbit().GetPosition_i_m(); + math::Vector<3> target_sat_pos_i = dynamics_database_.at(target_spacecraft_id)->GetOrbit().GetPosition_i_m(); + math::Vector<3> reference_sat_pos_i = dynamics_database_.at(reference_spacecraft_id)->GetOrbit().GetPosition_i_m(); relative_position_list_i_m_[target_spacecraft_id][reference_spacecraft_id] = target_sat_pos_i - reference_sat_pos_i; relative_position_list_rtn_m_[target_spacecraft_id][reference_spacecraft_id] = CalcRelativePosition_rtn_m(target_spacecraft_id, reference_spacecraft_id); @@ -24,8 +24,8 @@ void RelativeInformation::Update() { relative_position_list_i_m_[target_spacecraft_id][reference_spacecraft_id].CalcNorm(); // Velocity - libra::Vector<3> target_sat_vel_i = dynamics_database_.at(target_spacecraft_id)->GetOrbit().GetVelocity_i_m_s(); - libra::Vector<3> reference_sat_vel_i = dynamics_database_.at(reference_spacecraft_id)->GetOrbit().GetVelocity_i_m_s(); + math::Vector<3> target_sat_vel_i = dynamics_database_.at(target_spacecraft_id)->GetOrbit().GetVelocity_i_m_s(); + math::Vector<3> reference_sat_vel_i = dynamics_database_.at(reference_spacecraft_id)->GetOrbit().GetVelocity_i_m_s(); relative_velocity_list_i_m_s_[target_spacecraft_id][reference_spacecraft_id] = target_sat_vel_i - reference_sat_vel_i; relative_velocity_list_rtn_m_s_[target_spacecraft_id][reference_spacecraft_id] = CalcRelativeVelocity_rtn_m_s(target_spacecraft_id, reference_spacecraft_id); @@ -122,44 +122,44 @@ libra::Quaternion RelativeInformation::CalcRelativeAttitudeQuaternion(const size return q_target_i2b * q_reference_b2i; } -libra::Vector<3> RelativeInformation::CalcRelativePosition_rtn_m(const size_t target_spacecraft_id, const size_t reference_spacecraft_id) { - libra::Vector<3> target_sat_pos_i = dynamics_database_.at(target_spacecraft_id)->GetOrbit().GetPosition_i_m(); - libra::Vector<3> reference_sat_pos_i = dynamics_database_.at(reference_spacecraft_id)->GetOrbit().GetPosition_i_m(); - libra::Vector<3> relative_pos_i = target_sat_pos_i - reference_sat_pos_i; +math::Vector<3> RelativeInformation::CalcRelativePosition_rtn_m(const size_t target_spacecraft_id, const size_t reference_spacecraft_id) { + math::Vector<3> target_sat_pos_i = dynamics_database_.at(target_spacecraft_id)->GetOrbit().GetPosition_i_m(); + math::Vector<3> reference_sat_pos_i = dynamics_database_.at(reference_spacecraft_id)->GetOrbit().GetPosition_i_m(); + math::Vector<3> relative_pos_i = target_sat_pos_i - reference_sat_pos_i; // RTN frame for the reference satellite libra::Quaternion q_i2rtn = dynamics_database_.at(reference_spacecraft_id)->GetOrbit().CalcQuaternion_i2lvlh(); - libra::Vector<3> relative_pos_rtn = q_i2rtn.FrameConversion(relative_pos_i); + math::Vector<3> relative_pos_rtn = q_i2rtn.FrameConversion(relative_pos_i); return relative_pos_rtn; } -libra::Vector<3> RelativeInformation::CalcRelativeVelocity_rtn_m_s(const size_t target_spacecraft_id, const size_t reference_spacecraft_id) { - libra::Vector<3> target_sat_pos_i = dynamics_database_.at(target_spacecraft_id)->GetOrbit().GetPosition_i_m(); - libra::Vector<3> reference_sat_pos_i = dynamics_database_.at(reference_spacecraft_id)->GetOrbit().GetPosition_i_m(); - libra::Vector<3> relative_pos_i = target_sat_pos_i - reference_sat_pos_i; +math::Vector<3> RelativeInformation::CalcRelativeVelocity_rtn_m_s(const size_t target_spacecraft_id, const size_t reference_spacecraft_id) { + math::Vector<3> target_sat_pos_i = dynamics_database_.at(target_spacecraft_id)->GetOrbit().GetPosition_i_m(); + math::Vector<3> reference_sat_pos_i = dynamics_database_.at(reference_spacecraft_id)->GetOrbit().GetPosition_i_m(); + math::Vector<3> relative_pos_i = target_sat_pos_i - reference_sat_pos_i; // RTN frame for the reference satellite libra::Quaternion q_i2rtn = dynamics_database_.at(reference_spacecraft_id)->GetOrbit().CalcQuaternion_i2lvlh(); // Rotation vector of RTN frame - libra::Vector<3> reference_sat_vel_i = dynamics_database_.at(reference_spacecraft_id)->GetOrbit().GetVelocity_i_m_s(); - libra::Vector<3> target_sat_vel_i = dynamics_database_.at(target_spacecraft_id)->GetOrbit().GetVelocity_i_m_s(); - libra::Vector<3> rot_vec_rtn_i = cross(reference_sat_pos_i, reference_sat_vel_i); + math::Vector<3> reference_sat_vel_i = dynamics_database_.at(reference_spacecraft_id)->GetOrbit().GetVelocity_i_m_s(); + math::Vector<3> target_sat_vel_i = dynamics_database_.at(target_spacecraft_id)->GetOrbit().GetVelocity_i_m_s(); + math::Vector<3> rot_vec_rtn_i = cross(reference_sat_pos_i, reference_sat_vel_i); double r2_ref = reference_sat_pos_i.CalcNorm() * reference_sat_pos_i.CalcNorm(); rot_vec_rtn_i /= r2_ref; - libra::Vector<3> relative_vel_i = target_sat_vel_i - reference_sat_vel_i - cross(rot_vec_rtn_i, relative_pos_i); + math::Vector<3> relative_vel_i = target_sat_vel_i - reference_sat_vel_i - cross(rot_vec_rtn_i, relative_pos_i); - libra::Vector<3> relative_vel_rtn = q_i2rtn.FrameConversion(relative_vel_i); + math::Vector<3> relative_vel_rtn = q_i2rtn.FrameConversion(relative_vel_i); return relative_vel_rtn; } void RelativeInformation::ResizeLists() { size_t size = dynamics_database_.size(); - relative_position_list_i_m_.assign(size, std::vector>(size, libra::Vector<3>(0))); - relative_velocity_list_i_m_s_.assign(size, std::vector>(size, libra::Vector<3>(0))); + relative_position_list_i_m_.assign(size, std::vector>(size, math::Vector<3>(0))); + relative_velocity_list_i_m_s_.assign(size, std::vector>(size, math::Vector<3>(0))); relative_distance_list_m_.assign(size, std::vector(size, 0.0)); - relative_position_list_rtn_m_.assign(size, std::vector>(size, libra::Vector<3>(0))); - relative_velocity_list_rtn_m_s_.assign(size, std::vector>(size, libra::Vector<3>(0))); + relative_position_list_rtn_m_.assign(size, std::vector>(size, math::Vector<3>(0))); + relative_velocity_list_rtn_m_s_.assign(size, std::vector>(size, math::Vector<3>(0))); relative_attitude_quaternion_list_.assign(size, std::vector(size, libra::Quaternion(0, 0, 0, 1))); } diff --git a/src/simulation/multiple_spacecraft/relative_information.hpp b/src/simulation/multiple_spacecraft/relative_information.hpp index a1de06e28..abe2e1b45 100644 --- a/src/simulation/multiple_spacecraft/relative_information.hpp +++ b/src/simulation/multiple_spacecraft/relative_information.hpp @@ -82,7 +82,7 @@ class RelativeInformation : public ILoggable { * @param [in] target_spacecraft_id: ID of target spacecraft * @param [in] reference_spacecraft_id: ID of reference spacecraft */ - inline libra::Vector<3> GetRelativePosition_i_m(const size_t target_spacecraft_id, const size_t reference_spacecraft_id) const { + inline math::Vector<3> GetRelativePosition_i_m(const size_t target_spacecraft_id, const size_t reference_spacecraft_id) const { return relative_position_list_i_m_[target_spacecraft_id][reference_spacecraft_id]; } /** @@ -91,7 +91,7 @@ class RelativeInformation : public ILoggable { * @param [in] target_spacecraft_id: ID of target spacecraft * @param [in] reference_spacecraft_id: ID of reference spacecraft */ - inline libra::Vector<3> GetRelativeVelocity_i_m_s(const size_t target_spacecraft_id, const size_t reference_spacecraft_id) const { + inline math::Vector<3> GetRelativeVelocity_i_m_s(const size_t target_spacecraft_id, const size_t reference_spacecraft_id) const { return relative_velocity_list_i_m_s_[target_spacecraft_id][reference_spacecraft_id]; } /** @@ -109,7 +109,7 @@ class RelativeInformation : public ILoggable { * @param [in] target_spacecraft_id: ID of target spacecraft * @param [in] reference_spacecraft_id: ID of reference spacecraft */ - inline libra::Vector<3> GetRelativePosition_rtn_m(const size_t target_spacecraft_id, const size_t reference_spacecraft_id) const { + inline math::Vector<3> GetRelativePosition_rtn_m(const size_t target_spacecraft_id, const size_t reference_spacecraft_id) const { return relative_position_list_rtn_m_[target_spacecraft_id][reference_spacecraft_id]; } /** @@ -118,7 +118,7 @@ class RelativeInformation : public ILoggable { * @param [in] target_spacecraft_id: ID of target spacecraft * @param [in] reference_spacecraft_id: ID of reference spacecraft */ - inline libra::Vector<3> GetRelativeVelocity_rtn_m_s(const size_t target_spacecraft_id, const size_t reference_spacecraft_id) const { + inline math::Vector<3> GetRelativeVelocity_rtn_m_s(const size_t target_spacecraft_id, const size_t reference_spacecraft_id) const { return relative_velocity_list_rtn_m_s_[target_spacecraft_id][reference_spacecraft_id]; } @@ -134,10 +134,10 @@ class RelativeInformation : public ILoggable { private: std::map dynamics_database_; //!< Dynamics database of all spacecraft - std::vector>> relative_position_list_i_m_; //!< Relative position list in the inertial frame in unit [m] - std::vector>> relative_velocity_list_i_m_s_; //!< Relative velocity list in the inertial frame in unit [m/s] - std::vector>> relative_position_list_rtn_m_; //!< Relative position list in the RTN frame in unit [m] - std::vector>> relative_velocity_list_rtn_m_s_; //!< Relative velocity list in the RTN frame in unit [m/s] + std::vector>> relative_position_list_i_m_; //!< Relative position list in the inertial frame in unit [m] + std::vector>> relative_velocity_list_i_m_s_; //!< Relative velocity list in the inertial frame in unit [m/s] + std::vector>> relative_position_list_rtn_m_; //!< Relative position list in the RTN frame in unit [m] + std::vector>> relative_velocity_list_rtn_m_s_; //!< Relative velocity list in the RTN frame in unit [m/s] std::vector> relative_distance_list_m_; //!< Relative distance list in unit [m] std::vector> relative_attitude_quaternion_list_; //!< Relative attitude quaternion list @@ -154,14 +154,14 @@ class RelativeInformation : public ILoggable { * @param [in] target_spacecraft_id: ID of the spacecraft * @param [in] reference_spacecraft_id: ID of reference spacecraft */ - libra::Vector<3> CalcRelativePosition_rtn_m(const size_t target_spacecraft_id, const size_t reference_spacecraft_id); + math::Vector<3> CalcRelativePosition_rtn_m(const size_t target_spacecraft_id, const size_t reference_spacecraft_id); /** * @fn CalcRelativeVelocity_rtn_m_s * @brief Calculate and return the relative velocity in RTN frame * @param [in] target_spacecraft_id: ID of the spacecraft * @param [in] reference_spacecraft_id: ID of reference spacecraft */ - libra::Vector<3> CalcRelativeVelocity_rtn_m_s(const size_t target_spacecraft_id, const size_t reference_spacecraft_id); + math::Vector<3> CalcRelativeVelocity_rtn_m_s(const size_t target_spacecraft_id, const size_t reference_spacecraft_id); /** * @fn ResizeLists diff --git a/src/simulation/spacecraft/installed_components.cpp b/src/simulation/spacecraft/installed_components.cpp index 325be3369..7497df29e 100644 --- a/src/simulation/spacecraft/installed_components.cpp +++ b/src/simulation/spacecraft/installed_components.cpp @@ -7,13 +7,13 @@ #include -libra::Vector<3> InstalledComponents::GenerateForce_b_N() { - libra::Vector<3> force_b_N_(0.0); +math::Vector<3> InstalledComponents::GenerateForce_b_N() { + math::Vector<3> force_b_N_(0.0); return force_b_N_; } -libra::Vector<3> InstalledComponents::GenerateTorque_b_Nm() { - libra::Vector<3> torque_b_Nm_(0.0); +math::Vector<3> InstalledComponents::GenerateTorque_b_Nm() { + math::Vector<3> torque_b_Nm_(0.0); return torque_b_Nm_; } diff --git a/src/simulation/spacecraft/installed_components.hpp b/src/simulation/spacecraft/installed_components.hpp index 5806f6b34..4a4550c55 100644 --- a/src/simulation/spacecraft/installed_components.hpp +++ b/src/simulation/spacecraft/installed_components.hpp @@ -26,14 +26,14 @@ class InstalledComponents { * @brief Return force generated by components in unit Newton in body fixed frame * @details Users need to override this function to add force generated by components */ - virtual libra::Vector<3> GenerateForce_b_N(); + virtual math::Vector<3> GenerateForce_b_N(); /** * @fn GenerateTorque_b_Nm * @brief Return torque generated by components in unit Newton-meter in body fixed frame * @details Users need to override this function to add torque generated by components */ - virtual libra::Vector<3> GenerateTorque_b_Nm(); + virtual math::Vector<3> GenerateTorque_b_Nm(); /** * @fn ComponentInterference diff --git a/src/simulation/spacecraft/structure/initialize_structure.cpp b/src/simulation/spacecraft/structure/initialize_structure.cpp index 463c06285..0c2a49b35 100644 --- a/src/simulation/spacecraft/structure/initialize_structure.cpp +++ b/src/simulation/spacecraft/structure/initialize_structure.cpp @@ -13,10 +13,10 @@ KinematicsParameters InitKinematicsParameters(std::string file_name) { auto conf = IniAccess(file_name); const char* section = "KINEMATIC_PARAMETERS"; - libra::Vector<3> center_of_gravity_b_m; + math::Vector<3> center_of_gravity_b_m; conf.ReadVector(section, "center_of_gravity_b_m", center_of_gravity_b_m); double mass_kg = conf.ReadDouble(section, "mass_kg"); - libra::Vector<9> inertia_vec; + math::Vector<9> inertia_vec; math::Matrix<3, 3> inertia_tensor_b_kgm2; conf.ReadVector(section, "inertia_tensor_kgm2", inertia_vec); for (int i = 0; i < 3; i++) { @@ -110,7 +110,7 @@ ResidualMagneticMoment InitResidualMagneticMoment(std::string file_name) { auto conf = IniAccess(file_name); const char* section = "RESIDUAL_MAGNETIC_MOMENT"; - libra::Vector<3> rmm_const_b; + math::Vector<3> rmm_const_b; conf.ReadVector(section, "rmm_constant_b_Am2", rmm_const_b); double rmm_rwdev = conf.ReadDouble(section, "rmm_random_walk_speed_Am2"); double random_walk_limit_Am2 = conf.ReadDouble(section, "rmm_random_walk_limit_Am2"); diff --git a/src/simulation/spacecraft/structure/kinematics_parameters.cpp b/src/simulation/spacecraft/structure/kinematics_parameters.cpp index 37cefb0a9..67906710a 100644 --- a/src/simulation/spacecraft/structure/kinematics_parameters.cpp +++ b/src/simulation/spacecraft/structure/kinematics_parameters.cpp @@ -5,5 +5,5 @@ #include "kinematics_parameters.hpp" -KinematicsParameters::KinematicsParameters(libra::Vector<3> center_of_gravity_b_m, double mass_kg, math::Matrix<3, 3> inertia_tensor_b_kgm2) +KinematicsParameters::KinematicsParameters(math::Vector<3> center_of_gravity_b_m, double mass_kg, math::Matrix<3, 3> inertia_tensor_b_kgm2) : center_of_gravity_b_m_(center_of_gravity_b_m), mass_kg_(mass_kg), inertia_tensor_b_kgm2_(inertia_tensor_b_kgm2) {} \ No newline at end of file diff --git a/src/simulation/spacecraft/structure/kinematics_parameters.hpp b/src/simulation/spacecraft/structure/kinematics_parameters.hpp index 91916000b..cab7abb00 100644 --- a/src/simulation/spacecraft/structure/kinematics_parameters.hpp +++ b/src/simulation/spacecraft/structure/kinematics_parameters.hpp @@ -19,7 +19,7 @@ class KinematicsParameters { * @fn KinematicsParameters * @brief Constructor */ - KinematicsParameters(libra::Vector<3> center_of_gravity_b_m, double mass_kg, math::Matrix<3, 3> inertia_tensor_b_kgm2); + KinematicsParameters(math::Vector<3> center_of_gravity_b_m, double mass_kg, math::Matrix<3, 3> inertia_tensor_b_kgm2); /** * @fn ~KinematicsParameters * @brief Destructor @@ -31,7 +31,7 @@ class KinematicsParameters { * @fn GetCenterOfGravity_b_m * @brief Return Position vector of center of gravity at body frame [m] */ - inline const libra::Vector<3>& GetCenterOfGravity_b_m() const { return center_of_gravity_b_m_; } + inline const math::Vector<3>& GetCenterOfGravity_b_m() const { return center_of_gravity_b_m_; } /** * @fn GetMass_kg * @brief Return Mass of the satellite [kg] @@ -49,7 +49,7 @@ class KinematicsParameters { * @brief Set center of gravity vector at the body frame [m] * @param [in] center_of_gravity_vector_b_m: Center of gravity vector at the body frame [m] */ - inline void SetCenterOfGravityVector_b_m(const libra::Vector<3> center_of_gravity_vector_b_m) { + inline void SetCenterOfGravityVector_b_m(const math::Vector<3> center_of_gravity_vector_b_m) { center_of_gravity_b_m_ = center_of_gravity_vector_b_m; } /** @@ -81,7 +81,7 @@ class KinematicsParameters { } private: - libra::Vector<3> center_of_gravity_b_m_; //!< Position vector of center of gravity at body frame [m] + math::Vector<3> center_of_gravity_b_m_; //!< Position vector of center of gravity at body frame [m] double mass_kg_; //!< Mass of the satellite [kg] math::Matrix<3, 3> inertia_tensor_b_kgm2_; //!< Inertia tensor at body frame [kgm2] }; diff --git a/src/simulation/spacecraft/structure/residual_magnetic_moment.hpp b/src/simulation/spacecraft/structure/residual_magnetic_moment.hpp index f78bd5dea..72000e51f 100644 --- a/src/simulation/spacecraft/structure/residual_magnetic_moment.hpp +++ b/src/simulation/spacecraft/structure/residual_magnetic_moment.hpp @@ -7,7 +7,7 @@ #define S2E_SIMULATION_SPACECRAFT_STRUCTURE_RESIDUAL_MAGNETIC_MOMENT_HPP_ #include -using libra::Vector; +using math::Vector; /** * @class ResidualMagneticMoment diff --git a/src/simulation/spacecraft/structure/surface.cpp b/src/simulation/spacecraft/structure/surface.cpp index 2666526e2..06af72cde 100644 --- a/src/simulation/spacecraft/structure/surface.cpp +++ b/src/simulation/spacecraft/structure/surface.cpp @@ -5,7 +5,7 @@ #include "surface.hpp" -Surface::Surface(const libra::Vector<3> position_b_m, const libra::Vector<3> normal_b, const double area_m2, const double reflectivity, +Surface::Surface(const math::Vector<3> position_b_m, const math::Vector<3> normal_b, const double area_m2, const double reflectivity, const double specularity, const double air_specularity) : position_b_m_(position_b_m), normal_b_(normal_b), diff --git a/src/simulation/spacecraft/structure/surface.hpp b/src/simulation/spacecraft/structure/surface.hpp index c5f573a36..127c81028 100644 --- a/src/simulation/spacecraft/structure/surface.hpp +++ b/src/simulation/spacecraft/structure/surface.hpp @@ -18,7 +18,7 @@ class Surface { * @fn Surface * @brief Constructor */ - Surface(const libra::Vector<3> position_b_m, const libra::Vector<3> normal_b, const double area_m2, const double reflectivity, + Surface(const math::Vector<3> position_b_m, const math::Vector<3> normal_b, const double area_m2, const double reflectivity, const double specularity, const double air_specularity); /** * @fn ~Surface @@ -31,12 +31,12 @@ class Surface { * @fn GetPosition_b_m * @brief Return position vector of geometric center of the surface in body frame and meter unit */ - inline const libra::Vector<3>& GetPosition_b_m(void) const { return position_b_m_; } + inline const math::Vector<3>& GetPosition_b_m(void) const { return position_b_m_; } /** * @fn GetNormal_b * @brief Return normal vector of the surface in body frame */ - inline const libra::Vector<3>& GetNormal_b(void) const { return normal_b_; } + inline const math::Vector<3>& GetNormal_b(void) const { return normal_b_; } /** * @fn GetArea_m2 * @brief Return area of the surface in meter^2 unit @@ -64,13 +64,13 @@ class Surface { * @brief Set position vector of geometric center of the surface in body frame [m] * @param[in] position_b_m: Position vector of geometric center of the surface in body frame [m] */ - inline void SetPosition_b_m(const libra::Vector<3> position_b_m) { position_b_m_ = position_b_m; } + inline void SetPosition_b_m(const math::Vector<3> position_b_m) { position_b_m_ = position_b_m; } /** * @fn SetNormal * @brief Set normal vector of the surface in body frame * @param[in] normal_b: Normal vector of the surface in body frame */ - inline void SetNormal_b(const libra::Vector<3> normal_b) { normal_b_ = normal_b.CalcNormalizedVector(); } + inline void SetNormal_b(const math::Vector<3> normal_b) { normal_b_ = normal_b.CalcNormalizedVector(); } /** * @fn SetArea_m2 * @brief Set area of the surface @@ -105,8 +105,8 @@ class Surface { } private: - libra::Vector<3> position_b_m_; //!< Position vector of the surface @ Body Frame [m] - libra::Vector<3> normal_b_; //!< Normal unit vector of the surface @ Body Frame [-] + math::Vector<3> position_b_m_; //!< Position vector of the surface @ Body Frame [m] + math::Vector<3> normal_b_; //!< Normal unit vector of the surface @ Body Frame [-] double area_m2_; //!< Area of the surface [m2] double reflectivity_; //!< Total reflectivity for solar wavelength (1.0 - solar absorption) double specularity_; //!< Ratio of specular reflection in the total reflected light diff --git a/src/simulation_sample/spacecraft/sample_components.cpp b/src/simulation_sample/spacecraft/sample_components.cpp index c2c6810ac..20f6f055f 100644 --- a/src/simulation_sample/spacecraft/sample_components.cpp +++ b/src/simulation_sample/spacecraft/sample_components.cpp @@ -142,21 +142,21 @@ SampleComponents::SampleComponents(const Dynamics* dynamics, Structure* structur /**************/ // actuator debug output - // libra::Vector mag_moment_c{0.01}; + // math::Vector mag_moment_c{0.01}; // magnetorquer_->SetOutputMagneticMoment_c_Am2(mag_moment_c); // reaction_wheel_->SetTargetTorque_rw_Nm(0.01); // reaction_wheel_->SetDriveFlag(true); // thruster_->SetDuty(0.9); // force generator debug output - // libra::Vector<3> force_N; + // math::Vector<3> force_N; // force_N[0] = 1.0; // force_N[1] = 0.0; // force_N[2] = 0.0; // force_generator_->SetForce_b_N(force_N); // torque generator debug output - // libra::Vector<3> torque_Nm; + // math::Vector<3> torque_Nm; // torque_Nm[0] = 0.1; // torque_Nm[1] = 0.0; // torque_Nm[2] = 0.0; @@ -189,15 +189,15 @@ SampleComponents::~SampleComponents() { delete hils_port_manager_; // delete after exp_hils } -libra::Vector<3> SampleComponents::GenerateForce_b_N() { - libra::Vector<3> force_b_N_(0.0); +math::Vector<3> SampleComponents::GenerateForce_b_N() { + math::Vector<3> force_b_N_(0.0); force_b_N_ += thruster_->GetOutputThrust_b_N(); force_b_N_ += force_generator_->GetGeneratedForce_b_N(); return force_b_N_; } -libra::Vector<3> SampleComponents::GenerateTorque_b_Nm() { - libra::Vector<3> torque_b_Nm_(0.0); +math::Vector<3> SampleComponents::GenerateTorque_b_Nm() { + math::Vector<3> torque_b_Nm_(0.0); torque_b_Nm_ += magnetorquer_->GetOutputTorque_b_Nm(); torque_b_Nm_ += reaction_wheel_->GetOutputTorque_b_Nm(); torque_b_Nm_ += thruster_->GetOutputTorque_b_Nm(); diff --git a/src/simulation_sample/spacecraft/sample_components.hpp b/src/simulation_sample/spacecraft/sample_components.hpp index 9ba706255..d03044b3b 100644 --- a/src/simulation_sample/spacecraft/sample_components.hpp +++ b/src/simulation_sample/spacecraft/sample_components.hpp @@ -74,12 +74,12 @@ class SampleComponents : public InstalledComponents { * @fn GenerateForce_b_N * @brief Return force generated by components in unit Newton in body fixed frame */ - libra::Vector<3> GenerateForce_b_N() override; + math::Vector<3> GenerateForce_b_N() override; /** * @fn GenerateTorque_b_Nm * @brief Return torque generated by components in unit Newton-meter in body fixed frame */ - libra::Vector<3> GenerateTorque_b_Nm() override; + math::Vector<3> GenerateTorque_b_Nm() override; /** * @fn ComponentInterference * @brief Handle component interference effect From 1b741afec7a750747ab991c04dec65ef2ddd4d17 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 20 Jul 2024 09:22:08 +0900 Subject: [PATCH 222/456] Replace libra::Quaternion to math::Quaternion --- src/components/ideal/attitude_observer.cpp | 2 +- src/components/ideal/attitude_observer.hpp | 4 +- src/components/ideal/force_generator.cpp | 16 ++--- src/components/ideal/force_generator.hpp | 2 +- src/components/ideal/orbit_observer.cpp | 2 +- src/components/ideal/torque_generator.cpp | 6 +- src/components/ideal/torque_generator.hpp | 2 +- src/components/real/aocs/gnss_receiver.cpp | 16 ++--- src/components/real/aocs/gnss_receiver.hpp | 14 ++-- src/components/real/aocs/gyro_sensor.cpp | 8 +-- src/components/real/aocs/gyro_sensor.hpp | 6 +- src/components/real/aocs/magnetometer.cpp | 8 +-- src/components/real/aocs/magnetometer.hpp | 6 +- src/components/real/aocs/magnetorquer.cpp | 8 +-- src/components/real/aocs/magnetorquer.hpp | 8 +-- src/components/real/aocs/reaction_wheel.cpp | 8 +-- src/components/real/aocs/reaction_wheel.hpp | 6 +- .../real/aocs/reaction_wheel_jitter.cpp | 2 +- .../real/aocs/reaction_wheel_jitter.hpp | 4 +- src/components/real/aocs/star_sensor.cpp | 20 +++--- src/components/real/aocs/star_sensor.hpp | 14 ++-- src/components/real/aocs/sun_sensor.cpp | 8 +-- src/components/real/aocs/sun_sensor.hpp | 6 +- src/components/real/communication/antenna.cpp | 4 +- src/components/real/communication/antenna.hpp | 6 +- src/components/real/mission/telescope.cpp | 6 +- src/components/real/mission/telescope.hpp | 4 +- .../real/propulsion/simple_thruster.cpp | 4 +- src/disturbances/air_drag.cpp | 2 +- src/dynamics/attitude/attitude.cpp | 4 +- src/dynamics/attitude/attitude.hpp | 6 +- src/dynamics/attitude/attitude_rk4.cpp | 2 +- src/dynamics/attitude/attitude_rk4.hpp | 2 +- .../attitude_with_cantilever_vibration.cpp | 2 +- .../attitude_with_cantilever_vibration.hpp | 2 +- src/dynamics/attitude/controlled_attitude.cpp | 8 +-- src/dynamics/attitude/controlled_attitude.hpp | 6 +- src/dynamics/attitude/initialize_attitude.cpp | 4 +- ...ode_attitude_with_cantilever_vibration.hpp | 8 +-- src/dynamics/orbit/orbit.cpp | 4 +- src/dynamics/orbit/orbit.hpp | 6 +- src/dynamics/orbit/relative_orbit.cpp | 8 +-- .../global/hipparcos_catalogue.cpp | 2 +- .../global/hipparcos_catalogue.hpp | 2 +- src/environment/local/geomagnetic_field.cpp | 2 +- src/environment/local/geomagnetic_field.hpp | 2 +- .../local/local_celestial_information.cpp | 8 +-- .../local/local_celestial_information.hpp | 8 +-- src/logger/log_utility.hpp | 4 +- .../geodesy/geodetic_position.hpp | 4 +- src/math_physics/math/test_quaternion.cpp | 70 +++++++++---------- .../initialize_file_access.cpp | 4 +- .../initialize_file_access.hpp | 2 +- .../ground_station/ground_station.cpp | 2 +- .../initialize_monte_carlo_parameters.cpp | 24 +++---- .../initialize_monte_carlo_parameters.hpp | 8 +-- .../monte_carlo_simulation_executor.cpp | 2 +- .../monte_carlo_simulation_executor.hpp | 2 +- .../simulation_object.cpp | 2 +- .../simulation_object.hpp | 2 +- .../relative_information.cpp | 14 ++-- .../relative_information.hpp | 6 +- 62 files changed, 217 insertions(+), 217 deletions(-) diff --git a/src/components/ideal/attitude_observer.cpp b/src/components/ideal/attitude_observer.cpp index 58dd24d60..7b8ab276c 100644 --- a/src/components/ideal/attitude_observer.cpp +++ b/src/components/ideal/attitude_observer.cpp @@ -25,7 +25,7 @@ void AttitudeObserver::MainRoutine(const int time_count) { random_direction = random_direction.CalcNormalizedVector(); double error_angle_rad = angle_noise_; - libra::Quaternion error_quaternion(random_direction, error_angle_rad); + math::Quaternion error_quaternion(random_direction, error_angle_rad); observed_quaternion_i2b_ = error_quaternion * attitude_.GetQuaternion_i2b(); } diff --git a/src/components/ideal/attitude_observer.hpp b/src/components/ideal/attitude_observer.hpp index c00cebd13..70f571eb8 100644 --- a/src/components/ideal/attitude_observer.hpp +++ b/src/components/ideal/attitude_observer.hpp @@ -57,10 +57,10 @@ class AttitudeObserver : public Component, public ILoggable { * @fn GetQuaternion_i2c * @brief Return observed quaternion from the inertial frame to the body-fixed frame */ - inline const libra::Quaternion GetQuaternion_i2b() const { return observed_quaternion_i2b_; }; + inline const math::Quaternion GetQuaternion_i2b() const { return observed_quaternion_i2b_; }; protected: - libra::Quaternion observed_quaternion_i2b_ = {0.0, 0.0, 0.0, 1.0}; //!< Observed quaternion + math::Quaternion observed_quaternion_i2b_ = {0.0, 0.0, 0.0, 1.0}; //!< Observed quaternion libra::NormalRand angle_noise_; //!< Normal random for magnitude noise libra::NormalRand direction_noise_; //!< Normal random for direction noise diff --git a/src/components/ideal/force_generator.cpp b/src/components/ideal/force_generator.cpp index cf5105f5c..e1df7e741 100644 --- a/src/components/ideal/force_generator.cpp +++ b/src/components/ideal/force_generator.cpp @@ -30,15 +30,15 @@ void ForceGenerator::MainRoutine(const int time_count) { if (norm_ordered_force > 0.0 + DBL_EPSILON) { // Add noise only when the force is generated math::Vector<3> true_direction = generated_force_b_N_.CalcNormalizedVector(); - libra::Quaternion error_quaternion = GenerateDirectionNoiseQuaternion(true_direction, direction_error_standard_deviation_rad_); + math::Quaternion error_quaternion = GenerateDirectionNoiseQuaternion(true_direction, direction_error_standard_deviation_rad_); math::Vector<3> converted_direction = error_quaternion.FrameConversion(true_direction); double force_norm_with_error = norm_ordered_force + magnitude_noise_; generated_force_b_N_ = force_norm_with_error * converted_direction; } // Convert frame - libra::Quaternion q_i2b = dynamics_->GetAttitude().GetQuaternion_i2b(); - libra::Quaternion q_i2rtn = dynamics_->GetOrbit().CalcQuaternion_i2lvlh(); + math::Quaternion q_i2b = dynamics_->GetAttitude().GetQuaternion_i2b(); + math::Quaternion q_i2rtn = dynamics_->GetOrbit().CalcQuaternion_i2lvlh(); generated_force_i_N_ = q_i2b.InverseFrameConversion(generated_force_b_N_); generated_force_rtn_N_ = q_i2rtn.FrameConversion(generated_force_i_N_); } @@ -50,13 +50,13 @@ void ForceGenerator::PowerOffRoutine() { } void ForceGenerator::SetForce_i_N(const math::Vector<3> force_i_N) { - libra::Quaternion q_i2b = dynamics_->GetAttitude().GetQuaternion_i2b(); + math::Quaternion q_i2b = dynamics_->GetAttitude().GetQuaternion_i2b(); ordered_force_b_N_ = q_i2b.FrameConversion(force_i_N); } void ForceGenerator::SetForce_rtn_N(const math::Vector<3> force_rtn_N) { - libra::Quaternion q_i2b = dynamics_->GetAttitude().GetQuaternion_i2b(); - libra::Quaternion q_i2rtn = dynamics_->GetOrbit().CalcQuaternion_i2lvlh(); + math::Quaternion q_i2b = dynamics_->GetAttitude().GetQuaternion_i2b(); + math::Quaternion q_i2rtn = dynamics_->GetOrbit().CalcQuaternion_i2lvlh(); math::Vector<3> force_i_N = q_i2rtn.InverseFrameConversion(force_rtn_N); ordered_force_b_N_ = q_i2b.FrameConversion(force_i_N); @@ -85,7 +85,7 @@ std::string ForceGenerator::GetLogValue() const { return str_tmp; } -libra::Quaternion ForceGenerator::GenerateDirectionNoiseQuaternion(math::Vector<3> true_direction, const double error_standard_deviation_rad) { +math::Quaternion ForceGenerator::GenerateDirectionNoiseQuaternion(math::Vector<3> true_direction, const double error_standard_deviation_rad) { math::Vector<3> random_direction; random_direction[0] = direction_noise_; random_direction[1] = direction_noise_; @@ -101,7 +101,7 @@ libra::Quaternion ForceGenerator::GenerateDirectionNoiseQuaternion(math::Vector< } double error_angle_rad = direction_noise_ * error_standard_deviation_rad; - libra::Quaternion error_quaternion(rotation_axis, error_angle_rad); + math::Quaternion error_quaternion(rotation_axis, error_angle_rad); return error_quaternion; } diff --git a/src/components/ideal/force_generator.hpp b/src/components/ideal/force_generator.hpp index f4395663e..684f5bab0 100644 --- a/src/components/ideal/force_generator.hpp +++ b/src/components/ideal/force_generator.hpp @@ -110,7 +110,7 @@ class ForceGenerator : public Component, public ILoggable { * @param [in] true_direction: True direction * @param [in] error_standard_deviation_rad: Standard deviation of direction error [rad] */ - libra::Quaternion GenerateDirectionNoiseQuaternion(math::Vector<3> true_direction, const double error_standard_deviation_rad); + math::Quaternion GenerateDirectionNoiseQuaternion(math::Vector<3> true_direction, const double error_standard_deviation_rad); const Dynamics* dynamics_; //!< Spacecraft dynamics information }; diff --git a/src/components/ideal/orbit_observer.cpp b/src/components/ideal/orbit_observer.cpp index b287ee680..e1b91d0c7 100644 --- a/src/components/ideal/orbit_observer.cpp +++ b/src/components/ideal/orbit_observer.cpp @@ -24,7 +24,7 @@ void OrbitObserver::MainRoutine(const int time_count) { math::Vector<3> position_error_rtn_m{0.0}; math::Vector<3> velocity_error_i_m_s{0.0}; math::Vector<3> velocity_error_rtn_m_s{0.0}; - libra::Quaternion q_i2rtn = orbit_.CalcQuaternion_i2lvlh(); + math::Quaternion q_i2rtn = orbit_.CalcQuaternion_i2lvlh(); switch (noise_frame_) { case NoiseFrame::kInertial: for (size_t axis = 0; axis < 3; axis++) { diff --git a/src/components/ideal/torque_generator.cpp b/src/components/ideal/torque_generator.cpp index b0a137d9b..8f8a58c56 100644 --- a/src/components/ideal/torque_generator.cpp +++ b/src/components/ideal/torque_generator.cpp @@ -30,7 +30,7 @@ void TorqueGenerator::MainRoutine(const int time_count) { if (norm_ordered_torque > 0.0 + DBL_EPSILON) { // Add noise only when the torque is generated math::Vector<3> true_direction = generated_torque_b_Nm_.CalcNormalizedVector(); - libra::Quaternion error_quaternion = GenerateDirectionNoiseQuaternion(true_direction, direction_error_standard_deviation_rad_); + math::Quaternion error_quaternion = GenerateDirectionNoiseQuaternion(true_direction, direction_error_standard_deviation_rad_); math::Vector<3> converted_direction = error_quaternion.FrameConversion(true_direction); double torque_norm_with_error = norm_ordered_torque + magnitude_noise_; generated_torque_b_Nm_ = torque_norm_with_error * converted_direction; @@ -58,7 +58,7 @@ std::string TorqueGenerator::GetLogValue() const { return str_tmp; } -libra::Quaternion TorqueGenerator::GenerateDirectionNoiseQuaternion(math::Vector<3> true_direction, const double error_standard_deviation_rad) { +math::Quaternion TorqueGenerator::GenerateDirectionNoiseQuaternion(math::Vector<3> true_direction, const double error_standard_deviation_rad) { math::Vector<3> random_direction; random_direction[0] = direction_noise_; random_direction[1] = direction_noise_; @@ -74,7 +74,7 @@ libra::Quaternion TorqueGenerator::GenerateDirectionNoiseQuaternion(math::Vector } double error_angle_rad = direction_noise_ * error_standard_deviation_rad; - libra::Quaternion error_quaternion(rotation_axis, error_angle_rad); + math::Quaternion error_quaternion(rotation_axis, error_angle_rad); return error_quaternion; } diff --git a/src/components/ideal/torque_generator.hpp b/src/components/ideal/torque_generator.hpp index 5fafc2c4c..b762fd99e 100644 --- a/src/components/ideal/torque_generator.hpp +++ b/src/components/ideal/torque_generator.hpp @@ -88,7 +88,7 @@ class TorqueGenerator : public Component, public ILoggable { * @param [in] true_direction: True direction * @param [in] error_standard_deviation_rad: Standard deviation of direction error [rad] */ - libra::Quaternion GenerateDirectionNoiseQuaternion(math::Vector<3> true_direction, const double error_standard_deviation_rad); + math::Quaternion GenerateDirectionNoiseQuaternion(math::Vector<3> true_direction, const double error_standard_deviation_rad); const Dynamics* dynamics_; //!< Spacecraft dynamics information }; diff --git a/src/components/real/aocs/gnss_receiver.cpp b/src/components/real/aocs/gnss_receiver.cpp index d9bd1a4fd..5017a4333 100644 --- a/src/components/real/aocs/gnss_receiver.cpp +++ b/src/components/real/aocs/gnss_receiver.cpp @@ -12,7 +12,7 @@ #include GnssReceiver::GnssReceiver(const int prescaler, ClockGenerator* clock_generator, const size_t component_id, const AntennaModel antenna_model, - const math::Vector<3> antenna_position_b_m, const libra::Quaternion quaternion_b2c, const double half_width_deg, + const math::Vector<3> antenna_position_b_m, const math::Quaternion quaternion_b2c, const double half_width_deg, const math::Vector<3> position_noise_standard_deviation_ecef_m, const math::Vector<3> velocity_noise_standard_deviation_ecef_m_s, const Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time) @@ -32,7 +32,7 @@ GnssReceiver::GnssReceiver(const int prescaler, ClockGenerator* clock_generator, } GnssReceiver::GnssReceiver(const int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, const size_t component_id, - const AntennaModel antenna_model, const math::Vector<3> antenna_position_b_m, const libra::Quaternion quaternion_b2c, + const AntennaModel antenna_model, const math::Vector<3> antenna_position_b_m, const math::Quaternion quaternion_b2c, const double half_width_deg, const math::Vector<3> position_noise_standard_deviation_ecef_m, const math::Vector<3> velocity_noise_standard_deviation_ecef_m_s, const Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time) @@ -57,7 +57,7 @@ void GnssReceiver::MainRoutine(const int time_count) { // Antenna checking // TODO: Use ECEF position only math::Vector<3> position_true_eci = dynamics_->GetOrbit().GetPosition_i_m(); - libra::Quaternion quaternion_i2b = dynamics_->GetAttitude().GetQuaternion_i2b(); + math::Quaternion quaternion_i2b = dynamics_->GetAttitude().GetQuaternion_i2b(); CheckAntenna(position_true_eci, quaternion_i2b); if (is_gnss_visible_) { @@ -74,7 +74,7 @@ void GnssReceiver::MainRoutine(const int time_count) { ConvertJulianDayToGpsTime(simulation_time_->GetCurrentTime_jd()); } -void GnssReceiver::CheckAntenna(const math::Vector<3> position_true_eci_m, const libra::Quaternion quaternion_i2b) { +void GnssReceiver::CheckAntenna(const math::Vector<3> position_true_eci_m, const math::Quaternion quaternion_i2b) { if (antenna_model_ == AntennaModel::kSimple) { CheckAntennaSimple(position_true_eci_m, quaternion_i2b); } else if (antenna_model_ == AntennaModel::kCone) { @@ -84,7 +84,7 @@ void GnssReceiver::CheckAntenna(const math::Vector<3> position_true_eci_m, const } } -void GnssReceiver::CheckAntennaSimple(const math::Vector<3> position_true_eci_m, const libra::Quaternion quaternion_i2b) { +void GnssReceiver::CheckAntennaSimple(const math::Vector<3> position_true_eci_m, const math::Quaternion quaternion_i2b) { // Simplest model // GNSS satellites are visible when antenna directs anti-earth direction @@ -102,7 +102,7 @@ void GnssReceiver::CheckAntennaSimple(const math::Vector<3> position_true_eci_m, } } -void GnssReceiver::CheckAntennaCone(const math::Vector<3> position_true_eci_m, const libra::Quaternion quaternion_i2b) { +void GnssReceiver::CheckAntennaCone(const math::Vector<3> position_true_eci_m, const math::Quaternion quaternion_i2b) { // Cone model gnss_information_list_.clear(); @@ -161,7 +161,7 @@ void GnssReceiver::CheckAntennaCone(const math::Vector<3> position_true_eci_m, c } } -void GnssReceiver::SetGnssInfo(const math::Vector<3> antenna_to_satellite_i_m, const libra::Quaternion quaternion_i2b, +void GnssReceiver::SetGnssInfo(const math::Vector<3> antenna_to_satellite_i_m, const math::Quaternion quaternion_i2b, const std::size_t gnss_system_id) { math::Vector<3> antenna_to_satellite_direction_b = quaternion_i2b.FrameConversion(antenna_to_satellite_i_m); math::Vector<3> antenna_to_satellite_direction_c = quaternion_b2c_.FrameConversion(antenna_to_satellite_direction_b); @@ -253,7 +253,7 @@ typedef struct _gnss_receiver_param { int prescaler; AntennaModel antenna_model; math::Vector<3> antenna_pos_b; - libra::Quaternion quaternion_b2c; + math::Quaternion quaternion_b2c; double half_width_deg; math::Vector<3> position_noise_standard_deviation_ecef_m; math::Vector<3> velocity_noise_standard_deviation_ecef_m_s; diff --git a/src/components/real/aocs/gnss_receiver.hpp b/src/components/real/aocs/gnss_receiver.hpp index 5b1acb425..1e1cece20 100644 --- a/src/components/real/aocs/gnss_receiver.hpp +++ b/src/components/real/aocs/gnss_receiver.hpp @@ -59,7 +59,7 @@ class GnssReceiver : public Component, public ILoggable { * @param [in] simulation_time: Simulation time information */ GnssReceiver(const int prescaler, ClockGenerator* clock_generator, const size_t component_id, const AntennaModel antenna_model, - const math::Vector<3> antenna_position_b_m, const libra::Quaternion quaternion_b2c, const double half_width_deg, + const math::Vector<3> antenna_position_b_m, const math::Quaternion quaternion_b2c, const double half_width_deg, const math::Vector<3> position_noise_standard_deviation_ecef_m, const math::Vector<3> velocity_noise_standard_deviation_ecef_m_s, const Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time); /** @@ -79,7 +79,7 @@ class GnssReceiver : public Component, public ILoggable { * @param [in] simulation_time: Simulation time information */ GnssReceiver(const int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, const size_t component_id, - const AntennaModel antenna_model, const math::Vector<3> antenna_position_b_m, const libra::Quaternion quaternion_b2c, + const AntennaModel antenna_model, const math::Vector<3> antenna_position_b_m, const math::Quaternion quaternion_b2c, const double half_width_deg, const math::Vector<3> position_noise_standard_deviation_ecef_m, const math::Vector<3> velocity_noise_standard_deviation_ecef_m_s, const Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time); @@ -132,7 +132,7 @@ class GnssReceiver : public Component, public ILoggable { // Antenna math::Vector<3> antenna_position_b_m_; //!< GNSS antenna position at the body-fixed frame [m] - libra::Quaternion quaternion_b2c_; //!< Quaternion from body frame to component frame (antenna frame) + math::Quaternion quaternion_b2c_; //!< Quaternion from body frame to component frame (antenna frame) double half_width_deg_ = 0.0; //!< Half width of the antenna cone model [deg] AntennaModel antenna_model_; //!< Antenna model @@ -166,7 +166,7 @@ class GnssReceiver : public Component, public ILoggable { * @param [in] position_true_i_m: True position of the spacecraft in the ECI frame [m] * @param [in] quaternion_i2b: True attitude of the spacecraft expressed by quaternion from the inertial frame to the body-fixed frame */ - void CheckAntenna(const math::Vector<3> position_true_i_m, const libra::Quaternion quaternion_i2b); + void CheckAntenna(const math::Vector<3> position_true_i_m, const math::Quaternion quaternion_i2b); /** * @fn CheckAntennaSimple * @brief Check the antenna can detect GNSS signal with Simple mode @@ -174,7 +174,7 @@ class GnssReceiver : public Component, public ILoggable { * @param [in] position_true_i_m: True position of the spacecraft in the ECI frame [m] * @param [in] quaternion_i2b: True attitude of the spacecraft expressed by quaternion from the inertial frame to the body-fixed frame */ - void CheckAntennaSimple(const math::Vector<3> position_true_i_m, const libra::Quaternion quaternion_i2b); + void CheckAntennaSimple(const math::Vector<3> position_true_i_m, const math::Quaternion quaternion_i2b); /** * @fn CheckAntennaCone * @brief Check the antenna can detect GNSS signal with Cone mode @@ -182,7 +182,7 @@ class GnssReceiver : public Component, public ILoggable { * @param [in] position_true_i_m: True position of the spacecraft in the ECI frame [m] * @param [in] quaternion_i2b: True attitude of the spacecraft expressed by quaternion from the inertial frame to the body-fixed frame */ - void CheckAntennaCone(const math::Vector<3> position_true_i_m, const libra::Quaternion quaternion_i2b); + void CheckAntennaCone(const math::Vector<3> position_true_i_m, const math::Quaternion quaternion_i2b); /** * @fn SetGnssInfo * @brief Calculate and set the GnssInfo values of target GNSS satellite @@ -190,7 +190,7 @@ class GnssReceiver : public Component, public ILoggable { * @param [in] quaternion_i2b: True attitude of the spacecraft expressed by quaternion from the inertial frame to the body-fixed frame * @param [in] gnss_system_id: ID of target GNSS satellite */ - void SetGnssInfo(const math::Vector<3> antenna_to_satellite_i_m, const libra::Quaternion quaternion_i2b, const size_t gnss_system_id); + void SetGnssInfo(const math::Vector<3> antenna_to_satellite_i_m, const math::Quaternion quaternion_i2b, const size_t gnss_system_id); /** * @fn AddNoise * @brief Substitutional method for "Measure" in other sensor models inherited Sensor class diff --git a/src/components/real/aocs/gyro_sensor.cpp b/src/components/real/aocs/gyro_sensor.cpp index 5df3751f3..20e03edc9 100644 --- a/src/components/real/aocs/gyro_sensor.cpp +++ b/src/components/real/aocs/gyro_sensor.cpp @@ -8,11 +8,11 @@ #include GyroSensor::GyroSensor(const int prescaler, ClockGenerator* clock_generator, Sensor& sensor_base, const unsigned int sensor_id, - const libra::Quaternion& quaternion_b2c, const Dynamics* dynamics) + const math::Quaternion& quaternion_b2c, const Dynamics* dynamics) : Component(prescaler, clock_generator), Sensor(sensor_base), sensor_id_(sensor_id), quaternion_b2c_(quaternion_b2c), dynamics_(dynamics) {} GyroSensor::GyroSensor(const int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, Sensor& sensor_base, const unsigned int sensor_id, - const libra::Quaternion& quaternion_b2c, const Dynamics* dynamics) + const math::Quaternion& quaternion_b2c, const Dynamics* dynamics) : Component(prescaler, clock_generator, power_port), Sensor(sensor_base), sensor_id_(sensor_id), @@ -52,7 +52,7 @@ GyroSensor InitGyroSensor(ClockGenerator* clock_generator, int sensor_id, const const std::string section_name = sensor_name + std::to_string(static_cast(sensor_id)); const char* GSection = section_name.c_str(); - libra::Quaternion quaternion_b2c; + math::Quaternion quaternion_b2c; gyro_conf.ReadQuaternion(GSection, "quaternion_b2c", quaternion_b2c); int prescaler = gyro_conf.ReadInt(GSection, "prescaler"); if (prescaler <= 1) prescaler = 1; @@ -73,7 +73,7 @@ GyroSensor InitGyroSensor(ClockGenerator* clock_generator, PowerPort* power_port const std::string section_name = sensor_name + std::to_string(static_cast(sensor_id)); const char* GSection = section_name.c_str(); - libra::Quaternion quaternion_b2c; + math::Quaternion quaternion_b2c; gyro_conf.ReadQuaternion(GSection, "quaternion_b2c", quaternion_b2c); int prescaler = gyro_conf.ReadInt(GSection, "prescaler"); if (prescaler <= 1) prescaler = 1; diff --git a/src/components/real/aocs/gyro_sensor.hpp b/src/components/real/aocs/gyro_sensor.hpp index cece441a3..139bf8597 100644 --- a/src/components/real/aocs/gyro_sensor.hpp +++ b/src/components/real/aocs/gyro_sensor.hpp @@ -32,7 +32,7 @@ class GyroSensor : public Component, public Sensor, public ILogg * @param [in] dynamics: Dynamics information */ GyroSensor(const int prescaler, ClockGenerator* clock_generator, Sensor& sensor_base, const unsigned int sensor_id, - const libra::Quaternion& quaternion_b2c, const Dynamics* dynamics); + const math::Quaternion& quaternion_b2c, const Dynamics* dynamics); /** * @fn GyroSensor * @brief Constructor with power port @@ -45,7 +45,7 @@ class GyroSensor : public Component, public Sensor, public ILogg * @param [in] dynamics: Dynamics information */ GyroSensor(const int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, Sensor& sensor_base, const unsigned int sensor_id, - const libra::Quaternion& quaternion_b2c, const Dynamics* dynamics); + const math::Quaternion& quaternion_b2c, const Dynamics* dynamics); /** * @fn ~GyroSensor * @brief Destructor @@ -81,7 +81,7 @@ class GyroSensor : public Component, public Sensor, public ILogg math::Vector angular_velocity_c_rad_s_{ 0.0}; //!< Observed angular velocity of the component frame with respect to the inertial frame [rad/s] unsigned int sensor_id_ = 0; //!< Sensor ID - libra::Quaternion quaternion_b2c_{0.0, 0.0, 0.0, 1.0}; //!< Quaternion from body frame to component frame + math::Quaternion quaternion_b2c_{0.0, 0.0, 0.0, 1.0}; //!< Quaternion from body frame to component frame const Dynamics* dynamics_; //!< Dynamics information }; diff --git a/src/components/real/aocs/magnetometer.cpp b/src/components/real/aocs/magnetometer.cpp index b2cbc730c..d28be5bad 100644 --- a/src/components/real/aocs/magnetometer.cpp +++ b/src/components/real/aocs/magnetometer.cpp @@ -8,14 +8,14 @@ #include Magnetometer::Magnetometer(int prescaler, ClockGenerator* clock_generator, Sensor& sensor_base, const unsigned int sensor_id, - const libra::Quaternion& quaternion_b2c, const GeomagneticField* geomagnetic_field) + const math::Quaternion& quaternion_b2c, const GeomagneticField* geomagnetic_field) : Component(prescaler, clock_generator), Sensor(sensor_base), sensor_id_(sensor_id), quaternion_b2c_(quaternion_b2c), geomagnetic_field_(geomagnetic_field) {} Magnetometer::Magnetometer(int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, Sensor& sensor_base, const unsigned int sensor_id, - const libra::Quaternion& quaternion_b2c, const GeomagneticField* geomagnetic_field) + const math::Quaternion& quaternion_b2c, const GeomagneticField* geomagnetic_field) : Component(prescaler, clock_generator, power_port), Sensor(sensor_base), sensor_id_(sensor_id), @@ -57,7 +57,7 @@ Magnetometer InitMagnetometer(ClockGenerator* clock_generator, int sensor_id, co int prescaler = magsensor_conf.ReadInt(MSSection, "prescaler"); if (prescaler <= 1) prescaler = 1; - libra::Quaternion quaternion_b2c; + math::Quaternion quaternion_b2c; magsensor_conf.ReadQuaternion(MSSection, "quaternion_b2c", quaternion_b2c); // Sensor @@ -78,7 +78,7 @@ Magnetometer InitMagnetometer(ClockGenerator* clock_generator, PowerPort* power_ int prescaler = magsensor_conf.ReadInt(MSSection, "prescaler"); if (prescaler <= 1) prescaler = 1; - libra::Quaternion quaternion_b2c; + math::Quaternion quaternion_b2c; magsensor_conf.ReadQuaternion(MSSection, "quaternion_b2c", quaternion_b2c); // Sensor diff --git a/src/components/real/aocs/magnetometer.hpp b/src/components/real/aocs/magnetometer.hpp index 376f6fed7..1c16eaa49 100644 --- a/src/components/real/aocs/magnetometer.hpp +++ b/src/components/real/aocs/magnetometer.hpp @@ -32,7 +32,7 @@ class Magnetometer : public Component, public Sensor, pu * @param [in] geomagnetic_field: Geomagnetic environment */ Magnetometer(const int prescaler, ClockGenerator* clock_generator, Sensor& sensor_base, const unsigned int sensor_id, - const libra::Quaternion& quaternion_b2c, const GeomagneticField* geomagnetic_field); + const math::Quaternion& quaternion_b2c, const GeomagneticField* geomagnetic_field); /** * @fn Magnetometer * @brief Constructor with power port @@ -45,7 +45,7 @@ class Magnetometer : public Component, public Sensor, pu * @param [in] geomagnetic_field: Geomagnetic environment */ Magnetometer(const int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, Sensor& sensor_base, const unsigned int sensor_id, - const libra::Quaternion& quaternion_b2c, const GeomagneticField* geomagnetic_field); + const math::Quaternion& quaternion_b2c, const GeomagneticField* geomagnetic_field); /** * @fn ~Magnetometer * @brief Destructor @@ -100,7 +100,7 @@ class Magnetometer : public Component, public Sensor, pu protected: math::Vector magnetic_field_c_nT_{0.0}; //!< Observed magnetic field on the component frame [nT] unsigned int sensor_id_ = 0; //!< Sensor ID - libra::Quaternion quaternion_b2c_{0.0, 0.0, 0.0, 1.0}; //!< Quaternion from body frame to component frame + math::Quaternion quaternion_b2c_{0.0, 0.0, 0.0, 1.0}; //!< Quaternion from body frame to component frame const GeomagneticField* geomagnetic_field_; //!< Geomagnetic environment }; diff --git a/src/components/real/aocs/magnetorquer.cpp b/src/components/real/aocs/magnetorquer.cpp index 9d51a50dc..1aab2c35d 100644 --- a/src/components/real/aocs/magnetorquer.cpp +++ b/src/components/real/aocs/magnetorquer.cpp @@ -11,7 +11,7 @@ #include #include -Magnetorquer::Magnetorquer(const int prescaler, ClockGenerator* clock_generator, const int component_id, const libra::Quaternion& quaternion_b2c, +Magnetorquer::Magnetorquer(const int prescaler, ClockGenerator* clock_generator, const int component_id, const math::Quaternion& quaternion_b2c, const math::Matrix& scale_factor, const math::Vector& max_magnetic_moment_c_Am2, const math::Vector& min_magnetic_moment_c_Am2, const math::Vector& bias_noise_c_Am2_, @@ -34,7 +34,7 @@ Magnetorquer::Magnetorquer(const int prescaler, ClockGenerator* clock_generator, } Magnetorquer::Magnetorquer(const int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, const int component_id, - const libra::Quaternion& quaternion_b2c, const math::Matrix& scale_factor, + const math::Quaternion& quaternion_b2c, const math::Matrix& scale_factor, const math::Vector& max_magnetic_moment_c_Am2, const math::Vector& min_magnetic_moment_c_Am2, const math::Vector& bias_noise_c_Am2_, double random_walk_step_width_s, const math::Vector& random_walk_standard_deviation_c_Am2, @@ -130,7 +130,7 @@ Magnetorquer InitMagnetorquer(ClockGenerator* clock_generator, int actuator_id, } } - libra::Quaternion quaternion_b2c; + math::Quaternion quaternion_b2c; magtorquer_conf.ReadQuaternion(MTSection, "quaternion_b2c", quaternion_b2c); math::Vector max_magnetic_moment_c_Am2; @@ -175,7 +175,7 @@ Magnetorquer InitMagnetorquer(ClockGenerator* clock_generator, PowerPort* power_ } } - libra::Quaternion quaternion_b2c; + math::Quaternion quaternion_b2c; magtorquer_conf.ReadQuaternion(MTSection, "quaternion_b2c", quaternion_b2c); math::Vector max_magnetic_moment_c_Am2; diff --git a/src/components/real/aocs/magnetorquer.hpp b/src/components/real/aocs/magnetorquer.hpp index 19abefdf7..373f8a98e 100644 --- a/src/components/real/aocs/magnetorquer.hpp +++ b/src/components/real/aocs/magnetorquer.hpp @@ -41,7 +41,7 @@ class Magnetorquer : public Component, public ILoggable { * @param [in] normal_random_standard_deviation_c_Am2: Standard deviation for the normal random noise in the component frame [Am2] * @param [in] geomagnetic_field: Geomagnetic environment */ - Magnetorquer(const int prescaler, ClockGenerator* clock_generator, const int component_id, const libra::Quaternion& quaternion_b2c, + Magnetorquer(const int prescaler, ClockGenerator* clock_generator, const int component_id, const math::Quaternion& quaternion_b2c, const math::Matrix& scale_factor, const math::Vector& max_magnetic_moment_c_Am2, const math::Vector& min_magnetic_moment_c_Am2, const math::Vector& bias_noise_c_Am2_, double random_walk_step_width_s, const math::Vector& random_walk_standard_deviation_c_Am2, @@ -66,7 +66,7 @@ class Magnetorquer : public Component, public ILoggable { * @param [in] geomagnetic_field: Geomagnetic environment */ Magnetorquer(const int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, const int component_id, - const libra::Quaternion& quaternion_b2c, const math::Matrix& scale_factor, + const math::Quaternion& quaternion_b2c, const math::Matrix& scale_factor, const math::Vector& max_magnetic_moment_c_Am2, const math::Vector& min_magnetic_moment_c_Am2, const math::Vector& bias_noise_c_Am2_, double random_walk_step_width_s, const math::Vector& random_walk_standard_deviation_c_Am2, const math::Vector& random_walk_limit_c_Am2, @@ -126,8 +126,8 @@ class Magnetorquer : public Component, public ILoggable { math::Vector torque_b_Nm_{0.0}; //!< Output torque in the body fixed frame [Nm] math::Vector output_magnetic_moment_c_Am2_{0.0}; //!< Output output magnetic moment in the component frame [Am2] math::Vector output_magnetic_moment_b_Am2_{0.0}; //!< Output output magnetic moment in the body fixed frame [Am2] - libra::Quaternion quaternion_b2c_{0.0, 0.0, 0.0, 1.0}; //!< Quaternion from body frame to component frame - libra::Quaternion quaternion_c2b_{0.0, 0.0, 0.0, 1.0}; //!< Quaternion from component frame to body frame + math::Quaternion quaternion_b2c_{0.0, 0.0, 0.0, 1.0}; //!< Quaternion from body frame to component frame + math::Quaternion quaternion_c2b_{0.0, 0.0, 0.0, 1.0}; //!< Quaternion from component frame to body frame math::Matrix scale_factor_; //!< Scale factor matrix math::Vector max_magnetic_moment_c_Am2_{100.0}; //!< Maximum magnetic moment in the component frame [Am2] math::Vector min_magnetic_moment_c_Am2_{-100.0}; //!< Minimum magnetic moment in the component frame [Am2] diff --git a/src/components/real/aocs/reaction_wheel.cpp b/src/components/real/aocs/reaction_wheel.cpp index 1c16d6376..cb66efd2a 100644 --- a/src/components/real/aocs/reaction_wheel.cpp +++ b/src/components/real/aocs/reaction_wheel.cpp @@ -13,7 +13,7 @@ ReactionWheel::ReactionWheel(const int prescaler, ClockGenerator* clock_generator, const int component_id, const double step_width_s, const double rotor_inertia_kgm2, const double max_torque_Nm, const double max_velocity_rpm, - const libra::Quaternion quaternion_b2c, const math::Vector<3> position_b_m, const double dead_time_s, + const math::Quaternion quaternion_b2c, const math::Vector<3> position_b_m, const double dead_time_s, const double time_constant_s, const std::vector friction_coefficients, const double stop_limit_angular_velocity_rad_s, const bool is_calc_jitter_enabled, const bool is_log_jitter_enabled, const int fast_prescaler, ReactionWheelJitter& rw_jitter, bool drive_flag, const double init_velocity_rad_s) @@ -40,7 +40,7 @@ ReactionWheel::ReactionWheel(const int prescaler, ClockGenerator* clock_generato ReactionWheel::ReactionWheel(const int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, const int component_id, const double step_width_s, const double rotor_inertia_kgm2, const double max_torque_Nm, const double max_velocity_rpm, - const libra::Quaternion quaternion_b2c, const math::Vector<3> position_b_m, const double dead_time_s, + const math::Quaternion quaternion_b2c, const math::Vector<3> position_b_m, const double dead_time_s, const double time_constant_s, const std::vector friction_coefficients, const double stop_limit_angular_velocity_rad_s, const bool is_calc_jitter_enabled, const bool is_log_jitter_enabled, const int fast_prescaler, ReactionWheelJitter& rw_jitter, const bool drive_flag, const double init_velocity_rad_s) @@ -238,7 +238,7 @@ double rotor_inertia_kgm2; double max_torque_Nm; double max_velocity_rpm; // Mounting -libra::Quaternion quaternion_b2c; +math::Quaternion quaternion_b2c; math::Vector<3> position_b_m; // Time delay double dead_time_s; @@ -283,7 +283,7 @@ void InitParams(int actuator_id, std::string file_name, double compo_update_step rw_ini_file.ReadVector(rw_section, "direction_b", direction_b); math::Vector<3> direction_c(0.0); direction_c[2] = 1.0; - libra::Quaternion q(direction_b, direction_c); + math::Quaternion q(direction_b, direction_c); quaternion_b2c = q.Conjugate(); } rw_ini_file.ReadVector(rw_section, "position_b_m", position_b_m); diff --git a/src/components/real/aocs/reaction_wheel.hpp b/src/components/real/aocs/reaction_wheel.hpp index 48b3d258b..a85321264 100644 --- a/src/components/real/aocs/reaction_wheel.hpp +++ b/src/components/real/aocs/reaction_wheel.hpp @@ -49,7 +49,7 @@ class ReactionWheel : public Component, public ILoggable { * @param [in] init_velocity_rad_s: Initial value of angular velocity of RW */ ReactionWheel(const int prescaler, ClockGenerator* clock_generator, const int component_id, const double step_width_s, - const double rotor_inertia_kgm2, const double max_torque_Nm, const double max_velocity_rpm, const libra::Quaternion quaternion_b2c, + const double rotor_inertia_kgm2, const double max_torque_Nm, const double max_velocity_rpm, const math::Quaternion quaternion_b2c, const math::Vector<3> position_b_m, const double dead_time_s, const double time_constant_s, const std::vector friction_coefficients, const double stop_limit_angular_velocity_rad_s, const bool is_calc_jitter_enabled, const bool is_log_jitter_enabled, const int fast_prescaler, ReactionWheelJitter& rw_jitter, const bool drive_flag = false, @@ -79,7 +79,7 @@ class ReactionWheel : public Component, public ILoggable { * @param [in] init_velocity_rad_s: Initial value of angular velocity of RW [rad/s] */ ReactionWheel(const int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, const int component_id, const double step_width_s, - const double rotor_inertia_kgm2, const double max_torque_Nm, const double max_velocity_rpm, const libra::Quaternion quaternion_b2c, + const double rotor_inertia_kgm2, const double max_torque_Nm, const double max_velocity_rpm, const math::Quaternion quaternion_b2c, const math::Vector<3> position_b_m, const double dead_time_s, const double time_constant_s, const std::vector friction_coefficients, const double stop_limit_angular_velocity_rad_s, const bool is_calc_jitter_enabled, const bool is_log_jitter_enabled, const int fast_prescaler, ReactionWheelJitter& rw_jitter, const bool drive_flag = false, @@ -174,7 +174,7 @@ class ReactionWheel : public Component, public ILoggable { const double rotor_inertia_kgm2_; //!< Inertia of RW rotor [kgm2] const double max_torque_Nm_; //!< Maximum output torque [Nm] const double max_velocity_rpm_; //!< Maximum angular velocity of rotor [rpm] - const libra::Quaternion quaternion_b2c_; //!< Quaternion from body frame to component frame + const math::Quaternion quaternion_b2c_; //!< Quaternion from body frame to component frame const math::Vector<3> position_b_m_; //!< Position of RW in the body fixed frame [m] math::Vector<3> rotation_axis_c_; //!< Wheel rotation axis on the component frame. Constant as (0 0 1). (Output torque is minus direction) math::Vector<3> rotation_axis_b_; //!< Wheel rotation vector in the body fixed frame. diff --git a/src/components/real/aocs/reaction_wheel_jitter.cpp b/src/components/real/aocs/reaction_wheel_jitter.cpp index cf99ad2ea..ec2a907bf 100644 --- a/src/components/real/aocs/reaction_wheel_jitter.cpp +++ b/src/components/real/aocs/reaction_wheel_jitter.cpp @@ -11,7 +11,7 @@ ReactionWheelJitter::ReactionWheelJitter(std::vector> radial_force_harmonics_coefficients, std::vector> radial_torque_harmonics_coefficients, const double update_interval_s, - const libra::Quaternion quaternion_b2c, const double structural_resonance_frequency_Hz, + const math::Quaternion quaternion_b2c, const double structural_resonance_frequency_Hz, const double damping_factor, const double bandwidth, const bool considers_structural_resonance) : radial_force_harmonics_coefficients_(radial_force_harmonics_coefficients), radial_torque_harmonics_coefficients_(radial_torque_harmonics_coefficients), diff --git a/src/components/real/aocs/reaction_wheel_jitter.hpp b/src/components/real/aocs/reaction_wheel_jitter.hpp index 1034c75c7..9038ce36f 100644 --- a/src/components/real/aocs/reaction_wheel_jitter.hpp +++ b/src/components/real/aocs/reaction_wheel_jitter.hpp @@ -36,7 +36,7 @@ class ReactionWheelJitter { */ ReactionWheelJitter(std::vector> radial_force_harmonics_coefficients, std::vector> radial_torque_harmonics_coefficients, const double update_interval_s, - const libra::Quaternion quaternion_b2c, const double structural_resonance_frequency_Hz, const double damping_factor, + const math::Quaternion quaternion_b2c, const double structural_resonance_frequency_Hz, const double damping_factor, const double bandwidth, const bool considers_structural_resonance); /** * @fn ~ReactionWheelJitter @@ -81,7 +81,7 @@ class ReactionWheelJitter { std::vector> radial_torque_harmonics_coefficients_; //!< Coefficients for radial torque harmonics double update_interval_s_; //!< Jitter update interval [sec] - libra::Quaternion quaternion_b2c_; //!< Quaternion from body frame to component frame + math::Quaternion quaternion_b2c_; //!< Quaternion from body frame to component frame double structural_resonance_frequency_Hz_; //!< Frequency of structural resonance [Hz] double structural_resonance_angular_frequency_Hz_; //!< Angular Frequency of structural resonance diff --git a/src/components/real/aocs/star_sensor.cpp b/src/components/real/aocs/star_sensor.cpp index c698533a9..90994c763 100644 --- a/src/components/real/aocs/star_sensor.cpp +++ b/src/components/real/aocs/star_sensor.cpp @@ -16,7 +16,7 @@ using namespace std; using namespace libra; -StarSensor::StarSensor(const int prescaler, ClockGenerator* clock_generator, const int component_id, const libra::Quaternion& quaternion_b2c, +StarSensor::StarSensor(const int prescaler, ClockGenerator* clock_generator, const int component_id, const math::Quaternion& quaternion_b2c, const double standard_deviation_orthogonal_direction, const double standard_deviation_sight_direction, const double step_time_s, const unsigned int output_delay, const unsigned int output_interval, const double sun_forbidden_angle_rad, const double earth_forbidden_angle_rad, const double moon_forbidden_angle_rad, @@ -41,7 +41,7 @@ StarSensor::StarSensor(const int prescaler, ClockGenerator* clock_generator, con Initialize(); } StarSensor::StarSensor(const int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, const int component_id, - const libra::Quaternion& quaternion_b2c, const double standard_deviation_orthogonal_direction, + const math::Quaternion& quaternion_b2c, const double standard_deviation_orthogonal_direction, const double standard_deviation_sight_direction, const double step_time_s, const unsigned int output_delay, const unsigned int output_interval, const double sun_forbidden_angle_rad, const double earth_forbidden_angle_rad, const double moon_forbidden_angle_rad, const double capture_rate_limit_rad_s, const Dynamics* dynamics, @@ -67,12 +67,12 @@ StarSensor::StarSensor(const int prescaler, ClockGenerator* clock_generator, Pow } void StarSensor::Initialize() { - measured_quaternion_i2c_ = libra::Quaternion(0.0, 0.0, 0.0, 1.0); + measured_quaternion_i2c_ = math::Quaternion(0.0, 0.0, 0.0, 1.0); // Decide delay buffer size max_delay_ = int(output_delay_ * 2 / step_time_s_); if (max_delay_ <= 0) max_delay_ = 1; - vector temp(max_delay_); + vector temp(max_delay_); delay_buffer_ = temp; // Initialize delay buffer for (int i = 0; i < max_delay_; ++i) { @@ -113,7 +113,7 @@ void StarSensor::update(const LocalCelestialInformation* local_celestial_informa double rot = libra::tau * double(rotation_noise_); // Calc observation error on orthogonal direction of sight math::Vector<3> rot_axis = cos(rot) * first_orthogonal_direction_c + sin(rot) * second_orthogonal_direction_c; - libra::Quaternion q_ortho(rot_axis, orthogonal_direction_noise_); + math::Quaternion q_ortho(rot_axis, orthogonal_direction_noise_); // Judge errors AllJudgement(local_celestial_information, attitude); @@ -138,7 +138,7 @@ void StarSensor::AllJudgement(const LocalCelestialInformation* local_celestial_i } int StarSensor::SunJudgement(const math::Vector<3>& sun_b) { - libra::Quaternion q_c2b = quaternion_b2c_.Conjugate(); + math::Quaternion q_c2b = quaternion_b2c_.Conjugate(); math::Vector<3> sight_b = q_c2b.FrameConversion(sight_direction_c_); double sun_angle_rad = CalAngleVector_rad(sun_b, sight_b); if (sun_angle_rad < sun_forbidden_angle_rad_) @@ -148,7 +148,7 @@ int StarSensor::SunJudgement(const math::Vector<3>& sun_b) { } int StarSensor::EarthJudgement(const math::Vector<3>& earth_b) { - libra::Quaternion q_c2b = quaternion_b2c_.Conjugate(); + math::Quaternion q_c2b = quaternion_b2c_.Conjugate(); math::Vector<3> sight_b = q_c2b.FrameConversion(sight_direction_c_); double earth_size_rad = atan2(environment::earth_equatorial_radius_m, earth_b.CalcNorm()); // angles between sat<->earth_center & sat<->earth_edge @@ -161,7 +161,7 @@ int StarSensor::EarthJudgement(const math::Vector<3>& earth_b) { } int StarSensor::MoonJudgement(const math::Vector<3>& moon_b) { - libra::Quaternion q_c2b = quaternion_b2c_.Conjugate(); + math::Quaternion q_c2b = quaternion_b2c_.Conjugate(); math::Vector<3> sight_b = q_c2b.FrameConversion(sight_direction_c_); double moon_angle_rad = CalAngleVector_rad(moon_b, sight_b); if (moon_angle_rad < moon_forbidden_angle_rad_) @@ -223,7 +223,7 @@ StarSensor InitStarSensor(ClockGenerator* clock_generator, int sensor_id, const int prescaler = STT_conf.ReadInt(STTSection, "prescaler"); if (prescaler <= 1) prescaler = 1; double step_time_s = component_step_time_s * prescaler; - libra::Quaternion quaternion_b2c; + math::Quaternion quaternion_b2c; STT_conf.ReadQuaternion(STTSection, "quaternion_b2c", quaternion_b2c); double standard_deviation_orthogonal_direction = STT_conf.ReadDouble(STTSection, "standard_deviation_orthogonal_direction_rad"); double standard_deviation_sight_direction = STT_conf.ReadDouble(STTSection, "standard_deviation_sight_direction_rad"); @@ -257,7 +257,7 @@ StarSensor InitStarSensor(ClockGenerator* clock_generator, PowerPort* power_port if (prescaler <= 1) prescaler = 1; double step_time_s = component_step_time_s * prescaler; - libra::Quaternion quaternion_b2c; + math::Quaternion quaternion_b2c; STT_conf.ReadQuaternion(STTSection, "quaternion_b2c", quaternion_b2c); double standard_deviation_orthogonal_direction = STT_conf.ReadDouble(STTSection, "standard_deviation_orthogonal_direction_rad"); double standard_deviation_sight_direction = STT_conf.ReadDouble(STTSection, "standard_deviation_sight_direction_rad"); diff --git a/src/components/real/aocs/star_sensor.hpp b/src/components/real/aocs/star_sensor.hpp index 5bda47f79..198db1192 100644 --- a/src/components/real/aocs/star_sensor.hpp +++ b/src/components/real/aocs/star_sensor.hpp @@ -43,7 +43,7 @@ class StarSensor : public Component, public ILoggable { * @param [in] dynamics: Dynamics information * @param [in] local_environment: Local environment information */ - StarSensor(const int prescaler, ClockGenerator* clock_generator, const int component_id, const libra::Quaternion& quaternion_b2c, + StarSensor(const int prescaler, ClockGenerator* clock_generator, const int component_id, const math::Quaternion& quaternion_b2c, const double standard_deviation_orthogonal_direction, const double standard_deviation_sight_direction, const double step_time_s, const unsigned int output_delay, const unsigned int output_interval, const double sun_forbidden_angle_rad, const double earth_forbidden_angle_rad, const double moon_forbidden_angle_rad, const double capture_rate_limit_rad_s, @@ -69,7 +69,7 @@ class StarSensor : public Component, public ILoggable { * @param [in] local_environment: Local environment information */ StarSensor(const int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, const int component_id, - const libra::Quaternion& quaternion_b2c, const double standard_deviation_orthogonal_direction, + const math::Quaternion& quaternion_b2c, const double standard_deviation_orthogonal_direction, const double standard_deviation_sight_direction, const double step_time_s, const unsigned int output_delay, const unsigned int output_interval, const double sun_forbidden_angle_rad, const double earth_forbidden_angle_rad, const double moon_forbidden_angle_rad, const double capture_rate_limit_rad_s, const Dynamics* dynamics, @@ -98,7 +98,7 @@ class StarSensor : public Component, public ILoggable { * @fn GetMeasuredQuaternion_i2c * @brief Return observed quaternion from the inertial frame to the component frame */ - inline const libra::Quaternion GetMeasuredQuaternion_i2c() const { return measured_quaternion_i2c_; }; + inline const math::Quaternion GetMeasuredQuaternion_i2c() const { return measured_quaternion_i2c_; }; /** * @fn GetErrorFlag * @brief Return error flag @@ -108,8 +108,8 @@ class StarSensor : public Component, public ILoggable { protected: // StarSensor general parameters const int component_id_; //!< Sensor ID - libra::Quaternion quaternion_b2c_; //!< Quaternion from body frame to component frame - libra::Quaternion measured_quaternion_i2c_ = {0.0, 0.0, 0.0, 1.0}; //!< StarSensor observed quaternion + math::Quaternion quaternion_b2c_; //!< Quaternion from body frame to component frame + math::Quaternion measured_quaternion_i2c_ = {0.0, 0.0, 0.0, 1.0}; //!< StarSensor observed quaternion math::Vector<3> sight_direction_c_; //!< Sight direction vector at component frame math::Vector<3> first_orthogonal_direction_c; //!< The first orthogonal direction of sight at component frame math::Vector<3> second_orthogonal_direction_c; //!< The second orthogonal direction of sight at component frame @@ -121,7 +121,7 @@ class StarSensor : public Component, public ILoggable { // Delay emulation parameters int max_delay_; //!< Max delay - std::vector delay_buffer_; //!< Buffer of quaternion for delay emulation + std::vector delay_buffer_; //!< Buffer of quaternion for delay emulation int buffer_position_; //!< Buffer position double step_time_s_; //!< Step time for delay calculation [sec] unsigned int output_delay_; //!< Output delay [0, max_delay_] [step_sec] @@ -153,7 +153,7 @@ class StarSensor : public Component, public ILoggable { * @param [in] local_celestial_information: Local celestial information * @param [in] attitude: Attitude information */ - libra::Quaternion Measure(const LocalCelestialInformation* local_celestial_information, const Attitude* attitude); + math::Quaternion Measure(const LocalCelestialInformation* local_celestial_information, const Attitude* attitude); /** * @fn AllJudgement diff --git a/src/components/real/aocs/sun_sensor.cpp b/src/components/real/aocs/sun_sensor.cpp index 8b0164114..df9eec87e 100644 --- a/src/components/real/aocs/sun_sensor.cpp +++ b/src/components/real/aocs/sun_sensor.cpp @@ -14,7 +14,7 @@ using libra::NormalRand; using namespace std; -SunSensor::SunSensor(const int prescaler, ClockGenerator* clock_generator, const int component_id, const libra::Quaternion& quaternion_b2c, +SunSensor::SunSensor(const int prescaler, ClockGenerator* clock_generator, const int component_id, const math::Quaternion& quaternion_b2c, const double detectable_angle_rad, const double random_noise_standard_deviation_rad, const double bias_noise_standard_deviation_rad, const double intensity_lower_threshold_percent, const SolarRadiationPressureEnvironment* srp_environment, const LocalCelestialInformation* local_celestial_information) @@ -29,7 +29,7 @@ SunSensor::SunSensor(const int prescaler, ClockGenerator* clock_generator, const } SunSensor::SunSensor(const int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, const int component_id, - const libra::Quaternion& quaternion_b2c, const double detectable_angle_rad, const double random_noise_standard_deviation_rad, + const math::Quaternion& quaternion_b2c, const double detectable_angle_rad, const double random_noise_standard_deviation_rad, const double bias_noise_standard_deviation_rad, const double intensity_lower_threshold_percent, const SolarRadiationPressureEnvironment* srp_environment, const LocalCelestialInformation* local_celestial_information) : Component(prescaler, clock_generator, power_port), @@ -161,7 +161,7 @@ SunSensor InitSunSensor(ClockGenerator* clock_generator, int ss_id, std::string int prescaler = ss_conf.ReadInt(Section, "prescaler"); if (prescaler <= 1) prescaler = 1; - libra::Quaternion quaternion_b2c; + math::Quaternion quaternion_b2c; ss_conf.ReadQuaternion(Section, "quaternion_b2c", quaternion_b2c); double detectable_angle_deg = 0.0, detectable_angle_rad = 0.0; @@ -194,7 +194,7 @@ SunSensor InitSunSensor(ClockGenerator* clock_generator, PowerPort* power_port, int prescaler = ss_conf.ReadInt(Section, "prescaler"); if (prescaler <= 1) prescaler = 1; - libra::Quaternion quaternion_b2c; + math::Quaternion quaternion_b2c; ss_conf.ReadQuaternion(Section, "quaternion_b2c", quaternion_b2c); double detectable_angle_deg = 0.0, detectable_angle_rad = 0.0; diff --git a/src/components/real/aocs/sun_sensor.hpp b/src/components/real/aocs/sun_sensor.hpp index 28b40575e..86547a399 100644 --- a/src/components/real/aocs/sun_sensor.hpp +++ b/src/components/real/aocs/sun_sensor.hpp @@ -35,7 +35,7 @@ class SunSensor : public Component, public ILoggable { * @param [in] srp_environment: Solar Radiation Pressure environment * @param [in] local_celestial_information: Local celestial information */ - SunSensor(const int prescaler, ClockGenerator* clock_generator, const int component_id, const libra::Quaternion& quaternion_b2c, + SunSensor(const int prescaler, ClockGenerator* clock_generator, const int component_id, const math::Quaternion& quaternion_b2c, const double detectable_angle_rad, const double random_noise_standard_deviation_rad, const double bias_noise_standard_deviation_rad, const double intensity_lower_threshold_percent, const SolarRadiationPressureEnvironment* srp_environment, const LocalCelestialInformation* local_celestial_information); @@ -55,7 +55,7 @@ class SunSensor : public Component, public ILoggable { * @param [in] local_celestial_information: Local celestial information */ SunSensor(const int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, const int component_id, - const libra::Quaternion& quaternion_b2c, const double detectable_angle_rad, const double random_noise_standard_deviation_rad, + const math::Quaternion& quaternion_b2c, const double detectable_angle_rad, const double random_noise_standard_deviation_rad, const double bias_noise_standard_deviation_rad, const double intensity_lower_threshold_percent, const SolarRadiationPressureEnvironment* srp_environment, const LocalCelestialInformation* local_celestial_information); @@ -88,7 +88,7 @@ class SunSensor : public Component, public ILoggable { protected: const int component_id_; //!< Sensor ID - libra::Quaternion quaternion_b2c_; //!< Quaternion from body frame to component frame (Z-axis of the component is sight direction) + math::Quaternion quaternion_b2c_; //!< Quaternion from body frame to component frame (Z-axis of the component is sight direction) double intensity_lower_threshold_percent_; //!< If the light intensity becomes smaller than this, it becomes impossible to get the sun direction math::Vector<3> sun_direction_true_c_{0.0}; //!< True value of sun vector in the component frame diff --git a/src/components/real/communication/antenna.cpp b/src/components/real/communication/antenna.cpp index 926cfe0b7..b0713a76e 100644 --- a/src/components/real/communication/antenna.cpp +++ b/src/components/real/communication/antenna.cpp @@ -11,7 +11,7 @@ #include #include -Antenna::Antenna(const int component_id, const libra::Quaternion& quaternion_b2c, const bool is_transmitter, const bool is_receiver, +Antenna::Antenna(const int component_id, const math::Quaternion& quaternion_b2c, const bool is_transmitter, const bool is_receiver, const double frequency_MHz, const Vector<5> tx_parameters, const Vector<4> rx_parameters) : component_id_(component_id), is_transmitter_(is_transmitter), is_receiver_(is_receiver), frequency_MHz_(frequency_MHz) { quaternion_b2c_ = quaternion_b2c; @@ -45,7 +45,7 @@ Antenna::Antenna(const int component_id, const libra::Quaternion& quaternion_b2c } } -Antenna::Antenna(const int component_id, const libra::Quaternion& quaternion_b2c, const bool is_transmitter, const bool is_receiver, +Antenna::Antenna(const int component_id, const math::Quaternion& quaternion_b2c, const bool is_transmitter, const bool is_receiver, const double frequency_MHz, const double tx_bitrate_bps, const double tx_output_power_W, const AntennaParameters tx_parameters, const double rx_system_noise_temperature_K, const AntennaParameters rx_parameters) : component_id_(component_id), diff --git a/src/components/real/communication/antenna.hpp b/src/components/real/communication/antenna.hpp index d83f03e3a..fbdaffb0a 100644 --- a/src/components/real/communication/antenna.hpp +++ b/src/components/real/communication/antenna.hpp @@ -8,7 +8,7 @@ #include #include -using libra::Quaternion; +using math::Quaternion; using math::Vector; #include @@ -54,7 +54,7 @@ class Antenna { * @param [in] tx_parameters: output, gain, loss_feeder, loss_pointing for TX * @param [in] rx_parameters: gain, loss_feeder, loss_pointing, system_temperature for RX */ - Antenna(const int component_id, const libra::Quaternion& quaternion_b2c, const bool is_transmitter, const bool is_receiver, + Antenna(const int component_id, const math::Quaternion& quaternion_b2c, const bool is_transmitter, const bool is_receiver, const double frequency_MHz, const Vector<5> tx_parameters, const Vector<4> rx_parameters); /** @@ -71,7 +71,7 @@ class Antenna { * @param [in] rx_system_noise_temperature_K: Receive system noise temperature [K] * @param [in] rx_parameters: RX antenna parameters */ - Antenna(const int component_id, const libra::Quaternion& quaternion_b2c, const bool is_transmitter, const bool is_receiver, + Antenna(const int component_id, const math::Quaternion& quaternion_b2c, const bool is_transmitter, const bool is_receiver, const double frequency_MHz, const double tx_bitrate_bps, const double tx_output_power_W, const AntennaParameters tx_parameters, const double rx_system_noise_temperature_K, const AntennaParameters rx_parameters); /** diff --git a/src/components/real/mission/telescope.cpp b/src/components/real/mission/telescope.cpp index df87a245b..a877548aa 100644 --- a/src/components/real/mission/telescope.cpp +++ b/src/components/real/mission/telescope.cpp @@ -13,7 +13,7 @@ using namespace std; using namespace libra; -Telescope::Telescope(ClockGenerator* clock_generator, const libra::Quaternion& quaternion_b2c, const double sun_forbidden_angle_rad, +Telescope::Telescope(ClockGenerator* clock_generator, const math::Quaternion& quaternion_b2c, const double sun_forbidden_angle_rad, const double earth_forbidden_angle_rad, const double moon_forbidden_angle_rad, const int x_number_of_pix, const int y_number_of_pix, const double x_fov_per_pix, const double y_fov_per_pix, size_t number_of_logged_stars, const Attitude* attitude, const HipparcosCatalogue* hipparcos, const LocalCelestialInformation* local_celestial_information, @@ -92,7 +92,7 @@ void Telescope::MainRoutine(const int time_count) { } bool Telescope::JudgeForbiddenAngle(const math::Vector<3>& target_b, const double forbidden_angle) { - libra::Quaternion q_c2b = quaternion_b2c_.Conjugate(); + math::Quaternion q_c2b = quaternion_b2c_.Conjugate(); math::Vector<3> sight_b = q_c2b.FrameConversion(sight_direction_c_); double angle_rad = libra::CalcAngleTwoVectors_rad(target_b, sight_b); if (angle_rad < forbidden_angle) { @@ -260,7 +260,7 @@ Telescope InitTelescope(ClockGenerator* clock_generator, int sensor_id, const st strcat(TelescopeSection, cs); #endif - libra::Quaternion quaternion_b2c; + math::Quaternion quaternion_b2c; Telescope_conf.ReadQuaternion(TelescopeSection, "quaternion_b2c", quaternion_b2c); double sun_forbidden_angle_deg = Telescope_conf.ReadDouble(TelescopeSection, "sun_exclusion_angle_deg"); diff --git a/src/components/real/mission/telescope.hpp b/src/components/real/mission/telescope.hpp index 12a87b064..949d5b50e 100644 --- a/src/components/real/mission/telescope.hpp +++ b/src/components/real/mission/telescope.hpp @@ -50,7 +50,7 @@ class Telescope : public Component, public ILoggable { * @param [in] local_celestial_information: Local celestial information * @param [in] orbit: Orbit information */ - Telescope(ClockGenerator* clock_generator, const libra::Quaternion& quaternion_b2c, const double sun_forbidden_angle_rad, + Telescope(ClockGenerator* clock_generator, const math::Quaternion& quaternion_b2c, const double sun_forbidden_angle_rad, const double earth_forbidden_angle_rad, const double moon_forbidden_angle_rad, const int x_number_of_pix, const int y_number_of_pix, const double x_fov_per_pix, const double y_fov_per_pix, size_t number_of_logged_stars, const Attitude* attitude, const HipparcosCatalogue* hipparcos, const LocalCelestialInformation* local_celestial_information, const Orbit* orbit = nullptr); @@ -67,7 +67,7 @@ class Telescope : public Component, public ILoggable { protected: private: - libra::Quaternion quaternion_b2c_; //!< Quaternion from the body frame to component frame + math::Quaternion quaternion_b2c_; //!< Quaternion from the body frame to component frame math::Vector<3> sight_direction_c_; //!< Sight direction vector in the component frame double sun_forbidden_angle_rad_; //!< Sun forbidden angle [rad] diff --git a/src/components/real/propulsion/simple_thruster.cpp b/src/components/real/propulsion/simple_thruster.cpp index f22953960..2bd862e41 100644 --- a/src/components/real/propulsion/simple_thruster.cpp +++ b/src/components/real/propulsion/simple_thruster.cpp @@ -110,10 +110,10 @@ math::Vector<3> SimpleThruster::CalcThrustDirection() { make_axis_rot_rad = -libra::pi * (double)rand() / RAND_MAX; } - libra::Quaternion make_axis_rot(thrust_dir_b_true, make_axis_rot_rad); + math::Quaternion make_axis_rot(thrust_dir_b_true, make_axis_rot_rad); math::Vector<3> axis_rot = make_axis_rot.FrameConversion(ex); - libra::Quaternion err_rot(axis_rot, direction_random_noise_); // Generate error quaternion + math::Quaternion err_rot(axis_rot, direction_random_noise_); // Generate error quaternion thrust_dir_b_true = err_rot.FrameConversion(thrust_dir_b_true); // Add error } diff --git a/src/disturbances/air_drag.cpp b/src/disturbances/air_drag.cpp index d9123f17b..93c628f04 100644 --- a/src/disturbances/air_drag.cpp +++ b/src/disturbances/air_drag.cpp @@ -29,7 +29,7 @@ void AirDrag::Update(const LocalEnvironment& local_environment, const Dynamics& math::Matrix<3, 3> dcm_ecef2eci = local_environment.GetCelestialInformation().GetGlobalInformation().GetEarthRotation().GetDcmJ2000ToEcef().Transpose(); math::Vector<3> relative_velocity_wrt_atmosphere_i_m_s = dcm_ecef2eci * dynamics.GetOrbit().GetVelocity_ecef_m_s(); - libra::Quaternion quaternion_i2b = dynamics.GetAttitude().GetQuaternion_i2b(); + math::Quaternion quaternion_i2b = dynamics.GetAttitude().GetQuaternion_i2b(); math::Vector<3> velocity_b_m_s = quaternion_i2b.FrameConversion(relative_velocity_wrt_atmosphere_i_m_s); CalcTorqueForce(velocity_b_m_s, air_density_kg_m3); } diff --git a/src/dynamics/attitude/attitude.cpp b/src/dynamics/attitude/attitude.cpp index 3e7fe70c5..e811828f9 100644 --- a/src/dynamics/attitude/attitude.cpp +++ b/src/dynamics/attitude/attitude.cpp @@ -9,7 +9,7 @@ Attitude::Attitude(const math::Matrix<3, 3>& inertia_tensor_kgm2, const std::string& simulation_object_name) : SimulationObject(simulation_object_name), inertia_tensor_kgm2_(inertia_tensor_kgm2) { angular_velocity_b_rad_s_ = math::Vector<3>(0.0); - quaternion_i2b_ = libra::Quaternion(0.0, 0.0, 0.0, 1.0); + quaternion_i2b_ = math::Quaternion(0.0, 0.0, 0.0, 1.0); torque_b_Nm_ = math::Vector<3>(0.0); angular_momentum_spacecraft_b_Nms_ = math::Vector<3>(0.0); angular_momentum_reaction_wheel_b_Nms_ = math::Vector<3>(0.0); @@ -50,7 +50,7 @@ void Attitude::SetParameters(const MonteCarloSimulationExecutor& mc_simulator) { void Attitude::CalcAngularMomentum(void) { angular_momentum_spacecraft_b_Nms_ = inertia_tensor_kgm2_ * angular_velocity_b_rad_s_; angular_momentum_total_b_Nms_ = angular_momentum_reaction_wheel_b_Nms_ + angular_momentum_spacecraft_b_Nms_; - libra::Quaternion q_b2i = quaternion_i2b_.Conjugate(); + math::Quaternion q_b2i = quaternion_i2b_.Conjugate(); angular_momentum_total_i_Nms_ = q_b2i.FrameConversion(angular_momentum_total_b_Nms_); angular_momentum_total_Nms_ = angular_momentum_total_i_Nms_.CalcNorm(); diff --git a/src/dynamics/attitude/attitude.hpp b/src/dynamics/attitude/attitude.hpp index 89449af15..f3463e4a8 100644 --- a/src/dynamics/attitude/attitude.hpp +++ b/src/dynamics/attitude/attitude.hpp @@ -45,7 +45,7 @@ class Attitude : public ILoggable, public SimulationObject { * @fn GetQuaternion_i2b * @brief Return attitude quaternion from the inertial frame to the body fixed frame */ - inline libra::Quaternion GetQuaternion_i2b() const { return quaternion_i2b_; } + inline math::Quaternion GetQuaternion_i2b() const { return quaternion_i2b_; } /** * @fn GetTotalAngularMomentNorm_Nms * @brief Return norm of total angular momentum of the spacecraft [Nms] @@ -72,7 +72,7 @@ class Attitude : public ILoggable, public SimulationObject { * @fn SetQuaternion_i2b * @brief Set attitude quaternion from the inertial frame to the body frame */ - inline void SetQuaternion_i2b(const libra::Quaternion quaternion_i2b) { quaternion_i2b_ = quaternion_i2b; } + inline void SetQuaternion_i2b(const math::Quaternion quaternion_i2b) { quaternion_i2b_ = quaternion_i2b; } /** * @fn SetTorque_b_Nm * @brief Set torque acting on the spacecraft on the body fixed frame [Nm] @@ -117,7 +117,7 @@ class Attitude : public ILoggable, public SimulationObject { bool is_calc_enabled_ = true; //!< Calculation flag double propagation_step_s_; //!< Propagation step [sec] math::Vector<3> angular_velocity_b_rad_s_; //!< Angular velocity of spacecraft body fixed frame with respect to the inertial frame [rad/s] - libra::Quaternion quaternion_i2b_; //!< Attitude quaternion from the inertial frame to the body fixed frame + math::Quaternion quaternion_i2b_; //!< Attitude quaternion from the inertial frame to the body fixed frame math::Vector<3> torque_b_Nm_; //!< Torque in the body fixed frame [Nm] const math::Matrix<3, 3>& inertia_tensor_kgm2_; //!< Inertia tensor of the spacecraft [kg m^2] diff --git a/src/dynamics/attitude/attitude_rk4.cpp b/src/dynamics/attitude/attitude_rk4.cpp index 40ee81dc3..4ba0a33dc 100644 --- a/src/dynamics/attitude/attitude_rk4.cpp +++ b/src/dynamics/attitude/attitude_rk4.cpp @@ -9,7 +9,7 @@ #include #include -AttitudeRk4::AttitudeRk4(const math::Vector<3>& angular_velocity_b_rad_s, const libra::Quaternion& quaternion_i2b, +AttitudeRk4::AttitudeRk4(const math::Vector<3>& angular_velocity_b_rad_s, const math::Quaternion& quaternion_i2b, const math::Matrix<3, 3>& inertia_tensor_kgm2, const math::Vector<3>& torque_b_Nm, const double propagation_step_s, const std::string& simulation_object_name) : Attitude(inertia_tensor_kgm2, simulation_object_name) { diff --git a/src/dynamics/attitude/attitude_rk4.hpp b/src/dynamics/attitude/attitude_rk4.hpp index 33dd8002e..9c5d58bf2 100644 --- a/src/dynamics/attitude/attitude_rk4.hpp +++ b/src/dynamics/attitude/attitude_rk4.hpp @@ -24,7 +24,7 @@ class AttitudeRk4 : public Attitude { * @param [in] propagation_step_s: Initial value of propagation step width [sec] * @param [in] simulation_object_name: Simulation object name for Monte-Carlo simulation */ - AttitudeRk4(const math::Vector<3>& angular_velocity_b_rad_s, const libra::Quaternion& quaternion_i2b, + AttitudeRk4(const math::Vector<3>& angular_velocity_b_rad_s, const math::Quaternion& quaternion_i2b, const math::Matrix<3, 3>& inertia_tensor_kgm2, const math::Vector<3>& torque_b_Nm, const double propagation_step_s, const std::string& simulation_object_name = "attitude"); /** diff --git a/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp b/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp index ecee04374..f52da403b 100644 --- a/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp +++ b/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp @@ -9,7 +9,7 @@ #include AttitudeWithCantileverVibration::AttitudeWithCantileverVibration( - const math::Vector<3>& angular_velocity_b_rad_s, const libra::Quaternion& quaternion_i2b, const math::Matrix<3, 3>& inertia_tensor_kgm2, + const math::Vector<3>& angular_velocity_b_rad_s, const math::Quaternion& quaternion_i2b, const math::Matrix<3, 3>& inertia_tensor_kgm2, const math::Matrix<3, 3>& inertia_tensor_cantilever_kgm2, const double damping_ratio_cantilever, const double intrinsic_angular_velocity_cantilever_rad_s, const math::Vector<3>& torque_b_Nm, const double propagation_step_s, const std::string& simulation_object_name) diff --git a/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp b/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp index e336bafad..91fa9948d 100644 --- a/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp +++ b/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp @@ -31,7 +31,7 @@ class AttitudeWithCantileverVibration : public Attitude { * @param [in] propagation_step_s: Initial value of propagation step width [sec] * @param [in] simulation_object_name: Simulation object name for Monte-Carlo simulation */ - AttitudeWithCantileverVibration(const math::Vector<3>& angular_velocity_b_rad_s, const libra::Quaternion& quaternion_i2b, + AttitudeWithCantileverVibration(const math::Vector<3>& angular_velocity_b_rad_s, const math::Quaternion& quaternion_i2b, const math::Matrix<3, 3>& inertia_tensor_kgm2, const math::Matrix<3, 3>& inertia_tensor_cantilever_kgm2, const double damping_ratio_cantilever, const double intrinsic_angular_velocity_cantilever_rad_s, const math::Vector<3>& torque_b_Nm, const double propagation_step_s, diff --git a/src/dynamics/attitude/controlled_attitude.cpp b/src/dynamics/attitude/controlled_attitude.cpp index d28b2c178..c96d23a6f 100644 --- a/src/dynamics/attitude/controlled_attitude.cpp +++ b/src/dynamics/attitude/controlled_attitude.cpp @@ -8,7 +8,7 @@ #include ControlledAttitude::ControlledAttitude(const AttitudeControlMode main_mode, const AttitudeControlMode sub_mode, - const libra::Quaternion quaternion_i2b, const math::Vector<3> main_target_direction_b, + const math::Quaternion quaternion_i2b, const math::Vector<3> main_target_direction_b, const math::Vector<3> sub_target_direction_b, const math::Matrix<3, 3>& inertia_tensor_kgm2, const LocalCelestialInformation* local_celestial_information, const Orbit* orbit, const std::string& simulation_object_name) @@ -111,7 +111,7 @@ void ControlledAttitude::PointingControl(const math::Vector<3> main_direction_i, // Calc DCM ECI->body math::Matrix<3, 3> dcm_i2b = dcm_t2b * dcm_t2i.Transpose(); // Convert to Quaternion - quaternion_i2b_ = libra::Quaternion::ConvertFromDcm(dcm_i2b); + quaternion_i2b_ = math::Quaternion::ConvertFromDcm(dcm_i2b); } math::Matrix<3, 3> ControlledAttitude::CalcDcm(const math::Vector<3> main_direction, const math::Vector<3> sub_direction) { @@ -157,8 +157,8 @@ void ControlledAttitude::CalcAngularVelocity(const double current_time_s) { if (previous_calc_time_s_ > 0.0) { double time_diff_sec = current_time_s - previous_calc_time_s_; - libra::Quaternion prev_q_b2i = previous_quaternion_i2b_.Conjugate(); - libra::Quaternion q_diff = prev_q_b2i * quaternion_i2b_; + math::Quaternion prev_q_b2i = previous_quaternion_i2b_.Conjugate(); + math::Quaternion q_diff = prev_q_b2i * quaternion_i2b_; q_diff = (2.0 / time_diff_sec) * q_diff; math::Vector<3> angular_acc_b_rad_s2_; diff --git a/src/dynamics/attitude/controlled_attitude.hpp b/src/dynamics/attitude/controlled_attitude.hpp index 35fe317f9..e05965621 100644 --- a/src/dynamics/attitude/controlled_attitude.hpp +++ b/src/dynamics/attitude/controlled_attitude.hpp @@ -54,7 +54,7 @@ class ControlledAttitude : public Attitude { * @param [in] orbit: Orbit * @param [in] simulation_object_name: Simulation object name for Monte-Carlo simulation */ - ControlledAttitude(const AttitudeControlMode main_mode, const AttitudeControlMode sub_mode, const libra::Quaternion quaternion_i2b, + ControlledAttitude(const AttitudeControlMode main_mode, const AttitudeControlMode sub_mode, const math::Quaternion quaternion_i2b, const math::Vector<3> main_target_direction_b, const math::Vector<3> sub_target_direction_b, const math::Matrix<3, 3>& inertia_tensor_kgm2, const LocalCelestialInformation* local_celestial_information, const Orbit* orbit, const std::string& simulation_object_name = "attitude"); @@ -79,7 +79,7 @@ class ControlledAttitude : public Attitude { * @fn SetQuaternion_i2t * @brief Set quaternion for INERTIAL_STABILIZE mode */ - inline void SetQuaternion_i2t(const libra::Quaternion quaternion_i2t) { quaternion_i2b_ = quaternion_i2t; } + inline void SetQuaternion_i2t(const math::Quaternion quaternion_i2t) { quaternion_i2b_ = quaternion_i2t; } /** * @fn SetMainTargetDirection_b * @brief Set main target direction on the body fixed frame @@ -104,7 +104,7 @@ class ControlledAttitude : public Attitude { math::Vector<3> main_target_direction_b_; //!< Main target direction on the body fixed frame math::Vector<3> sub_target_direction_b_; //!< Sub target direction on tge body fixed frame double previous_calc_time_s_ = -1.0; //!< Previous time of velocity calculation [sec] - libra::Quaternion previous_quaternion_i2b_; //!< Previous quaternion + math::Quaternion previous_quaternion_i2b_; //!< Previous quaternion math::Vector<3> previous_omega_b_rad_s_; //!< Previous angular velocity [rad/s] const double kMinDirectionAngle_rad = 30.0 * libra::deg_to_rad; //!< Minimum angle b/w main and sub direction diff --git a/src/dynamics/attitude/initialize_attitude.cpp b/src/dynamics/attitude/initialize_attitude.cpp index a57f34e65..f149f1e1c 100644 --- a/src/dynamics/attitude/initialize_attitude.cpp +++ b/src/dynamics/attitude/initialize_attitude.cpp @@ -17,7 +17,7 @@ Attitude* InitAttitude(std::string file_name, const Orbit* orbit, const LocalCel const std::string initialize_mode = ini_file.ReadString(section_, "initialize_mode"); math::Vector<3> omega_b; - libra::Quaternion quaternion_i2b; + math::Quaternion quaternion_i2b; math::Vector<3> torque_b; if (initialize_mode == "CONTROLLED") { // Initialize with Controlled attitude (attitude_tmp temporary used) @@ -77,7 +77,7 @@ Attitude* InitAttitude(std::string file_name, const Orbit* orbit, const LocalCel AttitudeControlMode main_mode = ConvertStringToCtrlMode(main_mode_in); AttitudeControlMode sub_mode = ConvertStringToCtrlMode(sub_mode_in); - libra::Quaternion quaternion_i2b; + math::Quaternion quaternion_i2b; ini_file_ca.ReadQuaternion(section_, "initial_quaternion_i2b", quaternion_i2b); math::Vector<3> main_target_direction_b, sub_target_direction_b; ini_file_ca.ReadVector(section_ca_, "main_pointing_direction_b", main_target_direction_b); diff --git a/src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp b/src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp index 28f4b5ac9..88b7193ee 100644 --- a/src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp +++ b/src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp @@ -29,7 +29,7 @@ class AttitudeWithCantileverVibrationOde : public InterfaceOde<13> { * @param [in] euler_angule_cantilever_rad: Euler angle of the cantilever@ body-fixed frame [rad] */ math::Vector<13> SetStateFromPhysicalQuantities(const math::Vector<3> angular_velocity_b_rad_s, - const math::Vector<3> angular_velocity_cantilever_rad_s, const libra::Quaternion quaternion_i2b, + const math::Vector<3> angular_velocity_cantilever_rad_s, const math::Quaternion quaternion_i2b, const math::Vector<3> euler_angule_cantilever_rad) const { math::Vector<13> state; for (size_t i = 0; i < 3; i++) { @@ -53,7 +53,7 @@ class AttitudeWithCantileverVibrationOde : public InterfaceOde<13> { * @param [in] state: state variables used to calculate the ordinary differential equation */ void SetPhysicalQuantitiesFromState(const math::Vector<13> state, math::Vector<3>& angular_velocity_b_rad_s, - math::Vector<3>& angular_velocity_cantilever_rad_s, libra::Quaternion& quaternion_i2b, + math::Vector<3>& angular_velocity_cantilever_rad_s, math::Quaternion& quaternion_i2b, math::Vector<3>& euler_angular_cantilever_rad) const { for (size_t i = 0; i < 3; i++) { angular_velocity_b_rad_s[i] = state[i]; @@ -76,7 +76,7 @@ class AttitudeWithCantileverVibrationOde : public InterfaceOde<13> { math::Vector<3> omega_b_rad_s; math::Vector<3> omega_cantilever_rad_s; - libra::Quaternion quaternion_i2b; + math::Quaternion quaternion_i2b; math::Vector<3> euler_angle_cantilever_rad; SetPhysicalQuantitiesFromState(state, omega_b_rad_s, omega_cantilever_rad_s, quaternion_i2b, euler_angle_cantilever_rad); @@ -110,7 +110,7 @@ class AttitudeWithCantileverVibrationOde : public InterfaceOde<13> { } // The function is used to output the derivative of each corresponding physical quantity. - output = SetStateFromPhysicalQuantities(rhs, angular_accelaration_cantilever_rad_s2, libra::Quaternion(d_quaternion), omega_cantilever_rad_s); + output = SetStateFromPhysicalQuantities(rhs, angular_accelaration_cantilever_rad_s2, math::Quaternion(d_quaternion), omega_cantilever_rad_s); return output; } diff --git a/src/dynamics/orbit/orbit.cpp b/src/dynamics/orbit/orbit.cpp index 9a89390a6..b38aa9c98 100644 --- a/src/dynamics/orbit/orbit.cpp +++ b/src/dynamics/orbit/orbit.cpp @@ -4,7 +4,7 @@ */ #include "orbit.hpp" -libra::Quaternion Orbit::CalcQuaternion_i2lvlh() const { +math::Quaternion Orbit::CalcQuaternion_i2lvlh() const { math::Vector<3> lvlh_x = spacecraft_position_i_m_; // x-axis in LVLH frame is position vector direction from geocenter to satellite math::Vector<3> lvlh_ex = lvlh_x.CalcNormalizedVector(); math::Vector<3> lvlh_z = @@ -24,7 +24,7 @@ libra::Quaternion Orbit::CalcQuaternion_i2lvlh() const { dcm_i2lvlh[2][1] = lvlh_ez[1]; dcm_i2lvlh[2][2] = lvlh_ez[2]; - libra::Quaternion q_i2lvlh = libra::Quaternion::ConvertFromDcm(dcm_i2lvlh); + math::Quaternion q_i2lvlh = math::Quaternion::ConvertFromDcm(dcm_i2lvlh); return q_i2lvlh.Normalize(); } diff --git a/src/dynamics/orbit/orbit.hpp b/src/dynamics/orbit/orbit.hpp index 496774cf3..ac37fbc18 100644 --- a/src/dynamics/orbit/orbit.hpp +++ b/src/dynamics/orbit/orbit.hpp @@ -69,7 +69,7 @@ class Orbit : public ILoggable { * @brief Update attitude information * @param [in] quaternion_i2b: End time of simulation [sec] */ - inline void UpdateByAttitude(const libra::Quaternion quaternion_i2b) { + inline void UpdateByAttitude(const math::Quaternion quaternion_i2b) { spacecraft_velocity_b_m_s_ = quaternion_i2b.FrameConversion(spacecraft_velocity_i_m_s_); } @@ -161,7 +161,7 @@ class Orbit : public ILoggable { * @param [in] quaternion_i2b: Quaternion from the inertial frame to the body fixed frame * @param [in] spacecraft_mass_kg: Mass of spacecraft [kg] */ - inline void AddForce_b_N(const math::Vector<3> force_b_N, const libra::Quaternion quaternion_i2b, const double spacecraft_mass_kg) { + inline void AddForce_b_N(const math::Vector<3> force_b_N, const math::Quaternion quaternion_i2b, const double spacecraft_mass_kg) { auto force_i = quaternion_i2b.InverseFrameConversion(force_b_N); AddForce_i_N(force_i, spacecraft_mass_kg); } @@ -170,7 +170,7 @@ class Orbit : public ILoggable { * @fn CalcQuaternion_i2lvlh * @brief Calculate and return quaternion from the inertial frame to the LVLH frame */ - libra::Quaternion CalcQuaternion_i2lvlh() const; + math::Quaternion CalcQuaternion_i2lvlh() const; // Override ILoggable /** diff --git a/src/dynamics/orbit/relative_orbit.cpp b/src/dynamics/orbit/relative_orbit.cpp index bc05b06d8..c8fedaf7d 100644 --- a/src/dynamics/orbit/relative_orbit.cpp +++ b/src/dynamics/orbit/relative_orbit.cpp @@ -41,8 +41,8 @@ void RelativeOrbit::InitializeState(math::Vector<3> relative_position_lvlh_m, ma math::Vector<3> reference_sat_position_i = relative_information_->GetReferenceSatDynamics(reference_spacecraft_id_)->GetOrbit().GetPosition_i_m(); math::Vector<3> reference_sat_velocity_i = relative_information_->GetReferenceSatDynamics(reference_spacecraft_id_)->GetOrbit().GetVelocity_i_m_s(); - libra::Quaternion q_i2lvlh = relative_information_->GetReferenceSatDynamics(reference_spacecraft_id_)->GetOrbit().CalcQuaternion_i2lvlh(); - libra::Quaternion q_lvlh2i = q_i2lvlh.Conjugate(); + math::Quaternion q_i2lvlh = relative_information_->GetReferenceSatDynamics(reference_spacecraft_id_)->GetOrbit().CalcQuaternion_i2lvlh(); + math::Quaternion q_lvlh2i = q_i2lvlh.Conjugate(); spacecraft_position_i_m_ = q_lvlh2i.FrameConversion(relative_position_lvlh_m_) + reference_sat_position_i; spacecraft_velocity_i_m_s_ = q_lvlh2i.FrameConversion(relative_velocity_lvlh_m_s_) + reference_sat_velocity_i; @@ -111,8 +111,8 @@ void RelativeOrbit::Propagate(const double end_time_s, const double current_time math::Vector<3> reference_sat_position_i = relative_information_->GetReferenceSatDynamics(reference_spacecraft_id_)->GetOrbit().GetPosition_i_m(); math::Vector<3> reference_sat_velocity_i = relative_information_->GetReferenceSatDynamics(reference_spacecraft_id_)->GetOrbit().GetVelocity_i_m_s(); - libra::Quaternion q_i2lvlh = relative_information_->GetReferenceSatDynamics(reference_spacecraft_id_)->GetOrbit().CalcQuaternion_i2lvlh(); - libra::Quaternion q_lvlh2i = q_i2lvlh.Conjugate(); + math::Quaternion q_i2lvlh = relative_information_->GetReferenceSatDynamics(reference_spacecraft_id_)->GetOrbit().CalcQuaternion_i2lvlh(); + math::Quaternion q_lvlh2i = q_i2lvlh.Conjugate(); spacecraft_position_i_m_ = q_lvlh2i.FrameConversion(relative_position_lvlh_m_) + reference_sat_position_i; spacecraft_velocity_i_m_s_ = q_lvlh2i.FrameConversion(relative_velocity_lvlh_m_s_) + reference_sat_velocity_i; diff --git a/src/environment/global/hipparcos_catalogue.cpp b/src/environment/global/hipparcos_catalogue.cpp index 014dce7f8..cb6f3c15e 100644 --- a/src/environment/global/hipparcos_catalogue.cpp +++ b/src/environment/global/hipparcos_catalogue.cpp @@ -62,7 +62,7 @@ math::Vector<3> HipparcosCatalogue::GetStarDirection_i(size_t rank) const { return direction_i; } -math::Vector<3> HipparcosCatalogue::GetStarDirection_b(size_t rank, libra::Quaternion quaternion_i2b) const { +math::Vector<3> HipparcosCatalogue::GetStarDirection_b(size_t rank, math::Quaternion quaternion_i2b) const { math::Vector<3> direction_i; math::Vector<3> direction_b; diff --git a/src/environment/global/hipparcos_catalogue.hpp b/src/environment/global/hipparcos_catalogue.hpp index c22a831a7..d4a6afdd4 100644 --- a/src/environment/global/hipparcos_catalogue.hpp +++ b/src/environment/global/hipparcos_catalogue.hpp @@ -89,7 +89,7 @@ class HipparcosCatalogue : public ILoggable { *@param [in] rank: Rank of star magnitude in read catalogue *@param [in] quaternion_i2b: Quaternion from the inertial frame to the body-fixed frame */ - math::Vector<3> GetStarDirection_b(size_t rank, libra::Quaternion quaternion_i2b) const; + math::Vector<3> GetStarDirection_b(size_t rank, math::Quaternion quaternion_i2b) const; // Override ILoggable /** diff --git a/src/environment/local/geomagnetic_field.cpp b/src/environment/local/geomagnetic_field.cpp index 6ee47afe7..f26c6e457 100644 --- a/src/environment/local/geomagnetic_field.cpp +++ b/src/environment/local/geomagnetic_field.cpp @@ -23,7 +23,7 @@ GeomagneticField::GeomagneticField(const std::string igrf_file_name, const doubl } void GeomagneticField::CalcMagneticField(const double decimal_year, const double sidereal_day, const GeodeticPosition position, - const libra::Quaternion quaternion_i2b) { + const math::Quaternion quaternion_i2b) { if (!IsCalcEnabled) return; const double lat_rad = position.GetLatitude_rad(); diff --git a/src/environment/local/geomagnetic_field.hpp b/src/environment/local/geomagnetic_field.hpp index acda8a2bf..3eabd46c5 100644 --- a/src/environment/local/geomagnetic_field.hpp +++ b/src/environment/local/geomagnetic_field.hpp @@ -44,7 +44,7 @@ class GeomagneticField : public ILoggable { * @param [in] quaternion_i2b: Spacecraft attitude quaternion from the inertial frame to the body fixed frame */ void CalcMagneticField(const double decimal_year, const double sidereal_day, const GeodeticPosition position, - const libra::Quaternion quaternion_i2b); + const math::Quaternion quaternion_i2b); /** * @fn GetGeomagneticField_i_nT diff --git a/src/environment/local/local_celestial_information.cpp b/src/environment/local/local_celestial_information.cpp index 0fd6213f6..e73d23132 100644 --- a/src/environment/local/local_celestial_information.cpp +++ b/src/environment/local/local_celestial_information.cpp @@ -45,7 +45,7 @@ LocalCelestialInformation::~LocalCelestialInformation() { void LocalCelestialInformation::UpdateAllObjectsInformation(const math::Vector<3> spacecraft_position_from_center_i_m, const math::Vector<3> spacecraft_velocity_from_center_i_m_s, - const libra::Quaternion quaternion_i2b, + const math::Quaternion quaternion_i2b, const math::Vector<3> spacecraft_angular_velocity_rad_s) { math::Vector<3> celestial_body_position_i_m, celestial_body_velocity_i_m_s; for (int i = 0; i < global_celestial_information_->GetNumberOfSelectedBodies(); i++) { @@ -62,7 +62,7 @@ void LocalCelestialInformation::UpdateAllObjectsInformation(const math::Vector<3 return; } -void LocalCelestialInformation::CalcAllPosVel_b(const libra::Quaternion quaternion_i2b, const math::Vector<3> spacecraft_angular_velocity_rad_s) { +void LocalCelestialInformation::CalcAllPosVel_b(const math::Quaternion quaternion_i2b, const math::Vector<3> spacecraft_angular_velocity_rad_s) { math::Vector<3> celestial_body_position_i_m, celestial_body_velocity_i_m_s; double r_buf1_i[3], velocity_buf1_i[3], r_buf1_b[3], velocity_buf1_b[3]; double r_buf2_i[3], velocity_buf2_i[3], r_buf2_b[3], velocity_buf2_b[3]; @@ -89,7 +89,7 @@ void LocalCelestialInformation::CalcAllPosVel_b(const libra::Quaternion quaterni } } -void LocalCelestialInformation::ConvertInertialToBody(const double* input_i, double* output_b, libra::Quaternion quaternion_i2b) { +void LocalCelestialInformation::ConvertInertialToBody(const double* input_i, double* output_b, math::Quaternion quaternion_i2b) { math::Vector<3> temp_i; for (int i = 0; i < 3; i++) { temp_i[i] = input_i[i]; @@ -101,7 +101,7 @@ void LocalCelestialInformation::ConvertInertialToBody(const double* input_i, dou } void LocalCelestialInformation::ConvertVelocityInertialToBody(const double* position_i, const double* velocity_i, double* velocity_b, - const libra::Quaternion quaternion_i2b, const math::Vector<3> angular_velocity_b) { + const math::Quaternion quaternion_i2b, const math::Vector<3> angular_velocity_b) { // copy input vector math::Vector<3> vi; for (int i = 0; i < 3; i++) { diff --git a/src/environment/local/local_celestial_information.hpp b/src/environment/local/local_celestial_information.hpp index f8b14b097..dc10ab302 100644 --- a/src/environment/local/local_celestial_information.hpp +++ b/src/environment/local/local_celestial_information.hpp @@ -35,7 +35,7 @@ class LocalCelestialInformation : public ILoggable { * @param [in] spacecraft_angular_velocity_rad_s: Spacecraft angular velocity with respect to the inertial frame [rad/s] */ void UpdateAllObjectsInformation(const math::Vector<3> spacecraft_position_from_center_i_m, - const math::Vector<3> spacecraft_velocity_from_center_i_m_s, const libra::Quaternion quaternion_i2b, + const math::Vector<3> spacecraft_velocity_from_center_i_m_s, const math::Quaternion quaternion_i2b, const math::Vector<3> spacecraft_angular_velocity_rad_s); /** @@ -96,7 +96,7 @@ class LocalCelestialInformation : public ILoggable { * @param [in] quaternion_i2b: Spacecraft attitude quaternion from the inertial frame to the body fixed frame * @param [in] spacecraft_angular_velocity_rad_s: Spacecraft angular velocity with respect to the inertial frame [rad/s] */ - void CalcAllPosVel_b(const libra::Quaternion quaternion_i2b, const math::Vector<3> spacecraft_angular_velocity_rad_s); + void CalcAllPosVel_b(const math::Quaternion quaternion_i2b, const math::Vector<3> spacecraft_angular_velocity_rad_s); /** * @fn ConvertInertialToBody @@ -105,7 +105,7 @@ class LocalCelestialInformation : public ILoggable { * @param [out] output_b: Output vector in the body fixed frame * @param [in] quaternion_i2b: Spacecraft attitude quaternion from the inertial frame to the body fixed frame */ - void ConvertInertialToBody(const double* input_i, double* output_b, const libra::Quaternion quaternion_i2b); + void ConvertInertialToBody(const double* input_i, double* output_b, const math::Quaternion quaternion_i2b); /** * @fn ConvertVelocityInertialToBody @@ -116,7 +116,7 @@ class LocalCelestialInformation : public ILoggable { * @param [in] quaternion_i2b: Spacecraft attitude quaternion from the inertial frame to the body fixed frame * @param [in] angular_velocity_b: Spacecraft angular velocity with respect to the inertial frame [rad/s] */ - void ConvertVelocityInertialToBody(const double* position_i, const double* velocity_i, double* velocity_b, const libra::Quaternion quaternion_i2b, + void ConvertVelocityInertialToBody(const double* position_i, const double* velocity_i, double* velocity_b, const math::Quaternion quaternion_i2b, const math::Vector<3> angular_velocity_b); }; diff --git a/src/logger/log_utility.hpp b/src/logger/log_utility.hpp index 0f9884091..7eba4b767 100644 --- a/src/logger/log_utility.hpp +++ b/src/logger/log_utility.hpp @@ -70,7 +70,7 @@ inline std::string WriteMatrix(const std::string name, const std::string frame, * @brief Write quaternion value * @param [in] quaternion: Quaternion */ -inline std::string WriteQuaternion(const libra::Quaternion quaternion, const int precision = 6); +inline std::string WriteQuaternion(const math::Quaternion quaternion, const int precision = 6); /** * @fn WriteQuaternion * @brief Write header for quaternion @@ -138,7 +138,7 @@ std::string WriteMatrix(const std::string name, const std::string frame, const s return str_tmp.str(); } -std::string WriteQuaternion(const libra::Quaternion quaternion, const int precision) { +std::string WriteQuaternion(const math::Quaternion quaternion, const int precision) { std::stringstream str_tmp; for (size_t i = 0; i < 4; i++) { diff --git a/src/math_physics/geodesy/geodetic_position.hpp b/src/math_physics/geodesy/geodetic_position.hpp index 4b5f82cc3..12628aa92 100644 --- a/src/math_physics/geodesy/geodetic_position.hpp +++ b/src/math_physics/geodesy/geodetic_position.hpp @@ -62,14 +62,14 @@ class GeodeticPosition { * @fn GetQuaternionXcxfToLtc * @brief Conversion quaternion from XCXF (e.g. ECEF) to LTC frame */ - inline libra::Quaternion GetQuaternionXcxfToLtc() const { return quaternion_xcxf_to_ltc_; } + inline math::Quaternion GetQuaternionXcxfToLtc() const { return quaternion_xcxf_to_ltc_; } private: double latitude_rad_; //!< Latitude [rad] South: -π/2 to 0, North: 0 to π/2 double longitude_rad_; //!< Longitude [rad] East: 0 to π, West: 2π to π (i.e., defined as 0 to 2π [rad] east of the Greenwich meridian) double altitude_m_; //!< Altitude [m] - libra::Quaternion quaternion_xcxf_to_ltc_; //!< Conversion quaternion from XCXF (e.g. ECEF) to LTC (Local Topographic Coordinate) + math::Quaternion quaternion_xcxf_to_ltc_; //!< Conversion quaternion from XCXF (e.g. ECEF) to LTC (Local Topographic Coordinate) /** * @fn CalcQuaternionXcxfToLtc diff --git a/src/math_physics/math/test_quaternion.cpp b/src/math_physics/math/test_quaternion.cpp index 13bab0737..593b7a855 100644 --- a/src/math_physics/math/test_quaternion.cpp +++ b/src/math_physics/math/test_quaternion.cpp @@ -11,7 +11,7 @@ * @brief Test for constructor from four numbers */ TEST(Quaternion, ConstructorFourNumber) { - libra::Quaternion q(0.5, 0.5, 0.5, 0.5); + math::Quaternion q(0.5, 0.5, 0.5, 0.5); EXPECT_DOUBLE_EQ(0.5, q[0]); EXPECT_DOUBLE_EQ(0.5, q[1]); @@ -24,7 +24,7 @@ TEST(Quaternion, ConstructorFourNumber) { */ TEST(Quaternion, ConstructorVector) { math::Vector<4> v(0.5); - libra::Quaternion q(v); + math::Quaternion q(v); EXPECT_DOUBLE_EQ(0.5, q[0]); EXPECT_DOUBLE_EQ(0.5, q[1]); @@ -41,7 +41,7 @@ TEST(Quaternion, ConstructorAxisAndAngleX) { axis[1] = 0.0; axis[2] = 0.0; double theta_rad = 90 * libra::deg_to_rad; - libra::Quaternion q(axis, theta_rad); + math::Quaternion q(axis, theta_rad); EXPECT_NEAR(axis[0] * sin(theta_rad / 2.0), q[0], 1e-5); EXPECT_NEAR(axis[1] * sin(theta_rad / 2.0), q[1], 1e-5); @@ -58,7 +58,7 @@ TEST(Quaternion, ConstructorAxisAndAngleY) { axis[1] = 1.0; axis[2] = 0.0; double theta_rad = 45 * libra::deg_to_rad; - libra::Quaternion q(axis, theta_rad); + math::Quaternion q(axis, theta_rad); EXPECT_NEAR(axis[0] * sin(theta_rad / 2.0), q[0], 1e-5); EXPECT_NEAR(axis[1] * sin(theta_rad / 2.0), q[1], 1e-5); @@ -75,7 +75,7 @@ TEST(Quaternion, ConstructorAxisAndAngleZ) { axis[1] = 0.0; axis[2] = 1.0; double theta_rad = -60 * libra::deg_to_rad; - libra::Quaternion q(axis, theta_rad); + math::Quaternion q(axis, theta_rad); EXPECT_NEAR(axis[0] * sin(theta_rad / 2.0), q[0], 1e-5); EXPECT_NEAR(axis[1] * sin(theta_rad / 2.0), q[1], 1e-5); @@ -92,7 +92,7 @@ TEST(Quaternion, ConstructorAxisAndAngleAll) { axis[1] = 1.0; axis[2] = 1.0; double theta_rad = 180 * libra::deg_to_rad; - libra::Quaternion q(axis, theta_rad); + math::Quaternion q(axis, theta_rad); EXPECT_NEAR(axis[0] * sin(theta_rad / 2.0), q[0], 1e-5); EXPECT_NEAR(axis[1] * sin(theta_rad / 2.0), q[1], 1e-5); @@ -113,7 +113,7 @@ TEST(Quaternion, ConstructorTwoVectorsNoRotation) { after[1] = 0.0; after[2] = 1.0; - libra::Quaternion q(before, after); + math::Quaternion q(before, after); EXPECT_NEAR(0.0, q[0], 1e-5); EXPECT_NEAR(0.0, q[1], 1e-5); @@ -134,7 +134,7 @@ TEST(Quaternion, ConstructorTwoVectorsX) { after[1] = 1.0; after[2] = 0.0; - libra::Quaternion q(before, after); + math::Quaternion q(before, after); double theta_rad = -90 * libra::deg_to_rad; EXPECT_NEAR(sin(theta_rad / 2.0), q[0], 1e-5); @@ -156,7 +156,7 @@ TEST(Quaternion, ConstructorTwoVectorsY) { after[1] = 0.0; after[2] = 0.0; - libra::Quaternion q(before, after); + math::Quaternion q(before, after); double theta_rad = 90 * libra::deg_to_rad; EXPECT_NEAR(0.0, q[0], 1e-5); @@ -178,7 +178,7 @@ TEST(Quaternion, ConstructorTwoVectorsZ) { after[1] = 1.0; after[2] = 0.0; - libra::Quaternion q(before, after); + math::Quaternion q(before, after); double theta_rad = 90 * libra::deg_to_rad; EXPECT_NEAR(0.0, q[0], 1e-5); @@ -192,7 +192,7 @@ TEST(Quaternion, ConstructorTwoVectorsZ) { * @note TODO: Fix to nondestructive function */ TEST(Quaternion, Normalize) { - libra::Quaternion q(1.0, 1.0, 1.0, 1.0); + math::Quaternion q(1.0, 1.0, 1.0, 1.0); EXPECT_DOUBLE_EQ(1.0, q[0]); EXPECT_DOUBLE_EQ(1.0, q[1]); EXPECT_DOUBLE_EQ(1.0, q[2]); @@ -209,9 +209,9 @@ TEST(Quaternion, Normalize) { * @brief Test for Conjugate */ TEST(Quaternion, Conjugate) { - libra::Quaternion q(0.5, 0.5, 0.5, 0.5); + math::Quaternion q(0.5, 0.5, 0.5, 0.5); - libra::Quaternion q_conjugate = q.Conjugate(); + math::Quaternion q_conjugate = q.Conjugate(); // Check nondestructive function EXPECT_DOUBLE_EQ(0.5, q[0]); @@ -229,7 +229,7 @@ TEST(Quaternion, Conjugate) { * @brief Test for ConvertToDcm Y rotation */ TEST(Quaternion, ConvertToDcmY) { - libra::Quaternion q(0.0, 1.0, 0.0, 1.0); + math::Quaternion q(0.0, 1.0, 0.0, 1.0); q.Normalize(); math::Matrix<3, 3> dcm = q.ConvertToDcm(); @@ -253,7 +253,7 @@ TEST(Quaternion, ConvertToDcmY) { EXPECT_NEAR(0.0, dcm[2][2], accuracy); // Inverse Conversion - libra::Quaternion q_from_dcm = libra::Quaternion::ConvertFromDcm(dcm); + math::Quaternion q_from_dcm = math::Quaternion::ConvertFromDcm(dcm); for (size_t i = 0; i < 4; i++) { EXPECT_NEAR(q[i], q_from_dcm[i], accuracy); } @@ -263,7 +263,7 @@ TEST(Quaternion, ConvertToDcmY) { * @brief Test for ConvertToDcm */ TEST(Quaternion, ConvertToDcm) { - libra::Quaternion q(0.5, 0.3, 0.1, 1.0); + math::Quaternion q(0.5, 0.3, 0.1, 1.0); q.Normalize(); math::Matrix<3, 3> dcm = q.ConvertToDcm(); @@ -281,7 +281,7 @@ TEST(Quaternion, ConvertToDcm) { EXPECT_NEAR(0.4962963, dcm[2][2], accuracy); // Inverse Conversion - libra::Quaternion q_from_dcm = libra::Quaternion::ConvertFromDcm(dcm); + math::Quaternion q_from_dcm = math::Quaternion::ConvertFromDcm(dcm); for (size_t i = 0; i < 4; i++) { EXPECT_NEAR(q[i], q_from_dcm[i], accuracy); } @@ -291,7 +291,7 @@ TEST(Quaternion, ConvertToDcm) { * @brief Test for ConvertToEuler X rotation */ TEST(Quaternion, ConvertToEulerX) { - libra::Quaternion q(1.0, 0.0, 0.0, 1.0); + math::Quaternion q(1.0, 0.0, 0.0, 1.0); q.Normalize(); math::Vector<3> euler = q.ConvertToEuler(); @@ -309,7 +309,7 @@ TEST(Quaternion, ConvertToEulerX) { EXPECT_NEAR(0.0, euler[2], accuracy); // Inverse Conversion - libra::Quaternion q_from_euler = libra::Quaternion::ConvertFromEuler(euler); + math::Quaternion q_from_euler = math::Quaternion::ConvertFromEuler(euler); for (size_t i = 0; i < 4; i++) { EXPECT_NEAR(q[i], q_from_euler[i], accuracy); } @@ -319,7 +319,7 @@ TEST(Quaternion, ConvertToEulerX) { * @brief Test for ConvertToEuler */ TEST(Quaternion, ConvertToEuler) { - libra::Quaternion q(0.5, 0.3, 0.1, 1.0); + math::Quaternion q(0.5, 0.3, 0.1, 1.0); q.Normalize(); math::Vector<3> euler = q.ConvertToEuler(); @@ -331,7 +331,7 @@ TEST(Quaternion, ConvertToEuler) { EXPECT_NEAR(0.41012734, euler[2], accuracy); // Inverse Conversion - libra::Quaternion q_from_euler = libra::Quaternion::ConvertFromEuler(euler); + math::Quaternion q_from_euler = math::Quaternion::ConvertFromEuler(euler); for (size_t i = 0; i < 4; i++) { EXPECT_NEAR(q[i], q_from_euler[i], accuracy); } @@ -341,7 +341,7 @@ TEST(Quaternion, ConvertToEuler) { * @brief Test for FrameConversion Z rotation */ TEST(Quaternion, FrameConversionZ) { - libra::Quaternion q(0.0, 0.0, 1.0, 1.0); + math::Quaternion q(0.0, 0.0, 1.0, 1.0); q.Normalize(); math::Vector<3> v; @@ -367,7 +367,7 @@ TEST(Quaternion, FrameConversionZ) { * @brief Test for FrameConversion */ TEST(Quaternion, FrameConversion) { - libra::Quaternion q(0.5, 0.3, 0.1, 1.0); + math::Quaternion q(0.5, 0.3, 0.1, 1.0); q.Normalize(); math::Vector<3> v; v[0] = 1.0; @@ -387,7 +387,7 @@ TEST(Quaternion, FrameConversion) { * @brief Test for ConvertToVector */ TEST(Quaternion, ConvertToVector) { - libra::Quaternion q(0.5, 0.3, 0.1, 1.0); + math::Quaternion q(0.5, 0.3, 0.1, 1.0); math::Vector<4> v = q.ConvertToVector(); @@ -400,10 +400,10 @@ TEST(Quaternion, ConvertToVector) { * @brief Test for operator+ */ TEST(Quaternion, OperatorPlus) { - libra::Quaternion q1(0.5, 0.3, 0.1, 1.0); - libra::Quaternion q2(-0.3, 0.1, -1.0, 0.4); + math::Quaternion q1(0.5, 0.3, 0.1, 1.0); + math::Quaternion q2(-0.3, 0.1, -1.0, 0.4); - libra::Quaternion result = q1 + q2; + math::Quaternion result = q1 + q2; EXPECT_DOUBLE_EQ(0.2, result[0]); EXPECT_DOUBLE_EQ(0.4, result[1]); @@ -415,10 +415,10 @@ TEST(Quaternion, OperatorPlus) { * @brief Test for operator- */ TEST(Quaternion, OperatorMinus) { - libra::Quaternion q1(0.5, 0.3, 0.1, 1.0); - libra::Quaternion q2(-0.3, 0.1, -1.0, 0.4); + math::Quaternion q1(0.5, 0.3, 0.1, 1.0); + math::Quaternion q2(-0.3, 0.1, -1.0, 0.4); - libra::Quaternion result = q1 - q2; + math::Quaternion result = q1 - q2; EXPECT_DOUBLE_EQ(0.8, result[0]); EXPECT_DOUBLE_EQ(0.2, result[1]); @@ -430,10 +430,10 @@ TEST(Quaternion, OperatorMinus) { * @brief Test for operator* quaternion */ TEST(Quaternion, OperatorQuaternionMultiply) { - libra::Quaternion q1(0.289271, -0.576012, -0.420972, 0.638212); - libra::Quaternion q2(-0.0821846, 0.501761, 0.721995, -0.469259); + math::Quaternion q1(0.289271, -0.576012, -0.420972, 0.638212); + math::Quaternion q2(-0.0821846, 0.501761, 0.721995, -0.469259); - libra::Quaternion result = q1 * q2; + math::Quaternion result = q1 * q2; const double accuracy = 1.0e-7; EXPECT_NEAR(-0.3928446703722, result[0], accuracy); @@ -446,10 +446,10 @@ TEST(Quaternion, OperatorQuaternionMultiply) { * @brief Test for operator* scalar */ TEST(Quaternion, OperatorScalarMultiply) { - libra::Quaternion q(0.289271, -0.576012, -0.420972, 0.638212); + math::Quaternion q(0.289271, -0.576012, -0.420972, 0.638212); double scalar = 2.3; - libra::Quaternion result = scalar * q; + math::Quaternion result = scalar * q; const double accuracy = 1.0e-7; EXPECT_NEAR(q[0] * 2.3, result[0], accuracy); diff --git a/src/setting_file_reader/initialize_file_access.cpp b/src/setting_file_reader/initialize_file_access.cpp index b05e31e98..a9261c2dc 100644 --- a/src/setting_file_reader/initialize_file_access.cpp +++ b/src/setting_file_reader/initialize_file_access.cpp @@ -118,8 +118,8 @@ std::vector IniAccess::ReadVectorDouble(const char* section_name, const return data; } -void IniAccess::ReadQuaternion(const char* section_name, const char* key_name, libra::Quaternion& data) { - libra::Quaternion temp; +void IniAccess::ReadQuaternion(const char* section_name, const char* key_name, math::Quaternion& data) { + math::Quaternion temp; double norm = 0.0; for (int i = 0; i < 4; i++) { // Read Quaternion as new format diff --git a/src/setting_file_reader/initialize_file_access.hpp b/src/setting_file_reader/initialize_file_access.hpp index 997a22c9f..df49969ce 100644 --- a/src/setting_file_reader/initialize_file_access.hpp +++ b/src/setting_file_reader/initialize_file_access.hpp @@ -126,7 +126,7 @@ class IniAccess { * @param[in] key_name: Key name * @param[out] data: Read quaternion data */ - void ReadQuaternion(const char* section_name, const char* key_name, libra::Quaternion& data); + void ReadQuaternion(const char* section_name, const char* key_name, math::Quaternion& data); /** * @fn ReadChar * @brief Read characters data diff --git a/src/simulation/ground_station/ground_station.cpp b/src/simulation/ground_station/ground_station.cpp index a90fd5d4d..132e39a14 100644 --- a/src/simulation/ground_station/ground_station.cpp +++ b/src/simulation/ground_station/ground_station.cpp @@ -53,7 +53,7 @@ void GroundStation::Update(const EarthRotation& celestial_rotation, const Spacec } bool GroundStation::CalcIsVisible(const math::Vector<3> spacecraft_position_ecef_m) { - libra::Quaternion q_ecef_to_ltc = geodetic_position_.GetQuaternionXcxfToLtc(); + math::Quaternion q_ecef_to_ltc = geodetic_position_.GetQuaternionXcxfToLtc(); math::Vector<3> sc_pos_ltc = q_ecef_to_ltc.FrameConversion(spacecraft_position_ecef_m - position_ecef_m_); // Satellite position in LTC frame [m] sc_pos_ltc = sc_pos_ltc.CalcNormalizedVector(); diff --git a/src/simulation/monte_carlo_simulation/initialize_monte_carlo_parameters.cpp b/src/simulation/monte_carlo_simulation/initialize_monte_carlo_parameters.cpp index b6dd39c03..83e3fa3b5 100644 --- a/src/simulation/monte_carlo_simulation/initialize_monte_carlo_parameters.cpp +++ b/src/simulation/monte_carlo_simulation/initialize_monte_carlo_parameters.cpp @@ -46,7 +46,7 @@ void InitializedMonteCarloParameters::GetRandomizedScalar(double& destination) c } } -void InitializedMonteCarloParameters::GetRandomizedQuaternion(libra::Quaternion& destination) const { +void InitializedMonteCarloParameters::GetRandomizedQuaternion(math::Quaternion& destination) const { if (randomization_type_ == kNoRandomization) { ; } else if (4 > randomized_value_.size()) { @@ -208,12 +208,12 @@ void InitializedMonteCarloParameters::CalcSphericalNormalNormal(math::Vector<3>& math::Vector<3> normal_unit_vec = op_x.CalcNorm() > op_y.CalcNorm() ? op_x = op_x.CalcNormalizedVector() : op_y = op_y.CalcNormalizedVector(); double rotation_angle_of_normal_unit_vec = InitializedMonteCarloParameters::Generate1dUniform(0.0, libra::tau); - libra::Quaternion rotation_of_normal_unit_vec(mean_vec_dir, + math::Quaternion rotation_of_normal_unit_vec(mean_vec_dir, -rotation_angle_of_normal_unit_vec); // Use opposite sign to rotate the vector (not the frame) math::Vector<3> rotation_axis = rotation_of_normal_unit_vec.FrameConversion(normal_unit_vec); // Axis of mean vector rotation double rotation_angle_of_mean_vec = InitializedMonteCarloParameters::Generate1dNormal(0.0, sigma_or_max_[1]); - libra::Quaternion rotation_of_mean_vec(rotation_axis, -rotation_angle_of_mean_vec); // Use opposite sign to rotate the vector (not the frame) + math::Quaternion rotation_of_mean_vec(rotation_axis, -rotation_angle_of_mean_vec); // Use opposite sign to rotate the vector (not the frame) math::Vector<3> ret_vec = rotation_of_mean_vec.FrameConversion(mean_vec_dir); // Complete calculation of the direction ret_vec = InitializedMonteCarloParameters::Generate1dNormal(mean_vec.CalcNorm(), sigma_or_max_[0]) * ret_vec; // multiply norm @@ -240,13 +240,13 @@ void InitializedMonteCarloParameters::GenerateSphericalNormalNormal() { } } -void InitializedMonteCarloParameters::CalcQuaternionUniform(libra::Quaternion& destination) { - // Perfectly Randomized libra::Quaternion +void InitializedMonteCarloParameters::CalcQuaternionUniform(math::Quaternion& destination) { + // Perfectly Randomized math::Quaternion math::Vector<3> x_axis(0.0); x_axis[0] = 1.0; // A direction vector converted from the X-axis by a quaternion may follows the uniform distribution in full sphere. - libra::Quaternion first_cnv; + math::Quaternion first_cnv; math::Vector<3> x_axis_cnvd; double theta = acos(1 - (1 - (-1)) * InitializedMonteCarloParameters::Generate1dUniform(0.0, 1.0)); double phi = InitializedMonteCarloParameters::Generate1dUniform(0, libra::tau); @@ -263,9 +263,9 @@ void InitializedMonteCarloParameters::CalcQuaternionUniform(libra::Quaternion& d // Generate randomized rotation angle around the X-axis double rotation_angle = InitializedMonteCarloParameters::Generate1dUniform(0.0, libra::tau); - libra::Quaternion second_cnv(x_axis, rotation_angle); + math::Quaternion second_cnv(x_axis, rotation_angle); - libra::Quaternion ret_q = first_cnv * second_cnv; + math::Quaternion ret_q = first_cnv * second_cnv; for (int i = 0; i < 4; i++) { destination[i] = ret_q[i]; @@ -274,7 +274,7 @@ void InitializedMonteCarloParameters::CalcQuaternionUniform(libra::Quaternion& d void InitializedMonteCarloParameters::GenerateQuaternionUniform() { const static int dim = 4; - libra::Quaternion temp_q; + math::Quaternion temp_q; CalcQuaternionUniform(temp_q); randomized_value_.clear(); @@ -283,7 +283,7 @@ void InitializedMonteCarloParameters::GenerateQuaternionUniform() { } } -void InitializedMonteCarloParameters::CalcQuaternionNormal(libra::Quaternion& destination, double theta_sigma) { +void InitializedMonteCarloParameters::CalcQuaternionNormal(math::Quaternion& destination, double theta_sigma) { // Angle from the default quaternion θ follows normal distribution // The rotation axis follows uniform distribution on full sphere math::Vector<3> rot_axis; @@ -295,7 +295,7 @@ void InitializedMonteCarloParameters::CalcQuaternionNormal(libra::Quaternion& de double rotation_angle = InitializedMonteCarloParameters::Generate1dNormal(0.0, theta_sigma); - libra::Quaternion ret_q(rot_axis, rotation_angle); + math::Quaternion ret_q(rot_axis, rotation_angle); for (int i = 0; i < 4; i++) { destination[i] = ret_q[i]; } @@ -307,7 +307,7 @@ void InitializedMonteCarloParameters::GenerateQuaternionNormal() { if (sigma_or_max_.size() < 1) { throw "Config parameters dimension unmatched."; } - libra::Quaternion temp_q; + math::Quaternion temp_q; CalcQuaternionNormal(temp_q, sigma_or_max_[0]); randomized_value_.clear(); diff --git a/src/simulation/monte_carlo_simulation/initialize_monte_carlo_parameters.hpp b/src/simulation/monte_carlo_simulation/initialize_monte_carlo_parameters.hpp index 0ea121585..534650c04 100644 --- a/src/simulation/monte_carlo_simulation/initialize_monte_carlo_parameters.hpp +++ b/src/simulation/monte_carlo_simulation/initialize_monte_carlo_parameters.hpp @@ -31,7 +31,7 @@ class InitializedMonteCarloParameters { kCircularNormalNormal, //!< r and θ follow normal distribution in Circular frame kSphericalNormalUniformUniform, //!< r follows normal distribution, and θ and φ follow uniform distribution in Spherical frame kSphericalNormalNormal, //!< r and θ follow normal distribution, and mean vector angle φ follows uniform distribution [0,2*pi] - kQuaternionUniform, //!< Perfectly Randomized libra::Quaternion + kQuaternionUniform, //!< Perfectly Randomized math::Quaternion kQuaternionNormal, //!< Angle from the default quaternion θ follows normal distribution }; @@ -66,7 +66,7 @@ class InitializedMonteCarloParameters { * @fn GetRandomizedQuaternion * @brief Get randomized quaternion results */ - void GetRandomizedQuaternion(libra::Quaternion& destination) const; + void GetRandomizedQuaternion(math::Quaternion& destination) const; /** * @fn GetRandomizedScalar * @brief Get randomized value results @@ -196,12 +196,12 @@ class InitializedMonteCarloParameters { * @fn CalcQuaternionUniform * @brief Calculate randomized value with QuaternionUniform mode */ - void CalcQuaternionUniform(libra::Quaternion& destination); + void CalcQuaternionUniform(math::Quaternion& destination); /** * @fn CalcQuaternionNormal * @brief Calculate randomized value with QuaternionNormal mode */ - void CalcQuaternionNormal(libra::Quaternion& destination, double theta_sigma); + void CalcQuaternionNormal(math::Quaternion& destination, double theta_sigma); }; template diff --git a/src/simulation/monte_carlo_simulation/monte_carlo_simulation_executor.cpp b/src/simulation/monte_carlo_simulation/monte_carlo_simulation_executor.cpp index bb736a203..dead43808 100644 --- a/src/simulation/monte_carlo_simulation/monte_carlo_simulation_executor.cpp +++ b/src/simulation/monte_carlo_simulation/monte_carlo_simulation_executor.cpp @@ -47,7 +47,7 @@ void MonteCarloSimulationExecutor::GetInitializedMonteCarloParameterDouble(strin } void MonteCarloSimulationExecutor::GetInitializedMonteCarloParameterQuaternion(string so_name, string init_monte_carlo_parameter_name, - libra::Quaternion& destination) const { + math::Quaternion& destination) const { if (!enabled_) return; { string name = so_name + MonteCarloSimulationExecutor::separator_ + init_monte_carlo_parameter_name; diff --git a/src/simulation/monte_carlo_simulation/monte_carlo_simulation_executor.hpp b/src/simulation/monte_carlo_simulation/monte_carlo_simulation_executor.hpp index 0cf862dda..ad1fe87cc 100644 --- a/src/simulation/monte_carlo_simulation/monte_carlo_simulation_executor.hpp +++ b/src/simulation/monte_carlo_simulation/monte_carlo_simulation_executor.hpp @@ -97,7 +97,7 @@ class MonteCarloSimulationExecutor { * @brief Get randomized quaternion and store it in dest_quat */ void GetInitializedMonteCarloParameterQuaternion(std::string so_name, std::string init_monte_carlo_parameter_name, - libra::Quaternion& destination) const; + math::Quaternion& destination) const; // Calculation /** diff --git a/src/simulation/monte_carlo_simulation/simulation_object.cpp b/src/simulation/monte_carlo_simulation/simulation_object.cpp index eb0273eaa..c015a9dad 100644 --- a/src/simulation/monte_carlo_simulation/simulation_object.cpp +++ b/src/simulation/monte_carlo_simulation/simulation_object.cpp @@ -39,6 +39,6 @@ void SimulationObject::GetInitializedMonteCarloParameterDouble(const MonteCarloS void SimulationObject::GetInitializedMonteCarloParameterQuaternion(const MonteCarloSimulationExecutor& monte_carlo_simulator, std::string init_monte_carlo_parameter_name, - libra::Quaternion& destination) const { + math::Quaternion& destination) const { monte_carlo_simulator.GetInitializedMonteCarloParameterQuaternion(name_, init_monte_carlo_parameter_name, destination); } diff --git a/src/simulation/monte_carlo_simulation/simulation_object.hpp b/src/simulation/monte_carlo_simulation/simulation_object.hpp index d0fe92f49..33708e59d 100644 --- a/src/simulation/monte_carlo_simulation/simulation_object.hpp +++ b/src/simulation/monte_carlo_simulation/simulation_object.hpp @@ -54,7 +54,7 @@ class SimulationObject { * @brief Get randomized quaternion and store it in destination */ void GetInitializedMonteCarloParameterQuaternion(const MonteCarloSimulationExecutor& monte_carlo_simulator, - std::string init_monte_carlo_parameter_name, libra::Quaternion& destination) const; + std::string init_monte_carlo_parameter_name, math::Quaternion& destination) const; /** * @fn SetParameters diff --git a/src/simulation/multiple_spacecraft/relative_information.cpp b/src/simulation/multiple_spacecraft/relative_information.cpp index 93b6e9e63..f81227cb7 100644 --- a/src/simulation/multiple_spacecraft/relative_information.cpp +++ b/src/simulation/multiple_spacecraft/relative_information.cpp @@ -111,13 +111,13 @@ std::string RelativeInformation::GetLogValue() const { void RelativeInformation::LogSetup(Logger& logger) { logger.AddLogList(this); } -libra::Quaternion RelativeInformation::CalcRelativeAttitudeQuaternion(const size_t target_spacecraft_id, const size_t reference_spacecraft_id) { +math::Quaternion RelativeInformation::CalcRelativeAttitudeQuaternion(const size_t target_spacecraft_id, const size_t reference_spacecraft_id) { // Observer SC Body frame(obs_sat) -> ECI frame(i) - libra::Quaternion q_reference_i2b = dynamics_database_.at(reference_spacecraft_id)->GetAttitude().GetQuaternion_i2b(); - libra::Quaternion q_reference_b2i = q_reference_i2b.Conjugate(); + math::Quaternion q_reference_i2b = dynamics_database_.at(reference_spacecraft_id)->GetAttitude().GetQuaternion_i2b(); + math::Quaternion q_reference_b2i = q_reference_i2b.Conjugate(); // ECI frame(i) -> Target SC body frame(main_sat) - libra::Quaternion q_target_i2b = dynamics_database_.at(target_spacecraft_id)->GetAttitude().GetQuaternion_i2b(); + math::Quaternion q_target_i2b = dynamics_database_.at(target_spacecraft_id)->GetAttitude().GetQuaternion_i2b(); return q_target_i2b * q_reference_b2i; } @@ -128,7 +128,7 @@ math::Vector<3> RelativeInformation::CalcRelativePosition_rtn_m(const size_t tar math::Vector<3> relative_pos_i = target_sat_pos_i - reference_sat_pos_i; // RTN frame for the reference satellite - libra::Quaternion q_i2rtn = dynamics_database_.at(reference_spacecraft_id)->GetOrbit().CalcQuaternion_i2lvlh(); + math::Quaternion q_i2rtn = dynamics_database_.at(reference_spacecraft_id)->GetOrbit().CalcQuaternion_i2lvlh(); math::Vector<3> relative_pos_rtn = q_i2rtn.FrameConversion(relative_pos_i); return relative_pos_rtn; @@ -140,7 +140,7 @@ math::Vector<3> RelativeInformation::CalcRelativeVelocity_rtn_m_s(const size_t t math::Vector<3> relative_pos_i = target_sat_pos_i - reference_sat_pos_i; // RTN frame for the reference satellite - libra::Quaternion q_i2rtn = dynamics_database_.at(reference_spacecraft_id)->GetOrbit().CalcQuaternion_i2lvlh(); + math::Quaternion q_i2rtn = dynamics_database_.at(reference_spacecraft_id)->GetOrbit().CalcQuaternion_i2lvlh(); // Rotation vector of RTN frame math::Vector<3> reference_sat_vel_i = dynamics_database_.at(reference_spacecraft_id)->GetOrbit().GetVelocity_i_m_s(); @@ -161,5 +161,5 @@ void RelativeInformation::ResizeLists() { relative_distance_list_m_.assign(size, std::vector(size, 0.0)); relative_position_list_rtn_m_.assign(size, std::vector>(size, math::Vector<3>(0))); relative_velocity_list_rtn_m_s_.assign(size, std::vector>(size, math::Vector<3>(0))); - relative_attitude_quaternion_list_.assign(size, std::vector(size, libra::Quaternion(0, 0, 0, 1))); + relative_attitude_quaternion_list_.assign(size, std::vector(size, math::Quaternion(0, 0, 0, 1))); } diff --git a/src/simulation/multiple_spacecraft/relative_information.hpp b/src/simulation/multiple_spacecraft/relative_information.hpp index abe2e1b45..0631cdc87 100644 --- a/src/simulation/multiple_spacecraft/relative_information.hpp +++ b/src/simulation/multiple_spacecraft/relative_information.hpp @@ -73,7 +73,7 @@ class RelativeInformation : public ILoggable { * @param [in] target_spacecraft_id: ID of target spacecraft * @param [in] reference_spacecraft_id: ID of reference spacecraft */ - inline libra::Quaternion GetRelativeAttitudeQuaternion(const size_t target_spacecraft_id, const size_t reference_spacecraft_id) const { + inline math::Quaternion GetRelativeAttitudeQuaternion(const size_t target_spacecraft_id, const size_t reference_spacecraft_id) const { return relative_attitude_quaternion_list_[target_spacecraft_id][reference_spacecraft_id]; } /** @@ -139,7 +139,7 @@ class RelativeInformation : public ILoggable { std::vector>> relative_position_list_rtn_m_; //!< Relative position list in the RTN frame in unit [m] std::vector>> relative_velocity_list_rtn_m_s_; //!< Relative velocity list in the RTN frame in unit [m/s] std::vector> relative_distance_list_m_; //!< Relative distance list in unit [m] - std::vector> relative_attitude_quaternion_list_; //!< Relative attitude quaternion list + std::vector> relative_attitude_quaternion_list_; //!< Relative attitude quaternion list /** * @fn CalcRelativeAttitudeQuaternion @@ -147,7 +147,7 @@ class RelativeInformation : public ILoggable { * @param [in] target_spacecraft_id: ID of the spacecraft * @param [in] reference_spacecraft_id: ID of reference spacecraft */ - libra::Quaternion CalcRelativeAttitudeQuaternion(const size_t target_spacecraft_id, const size_t reference_spacecraft_id); + math::Quaternion CalcRelativeAttitudeQuaternion(const size_t target_spacecraft_id, const size_t reference_spacecraft_id); /** * @fn CalcRelativePosition_rtn_m * @brief Calculate and return the relative position in RTN frame From e8d54e6b40f8055eb2cfb50b738e3c09d80e8058 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 20 Jul 2024 09:37:32 +0900 Subject: [PATCH 223/456] Replace libra::pi to math::pi --- src/components/real/aocs/star_sensor.cpp | 16 ++++++++-------- src/components/real/aocs/sun_sensor.cpp | 16 ++++++++-------- .../communication/antenna_radiation_pattern.hpp | 4 ++-- .../communication/ground_station_calculator.cpp | 2 +- src/components/real/mission/telescope.cpp | 8 ++++---- .../real/propulsion/simple_thruster.cpp | 8 ++++---- src/disturbances/air_drag.cpp | 8 ++++---- .../solar_radiation_pressure_environment.cpp | 2 +- src/math_physics/math/test_interpolation.cpp | 6 +++--- src/math_physics/optics/gaussian_beam_base.cpp | 4 ++-- 10 files changed, 37 insertions(+), 37 deletions(-) diff --git a/src/components/real/aocs/star_sensor.cpp b/src/components/real/aocs/star_sensor.cpp index 90994c763..45ada20a0 100644 --- a/src/components/real/aocs/star_sensor.cpp +++ b/src/components/real/aocs/star_sensor.cpp @@ -232,13 +232,13 @@ StarSensor InitStarSensor(ClockGenerator* clock_generator, int sensor_id, const double output_interval_sec = STT_conf.ReadDouble(STTSection, "output_interval_s"); int output_interval = max(int(output_interval_sec / step_time_s), 1); double sun_forbidden_angle_deg = STT_conf.ReadDouble(STTSection, "sun_exclusion_angle_deg"); - double sun_forbidden_angle_rad = sun_forbidden_angle_deg * libra::pi / 180.0; + double sun_forbidden_angle_rad = sun_forbidden_angle_deg * math::pi / 180.0; double earth_forbidden_angle_deg = STT_conf.ReadDouble(STTSection, "earth_exclusion_angle_deg"); - double earth_forbidden_angle_rad = earth_forbidden_angle_deg * libra::pi / 180.0; + double earth_forbidden_angle_rad = earth_forbidden_angle_deg * math::pi / 180.0; double moon_forbidden_angle_deg = STT_conf.ReadDouble(STTSection, "moon_exclusion_angle_deg"); - double moon_forbidden_angle_rad = moon_forbidden_angle_deg * libra::pi / 180.0; + double moon_forbidden_angle_rad = moon_forbidden_angle_deg * math::pi / 180.0; double capture_rate_deg_s = STT_conf.ReadDouble(STTSection, "angular_rate_limit_deg_s"); - double capture_rate_rad_s = capture_rate_deg_s * libra::pi / 180.0; + double capture_rate_rad_s = capture_rate_deg_s * math::pi / 180.0; StarSensor stt(prescaler, clock_generator, sensor_id, quaternion_b2c, standard_deviation_orthogonal_direction, standard_deviation_sight_direction, step_time_s, output_delay, output_interval, sun_forbidden_angle_rad, earth_forbidden_angle_rad, moon_forbidden_angle_rad, @@ -266,13 +266,13 @@ StarSensor InitStarSensor(ClockGenerator* clock_generator, PowerPort* power_port double output_interval_sec = STT_conf.ReadDouble(STTSection, "output_interval_s"); int output_interval = max(int(output_interval_sec / step_time_s), 1); double sun_forbidden_angle_deg = STT_conf.ReadDouble(STTSection, "sun_exclusion_angle_deg"); - double sun_forbidden_angle_rad = sun_forbidden_angle_deg * libra::pi / 180.0; + double sun_forbidden_angle_rad = sun_forbidden_angle_deg * math::pi / 180.0; double earth_forbidden_angle_deg = STT_conf.ReadDouble(STTSection, "earth_exclusion_angle_deg"); - double earth_forbidden_angle_rad = earth_forbidden_angle_deg * libra::pi / 180.0; + double earth_forbidden_angle_rad = earth_forbidden_angle_deg * math::pi / 180.0; double moon_forbidden_angle_deg = STT_conf.ReadDouble(STTSection, "moon_exclusion_angle_deg"); - double moon_forbidden_angle_rad = moon_forbidden_angle_deg * libra::pi / 180.0; + double moon_forbidden_angle_rad = moon_forbidden_angle_deg * math::pi / 180.0; double capture_rate_deg_s = STT_conf.ReadDouble(STTSection, "angular_rate_limit_deg_s"); - double capture_rate_rad_s = capture_rate_deg_s * libra::pi / 180.0; + double capture_rate_rad_s = capture_rate_deg_s * math::pi / 180.0; power_port->InitializeWithInitializeFile(file_name); diff --git a/src/components/real/aocs/sun_sensor.cpp b/src/components/real/aocs/sun_sensor.cpp index df9eec87e..2f3eeb29b 100644 --- a/src/components/real/aocs/sun_sensor.cpp +++ b/src/components/real/aocs/sun_sensor.cpp @@ -126,8 +126,8 @@ void SunSensor::CalcSolarIlluminance() { } double SunSensor::TanRange(double x) { - if (x > libra::pi_2) x = libra::pi - x; - if (x < -libra::pi_2) x = -libra::pi - x; + if (x > libra::pi_2) x = math::pi - x; + if (x < -libra::pi_2) x = -math::pi - x; return x; } @@ -166,15 +166,15 @@ SunSensor InitSunSensor(ClockGenerator* clock_generator, int ss_id, std::string double detectable_angle_deg = 0.0, detectable_angle_rad = 0.0; detectable_angle_deg = ss_conf.ReadDouble(Section, "field_of_view_deg"); - detectable_angle_rad = libra::pi / 180.0 * detectable_angle_deg; + detectable_angle_rad = math::pi / 180.0 * detectable_angle_deg; double nr_stddev = 0.0; nr_stddev = ss_conf.ReadDouble(Section, "white_noise_standard_deviation_deg"); - nr_stddev *= libra::pi / 180.0; + nr_stddev *= math::pi / 180.0; double nr_bias_stddev = 0.0; nr_bias_stddev = ss_conf.ReadDouble(Section, "bias_standard_deviation_deg"); - nr_bias_stddev *= libra::pi / 180.0; + nr_bias_stddev *= math::pi / 180.0; double intensity_lower_threshold_percent; intensity_lower_threshold_percent = ss_conf.ReadDouble(Section, "intensity_lower_threshold_percent"); @@ -199,15 +199,15 @@ SunSensor InitSunSensor(ClockGenerator* clock_generator, PowerPort* power_port, double detectable_angle_deg = 0.0, detectable_angle_rad = 0.0; detectable_angle_deg = ss_conf.ReadDouble(Section, "field_of_view_deg"); - detectable_angle_rad = libra::pi / 180.0 * detectable_angle_deg; + detectable_angle_rad = math::pi / 180.0 * detectable_angle_deg; double nr_stddev = 0.0; nr_stddev = ss_conf.ReadDouble(Section, "white_noise_standard_deviation_deg"); - nr_stddev *= libra::pi / 180.0; + nr_stddev *= math::pi / 180.0; double nr_bias_stddev = 0.0; nr_bias_stddev = ss_conf.ReadDouble(Section, "bias_standard_deviation_deg"); - nr_bias_stddev *= libra::pi / 180.0; + nr_bias_stddev *= math::pi / 180.0; double intensity_lower_threshold_percent; intensity_lower_threshold_percent = ss_conf.ReadDouble(Section, "intensity_lower_threshold_percent"); diff --git a/src/components/real/communication/antenna_radiation_pattern.hpp b/src/components/real/communication/antenna_radiation_pattern.hpp index 8c1736ca8..d3bfc2df2 100644 --- a/src/components/real/communication/antenna_radiation_pattern.hpp +++ b/src/components/real/communication/antenna_radiation_pattern.hpp @@ -36,7 +36,7 @@ class AntennaRadiationPattern { * @param[in] phi_max_rad_: Maximum value of phi */ AntennaRadiationPattern(const std::string file_path, const size_t length_theta = 360, const size_t length_phi = 181, - const double theta_max_rad = libra::tau, const double phi_max_rad = libra::pi); + const double theta_max_rad = libra::tau, const double phi_max_rad = math::pi); /** * @fn ~AntennaRadiationPattern @@ -57,7 +57,7 @@ class AntennaRadiationPattern { size_t length_theta_ = 360; //!< Length of grid for theta direction size_t length_phi_ = 181; //!< Length of grid for phi direction double theta_max_rad_ = libra::tau; //!< Maximum value of theta - double phi_max_rad_ = libra::pi; //!< Maximum value of phi + double phi_max_rad_ = math::pi; //!< Maximum value of phi std::vector> gain_dBi_; //!< Antenna gain table [dBi] }; diff --git a/src/components/real/communication/ground_station_calculator.cpp b/src/components/real/communication/ground_station_calculator.cpp index c15570112..01b80ff25 100644 --- a/src/components/real/communication/ground_station_calculator.cpp +++ b/src/components/real/communication/ground_station_calculator.cpp @@ -72,7 +72,7 @@ double GroundStationCalculator::CalcCn0OnGs(const Dynamics& dynamics, const Ante Vector<3> pos_gs2sc_i = sc_pos_i - gs_pos_i; double dist_sc_gs_km = pos_gs2sc_i.CalcNorm() / 1000.0; - double loss_space_dB = -20.0 * log10(4.0 * libra::pi * dist_sc_gs_km / (300.0 / spacecraft_tx_antenna.GetFrequency_MHz() / 1000.0)); + double loss_space_dB = -20.0 * log10(4.0 * math::pi * dist_sc_gs_km / (300.0 / spacecraft_tx_antenna.GetFrequency_MHz() / 1000.0)); // GS direction on SC TX antenna frame Vector<3> sc_to_gs_i = gs_pos_i - sc_pos_i; diff --git a/src/components/real/mission/telescope.cpp b/src/components/real/mission/telescope.cpp index a877548aa..f08be211a 100644 --- a/src/components/real/mission/telescope.cpp +++ b/src/components/real/mission/telescope.cpp @@ -83,9 +83,9 @@ void Telescope::MainRoutine(const int time_count) { // sun_pos_c = quaternion_b2c_.FrameConversion(dynamics_->celestial_->GetPositionFromSpacecraft_b_m("SUN")); // earth_pos_c = quaternion_b2c_.FrameConversion(dynamics_->celestial_->GetPositionFromSpacecraft_b_m("EARTH")); // moon_pos_c = quaternion_b2c_.FrameConversion(dynamics_->celestial_->GetPositionFromSpacecraft_b_m("MOON")); - // angle_sun = CalcAngleTwoVectors_rad(sight_direction_c_, sun_pos_c) * 180/libra::pi; - // angle_earth = CalcAngleTwoVectors_rad(sight_direction_c_, earth_pos_c) * 180 / libra::pi; angle_moon = - // CalcAngleTwoVectors_rad(sight_direction_c_, moon_pos_c) * 180 / libra::pi; + // angle_sun = CalcAngleTwoVectors_rad(sight_direction_c_, sun_pos_c) * 180/math::pi; + // angle_earth = CalcAngleTwoVectors_rad(sight_direction_c_, earth_pos_c) * 180 / math::pi; angle_moon = + // CalcAngleTwoVectors_rad(sight_direction_c_, moon_pos_c) * 180 / math::pi; //****************************************************************************** // Direction calculation of ground point ObserveGroundPositionDeviation(); @@ -247,7 +247,7 @@ string Telescope::GetLogValue() const { Telescope InitTelescope(ClockGenerator* clock_generator, int sensor_id, const string file_name, const Attitude* attitude, const HipparcosCatalogue* hipparcos, const LocalCelestialInformation* local_celestial_information, const Orbit* orbit) { - using libra::pi; + using math::pi; IniAccess Telescope_conf(file_name); const string st_sensor_id = std::to_string(static_cast(sensor_id)); diff --git a/src/components/real/propulsion/simple_thruster.cpp b/src/components/real/propulsion/simple_thruster.cpp index 2bd862e41..ac580bae3 100644 --- a/src/components/real/propulsion/simple_thruster.cpp +++ b/src/components/real/propulsion/simple_thruster.cpp @@ -105,9 +105,9 @@ math::Vector<3> SimpleThruster::CalcThrustDirection() { int flag = rand() % 2; double make_axis_rot_rad; if (flag == 0) { - make_axis_rot_rad = libra::pi * (double)rand() / RAND_MAX; + make_axis_rot_rad = math::pi * (double)rand() / RAND_MAX; } else { - make_axis_rot_rad = -libra::pi * (double)rand() / RAND_MAX; + make_axis_rot_rad = -math::pi * (double)rand() / RAND_MAX; } math::Quaternion make_axis_rot(thrust_dir_b_true, make_axis_rot_rad); @@ -141,7 +141,7 @@ SimpleThruster InitSimpleThruster(ClockGenerator* clock_generator, int thruster_ magnitude_standard_deviation_N = thruster_conf.ReadDouble(Section, "thrust_error_standard_deviation_N"); double deg_err; - deg_err = thruster_conf.ReadDouble(Section, "direction_error_standard_deviation_deg") * libra::pi / 180.0; + deg_err = thruster_conf.ReadDouble(Section, "direction_error_standard_deviation_deg") * math::pi / 180.0; SimpleThruster thruster(prescaler, clock_generator, thruster_id, thruster_pos, thruster_dir, max_magnitude_N, magnitude_standard_deviation_N, deg_err, structure, dynamics); @@ -169,7 +169,7 @@ SimpleThruster InitSimpleThruster(ClockGenerator* clock_generator, PowerPort* po magnitude_standard_deviation_N = thruster_conf.ReadDouble(Section, "thrust_error_standard_deviation_N"); double deg_err; - deg_err = thruster_conf.ReadDouble(Section, "direction_error_standard_deviation_deg") * libra::pi / 180.0; + deg_err = thruster_conf.ReadDouble(Section, "direction_error_standard_deviation_deg") * math::pi / 180.0; power_port->InitializeWithInitializeFile(file_name); diff --git a/src/disturbances/air_drag.cpp b/src/disturbances/air_drag.cpp index 93c628f04..d7d91cfac 100644 --- a/src/disturbances/air_drag.cpp +++ b/src/disturbances/air_drag.cpp @@ -47,14 +47,14 @@ void AirDrag::CalcCoefficients(const math::Vector<3>& velocity_b_m_s, const doub double AirDrag::CalcFunctionPi(const double s) { double x; double erfs = erf(s); // ERF function is defined in math standard library - x = s * exp(-s * s) + sqrt(libra::pi) * (s * s + 0.5) * (1.0 + erfs); + x = s * exp(-s * s) + sqrt(math::pi) * (s * s + 0.5) * (1.0 + erfs); return x; } double AirDrag::CalcFunctionChi(const double s) { double x; double erfs = erf(s); - x = exp(-s * s) + sqrt(libra::pi) * s * (1.0 + erfs); + x = exp(-s * s) + sqrt(math::pi) * s * (1.0 + erfs); return x; } @@ -69,9 +69,9 @@ void AirDrag::CalcCnCt(const Vector<3>& velocity_b_m_s) { double speed_n = speed * cos_theta_[i]; double speed_t = speed * sin_theta_[i]; double diffuse = 1.0 - surfaces_[i].GetAirSpecularity(); - cn_[i] = (2.0 - diffuse) / sqrt(libra::pi) * CalcFunctionPi(speed_n) / (speed * speed) + + cn_[i] = (2.0 - diffuse) / sqrt(math::pi) * CalcFunctionPi(speed_n) / (speed * speed) + diffuse / 2.0 * CalcFunctionChi(speed_n) / (speed * speed) * sqrt(wall_temperature_K_ / molecular_temperature_K_); - ct_[i] = diffuse * speed_t * CalcFunctionChi(speed_n) / (sqrt(libra::pi) * speed * speed); + ct_[i] = diffuse * speed_t * CalcFunctionChi(speed_n) / (sqrt(math::pi) * speed * speed); } } diff --git a/src/environment/local/solar_radiation_pressure_environment.cpp b/src/environment/local/solar_radiation_pressure_environment.cpp index 2a088127d..181e1ea7a 100644 --- a/src/environment/local/solar_radiation_pressure_environment.cpp +++ b/src/environment/local/solar_radiation_pressure_environment.cpp @@ -91,7 +91,7 @@ void SolarRadiationPressureEnvironment::CalcShadowCoefficient(std::string shadow } else if (fabs(a - b) <= c && c <= (a + b)) // spacecraft is in penumbra { double A = a * a * acos(x / a) + b * b * acos((c - x) / b) - c * y; // The area of the occulted segment of the apparent solar disk - shadow_coefficient_ *= 1.0 - A / (libra::pi * a * a); + shadow_coefficient_ *= 1.0 - A / (math::pi * a * a); } else { // no occultation takes place if (c < (a + b)) { std::cout << "[Error SRP Environment]: The calculation error was occurred at the shadow calculation." << std::endl; diff --git a/src/math_physics/math/test_interpolation.cpp b/src/math_physics/math/test_interpolation.cpp index 9b99335fa..2c05dfb68 100644 --- a/src/math_physics/math/test_interpolation.cpp +++ b/src/math_physics/math/test_interpolation.cpp @@ -45,16 +45,16 @@ TEST(Interpolation, PolynomialQuadraticFunction) { * @brief Test for sin function with trigonometric interpolation */ TEST(Interpolation, TrigonometricSinFunction) { - std::vector x{0.0, libra::pi_2, libra::pi, libra::pi * 3.0 / 2.0, libra::tau}; + std::vector x{0.0, libra::pi_2, math::pi, math::pi * 3.0 / 2.0, libra::tau}; std::vector y; for (size_t i = 0; i < x.size(); i++) { y.push_back(sin(x[i])); } libra::Interpolation interpolation(x, y); - double xx = 0.4 * libra::pi; + double xx = 0.4 * math::pi; EXPECT_DOUBLE_EQ(sin(xx), interpolation.CalcTrigonometric(xx)); - xx = 1.4 * libra::pi; + xx = 1.4 * math::pi; EXPECT_DOUBLE_EQ(sin(xx), interpolation.CalcTrigonometric(xx)); } diff --git a/src/math_physics/optics/gaussian_beam_base.cpp b/src/math_physics/optics/gaussian_beam_base.cpp index c3ec9c5a6..ab4121afb 100644 --- a/src/math_physics/optics/gaussian_beam_base.cpp +++ b/src/math_physics/optics/gaussian_beam_base.cpp @@ -35,14 +35,14 @@ void GaussianBeamBase::SetBeamWaistPosition_i_m(const math::Vector<3> position_b } double GaussianBeamBase::CalcBeamWidthRadius_m(double distance_from_beam_waist_m) { - double rayleigh_length_m = libra::pi * radius_beam_waist_m_ * radius_beam_waist_m_ / wavelength_m_; + double rayleigh_length_m = math::pi * radius_beam_waist_m_ * radius_beam_waist_m_ / wavelength_m_; double beam_width_radius_m = radius_beam_waist_m_ * sqrt(1.0 + std::pow((distance_from_beam_waist_m / rayleigh_length_m), 2.0)); return beam_width_radius_m; } double GaussianBeamBase::CalcIntensity_W_m2(double distance_from_beam_waist_m, double deviation_from_optical_axis_m) { double beam_width_radius_m = CalcBeamWidthRadius_m(distance_from_beam_waist_m); - double peak_intensity_W_m2 = (2.0 * total_power_W_) / (libra::pi * beam_width_radius_m * beam_width_radius_m); + double peak_intensity_W_m2 = (2.0 * total_power_W_) / (math::pi * beam_width_radius_m * beam_width_radius_m); double gaussian_dist = std::exp((-2.0 * deviation_from_optical_axis_m * deviation_from_optical_axis_m) / (beam_width_radius_m * beam_width_radius_m)); double intensity_W_m2 = peak_intensity_W_m2 * gaussian_dist; From b08f5f237e1ebf7142bba7a6b5d99472a5cec741 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 20 Jul 2024 09:37:50 +0900 Subject: [PATCH 224/456] Replace libra::tau to math::tau --- src/components/real/aocs/reaction_wheel_jitter.cpp | 4 ++-- src/components/real/aocs/star_sensor.cpp | 2 +- .../real/communication/antenna_radiation_pattern.hpp | 4 ++-- src/environment/global/gnss_satellites.cpp | 2 +- src/math_physics/geodesy/geodetic_position.cpp | 2 +- src/math_physics/math/s2e_math.cpp | 8 ++++---- src/math_physics/math/test_interpolation.cpp | 2 +- src/math_physics/math/test_s2e_math.cpp | 6 +++--- .../initialize_monte_carlo_parameters.cpp | 8 ++++---- 9 files changed, 19 insertions(+), 19 deletions(-) diff --git a/src/components/real/aocs/reaction_wheel_jitter.cpp b/src/components/real/aocs/reaction_wheel_jitter.cpp index ec2a907bf..189e364f7 100644 --- a/src/components/real/aocs/reaction_wheel_jitter.cpp +++ b/src/components/real/aocs/reaction_wheel_jitter.cpp @@ -18,7 +18,7 @@ ReactionWheelJitter::ReactionWheelJitter(std::vector> radial update_interval_s_(update_interval_s), quaternion_b2c_(quaternion_b2c), structural_resonance_frequency_Hz_(structural_resonance_frequency_Hz), - structural_resonance_angular_frequency_Hz_(libra::tau * structural_resonance_frequency_Hz), + structural_resonance_angular_frequency_Hz_(math::tau * structural_resonance_frequency_Hz), damping_factor_(damping_factor), bandwidth_(bandwidth), considers_structural_resonance_(considers_structural_resonance) { @@ -26,7 +26,7 @@ ReactionWheelJitter::ReactionWheelJitter(std::vector> radial // Generate random number for initial rotation phase std::random_device seed_gen; std::default_random_engine engine(seed_gen()); - std::uniform_real_distribution dist(0.0, libra::tau); + std::uniform_real_distribution dist(0.0, math::tau); // Initialize RW rotation phase for (size_t i = 0; i < radial_force_harmonics_coefficients_.size(); i++) { jitter_force_rotation_phase_.push_back(dist(engine)); diff --git a/src/components/real/aocs/star_sensor.cpp b/src/components/real/aocs/star_sensor.cpp index 45ada20a0..33d027d98 100644 --- a/src/components/real/aocs/star_sensor.cpp +++ b/src/components/real/aocs/star_sensor.cpp @@ -110,7 +110,7 @@ void StarSensor::update(const LocalCelestialInformation* local_celestial_informa // Add noise on sight direction Quaternion q_sight(sight_direction_c_, sight_direction_noise_); // Random noise on orthogonal direction of sight. Range [0:2pi] - double rot = libra::tau * double(rotation_noise_); + double rot = math::tau * double(rotation_noise_); // Calc observation error on orthogonal direction of sight math::Vector<3> rot_axis = cos(rot) * first_orthogonal_direction_c + sin(rot) * second_orthogonal_direction_c; math::Quaternion q_ortho(rot_axis, orthogonal_direction_noise_); diff --git a/src/components/real/communication/antenna_radiation_pattern.hpp b/src/components/real/communication/antenna_radiation_pattern.hpp index d3bfc2df2..393879b9b 100644 --- a/src/components/real/communication/antenna_radiation_pattern.hpp +++ b/src/components/real/communication/antenna_radiation_pattern.hpp @@ -36,7 +36,7 @@ class AntennaRadiationPattern { * @param[in] phi_max_rad_: Maximum value of phi */ AntennaRadiationPattern(const std::string file_path, const size_t length_theta = 360, const size_t length_phi = 181, - const double theta_max_rad = libra::tau, const double phi_max_rad = math::pi); + const double theta_max_rad = math::tau, const double phi_max_rad = math::pi); /** * @fn ~AntennaRadiationPattern @@ -56,7 +56,7 @@ class AntennaRadiationPattern { private: size_t length_theta_ = 360; //!< Length of grid for theta direction size_t length_phi_ = 181; //!< Length of grid for phi direction - double theta_max_rad_ = libra::tau; //!< Maximum value of theta + double theta_max_rad_ = math::tau; //!< Maximum value of theta double phi_max_rad_ = math::pi; //!< Maximum value of phi std::vector> gain_dBi_; //!< Antenna gain table [dBi] diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index 4d4c9ee14..f9daeaf7a 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -87,7 +87,7 @@ math::Vector<3> GnssSatellites::GetPosition_ecef_m(const size_t gnss_satellite_i if (diff_s < 0.0 || diff_s > 1e6) return math::Vector<3>(0.0); const double kOrbitalPeriodCorrection_s = 24 * 60 * 60 * 1.003; // See http://acc.igs.org/orbits/orbit-interp_gpssoln03.pdf - return orbit_[gnss_satellite_id].CalcPositionWithTrigonometric(diff_s, libra::tau / kOrbitalPeriodCorrection_s); + return orbit_[gnss_satellite_id].CalcPositionWithTrigonometric(diff_s, math::tau / kOrbitalPeriodCorrection_s); } double GnssSatellites::GetClock_s(const size_t gnss_satellite_id, const EpochTime time) const { diff --git a/src/math_physics/geodesy/geodetic_position.cpp b/src/math_physics/geodesy/geodetic_position.cpp index 8a59652a0..1508a796a 100644 --- a/src/math_physics/geodesy/geodetic_position.cpp +++ b/src/math_physics/geodesy/geodetic_position.cpp @@ -44,7 +44,7 @@ void GeodeticPosition::UpdateFromEcef(const math::Vector<3> position_ecef_m) { altitude_m_ = r_m / cos(lat_tmp_rad) - c * earth_radius_m; - if (lat_tmp_rad > libra::pi_2) lat_tmp_rad -= libra::tau; + if (lat_tmp_rad > libra::pi_2) lat_tmp_rad -= math::tau; latitude_rad_ = lat_tmp_rad; diff --git a/src/math_physics/math/s2e_math.cpp b/src/math_physics/math/s2e_math.cpp index 916a3e6b5..0b52849d2 100644 --- a/src/math_physics/math/s2e_math.cpp +++ b/src/math_physics/math/s2e_math.cpp @@ -12,11 +12,11 @@ double WrapTo2Pi(const double angle_rad) { double angle_out = angle_rad; if (angle_out < 0.0) { while (angle_out < 0.0) { - angle_out += libra::tau; + angle_out += math::tau; } - } else if (angle_out > libra::tau) { - while (angle_out > libra::tau) { - angle_out -= libra::tau; + } else if (angle_out > math::tau) { + while (angle_out > math::tau) { + angle_out -= math::tau; } } else { // nothing to do diff --git a/src/math_physics/math/test_interpolation.cpp b/src/math_physics/math/test_interpolation.cpp index 2c05dfb68..b730fb962 100644 --- a/src/math_physics/math/test_interpolation.cpp +++ b/src/math_physics/math/test_interpolation.cpp @@ -45,7 +45,7 @@ TEST(Interpolation, PolynomialQuadraticFunction) { * @brief Test for sin function with trigonometric interpolation */ TEST(Interpolation, TrigonometricSinFunction) { - std::vector x{0.0, libra::pi_2, math::pi, math::pi * 3.0 / 2.0, libra::tau}; + std::vector x{0.0, libra::pi_2, math::pi, math::pi * 3.0 / 2.0, math::tau}; std::vector y; for (size_t i = 0; i < x.size(); i++) { y.push_back(sin(x[i])); diff --git a/src/math_physics/math/test_s2e_math.cpp b/src/math_physics/math/test_s2e_math.cpp index bf5b60fca..c018c6434 100644 --- a/src/math_physics/math/test_s2e_math.cpp +++ b/src/math_physics/math/test_s2e_math.cpp @@ -19,13 +19,13 @@ TEST(S2eMath, WrapTo2Pi) { input_angle_rad = -1.0e-5; wrapped_angle_rad = libra::WrapTo2Pi(input_angle_rad); - EXPECT_NEAR(libra::tau + input_angle_rad, wrapped_angle_rad, accuracy); + EXPECT_NEAR(math::tau + input_angle_rad, wrapped_angle_rad, accuracy); - input_angle_rad = libra::tau + 1.0e-5; + input_angle_rad = math::tau + 1.0e-5; wrapped_angle_rad = libra::WrapTo2Pi(input_angle_rad); EXPECT_NEAR(1.0e-5, wrapped_angle_rad, accuracy); - input_angle_rad = 10 * libra::tau + 1.0e-5; + input_angle_rad = 10 * math::tau + 1.0e-5; wrapped_angle_rad = libra::WrapTo2Pi(input_angle_rad); EXPECT_NEAR(1.0e-5, wrapped_angle_rad, accuracy); } diff --git a/src/simulation/monte_carlo_simulation/initialize_monte_carlo_parameters.cpp b/src/simulation/monte_carlo_simulation/initialize_monte_carlo_parameters.cpp index 83e3fa3b5..b568ff136 100644 --- a/src/simulation/monte_carlo_simulation/initialize_monte_carlo_parameters.cpp +++ b/src/simulation/monte_carlo_simulation/initialize_monte_carlo_parameters.cpp @@ -207,7 +207,7 @@ void InitializedMonteCarloParameters::CalcSphericalNormalNormal(math::Vector<3>& // In case of the mean vector is parallel with X or Y axis, selecting the axis depend on the norm of outer product math::Vector<3> normal_unit_vec = op_x.CalcNorm() > op_y.CalcNorm() ? op_x = op_x.CalcNormalizedVector() : op_y = op_y.CalcNormalizedVector(); - double rotation_angle_of_normal_unit_vec = InitializedMonteCarloParameters::Generate1dUniform(0.0, libra::tau); + double rotation_angle_of_normal_unit_vec = InitializedMonteCarloParameters::Generate1dUniform(0.0, math::tau); math::Quaternion rotation_of_normal_unit_vec(mean_vec_dir, -rotation_angle_of_normal_unit_vec); // Use opposite sign to rotate the vector (not the frame) math::Vector<3> rotation_axis = rotation_of_normal_unit_vec.FrameConversion(normal_unit_vec); // Axis of mean vector rotation @@ -249,7 +249,7 @@ void InitializedMonteCarloParameters::CalcQuaternionUniform(math::Quaternion& de math::Quaternion first_cnv; math::Vector<3> x_axis_cnvd; double theta = acos(1 - (1 - (-1)) * InitializedMonteCarloParameters::Generate1dUniform(0.0, 1.0)); - double phi = InitializedMonteCarloParameters::Generate1dUniform(0, libra::tau); + double phi = InitializedMonteCarloParameters::Generate1dUniform(0, math::tau); x_axis_cnvd[0] = sin(theta) * cos(phi); x_axis_cnvd[1] = sin(theta) * sin(phi); x_axis_cnvd[2] = cos(theta); @@ -262,7 +262,7 @@ void InitializedMonteCarloParameters::CalcQuaternionUniform(math::Quaternion& de first_cnv[3] = cos_angle_between; // Generate randomized rotation angle around the X-axis - double rotation_angle = InitializedMonteCarloParameters::Generate1dUniform(0.0, libra::tau); + double rotation_angle = InitializedMonteCarloParameters::Generate1dUniform(0.0, math::tau); math::Quaternion second_cnv(x_axis, rotation_angle); math::Quaternion ret_q = first_cnv * second_cnv; @@ -288,7 +288,7 @@ void InitializedMonteCarloParameters::CalcQuaternionNormal(math::Quaternion& des // The rotation axis follows uniform distribution on full sphere math::Vector<3> rot_axis; double theta = acos(1 - (1 - (-1)) * InitializedMonteCarloParameters::Generate1dUniform(0.0, 1.0)); - double phi = InitializedMonteCarloParameters::Generate1dUniform(0, libra::tau); + double phi = InitializedMonteCarloParameters::Generate1dUniform(0, math::tau); rot_axis[0] = sin(theta) * cos(phi); rot_axis[1] = sin(theta) * sin(phi); rot_axis[2] = cos(theta); From 55e74f95e80ec348069439776b4309688d8e2501 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 20 Jul 2024 09:38:20 +0900 Subject: [PATCH 225/456] Replace libra::deg_to_rad to math::deg_to_rad --- src/components/ideal/attitude_observer.cpp | 2 +- src/components/ideal/force_generator.cpp | 2 +- src/components/ideal/torque_generator.cpp | 2 +- src/components/real/aocs/gnss_receiver.cpp | 2 +- src/dynamics/attitude/controlled_attitude.hpp | 2 +- src/environment/global/earth_rotation.cpp | 12 ++++++------ src/environment/global/hipparcos_catalogue.cpp | 4 ++-- .../atmosphere/harris_priester_model.cpp | 2 +- src/math_physics/math/test_matrix.cpp | 6 +++--- src/math_physics/math/test_quaternion.cpp | 16 ++++++++-------- src/math_physics/math/test_vector.cpp | 8 ++++---- src/simulation/ground_station/ground_station.cpp | 4 ++-- 12 files changed, 31 insertions(+), 31 deletions(-) diff --git a/src/components/ideal/attitude_observer.cpp b/src/components/ideal/attitude_observer.cpp index 7b8ab276c..312a1930c 100644 --- a/src/components/ideal/attitude_observer.cpp +++ b/src/components/ideal/attitude_observer.cpp @@ -57,7 +57,7 @@ AttitudeObserver InitializeAttitudeObserver(ClockGenerator* clock_generator, con // AttitudeObserver double error_angle_standard_deviation_deg = ini_file.ReadDouble("ATTITUDE_OBSERVER", "error_angle_standard_deviation_deg"); - double error_angle_standard_deviation_rad = libra::deg_to_rad * error_angle_standard_deviation_deg; + double error_angle_standard_deviation_rad = math::deg_to_rad * error_angle_standard_deviation_deg; AttitudeObserver attitude_observer(prescaler, clock_generator, error_angle_standard_deviation_rad, attitude); return attitude_observer; diff --git a/src/components/ideal/force_generator.cpp b/src/components/ideal/force_generator.cpp index e1df7e741..833703477 100644 --- a/src/components/ideal/force_generator.cpp +++ b/src/components/ideal/force_generator.cpp @@ -117,7 +117,7 @@ ForceGenerator InitializeForceGenerator(ClockGenerator* clock_generator, const s char section[30] = "FORCE_GENERATOR"; double force_magnitude_standard_deviation_N = ini_file.ReadDouble(section, "force_magnitude_standard_deviation_N"); double force_direction_standard_deviation_deg = ini_file.ReadDouble(section, "force_direction_standard_deviation_deg"); - double force_direction_standard_deviation_rad = libra::deg_to_rad * force_direction_standard_deviation_deg; + double force_direction_standard_deviation_rad = math::deg_to_rad * force_direction_standard_deviation_deg; ForceGenerator force_generator(prescaler, clock_generator, force_magnitude_standard_deviation_N, force_direction_standard_deviation_rad, dynamics); return force_generator; diff --git a/src/components/ideal/torque_generator.cpp b/src/components/ideal/torque_generator.cpp index 8f8a58c56..d090f0d34 100644 --- a/src/components/ideal/torque_generator.cpp +++ b/src/components/ideal/torque_generator.cpp @@ -90,7 +90,7 @@ TorqueGenerator InitializeTorqueGenerator(ClockGenerator* clock_generator, const char section[30] = "TORQUE_GENERATOR"; double torque_magnitude_standard_deviation_Nm = ini_file.ReadDouble(section, "torque_magnitude_standard_deviation_Nm"); double torque_direction_standard_deviation_deg = ini_file.ReadDouble(section, "torque_direction_standard_deviation_deg"); - double torque_direction_standard_deviation_rad = libra::deg_to_rad * torque_direction_standard_deviation_deg; + double torque_direction_standard_deviation_rad = math::deg_to_rad * torque_direction_standard_deviation_deg; TorqueGenerator torque_generator(prescaler, clock_generator, torque_magnitude_standard_deviation_Nm, torque_direction_standard_deviation_rad, dynamics); diff --git a/src/components/real/aocs/gnss_receiver.cpp b/src/components/real/aocs/gnss_receiver.cpp index 5017a4333..a07a52a0b 100644 --- a/src/components/real/aocs/gnss_receiver.cpp +++ b/src/components/real/aocs/gnss_receiver.cpp @@ -147,7 +147,7 @@ void GnssReceiver::CheckAntennaCone(const math::Vector<3> position_true_eci_m, c // Check GNSS satellites are in the antenna half width angle double inner2 = InnerProduct(antenna_pointing_direction_i, antenna_to_gnss_satellite_direction_i); - if (inner2 > cos(half_width_deg_ * libra::deg_to_rad) && is_gnss_satellite_visible_from_receiver) { + if (inner2 > cos(half_width_deg_ * math::deg_to_rad) && is_gnss_satellite_visible_from_receiver) { // is visible visible_satellite_number_++; SetGnssInfo(antenna_to_gnss_satellite_i_m, quaternion_i2b, i); diff --git a/src/dynamics/attitude/controlled_attitude.hpp b/src/dynamics/attitude/controlled_attitude.hpp index e05965621..a033dc973 100644 --- a/src/dynamics/attitude/controlled_attitude.hpp +++ b/src/dynamics/attitude/controlled_attitude.hpp @@ -107,7 +107,7 @@ class ControlledAttitude : public Attitude { math::Quaternion previous_quaternion_i2b_; //!< Previous quaternion math::Vector<3> previous_omega_b_rad_s_; //!< Previous angular velocity [rad/s] - const double kMinDirectionAngle_rad = 30.0 * libra::deg_to_rad; //!< Minimum angle b/w main and sub direction + const double kMinDirectionAngle_rad = 30.0 * math::deg_to_rad; //!< Minimum angle b/w main and sub direction // TODO Change with ini file // Inputs diff --git a/src/environment/global/earth_rotation.cpp b/src/environment/global/earth_rotation.cpp index c7550537d..9afb6392d 100644 --- a/src/environment/global/earth_rotation.cpp +++ b/src/environment/global/earth_rotation.cpp @@ -32,38 +32,38 @@ void EarthRotation::InitializeParameters() { // Coefficients to compute mean obliquity of the ecliptic // The actual unit of the coefficients are [rad/century^i], where i is the index of the array - c_epsilon_rad_[0] = 23.4392911 * libra::deg_to_rad; // [rad] + c_epsilon_rad_[0] = 23.4392911 * math::deg_to_rad; // [rad] c_epsilon_rad_[1] = -46.8150000 * libra::arcsec_to_rad; // [rad/century] c_epsilon_rad_[2] = -5.9000e-4 * libra::arcsec_to_rad; // [rad/century^2] c_epsilon_rad_[3] = 1.8130e-3 * libra::arcsec_to_rad; // [rad/century^3] // Coefficients to compute Delaunay angles // The actual unit of the coefficients are [rad/century^i], where i is the index of the array - c_lm_rad_[0] = 134.96340251 * libra::deg_to_rad; // [rad] + c_lm_rad_[0] = 134.96340251 * math::deg_to_rad; // [rad] c_lm_rad_[1] = 1717915923.21780000 * libra::arcsec_to_rad; // [rad/century] c_lm_rad_[2] = 31.87920000 * libra::arcsec_to_rad; // [rad/century^2] c_lm_rad_[3] = 0.05163500 * libra::arcsec_to_rad; // [rad/century^3] c_lm_rad_[4] = -0.00024470 * libra::arcsec_to_rad; // [rad/century^4] - c_ls_rad_[0] = 357.52910918 * libra::deg_to_rad; // [rad] + c_ls_rad_[0] = 357.52910918 * math::deg_to_rad; // [rad] c_ls_rad_[1] = 129596581.04810000 * libra::arcsec_to_rad; // [rad/century] c_ls_rad_[2] = -0.55320000 * libra::arcsec_to_rad; // [rad/century^2] c_ls_rad_[3] = 0.00013600 * libra::arcsec_to_rad; // [rad/century^3] c_ls_rad_[4] = -0.00001149 * libra::arcsec_to_rad; // [rad/century^4] - c_f_rad_[0] = 93.27209062 * libra::deg_to_rad; // [rad] + c_f_rad_[0] = 93.27209062 * math::deg_to_rad; // [rad] c_f_rad_[1] = 1739527262.84780000 * libra::arcsec_to_rad; // [rad/century] c_f_rad_[2] = -12.75120000 * libra::arcsec_to_rad; // [rad/century^2] c_f_rad_[3] = -0.00103700 * libra::arcsec_to_rad; // [rad/century^3] c_f_rad_[4] = 0.00000417 * libra::arcsec_to_rad; // [rad/century^4] - c_d_rad_[0] = 297.85019547 * libra::deg_to_rad; // [rad] + c_d_rad_[0] = 297.85019547 * math::deg_to_rad; // [rad] c_d_rad_[1] = 1602961601.20900000 * libra::arcsec_to_rad; // [rad/century] c_d_rad_[2] = -6.37060000 * libra::arcsec_to_rad; // [rad/century^2] c_d_rad_[3] = 0.00659300 * libra::arcsec_to_rad; // [rad/century^3] c_d_rad_[4] = -0.00003169 * libra::arcsec_to_rad; // [rad/century^4] - c_o_rad_[0] = 125.04455501 * libra::deg_to_rad; // [rad] + c_o_rad_[0] = 125.04455501 * math::deg_to_rad; // [rad] c_o_rad_[1] = -6962890.54310000 * libra::arcsec_to_rad; // [rad/century] c_o_rad_[2] = 7.47220000 * libra::arcsec_to_rad; // [rad/century^2] c_o_rad_[3] = 0.00770200 * libra::arcsec_to_rad; // [rad/century^3] diff --git a/src/environment/global/hipparcos_catalogue.cpp b/src/environment/global/hipparcos_catalogue.cpp index cb6f3c15e..7ef29494b 100644 --- a/src/environment/global/hipparcos_catalogue.cpp +++ b/src/environment/global/hipparcos_catalogue.cpp @@ -52,8 +52,8 @@ bool HipparcosCatalogue::ReadContents(const std::string& file_name, const char d math::Vector<3> HipparcosCatalogue::GetStarDirection_i(size_t rank) const { math::Vector<3> direction_i; - double ra_rad = GetRightAscension_deg(rank) * libra::deg_to_rad; - double de_rad = GetDeclination_deg(rank) * libra::deg_to_rad; + double ra_rad = GetRightAscension_deg(rank) * math::deg_to_rad; + double de_rad = GetDeclination_deg(rank) * math::deg_to_rad; direction_i[0] = cos(ra_rad) * cos(de_rad); direction_i[1] = sin(ra_rad) * cos(de_rad); diff --git a/src/math_physics/atmosphere/harris_priester_model.cpp b/src/math_physics/atmosphere/harris_priester_model.cpp index ccaef17f3..28bbce364 100644 --- a/src/math_physics/atmosphere/harris_priester_model.cpp +++ b/src/math_physics/atmosphere/harris_priester_model.cpp @@ -42,7 +42,7 @@ double CalcAirDensityWithHarrisPriester_kg_m3(const GeodeticPosition geodetic_po sun_ra_rad = atan2(sun_direction_eci[1], sun_direction_eci[0]); sun_dec_rad = atan2(sun_direction_eci[2], sqrt(sun_direction_eci[0] * sun_direction_eci[0] + sun_direction_eci[1] * sun_direction_eci[1])); math::Vector<3> apex_direction; - const double lag_angle_rad = 30.0 * libra::deg_to_rad; + const double lag_angle_rad = 30.0 * math::deg_to_rad; double apex_ra_rad = sun_ra_rad + lag_angle_rad; apex_direction[0] = cos(sun_dec_rad) * cos(apex_ra_rad); apex_direction[1] = cos(sun_dec_rad) * sin(apex_ra_rad); diff --git a/src/math_physics/math/test_matrix.cpp b/src/math_physics/math/test_matrix.cpp index 1db12d6cd..a3027fc7c 100644 --- a/src/math_physics/math/test_matrix.cpp +++ b/src/math_physics/math/test_matrix.cpp @@ -362,7 +362,7 @@ TEST(Matrix, MakeIdentityMatrix) { */ TEST(Matrix, MakeRotationMatrixX) { const size_t N = 3; - double theta_rad = -45.0 * libra::deg_to_rad; + double theta_rad = -45.0 * math::deg_to_rad; math::Matrix m = libra::MakeRotationMatrixX(theta_rad); @@ -382,7 +382,7 @@ TEST(Matrix, MakeRotationMatrixX) { */ TEST(Matrix, MakeRotationMatrixY) { const size_t N = 3; - double theta_rad = 120.0 * libra::deg_to_rad; + double theta_rad = 120.0 * math::deg_to_rad; math::Matrix m = libra::MakeRotationMatrixY(theta_rad); @@ -402,7 +402,7 @@ TEST(Matrix, MakeRotationMatrixY) { */ TEST(Matrix, MakeRotationMatrixZ) { const size_t N = 3; - double theta_rad = 30.0 * libra::deg_to_rad; + double theta_rad = 30.0 * math::deg_to_rad; math::Matrix m = libra::MakeRotationMatrixZ(theta_rad); diff --git a/src/math_physics/math/test_quaternion.cpp b/src/math_physics/math/test_quaternion.cpp index 593b7a855..4995afccc 100644 --- a/src/math_physics/math/test_quaternion.cpp +++ b/src/math_physics/math/test_quaternion.cpp @@ -40,7 +40,7 @@ TEST(Quaternion, ConstructorAxisAndAngleX) { axis[0] = 1.0; axis[1] = 0.0; axis[2] = 0.0; - double theta_rad = 90 * libra::deg_to_rad; + double theta_rad = 90 * math::deg_to_rad; math::Quaternion q(axis, theta_rad); EXPECT_NEAR(axis[0] * sin(theta_rad / 2.0), q[0], 1e-5); @@ -57,7 +57,7 @@ TEST(Quaternion, ConstructorAxisAndAngleY) { axis[0] = 0.0; axis[1] = 1.0; axis[2] = 0.0; - double theta_rad = 45 * libra::deg_to_rad; + double theta_rad = 45 * math::deg_to_rad; math::Quaternion q(axis, theta_rad); EXPECT_NEAR(axis[0] * sin(theta_rad / 2.0), q[0], 1e-5); @@ -74,7 +74,7 @@ TEST(Quaternion, ConstructorAxisAndAngleZ) { axis[0] = 0.0; axis[1] = 0.0; axis[2] = 1.0; - double theta_rad = -60 * libra::deg_to_rad; + double theta_rad = -60 * math::deg_to_rad; math::Quaternion q(axis, theta_rad); EXPECT_NEAR(axis[0] * sin(theta_rad / 2.0), q[0], 1e-5); @@ -91,7 +91,7 @@ TEST(Quaternion, ConstructorAxisAndAngleAll) { axis[0] = 1.0; axis[1] = 1.0; axis[2] = 1.0; - double theta_rad = 180 * libra::deg_to_rad; + double theta_rad = 180 * math::deg_to_rad; math::Quaternion q(axis, theta_rad); EXPECT_NEAR(axis[0] * sin(theta_rad / 2.0), q[0], 1e-5); @@ -136,7 +136,7 @@ TEST(Quaternion, ConstructorTwoVectorsX) { math::Quaternion q(before, after); - double theta_rad = -90 * libra::deg_to_rad; + double theta_rad = -90 * math::deg_to_rad; EXPECT_NEAR(sin(theta_rad / 2.0), q[0], 1e-5); EXPECT_NEAR(0.0, q[1], 1e-5); EXPECT_NEAR(0.0, q[2], 1e-5); @@ -158,7 +158,7 @@ TEST(Quaternion, ConstructorTwoVectorsY) { math::Quaternion q(before, after); - double theta_rad = 90 * libra::deg_to_rad; + double theta_rad = 90 * math::deg_to_rad; EXPECT_NEAR(0.0, q[0], 1e-5); EXPECT_NEAR(sin(theta_rad / 2.0), q[1], 1e-5); EXPECT_NEAR(0.0, q[2], 1e-5); @@ -180,7 +180,7 @@ TEST(Quaternion, ConstructorTwoVectorsZ) { math::Quaternion q(before, after); - double theta_rad = 90 * libra::deg_to_rad; + double theta_rad = 90 * math::deg_to_rad; EXPECT_NEAR(0.0, q[0], 1e-5); EXPECT_NEAR(0.0, q[1], 1e-5); EXPECT_NEAR(sin(theta_rad / 2.0), q[2], 1e-5); @@ -304,7 +304,7 @@ TEST(Quaternion, ConvertToEulerX) { // Check nondestructive function const double accuracy = 1.0e-7; - EXPECT_NEAR(90 * libra::deg_to_rad, euler[0], accuracy); + EXPECT_NEAR(90 * math::deg_to_rad, euler[0], accuracy); EXPECT_NEAR(0.0, euler[1], accuracy); EXPECT_NEAR(0.0, euler[2], accuracy); diff --git a/src/math_physics/math/test_vector.cpp b/src/math_physics/math/test_vector.cpp index 76342b84f..5f636960d 100644 --- a/src/math_physics/math/test_vector.cpp +++ b/src/math_physics/math/test_vector.cpp @@ -394,7 +394,7 @@ TEST(Vector, CalcAngleTwoVectors90deg) { double angle_rad = CalcAngleTwoVectors_rad(a, b); - EXPECT_DOUBLE_EQ(90.0 * libra::deg_to_rad, angle_rad); + EXPECT_DOUBLE_EQ(90.0 * math::deg_to_rad, angle_rad); } /** @@ -410,7 +410,7 @@ TEST(Vector, CalcAngleTwoVectors0deg) { double angle_rad = CalcAngleTwoVectors_rad(a, a); - EXPECT_DOUBLE_EQ(0.0 * libra::deg_to_rad, angle_rad); + EXPECT_DOUBLE_EQ(0.0 * math::deg_to_rad, angle_rad); } /** @@ -431,7 +431,7 @@ TEST(Vector, CalcAngleTwoVectors45deg) { double angle_rad = CalcAngleTwoVectors_rad(a, b); - EXPECT_DOUBLE_EQ(45.0 * libra::deg_to_rad, angle_rad); + EXPECT_DOUBLE_EQ(45.0 * math::deg_to_rad, angle_rad); } /** @@ -445,5 +445,5 @@ TEST(Vector, GenerateOrthogonalUnitVector) { double angle_rad = CalcAngleTwoVectors_rad(a, b); - EXPECT_DOUBLE_EQ(90.0 * libra::deg_to_rad, angle_rad); + EXPECT_DOUBLE_EQ(90.0 * math::deg_to_rad, angle_rad); } diff --git a/src/simulation/ground_station/ground_station.cpp b/src/simulation/ground_station/ground_station.cpp index 132e39a14..1b95d8b96 100644 --- a/src/simulation/ground_station/ground_station.cpp +++ b/src/simulation/ground_station/ground_station.cpp @@ -35,7 +35,7 @@ void GroundStation::Initialize(const SimulationConfiguration* configuration, con double latitude_deg = conf.ReadDouble(Section, "latitude_deg"); double longitude_deg = conf.ReadDouble(Section, "longitude_deg"); double height_m = conf.ReadDouble(Section, "height_m"); - geodetic_position_ = GeodeticPosition(latitude_deg * libra::deg_to_rad, longitude_deg * libra::deg_to_rad, height_m); + geodetic_position_ = GeodeticPosition(latitude_deg * math::deg_to_rad, longitude_deg * math::deg_to_rad, height_m); position_ecef_m_ = geodetic_position_.CalcEcefPosition(); elevation_limit_angle_deg_ = conf.ReadDouble(Section, "elevation_limit_angle_deg"); @@ -62,7 +62,7 @@ bool GroundStation::CalcIsVisible(const math::Vector<3> spacecraft_position_ecef // Judge the satellite position angle is over the minimum elevation - if (dot(sc_pos_ltc, dir_gs_to_zenith) > sin(elevation_limit_angle_deg_ * libra::deg_to_rad)) { + if (dot(sc_pos_ltc, dir_gs_to_zenith) > sin(elevation_limit_angle_deg_ * math::deg_to_rad)) { return true; } else { return false; From abc127fe46d561ad8d91a080e13f0775e7f09f11 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 20 Jul 2024 09:38:48 +0900 Subject: [PATCH 226/456] Replace libra::rad_to_deg to math::rad_to_deg --- src/components/real/aocs/reaction_wheel.cpp | 4 ++-- src/math_physics/atmosphere/wrapper_nrlmsise00.cpp | 6 +++--- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/src/components/real/aocs/reaction_wheel.cpp b/src/components/real/aocs/reaction_wheel.cpp index cb66efd2a..3bb98d34a 100644 --- a/src/components/real/aocs/reaction_wheel.cpp +++ b/src/components/real/aocs/reaction_wheel.cpp @@ -77,7 +77,7 @@ void ReactionWheel::Initialize() { generated_angular_acceleration_rad_s2_ = 0.0; angular_velocity_rad_s_ = ode_angular_velocity_.GetAngularVelocity_rad_s(); - angular_velocity_rpm_ = angular_velocity_rad_s_ * libra::rad_s_to_rpm; + angular_velocity_rpm_ = angular_velocity_rad_s_ * math::rad_s_to_rpm; // Turn on RW jitter calculation if (is_calculated_jitter_) { @@ -141,7 +141,7 @@ math::Vector<3> ReactionWheel::CalcTorque() { // Substitution double pre_angular_velocity_rad = angular_velocity_rad_s_; angular_velocity_rad_s_ = ode_angular_velocity_.GetAngularVelocity_rad_s(); - angular_velocity_rpm_ = angular_velocity_rad_s_ * libra::rad_s_to_rpm; + angular_velocity_rpm_ = angular_velocity_rad_s_ * math::rad_s_to_rpm; generated_angular_acceleration_rad_s2_ = (angular_velocity_rad_s_ - pre_angular_velocity_rad) / step_width_s_; // Calc output torque by RW diff --git a/src/math_physics/atmosphere/wrapper_nrlmsise00.cpp b/src/math_physics/atmosphere/wrapper_nrlmsise00.cpp index 91a00c40f..c000ca49e 100644 --- a/src/math_physics/atmosphere/wrapper_nrlmsise00.cpp +++ b/src/math_physics/atmosphere/wrapper_nrlmsise00.cpp @@ -187,9 +187,9 @@ double CalcNRLMSISE00(double decyear, double latrad, double lonrad, double alt, input.year = 0; /* without effect */ input.sec = date[3] * 60.0 * 60.0 + date[4] * 60.0 + date[5]; input.alt = alt / 1000.0; - input.g_lat = latrad * libra::rad_to_deg; - input.g_long = lonrad * libra::rad_to_deg; - input.lst = input.sec / 3600.0 + lonrad * libra::rad_to_deg / 15.0; + input.g_lat = latrad * math::rad_to_deg; + input.g_long = lonrad * math::rad_to_deg; + input.lst = input.sec / 3600.0 + lonrad * math::rad_to_deg / 15.0; if (is_manual_param) { input.f107 = manual_f107; From 0dc54669b56e9e2366ab3f3664bb3d11b6475fbc Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 20 Jul 2024 09:39:48 +0900 Subject: [PATCH 227/456] Replace libra::MakeMatrix to math::MakeMatrix --- .../base/sensor_template_functions.hpp | 2 +- src/environment/global/earth_rotation.cpp | 18 +++++++++--------- src/environment/global/moon_rotation.cpp | 4 ++-- src/math_physics/math/test_matrix.cpp | 8 ++++---- src/math_physics/orbit/kepler_orbit.cpp | 6 +++--- .../moon_rotation_utilities.cpp | 2 +- 6 files changed, 20 insertions(+), 20 deletions(-) diff --git a/src/components/base/sensor_template_functions.hpp b/src/components/base/sensor_template_functions.hpp index c488e7958..247093ce2 100644 --- a/src/components/base/sensor_template_functions.hpp +++ b/src/components/base/sensor_template_functions.hpp @@ -84,7 +84,7 @@ Sensor ReadSensorInformation(const std::string file_name, const double step_w ini_file.ReadVector(section.c_str(), "scale_factor_c", scale_factor_vector); math::Matrix scale_factor_c; if (scale_factor_vector.CalcNorm() == 0.0) { - scale_factor_c = libra::MakeIdentityMatrix(); + scale_factor_c = math::MakeIdentityMatrix(); } else { for (size_t i = 0; i < N; i++) { for (size_t j = 0; j < N; j++) { diff --git a/src/environment/global/earth_rotation.cpp b/src/environment/global/earth_rotation.cpp index 9afb6392d..321e82df0 100644 --- a/src/environment/global/earth_rotation.cpp +++ b/src/environment/global/earth_rotation.cpp @@ -17,7 +17,7 @@ // Default constructor EarthRotation::EarthRotation(const EarthRotationMode rotation_mode) : rotation_mode_(rotation_mode) { - dcm_j2000_to_ecef_ = libra::MakeIdentityMatrix<3>(); + dcm_j2000_to_ecef_ = math::MakeIdentityMatrix<3>(); dcm_teme_to_ecef_ = dcm_j2000_to_ecef_; InitializeParameters(); } @@ -105,7 +105,7 @@ void EarthRotation::InitializeParameters() { c_z_rad_[2] = 0.018203 * libra::arcsec_to_rad; // [rad/century^3] } else { // If the rotation mode is neither Simple nor Full, disable the rotation calculation and make the DCM a unit matrix - dcm_j2000_to_ecef_ = libra::MakeIdentityMatrix<3>(); + dcm_j2000_to_ecef_ = math::MakeIdentityMatrix<3>(); } } @@ -154,7 +154,7 @@ void EarthRotation::Update(const double julian_date) { } } -math::Matrix<3, 3> EarthRotation::AxialRotation(const double gast_rad) { return libra::MakeRotationMatrixZ(gast_rad); } +math::Matrix<3, 3> EarthRotation::AxialRotation(const double gast_rad) { return math::MakeRotationMatrixZ(gast_rad); } math::Matrix<3, 3> EarthRotation::Nutation(const double (&t_tt_century)[4]) { // Mean obliquity of the ecliptic @@ -208,9 +208,9 @@ math::Matrix<3, 3> EarthRotation::Nutation(const double (&t_tt_century)[4]) { c_d_epsilon_rad_[7] * cos(2 * l_rad + lm_rad) + c_d_epsilon_rad_[8] * cos(2 * ld_rad - ls_rad); double epsi_mod_rad = epsilon_rad_ + d_epsilon_rad_; - math::Matrix<3, 3> x_epsi_1st = libra::MakeRotationMatrixX(epsilon_rad_); - math::Matrix<3, 3> z_d_psi = libra::MakeRotationMatrixZ(-d_psi_rad_); - math::Matrix<3, 3> x_epsi_2nd = libra::MakeRotationMatrixX(-epsi_mod_rad); + math::Matrix<3, 3> x_epsi_1st = math::MakeRotationMatrixX(epsilon_rad_); + math::Matrix<3, 3> z_d_psi = math::MakeRotationMatrixZ(-d_psi_rad_); + math::Matrix<3, 3> x_epsi_2nd = math::MakeRotationMatrixX(-epsi_mod_rad); math::Matrix<3, 3> dcm_nutation; dcm_nutation = x_epsi_2nd * z_d_psi * x_epsi_1st; @@ -234,9 +234,9 @@ math::Matrix<3, 3> EarthRotation::Precession(const double (&t_tt_century)[4]) { } // Develop transformation matrix - math::Matrix<3, 3> z_zeta = libra::MakeRotationMatrixZ(-zeta_rad); - math::Matrix<3, 3> y_theta = libra::MakeRotationMatrixY(theta_rad); - math::Matrix<3, 3> z_z = libra::MakeRotationMatrixZ(-z_rad); + math::Matrix<3, 3> z_zeta = math::MakeRotationMatrixZ(-zeta_rad); + math::Matrix<3, 3> y_theta = math::MakeRotationMatrixY(theta_rad); + math::Matrix<3, 3> z_z = math::MakeRotationMatrixZ(-z_rad); math::Matrix<3, 3> dcm_precession; dcm_precession = z_z * y_theta * z_zeta; diff --git a/src/environment/global/moon_rotation.cpp b/src/environment/global/moon_rotation.cpp index b1a28dcf4..1314de4f7 100644 --- a/src/environment/global/moon_rotation.cpp +++ b/src/environment/global/moon_rotation.cpp @@ -12,7 +12,7 @@ MoonRotation::MoonRotation(const CelestialInformation& celestial_information, MoonRotationMode mode) : mode_(mode), celestial_information_(celestial_information) { - dcm_j2000_to_mcmf_ = libra::MakeIdentityMatrix<3>(); + dcm_j2000_to_mcmf_ = math::MakeIdentityMatrix<3>(); } void MoonRotation::Update(const SimulationTime& simulation_time) { @@ -32,7 +32,7 @@ void MoonRotation::Update(const SimulationTime& simulation_time) { } } } else { - dcm_j2000_to_mcmf_ = libra::MakeIdentityMatrix<3>(); + dcm_j2000_to_mcmf_ = math::MakeIdentityMatrix<3>(); } } diff --git a/src/math_physics/math/test_matrix.cpp b/src/math_physics/math/test_matrix.cpp index a3027fc7c..53dee0b75 100644 --- a/src/math_physics/math/test_matrix.cpp +++ b/src/math_physics/math/test_matrix.cpp @@ -344,7 +344,7 @@ TEST(Matrix, Transpose) { TEST(Matrix, MakeIdentityMatrix) { const size_t N = 6; - math::Matrix m = libra::MakeIdentityMatrix(); + math::Matrix m = math::MakeIdentityMatrix(); for (size_t r = 0; r < N; r++) { for (size_t c = 0; c < N; c++) { @@ -364,7 +364,7 @@ TEST(Matrix, MakeRotationMatrixX) { const size_t N = 3; double theta_rad = -45.0 * math::deg_to_rad; - math::Matrix m = libra::MakeRotationMatrixX(theta_rad); + math::Matrix m = math::MakeRotationMatrixX(theta_rad); EXPECT_DOUBLE_EQ(1.0, m[0][0]); EXPECT_DOUBLE_EQ(0.0, m[0][1]); @@ -384,7 +384,7 @@ TEST(Matrix, MakeRotationMatrixY) { const size_t N = 3; double theta_rad = 120.0 * math::deg_to_rad; - math::Matrix m = libra::MakeRotationMatrixY(theta_rad); + math::Matrix m = math::MakeRotationMatrixY(theta_rad); EXPECT_DOUBLE_EQ(cos(theta_rad), m[0][0]); EXPECT_DOUBLE_EQ(0.0, m[0][1]); @@ -404,7 +404,7 @@ TEST(Matrix, MakeRotationMatrixZ) { const size_t N = 3; double theta_rad = 30.0 * math::deg_to_rad; - math::Matrix m = libra::MakeRotationMatrixZ(theta_rad); + math::Matrix m = math::MakeRotationMatrixZ(theta_rad); EXPECT_DOUBLE_EQ(cos(theta_rad), m[0][0]); EXPECT_DOUBLE_EQ(sin(theta_rad), m[0][1]); diff --git a/src/math_physics/orbit/kepler_orbit.cpp b/src/math_physics/orbit/kepler_orbit.cpp index 7bb6de1f0..f3425450d 100644 --- a/src/math_physics/orbit/kepler_orbit.cpp +++ b/src/math_physics/orbit/kepler_orbit.cpp @@ -22,9 +22,9 @@ void KeplerOrbit::CalcConstKeplerMotion() { mean_motion_rad_s_ = sqrt(gravity_constant_m3_s2_ / a_m3); // DCM - math::Matrix<3, 3> dcm_arg_perigee = libra::MakeRotationMatrixZ(-1.0 * oe_.GetArgPerigee_rad()); - math::Matrix<3, 3> dcm_inclination = libra::MakeRotationMatrixX(-1.0 * oe_.GetInclination_rad()); - math::Matrix<3, 3> dcm_raan = libra::MakeRotationMatrixZ(-1.0 * oe_.GetRaan_rad()); + math::Matrix<3, 3> dcm_arg_perigee = math::MakeRotationMatrixZ(-1.0 * oe_.GetArgPerigee_rad()); + math::Matrix<3, 3> dcm_inclination = math::MakeRotationMatrixX(-1.0 * oe_.GetInclination_rad()); + math::Matrix<3, 3> dcm_raan = math::MakeRotationMatrixZ(-1.0 * oe_.GetRaan_rad()); math::Matrix<3, 3> dcm_inc_arg = dcm_inclination * dcm_arg_perigee; dcm_inplane_to_i_ = dcm_raan * dcm_inc_arg; } diff --git a/src/math_physics/planet_rotation/moon_rotation_utilities.cpp b/src/math_physics/planet_rotation/moon_rotation_utilities.cpp index 71ac96722..46cfedec1 100644 --- a/src/math_physics/planet_rotation/moon_rotation_utilities.cpp +++ b/src/math_physics/planet_rotation/moon_rotation_utilities.cpp @@ -42,7 +42,7 @@ math::Matrix<3, 3> CalcDcmMeanEarthToPrincipalAxis() { const double theta_z_rad = 67.573 * libra::arcsec_to_rad; math::Matrix<3, 3> dcm_me_pa = - libra::MakeRotationMatrixZ(theta_z_rad) * libra::MakeRotationMatrixY(theta_y_rad) * libra::MakeRotationMatrixX(theta_x_rad); + math::MakeRotationMatrixZ(theta_z_rad) * math::MakeRotationMatrixY(theta_y_rad) * math::MakeRotationMatrixX(theta_x_rad); return dcm_me_pa; } From 063a6851effb2ed63cec6d784b9070f2b546118b Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 20 Jul 2024 09:40:25 +0900 Subject: [PATCH 228/456] Replace libra::rpm_to to math::rpm_to --- src/components/real/aocs/reaction_wheel.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/components/real/aocs/reaction_wheel.cpp b/src/components/real/aocs/reaction_wheel.cpp index 3bb98d34a..fd80f7dbd 100644 --- a/src/components/real/aocs/reaction_wheel.cpp +++ b/src/components/real/aocs/reaction_wheel.cpp @@ -31,7 +31,7 @@ ReactionWheel::ReactionWheel(const int prescaler, ClockGenerator* clock_generato stop_limit_angular_velocity_rad_s_(stop_limit_angular_velocity_rad_s), drive_flag_(drive_flag), velocity_limit_rpm_(max_velocity_rpm_), - ode_angular_velocity_(step_width_s_, velocity_limit_rpm_ * libra::rpm_to_rad_s, init_velocity_rad_s), + ode_angular_velocity_(step_width_s_, velocity_limit_rpm_ * math::rpm_to_rad_s, init_velocity_rad_s), rw_jitter_(rw_jitter), is_calculated_jitter_(is_calc_jitter_enabled), is_logged_jitter_(is_log_jitter_enabled) { @@ -58,7 +58,7 @@ ReactionWheel::ReactionWheel(const int prescaler, ClockGenerator* clock_generato stop_limit_angular_velocity_rad_s_(stop_limit_angular_velocity_rad_s), drive_flag_(drive_flag), velocity_limit_rpm_(max_velocity_rpm_), - ode_angular_velocity_(step_width_s, velocity_limit_rpm_ * libra::rpm_to_rad_s, init_velocity_rad_s), + ode_angular_velocity_(step_width_s, velocity_limit_rpm_ * math::rpm_to_rad_s, init_velocity_rad_s), rw_jitter_(rw_jitter), is_calculated_jitter_(is_calc_jitter_enabled), is_logged_jitter_(is_log_jitter_enabled) { @@ -188,7 +188,7 @@ void ReactionWheel::SetVelocityLimit_rpm(const double velocity_limit_rpm) { } else { velocity_limit_rpm_ = velocity_limit_rpm; } - ode_angular_velocity_.SetAngularVelocityLimit_rad_s(velocity_limit_rpm_ * libra::rpm_to_rad_s); + ode_angular_velocity_.SetAngularVelocityLimit_rad_s(velocity_limit_rpm_ * math::rpm_to_rad_s); return; } From f31a92d1427c4a7737776a5b0004aa3090b8bdeb Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 20 Jul 2024 09:41:04 +0900 Subject: [PATCH 229/456] Replace libra::pi_2 to math::pi_2 --- src/components/real/aocs/sun_sensor.cpp | 6 +++--- src/components/real/mission/telescope.cpp | 4 ++-- src/math_physics/geodesy/geodetic_position.cpp | 2 +- src/math_physics/math/test_interpolation.cpp | 14 +++++++------- 4 files changed, 13 insertions(+), 13 deletions(-) diff --git a/src/components/real/aocs/sun_sensor.cpp b/src/components/real/aocs/sun_sensor.cpp index 2f3eeb29b..d4432496b 100644 --- a/src/components/real/aocs/sun_sensor.cpp +++ b/src/components/real/aocs/sun_sensor.cpp @@ -115,7 +115,7 @@ void SunSensor::CalcSolarIlluminance() { math::Vector<3> sun_direction_c = sun_direction_true_c_.CalcNormalizedVector(); double sun_angle_ = acos(sun_direction_c[2]); - if (sun_angle_ > libra::pi_2) { + if (sun_angle_ > math::pi_2) { solar_illuminance_W_m2_ = 0.0; return; } @@ -126,8 +126,8 @@ void SunSensor::CalcSolarIlluminance() { } double SunSensor::TanRange(double x) { - if (x > libra::pi_2) x = math::pi - x; - if (x < -libra::pi_2) x = -math::pi - x; + if (x > math::pi_2) x = math::pi - x; + if (x < -math::pi_2) x = -math::pi - x; return x; } diff --git a/src/components/real/mission/telescope.cpp b/src/components/real/mission/telescope.cpp index f08be211a..f04989be3 100644 --- a/src/components/real/mission/telescope.cpp +++ b/src/components/real/mission/telescope.cpp @@ -38,8 +38,8 @@ Telescope::Telescope(ClockGenerator* clock_generator, const math::Quaternion& qu x_field_of_view_rad = x_number_of_pix_ * x_fov_per_pix_; y_field_of_view_rad = y_number_of_pix_ * y_fov_per_pix_; - assert(x_field_of_view_rad < libra::pi_2); // Avoid the case that the field of view is over 90 degrees - assert(y_field_of_view_rad < libra::pi_2); + assert(x_field_of_view_rad < math::pi_2); // Avoid the case that the field of view is over 90 degrees + assert(y_field_of_view_rad < math::pi_2); sight_direction_c_ = Vector<3>(0); sight_direction_c_[0] = 1; // (1,0,0) at component frame, Sight direction vector diff --git a/src/math_physics/geodesy/geodetic_position.cpp b/src/math_physics/geodesy/geodetic_position.cpp index 1508a796a..11b453cf6 100644 --- a/src/math_physics/geodesy/geodetic_position.cpp +++ b/src/math_physics/geodesy/geodetic_position.cpp @@ -44,7 +44,7 @@ void GeodeticPosition::UpdateFromEcef(const math::Vector<3> position_ecef_m) { altitude_m_ = r_m / cos(lat_tmp_rad) - c * earth_radius_m; - if (lat_tmp_rad > libra::pi_2) lat_tmp_rad -= math::tau; + if (lat_tmp_rad > math::pi_2) lat_tmp_rad -= math::tau; latitude_rad_ = lat_tmp_rad; diff --git a/src/math_physics/math/test_interpolation.cpp b/src/math_physics/math/test_interpolation.cpp index b730fb962..da6ee990b 100644 --- a/src/math_physics/math/test_interpolation.cpp +++ b/src/math_physics/math/test_interpolation.cpp @@ -45,7 +45,7 @@ TEST(Interpolation, PolynomialQuadraticFunction) { * @brief Test for sin function with trigonometric interpolation */ TEST(Interpolation, TrigonometricSinFunction) { - std::vector x{0.0, libra::pi_2, math::pi, math::pi * 3.0 / 2.0, math::tau}; + std::vector x{0.0, math::pi_2, math::pi, math::pi * 3.0 / 2.0, math::tau}; std::vector y; for (size_t i = 0; i < x.size(); i++) { y.push_back(sin(x[i])); @@ -62,16 +62,16 @@ TEST(Interpolation, TrigonometricSinFunction) { * @brief Test for cos function with trigonometric interpolation */ TEST(Interpolation, TrigonometricCosFunction) { - std::vector x{0.0, 0.3 * libra::pi_2, 0.6 * libra::pi_2, 0.9 * libra::pi_2, 1.2 * libra::pi_2}; + std::vector x{0.0, 0.3 * math::pi_2, 0.6 * math::pi_2, 0.9 * math::pi_2, 1.2 * math::pi_2}; std::vector y; for (size_t i = 0; i < x.size(); i++) { y.push_back(cos(x[i])); } libra::Interpolation interpolation(x, y); - double xx = 0.1 * libra::pi_2; + double xx = 0.1 * math::pi_2; EXPECT_NEAR(cos(xx), interpolation.CalcTrigonometric(xx), 1e-6); - xx = 0.8 * libra::pi_2; + xx = 0.8 * math::pi_2; EXPECT_NEAR(cos(xx), interpolation.CalcTrigonometric(xx), 1e-6); } @@ -79,16 +79,16 @@ TEST(Interpolation, TrigonometricCosFunction) { * @brief Test for cos function with trigonometric interpolation */ TEST(Interpolation, TrigonometricCosSinFunctionOddDegree) { - std::vector x{0.0, 0.3 * libra::pi_2, 0.6 * libra::pi_2, 0.9 * libra::pi_2, 1.2 * libra::pi_2, 1.5 * libra::pi_2}; + std::vector x{0.0, 0.3 * math::pi_2, 0.6 * math::pi_2, 0.9 * math::pi_2, 1.2 * math::pi_2, 1.5 * math::pi_2}; std::vector y; for (size_t i = 0; i < x.size(); i++) { y.push_back(cos(x[i]) + sin(x[i])); } libra::Interpolation interpolation(x, y); - double xx = 0.1 * libra::pi_2; + double xx = 0.1 * math::pi_2; EXPECT_NEAR(cos(xx) + sin(xx), interpolation.CalcTrigonometric(xx), 1e-6); - xx = 0.8 * libra::pi_2; + xx = 0.8 * math::pi_2; EXPECT_NEAR(cos(xx) + sin(xx), interpolation.CalcTrigonometric(xx), 1e-6); } From b6ff06e9d59cfdd83f184839e324be328ce251b7 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 20 Jul 2024 09:41:47 +0900 Subject: [PATCH 230/456] Replace libra::arcsec to math::arcsec --- src/environment/global/earth_rotation.cpp | 102 +++++++++--------- .../moon_rotation_utilities.cpp | 6 +- 2 files changed, 54 insertions(+), 54 deletions(-) diff --git a/src/environment/global/earth_rotation.cpp b/src/environment/global/earth_rotation.cpp index 321e82df0..dd552f04d 100644 --- a/src/environment/global/earth_rotation.cpp +++ b/src/environment/global/earth_rotation.cpp @@ -33,76 +33,76 @@ void EarthRotation::InitializeParameters() { // Coefficients to compute mean obliquity of the ecliptic // The actual unit of the coefficients are [rad/century^i], where i is the index of the array c_epsilon_rad_[0] = 23.4392911 * math::deg_to_rad; // [rad] - c_epsilon_rad_[1] = -46.8150000 * libra::arcsec_to_rad; // [rad/century] - c_epsilon_rad_[2] = -5.9000e-4 * libra::arcsec_to_rad; // [rad/century^2] - c_epsilon_rad_[3] = 1.8130e-3 * libra::arcsec_to_rad; // [rad/century^3] + c_epsilon_rad_[1] = -46.8150000 * math::arcsec_to_rad; // [rad/century] + c_epsilon_rad_[2] = -5.9000e-4 * math::arcsec_to_rad; // [rad/century^2] + c_epsilon_rad_[3] = 1.8130e-3 * math::arcsec_to_rad; // [rad/century^3] // Coefficients to compute Delaunay angles // The actual unit of the coefficients are [rad/century^i], where i is the index of the array c_lm_rad_[0] = 134.96340251 * math::deg_to_rad; // [rad] - c_lm_rad_[1] = 1717915923.21780000 * libra::arcsec_to_rad; // [rad/century] - c_lm_rad_[2] = 31.87920000 * libra::arcsec_to_rad; // [rad/century^2] - c_lm_rad_[3] = 0.05163500 * libra::arcsec_to_rad; // [rad/century^3] - c_lm_rad_[4] = -0.00024470 * libra::arcsec_to_rad; // [rad/century^4] + c_lm_rad_[1] = 1717915923.21780000 * math::arcsec_to_rad; // [rad/century] + c_lm_rad_[2] = 31.87920000 * math::arcsec_to_rad; // [rad/century^2] + c_lm_rad_[3] = 0.05163500 * math::arcsec_to_rad; // [rad/century^3] + c_lm_rad_[4] = -0.00024470 * math::arcsec_to_rad; // [rad/century^4] c_ls_rad_[0] = 357.52910918 * math::deg_to_rad; // [rad] - c_ls_rad_[1] = 129596581.04810000 * libra::arcsec_to_rad; // [rad/century] - c_ls_rad_[2] = -0.55320000 * libra::arcsec_to_rad; // [rad/century^2] - c_ls_rad_[3] = 0.00013600 * libra::arcsec_to_rad; // [rad/century^3] - c_ls_rad_[4] = -0.00001149 * libra::arcsec_to_rad; // [rad/century^4] + c_ls_rad_[1] = 129596581.04810000 * math::arcsec_to_rad; // [rad/century] + c_ls_rad_[2] = -0.55320000 * math::arcsec_to_rad; // [rad/century^2] + c_ls_rad_[3] = 0.00013600 * math::arcsec_to_rad; // [rad/century^3] + c_ls_rad_[4] = -0.00001149 * math::arcsec_to_rad; // [rad/century^4] c_f_rad_[0] = 93.27209062 * math::deg_to_rad; // [rad] - c_f_rad_[1] = 1739527262.84780000 * libra::arcsec_to_rad; // [rad/century] - c_f_rad_[2] = -12.75120000 * libra::arcsec_to_rad; // [rad/century^2] - c_f_rad_[3] = -0.00103700 * libra::arcsec_to_rad; // [rad/century^3] - c_f_rad_[4] = 0.00000417 * libra::arcsec_to_rad; // [rad/century^4] + c_f_rad_[1] = 1739527262.84780000 * math::arcsec_to_rad; // [rad/century] + c_f_rad_[2] = -12.75120000 * math::arcsec_to_rad; // [rad/century^2] + c_f_rad_[3] = -0.00103700 * math::arcsec_to_rad; // [rad/century^3] + c_f_rad_[4] = 0.00000417 * math::arcsec_to_rad; // [rad/century^4] c_d_rad_[0] = 297.85019547 * math::deg_to_rad; // [rad] - c_d_rad_[1] = 1602961601.20900000 * libra::arcsec_to_rad; // [rad/century] - c_d_rad_[2] = -6.37060000 * libra::arcsec_to_rad; // [rad/century^2] - c_d_rad_[3] = 0.00659300 * libra::arcsec_to_rad; // [rad/century^3] - c_d_rad_[4] = -0.00003169 * libra::arcsec_to_rad; // [rad/century^4] + c_d_rad_[1] = 1602961601.20900000 * math::arcsec_to_rad; // [rad/century] + c_d_rad_[2] = -6.37060000 * math::arcsec_to_rad; // [rad/century^2] + c_d_rad_[3] = 0.00659300 * math::arcsec_to_rad; // [rad/century^3] + c_d_rad_[4] = -0.00003169 * math::arcsec_to_rad; // [rad/century^4] c_o_rad_[0] = 125.04455501 * math::deg_to_rad; // [rad] - c_o_rad_[1] = -6962890.54310000 * libra::arcsec_to_rad; // [rad/century] - c_o_rad_[2] = 7.47220000 * libra::arcsec_to_rad; // [rad/century^2] - c_o_rad_[3] = 0.00770200 * libra::arcsec_to_rad; // [rad/century^3] - c_o_rad_[4] = -0.00005939 * libra::arcsec_to_rad; // [rad/century^4] + c_o_rad_[1] = -6962890.54310000 * math::arcsec_to_rad; // [rad/century] + c_o_rad_[2] = 7.47220000 * math::arcsec_to_rad; // [rad/century^2] + c_o_rad_[3] = 0.00770200 * math::arcsec_to_rad; // [rad/century^3] + c_o_rad_[4] = -0.00005939 * math::arcsec_to_rad; // [rad/century^4] // Coefficients to compute nutation angles - c_d_epsilon_rad_[0] = 9.2050 * libra::arcsec_to_rad; // [rad] - c_d_epsilon_rad_[1] = 0.5730 * libra::arcsec_to_rad; // [rad] - c_d_epsilon_rad_[2] = -0.0900 * libra::arcsec_to_rad; // [rad] - c_d_epsilon_rad_[3] = 0.0980 * libra::arcsec_to_rad; // [rad] - c_d_epsilon_rad_[4] = 0.0070 * libra::arcsec_to_rad; // [rad] - c_d_epsilon_rad_[5] = -0.0010 * libra::arcsec_to_rad; // [rad] - c_d_epsilon_rad_[6] = 0.0220 * libra::arcsec_to_rad; // [rad] - c_d_epsilon_rad_[7] = 0.0130 * libra::arcsec_to_rad; // [rad] - c_d_epsilon_rad_[8] = -0.0100 * libra::arcsec_to_rad; // [rad] - - c_d_psi_rad_[0] = -17.2060 * libra::arcsec_to_rad; // [rad] - c_d_psi_rad_[1] = -1.3170 * libra::arcsec_to_rad; // [rad] - c_d_psi_rad_[2] = 0.2070 * libra::arcsec_to_rad; // [rad] - c_d_psi_rad_[3] = -0.2280 * libra::arcsec_to_rad; // [rad] - c_d_psi_rad_[4] = 0.1480 * libra::arcsec_to_rad; // [rad] - c_d_psi_rad_[5] = 0.0710 * libra::arcsec_to_rad; // [rad] - c_d_psi_rad_[6] = -0.0520 * libra::arcsec_to_rad; // [rad] - c_d_psi_rad_[7] = -0.0300 * libra::arcsec_to_rad; // [rad] - c_d_psi_rad_[8] = 0.0220 * libra::arcsec_to_rad; // [rad] + c_d_epsilon_rad_[0] = 9.2050 * math::arcsec_to_rad; // [rad] + c_d_epsilon_rad_[1] = 0.5730 * math::arcsec_to_rad; // [rad] + c_d_epsilon_rad_[2] = -0.0900 * math::arcsec_to_rad; // [rad] + c_d_epsilon_rad_[3] = 0.0980 * math::arcsec_to_rad; // [rad] + c_d_epsilon_rad_[4] = 0.0070 * math::arcsec_to_rad; // [rad] + c_d_epsilon_rad_[5] = -0.0010 * math::arcsec_to_rad; // [rad] + c_d_epsilon_rad_[6] = 0.0220 * math::arcsec_to_rad; // [rad] + c_d_epsilon_rad_[7] = 0.0130 * math::arcsec_to_rad; // [rad] + c_d_epsilon_rad_[8] = -0.0100 * math::arcsec_to_rad; // [rad] + + c_d_psi_rad_[0] = -17.2060 * math::arcsec_to_rad; // [rad] + c_d_psi_rad_[1] = -1.3170 * math::arcsec_to_rad; // [rad] + c_d_psi_rad_[2] = 0.2070 * math::arcsec_to_rad; // [rad] + c_d_psi_rad_[3] = -0.2280 * math::arcsec_to_rad; // [rad] + c_d_psi_rad_[4] = 0.1480 * math::arcsec_to_rad; // [rad] + c_d_psi_rad_[5] = 0.0710 * math::arcsec_to_rad; // [rad] + c_d_psi_rad_[6] = -0.0520 * math::arcsec_to_rad; // [rad] + c_d_psi_rad_[7] = -0.0300 * math::arcsec_to_rad; // [rad] + c_d_psi_rad_[8] = 0.0220 * math::arcsec_to_rad; // [rad] // Coefficients to compute precession angle // The actual unit of the coefficients are [rad/century^i], where i is the index of the array - c_zeta_rad_[0] = 2306.218100 * libra::arcsec_to_rad; // [rad/century] - c_zeta_rad_[1] = 0.301880 * libra::arcsec_to_rad; // [rad/century^2] - c_zeta_rad_[2] = 0.017998 * libra::arcsec_to_rad; // [rad/century^3] + c_zeta_rad_[0] = 2306.218100 * math::arcsec_to_rad; // [rad/century] + c_zeta_rad_[1] = 0.301880 * math::arcsec_to_rad; // [rad/century^2] + c_zeta_rad_[2] = 0.017998 * math::arcsec_to_rad; // [rad/century^3] - c_theta_rad_[0] = 2004.310900 * libra::arcsec_to_rad; // [rad/century] - c_theta_rad_[1] = -0.426650 * libra::arcsec_to_rad; // [rad/century^2] - c_theta_rad_[2] = -0.041833 * libra::arcsec_to_rad; // [rad/century^3] + c_theta_rad_[0] = 2004.310900 * math::arcsec_to_rad; // [rad/century] + c_theta_rad_[1] = -0.426650 * math::arcsec_to_rad; // [rad/century^2] + c_theta_rad_[2] = -0.041833 * math::arcsec_to_rad; // [rad/century^3] - c_z_rad_[0] = 2306.218100 * libra::arcsec_to_rad; // [rad/century] - c_z_rad_[1] = 1.094680 * libra::arcsec_to_rad; // [rad/century^2] - c_z_rad_[2] = 0.018203 * libra::arcsec_to_rad; // [rad/century^3] + c_z_rad_[0] = 2306.218100 * math::arcsec_to_rad; // [rad/century] + c_z_rad_[1] = 1.094680 * math::arcsec_to_rad; // [rad/century^2] + c_z_rad_[2] = 0.018203 * math::arcsec_to_rad; // [rad/century^3] } else { // If the rotation mode is neither Simple nor Full, disable the rotation calculation and make the DCM a unit matrix dcm_j2000_to_ecef_ = math::MakeIdentityMatrix<3>(); diff --git a/src/math_physics/planet_rotation/moon_rotation_utilities.cpp b/src/math_physics/planet_rotation/moon_rotation_utilities.cpp index 46cfedec1..f4f772526 100644 --- a/src/math_physics/planet_rotation/moon_rotation_utilities.cpp +++ b/src/math_physics/planet_rotation/moon_rotation_utilities.cpp @@ -37,9 +37,9 @@ math::Matrix<3, 3> CalcDcmEciToMeanEarth(const math::Vector<3> moon_position_eci math::Matrix<3, 3> CalcDcmMeanEarthToPrincipalAxis() { // The correction values between DE430 Principal Axis and Mean Earth frame - const double theta_x_rad = 0.285 * libra::arcsec_to_rad; - const double theta_y_rad = 78.580 * libra::arcsec_to_rad; - const double theta_z_rad = 67.573 * libra::arcsec_to_rad; + const double theta_x_rad = 0.285 * math::arcsec_to_rad; + const double theta_y_rad = 78.580 * math::arcsec_to_rad; + const double theta_z_rad = 67.573 * math::arcsec_to_rad; math::Matrix<3, 3> dcm_me_pa = math::MakeRotationMatrixZ(theta_z_rad) * math::MakeRotationMatrixY(theta_y_rad) * math::MakeRotationMatrixX(theta_x_rad); From cbe9fe9168f06b0ae6cf945c874202d03d596145 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 20 Jul 2024 09:42:15 +0900 Subject: [PATCH 231/456] Replace libra::OuterProduct to math::OuterProduct --- src/components/real/aocs/reaction_wheel.cpp | 2 +- src/dynamics/attitude/attitude_rk4.cpp | 2 +- .../attitude/ode_attitude_with_cantilever_vibration.hpp | 2 +- src/math_physics/planet_rotation/moon_rotation_utilities.cpp | 4 ++-- 4 files changed, 5 insertions(+), 5 deletions(-) diff --git a/src/components/real/aocs/reaction_wheel.cpp b/src/components/real/aocs/reaction_wheel.cpp index fd80f7dbd..54ab6149e 100644 --- a/src/components/real/aocs/reaction_wheel.cpp +++ b/src/components/real/aocs/reaction_wheel.cpp @@ -153,7 +153,7 @@ math::Vector<3> ReactionWheel::CalcTorque() { const math::Vector<3> ReactionWheel::GetOutputTorque_b_Nm() const { if (is_calculated_jitter_) { // Add jitter_force_b_N_-derived torque and jitter_torque_b_Nm_ to output_torque_b - return output_torque_b_Nm_ - libra::OuterProduct(position_b_m_, rw_jitter_.GetJitterForce_b_N()) - rw_jitter_.GetJitterTorque_b_Nm(); + return output_torque_b_Nm_ - math::OuterProduct(position_b_m_, rw_jitter_.GetJitterForce_b_N()) - rw_jitter_.GetJitterTorque_b_Nm(); } else { return output_torque_b_Nm_; } diff --git a/src/dynamics/attitude/attitude_rk4.cpp b/src/dynamics/attitude/attitude_rk4.cpp index 4ba0a33dc..3f20b3b82 100644 --- a/src/dynamics/attitude/attitude_rk4.cpp +++ b/src/dynamics/attitude/attitude_rk4.cpp @@ -67,7 +67,7 @@ math::Vector<7> AttitudeRk4::AttitudeDynamicsAndKinematics(math::Vector<7> x, do } math::Vector<3> angular_momentum_total_b_Nms = (previous_inertia_tensor_kgm2_ * omega_b) + angular_momentum_reaction_wheel_b_Nms_; math::Vector<3> rhs = - inverse_inertia_tensor_ * (torque_b_Nm_ - libra::OuterProduct(omega_b, angular_momentum_total_b_Nms) - torque_inertia_tensor_change_b_Nm_); + inverse_inertia_tensor_ * (torque_b_Nm_ - math::OuterProduct(omega_b, angular_momentum_total_b_Nms) - torque_inertia_tensor_change_b_Nm_); for (int i = 0; i < 3; ++i) { dxdt[i] = rhs[i]; diff --git a/src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp b/src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp index 88b7193ee..b5854b344 100644 --- a/src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp +++ b/src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp @@ -82,7 +82,7 @@ class AttitudeWithCantileverVibrationOde : public InterfaceOde<13> { SetPhysicalQuantitiesFromState(state, omega_b_rad_s, omega_cantilever_rad_s, quaternion_i2b, euler_angle_cantilever_rad); math::Vector<3> angular_momentum_total_b_Nms = (previous_inertia_tensor_kgm2_ * omega_b_rad_s) + angular_momentum_reaction_wheel_b_Nms_; - math::Vector<3> net_torque_b_Nm = torque_b_Nm_ - libra::OuterProduct(omega_b_rad_s, angular_momentum_total_b_Nms) - torque_inertia_tensor_b_Nm_; + math::Vector<3> net_torque_b_Nm = torque_b_Nm_ - math::OuterProduct(omega_b_rad_s, angular_momentum_total_b_Nms) - torque_inertia_tensor_b_Nm_; math::Vector<3> angular_accelaration_cantilever_rad_s2 = -(inverse_equivalent_inertia_tensor_cantilever_ * diff --git a/src/math_physics/planet_rotation/moon_rotation_utilities.cpp b/src/math_physics/planet_rotation/moon_rotation_utilities.cpp index f4f772526..93a3ee2e5 100644 --- a/src/math_physics/planet_rotation/moon_rotation_utilities.cpp +++ b/src/math_physics/planet_rotation/moon_rotation_utilities.cpp @@ -20,10 +20,10 @@ math::Matrix<3, 3> CalcDcmEciToPrincipalAxis(const math::Vector<3> moon_position math::Matrix<3, 3> CalcDcmEciToMeanEarth(const math::Vector<3> moon_position_eci_m, const math::Vector<3> moon_velocity_eci_m_s) { math::Vector<3> me_ex_eci = -1.0 * moon_position_eci_m.CalcNormalizedVector(); - math::Vector<3> moon_orbit_norm = libra::OuterProduct(moon_position_eci_m, moon_velocity_eci_m_s); + math::Vector<3> moon_orbit_norm = math::OuterProduct(moon_position_eci_m, moon_velocity_eci_m_s); math::Vector<3> me_ez_eci = moon_orbit_norm.CalcNormalizedVector(); - math::Vector<3> me_ey_eci = libra::OuterProduct(me_ez_eci, me_ex_eci); + math::Vector<3> me_ey_eci = math::OuterProduct(me_ez_eci, me_ex_eci); math::Matrix<3, 3> dcm_eci_to_me; for (size_t i = 0; i < 3; i++) { From 3dd29405232aa6071a0cd6582300841921569638 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 20 Jul 2024 09:42:41 +0900 Subject: [PATCH 232/456] Replace libra::InnerProduct to math::InnerProduct --- src/dynamics/attitude/attitude.cpp | 2 +- src/math_physics/atmosphere/harris_priester_model.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/dynamics/attitude/attitude.cpp b/src/dynamics/attitude/attitude.cpp index e811828f9..461144660 100644 --- a/src/dynamics/attitude/attitude.cpp +++ b/src/dynamics/attitude/attitude.cpp @@ -54,7 +54,7 @@ void Attitude::CalcAngularMomentum(void) { angular_momentum_total_i_Nms_ = q_b2i.FrameConversion(angular_momentum_total_b_Nms_); angular_momentum_total_Nms_ = angular_momentum_total_i_Nms_.CalcNorm(); - kinetic_energy_J_ = 0.5 * libra::InnerProduct(angular_momentum_spacecraft_b_Nms_, angular_velocity_b_rad_s_); + kinetic_energy_J_ = 0.5 * math::InnerProduct(angular_momentum_spacecraft_b_Nms_, angular_velocity_b_rad_s_); } math::Matrix<4, 4> CalcAngularVelocityMatrix(math::Vector<3> angular_velocity_b_rad_s) { diff --git a/src/math_physics/atmosphere/harris_priester_model.cpp b/src/math_physics/atmosphere/harris_priester_model.cpp index 28bbce364..46c40c8d6 100644 --- a/src/math_physics/atmosphere/harris_priester_model.cpp +++ b/src/math_physics/atmosphere/harris_priester_model.cpp @@ -48,7 +48,7 @@ double CalcAirDensityWithHarrisPriester_kg_m3(const GeodeticPosition geodetic_po apex_direction[1] = cos(sun_dec_rad) * sin(apex_ra_rad); apex_direction[2] = sin(sun_dec_rad); - double beta_rad = libra::InnerProduct(position_ecef_m.CalcNormalizedVector(), apex_direction); + double beta_rad = math::InnerProduct(position_ecef_m.CalcNormalizedVector(), apex_direction); double cos_phi = pow(0.5 + beta_rad / 2.0, exponent_parameter / 2.0); // Find density coefficients from altitude From 40fe03bf18e671b74ef4b75e71b64b8e2dd22c43 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 20 Jul 2024 09:44:14 +0900 Subject: [PATCH 233/456] fix to add { --- src/math_physics/math/constants.hpp | 2 +- src/math_physics/math/interpolation.cpp | 2 +- src/math_physics/math/interpolation.hpp | 2 +- src/math_physics/math/matrix.hpp | 2 +- src/math_physics/math/matrix_template_functions.hpp | 2 +- src/math_physics/math/matrix_vector.hpp | 2 +- src/math_physics/math/matrix_vector_template_functions.hpp | 2 +- src/math_physics/math/ordinary_differential_equation.hpp | 2 +- .../math/ordinary_differential_equation_template_functions.hpp | 2 +- src/math_physics/math/quaternion.cpp | 2 +- src/math_physics/math/quaternion.hpp | 2 +- src/math_physics/math/s2e_math.cpp | 2 +- src/math_physics/math/s2e_math.hpp | 2 +- src/math_physics/math/vector.cpp | 2 +- src/math_physics/math/vector.hpp | 2 +- src/math_physics/math/vector_template_functions.hpp | 2 +- 16 files changed, 16 insertions(+), 16 deletions(-) diff --git a/src/math_physics/math/constants.hpp b/src/math_physics/math/constants.hpp index bcae848b9..b2ad81496 100644 --- a/src/math_physics/math/constants.hpp +++ b/src/math_physics/math/constants.hpp @@ -8,7 +8,7 @@ #include // std::is_floating_point_v -namespace math +namespace math { // instead of C++20 std::numbers inline namespace numbers { diff --git a/src/math_physics/math/interpolation.cpp b/src/math_physics/math/interpolation.cpp index 33cb52bd5..591974f57 100644 --- a/src/math_physics/math/interpolation.cpp +++ b/src/math_physics/math/interpolation.cpp @@ -7,7 +7,7 @@ #include -namespace math +namespace math { double Interpolation::CalcPolynomial(const double x) const { // Search nearest point diff --git a/src/math_physics/math/interpolation.hpp b/src/math_physics/math/interpolation.hpp index 166498ebd..be245eb15 100644 --- a/src/math_physics/math/interpolation.hpp +++ b/src/math_physics/math/interpolation.hpp @@ -9,7 +9,7 @@ #include #include -namespace math +namespace math { /** * @class Interpolation diff --git a/src/math_physics/math/matrix.hpp b/src/math_physics/math/matrix.hpp index c54052475..623f78c0f 100644 --- a/src/math_physics/math/matrix.hpp +++ b/src/math_physics/math/matrix.hpp @@ -9,7 +9,7 @@ #include // for size_t #include // for ostream, cout -namespace math +namespace math { /** * @class Matrix diff --git a/src/math_physics/math/matrix_template_functions.hpp b/src/math_physics/math/matrix_template_functions.hpp index 521114e3d..961cdf460 100644 --- a/src/math_physics/math/matrix_template_functions.hpp +++ b/src/math_physics/math/matrix_template_functions.hpp @@ -9,7 +9,7 @@ #include #include // for cout -namespace math +namespace math { template Matrix::Matrix(const T& n) { diff --git a/src/math_physics/math/matrix_vector.hpp b/src/math_physics/math/matrix_vector.hpp index 1ee34c228..6b9878e95 100644 --- a/src/math_physics/math/matrix_vector.hpp +++ b/src/math_physics/math/matrix_vector.hpp @@ -9,7 +9,7 @@ #include "matrix.hpp" #include "vector.hpp" -namespace math +namespace math { /** * @fn operator* diff --git a/src/math_physics/math/matrix_vector_template_functions.hpp b/src/math_physics/math/matrix_vector_template_functions.hpp index b1229fae5..19bc29a44 100644 --- a/src/math_physics/math/matrix_vector_template_functions.hpp +++ b/src/math_physics/math/matrix_vector_template_functions.hpp @@ -8,7 +8,7 @@ #include // for invalid_argument. -namespace math +namespace math { template Vector operator*(const Matrix& matrix, const Vector& vector) { diff --git a/src/math_physics/math/ordinary_differential_equation.hpp b/src/math_physics/math/ordinary_differential_equation.hpp index bde476279..a83c12a06 100644 --- a/src/math_physics/math/ordinary_differential_equation.hpp +++ b/src/math_physics/math/ordinary_differential_equation.hpp @@ -8,7 +8,7 @@ #include "./vector.hpp" -namespace math +namespace math { /** * @class OrdinaryDifferentialEquation diff --git a/src/math_physics/math/ordinary_differential_equation_template_functions.hpp b/src/math_physics/math/ordinary_differential_equation_template_functions.hpp index 9ba56d399..44b09dec8 100644 --- a/src/math_physics/math/ordinary_differential_equation_template_functions.hpp +++ b/src/math_physics/math/ordinary_differential_equation_template_functions.hpp @@ -5,7 +5,7 @@ #ifndef S2E_LIBRARY_MATH_ORDINARY_DIFFERENTIA_EQUATION_TEMPLATE_FUNCTIONS_HPP_ #define S2E_LIBRARY_MATH_ORDINARY_DIFFERENTIA_EQUATION_TEMPLATE_FUNCTIONS_HPP_ -namespace math +namespace math { template OrdinaryDifferentialEquation::OrdinaryDifferentialEquation(double step_width_s) diff --git a/src/math_physics/math/quaternion.cpp b/src/math_physics/math/quaternion.cpp index 512fff855..b52adbda9 100644 --- a/src/math_physics/math/quaternion.cpp +++ b/src/math_physics/math/quaternion.cpp @@ -9,7 +9,7 @@ #include #include -namespace math +namespace math { Quaternion::Quaternion(const Vector<3>& rotation_axis, const double rotation_angle_rad) { double half_rotation_angle_rad = rotation_angle_rad * 0.5; diff --git a/src/math_physics/math/quaternion.hpp b/src/math_physics/math/quaternion.hpp index c22cb7c66..36ac1aa76 100644 --- a/src/math_physics/math/quaternion.hpp +++ b/src/math_physics/math/quaternion.hpp @@ -9,7 +9,7 @@ #include "matrix.hpp" #include "vector.hpp" -namespace math +namespace math { /** * @class Quaternion diff --git a/src/math_physics/math/s2e_math.cpp b/src/math_physics/math/s2e_math.cpp index 0b52849d2..d86e2e42a 100644 --- a/src/math_physics/math/s2e_math.cpp +++ b/src/math_physics/math/s2e_math.cpp @@ -7,7 +7,7 @@ #include -namespace math +namespace math { double WrapTo2Pi(const double angle_rad) { double angle_out = angle_rad; if (angle_out < 0.0) { diff --git a/src/math_physics/math/s2e_math.hpp b/src/math_physics/math/s2e_math.hpp index d235bb023..51bad8843 100644 --- a/src/math_physics/math/s2e_math.hpp +++ b/src/math_physics/math/s2e_math.hpp @@ -8,7 +8,7 @@ #include -namespace math +namespace math { /** * @fn WrapTo2Pi diff --git a/src/math_physics/math/vector.cpp b/src/math_physics/math/vector.cpp index cde34ea28..089e77b00 100644 --- a/src/math_physics/math/vector.cpp +++ b/src/math_physics/math/vector.cpp @@ -7,7 +7,7 @@ #include "constants.hpp" -namespace math +namespace math { Vector<3, double> ConvertFrameOrthogonal2Polar(const Vector<3, double>& orthogonal) { Vector<3, double> polar; // vector on the polar coordinate polar.FillUp(0.0); diff --git a/src/math_physics/math/vector.hpp b/src/math_physics/math/vector.hpp index 08870ac7b..7bb1881a6 100644 --- a/src/math_physics/math/vector.hpp +++ b/src/math_physics/math/vector.hpp @@ -12,7 +12,7 @@ #define dot InnerProduct #define cross OuterProduct -namespace math +namespace math { /** * @class Vector * @brief Class for mathematical vector diff --git a/src/math_physics/math/vector_template_functions.hpp b/src/math_physics/math/vector_template_functions.hpp index 065ab4c1e..f546d459d 100644 --- a/src/math_physics/math/vector_template_functions.hpp +++ b/src/math_physics/math/vector_template_functions.hpp @@ -8,7 +8,7 @@ #include -namespace math +namespace math { template Vector::Vector(const T& n) { From 33b13186ad9dfb111ee0eb5a049f0f244e5bed0d Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 20 Jul 2024 09:45:21 +0900 Subject: [PATCH 234/456] Replace libra in comment --- src/math_physics/math/constants.hpp | 2 +- src/math_physics/math/interpolation.cpp | 2 +- src/math_physics/math/interpolation.hpp | 2 +- src/math_physics/math/matrix.hpp | 2 +- src/math_physics/math/matrix_template_functions.hpp | 2 +- src/math_physics/math/matrix_vector.hpp | 2 +- src/math_physics/math/matrix_vector_template_functions.hpp | 2 +- src/math_physics/math/ordinary_differential_equation.hpp | 2 +- .../math/ordinary_differential_equation_template_functions.hpp | 2 +- src/math_physics/math/quaternion.cpp | 2 +- src/math_physics/math/quaternion.hpp | 2 +- src/math_physics/math/s2e_math.cpp | 2 +- src/math_physics/math/s2e_math.hpp | 2 +- src/math_physics/math/vector.cpp | 2 +- src/math_physics/math/vector.hpp | 2 +- src/math_physics/math/vector_template_functions.hpp | 2 +- .../minimal_standard_linear_congruential_generator.hpp | 2 +- ...imal_standard_linear_congruential_generator_with_shuffle.hpp | 2 +- src/math_physics/randomization/normal_randomization.hpp | 2 +- 19 files changed, 19 insertions(+), 19 deletions(-) diff --git a/src/math_physics/math/constants.hpp b/src/math_physics/math/constants.hpp index b2ad81496..9e6744015 100644 --- a/src/math_physics/math/constants.hpp +++ b/src/math_physics/math/constants.hpp @@ -47,6 +47,6 @@ DEFINE_MATH_CONSTANT(rad_s_to_rpm, 60.0L / tau) /* rad/s to rpm */ #undef DEFINE_MATH_CONSTANT } // namespace numbers -} // namespace libra +} // namespace math #endif // S2E_LIBRARY_MATH_CONSTANTS_HPP_ diff --git a/src/math_physics/math/interpolation.cpp b/src/math_physics/math/interpolation.cpp index 591974f57..4415c4dd5 100644 --- a/src/math_physics/math/interpolation.cpp +++ b/src/math_physics/math/interpolation.cpp @@ -94,4 +94,4 @@ size_t Interpolation::FindNearestPoint(const double x) const { return output; } -} // namespace libra +} // namespace math diff --git a/src/math_physics/math/interpolation.hpp b/src/math_physics/math/interpolation.hpp index be245eb15..7620ff338 100644 --- a/src/math_physics/math/interpolation.hpp +++ b/src/math_physics/math/interpolation.hpp @@ -90,6 +90,6 @@ class Interpolation { size_t FindNearestPoint(const double x) const; }; -} // namespace libra +} // namespace math #endif // S2E_LIBRARY_MATH_INTERPOLATION_HPP_ diff --git a/src/math_physics/math/matrix.hpp b/src/math_physics/math/matrix.hpp index 623f78c0f..89429a8ca 100644 --- a/src/math_physics/math/matrix.hpp +++ b/src/math_physics/math/matrix.hpp @@ -244,7 +244,7 @@ Matrix MakeRotationMatrixY(const double& theta_rad); template Matrix MakeRotationMatrixZ(const double& theta_rad); -} // namespace libra +} // namespace math #include "matrix_template_functions.hpp" diff --git a/src/math_physics/math/matrix_template_functions.hpp b/src/math_physics/math/matrix_template_functions.hpp index 961cdf460..dbfa9aa1b 100644 --- a/src/math_physics/math/matrix_template_functions.hpp +++ b/src/math_physics/math/matrix_template_functions.hpp @@ -186,6 +186,6 @@ Matrix MakeRotationMatrixZ(const double& theta_rad) { return m; } -} // namespace libra +} // namespace math #endif // S2E_LIBRARY_MATH_MATRIX_TEMPLATE_FUNCTIONS_HPP_ diff --git a/src/math_physics/math/matrix_vector.hpp b/src/math_physics/math/matrix_vector.hpp index 6b9878e95..7c76a07f5 100644 --- a/src/math_physics/math/matrix_vector.hpp +++ b/src/math_physics/math/matrix_vector.hpp @@ -52,7 +52,7 @@ Matrix& LuDecomposition(Matrix& matrix, size_t index[]); template Vector& SolveLinearSystemWithLu(const Matrix& matrix, const size_t index[], Vector& vector); -} // namespace libra +} // namespace math #include "matrix_vector_template_functions.hpp" diff --git a/src/math_physics/math/matrix_vector_template_functions.hpp b/src/math_physics/math/matrix_vector_template_functions.hpp index 19bc29a44..d16f08a2a 100644 --- a/src/math_physics/math/matrix_vector_template_functions.hpp +++ b/src/math_physics/math/matrix_vector_template_functions.hpp @@ -139,6 +139,6 @@ Vector& SolveLinearSystemWithLu(const Matrix& a, const size_t index[], return b; } -} // namespace libra +} // namespace math #endif // S2E_LIBRARY_MATH_MATRIX_VECTOR_TEMPLATE_FUNCTIONS_HPP_ diff --git a/src/math_physics/math/ordinary_differential_equation.hpp b/src/math_physics/math/ordinary_differential_equation.hpp index a83c12a06..36ff4ae86 100644 --- a/src/math_physics/math/ordinary_differential_equation.hpp +++ b/src/math_physics/math/ordinary_differential_equation.hpp @@ -111,7 +111,7 @@ class OrdinaryDifferentialEquation { double step_width_s_; //!< Step width }; -} // namespace libra +} // namespace math #include "./ordinary_differential_equation_template_functions.hpp" diff --git a/src/math_physics/math/ordinary_differential_equation_template_functions.hpp b/src/math_physics/math/ordinary_differential_equation_template_functions.hpp index 44b09dec8..7c5dc3071 100644 --- a/src/math_physics/math/ordinary_differential_equation_template_functions.hpp +++ b/src/math_physics/math/ordinary_differential_equation_template_functions.hpp @@ -44,6 +44,6 @@ void OrdinaryDifferentialEquation::Update() { independent_variable_ += step_width_s_; // Update independent variable } -} // namespace libra +} // namespace math #endif // S2E_LIBRARY_MATH_ORDINARY_DIFFERENTIA_EQUATION_TEMPLATE_FUNCTIONS_HPP_ diff --git a/src/math_physics/math/quaternion.cpp b/src/math_physics/math/quaternion.cpp index b52adbda9..27dacc275 100644 --- a/src/math_physics/math/quaternion.cpp +++ b/src/math_physics/math/quaternion.cpp @@ -236,4 +236,4 @@ Vector<3> Quaternion::InverseFrameConversion(const Vector<3>& vector) const { Vector<4> Quaternion::ConvertToVector() { return quaternion_; } -} // namespace libra +} // namespace math diff --git a/src/math_physics/math/quaternion.hpp b/src/math_physics/math/quaternion.hpp index 36ac1aa76..76720f773 100644 --- a/src/math_physics/math/quaternion.hpp +++ b/src/math_physics/math/quaternion.hpp @@ -203,6 +203,6 @@ Quaternion operator*(const Quaternion& lhs, const Vector<3>& rhs); * @return Quaternion */ Quaternion operator*(const double& lhs, const Quaternion& rhs); -} // namespace libra +} // namespace math #endif // S2E_LIBRARY_MATH_QUATERNION_HPP_ diff --git a/src/math_physics/math/s2e_math.cpp b/src/math_physics/math/s2e_math.cpp index d86e2e42a..943e6da91 100644 --- a/src/math_physics/math/s2e_math.cpp +++ b/src/math_physics/math/s2e_math.cpp @@ -23,4 +23,4 @@ double WrapTo2Pi(const double angle_rad) { } return angle_out; } -} // namespace libra +} // namespace math diff --git a/src/math_physics/math/s2e_math.hpp b/src/math_physics/math/s2e_math.hpp index 51bad8843..fb7bbccb6 100644 --- a/src/math_physics/math/s2e_math.hpp +++ b/src/math_physics/math/s2e_math.hpp @@ -17,6 +17,6 @@ namespace math { */ double WrapTo2Pi(const double angle_rad); -} // namespace libra +} // namespace math #endif // S2E_LIBRARY_MATH_S2E_MATH_HPP_ diff --git a/src/math_physics/math/vector.cpp b/src/math_physics/math/vector.cpp index 089e77b00..88c214ba7 100644 --- a/src/math_physics/math/vector.cpp +++ b/src/math_physics/math/vector.cpp @@ -51,4 +51,4 @@ Vector<3, double> GenerateOrthogonalUnitVector(const Vector<3, double>& v) { return (orthogonal_vector); } } -} // namespace libra +} // namespace math diff --git a/src/math_physics/math/vector.hpp b/src/math_physics/math/vector.hpp index 7bb1881a6..5d290d87f 100644 --- a/src/math_physics/math/vector.hpp +++ b/src/math_physics/math/vector.hpp @@ -237,7 +237,7 @@ Vector<3, double> ConvertFrameOrthogonal2Polar(const Vector<3, double>& orthogon */ Vector<3, double> GenerateOrthogonalUnitVector(const Vector<3, double>& v); -} // namespace libra +} // namespace math #include "vector_template_functions.hpp" diff --git a/src/math_physics/math/vector_template_functions.hpp b/src/math_physics/math/vector_template_functions.hpp index f546d459d..80e51ce5f 100644 --- a/src/math_physics/math/vector_template_functions.hpp +++ b/src/math_physics/math/vector_template_functions.hpp @@ -146,6 +146,6 @@ double CalcAngleTwoVectors_rad(const Vector& v1, const Vector Date: Sat, 20 Jul 2024 09:46:29 +0900 Subject: [PATCH 235/456] Replace libra::Interpolation to math::Interpolation --- src/environment/global/gnss_satellites.cpp | 2 +- src/environment/global/gnss_satellites.hpp | 2 +- src/math_physics/math/test_interpolation.cpp | 12 ++++++------ src/math_physics/orbit/interpolation_orbit.cpp | 2 +- src/math_physics/orbit/interpolation_orbit.hpp | 2 +- 5 files changed, 10 insertions(+), 10 deletions(-) diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index f9daeaf7a..d68216ea2 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -43,7 +43,7 @@ void GnssSatellites::Initialize(const std::vector& sp3_files, con // Initialize clock std::vector temp; temp.assign(kNumberOfInterpolation, -1.0); - clock_.assign(number_of_calculated_gnss_satellites_, libra::Interpolation(temp, temp)); + clock_.assign(number_of_calculated_gnss_satellites_, math::Interpolation(temp, temp)); // Initialize interpolation for (size_t i = 0; i < kNumberOfInterpolation; i++) { diff --git a/src/environment/global/gnss_satellites.hpp b/src/environment/global/gnss_satellites.hpp index c9d475416..723cb75d9 100644 --- a/src/environment/global/gnss_satellites.hpp +++ b/src/environment/global/gnss_satellites.hpp @@ -121,7 +121,7 @@ class GnssSatellites : public ILoggable { EpochTime current_epoch_time_; //!< The last updated time std::vector orbit_; //!< GNSS satellite orbit with interpolation - std::vector clock_; //!< GNSS satellite clock offset with interpolation + std::vector clock_; //!< GNSS satellite clock offset with interpolation // References const EarthRotation& earth_rotation_; //!< Earth rotation diff --git a/src/math_physics/math/test_interpolation.cpp b/src/math_physics/math/test_interpolation.cpp index da6ee990b..674b12419 100644 --- a/src/math_physics/math/test_interpolation.cpp +++ b/src/math_physics/math/test_interpolation.cpp @@ -15,7 +15,7 @@ TEST(Interpolation, PolynomialLinearFunction) { std::vector x{0.0, 1.0, 2.0, 3.0, 4.0}; std::vector y{0.0, 2.0, 4.0, 6.0, 8.0}; - libra::Interpolation interpolation(x, y); + math::Interpolation interpolation(x, y); double xx = 0.4; EXPECT_DOUBLE_EQ(2.0 * xx, interpolation.CalcPolynomial(xx)); @@ -31,7 +31,7 @@ TEST(Interpolation, PolynomialLinearFunction) { TEST(Interpolation, PolynomialQuadraticFunction) { std::vector x{0.0, 1.0, 2.0, 3.0, 4.0}; std::vector y{0.0, 1.0, 4.0, 9.0, 16.0}; - libra::Interpolation interpolation(x, y); + math::Interpolation interpolation(x, y); double xx = 0.4; EXPECT_DOUBLE_EQ(pow(xx, 2.0), interpolation.CalcPolynomial(xx)); @@ -50,7 +50,7 @@ TEST(Interpolation, TrigonometricSinFunction) { for (size_t i = 0; i < x.size(); i++) { y.push_back(sin(x[i])); } - libra::Interpolation interpolation(x, y); + math::Interpolation interpolation(x, y); double xx = 0.4 * math::pi; EXPECT_DOUBLE_EQ(sin(xx), interpolation.CalcTrigonometric(xx)); @@ -67,7 +67,7 @@ TEST(Interpolation, TrigonometricCosFunction) { for (size_t i = 0; i < x.size(); i++) { y.push_back(cos(x[i])); } - libra::Interpolation interpolation(x, y); + math::Interpolation interpolation(x, y); double xx = 0.1 * math::pi_2; EXPECT_NEAR(cos(xx), interpolation.CalcTrigonometric(xx), 1e-6); @@ -84,7 +84,7 @@ TEST(Interpolation, TrigonometricCosSinFunctionOddDegree) { for (size_t i = 0; i < x.size(); i++) { y.push_back(cos(x[i]) + sin(x[i])); } - libra::Interpolation interpolation(x, y); + math::Interpolation interpolation(x, y); double xx = 0.1 * math::pi_2; EXPECT_NEAR(cos(xx) + sin(xx), interpolation.CalcTrigonometric(xx), 1e-6); @@ -98,7 +98,7 @@ TEST(Interpolation, TrigonometricCosSinFunctionOddDegree) { TEST(Interpolation, PushAndPop) { std::vector x{0.0, 1.0, 2.0, 3.0, 4.0}; std::vector y{0.0, 2.0, 4.0, 6.0, 8.0}; - libra::Interpolation interpolation(x, y); + math::Interpolation interpolation(x, y); EXPECT_EQ(x.size(), interpolation.GetDegree()); for (size_t i = 0; i < x.size(); i++) { diff --git a/src/math_physics/orbit/interpolation_orbit.cpp b/src/math_physics/orbit/interpolation_orbit.cpp index e0ea33692..c7d26302a 100644 --- a/src/math_physics/orbit/interpolation_orbit.cpp +++ b/src/math_physics/orbit/interpolation_orbit.cpp @@ -10,7 +10,7 @@ InterpolationOrbit::InterpolationOrbit(const size_t degree) { time.assign(degree, -1.0); std::vector position; position.assign(degree, 0.0); - libra::Interpolation temp(time, position); + math::Interpolation temp(time, position); for (size_t axis = 0; axis < 3; axis++) { interpolation_position_.push_back(temp); } diff --git a/src/math_physics/orbit/interpolation_orbit.hpp b/src/math_physics/orbit/interpolation_orbit.hpp index d45df5af7..10a60ed6b 100644 --- a/src/math_physics/orbit/interpolation_orbit.hpp +++ b/src/math_physics/orbit/interpolation_orbit.hpp @@ -66,7 +66,7 @@ class InterpolationOrbit { } private: - std::vector interpolation_position_; // 3D vector of interpolation + std::vector interpolation_position_; // 3D vector of interpolation }; #endif // S2E_LIBRARY_ORBIT_INTERPOLATION_ORBIT_HPP_ From 4a9f47ec583155fb73b0dd96f5c1e11b54b1a7af Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 20 Jul 2024 09:47:09 +0900 Subject: [PATCH 236/456] Replace libra::Wrap to math::Wrap --- src/math_physics/math/test_s2e_math.cpp | 8 ++++---- src/math_physics/orbit/kepler_orbit.cpp | 4 ++-- src/math_physics/orbit/orbital_elements.cpp | 4 ++-- 3 files changed, 8 insertions(+), 8 deletions(-) diff --git a/src/math_physics/math/test_s2e_math.cpp b/src/math_physics/math/test_s2e_math.cpp index c018c6434..949751a3b 100644 --- a/src/math_physics/math/test_s2e_math.cpp +++ b/src/math_physics/math/test_s2e_math.cpp @@ -14,18 +14,18 @@ TEST(S2eMath, WrapTo2Pi) { const double accuracy = 1.0e-7; double input_angle_rad = 0.0; - double wrapped_angle_rad = libra::WrapTo2Pi(input_angle_rad); + double wrapped_angle_rad = math::WrapTo2Pi(input_angle_rad); EXPECT_NEAR(0.0, wrapped_angle_rad, accuracy); input_angle_rad = -1.0e-5; - wrapped_angle_rad = libra::WrapTo2Pi(input_angle_rad); + wrapped_angle_rad = math::WrapTo2Pi(input_angle_rad); EXPECT_NEAR(math::tau + input_angle_rad, wrapped_angle_rad, accuracy); input_angle_rad = math::tau + 1.0e-5; - wrapped_angle_rad = libra::WrapTo2Pi(input_angle_rad); + wrapped_angle_rad = math::WrapTo2Pi(input_angle_rad); EXPECT_NEAR(1.0e-5, wrapped_angle_rad, accuracy); input_angle_rad = 10 * math::tau + 1.0e-5; - wrapped_angle_rad = libra::WrapTo2Pi(input_angle_rad); + wrapped_angle_rad = math::WrapTo2Pi(input_angle_rad); EXPECT_NEAR(1.0e-5, wrapped_angle_rad, accuracy); } diff --git a/src/math_physics/orbit/kepler_orbit.cpp b/src/math_physics/orbit/kepler_orbit.cpp index f3425450d..ca7458152 100644 --- a/src/math_physics/orbit/kepler_orbit.cpp +++ b/src/math_physics/orbit/kepler_orbit.cpp @@ -37,12 +37,12 @@ void KeplerOrbit::CalcOrbit(double time_jday) { double dt_s = (time_jday - oe_.GetEpoch_jday()) * (24.0 * 60.0 * 60.0); double mean_anomaly_rad = mean_motion_rad_s_ * dt_s; - double l_rad = libra::WrapTo2Pi(mean_anomaly_rad); + double l_rad = math::WrapTo2Pi(mean_anomaly_rad); // Solve Kepler Equation double eccentric_anomaly_rad; eccentric_anomaly_rad = SolveKeplerNewtonMethod(e, l_rad, 1.0e-5, 10); - double u_rad = libra::WrapTo2Pi(eccentric_anomaly_rad); + double u_rad = math::WrapTo2Pi(eccentric_anomaly_rad); // Calc position and velocity in the plane double cos_u = cos(u_rad); diff --git a/src/math_physics/orbit/orbital_elements.cpp b/src/math_physics/orbit/orbital_elements.cpp index 8c50d8109..dbd3e89d8 100644 --- a/src/math_physics/orbit/orbital_elements.cpp +++ b/src/math_physics/orbit/orbital_elements.cpp @@ -75,10 +75,10 @@ void OrbitalElements::CalcOeFromPosVel(const double gravity_constant_m3_s2, cons // true anomaly f_rad and eccentric anomaly u_rad double phi_rad = atan2(y_p_m, x_p_m); double f_rad = phi_rad - arg_perigee_rad_; - f_rad = libra::WrapTo2Pi(f_rad); + f_rad = math::WrapTo2Pi(f_rad); double u_rad = atan2(r_m * sin(f_rad) / sqrt(1.0 - eccentricity_ * eccentricity_), r_m * cos(f_rad) + semi_major_axis_m_ * eccentricity_); - u_rad = libra::WrapTo2Pi(u_rad); + u_rad = math::WrapTo2Pi(u_rad); // epoch t0 double n_rad_s = sqrt(gravity_constant_m3_s2 / pow(semi_major_axis_m_, 3.0)); From e6b7148a29d73da09edb64e724d6cffae89d0bf1 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 20 Jul 2024 09:48:11 +0900 Subject: [PATCH 237/456] Replace libra::Ordinary to math::Ordinary --- src/components/real/aocs/reaction_wheel_ode.hpp | 2 +- src/dynamics/orbit/encke_orbit_propagation.cpp | 2 +- src/dynamics/orbit/encke_orbit_propagation.hpp | 2 +- src/dynamics/orbit/relative_orbit.cpp | 2 +- src/dynamics/orbit/relative_orbit.hpp | 2 +- src/dynamics/orbit/rk4_orbit_propagation.hpp | 2 +- src/math_physics/randomization/random_walk.hpp | 2 +- .../randomization/random_walk_template_functions.hpp | 2 +- 8 files changed, 8 insertions(+), 8 deletions(-) diff --git a/src/components/real/aocs/reaction_wheel_ode.hpp b/src/components/real/aocs/reaction_wheel_ode.hpp index d36792e88..89bec07c3 100644 --- a/src/components/real/aocs/reaction_wheel_ode.hpp +++ b/src/components/real/aocs/reaction_wheel_ode.hpp @@ -12,7 +12,7 @@ * @file ReactionWheelOde * @brief Ordinary differential equation of angular velocity of reaction wheel with first-order lag */ -class ReactionWheelOde : public libra::OrdinaryDifferentialEquation<1> { +class ReactionWheelOde : public math::OrdinaryDifferentialEquation<1> { public: /** * @fn ReactionWheelOde diff --git a/src/dynamics/orbit/encke_orbit_propagation.cpp b/src/dynamics/orbit/encke_orbit_propagation.cpp index 7cb480bca..a5a839d5c 100644 --- a/src/dynamics/orbit/encke_orbit_propagation.cpp +++ b/src/dynamics/orbit/encke_orbit_propagation.cpp @@ -13,7 +13,7 @@ EnckeOrbitPropagation::EnckeOrbitPropagation(const CelestialInformation* celesti const double propagation_step_s, const double current_time_jd, const math::Vector<3> position_i_m, const math::Vector<3> velocity_i_m_s, const double error_tolerance) : Orbit(celestial_information), - libra::OrdinaryDifferentialEquation<6>(propagation_step_s), + math::OrdinaryDifferentialEquation<6>(propagation_step_s), gravity_constant_m3_s2_(gravity_constant_m3_s2), error_tolerance_(error_tolerance), propagation_step_s_(propagation_step_s) { diff --git a/src/dynamics/orbit/encke_orbit_propagation.hpp b/src/dynamics/orbit/encke_orbit_propagation.hpp index 54b324fe1..9c6a3bc5b 100644 --- a/src/dynamics/orbit/encke_orbit_propagation.hpp +++ b/src/dynamics/orbit/encke_orbit_propagation.hpp @@ -14,7 +14,7 @@ * @class EnckeOrbitPropagation * @brief Class to propagate spacecraft orbit with Encke's method */ -class EnckeOrbitPropagation : public Orbit, public libra::OrdinaryDifferentialEquation<6> { +class EnckeOrbitPropagation : public Orbit, public math::OrdinaryDifferentialEquation<6> { public: /** * @fn EnckeOrbitPropagation diff --git a/src/dynamics/orbit/relative_orbit.cpp b/src/dynamics/orbit/relative_orbit.cpp index c8fedaf7d..fc15b96d3 100644 --- a/src/dynamics/orbit/relative_orbit.cpp +++ b/src/dynamics/orbit/relative_orbit.cpp @@ -13,7 +13,7 @@ RelativeOrbit::RelativeOrbit(const CelestialInformation* celestial_information, RelativeOrbitUpdateMethod update_method, RelativeOrbitModel relative_dynamics_model_type, StmModel stm_model_type, RelativeInformation* relative_information) : Orbit(celestial_information), - libra::OrdinaryDifferentialEquation<6>(time_step_s), + math::OrdinaryDifferentialEquation<6>(time_step_s), gravity_constant_m3_s2_(gravity_constant_m3_s2), reference_spacecraft_id_(reference_spacecraft_id), update_method_(update_method), diff --git a/src/dynamics/orbit/relative_orbit.hpp b/src/dynamics/orbit/relative_orbit.hpp index eaa1e56cd..82560566c 100644 --- a/src/dynamics/orbit/relative_orbit.hpp +++ b/src/dynamics/orbit/relative_orbit.hpp @@ -17,7 +17,7 @@ * @class RelativeOrbit * @brief Class to propagate relative orbit */ -class RelativeOrbit : public Orbit, public libra::OrdinaryDifferentialEquation<6> { +class RelativeOrbit : public Orbit, public math::OrdinaryDifferentialEquation<6> { public: /** * @enum RelativeOrbitUpdateMethod diff --git a/src/dynamics/orbit/rk4_orbit_propagation.hpp b/src/dynamics/orbit/rk4_orbit_propagation.hpp index 5291d7e56..fde677ddd 100644 --- a/src/dynamics/orbit/rk4_orbit_propagation.hpp +++ b/src/dynamics/orbit/rk4_orbit_propagation.hpp @@ -15,7 +15,7 @@ * @class Rk4OrbitPropagation * @brief Class to propagate spacecraft orbit with Runge-Kutta-4 method */ -class Rk4OrbitPropagation : public Orbit, public libra::OrdinaryDifferentialEquation<6> { +class Rk4OrbitPropagation : public Orbit, public math::OrdinaryDifferentialEquation<6> { public: /** * @fn Rk4OrbitPropagation diff --git a/src/math_physics/randomization/random_walk.hpp b/src/math_physics/randomization/random_walk.hpp index 90496a7cf..5e2ef417e 100644 --- a/src/math_physics/randomization/random_walk.hpp +++ b/src/math_physics/randomization/random_walk.hpp @@ -15,7 +15,7 @@ * @brief Class to calculate random wark value */ template -class RandomWalk : public libra::OrdinaryDifferentialEquation { +class RandomWalk : public math::OrdinaryDifferentialEquation { public: /** * @fn RandomWalk diff --git a/src/math_physics/randomization/random_walk_template_functions.hpp b/src/math_physics/randomization/random_walk_template_functions.hpp index 441d05a5b..c316a3aab 100644 --- a/src/math_physics/randomization/random_walk_template_functions.hpp +++ b/src/math_physics/randomization/random_walk_template_functions.hpp @@ -11,7 +11,7 @@ template RandomWalk::RandomWalk(double step_width_s, const math::Vector& standard_deviation, const math::Vector& limit) - : libra::OrdinaryDifferentialEquation(step_width_s), limit_(limit) { + : math::OrdinaryDifferentialEquation(step_width_s), limit_(limit) { // Set standard deviation for (size_t i = 0; i < N; ++i) { normal_randomizer_[i].SetParameters(0.0, standard_deviation[i], global_randomization.MakeSeed()); From 8523ab33f9c39fa2567e25889c1dbff829270d52 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 20 Jul 2024 09:49:07 +0900 Subject: [PATCH 238/456] Replace using namespace libra to using namespace math --- src/components/real/aocs/star_sensor.cpp | 2 +- src/components/real/mission/telescope.cpp | 2 +- src/dynamics/thermal/heatload.cpp | 2 +- src/dynamics/thermal/node.cpp | 2 +- 4 files changed, 4 insertions(+), 4 deletions(-) diff --git a/src/components/real/aocs/star_sensor.cpp b/src/components/real/aocs/star_sensor.cpp index 33d027d98..60a10d7a5 100644 --- a/src/components/real/aocs/star_sensor.cpp +++ b/src/components/real/aocs/star_sensor.cpp @@ -14,7 +14,7 @@ #include using namespace std; -using namespace libra; +using namespace math; StarSensor::StarSensor(const int prescaler, ClockGenerator* clock_generator, const int component_id, const math::Quaternion& quaternion_b2c, const double standard_deviation_orthogonal_direction, const double standard_deviation_sight_direction, diff --git a/src/components/real/mission/telescope.cpp b/src/components/real/mission/telescope.cpp index f04989be3..f37ea5d97 100644 --- a/src/components/real/mission/telescope.cpp +++ b/src/components/real/mission/telescope.cpp @@ -11,7 +11,7 @@ #include using namespace std; -using namespace libra; +using namespace math; Telescope::Telescope(ClockGenerator* clock_generator, const math::Quaternion& quaternion_b2c, const double sun_forbidden_angle_rad, const double earth_forbidden_angle_rad, const double moon_forbidden_angle_rad, const int x_number_of_pix, diff --git a/src/dynamics/thermal/heatload.cpp b/src/dynamics/thermal/heatload.cpp index c182e4ecb..3d01aad08 100644 --- a/src/dynamics/thermal/heatload.cpp +++ b/src/dynamics/thermal/heatload.cpp @@ -5,7 +5,7 @@ #include using namespace std; -using namespace libra; +using namespace math; Heatload::Heatload(int node_id, std::vector time_table_s, std::vector internal_heatload_table_W) : node_id_(node_id), time_table_s_(time_table_s), internal_heatload_table_W_(internal_heatload_table_W) { diff --git a/src/dynamics/thermal/node.cpp b/src/dynamics/thermal/node.cpp index c40038d5f..b34958a68 100644 --- a/src/dynamics/thermal/node.cpp +++ b/src/dynamics/thermal/node.cpp @@ -10,7 +10,7 @@ #include using namespace std; -using namespace libra; +using namespace math; Node::Node(const size_t node_id, const string node_name, const NodeType node_type, const size_t heater_id, const double temperature_ini_K, const double capacity_J_K, const double alpha, const double area_m2, math::Vector<3> normal_vector_b) From 55a392e44f6372fe118e03305fc35b34cb450a21 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 20 Jul 2024 09:54:16 +0900 Subject: [PATCH 239/456] Fix to add math:: --- src/components/real/mission/telescope.cpp | 2 +- .../ode_attitude_with_cantilever_vibration.hpp | 2 +- .../numerical_integration/dormand_prince_5.hpp | 2 +- .../dormand_prince_5_implementation.hpp | 4 ++-- .../embedded_runge_kutta_implementation.hpp | 6 +++--- .../numerical_integration/interface_ode.hpp | 2 +- .../numerical_integration/numerical_integrator.hpp | 10 +++++----- src/math_physics/numerical_integration/runge_kutta.hpp | 2 +- .../numerical_integration/runge_kutta_4.hpp | 2 +- .../numerical_integration/runge_kutta_fehlberg.hpp | 2 +- .../runge_kutta_fehlberg_implementation.hpp | 8 ++++---- .../numerical_integration/runge_kutta_template.hpp | 4 ++-- 12 files changed, 23 insertions(+), 23 deletions(-) diff --git a/src/components/real/mission/telescope.cpp b/src/components/real/mission/telescope.cpp index f37ea5d97..31bc2919f 100644 --- a/src/components/real/mission/telescope.cpp +++ b/src/components/real/mission/telescope.cpp @@ -94,7 +94,7 @@ void Telescope::MainRoutine(const int time_count) { bool Telescope::JudgeForbiddenAngle(const math::Vector<3>& target_b, const double forbidden_angle) { math::Quaternion q_c2b = quaternion_b2c_.Conjugate(); math::Vector<3> sight_b = q_c2b.FrameConversion(sight_direction_c_); - double angle_rad = libra::CalcAngleTwoVectors_rad(target_b, sight_b); + double angle_rad = math::CalcAngleTwoVectors_rad(target_b, sight_b); if (angle_rad < forbidden_angle) { return true; } else diff --git a/src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp b/src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp index b5854b344..b4e92bdcd 100644 --- a/src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp +++ b/src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp @@ -69,7 +69,7 @@ class AttitudeWithCantileverVibrationOde : public InterfaceOde<13> { } } - Vector<13> DerivativeFunction(const double time_s, const Vector<13>& state) const override { + math::Vector<13> DerivativeFunction(const double time_s, const math::Vector<13>& state) const override { UNUSED(time_s); math::Vector<13> output; diff --git a/src/math_physics/numerical_integration/dormand_prince_5.hpp b/src/math_physics/numerical_integration/dormand_prince_5.hpp index f8198e509..ac9efd29f 100644 --- a/src/math_physics/numerical_integration/dormand_prince_5.hpp +++ b/src/math_physics/numerical_integration/dormand_prince_5.hpp @@ -33,7 +33,7 @@ class DormandPrince5 : public EmbeddedRungeKutta { * @param [in] sigma: Sigma value (0 < sigma < 1) for interpolation * @return : interpolated state x(t0 + sigma * h) */ - Vector CalcInterpolationState(const double sigma) const override; + math::Vector CalcInterpolationState(const double sigma) const override; private: std::vector> coefficients_; //!< Coefficients to calculate interpolation weights diff --git a/src/math_physics/numerical_integration/dormand_prince_5_implementation.hpp b/src/math_physics/numerical_integration/dormand_prince_5_implementation.hpp index 8cfbe77de..ae04fb70b 100644 --- a/src/math_physics/numerical_integration/dormand_prince_5_implementation.hpp +++ b/src/math_physics/numerical_integration/dormand_prince_5_implementation.hpp @@ -123,10 +123,10 @@ DormandPrince5::DormandPrince5(const double step_width, const InterfaceOde } template -Vector DormandPrince5::CalcInterpolationState(const double sigma) const { +math::Vector DormandPrince5::CalcInterpolationState(const double sigma) const { std::vector interpolation_weights = CalcInterpolationWeights(sigma); - Vector interpolation_state = this->previous_state_; + math::Vector interpolation_state = this->previous_state_; for (size_t i = 0; i < this->number_of_stages_; i++) { interpolation_state = interpolation_state + (sigma * this->step_width_ * interpolation_weights[i]) * this->slope_[i]; } diff --git a/src/math_physics/numerical_integration/embedded_runge_kutta_implementation.hpp b/src/math_physics/numerical_integration/embedded_runge_kutta_implementation.hpp index be93a83df..7d9bfbb69 100644 --- a/src/math_physics/numerical_integration/embedded_runge_kutta_implementation.hpp +++ b/src/math_physics/numerical_integration/embedded_runge_kutta_implementation.hpp @@ -14,15 +14,15 @@ void EmbeddedRungeKutta::Integrate() { this->CalcSlope(); this->previous_state_ = this->current_state_; - Vector lower_current_state = this->current_state_; //!< eta in the equation - Vector higher_current_state = this->current_state_; //!< eta_hat in the equation + math::Vector lower_current_state = this->current_state_; //!< eta in the equation + math::Vector higher_current_state = this->current_state_; //!< eta_hat in the equation for (size_t i = 0; i < this->number_of_stages_; i++) { lower_current_state = lower_current_state + this->weights_[i] * this->step_width_ * this->slope_[i]; higher_current_state = higher_current_state + higher_order_weights_[i] * this->step_width_ * this->slope_[i]; } // Error evaluation - Vector truncation_error = lower_current_state - higher_current_state; + math::Vector truncation_error = lower_current_state - higher_current_state; local_truncation_error_ = truncation_error.CalcNorm(); // State update diff --git a/src/math_physics/numerical_integration/interface_ode.hpp b/src/math_physics/numerical_integration/interface_ode.hpp index ca6f037f6..44f9e11fc 100644 --- a/src/math_physics/numerical_integration/interface_ode.hpp +++ b/src/math_physics/numerical_integration/interface_ode.hpp @@ -24,7 +24,7 @@ class InterfaceOde { * @param [in] state: State vector * @return Differentiated value of state vector */ - virtual Vector DerivativeFunction(const double independent_variable, const Vector& state) const = 0; + virtual math::Vector DerivativeFunction(const double independent_variable, const math::Vector& state) const = 0; }; } // namespace libra::numerical_integration diff --git a/src/math_physics/numerical_integration/numerical_integrator.hpp b/src/math_physics/numerical_integration/numerical_integrator.hpp index 296a57eaa..7955dadff 100644 --- a/src/math_physics/numerical_integration/numerical_integrator.hpp +++ b/src/math_physics/numerical_integration/numerical_integrator.hpp @@ -44,7 +44,7 @@ class NumericalIntegrator { * @fn SetState * @brief Set state information */ - inline void SetState(const double independent_variable, const Vector& state) { + inline void SetState(const double independent_variable, const math::Vector& state) { current_independent_variable_ = independent_variable; current_state_ = state; previous_state_ = state; @@ -54,7 +54,7 @@ class NumericalIntegrator { * @fn GetState * @brief Return current state vector */ - inline const Vector& GetState() const { return current_state_; } + inline const math::Vector& GetState() const { return current_state_; } /** * @fn CalcInterpolationState @@ -62,7 +62,7 @@ class NumericalIntegrator { * @param [in] sigma: Sigma value (0 < sigma < 1) for interpolation * @return : interpolated state x(t0 + sigma * h) */ - virtual Vector CalcInterpolationState(const double sigma) const = 0; + virtual math::Vector CalcInterpolationState(const double sigma) const = 0; protected: // Settings @@ -71,8 +71,8 @@ class NumericalIntegrator { // States const InterfaceOde& ode_; //!< Ordinary differential equation double current_independent_variable_; //!< Latest value of independent variable - Vector current_state_; //!< Latest state vector - Vector previous_state_; //!< Previous state vector + math::Vector current_state_; //!< Latest state vector + math::Vector previous_state_; //!< Previous state vector }; } // namespace libra::numerical_integration diff --git a/src/math_physics/numerical_integration/runge_kutta.hpp b/src/math_physics/numerical_integration/runge_kutta.hpp index af89d2254..4b6f186bd 100644 --- a/src/math_physics/numerical_integration/runge_kutta.hpp +++ b/src/math_physics/numerical_integration/runge_kutta.hpp @@ -46,7 +46,7 @@ class RungeKutta : public NumericalIntegrator { std::vector nodes_; //!< Nodes vector for general RK (c vector in the equation) std::vector weights_; //!< Weights vector for general RK (b vector in the equation) std::vector> rk_matrix_; //!< Runge-Kutta matrix for general RK (a matrix in the equation) - std::vector> slope_; //!< Slope vector for general RK (k vector in the equation) + std::vector> slope_; //!< Slope vector for general RK (k vector in the equation) /** * @fn CalcSlope diff --git a/src/math_physics/numerical_integration/runge_kutta_4.hpp b/src/math_physics/numerical_integration/runge_kutta_4.hpp index 50942186d..f29e248a0 100644 --- a/src/math_physics/numerical_integration/runge_kutta_4.hpp +++ b/src/math_physics/numerical_integration/runge_kutta_4.hpp @@ -45,7 +45,7 @@ class RungeKutta4 : public RungeKutta { } // We did not implement the interpolation for RK4 - Vector CalcInterpolationState(const double sigma) const override { + math::Vector CalcInterpolationState(const double sigma) const override { UNUSED(sigma); return this->current_state_; } diff --git a/src/math_physics/numerical_integration/runge_kutta_fehlberg.hpp b/src/math_physics/numerical_integration/runge_kutta_fehlberg.hpp index 756088baf..7b6596f79 100644 --- a/src/math_physics/numerical_integration/runge_kutta_fehlberg.hpp +++ b/src/math_physics/numerical_integration/runge_kutta_fehlberg.hpp @@ -29,7 +29,7 @@ class RungeKuttaFehlberg : public EmbeddedRungeKutta { * @param [in] sigma: Sigma value (0 < sigma < 1) for interpolation * @return : interpolated state x(t0 + sigma * h) */ - Vector CalcInterpolationState(const double sigma) const override; + math::Vector CalcInterpolationState(const double sigma) const override; private: /** diff --git a/src/math_physics/numerical_integration/runge_kutta_fehlberg_implementation.hpp b/src/math_physics/numerical_integration/runge_kutta_fehlberg_implementation.hpp index d8dd17724..25a7eacc1 100644 --- a/src/math_physics/numerical_integration/runge_kutta_fehlberg_implementation.hpp +++ b/src/math_physics/numerical_integration/runge_kutta_fehlberg_implementation.hpp @@ -64,15 +64,15 @@ RungeKuttaFehlberg::RungeKuttaFehlberg(const double step_width, const Interfa } template -Vector RungeKuttaFehlberg::CalcInterpolationState(const double sigma) const { +math::Vector RungeKuttaFehlberg::CalcInterpolationState(const double sigma) const { // Calc k7 (slope after state update) - Vector state_7 = + math::Vector state_7 = this->previous_state_ + this->step_width_ * (1.0 / 6.0 * this->slope_[0] + 1.0 / 6.0 * this->slope_[4] + 2.0 / 3.0 * this->slope_[5]); - Vector k7 = this->ode_.DerivativeFunction(this->current_independent_variable_, state_7); + math::Vector k7 = this->ode_.DerivativeFunction(this->current_independent_variable_, state_7); std::vector interpolation_weights = CalcInterpolationWeights(sigma); - Vector interpolation_state = this->previous_state_; + math::Vector interpolation_state = this->previous_state_; for (size_t i = 0; i < this->number_of_stages_; i++) { interpolation_state = interpolation_state + (sigma * this->step_width_ * interpolation_weights[i]) * this->slope_[i]; } diff --git a/src/math_physics/numerical_integration/runge_kutta_template.hpp b/src/math_physics/numerical_integration/runge_kutta_template.hpp index f1a5edbab..9e3cd5316 100644 --- a/src/math_physics/numerical_integration/runge_kutta_template.hpp +++ b/src/math_physics/numerical_integration/runge_kutta_template.hpp @@ -22,10 +22,10 @@ void RungeKutta::Integrate() { template void RungeKutta::CalcSlope() { - slope_.assign(number_of_stages_, Vector(0.0)); + slope_.assign(number_of_stages_, math::Vector(0.0)); for (size_t i = 0; i < number_of_stages_; i++) { - Vector state = this->current_state_; + math::Vector state = this->current_state_; for (size_t j = 0; j < i; j++) { state = state + rk_matrix_[i][j] * this->step_width_ * slope_[j]; } From fd83030a5b5029e9dbe03880dc2b34921c472629 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 20 Jul 2024 10:24:19 +0900 Subject: [PATCH 240/456] Fix format --- CMakeLists.txt | 2 +- src/components/base/component.hpp | 4 ++-- .../base/interface_gpio_component.hpp | 2 +- src/components/base/sensor.hpp | 6 +++--- .../ideal/angular_velocity_observer.hpp | 2 +- src/components/ports/hils_i2c_target_port.hpp | 6 +++--- src/components/real/aocs/gnss_receiver.hpp | 8 ++++---- src/components/real/aocs/magnetometer.hpp | 2 +- src/components/real/aocs/magnetorquer.cpp | 12 +++++------ src/components/real/aocs/magnetorquer.hpp | 10 +++++----- .../aocs/mtq_magnetometer_interference.hpp | 2 +- src/components/real/aocs/reaction_wheel.hpp | 8 ++++---- .../real/aocs/reaction_wheel_jitter.hpp | 2 +- src/components/real/aocs/star_sensor.hpp | 14 ++++++------- src/components/real/aocs/sun_sensor.hpp | 2 +- .../antenna_radiation_pattern.hpp | 4 ++-- src/components/real/mission/telescope.hpp | 2 +- .../real/power/solar_array_panel.hpp | 2 +- .../real/propulsion/simple_thruster.cpp | 2 +- src/disturbances/disturbance.hpp | 4 ++-- src/disturbances/geopotential.hpp | 2 +- src/disturbances/gravity_gradient.cpp | 3 +-- src/disturbances/lunar_gravity_field.hpp | 2 +- src/disturbances/magnetic_disturbance.hpp | 2 +- src/disturbances/surface_force.hpp | 2 +- src/disturbances/third_body_gravity.hpp | 2 +- src/dynamics/attitude/attitude.hpp | 8 ++++---- src/dynamics/attitude/attitude_rk4.cpp | 3 +-- src/dynamics/attitude/attitude_rk4.hpp | 7 +++---- .../attitude_with_cantilever_vibration.cpp | 2 +- .../attitude_with_cantilever_vibration.hpp | 2 +- src/dynamics/attitude/controlled_attitude.cpp | 9 ++++----- src/dynamics/attitude/controlled_attitude.hpp | 8 ++++---- ...ode_attitude_with_cantilever_vibration.hpp | 8 ++++---- .../orbit/encke_orbit_propagation.hpp | 2 +- src/dynamics/orbit/orbit.hpp | 6 +++--- src/dynamics/orbit/relative_orbit.cpp | 6 ++---- src/environment/global/earth_rotation.hpp | 8 ++++---- src/environment/global/gnss_satellites.hpp | 2 +- src/environment/global/moon_rotation.hpp | 2 +- src/environment/local/geomagnetic_field.hpp | 4 ++-- src/math_physics/gnss/antex_file_reader.hpp | 2 +- src/math_physics/gnss/sp3_file_reader.hpp | 20 +++++++++---------- .../numerical_integrator.hpp | 6 +++--- .../numerical_integration/runge_kutta.hpp | 4 ++-- .../optics/gaussian_beam_base.cpp | 4 +--- .../optics/gaussian_beam_base.hpp | 6 +++--- src/math_physics/orbit/kepler_orbit.hpp | 6 +++--- ...standard_linear_congruential_generator.hpp | 2 +- ...ar_congruential_generator_with_shuffle.hpp | 2 +- .../randomization/normal_randomization.hpp | 2 +- .../randomization/random_walk.hpp | 2 +- .../initialize_monte_carlo_parameters.cpp | 6 +++--- .../simulation_object.cpp | 3 +-- .../relative_information.hpp | 2 +- .../structure/kinematics_parameters.hpp | 4 ++-- .../structure/residual_magnetic_moment.hpp | 2 +- .../spacecraft/structure/surface.hpp | 10 +++++----- 58 files changed, 130 insertions(+), 139 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index a4426f1e9..63925acf7 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -15,7 +15,7 @@ option(BUILD_64BIT "Build 64bit" OFF) option(GOOGLE_TEST "Execute GoogleTest" OFF) # Mac user setting -option(APPLE_SILICON "Build with Apple Silicon" OFF) +option(APPLE_SILICON "Build with Apple Silicon" ON) # Force build with 64bit for APPLE if(APPLE) option(BUILD_64BIT "Build 64bit" ON) diff --git a/src/components/base/component.hpp b/src/components/base/component.hpp index 91432e1f3..dac70324f 100644 --- a/src/components/base/component.hpp +++ b/src/components/base/component.hpp @@ -76,13 +76,13 @@ class Component : public ITickable { * @brief Pure virtual function used to calculate high-frequency disturbances(e.g. RW jitter) * @note Override only when high-frequency disturbances need to be calculated. */ - virtual void FastUpdate(){}; + virtual void FastUpdate() {}; /** * @fn PowerOffRoutine * @brief Pure virtual function executed when the power switch is off. */ - virtual void PowerOffRoutine(){}; + virtual void PowerOffRoutine() {}; ClockGenerator* clock_generator_; //!< Clock generator PowerPort* power_port_; //!< Power port diff --git a/src/components/base/interface_gpio_component.hpp b/src/components/base/interface_gpio_component.hpp index 7ed129e7b..8f9d98519 100644 --- a/src/components/base/interface_gpio_component.hpp +++ b/src/components/base/interface_gpio_component.hpp @@ -16,7 +16,7 @@ class IGPIOCompo { * @fn ~IGPIOCompo * @brief Destructor */ - virtual ~IGPIOCompo(){}; + virtual ~IGPIOCompo() {}; /** * @fn GpioStateChanged diff --git a/src/components/base/sensor.hpp b/src/components/base/sensor.hpp index 382cb6f1f..883050b19 100644 --- a/src/components/base/sensor.hpp +++ b/src/components/base/sensor.hpp @@ -52,9 +52,9 @@ class Sensor { math::Vector Measure(const math::Vector true_value_c); private: - math::Matrix scale_factor_; //!< Scale factor matrix - math::Vector range_to_const_c_; //!< Output range limit to be constant output value at the component frame - math::Vector range_to_zero_c_; //!< Output range limit to be zero output value at the component frame + math::Matrix scale_factor_; //!< Scale factor matrix + math::Vector range_to_const_c_; //!< Output range limit to be constant output value at the component frame + math::Vector range_to_zero_c_; //!< Output range limit to be zero output value at the component frame libra::NormalRand normal_random_noise_c_[N]; //!< Normal random RandomWalk random_walk_noise_c_; //!< Random Walk diff --git a/src/components/ideal/angular_velocity_observer.hpp b/src/components/ideal/angular_velocity_observer.hpp index 82d509f5d..3b162a36a 100644 --- a/src/components/ideal/angular_velocity_observer.hpp +++ b/src/components/ideal/angular_velocity_observer.hpp @@ -61,7 +61,7 @@ class AngularVelocityObserver : public Component, public Sensor<3>, public ILogg protected: math::Vector<3> angular_velocity_b_rad_s_{0.0}; //!< Observed angular velocity [rad/s] - const Attitude& attitude_; //!< Dynamics information + const Attitude& attitude_; //!< Dynamics information }; /** diff --git a/src/components/ports/hils_i2c_target_port.hpp b/src/components/ports/hils_i2c_target_port.hpp index 08437cbc4..16bee3cd4 100644 --- a/src/components/ports/hils_i2c_target_port.hpp +++ b/src/components/ports/hils_i2c_target_port.hpp @@ -96,9 +96,9 @@ class HilsI2cTargetPort : public HilsUartPort { int GetStoredFrameCounter(); private: - unsigned char max_register_number_ = 0xff; //!< Maximum register number - unsigned char saved_register_address_ = 0x00; //!< Saved register address - unsigned int stored_frame_counter_ = 0; //!< Send a few frames of telemetry to the converter in advance. + unsigned char max_register_number_ = 0xff; //!< Maximum register number + unsigned char saved_register_address_ = 0x00; //!< Saved register address + unsigned int stored_frame_counter_ = 0; //!< Send a few frames of telemetry to the converter in advance. /** @brief Device register: < register address, value> **/ std::map device_registers_; diff --git a/src/components/real/aocs/gnss_receiver.hpp b/src/components/real/aocs/gnss_receiver.hpp index 1e1cece20..d418c01d9 100644 --- a/src/components/real/aocs/gnss_receiver.hpp +++ b/src/components/real/aocs/gnss_receiver.hpp @@ -133,14 +133,14 @@ class GnssReceiver : public Component, public ILoggable { // Antenna math::Vector<3> antenna_position_b_m_; //!< GNSS antenna position at the body-fixed frame [m] math::Quaternion quaternion_b2c_; //!< Quaternion from body frame to component frame (antenna frame) - double half_width_deg_ = 0.0; //!< Half width of the antenna cone model [deg] - AntennaModel antenna_model_; //!< Antenna model + double half_width_deg_ = 0.0; //!< Half width of the antenna cone model [deg] + AntennaModel antenna_model_; //!< Antenna model // Simple position observation libra::NormalRand position_random_noise_ecef_m_[3]; //!< Random noise for position at the ECEF frame [m] libra::NormalRand velocity_random_noise_ecef_m_s_[3]; //!< Random noise for velocity at the ECEF frame [m] - math::Vector<3> position_ecef_m_{0.0}; //!< Observed position in the ECEF frame [m] - math::Vector<3> velocity_ecef_m_s_{0.0}; //!< Observed velocity in the ECEF frame [m/s] + math::Vector<3> position_ecef_m_{0.0}; //!< Observed position in the ECEF frame [m] + math::Vector<3> velocity_ecef_m_s_{0.0}; //!< Observed velocity in the ECEF frame [m/s] GeodeticPosition geodetic_position_; //!< Observed position in the geodetic frame // Time observation diff --git a/src/components/real/aocs/magnetometer.hpp b/src/components/real/aocs/magnetometer.hpp index 1c16eaa49..deaccf1aa 100644 --- a/src/components/real/aocs/magnetometer.hpp +++ b/src/components/real/aocs/magnetometer.hpp @@ -99,7 +99,7 @@ class Magnetometer : public Component, public Sensor, pu protected: math::Vector magnetic_field_c_nT_{0.0}; //!< Observed magnetic field on the component frame [nT] - unsigned int sensor_id_ = 0; //!< Sensor ID + unsigned int sensor_id_ = 0; //!< Sensor ID math::Quaternion quaternion_b2c_{0.0, 0.0, 0.0, 1.0}; //!< Quaternion from body frame to component frame const GeomagneticField* geomagnetic_field_; //!< Geomagnetic environment diff --git a/src/components/real/aocs/magnetorquer.cpp b/src/components/real/aocs/magnetorquer.cpp index 1aab2c35d..0f1a2bb22 100644 --- a/src/components/real/aocs/magnetorquer.cpp +++ b/src/components/real/aocs/magnetorquer.cpp @@ -13,9 +13,9 @@ Magnetorquer::Magnetorquer(const int prescaler, ClockGenerator* clock_generator, const int component_id, const math::Quaternion& quaternion_b2c, const math::Matrix& scale_factor, - const math::Vector& max_magnetic_moment_c_Am2, - const math::Vector& min_magnetic_moment_c_Am2, const math::Vector& bias_noise_c_Am2_, - double random_walk_step_width_s, const math::Vector& random_walk_standard_deviation_c_Am2, + const math::Vector& max_magnetic_moment_c_Am2, const math::Vector& min_magnetic_moment_c_Am2, + const math::Vector& bias_noise_c_Am2_, double random_walk_step_width_s, + const math::Vector& random_walk_standard_deviation_c_Am2, const math::Vector& random_walk_limit_c_Am2, const math::Vector& normal_random_standard_deviation_c_Am2, const GeomagneticField* geomagnetic_field) : Component(prescaler, clock_generator), @@ -35,9 +35,9 @@ Magnetorquer::Magnetorquer(const int prescaler, ClockGenerator* clock_generator, Magnetorquer::Magnetorquer(const int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, const int component_id, const math::Quaternion& quaternion_b2c, const math::Matrix& scale_factor, - const math::Vector& max_magnetic_moment_c_Am2, - const math::Vector& min_magnetic_moment_c_Am2, const math::Vector& bias_noise_c_Am2_, - double random_walk_step_width_s, const math::Vector& random_walk_standard_deviation_c_Am2, + const math::Vector& max_magnetic_moment_c_Am2, const math::Vector& min_magnetic_moment_c_Am2, + const math::Vector& bias_noise_c_Am2_, double random_walk_step_width_s, + const math::Vector& random_walk_standard_deviation_c_Am2, const math::Vector& random_walk_limit_c_Am2, const math::Vector& normal_random_standard_deviation_c_Am2, const GeomagneticField* geomagnetic_field) : Component(prescaler, clock_generator, power_port), diff --git a/src/components/real/aocs/magnetorquer.hpp b/src/components/real/aocs/magnetorquer.hpp index 373f8a98e..d424e0c4c 100644 --- a/src/components/real/aocs/magnetorquer.hpp +++ b/src/components/real/aocs/magnetorquer.hpp @@ -45,8 +45,8 @@ class Magnetorquer : public Component, public ILoggable { const math::Matrix& scale_factor, const math::Vector& max_magnetic_moment_c_Am2, const math::Vector& min_magnetic_moment_c_Am2, const math::Vector& bias_noise_c_Am2_, double random_walk_step_width_s, const math::Vector& random_walk_standard_deviation_c_Am2, - const math::Vector& random_walk_limit_c_Am2, - const math::Vector& normal_random_standard_deviation_c_Am2, const GeomagneticField* geomagnetic_field); + const math::Vector& random_walk_limit_c_Am2, const math::Vector& normal_random_standard_deviation_c_Am2, + const GeomagneticField* geomagnetic_field); /** * @fn Magnetorquer * @brief Constructor with power port @@ -121,8 +121,8 @@ class Magnetorquer : public Component, public ILoggable { inline const math::Vector& GetOutputMagneticMoment_c_Am2(void) const { return output_magnetic_moment_c_Am2_; }; protected: - const int component_id_ = 0; //!< Actuator ID - const double kConvertNanoT2T = 1.0e-9; //!< Constant to convert nT to T + const int component_id_ = 0; //!< Actuator ID + const double kConvertNanoT2T = 1.0e-9; //!< Constant to convert nT to T math::Vector torque_b_Nm_{0.0}; //!< Output torque in the body fixed frame [Nm] math::Vector output_magnetic_moment_c_Am2_{0.0}; //!< Output output magnetic moment in the component frame [Am2] math::Vector output_magnetic_moment_b_Am2_{0.0}; //!< Output output magnetic moment in the body fixed frame [Am2] @@ -132,7 +132,7 @@ class Magnetorquer : public Component, public ILoggable { math::Vector max_magnetic_moment_c_Am2_{100.0}; //!< Maximum magnetic moment in the component frame [Am2] math::Vector min_magnetic_moment_c_Am2_{-100.0}; //!< Minimum magnetic moment in the component frame [Am2] - math::Vector bias_noise_c_Am2_{0.0}; //!< Constant bias noise in the component frame [Am2] + math::Vector bias_noise_c_Am2_{0.0}; //!< Constant bias noise in the component frame [Am2] RandomWalk random_walk_c_Am2_; //!< Random walk noise libra::NormalRand random_noise_c_Am2_[kMtqDimension]; //!< Normal random noise diff --git a/src/components/real/aocs/mtq_magnetometer_interference.hpp b/src/components/real/aocs/mtq_magnetometer_interference.hpp index 7c93c64d8..fea4824eb 100644 --- a/src/components/real/aocs/mtq_magnetometer_interference.hpp +++ b/src/components/real/aocs/mtq_magnetometer_interference.hpp @@ -30,7 +30,7 @@ class MtqMagnetometerInterference { void UpdateInterference(void); protected: - size_t polynomial_degree_; //!< Polynomial degree + size_t polynomial_degree_; //!< Polynomial degree std::vector> additional_bias_by_mtq_coefficients_; //!< Polynomial coefficients of additional bias noise math::Vector<3> previous_added_bias_c_nT_{0.0}; diff --git a/src/components/real/aocs/reaction_wheel.hpp b/src/components/real/aocs/reaction_wheel.hpp index a85321264..dde525ab8 100644 --- a/src/components/real/aocs/reaction_wheel.hpp +++ b/src/components/real/aocs/reaction_wheel.hpp @@ -170,10 +170,10 @@ class ReactionWheel : public Component, public ILoggable { protected: // Fixed Parameters - const int component_id_; //!< Actuator ID - const double rotor_inertia_kgm2_; //!< Inertia of RW rotor [kgm2] - const double max_torque_Nm_; //!< Maximum output torque [Nm] - const double max_velocity_rpm_; //!< Maximum angular velocity of rotor [rpm] + const int component_id_; //!< Actuator ID + const double rotor_inertia_kgm2_; //!< Inertia of RW rotor [kgm2] + const double max_torque_Nm_; //!< Maximum output torque [Nm] + const double max_velocity_rpm_; //!< Maximum angular velocity of rotor [rpm] const math::Quaternion quaternion_b2c_; //!< Quaternion from body frame to component frame const math::Vector<3> position_b_m_; //!< Position of RW in the body fixed frame [m] math::Vector<3> rotation_axis_c_; //!< Wheel rotation axis on the component frame. Constant as (0 0 1). (Output torque is minus direction) diff --git a/src/components/real/aocs/reaction_wheel_jitter.hpp b/src/components/real/aocs/reaction_wheel_jitter.hpp index 9038ce36f..dbf2e24c5 100644 --- a/src/components/real/aocs/reaction_wheel_jitter.hpp +++ b/src/components/real/aocs/reaction_wheel_jitter.hpp @@ -80,7 +80,7 @@ class ReactionWheelJitter { std::vector> radial_force_harmonics_coefficients_; //!< Coefficients for radial force harmonics std::vector> radial_torque_harmonics_coefficients_; //!< Coefficients for radial torque harmonics - double update_interval_s_; //!< Jitter update interval [sec] + double update_interval_s_; //!< Jitter update interval [sec] math::Quaternion quaternion_b2c_; //!< Quaternion from body frame to component frame double structural_resonance_frequency_Hz_; //!< Frequency of structural resonance [Hz] diff --git a/src/components/real/aocs/star_sensor.hpp b/src/components/real/aocs/star_sensor.hpp index 198db1192..eba0f2ae9 100644 --- a/src/components/real/aocs/star_sensor.hpp +++ b/src/components/real/aocs/star_sensor.hpp @@ -107,7 +107,7 @@ class StarSensor : public Component, public ILoggable { protected: // StarSensor general parameters - const int component_id_; //!< Sensor ID + const int component_id_; //!< Sensor ID math::Quaternion quaternion_b2c_; //!< Quaternion from body frame to component frame math::Quaternion measured_quaternion_i2c_ = {0.0, 0.0, 0.0, 1.0}; //!< StarSensor observed quaternion math::Vector<3> sight_direction_c_; //!< Sight direction vector at component frame @@ -120,13 +120,13 @@ class StarSensor : public Component, public ILoggable { libra::NormalRand sight_direction_noise_; //!< Random noise for sight direction // Delay emulation parameters - int max_delay_; //!< Max delay + int max_delay_; //!< Max delay std::vector delay_buffer_; //!< Buffer of quaternion for delay emulation - int buffer_position_; //!< Buffer position - double step_time_s_; //!< Step time for delay calculation [sec] - unsigned int output_delay_; //!< Output delay [0, max_delay_] [step_sec] - unsigned int output_interval_; //!< Output interval [step_sec] - std::size_t update_count_; //!< Output update counter + int buffer_position_; //!< Buffer position + double step_time_s_; //!< Step time for delay calculation [sec] + unsigned int output_delay_; //!< Output delay [0, max_delay_] [step_sec] + unsigned int output_interval_; //!< Output interval [step_sec] + std::size_t update_count_; //!< Output update counter // observation error parameters bool error_flag_; //!< Error flag. true: Error, false: No error diff --git a/src/components/real/aocs/sun_sensor.hpp b/src/components/real/aocs/sun_sensor.hpp index 86547a399..7488e2513 100644 --- a/src/components/real/aocs/sun_sensor.hpp +++ b/src/components/real/aocs/sun_sensor.hpp @@ -88,7 +88,7 @@ class SunSensor : public Component, public ILoggable { protected: const int component_id_; //!< Sensor ID - math::Quaternion quaternion_b2c_; //!< Quaternion from body frame to component frame (Z-axis of the component is sight direction) + math::Quaternion quaternion_b2c_; //!< Quaternion from body frame to component frame (Z-axis of the component is sight direction) double intensity_lower_threshold_percent_; //!< If the light intensity becomes smaller than this, it becomes impossible to get the sun direction math::Vector<3> sun_direction_true_c_{0.0}; //!< True value of sun vector in the component frame diff --git a/src/components/real/communication/antenna_radiation_pattern.hpp b/src/components/real/communication/antenna_radiation_pattern.hpp index 393879b9b..422d168ab 100644 --- a/src/components/real/communication/antenna_radiation_pattern.hpp +++ b/src/components/real/communication/antenna_radiation_pattern.hpp @@ -54,8 +54,8 @@ class AntennaRadiationPattern { double GetGain_dBi(const double theta_rad, const double phi_rad) const; private: - size_t length_theta_ = 360; //!< Length of grid for theta direction - size_t length_phi_ = 181; //!< Length of grid for phi direction + size_t length_theta_ = 360; //!< Length of grid for theta direction + size_t length_phi_ = 181; //!< Length of grid for phi direction double theta_max_rad_ = math::tau; //!< Maximum value of theta double phi_max_rad_ = math::pi; //!< Maximum value of phi diff --git a/src/components/real/mission/telescope.hpp b/src/components/real/mission/telescope.hpp index 949d5b50e..dec83517b 100644 --- a/src/components/real/mission/telescope.hpp +++ b/src/components/real/mission/telescope.hpp @@ -22,7 +22,7 @@ * @brief Information of stars in the telescope's field of view */ struct Star { - HipparcosData hipparcos_data; //!< Hipparcos data + HipparcosData hipparcos_data; //!< Hipparcos data math::Vector<2> position_image_sensor; //!< Position of image sensor }; diff --git a/src/components/real/power/solar_array_panel.hpp b/src/components/real/power/solar_array_panel.hpp index e7cd68377..b384d6a00 100644 --- a/src/components/real/power/solar_array_panel.hpp +++ b/src/components/real/power/solar_array_panel.hpp @@ -111,7 +111,7 @@ class SolarArrayPanel : public Component, public ILoggable { const int number_of_series_; //!< Number of series connected solar cells const int number_of_parallel_; //!< Number of parallel connected solar cells const double cell_area_m2_; //!< Solar cell area [m^2] - const math::Vector<3> normal_vector_; //!< Normal vector of SolarArrayPanel on the body fixed frame + const math::Vector<3> normal_vector_; //!< Normal vector of SolarArrayPanel on the body fixed frame const double cell_efficiency_; //!< Power generation efficiency of solar cell const double transmission_efficiency_; //!< Efficiency of transmission to PCU diff --git a/src/components/real/propulsion/simple_thruster.cpp b/src/components/real/propulsion/simple_thruster.cpp index ac580bae3..70c5f2a1b 100644 --- a/src/components/real/propulsion/simple_thruster.cpp +++ b/src/components/real/propulsion/simple_thruster.cpp @@ -113,7 +113,7 @@ math::Vector<3> SimpleThruster::CalcThrustDirection() { math::Quaternion make_axis_rot(thrust_dir_b_true, make_axis_rot_rad); math::Vector<3> axis_rot = make_axis_rot.FrameConversion(ex); - math::Quaternion err_rot(axis_rot, direction_random_noise_); // Generate error quaternion + math::Quaternion err_rot(axis_rot, direction_random_noise_); // Generate error quaternion thrust_dir_b_true = err_rot.FrameConversion(thrust_dir_b_true); // Add error } diff --git a/src/disturbances/disturbance.hpp b/src/disturbances/disturbance.hpp index b59bc7735..6cc662728 100644 --- a/src/disturbances/disturbance.hpp +++ b/src/disturbances/disturbance.hpp @@ -83,8 +83,8 @@ class Disturbance : public ILoggable { virtual inline bool IsAttitudeDependent() { return is_attitude_dependent_; } protected: - bool is_calculation_enabled_; //!< Flag to calculate the disturbance - bool is_attitude_dependent_; //!< Flag to show the disturbance depends on attitude information + bool is_calculation_enabled_; //!< Flag to calculate the disturbance + bool is_attitude_dependent_; //!< Flag to show the disturbance depends on attitude information math::Vector<3> force_b_N_; //!< Disturbance force in the body frame [N] math::Vector<3> torque_b_Nm_; //!< Disturbance torque in the body frame [Nm] math::Vector<3> acceleration_b_m_s2_; //!< Disturbance acceleration in the body frame [m/s2] diff --git a/src/disturbances/geopotential.hpp b/src/disturbances/geopotential.hpp index 8eee6692d..7c2bdaaed 100644 --- a/src/disturbances/geopotential.hpp +++ b/src/disturbances/geopotential.hpp @@ -68,7 +68,7 @@ class Geopotential : public Disturbance { // debug math::Vector<3> debug_pos_ecef_m_; //!< Spacecraft position in ECEF frame [m] - double time_ms_ = 0.0; //!< Calculation time [ms] + double time_ms_ = 0.0; //!< Calculation time [ms] /** * @fn ReadCoefficientsEgm96 diff --git a/src/disturbances/gravity_gradient.cpp b/src/disturbances/gravity_gradient.cpp index 853aa40b9..b52b4bee5 100644 --- a/src/disturbances/gravity_gradient.cpp +++ b/src/disturbances/gravity_gradient.cpp @@ -23,8 +23,7 @@ void GravityGradient::Update(const LocalEnvironment& local_environment, const Dy dynamics.GetAttitude().GetInertiaTensor_b_kgm2()); } -math::Vector<3> GravityGradient::CalcTorque_b_Nm(const math::Vector<3> earth_position_from_sc_b_m, - const math::Matrix<3, 3> inertia_tensor_b_kgm2) { +math::Vector<3> GravityGradient::CalcTorque_b_Nm(const math::Vector<3> earth_position_from_sc_b_m, const math::Matrix<3, 3> inertia_tensor_b_kgm2) { double r_norm_m = earth_position_from_sc_b_m.CalcNorm(); math::Vector<3> u_b = earth_position_from_sc_b_m; // TODO: make undestructive normalize function for Vector u_b /= r_norm_m; diff --git a/src/disturbances/lunar_gravity_field.hpp b/src/disturbances/lunar_gravity_field.hpp index 5818b619f..2993c8bf0 100644 --- a/src/disturbances/lunar_gravity_field.hpp +++ b/src/disturbances/lunar_gravity_field.hpp @@ -72,7 +72,7 @@ class LunarGravityField : public Disturbance { // debug math::Vector<3> debug_pos_mcmf_m_; //!< Spacecraft position in MCMF frame [m] - double time_ms_ = 0.0; //!< Calculation time [ms] + double time_ms_ = 0.0; //!< Calculation time [ms] /** * @fn ReadCoefficientsGrgm1200a diff --git a/src/disturbances/magnetic_disturbance.hpp b/src/disturbances/magnetic_disturbance.hpp index 38683a33b..80aea05e3 100644 --- a/src/disturbances/magnetic_disturbance.hpp +++ b/src/disturbances/magnetic_disturbance.hpp @@ -50,7 +50,7 @@ class MagneticDisturbance : public Disturbance { private: const double kMagUnit_ = 1.0e-9; //!< Constant value to change the unit [nT] -> [T] - math::Vector<3> rmm_b_Am2_; //!< True RMM of the spacecraft in the body frame [Am2] + math::Vector<3> rmm_b_Am2_; //!< True RMM of the spacecraft in the body frame [Am2] const ResidualMagneticMoment& residual_magnetic_moment_; //!< RMM parameters /** diff --git a/src/disturbances/surface_force.hpp b/src/disturbances/surface_force.hpp index 49e4bd46d..2fa4a0ac3 100644 --- a/src/disturbances/surface_force.hpp +++ b/src/disturbances/surface_force.hpp @@ -37,7 +37,7 @@ class SurfaceForce : public Disturbance { protected: // Spacecraft Structure parameters - const std::vector& surfaces_; //!< List of surfaces + const std::vector& surfaces_; //!< List of surfaces const math::Vector<3>& center_of_gravity_b_m_; //!< Position vector of the center of mass_kg at body frame [m] // Internal calculated variables diff --git a/src/disturbances/third_body_gravity.hpp b/src/disturbances/third_body_gravity.hpp index 9d95d2ed1..12b9f8b68 100644 --- a/src/disturbances/third_body_gravity.hpp +++ b/src/disturbances/third_body_gravity.hpp @@ -42,7 +42,7 @@ class ThirdBodyGravity : public Disturbance { virtual void Update(const LocalEnvironment& local_environment, const Dynamics& dynamics); private: - std::set third_body_list_; //!< List of celestial bodies to calculate the third body disturbances + std::set third_body_list_; //!< List of celestial bodies to calculate the third body disturbances math::Vector<3> third_body_acceleration_i_m_s2_{0.0}; //!< Calculated third body disturbance acceleration in the inertial frame [m/s2] // Override classes for ILoggable diff --git a/src/dynamics/attitude/attitude.hpp b/src/dynamics/attitude/attitude.hpp index f3463e4a8..130040b88 100644 --- a/src/dynamics/attitude/attitude.hpp +++ b/src/dynamics/attitude/attitude.hpp @@ -114,8 +114,8 @@ class Attitude : public ILoggable, public SimulationObject { virtual void SetParameters(const MonteCarloSimulationExecutor& mc_simulator); protected: - bool is_calc_enabled_ = true; //!< Calculation flag - double propagation_step_s_; //!< Propagation step [sec] + bool is_calc_enabled_ = true; //!< Calculation flag + double propagation_step_s_; //!< Propagation step [sec] math::Vector<3> angular_velocity_b_rad_s_; //!< Angular velocity of spacecraft body fixed frame with respect to the inertial frame [rad/s] math::Quaternion quaternion_i2b_; //!< Attitude quaternion from the inertial frame to the body fixed frame math::Vector<3> torque_b_Nm_; //!< Torque in the body fixed frame [Nm] @@ -125,8 +125,8 @@ class Attitude : public ILoggable, public SimulationObject { math::Vector<3> angular_momentum_reaction_wheel_b_Nms_; //!< Angular momentum of reaction wheel in the body fixed frame [Nms] math::Vector<3> angular_momentum_total_b_Nms_; //!< Total angular momentum of spacecraft in the body fixed frame [Nms] math::Vector<3> angular_momentum_total_i_Nms_; //!< Total angular momentum of spacecraft in the inertial frame [Nms] - double angular_momentum_total_Nms_; //!< Norm of total angular momentum [Nms] - double kinetic_energy_J_; //!< Rotational Kinetic Energy of Spacecraft [J] + double angular_momentum_total_Nms_; //!< Norm of total angular momentum [Nms] + double kinetic_energy_J_; //!< Rotational Kinetic Energy of Spacecraft [J] /** * @fn CalcAngularMomentum diff --git a/src/dynamics/attitude/attitude_rk4.cpp b/src/dynamics/attitude/attitude_rk4.cpp index 3f20b3b82..5ff72c44e 100644 --- a/src/dynamics/attitude/attitude_rk4.cpp +++ b/src/dynamics/attitude/attitude_rk4.cpp @@ -39,8 +39,7 @@ void AttitudeRk4::SetParameters(const MonteCarloSimulationExecutor& mc_simulator void AttitudeRk4::Propagate(const double end_time_s) { if (!is_calc_enabled_) return; - math::Matrix<3, 3> dot_inertia_tensor = - (1.0 / (end_time_s - current_propagation_time_s_)) * (inertia_tensor_kgm2_ - previous_inertia_tensor_kgm2_); + math::Matrix<3, 3> dot_inertia_tensor = (1.0 / (end_time_s - current_propagation_time_s_)) * (inertia_tensor_kgm2_ - previous_inertia_tensor_kgm2_); torque_inertia_tensor_change_b_Nm_ = dot_inertia_tensor * angular_velocity_b_rad_s_; inverse_inertia_tensor_ = CalcInverseMatrix(inertia_tensor_kgm2_); diff --git a/src/dynamics/attitude/attitude_rk4.hpp b/src/dynamics/attitude/attitude_rk4.hpp index 9c5d58bf2..5fe31d669 100644 --- a/src/dynamics/attitude/attitude_rk4.hpp +++ b/src/dynamics/attitude/attitude_rk4.hpp @@ -24,9 +24,8 @@ class AttitudeRk4 : public Attitude { * @param [in] propagation_step_s: Initial value of propagation step width [sec] * @param [in] simulation_object_name: Simulation object name for Monte-Carlo simulation */ - AttitudeRk4(const math::Vector<3>& angular_velocity_b_rad_s, const math::Quaternion& quaternion_i2b, - const math::Matrix<3, 3>& inertia_tensor_kgm2, const math::Vector<3>& torque_b_Nm, const double propagation_step_s, - const std::string& simulation_object_name = "attitude"); + AttitudeRk4(const math::Vector<3>& angular_velocity_b_rad_s, const math::Quaternion& quaternion_i2b, const math::Matrix<3, 3>& inertia_tensor_kgm2, + const math::Vector<3>& torque_b_Nm, const double propagation_step_s, const std::string& simulation_object_name = "attitude"); /** * @fn ~AttitudeRk4 * @brief Destructor @@ -48,7 +47,7 @@ class AttitudeRk4 : public Attitude { virtual void SetParameters(const MonteCarloSimulationExecutor& mc_simulator); private: - double current_propagation_time_s_; //!< current time [sec] + double current_propagation_time_s_; //!< current time [sec] math::Matrix<3, 3> inverse_inertia_tensor_; //!< Inverse of inertia tensor math::Matrix<3, 3> previous_inertia_tensor_kgm2_; //!< Previous inertia tensor [kgm2] math::Vector<3> torque_inertia_tensor_change_b_Nm_; //!< Torque generated by inertia tensor change [Nm] diff --git a/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp b/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp index f52da403b..5058b9a67 100644 --- a/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp +++ b/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp @@ -82,7 +82,7 @@ void AttitudeWithCantileverVibration::Propagate(const double end_time_s) { attitude_ode_.SetAngularMomentumReactionWheel_b_Nms(angular_momentum_reaction_wheel_b_Nms_); math::Vector<13> state = attitude_ode_.SetStateFromPhysicalQuantities(angular_velocity_b_rad_s_, angular_velocity_cantilever_rad_s_, - quaternion_i2b_, euler_angular_cantilever_rad_); + quaternion_i2b_, euler_angular_cantilever_rad_); numerical_integrator_.GetIntegrator()->SetState(propagation_step_s_, state); while (end_time_s - current_propagation_time_s_ - propagation_step_s_ > 1.0e-6) { numerical_integrator_.GetIntegrator()->Integrate(); diff --git a/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp b/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp index 91fa9948d..388542783 100644 --- a/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp +++ b/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp @@ -69,7 +69,7 @@ class AttitudeWithCantileverVibration : public Attitude { virtual void SetParameters(const MonteCarloSimulationExecutor& mc_simulator); private: - double current_propagation_time_s_; //!< current time [sec] + double current_propagation_time_s_; //!< current time [sec] math::Vector<3> angular_velocity_cantilever_rad_s_{0.0}; //!< Angular velocity of the cantilever with respect to the body frame [rad/s] math::Vector<3> euler_angular_cantilever_rad_{0.0}; //!< Euler angle of the cantilever with respect to the body frame [rad/s] diff --git a/src/dynamics/attitude/controlled_attitude.cpp b/src/dynamics/attitude/controlled_attitude.cpp index c96d23a6f..ae12dc2e7 100644 --- a/src/dynamics/attitude/controlled_attitude.cpp +++ b/src/dynamics/attitude/controlled_attitude.cpp @@ -7,11 +7,10 @@ #include #include -ControlledAttitude::ControlledAttitude(const AttitudeControlMode main_mode, const AttitudeControlMode sub_mode, - const math::Quaternion quaternion_i2b, const math::Vector<3> main_target_direction_b, - const math::Vector<3> sub_target_direction_b, const math::Matrix<3, 3>& inertia_tensor_kgm2, - const LocalCelestialInformation* local_celestial_information, const Orbit* orbit, - const std::string& simulation_object_name) +ControlledAttitude::ControlledAttitude(const AttitudeControlMode main_mode, const AttitudeControlMode sub_mode, const math::Quaternion quaternion_i2b, + const math::Vector<3> main_target_direction_b, const math::Vector<3> sub_target_direction_b, + const math::Matrix<3, 3>& inertia_tensor_kgm2, const LocalCelestialInformation* local_celestial_information, + const Orbit* orbit, const std::string& simulation_object_name) : Attitude(inertia_tensor_kgm2, simulation_object_name), main_mode_(main_mode), sub_mode_(sub_mode), diff --git a/src/dynamics/attitude/controlled_attitude.hpp b/src/dynamics/attitude/controlled_attitude.hpp index a033dc973..ce26738d8 100644 --- a/src/dynamics/attitude/controlled_attitude.hpp +++ b/src/dynamics/attitude/controlled_attitude.hpp @@ -99,16 +99,16 @@ class ControlledAttitude : public Attitude { virtual void Propagate(const double end_time_s); private: - AttitudeControlMode main_mode_; //!< Main control mode - AttitudeControlMode sub_mode_; //!< Sub control mode + AttitudeControlMode main_mode_; //!< Main control mode + AttitudeControlMode sub_mode_; //!< Sub control mode math::Vector<3> main_target_direction_b_; //!< Main target direction on the body fixed frame math::Vector<3> sub_target_direction_b_; //!< Sub target direction on tge body fixed frame - double previous_calc_time_s_ = -1.0; //!< Previous time of velocity calculation [sec] + double previous_calc_time_s_ = -1.0; //!< Previous time of velocity calculation [sec] math::Quaternion previous_quaternion_i2b_; //!< Previous quaternion math::Vector<3> previous_omega_b_rad_s_; //!< Previous angular velocity [rad/s] const double kMinDirectionAngle_rad = 30.0 * math::deg_to_rad; //!< Minimum angle b/w main and sub direction - // TODO Change with ini file + // TODO Change with ini file // Inputs const LocalCelestialInformation* local_celestial_information_; //!< Local celestial information diff --git a/src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp b/src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp index b4e92bdcd..4aaf69139 100644 --- a/src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp +++ b/src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp @@ -29,8 +29,8 @@ class AttitudeWithCantileverVibrationOde : public InterfaceOde<13> { * @param [in] euler_angule_cantilever_rad: Euler angle of the cantilever@ body-fixed frame [rad] */ math::Vector<13> SetStateFromPhysicalQuantities(const math::Vector<3> angular_velocity_b_rad_s, - const math::Vector<3> angular_velocity_cantilever_rad_s, const math::Quaternion quaternion_i2b, - const math::Vector<3> euler_angule_cantilever_rad) const { + const math::Vector<3> angular_velocity_cantilever_rad_s, const math::Quaternion quaternion_i2b, + const math::Vector<3> euler_angule_cantilever_rad) const { math::Vector<13> state; for (size_t i = 0; i < 3; i++) { state[i] = angular_velocity_b_rad_s[i]; @@ -210,8 +210,8 @@ class AttitudeWithCantileverVibrationOde : public InterfaceOde<13> { } protected: - double attenuation_coefficient_ = 0.0; //!< Attenuation coefficient - double spring_coefficient_ = 0.0; //!< Spring coefficient + double attenuation_coefficient_ = 0.0; //!< Attenuation coefficient + double spring_coefficient_ = 0.0; //!< Spring coefficient math::Vector<3> torque_b_Nm_{0.0}; //!< Torque in the body fixed frame [Nm] math::Vector<3> torque_inertia_tensor_b_Nm_{0.0}; //!< Torque generated by inertia tensor [Nm] math::Vector<3> angular_momentum_reaction_wheel_b_Nms_{0.0}; //!< Angular momentum of reaction wheel in the body fixed frame [Nms] diff --git a/src/dynamics/orbit/encke_orbit_propagation.hpp b/src/dynamics/orbit/encke_orbit_propagation.hpp index 9c6a3bc5b..a6abce7e8 100644 --- a/src/dynamics/orbit/encke_orbit_propagation.hpp +++ b/src/dynamics/orbit/encke_orbit_propagation.hpp @@ -65,7 +65,7 @@ class EnckeOrbitPropagation : public Orbit, public math::OrdinaryDifferentialEqu // reference orbit math::Vector<3> reference_position_i_m_; //!< Reference orbit position in the inertial frame [m] math::Vector<3> reference_velocity_i_m_s_; //!< Reference orbit velocity in the inertial frame [m/s] - KeplerOrbit reference_kepler_orbit; //!< Reference Kepler orbital element + KeplerOrbit reference_kepler_orbit; //!< Reference Kepler orbital element // difference orbit math::Vector<3> difference_position_i_m_; //!< Difference orbit position in the inertial frame [m] diff --git a/src/dynamics/orbit/orbit.hpp b/src/dynamics/orbit/orbit.hpp index ac37fbc18..ced6b516c 100644 --- a/src/dynamics/orbit/orbit.hpp +++ b/src/dynamics/orbit/orbit.hpp @@ -191,8 +191,8 @@ class Orbit : public ILoggable { bool is_calc_enabled_ = false; //!< Calculate flag OrbitPropagateMode propagate_mode_; //!< Propagation mode - math::Vector<3> spacecraft_position_i_m_; //!< Spacecraft position in the inertial frame [m] - math::Vector<3> spacecraft_position_ecef_m_; //!< Spacecraft position in the ECEF frame [m] + math::Vector<3> spacecraft_position_i_m_; //!< Spacecraft position in the inertial frame [m] + math::Vector<3> spacecraft_position_ecef_m_; //!< Spacecraft position in the ECEF frame [m] GeodeticPosition spacecraft_geodetic_position_; //!< Spacecraft position in the Geodetic frame math::Vector<3> spacecraft_velocity_i_m_s_; //!< Spacecraft velocity in the inertial frame [m/s] @@ -200,7 +200,7 @@ class Orbit : public ILoggable { math::Vector<3> spacecraft_velocity_ecef_m_s_; //!< Spacecraft velocity in the ECEF frame [m/s] math::Vector<3> spacecraft_acceleration_i_m_s2_; //!< Spacecraft acceleration in the inertial frame [m/s2] - //!< NOTE: Clear to zero at the end of the Propagate function + //!< NOTE: Clear to zero at the end of the Propagate function // Frame Conversion TODO: consider other planet /** diff --git a/src/dynamics/orbit/relative_orbit.cpp b/src/dynamics/orbit/relative_orbit.cpp index fc15b96d3..5bf3270e3 100644 --- a/src/dynamics/orbit/relative_orbit.cpp +++ b/src/dynamics/orbit/relative_orbit.cpp @@ -39,8 +39,7 @@ void RelativeOrbit::InitializeState(math::Vector<3> relative_position_lvlh_m, ma spacecraft_acceleration_i_m_s2_ *= 0.0; math::Vector<3> reference_sat_position_i = relative_information_->GetReferenceSatDynamics(reference_spacecraft_id_)->GetOrbit().GetPosition_i_m(); - math::Vector<3> reference_sat_velocity_i = - relative_information_->GetReferenceSatDynamics(reference_spacecraft_id_)->GetOrbit().GetVelocity_i_m_s(); + math::Vector<3> reference_sat_velocity_i = relative_information_->GetReferenceSatDynamics(reference_spacecraft_id_)->GetOrbit().GetVelocity_i_m_s(); math::Quaternion q_i2lvlh = relative_information_->GetReferenceSatDynamics(reference_spacecraft_id_)->GetOrbit().CalcQuaternion_i2lvlh(); math::Quaternion q_lvlh2i = q_i2lvlh.Conjugate(); spacecraft_position_i_m_ = q_lvlh2i.FrameConversion(relative_position_lvlh_m_) + reference_sat_position_i; @@ -109,8 +108,7 @@ void RelativeOrbit::Propagate(const double end_time_s, const double current_time } math::Vector<3> reference_sat_position_i = relative_information_->GetReferenceSatDynamics(reference_spacecraft_id_)->GetOrbit().GetPosition_i_m(); - math::Vector<3> reference_sat_velocity_i = - relative_information_->GetReferenceSatDynamics(reference_spacecraft_id_)->GetOrbit().GetVelocity_i_m_s(); + math::Vector<3> reference_sat_velocity_i = relative_information_->GetReferenceSatDynamics(reference_spacecraft_id_)->GetOrbit().GetVelocity_i_m_s(); math::Quaternion q_i2lvlh = relative_information_->GetReferenceSatDynamics(reference_spacecraft_id_)->GetOrbit().CalcQuaternion_i2lvlh(); math::Quaternion q_lvlh2i = q_i2lvlh.Conjugate(); diff --git a/src/environment/global/earth_rotation.hpp b/src/environment/global/earth_rotation.hpp index 2376ff434..c12af3f2f 100644 --- a/src/environment/global/earth_rotation.hpp +++ b/src/environment/global/earth_rotation.hpp @@ -54,12 +54,12 @@ class EarthRotation { inline const math::Matrix<3, 3> GetDcmTemeToEcef() const { return dcm_teme_to_ecef_; }; private: - double d_psi_rad_; //!< Nutation in obliquity [rad] - double d_epsilon_rad_; //!< Nutation in longitude [rad] - double epsilon_rad_; //!< Mean obliquity of the ecliptic [rad] + double d_psi_rad_; //!< Nutation in obliquity [rad] + double d_epsilon_rad_; //!< Nutation in longitude [rad] + double epsilon_rad_; //!< Mean obliquity of the ecliptic [rad] math::Matrix<3, 3> dcm_j2000_to_ecef_; //!< Direction Cosine Matrix J2000 to ECEF math::Matrix<3, 3> dcm_teme_to_ecef_; //!< Direction Cosine Matrix TEME to ECEF - EarthRotationMode rotation_mode_; //!< Designation of dynamics model + EarthRotationMode rotation_mode_; //!< Designation of dynamics model // Definitions of coefficients // They are handling as constant values diff --git a/src/environment/global/gnss_satellites.hpp b/src/environment/global/gnss_satellites.hpp index 723cb75d9..a3021e64c 100644 --- a/src/environment/global/gnss_satellites.hpp +++ b/src/environment/global/gnss_satellites.hpp @@ -120,7 +120,7 @@ class GnssSatellites : public ILoggable { size_t reference_interpolation_id_ = 0; //!< Reference epoch ID of the interpolation EpochTime current_epoch_time_; //!< The last updated time - std::vector orbit_; //!< GNSS satellite orbit with interpolation + std::vector orbit_; //!< GNSS satellite orbit with interpolation std::vector clock_; //!< GNSS satellite clock offset with interpolation // References diff --git a/src/environment/global/moon_rotation.hpp b/src/environment/global/moon_rotation.hpp index ba4fb2947..fa9506757 100644 --- a/src/environment/global/moon_rotation.hpp +++ b/src/environment/global/moon_rotation.hpp @@ -56,7 +56,7 @@ class MoonRotation { inline const math::Matrix<3, 3> GetDcmJ2000ToMcmf() const { return dcm_j2000_to_mcmf_; }; private: - MoonRotationMode mode_; //!< Rotation mode + MoonRotationMode mode_; //!< Rotation mode math::Matrix<3, 3> dcm_j2000_to_mcmf_; //!< Direction Cosine Matrix J2000 to MCMF (Moon Centered Moon Fixed) const CelestialInformation &celestial_information_; //!< Celestial Information to get moon orbit diff --git a/src/environment/local/geomagnetic_field.hpp b/src/environment/local/geomagnetic_field.hpp index 3eabd46c5..f7305e0e0 100644 --- a/src/environment/local/geomagnetic_field.hpp +++ b/src/environment/local/geomagnetic_field.hpp @@ -70,8 +70,8 @@ class GeomagneticField : public ILoggable { virtual std::string GetLogValue() const; private: - math::Vector<3> magnetic_field_i_nT_; //!< Magnetic field vector at the inertial frame [nT] - math::Vector<3> magnetic_field_b_nT_; //!< Magnetic field vector at the spacecraft body fixed frame [nT] + math::Vector<3> magnetic_field_i_nT_; //!< Magnetic field vector at the inertial frame [nT] + math::Vector<3> magnetic_field_b_nT_; //!< Magnetic field vector at the spacecraft body fixed frame [nT] double random_walk_standard_deviation_nT_; //!< Standard deviation of Random Walk [nT] double random_walk_limit_nT_; //!< Limit of Random Walk [nT] double white_noise_standard_deviation_nT_; //!< Standard deviation of white noise [nT] diff --git a/src/math_physics/gnss/antex_file_reader.hpp b/src/math_physics/gnss/antex_file_reader.hpp index 0cbf59d44..ef2ef64c4 100644 --- a/src/math_physics/gnss/antex_file_reader.hpp +++ b/src/math_physics/gnss/antex_file_reader.hpp @@ -164,7 +164,7 @@ class AntexPhaseCenterData { private: std::string frequency_name_ = ""; //!< Frequency name - math::Vector<3> phase_center_offset_mm_{0.0}; //!< Phase center offset [mm] + math::Vector<3> phase_center_offset_mm_{0.0}; //!< Phase center offset [mm] AntexGridDefinition grid_information_; //!< Grid information std::vector> phase_center_variation_matrix_mm_; //!< Phase center variation [mm] (column, row definition: [azimuth][zenith]) }; diff --git a/src/math_physics/gnss/sp3_file_reader.hpp b/src/math_physics/gnss/sp3_file_reader.hpp index 6b12e0be5..4b7a017eb 100644 --- a/src/math_physics/gnss/sp3_file_reader.hpp +++ b/src/math_physics/gnss/sp3_file_reader.hpp @@ -92,15 +92,15 @@ struct Sp3Header { * @note The coordinate system of the position is defined in the SP3 header */ struct Sp3PositionClock { - std::string satellite_id_; //!< GNSS satellite ID + std::string satellite_id_; //!< GNSS satellite ID math::Vector<3> position_km_{SP3_BAD_POSITION_VALUE}; //!< Satellite position [km] - double clock_us_ = SP3_BAD_CLOCK_VALUE; //!< Satellite clock offset [us] + double clock_us_ = SP3_BAD_CLOCK_VALUE; //!< Satellite clock offset [us] math::Vector<3> position_standard_deviation_{0.0}; //!< Satellite position standard deviation [-] - double clock_standard_deviation_ = 0.0; //!< Satellite clock offset standard deviation [-] - bool clock_event_flag_ = false; //!< true when clock discontinuity is happened - bool clock_prediction_flag_ = false; //!< true when clock data is predicted - bool maneuver_flag_ = false; //!< true when orbit maneuver is happened in last 50 minutes - bool orbit_prediction_flag_ = false; //!< true when orbit data is predicted + double clock_standard_deviation_ = 0.0; //!< Satellite clock offset standard deviation [-] + bool clock_event_flag_ = false; //!< true when clock discontinuity is happened + bool clock_prediction_flag_ = false; //!< true when clock data is predicted + bool maneuver_flag_ = false; //!< true when orbit maneuver is happened in last 50 minutes + bool orbit_prediction_flag_ = false; //!< true when orbit data is predicted }; /** @@ -127,11 +127,11 @@ struct Sp3PositionClockCorrelation { * @note The coordinate system of the position is defined in the SP3 header */ struct Sp3VelocityClockRate { - std::string satellite_id_; //!< GNSS satellite ID + std::string satellite_id_; //!< GNSS satellite ID math::Vector<3> velocity_dm_s_{0.0}; //!< Satellite velocity [dm/s] - double clock_rate_ = 0.0; //!< Satellite clock offset change rate [-] + double clock_rate_ = 0.0; //!< Satellite clock offset change rate [-] math::Vector<3> velocity_standard_deviation_{0.0}; //!< Satellite position standard deviation [-] - double clock_rate_standard_deviation_ = 0.0; //!< Satellite clock offset standard deviation [-] + double clock_rate_standard_deviation_ = 0.0; //!< Satellite clock offset standard deviation [-] }; /** diff --git a/src/math_physics/numerical_integration/numerical_integrator.hpp b/src/math_physics/numerical_integration/numerical_integrator.hpp index 7955dadff..e908a4ad8 100644 --- a/src/math_physics/numerical_integration/numerical_integrator.hpp +++ b/src/math_physics/numerical_integration/numerical_integrator.hpp @@ -32,7 +32,7 @@ class NumericalIntegrator { * @fn ~NumericalIntegrator * @brief Destructor */ - inline virtual ~NumericalIntegrator(){}; + inline virtual ~NumericalIntegrator() {}; /** * @fn Integrate @@ -71,8 +71,8 @@ class NumericalIntegrator { // States const InterfaceOde& ode_; //!< Ordinary differential equation double current_independent_variable_; //!< Latest value of independent variable - math::Vector current_state_; //!< Latest state vector - math::Vector previous_state_; //!< Previous state vector + math::Vector current_state_; //!< Latest state vector + math::Vector previous_state_; //!< Previous state vector }; } // namespace libra::numerical_integration diff --git a/src/math_physics/numerical_integration/runge_kutta.hpp b/src/math_physics/numerical_integration/runge_kutta.hpp index 4b6f186bd..6c889ada7 100644 --- a/src/math_physics/numerical_integration/runge_kutta.hpp +++ b/src/math_physics/numerical_integration/runge_kutta.hpp @@ -29,7 +29,7 @@ class RungeKutta : public NumericalIntegrator { * @fn ~RungeKutta * @brief Destructor */ - inline virtual ~RungeKutta(){}; + inline virtual ~RungeKutta() {}; /** * @fn Integrate @@ -46,7 +46,7 @@ class RungeKutta : public NumericalIntegrator { std::vector nodes_; //!< Nodes vector for general RK (c vector in the equation) std::vector weights_; //!< Weights vector for general RK (b vector in the equation) std::vector> rk_matrix_; //!< Runge-Kutta matrix for general RK (a matrix in the equation) - std::vector> slope_; //!< Slope vector for general RK (k vector in the equation) + std::vector> slope_; //!< Slope vector for general RK (k vector in the equation) /** * @fn CalcSlope diff --git a/src/math_physics/optics/gaussian_beam_base.cpp b/src/math_physics/optics/gaussian_beam_base.cpp index ab4121afb..ba9a03e89 100644 --- a/src/math_physics/optics/gaussian_beam_base.cpp +++ b/src/math_physics/optics/gaussian_beam_base.cpp @@ -30,9 +30,7 @@ void GaussianBeamBase::SetTotalPower_W(const double total_power_W) { void GaussianBeamBase::SetPointingVector_i(const math::Vector<3> pointing_vector_i) { pointing_vector_i_ = pointing_vector_i; } -void GaussianBeamBase::SetBeamWaistPosition_i_m(const math::Vector<3> position_beam_waist_i_m) { - position_beam_waist_i_m_ = position_beam_waist_i_m; -} +void GaussianBeamBase::SetBeamWaistPosition_i_m(const math::Vector<3> position_beam_waist_i_m) { position_beam_waist_i_m_ = position_beam_waist_i_m; } double GaussianBeamBase::CalcBeamWidthRadius_m(double distance_from_beam_waist_m) { double rayleigh_length_m = math::pi * radius_beam_waist_m_ * radius_beam_waist_m_ / wavelength_m_; diff --git a/src/math_physics/optics/gaussian_beam_base.hpp b/src/math_physics/optics/gaussian_beam_base.hpp index ae96c14e6..6b9721742 100644 --- a/src/math_physics/optics/gaussian_beam_base.hpp +++ b/src/math_physics/optics/gaussian_beam_base.hpp @@ -100,9 +100,9 @@ class GaussianBeamBase { double CalcIntensity_W_m2(double distance_from_beam_waist_m, double deviation_from_optical_axis_m); private: - double wavelength_m_; //!< Wavelength [m] - double radius_beam_waist_m_; //!< Radius of beam waist [m] - double total_power_W_; //!< Total power [W] + double wavelength_m_; //!< Wavelength [m] + double radius_beam_waist_m_; //!< Radius of beam waist [m] + double total_power_W_; //!< Total power [W] math::Vector<3> pointing_vector_i_{0.0}; //!< Pointing direction vector in the inertial frame math::Vector<3> position_beam_waist_i_m_{0.0}; //!< Position of beam waist in the inertial frame [m] (Not used?) }; diff --git a/src/math_physics/orbit/kepler_orbit.hpp b/src/math_physics/orbit/kepler_orbit.hpp index 6dc866a48..a19784a0d 100644 --- a/src/math_physics/orbit/kepler_orbit.hpp +++ b/src/math_physics/orbit/kepler_orbit.hpp @@ -57,9 +57,9 @@ class KeplerOrbit { math::Vector<3> velocity_i_m_s_; //!< Velocity vector in the inertial frame [m/s] private: - double gravity_constant_m3_s2_; //!< Gravity constant of the center body [m3/s2] - OrbitalElements oe_; //!< Orbital elements - double mean_motion_rad_s_; //!< Mean motion of the orbit [rad/s] + double gravity_constant_m3_s2_; //!< Gravity constant of the center body [m3/s2] + OrbitalElements oe_; //!< Orbital elements + double mean_motion_rad_s_; //!< Mean motion of the orbit [rad/s] math::Matrix<3, 3> dcm_inplane_to_i_; //!< Direction cosine matrix from the in-plane frame to the inertial frame /** diff --git a/src/math_physics/randomization/minimal_standard_linear_congruential_generator.hpp b/src/math_physics/randomization/minimal_standard_linear_congruential_generator.hpp index 2e40e9afb..70b97a695 100644 --- a/src/math_physics/randomization/minimal_standard_linear_congruential_generator.hpp +++ b/src/math_physics/randomization/minimal_standard_linear_congruential_generator.hpp @@ -52,6 +52,6 @@ class MinimalStandardLcg { long seed_; //!< Seed of randomization }; -} // namespace math +} // namespace libra #endif // S2E_LIBRARY_RANDOMIZATION_MINIMAL_STANDARD_LINEAR_CONGRUENTIAL_GENERATOR_HPP_ diff --git a/src/math_physics/randomization/minimal_standard_linear_congruential_generator_with_shuffle.hpp b/src/math_physics/randomization/minimal_standard_linear_congruential_generator_with_shuffle.hpp index 3ece5e0bc..6c42dddba 100644 --- a/src/math_physics/randomization/minimal_standard_linear_congruential_generator_with_shuffle.hpp +++ b/src/math_physics/randomization/minimal_standard_linear_congruential_generator_with_shuffle.hpp @@ -58,6 +58,6 @@ class MinimalStandardLcgWithShuffle { double mixing_table_[kTableSize]; //!< Mixing table }; -} // namespace math +} // namespace libra #endif // S2E_LIBRARY_RANDOMIZATION_MINIMAL_STANDARD_LINEAR_CONGRUENTIAL_GENERATOR_WITH_SHUFFLE_HPP_ diff --git a/src/math_physics/randomization/normal_randomization.hpp b/src/math_physics/randomization/normal_randomization.hpp index 93c73d783..962126a0c 100644 --- a/src/math_physics/randomization/normal_randomization.hpp +++ b/src/math_physics/randomization/normal_randomization.hpp @@ -106,6 +106,6 @@ class NormalRand { bool is_empty_; //!< Flag to show the holder_ has available value }; -} // namespace math +} // namespace libra #endif // S2E_LIBRARY_RANDOMIZATION_NORMAL_RANDOMIZATION_HPP_ diff --git a/src/math_physics/randomization/random_walk.hpp b/src/math_physics/randomization/random_walk.hpp index 5e2ef417e..befcd10de 100644 --- a/src/math_physics/randomization/random_walk.hpp +++ b/src/math_physics/randomization/random_walk.hpp @@ -36,7 +36,7 @@ class RandomWalk : public math::OrdinaryDifferentialEquation { virtual void DerivativeFunction(double x, const math::Vector& state, math::Vector& rhs); private: - math::Vector limit_; //!< Limit of random walk + math::Vector limit_; //!< Limit of random walk libra::NormalRand normal_randomizer_[N]; //!< Random walk excitation noise }; diff --git a/src/simulation/monte_carlo_simulation/initialize_monte_carlo_parameters.cpp b/src/simulation/monte_carlo_simulation/initialize_monte_carlo_parameters.cpp index b568ff136..44d6c211a 100644 --- a/src/simulation/monte_carlo_simulation/initialize_monte_carlo_parameters.cpp +++ b/src/simulation/monte_carlo_simulation/initialize_monte_carlo_parameters.cpp @@ -166,8 +166,8 @@ void InitializedMonteCarloParameters::GenerateCircularNormalNormal() { } } -void InitializedMonteCarloParameters::CalcSphericalNormalUniformUniform(math::Vector<3>& destination, double r_mean, double r_sigma, - double theta_min, double theta_max, double phi_min, double phi_max) { +void InitializedMonteCarloParameters::CalcSphericalNormalUniformUniform(math::Vector<3>& destination, double r_mean, double r_sigma, double theta_min, + double theta_max, double phi_min, double phi_max) { // r follows normal distribution, and θ and φ follow uniform distribution in Spherical frame double r = InitializedMonteCarloParameters::Generate1dNormal(r_mean, r_sigma); double theta = acos(cos(theta_min) - (cos(theta_min) - cos(theta_max)) * InitializedMonteCarloParameters::Generate1dUniform(0.0, 1.0)); @@ -209,7 +209,7 @@ void InitializedMonteCarloParameters::CalcSphericalNormalNormal(math::Vector<3>& double rotation_angle_of_normal_unit_vec = InitializedMonteCarloParameters::Generate1dUniform(0.0, math::tau); math::Quaternion rotation_of_normal_unit_vec(mean_vec_dir, - -rotation_angle_of_normal_unit_vec); // Use opposite sign to rotate the vector (not the frame) + -rotation_angle_of_normal_unit_vec); // Use opposite sign to rotate the vector (not the frame) math::Vector<3> rotation_axis = rotation_of_normal_unit_vec.FrameConversion(normal_unit_vec); // Axis of mean vector rotation double rotation_angle_of_mean_vec = InitializedMonteCarloParameters::Generate1dNormal(0.0, sigma_or_max_[1]); diff --git a/src/simulation/monte_carlo_simulation/simulation_object.cpp b/src/simulation/monte_carlo_simulation/simulation_object.cpp index c015a9dad..9f41f0e15 100644 --- a/src/simulation/monte_carlo_simulation/simulation_object.cpp +++ b/src/simulation/monte_carlo_simulation/simulation_object.cpp @@ -38,7 +38,6 @@ void SimulationObject::GetInitializedMonteCarloParameterDouble(const MonteCarloS } void SimulationObject::GetInitializedMonteCarloParameterQuaternion(const MonteCarloSimulationExecutor& monte_carlo_simulator, - std::string init_monte_carlo_parameter_name, - math::Quaternion& destination) const { + std::string init_monte_carlo_parameter_name, math::Quaternion& destination) const { monte_carlo_simulator.GetInitializedMonteCarloParameterQuaternion(name_, init_monte_carlo_parameter_name, destination); } diff --git a/src/simulation/multiple_spacecraft/relative_information.hpp b/src/simulation/multiple_spacecraft/relative_information.hpp index 0631cdc87..87a273641 100644 --- a/src/simulation/multiple_spacecraft/relative_information.hpp +++ b/src/simulation/multiple_spacecraft/relative_information.hpp @@ -138,7 +138,7 @@ class RelativeInformation : public ILoggable { std::vector>> relative_velocity_list_i_m_s_; //!< Relative velocity list in the inertial frame in unit [m/s] std::vector>> relative_position_list_rtn_m_; //!< Relative position list in the RTN frame in unit [m] std::vector>> relative_velocity_list_rtn_m_s_; //!< Relative velocity list in the RTN frame in unit [m/s] - std::vector> relative_distance_list_m_; //!< Relative distance list in unit [m] + std::vector> relative_distance_list_m_; //!< Relative distance list in unit [m] std::vector> relative_attitude_quaternion_list_; //!< Relative attitude quaternion list /** diff --git a/src/simulation/spacecraft/structure/kinematics_parameters.hpp b/src/simulation/spacecraft/structure/kinematics_parameters.hpp index cab7abb00..ff91c6f01 100644 --- a/src/simulation/spacecraft/structure/kinematics_parameters.hpp +++ b/src/simulation/spacecraft/structure/kinematics_parameters.hpp @@ -24,7 +24,7 @@ class KinematicsParameters { * @fn ~KinematicsParameters * @brief Destructor */ - ~KinematicsParameters(){}; + ~KinematicsParameters() {}; // Getter /** @@ -82,7 +82,7 @@ class KinematicsParameters { private: math::Vector<3> center_of_gravity_b_m_; //!< Position vector of center of gravity at body frame [m] - double mass_kg_; //!< Mass of the satellite [kg] + double mass_kg_; //!< Mass of the satellite [kg] math::Matrix<3, 3> inertia_tensor_b_kgm2_; //!< Inertia tensor at body frame [kgm2] }; diff --git a/src/simulation/spacecraft/structure/residual_magnetic_moment.hpp b/src/simulation/spacecraft/structure/residual_magnetic_moment.hpp index 72000e51f..17b815466 100644 --- a/src/simulation/spacecraft/structure/residual_magnetic_moment.hpp +++ b/src/simulation/spacecraft/structure/residual_magnetic_moment.hpp @@ -25,7 +25,7 @@ class ResidualMagneticMoment { * @fn ~ResidualMagneticMoment * @brief Destructor */ - ~ResidualMagneticMoment(){}; + ~ResidualMagneticMoment() {}; // Getter /** diff --git a/src/simulation/spacecraft/structure/surface.hpp b/src/simulation/spacecraft/structure/surface.hpp index 127c81028..f829ac0de 100644 --- a/src/simulation/spacecraft/structure/surface.hpp +++ b/src/simulation/spacecraft/structure/surface.hpp @@ -24,7 +24,7 @@ class Surface { * @fn ~Surface * @brief Destructor */ - ~Surface(){}; + ~Surface() {}; // Getter /** @@ -107,10 +107,10 @@ class Surface { private: math::Vector<3> position_b_m_; //!< Position vector of the surface @ Body Frame [m] math::Vector<3> normal_b_; //!< Normal unit vector of the surface @ Body Frame [-] - double area_m2_; //!< Area of the surface [m2] - double reflectivity_; //!< Total reflectivity for solar wavelength (1.0 - solar absorption) - double specularity_; //!< Ratio of specular reflection in the total reflected light - double air_specularity_; //!< Specularity for air drag + double area_m2_; //!< Area of the surface [m2] + double reflectivity_; //!< Total reflectivity for solar wavelength (1.0 - solar absorption) + double specularity_; //!< Ratio of specular reflection in the total reflected light + double air_specularity_; //!< Specularity for air drag }; #endif // S2E_SIMULATION_SPACECRAFT_STRUCTURE_SURFACE_HPP_ From cd9fc1766bd24cd8c099c43137003c4d5b1d4d42 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 20 Jul 2024 10:34:14 +0900 Subject: [PATCH 241/456] Fix format --- src/components/base/component.hpp | 4 ++-- src/components/base/interface_gpio_component.hpp | 2 +- .../numerical_integration/numerical_integrator_manager.hpp | 2 +- src/math_physics/numerical_integration/runge_kutta.hpp | 2 +- .../spacecraft/structure/residual_magnetic_moment.hpp | 2 +- src/simulation/spacecraft/structure/surface.hpp | 2 +- 6 files changed, 7 insertions(+), 7 deletions(-) diff --git a/src/components/base/component.hpp b/src/components/base/component.hpp index dac70324f..91432e1f3 100644 --- a/src/components/base/component.hpp +++ b/src/components/base/component.hpp @@ -76,13 +76,13 @@ class Component : public ITickable { * @brief Pure virtual function used to calculate high-frequency disturbances(e.g. RW jitter) * @note Override only when high-frequency disturbances need to be calculated. */ - virtual void FastUpdate() {}; + virtual void FastUpdate(){}; /** * @fn PowerOffRoutine * @brief Pure virtual function executed when the power switch is off. */ - virtual void PowerOffRoutine() {}; + virtual void PowerOffRoutine(){}; ClockGenerator* clock_generator_; //!< Clock generator PowerPort* power_port_; //!< Power port diff --git a/src/components/base/interface_gpio_component.hpp b/src/components/base/interface_gpio_component.hpp index 8f9d98519..7ed129e7b 100644 --- a/src/components/base/interface_gpio_component.hpp +++ b/src/components/base/interface_gpio_component.hpp @@ -16,7 +16,7 @@ class IGPIOCompo { * @fn ~IGPIOCompo * @brief Destructor */ - virtual ~IGPIOCompo() {}; + virtual ~IGPIOCompo(){}; /** * @fn GpioStateChanged diff --git a/src/math_physics/numerical_integration/numerical_integrator_manager.hpp b/src/math_physics/numerical_integration/numerical_integrator_manager.hpp index 93e2c3d51..45cb0a519 100644 --- a/src/math_physics/numerical_integration/numerical_integrator_manager.hpp +++ b/src/math_physics/numerical_integration/numerical_integrator_manager.hpp @@ -54,7 +54,7 @@ class NumericalIntegratorManager { } } - ~NumericalIntegratorManager() {} + ~NumericalIntegratorManager(){} inline std::shared_ptr> GetIntegrator() const { return integrator_; } diff --git a/src/math_physics/numerical_integration/runge_kutta.hpp b/src/math_physics/numerical_integration/runge_kutta.hpp index 6c889ada7..cb972726c 100644 --- a/src/math_physics/numerical_integration/runge_kutta.hpp +++ b/src/math_physics/numerical_integration/runge_kutta.hpp @@ -29,7 +29,7 @@ class RungeKutta : public NumericalIntegrator { * @fn ~RungeKutta * @brief Destructor */ - inline virtual ~RungeKutta() {}; + inline virtual ~RungeKutta(){}; /** * @fn Integrate diff --git a/src/simulation/spacecraft/structure/residual_magnetic_moment.hpp b/src/simulation/spacecraft/structure/residual_magnetic_moment.hpp index 17b815466..72000e51f 100644 --- a/src/simulation/spacecraft/structure/residual_magnetic_moment.hpp +++ b/src/simulation/spacecraft/structure/residual_magnetic_moment.hpp @@ -25,7 +25,7 @@ class ResidualMagneticMoment { * @fn ~ResidualMagneticMoment * @brief Destructor */ - ~ResidualMagneticMoment() {}; + ~ResidualMagneticMoment(){}; // Getter /** diff --git a/src/simulation/spacecraft/structure/surface.hpp b/src/simulation/spacecraft/structure/surface.hpp index f829ac0de..db54f219b 100644 --- a/src/simulation/spacecraft/structure/surface.hpp +++ b/src/simulation/spacecraft/structure/surface.hpp @@ -24,7 +24,7 @@ class Surface { * @fn ~Surface * @brief Destructor */ - ~Surface() {}; + ~Surface(){}; // Getter /** From 1846e23748960083cbddc12ae135fd3fb7bcc694 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 20 Jul 2024 10:35:02 +0900 Subject: [PATCH 242/456] Revert CMake option --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 63925acf7..a4426f1e9 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -15,7 +15,7 @@ option(BUILD_64BIT "Build 64bit" OFF) option(GOOGLE_TEST "Execute GoogleTest" OFF) # Mac user setting -option(APPLE_SILICON "Build with Apple Silicon" ON) +option(APPLE_SILICON "Build with Apple Silicon" OFF) # Force build with 64bit for APPLE if(APPLE) option(BUILD_64BIT "Build 64bit" ON) From 956600a1b5d90219ff5938a19496a8c501028348 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 20 Jul 2024 10:37:25 +0900 Subject: [PATCH 243/456] fix format --- src/math_physics/numerical_integration/numerical_integrator.hpp | 2 +- .../numerical_integration/numerical_integrator_manager.hpp | 2 +- src/simulation/spacecraft/structure/kinematics_parameters.hpp | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/src/math_physics/numerical_integration/numerical_integrator.hpp b/src/math_physics/numerical_integration/numerical_integrator.hpp index e908a4ad8..1a12ed298 100644 --- a/src/math_physics/numerical_integration/numerical_integrator.hpp +++ b/src/math_physics/numerical_integration/numerical_integrator.hpp @@ -32,7 +32,7 @@ class NumericalIntegrator { * @fn ~NumericalIntegrator * @brief Destructor */ - inline virtual ~NumericalIntegrator() {}; + inline virtual ~NumericalIntegrator(){}; /** * @fn Integrate diff --git a/src/math_physics/numerical_integration/numerical_integrator_manager.hpp b/src/math_physics/numerical_integration/numerical_integrator_manager.hpp index 45cb0a519..93e2c3d51 100644 --- a/src/math_physics/numerical_integration/numerical_integrator_manager.hpp +++ b/src/math_physics/numerical_integration/numerical_integrator_manager.hpp @@ -54,7 +54,7 @@ class NumericalIntegratorManager { } } - ~NumericalIntegratorManager(){} + ~NumericalIntegratorManager() {} inline std::shared_ptr> GetIntegrator() const { return integrator_; } diff --git a/src/simulation/spacecraft/structure/kinematics_parameters.hpp b/src/simulation/spacecraft/structure/kinematics_parameters.hpp index ff91c6f01..52818f018 100644 --- a/src/simulation/spacecraft/structure/kinematics_parameters.hpp +++ b/src/simulation/spacecraft/structure/kinematics_parameters.hpp @@ -24,7 +24,7 @@ class KinematicsParameters { * @fn ~KinematicsParameters * @brief Destructor */ - ~KinematicsParameters() {}; + ~KinematicsParameters(){}; // Getter /** From 99a952f056d58517cfa178fa5409a3ccd450a950 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 20 Jul 2024 10:47:10 +0900 Subject: [PATCH 244/456] Rename libra::numerical_integration to numerical_integration --- .../attitude_with_cantilever_vibration.cpp | 2 +- .../attitude_with_cantilever_vibration.hpp | 4 +- ...ode_attitude_with_cantilever_vibration.hpp | 4 +- .../dormand_prince_5.hpp | 4 +- .../dormand_prince_5_implementation.hpp | 4 +- .../embedded_runge_kutta.hpp | 4 +- .../embedded_runge_kutta_implementation.hpp | 4 +- .../numerical_integration/interface_ode.hpp | 4 +- .../numerical_integrator.hpp | 4 +- .../numerical_integrator_manager.hpp | 4 +- .../numerical_integration/ode_examples.hpp | 4 +- .../numerical_integration/runge_kutta.hpp | 4 +- .../numerical_integration/runge_kutta_4.hpp | 4 +- .../runge_kutta_fehlberg.hpp | 4 +- .../runge_kutta_fehlberg_implementation.hpp | 4 +- .../runge_kutta_template.hpp | 4 +- .../test_runge_kutta.cpp | 92 +++++++++---------- 17 files changed, 77 insertions(+), 77 deletions(-) diff --git a/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp b/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp index 5058b9a67..bb23cec85 100644 --- a/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp +++ b/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp @@ -15,7 +15,7 @@ AttitudeWithCantileverVibration::AttitudeWithCantileverVibration( const std::string& simulation_object_name) : Attitude(inertia_tensor_kgm2, simulation_object_name), numerical_integrator_(propagation_step_s, attitude_ode_, - libra::numerical_integration::NumericalIntegrationMethod::kRk4) { //!< TODO: Set NumericalIntegrationMethod in *.ini file + numerical_integration::NumericalIntegrationMethod::kRk4) { //!< TODO: Set NumericalIntegrationMethod in *.ini file angular_velocity_b_rad_s_ = angular_velocity_b_rad_s; quaternion_i2b_ = quaternion_i2b; torque_b_Nm_ = torque_b_Nm; diff --git a/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp b/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp index 388542783..0ab64d619 100644 --- a/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp +++ b/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp @@ -73,8 +73,8 @@ class AttitudeWithCantileverVibration : public Attitude { math::Vector<3> angular_velocity_cantilever_rad_s_{0.0}; //!< Angular velocity of the cantilever with respect to the body frame [rad/s] math::Vector<3> euler_angular_cantilever_rad_{0.0}; //!< Euler angle of the cantilever with respect to the body frame [rad/s] - libra::numerical_integration::AttitudeWithCantileverVibrationOde attitude_ode_; - libra::numerical_integration::NumericalIntegratorManager<13> numerical_integrator_; + numerical_integration::AttitudeWithCantileverVibrationOde attitude_ode_; + numerical_integration::NumericalIntegratorManager<13> numerical_integrator_; }; #endif // S2E_DYNAMICS_ATTITUDE_ATTITUDE_WITH_CANTILEVER_VIBRATION_HPP_ diff --git a/src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp b/src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp index 4aaf69139..bd2fd8ae5 100644 --- a/src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp +++ b/src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp @@ -11,7 +11,7 @@ #include "attitude.hpp" -namespace libra::numerical_integration { +namespace numerical_integration { /** * @class AttitudeWithCantileverVibrationOde * @brief Class to implement Ordinary Differential Equations for Attitude with Cantilever Vibration @@ -221,6 +221,6 @@ class AttitudeWithCantileverVibrationOde : public InterfaceOde<13> { math::Matrix<3, 3> inverse_equivalent_inertia_tensor_cantilever_{0.0}; //!< Inverse of inertia tensor of the cantilever }; -} // namespace libra::numerical_integration +} // namespace numerical_integration #endif // S2E_DYNAMICS_ATTITUDE_ODE_ATTITUDE_WITH_CANTILEVER_VIBRATION_HPP_ diff --git a/src/math_physics/numerical_integration/dormand_prince_5.hpp b/src/math_physics/numerical_integration/dormand_prince_5.hpp index ac9efd29f..8f772dedc 100644 --- a/src/math_physics/numerical_integration/dormand_prince_5.hpp +++ b/src/math_physics/numerical_integration/dormand_prince_5.hpp @@ -11,7 +11,7 @@ #include "embedded_runge_kutta.hpp" -namespace libra::numerical_integration { +namespace numerical_integration { /** * @class DormandPrince5 @@ -46,7 +46,7 @@ class DormandPrince5 : public EmbeddedRungeKutta { std::vector CalcInterpolationWeights(const double sigma) const; }; -} // namespace libra::numerical_integration +} // namespace numerical_integration #include "dormand_prince_5_implementation.hpp" diff --git a/src/math_physics/numerical_integration/dormand_prince_5_implementation.hpp b/src/math_physics/numerical_integration/dormand_prince_5_implementation.hpp index ae04fb70b..40b09a9c1 100644 --- a/src/math_physics/numerical_integration/dormand_prince_5_implementation.hpp +++ b/src/math_physics/numerical_integration/dormand_prince_5_implementation.hpp @@ -11,7 +11,7 @@ #include "dormand_prince_5.hpp" -namespace libra::numerical_integration { +namespace numerical_integration { template DormandPrince5::DormandPrince5(const double step_width, const InterfaceOde& ode) : EmbeddedRungeKutta(step_width, ode) { @@ -149,6 +149,6 @@ std::vector DormandPrince5::CalcInterpolationWeights(const double sig return interpolation_weights; } -} // namespace libra::numerical_integration +} // namespace numerical_integration #endif // S2E_LIBRARY_NUMERICAL_INTEGRATION_DORMAND_PRINCE_5_IMPLEMENTATION_HPP_ diff --git a/src/math_physics/numerical_integration/embedded_runge_kutta.hpp b/src/math_physics/numerical_integration/embedded_runge_kutta.hpp index dc7fe9dba..5e6fd605c 100644 --- a/src/math_physics/numerical_integration/embedded_runge_kutta.hpp +++ b/src/math_physics/numerical_integration/embedded_runge_kutta.hpp @@ -8,7 +8,7 @@ #include "runge_kutta.hpp" -namespace libra::numerical_integration { +namespace numerical_integration { /** * @class EmbeddedRungeKutta @@ -51,7 +51,7 @@ class EmbeddedRungeKutta : public RungeKutta { double local_truncation_error_; //!< Norm of estimated local truncation error }; -} // namespace libra::numerical_integration +} // namespace numerical_integration #include "embedded_runge_kutta_implementation.hpp" diff --git a/src/math_physics/numerical_integration/embedded_runge_kutta_implementation.hpp b/src/math_physics/numerical_integration/embedded_runge_kutta_implementation.hpp index 7d9bfbb69..ac13a861f 100644 --- a/src/math_physics/numerical_integration/embedded_runge_kutta_implementation.hpp +++ b/src/math_physics/numerical_integration/embedded_runge_kutta_implementation.hpp @@ -7,7 +7,7 @@ #include "embedded_runge_kutta.hpp" -namespace libra::numerical_integration { +namespace numerical_integration { template void EmbeddedRungeKutta::Integrate() { @@ -37,6 +37,6 @@ void EmbeddedRungeKutta::ControlStepWidth(const double error_tolerance) { this->step_width_ = updated_step_width; } -} // namespace libra::numerical_integration +} // namespace numerical_integration #endif // S2E_LIBRARY_NUMERICAL_INTEGRATION_EMBEDDED_RUNGE_KUTTA_IMPLEMENTATION_HPP_ diff --git a/src/math_physics/numerical_integration/interface_ode.hpp b/src/math_physics/numerical_integration/interface_ode.hpp index 44f9e11fc..1c30058e9 100644 --- a/src/math_physics/numerical_integration/interface_ode.hpp +++ b/src/math_physics/numerical_integration/interface_ode.hpp @@ -8,7 +8,7 @@ #include "../math/vector.hpp" -namespace libra::numerical_integration { +namespace numerical_integration { /** * @class InterfaceOde @@ -27,6 +27,6 @@ class InterfaceOde { virtual math::Vector DerivativeFunction(const double independent_variable, const math::Vector& state) const = 0; }; -} // namespace libra::numerical_integration +} // namespace numerical_integration #endif // S2E_LIBRARY_NUMERICAL_INTEGRATION_INTERFACE_ODE_HPP_ diff --git a/src/math_physics/numerical_integration/numerical_integrator.hpp b/src/math_physics/numerical_integration/numerical_integrator.hpp index 1a12ed298..5f19d0185 100644 --- a/src/math_physics/numerical_integration/numerical_integrator.hpp +++ b/src/math_physics/numerical_integration/numerical_integrator.hpp @@ -11,7 +11,7 @@ #include "../math/vector.hpp" #include "interface_ode.hpp" -namespace libra::numerical_integration { +namespace numerical_integration { /** * @class NumericalIntegrator @@ -75,6 +75,6 @@ class NumericalIntegrator { math::Vector previous_state_; //!< Previous state vector }; -} // namespace libra::numerical_integration +} // namespace numerical_integration #endif // S2E_LIBRARY_NUMERICAL_INTEGRATION_NUMERICAL_INTEGRATOR_HPP_ diff --git a/src/math_physics/numerical_integration/numerical_integrator_manager.hpp b/src/math_physics/numerical_integration/numerical_integrator_manager.hpp index 93e2c3d51..8869f82b6 100644 --- a/src/math_physics/numerical_integration/numerical_integrator_manager.hpp +++ b/src/math_physics/numerical_integration/numerical_integrator_manager.hpp @@ -12,7 +12,7 @@ #include "runge_kutta_4.hpp" #include "runge_kutta_fehlberg.hpp" -namespace libra::numerical_integration { +namespace numerical_integration { /** * @enum NumericalIntegrationMethod @@ -62,6 +62,6 @@ class NumericalIntegratorManager { std::shared_ptr> integrator_; }; -} // namespace libra::numerical_integration +} // namespace numerical_integration #endif // S2E_LIBRARY_NUMERICAL_INTEGRATION_NUMERICAL_INTEGRATION_HPP_ diff --git a/src/math_physics/numerical_integration/ode_examples.hpp b/src/math_physics/numerical_integration/ode_examples.hpp index 401771d82..6b0ce7ec8 100644 --- a/src/math_physics/numerical_integration/ode_examples.hpp +++ b/src/math_physics/numerical_integration/ode_examples.hpp @@ -9,7 +9,7 @@ #include "../../utilities/macros.hpp" #include "interface_ode.hpp" -namespace libra::numerical_integration { +namespace numerical_integration { class ExampleLinearOde : public InterfaceOde<1> { public: @@ -86,6 +86,6 @@ class Example2dTwoBodyOrbitOde : public InterfaceOde<4> { } }; -} // namespace libra::numerical_integration +} // namespace numerical_integration #endif // S2E_LIBRARY_NUMERICAL_INTEGRATION_EXAMPLE_ODE_HPP_s diff --git a/src/math_physics/numerical_integration/runge_kutta.hpp b/src/math_physics/numerical_integration/runge_kutta.hpp index cb972726c..18730c667 100644 --- a/src/math_physics/numerical_integration/runge_kutta.hpp +++ b/src/math_physics/numerical_integration/runge_kutta.hpp @@ -9,7 +9,7 @@ #include "numerical_integrator.hpp" -namespace libra::numerical_integration { +namespace numerical_integration { /** * @class RungeKutta @@ -55,7 +55,7 @@ class RungeKutta : public NumericalIntegrator { void CalcSlope(); }; -} // namespace libra::numerical_integration +} // namespace numerical_integration #include "runge_kutta_template.hpp" diff --git a/src/math_physics/numerical_integration/runge_kutta_4.hpp b/src/math_physics/numerical_integration/runge_kutta_4.hpp index f29e248a0..b2f267d58 100644 --- a/src/math_physics/numerical_integration/runge_kutta_4.hpp +++ b/src/math_physics/numerical_integration/runge_kutta_4.hpp @@ -10,7 +10,7 @@ #include "runge_kutta.hpp" -namespace libra::numerical_integration { +namespace numerical_integration { /** * @class RungeKutta4 @@ -51,6 +51,6 @@ class RungeKutta4 : public RungeKutta { } }; -} // namespace libra::numerical_integration +} // namespace numerical_integration #endif // S2E_LIBRARY_NUMERICAL_INTEGRATION_RUNGE_KUTTA_4_HPP_ diff --git a/src/math_physics/numerical_integration/runge_kutta_fehlberg.hpp b/src/math_physics/numerical_integration/runge_kutta_fehlberg.hpp index 7b6596f79..3056241ac 100644 --- a/src/math_physics/numerical_integration/runge_kutta_fehlberg.hpp +++ b/src/math_physics/numerical_integration/runge_kutta_fehlberg.hpp @@ -8,7 +8,7 @@ #include "embedded_runge_kutta.hpp" -namespace libra::numerical_integration { +namespace numerical_integration { /** * @class RungeKuttaFehlberg @@ -41,7 +41,7 @@ class RungeKuttaFehlberg : public EmbeddedRungeKutta { std::vector CalcInterpolationWeights(const double sigma) const; }; -} // namespace libra::numerical_integration +} // namespace numerical_integration #include "runge_kutta_fehlberg_implementation.hpp" diff --git a/src/math_physics/numerical_integration/runge_kutta_fehlberg_implementation.hpp b/src/math_physics/numerical_integration/runge_kutta_fehlberg_implementation.hpp index 25a7eacc1..d5ef9f7c0 100644 --- a/src/math_physics/numerical_integration/runge_kutta_fehlberg_implementation.hpp +++ b/src/math_physics/numerical_integration/runge_kutta_fehlberg_implementation.hpp @@ -8,7 +8,7 @@ #include "runge_kutta_fehlberg.hpp" -namespace libra::numerical_integration { +namespace numerical_integration { template RungeKuttaFehlberg::RungeKuttaFehlberg(const double step_width, const InterfaceOde& ode) : EmbeddedRungeKutta(step_width, ode) { @@ -96,6 +96,6 @@ std::vector RungeKuttaFehlberg::CalcInterpolationWeights(const double return interpolation_weights; } -} // namespace libra::numerical_integration +} // namespace numerical_integration #endif // S2E_LIBRARY_NUMERICAL_INTEGRATION_RUNGE_KUTTA_FEHLBERG_IMPLEMENTATION_HPP_ diff --git a/src/math_physics/numerical_integration/runge_kutta_template.hpp b/src/math_physics/numerical_integration/runge_kutta_template.hpp index 9e3cd5316..99bab650c 100644 --- a/src/math_physics/numerical_integration/runge_kutta_template.hpp +++ b/src/math_physics/numerical_integration/runge_kutta_template.hpp @@ -7,7 +7,7 @@ #include "./runge_kutta.hpp" -namespace libra::numerical_integration { +namespace numerical_integration { template void RungeKutta::Integrate() { @@ -34,6 +34,6 @@ void RungeKutta::CalcSlope() { } } -} // namespace libra::numerical_integration +} // namespace numerical_integration #endif // S2E_LIBRARY_NUMERICAL_INTEGRATION_RUNGE_KUTTA_TEMPLATE_HPP_ diff --git a/src/math_physics/numerical_integration/test_runge_kutta.cpp b/src/math_physics/numerical_integration/test_runge_kutta.cpp index 29df5be2e..babc93c5f 100644 --- a/src/math_physics/numerical_integration/test_runge_kutta.cpp +++ b/src/math_physics/numerical_integration/test_runge_kutta.cpp @@ -15,8 +15,8 @@ * @brief Test for constructor */ TEST(NUMERICAL_INTEGRATION, Constructor) { - libra::numerical_integration::ExampleLinearOde ode; - libra::numerical_integration::RungeKutta4<1> linear_ode(0.1, ode); + numerical_integration::ExampleLinearOde ode; + numerical_integration::RungeKutta4<1> linear_ode(0.1, ode); math::Vector<1> state = linear_ode.GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); @@ -27,8 +27,8 @@ TEST(NUMERICAL_INTEGRATION, Constructor) { */ TEST(NUMERICAL_INTEGRATION, IntegrateLinearRk4) { double step_width_s = 0.1; - libra::numerical_integration::ExampleLinearOde ode; - libra::numerical_integration::RungeKutta4<1> rk4_ode(step_width_s, ode); + numerical_integration::ExampleLinearOde ode; + numerical_integration::RungeKutta4<1> rk4_ode(step_width_s, ode); math::Vector<1> state = rk4_ode.GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); @@ -48,8 +48,8 @@ TEST(NUMERICAL_INTEGRATION, IntegrateLinearRk4) { */ TEST(NUMERICAL_INTEGRATION, IntegrateLinearRkf) { double step_width_s = 0.1; - libra::numerical_integration::ExampleLinearOde ode; - libra::numerical_integration::RungeKuttaFehlberg<1> rkf_ode(step_width_s, ode); + numerical_integration::ExampleLinearOde ode; + numerical_integration::RungeKuttaFehlberg<1> rkf_ode(step_width_s, ode); math::Vector<1> state = rkf_ode.GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); @@ -69,8 +69,8 @@ TEST(NUMERICAL_INTEGRATION, IntegrateLinearRkf) { */ TEST(NUMERICAL_INTEGRATION, IntegrateLinearDp5) { double step_width_s = 0.1; - libra::numerical_integration::ExampleLinearOde ode; - libra::numerical_integration::DormandPrince5<1> dp5_ode(step_width_s, ode); + numerical_integration::ExampleLinearOde ode; + numerical_integration::DormandPrince5<1> dp5_ode(step_width_s, ode); math::Vector<1> state = dp5_ode.GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); @@ -90,8 +90,8 @@ TEST(NUMERICAL_INTEGRATION, IntegrateLinearDp5) { */ TEST(NUMERICAL_INTEGRATION, IntegrateLinearNumericalIntegratorManagerRk4) { double step_width_s = 0.1; - libra::numerical_integration::ExampleLinearOde ode; - libra::numerical_integration::NumericalIntegratorManager<1> numerical_integrator(step_width_s, ode); + numerical_integration::ExampleLinearOde ode; + numerical_integration::NumericalIntegratorManager<1> numerical_integrator(step_width_s, ode); math::Vector<1> state = numerical_integrator.GetIntegrator()->GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); @@ -111,9 +111,9 @@ TEST(NUMERICAL_INTEGRATION, IntegrateLinearNumericalIntegratorManagerRk4) { */ TEST(NUMERICAL_INTEGRATION, IntegrateLinearNumericalIntegratorManagerRkf) { double step_width_s = 0.1; - libra::numerical_integration::ExampleLinearOde ode; - libra::numerical_integration::NumericalIntegratorManager<1> numerical_integrator(step_width_s, ode, - libra::numerical_integration::NumericalIntegrationMethod::kRkf); + numerical_integration::ExampleLinearOde ode; + numerical_integration::NumericalIntegratorManager<1> numerical_integrator(step_width_s, ode, + numerical_integration::NumericalIntegrationMethod::kRkf); math::Vector<1> state = numerical_integrator.GetIntegrator()->GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); @@ -137,9 +137,9 @@ TEST(NUMERICAL_INTEGRATION, IntegrateLinearNumericalIntegratorManagerRkf) { */ TEST(NUMERICAL_INTEGRATION, IntegrateLinearNumericalIntegratorManagerDp5) { double step_width_s = 0.1; - libra::numerical_integration::ExampleLinearOde ode; - libra::numerical_integration::NumericalIntegratorManager<1> numerical_integrator(step_width_s, ode, - libra::numerical_integration::NumericalIntegrationMethod::kDp5); + numerical_integration::ExampleLinearOde ode; + numerical_integration::NumericalIntegratorManager<1> numerical_integrator(step_width_s, ode, + numerical_integration::NumericalIntegrationMethod::kDp5); math::Vector<1> state = numerical_integrator.GetIntegrator()->GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); @@ -163,8 +163,8 @@ TEST(NUMERICAL_INTEGRATION, IntegrateLinearNumericalIntegratorManagerDp5) { */ TEST(NUMERICAL_INTEGRATION, IntegrateQuadraticRk4) { double step_width_s = 0.1; - libra::numerical_integration::ExampleQuadraticOde ode; - libra::numerical_integration::RungeKutta4<1> rk4_ode(step_width_s, ode); + numerical_integration::ExampleQuadraticOde ode; + numerical_integration::RungeKutta4<1> rk4_ode(step_width_s, ode); math::Vector<1> state = rk4_ode.GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); @@ -184,8 +184,8 @@ TEST(NUMERICAL_INTEGRATION, IntegrateQuadraticRk4) { */ TEST(NUMERICAL_INTEGRATION, IntegrateQuadraticRkf) { double step_width_s = 0.1; - libra::numerical_integration::ExampleQuadraticOde ode; - libra::numerical_integration::RungeKuttaFehlberg<1> rkf_ode(step_width_s, ode); + numerical_integration::ExampleQuadraticOde ode; + numerical_integration::RungeKuttaFehlberg<1> rkf_ode(step_width_s, ode); math::Vector<1> state = rkf_ode.GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); @@ -205,8 +205,8 @@ TEST(NUMERICAL_INTEGRATION, IntegrateQuadraticRkf) { */ TEST(NUMERICAL_INTEGRATION, InterpolationQuadraticRkf) { double step_width_s = 10.0; - libra::numerical_integration::ExampleQuadraticOde ode; - libra::numerical_integration::RungeKuttaFehlberg<1> rkf_ode(step_width_s, ode); + numerical_integration::ExampleQuadraticOde ode; + numerical_integration::RungeKuttaFehlberg<1> rkf_ode(step_width_s, ode); math::Vector<1> state = rkf_ode.GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); @@ -234,8 +234,8 @@ TEST(NUMERICAL_INTEGRATION, InterpolationQuadraticRkf) { */ TEST(NUMERICAL_INTEGRATION, IntegrateQuadraticDp5) { double step_width_s = 0.1; - libra::numerical_integration::ExampleQuadraticOde ode; - libra::numerical_integration::DormandPrince5<1> dp5_ode(step_width_s, ode); + numerical_integration::ExampleQuadraticOde ode; + numerical_integration::DormandPrince5<1> dp5_ode(step_width_s, ode); math::Vector<1> state = dp5_ode.GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); @@ -255,8 +255,8 @@ TEST(NUMERICAL_INTEGRATION, IntegrateQuadraticDp5) { */ TEST(NUMERICAL_INTEGRATION, InterpolationQuadraticDp5) { double step_width_s = 10.0; - libra::numerical_integration::ExampleQuadraticOde ode; - libra::numerical_integration::DormandPrince5<1> dp5_ode(step_width_s, ode); + numerical_integration::ExampleQuadraticOde ode; + numerical_integration::DormandPrince5<1> dp5_ode(step_width_s, ode); math::Vector<1> state = dp5_ode.GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); @@ -284,8 +284,8 @@ TEST(NUMERICAL_INTEGRATION, InterpolationQuadraticDp5) { */ TEST(NUMERICAL_INTEGRATION, Integrate1dPositionVelocityRk4) { double step_width_s = 0.1; - libra::numerical_integration::Example1dPositionVelocityOde ode; - libra::numerical_integration::RungeKutta4<2> rk4_ode(step_width_s, ode); + numerical_integration::Example1dPositionVelocityOde ode; + numerical_integration::RungeKutta4<2> rk4_ode(step_width_s, ode); math::Vector<2> initial_state(0.0); initial_state[0] = 0.0; @@ -314,8 +314,8 @@ TEST(NUMERICAL_INTEGRATION, Integrate1dPositionVelocityRk4) { */ TEST(NUMERICAL_INTEGRATION, Integrate1dPositionVelocityRkf) { double step_width_s = 0.1; - libra::numerical_integration::Example1dPositionVelocityOde ode; - libra::numerical_integration::RungeKuttaFehlberg<2> rkf_ode(step_width_s, ode); + numerical_integration::Example1dPositionVelocityOde ode; + numerical_integration::RungeKuttaFehlberg<2> rkf_ode(step_width_s, ode); math::Vector<2> initial_state(0.0); initial_state[0] = 0.0; @@ -344,8 +344,8 @@ TEST(NUMERICAL_INTEGRATION, Integrate1dPositionVelocityRkf) { */ TEST(NUMERICAL_INTEGRATION, Integrate1dPositionVelocityDp5) { double step_width_s = 0.1; - libra::numerical_integration::Example1dPositionVelocityOde ode; - libra::numerical_integration::DormandPrince5<2> dp5_ode(step_width_s, ode); + numerical_integration::Example1dPositionVelocityOde ode; + numerical_integration::DormandPrince5<2> dp5_ode(step_width_s, ode); math::Vector<2> initial_state(0.0); initial_state[0] = 0.0; @@ -374,10 +374,10 @@ TEST(NUMERICAL_INTEGRATION, Integrate1dPositionVelocityDp5) { */ TEST(NUMERICAL_INTEGRATION, Integrate2dTwoBodyOrbitSmallEccentricity) { double step_width_s = 0.1; - libra::numerical_integration::Example2dTwoBodyOrbitOde ode; - libra::numerical_integration::RungeKutta4<4> rk4_ode(step_width_s, ode); - libra::numerical_integration::RungeKuttaFehlberg<4> rkf_ode(step_width_s, ode); - libra::numerical_integration::DormandPrince5<4> dp5_ode(step_width_s, ode); + numerical_integration::Example2dTwoBodyOrbitOde ode; + numerical_integration::RungeKutta4<4> rk4_ode(step_width_s, ode); + numerical_integration::RungeKuttaFehlberg<4> rkf_ode(step_width_s, ode); + numerical_integration::DormandPrince5<4> dp5_ode(step_width_s, ode); math::Vector<4> initial_state(0.0); const double eccentricity = 0.1; @@ -444,10 +444,10 @@ TEST(NUMERICAL_INTEGRATION, Integrate2dTwoBodyOrbitSmallEccentricity) { */ TEST(NUMERICAL_INTEGRATION, Integrate2dTwoBodyOrbitLargeEccentricity) { double step_width_s = 0.01; - libra::numerical_integration::Example2dTwoBodyOrbitOde ode; - libra::numerical_integration::RungeKutta4<4> rk4_ode(step_width_s, ode); - libra::numerical_integration::RungeKuttaFehlberg<4> rkf_ode(step_width_s, ode); - libra::numerical_integration::DormandPrince5<4> dp5_ode(step_width_s, ode); + numerical_integration::Example2dTwoBodyOrbitOde ode; + numerical_integration::RungeKutta4<4> rk4_ode(step_width_s, ode); + numerical_integration::RungeKuttaFehlberg<4> rkf_ode(step_width_s, ode); + numerical_integration::DormandPrince5<4> dp5_ode(step_width_s, ode); math::Vector<4> initial_state(0.0); const double eccentricity = 0.9; @@ -514,9 +514,9 @@ TEST(NUMERICAL_INTEGRATION, Integrate2dTwoBodyOrbitLargeEccentricity) { */ TEST(NUMERICAL_INTEGRATION, Interpolation2dTwoBodyOrbitSmallEccentricity) { double step_width_s = 1.0; - libra::numerical_integration::Example2dTwoBodyOrbitOde ode; - libra::numerical_integration::RungeKuttaFehlberg<4> rkf_ode(step_width_s, ode); - libra::numerical_integration::DormandPrince5<4> dp5_ode(step_width_s, ode); + numerical_integration::Example2dTwoBodyOrbitOde ode; + numerical_integration::RungeKuttaFehlberg<4> rkf_ode(step_width_s, ode); + numerical_integration::DormandPrince5<4> dp5_ode(step_width_s, ode); math::Vector<4> initial_state(0.0); const double eccentricity = 0.1; @@ -609,9 +609,9 @@ TEST(NUMERICAL_INTEGRATION, Interpolation2dTwoBodyOrbitSmallEccentricity) { */ TEST(NUMERICAL_INTEGRATION, Interpolation2dTwoBodyOrbitLargeEccentricity) { double step_width_s = 0.01; - libra::numerical_integration::Example2dTwoBodyOrbitOde ode; - libra::numerical_integration::RungeKuttaFehlberg<4> rkf_ode(step_width_s, ode); - libra::numerical_integration::DormandPrince5<4> dp5_ode(step_width_s, ode); + numerical_integration::Example2dTwoBodyOrbitOde ode; + numerical_integration::RungeKuttaFehlberg<4> rkf_ode(step_width_s, ode); + numerical_integration::DormandPrince5<4> dp5_ode(step_width_s, ode); math::Vector<4> initial_state(0.0); const double eccentricity = 0.8; From 9217808b636996f12eaf398540a169520c622e42 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 20 Jul 2024 10:47:59 +0900 Subject: [PATCH 245/456] Rename libra::atmosphere atmosphere --- src/environment/local/atmosphere.cpp | 4 ++-- src/math_physics/atmosphere/harris_priester_coefficients.hpp | 4 ++-- src/math_physics/atmosphere/harris_priester_model.cpp | 4 ++-- src/math_physics/atmosphere/harris_priester_model.hpp | 4 ++-- src/math_physics/atmosphere/simple_air_density_model.cpp | 4 ++-- src/math_physics/atmosphere/simple_air_density_model.hpp | 4 ++-- 6 files changed, 12 insertions(+), 12 deletions(-) diff --git a/src/environment/local/atmosphere.cpp b/src/environment/local/atmosphere.cpp index c8199102d..fe693eac0 100644 --- a/src/environment/local/atmosphere.cpp +++ b/src/environment/local/atmosphere.cpp @@ -56,7 +56,7 @@ double Atmosphere::CalcAirDensity_kg_m3(const double decimal_year, const Orbit& if (model_ == "STANDARD") { // Standard model double altitude_m = orbit.GetGeodeticPosition().GetAltitude_m(); - air_density_kg_m3_ = libra::atmosphere::CalcAirDensityWithSimpleModel(altitude_m); + air_density_kg_m3_ = atmosphere::CalcAirDensityWithSimpleModel(altitude_m); } else if (model_ == "NRLMSISE00") { // NRLMSISE00 model double lat_rad = orbit.GetGeodeticPosition().GetLatitude_rad(); @@ -67,7 +67,7 @@ double Atmosphere::CalcAirDensity_kg_m3(const double decimal_year, const Orbit& } else if (model_ == "HARRIS_PRIESTER") { // Harris-Priester math::Vector<3> sun_direction_eci = local_celestial_information_->GetGlobalInformation().GetPositionFromCenter_i_m("SUN").CalcNormalizedVector(); - air_density_kg_m3_ = libra::atmosphere::CalcAirDensityWithHarrisPriester_kg_m3(orbit.GetGeodeticPosition(), sun_direction_eci); + air_density_kg_m3_ = atmosphere::CalcAirDensityWithHarrisPriester_kg_m3(orbit.GetGeodeticPosition(), sun_direction_eci); } else { // No suitable model return air_density_kg_m3_ = 0.0; diff --git a/src/math_physics/atmosphere/harris_priester_coefficients.hpp b/src/math_physics/atmosphere/harris_priester_coefficients.hpp index 763de63ab..3c467501b 100644 --- a/src/math_physics/atmosphere/harris_priester_coefficients.hpp +++ b/src/math_physics/atmosphere/harris_priester_coefficients.hpp @@ -7,7 +7,7 @@ #include -namespace libra::atmosphere { +namespace atmosphere { // Height [km], density [g/km3] // TODO: Add other solar activities value @@ -28,6 +28,6 @@ const std::map harris_priester_max_density_table = { {640, 0.4121}, {660, 0.3325}, {680, 0.2691}, {700, 0.2185}, {720, 0.1779}, {740, 0.1452}, {760, 0.1190}, {780, 0.09776}, {800, 0.08059}, {840, 0.05741}, {880, 0.04210}, {920, 0.03130}, {960, 0.02360}, {1000, 0.01810}}; -} // namespace libra::atmosphere +} // namespace atmosphere #endif // S2E_LIBRARY_HARRIS_COEFFICIENTS_HPP_ diff --git a/src/math_physics/atmosphere/harris_priester_model.cpp b/src/math_physics/atmosphere/harris_priester_model.cpp index 46c40c8d6..cb38aa17c 100644 --- a/src/math_physics/atmosphere/harris_priester_model.cpp +++ b/src/math_physics/atmosphere/harris_priester_model.cpp @@ -10,7 +10,7 @@ #include "harris_priester_coefficients.hpp" -namespace libra::atmosphere { +namespace atmosphere { /** * @fn CalcScaleHeight_km @@ -88,4 +88,4 @@ double CalcApexDensity_g_km3(const std::map::const_iterator dens return apex_density_g_km3; } -} // namespace libra::atmosphere +} // namespace atmosphere diff --git a/src/math_physics/atmosphere/harris_priester_model.hpp b/src/math_physics/atmosphere/harris_priester_model.hpp index ea40eeaf4..b9cd1feab 100644 --- a/src/math_physics/atmosphere/harris_priester_model.hpp +++ b/src/math_physics/atmosphere/harris_priester_model.hpp @@ -9,7 +9,7 @@ #include #include -namespace libra::atmosphere { +namespace atmosphere { /** * @fn CalcAirDensityWithHarrisPriester @@ -23,6 +23,6 @@ namespace libra::atmosphere { double CalcAirDensityWithHarrisPriester_kg_m3(const GeodeticPosition geodetic_position, const math::Vector<3> sun_direction_eci, const double f10_7 = 100.0, const double exponent_parameter = 4); -} // namespace libra::atmosphere +} // namespace atmosphere #endif // S2E_LIBRARY_HARRIS_PRIESTER_HPP_ diff --git a/src/math_physics/atmosphere/simple_air_density_model.cpp b/src/math_physics/atmosphere/simple_air_density_model.cpp index 2444a27db..7e2b0a440 100644 --- a/src/math_physics/atmosphere/simple_air_density_model.cpp +++ b/src/math_physics/atmosphere/simple_air_density_model.cpp @@ -6,7 +6,7 @@ #include -namespace libra::atmosphere { +namespace atmosphere { double CalcAirDensityWithSimpleModel(const double altitude_m) { double altitude_km = altitude_m / 1000.0; @@ -138,4 +138,4 @@ double CalcAirDensityWithSimpleModel(const double altitude_m) { return rho_kg_m3; } -} // namespace libra::atmosphere +} // namespace atmosphere diff --git a/src/math_physics/atmosphere/simple_air_density_model.hpp b/src/math_physics/atmosphere/simple_air_density_model.hpp index 15c728ccb..b697a66e4 100644 --- a/src/math_physics/atmosphere/simple_air_density_model.hpp +++ b/src/math_physics/atmosphere/simple_air_density_model.hpp @@ -5,7 +5,7 @@ #ifndef S2E_LIBRARY_ATMOSPHERE_SIMPLE_AIR_DENSITY_MODEL_HPP_ #define S2E_LIBRARY_ATMOSPHERE_SIMPLE_AIR_DENSITY_MODEL_HPP_ -namespace libra::atmosphere { +namespace atmosphere { /** * @fn CalcAirDensityWithSimpleModel @@ -15,6 +15,6 @@ namespace libra::atmosphere { */ double CalcAirDensityWithSimpleModel(const double altitude_m); -} // namespace libra::atmosphere +} // namespace atmosphere #endif // S2E_LIBRARY_ATMOSPHERE_SIMPLE_AIR_DENSITY_MODEL_HPP_ From 9a3209995afdb08035b15d49b72def85ee0c7fac Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 20 Jul 2024 10:49:33 +0900 Subject: [PATCH 246/456] Fix small --- src/math_physics/math/test_matrix_vector.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/math_physics/math/test_matrix_vector.cpp b/src/math_physics/math/test_matrix_vector.cpp index c2fb090e4..78fc9babf 100644 --- a/src/math_physics/math/test_matrix_vector.cpp +++ b/src/math_physics/math/test_matrix_vector.cpp @@ -52,7 +52,7 @@ TEST(MatrixVector, CalcInverseMatrix) { m[2][1] = -2.0; m[2][2] = 1.0; - math::Matrix inverse = libra::CalcInverseMatrix(m); + math::Matrix inverse = math::CalcInverseMatrix(m); EXPECT_NEAR(-1.0, inverse[0][0], 1e-10); EXPECT_NEAR(-1.0, inverse[0][1], 1e-10); From c182ed6f2f7f7b69bb159d824e5d6e9a2ff6c104 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 20 Jul 2024 10:52:26 +0900 Subject: [PATCH 247/456] Fix format --- src/math_physics/numerical_integration/test_runge_kutta.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/math_physics/numerical_integration/test_runge_kutta.cpp b/src/math_physics/numerical_integration/test_runge_kutta.cpp index babc93c5f..fd2438ec6 100644 --- a/src/math_physics/numerical_integration/test_runge_kutta.cpp +++ b/src/math_physics/numerical_integration/test_runge_kutta.cpp @@ -113,7 +113,7 @@ TEST(NUMERICAL_INTEGRATION, IntegrateLinearNumericalIntegratorManagerRkf) { double step_width_s = 0.1; numerical_integration::ExampleLinearOde ode; numerical_integration::NumericalIntegratorManager<1> numerical_integrator(step_width_s, ode, - numerical_integration::NumericalIntegrationMethod::kRkf); + numerical_integration::NumericalIntegrationMethod::kRkf); math::Vector<1> state = numerical_integrator.GetIntegrator()->GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); @@ -139,7 +139,7 @@ TEST(NUMERICAL_INTEGRATION, IntegrateLinearNumericalIntegratorManagerDp5) { double step_width_s = 0.1; numerical_integration::ExampleLinearOde ode; numerical_integration::NumericalIntegratorManager<1> numerical_integrator(step_width_s, ode, - numerical_integration::NumericalIntegrationMethod::kDp5); + numerical_integration::NumericalIntegrationMethod::kDp5); math::Vector<1> state = numerical_integrator.GetIntegrator()->GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); From ac3c2a18ff7957ecb1998096ef2c226714933194 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 20 Jul 2024 10:56:19 +0900 Subject: [PATCH 248/456] Add math:: --- .../numerical_integration/ode_examples.hpp | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/src/math_physics/numerical_integration/ode_examples.hpp b/src/math_physics/numerical_integration/ode_examples.hpp index 6b0ce7ec8..b0c9085b5 100644 --- a/src/math_physics/numerical_integration/ode_examples.hpp +++ b/src/math_physics/numerical_integration/ode_examples.hpp @@ -13,11 +13,11 @@ namespace numerical_integration { class ExampleLinearOde : public InterfaceOde<1> { public: - Vector<1> DerivativeFunction(const double time_s, const Vector<1>& state) const { + math::Vector<1> DerivativeFunction(const double time_s, const math::Vector<1>& state) const { UNUSED(time_s); UNUSED(state); - Vector<1> output(1.0); + math::Vector<1> output(1.0); return output; } }; @@ -35,11 +35,11 @@ class ExampleQuadraticOde : public InterfaceOde<1> { * @param [in] state: State vector * @return Differentiated value of state vector */ - virtual Vector<1> DerivativeFunction(const double time_s, const Vector<1>& state) const { + virtual math::Vector<1> DerivativeFunction(const double time_s, const math::Vector<1>& state) const { UNUSED(time_s); UNUSED(state); - Vector<1> output(0.0); + math::Vector<1> output(0.0); output[0] = 2.0 * time_s; return output; } @@ -51,10 +51,10 @@ class ExampleQuadraticOde : public InterfaceOde<1> { */ class Example1dPositionVelocityOde : public InterfaceOde<2> { public: - virtual Vector<2> DerivativeFunction(const double time_s, const Vector<2>& state) const { + virtual math::Vector<2> DerivativeFunction(const double time_s, const math::Vector<2>& state) const { UNUSED(time_s); - Vector<2> output(0.0); + math::Vector<2> output(0.0); output[0] = state[1]; output[1] = 0.0; return output; @@ -67,10 +67,10 @@ class Example1dPositionVelocityOde : public InterfaceOde<2> { */ class Example2dTwoBodyOrbitOde : public InterfaceOde<4> { public: - virtual Vector<4> DerivativeFunction(const double time_s, const Vector<4>& state) const { + virtual math::Vector<4> DerivativeFunction(const double time_s, const math::Vector<4>& state) const { UNUSED(time_s); - Vector<4> output(0.0); + math::Vector<4> output(0.0); output[0] = state[2]; output[1] = state[3]; double denominator = pow(state[0] * state[0] + state[1] * state[1], 3.0 / 2.0); From d5216018caa653ab8074462bc2861475f9357302 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 20 Jul 2024 11:05:23 +0900 Subject: [PATCH 249/456] Add randomization namespace --- src/components/base/sensor.hpp | 2 +- src/components/ideal/attitude_observer.hpp | 4 ++-- src/components/ideal/force_generator.hpp | 4 ++-- src/components/ideal/orbit_observer.hpp | 2 +- src/components/ideal/torque_generator.hpp | 4 ++-- src/components/real/aocs/gnss_receiver.hpp | 4 ++-- src/components/real/aocs/magnetorquer.hpp | 2 +- src/components/real/aocs/star_sensor.hpp | 6 +++--- src/components/real/aocs/sun_sensor.cpp | 2 +- src/components/real/aocs/sun_sensor.hpp | 4 ++-- src/components/real/propulsion/simple_thruster.hpp | 4 ++-- src/disturbances/magnetic_disturbance.cpp | 2 +- src/environment/local/atmosphere.cpp | 2 +- src/environment/local/geomagnetic_field.cpp | 2 +- src/math_physics/randomization/global_randomization.hpp | 2 +- .../minimal_standard_linear_congruential_generator.cpp | 2 +- .../minimal_standard_linear_congruential_generator.hpp | 4 ++-- ..._standard_linear_congruential_generator_with_shuffle.cpp | 2 +- ..._standard_linear_congruential_generator_with_shuffle.hpp | 4 ++-- src/math_physics/randomization/normal_randomization.cpp | 2 +- src/math_physics/randomization/normal_randomization.hpp | 6 +++--- src/math_physics/randomization/random_walk.hpp | 2 +- 22 files changed, 34 insertions(+), 34 deletions(-) diff --git a/src/components/base/sensor.hpp b/src/components/base/sensor.hpp index 883050b19..8562310de 100644 --- a/src/components/base/sensor.hpp +++ b/src/components/base/sensor.hpp @@ -55,7 +55,7 @@ class Sensor { math::Matrix scale_factor_; //!< Scale factor matrix math::Vector range_to_const_c_; //!< Output range limit to be constant output value at the component frame math::Vector range_to_zero_c_; //!< Output range limit to be zero output value at the component frame - libra::NormalRand normal_random_noise_c_[N]; //!< Normal random + randomization::NormalRand normal_random_noise_c_[N]; //!< Normal random RandomWalk random_walk_noise_c_; //!< Random Walk /** diff --git a/src/components/ideal/attitude_observer.hpp b/src/components/ideal/attitude_observer.hpp index 70f571eb8..3244dce32 100644 --- a/src/components/ideal/attitude_observer.hpp +++ b/src/components/ideal/attitude_observer.hpp @@ -62,8 +62,8 @@ class AttitudeObserver : public Component, public ILoggable { protected: math::Quaternion observed_quaternion_i2b_ = {0.0, 0.0, 0.0, 1.0}; //!< Observed quaternion - libra::NormalRand angle_noise_; //!< Normal random for magnitude noise - libra::NormalRand direction_noise_; //!< Normal random for direction noise + randomization::NormalRand angle_noise_; //!< Normal random for magnitude noise + randomization::NormalRand direction_noise_; //!< Normal random for direction noise const Attitude& attitude_; //!< Attitude information }; diff --git a/src/components/ideal/force_generator.hpp b/src/components/ideal/force_generator.hpp index 684f5bab0..c3a5eb6ef 100644 --- a/src/components/ideal/force_generator.hpp +++ b/src/components/ideal/force_generator.hpp @@ -100,8 +100,8 @@ class ForceGenerator : public Component, public ILoggable { math::Vector<3> generated_force_rtn_N_{0.0}; //!< Generated force in the RTN frame [N] // Noise - libra::NormalRand magnitude_noise_; //!< Normal random for magnitude noise - libra::NormalRand direction_noise_; //!< Normal random for direction noise + randomization::NormalRand magnitude_noise_; //!< Normal random for magnitude noise + randomization::NormalRand direction_noise_; //!< Normal random for direction noise double direction_error_standard_deviation_rad_; //!< Standard deviation of direction error [rad] /** diff --git a/src/components/ideal/orbit_observer.hpp b/src/components/ideal/orbit_observer.hpp index c1746af81..09437c079 100644 --- a/src/components/ideal/orbit_observer.hpp +++ b/src/components/ideal/orbit_observer.hpp @@ -82,7 +82,7 @@ class OrbitObserver : public Component, public ILoggable { math::Vector<3> observed_velocity_i_m_s_{0.0}; //!< Observed velocity @ inertial frame [m/s] NoiseFrame noise_frame_; //!< Noise definition frame - libra::NormalRand normal_random_noise_[6]; //!< Position and Velocity noise [m, m/s] + randomization::NormalRand normal_random_noise_[6]; //!< Position and Velocity noise [m, m/s] // Observed variables const Orbit& orbit_; //!< Orbit information diff --git a/src/components/ideal/torque_generator.hpp b/src/components/ideal/torque_generator.hpp index b762fd99e..eb6c01b81 100644 --- a/src/components/ideal/torque_generator.hpp +++ b/src/components/ideal/torque_generator.hpp @@ -78,8 +78,8 @@ class TorqueGenerator : public Component, public ILoggable { math::Vector<3> generated_torque_b_Nm_{0.0}; //!< Generated torque in the body fixed frame [Nm] // Noise - libra::NormalRand magnitude_noise_; //!< Normal random for magnitude noise - libra::NormalRand direction_noise_; //!< Normal random for direction noise + randomization::NormalRand magnitude_noise_; //!< Normal random for magnitude noise + randomization::NormalRand direction_noise_; //!< Normal random for direction noise double direction_error_standard_deviation_rad_; //!< Standard deviation of direction error [rad] /** diff --git a/src/components/real/aocs/gnss_receiver.hpp b/src/components/real/aocs/gnss_receiver.hpp index d418c01d9..9bc48a411 100644 --- a/src/components/real/aocs/gnss_receiver.hpp +++ b/src/components/real/aocs/gnss_receiver.hpp @@ -137,8 +137,8 @@ class GnssReceiver : public Component, public ILoggable { AntennaModel antenna_model_; //!< Antenna model // Simple position observation - libra::NormalRand position_random_noise_ecef_m_[3]; //!< Random noise for position at the ECEF frame [m] - libra::NormalRand velocity_random_noise_ecef_m_s_[3]; //!< Random noise for velocity at the ECEF frame [m] + randomization::NormalRand position_random_noise_ecef_m_[3]; //!< Random noise for position at the ECEF frame [m] + randomization::NormalRand velocity_random_noise_ecef_m_s_[3]; //!< Random noise for velocity at the ECEF frame [m] math::Vector<3> position_ecef_m_{0.0}; //!< Observed position in the ECEF frame [m] math::Vector<3> velocity_ecef_m_s_{0.0}; //!< Observed velocity in the ECEF frame [m/s] GeodeticPosition geodetic_position_; //!< Observed position in the geodetic frame diff --git a/src/components/real/aocs/magnetorquer.hpp b/src/components/real/aocs/magnetorquer.hpp index d424e0c4c..91b91864b 100644 --- a/src/components/real/aocs/magnetorquer.hpp +++ b/src/components/real/aocs/magnetorquer.hpp @@ -134,7 +134,7 @@ class Magnetorquer : public Component, public ILoggable { math::Vector bias_noise_c_Am2_{0.0}; //!< Constant bias noise in the component frame [Am2] RandomWalk random_walk_c_Am2_; //!< Random walk noise - libra::NormalRand random_noise_c_Am2_[kMtqDimension]; //!< Normal random noise + randomization::NormalRand random_noise_c_Am2_[kMtqDimension]; //!< Normal random noise const GeomagneticField* geomagnetic_field_; //!< Geomagnetic environment diff --git a/src/components/real/aocs/star_sensor.hpp b/src/components/real/aocs/star_sensor.hpp index eba0f2ae9..5965c5e9a 100644 --- a/src/components/real/aocs/star_sensor.hpp +++ b/src/components/real/aocs/star_sensor.hpp @@ -115,9 +115,9 @@ class StarSensor : public Component, public ILoggable { math::Vector<3> second_orthogonal_direction_c; //!< The second orthogonal direction of sight at component frame // Noise parameters - libra::MinimalStandardLcgWithShuffle rotation_noise_; //!< Randomize object for orthogonal direction - libra::NormalRand orthogonal_direction_noise_; //!< Random noise for orthogonal direction of sight - libra::NormalRand sight_direction_noise_; //!< Random noise for sight direction + randomization::MinimalStandardLcgWithShuffle rotation_noise_; //!< Randomize object for orthogonal direction + randomization::NormalRand orthogonal_direction_noise_; //!< Random noise for orthogonal direction of sight + randomization::NormalRand sight_direction_noise_; //!< Random noise for sight direction // Delay emulation parameters int max_delay_; //!< Max delay diff --git a/src/components/real/aocs/sun_sensor.cpp b/src/components/real/aocs/sun_sensor.cpp index d4432496b..6b47949ae 100644 --- a/src/components/real/aocs/sun_sensor.cpp +++ b/src/components/real/aocs/sun_sensor.cpp @@ -7,7 +7,7 @@ #include #include -using libra::NormalRand; +using randomization::NormalRand; #include #include #include diff --git a/src/components/real/aocs/sun_sensor.hpp b/src/components/real/aocs/sun_sensor.hpp index 7488e2513..e2c9623fd 100644 --- a/src/components/real/aocs/sun_sensor.hpp +++ b/src/components/real/aocs/sun_sensor.hpp @@ -100,8 +100,8 @@ class SunSensor : public Component, public ILoggable { double detectable_angle_rad_; //!< half angle (>0) [rad] bool sun_detected_flag_ = false; //!< Sun detected flag // Noise parameters - libra::NormalRand random_noise_alpha_; //!< Normal random for alpha angle - libra::NormalRand random_noise_beta_; //!< Normal random for beta angle + randomization::NormalRand random_noise_alpha_; //!< Normal random for alpha angle + randomization::NormalRand random_noise_beta_; //!< Normal random for beta angle double bias_noise_alpha_rad_ = 0.0; //!< Constant bias for alpha angle (Value is calculated by random number generator) double bias_noise_beta_rad_ = 0.0; //!< Constant bias for beta angle (Value is calculated by random number generator) diff --git a/src/components/real/propulsion/simple_thruster.hpp b/src/components/real/propulsion/simple_thruster.hpp index cbceafc71..948a9bdcd 100644 --- a/src/components/real/propulsion/simple_thruster.hpp +++ b/src/components/real/propulsion/simple_thruster.hpp @@ -114,8 +114,8 @@ class SimpleThruster : public Component, public ILoggable { double duty_ = 0.0; //!< PWM Duty [0.0 : 1.0] double thrust_magnitude_max_N_ = 0.0; //!< Maximum thrust magnitude [N] double direction_noise_standard_deviation_rad_ = 0.0; //!< Standard deviation of thrust direction error [rad] - libra::NormalRand magnitude_random_noise_; //!< Normal random for thrust magnitude error - libra::NormalRand direction_random_noise_; //!< Normal random for thrust direction error + randomization::NormalRand magnitude_random_noise_; //!< Normal random for thrust magnitude error + randomization::NormalRand direction_random_noise_; //!< Normal random for thrust direction error // outputs Vector<3> output_thrust_b_N_{0.0}; //!< Generated thrust on the body fixed frame [N] Vector<3> output_torque_b_Nm_{0.0}; //!< Generated torque on the body fixed frame [Nm] diff --git a/src/disturbances/magnetic_disturbance.cpp b/src/disturbances/magnetic_disturbance.cpp index 2b3c4c069..3b49be06c 100644 --- a/src/disturbances/magnetic_disturbance.cpp +++ b/src/disturbances/magnetic_disturbance.cpp @@ -34,7 +34,7 @@ void MagneticDisturbance::CalcRMM() { static math::Vector<3> random_walk_std_dev(residual_magnetic_moment_.GetRandomWalkStandardDeviation_Am2()); static math::Vector<3> random_walk_limit(residual_magnetic_moment_.GetRandomWalkLimit_Am2()); static RandomWalk<3> random_walk(0.1, random_walk_std_dev, random_walk_limit); // [FIXME] step width is constant - static libra::NormalRand normal_random(0.0, residual_magnetic_moment_.GetRandomNoiseStandardDeviation_Am2(), global_randomization.MakeSeed()); + static randomization::NormalRand normal_random(0.0, residual_magnetic_moment_.GetRandomNoiseStandardDeviation_Am2(), global_randomization.MakeSeed()); rmm_b_Am2_ = residual_magnetic_moment_.GetConstantValue_b_Am2(); for (int i = 0; i < 3; ++i) { diff --git a/src/environment/local/atmosphere.cpp b/src/environment/local/atmosphere.cpp index fe693eac0..b0792bca4 100644 --- a/src/environment/local/atmosphere.cpp +++ b/src/environment/local/atmosphere.cpp @@ -78,7 +78,7 @@ double Atmosphere::CalcAirDensity_kg_m3(const double decimal_year, const Orbit& double Atmosphere::AddNoise(const double rho_kg_m3) { // RandomWalk rw(rho_kg_m3*rw_stepwidth_,rho_kg_m3*rw_stddev_,rho_kg_m3*rw_limit_); - libra::NormalRand nr(0.0, rho_kg_m3 * gauss_standard_deviation_rate_, global_randomization.MakeSeed()); + randomization::NormalRand nr(0.0, rho_kg_m3 * gauss_standard_deviation_rate_, global_randomization.MakeSeed()); double nrd = nr; return rho_kg_m3 + nrd; diff --git a/src/environment/local/geomagnetic_field.cpp b/src/environment/local/geomagnetic_field.cpp index f26c6e457..382978d62 100644 --- a/src/environment/local/geomagnetic_field.cpp +++ b/src/environment/local/geomagnetic_field.cpp @@ -44,7 +44,7 @@ void GeomagneticField::AddNoise(double* magnetic_field_array_i_nT) { static math::Vector<3> limit(random_walk_limit_nT_); static RandomWalk<3> random_walk(0.1, standard_deviation, limit); - static libra::NormalRand white_noise(0.0, white_noise_standard_deviation_nT_, global_randomization.MakeSeed()); + static randomization::NormalRand white_noise(0.0, white_noise_standard_deviation_nT_, global_randomization.MakeSeed()); for (int i = 0; i < 3; ++i) { magnetic_field_array_i_nT[i] += random_walk[i] + white_noise; diff --git a/src/math_physics/randomization/global_randomization.hpp b/src/math_physics/randomization/global_randomization.hpp index f63b63e82..a55ae9e98 100644 --- a/src/math_physics/randomization/global_randomization.hpp +++ b/src/math_physics/randomization/global_randomization.hpp @@ -33,7 +33,7 @@ class GlobalRandomization { private: static const unsigned int kMaxSeed = 0xffffffff; //!< Maximum value of seed - libra::MinimalStandardLcg base_randomizer_; //!< Base of global randomization + randomization::MinimalStandardLcg base_randomizer_; //!< Base of global randomization long seed_; //!< Seed of global randomization }; diff --git a/src/math_physics/randomization/minimal_standard_linear_congruential_generator.cpp b/src/math_physics/randomization/minimal_standard_linear_congruential_generator.cpp index 395a8943e..ccd179507 100644 --- a/src/math_physics/randomization/minimal_standard_linear_congruential_generator.cpp +++ b/src/math_physics/randomization/minimal_standard_linear_congruential_generator.cpp @@ -5,7 +5,7 @@ */ #include "minimal_standard_linear_congruential_generator.hpp" -using libra::MinimalStandardLcg; +using randomization::MinimalStandardLcg; #include diff --git a/src/math_physics/randomization/minimal_standard_linear_congruential_generator.hpp b/src/math_physics/randomization/minimal_standard_linear_congruential_generator.hpp index 70b97a695..9120faffd 100644 --- a/src/math_physics/randomization/minimal_standard_linear_congruential_generator.hpp +++ b/src/math_physics/randomization/minimal_standard_linear_congruential_generator.hpp @@ -7,7 +7,7 @@ #ifndef S2E_LIBRARY_RANDOMIZATION_MINIMAL_STANDARD_LINEAR_CONGRUENTIAL_GENERATOR_HPP_ #define S2E_LIBRARY_RANDOMIZATION_MINIMAL_STANDARD_LINEAR_CONGRUENTIAL_GENERATOR_HPP_ -namespace libra { +namespace randomization { /** * @class MinimalStandardLcg @@ -52,6 +52,6 @@ class MinimalStandardLcg { long seed_; //!< Seed of randomization }; -} // namespace libra +} // namespace randomization #endif // S2E_LIBRARY_RANDOMIZATION_MINIMAL_STANDARD_LINEAR_CONGRUENTIAL_GENERATOR_HPP_ diff --git a/src/math_physics/randomization/minimal_standard_linear_congruential_generator_with_shuffle.cpp b/src/math_physics/randomization/minimal_standard_linear_congruential_generator_with_shuffle.cpp index 95fbc7075..ea0a6bf43 100644 --- a/src/math_physics/randomization/minimal_standard_linear_congruential_generator_with_shuffle.cpp +++ b/src/math_physics/randomization/minimal_standard_linear_congruential_generator_with_shuffle.cpp @@ -5,7 +5,7 @@ */ #include "minimal_standard_linear_congruential_generator_with_shuffle.hpp" -using libra::MinimalStandardLcgWithShuffle; +using randomization::MinimalStandardLcgWithShuffle; MinimalStandardLcgWithShuffle::MinimalStandardLcgWithShuffle() : table_position_(0) { Initialize(); } diff --git a/src/math_physics/randomization/minimal_standard_linear_congruential_generator_with_shuffle.hpp b/src/math_physics/randomization/minimal_standard_linear_congruential_generator_with_shuffle.hpp index 6c42dddba..5c016291f 100644 --- a/src/math_physics/randomization/minimal_standard_linear_congruential_generator_with_shuffle.hpp +++ b/src/math_physics/randomization/minimal_standard_linear_congruential_generator_with_shuffle.hpp @@ -11,7 +11,7 @@ #include "minimal_standard_linear_congruential_generator.hpp" -namespace libra { +namespace randomization { /** * @class MinimalStandardLcgWithShuffle @@ -58,6 +58,6 @@ class MinimalStandardLcgWithShuffle { double mixing_table_[kTableSize]; //!< Mixing table }; -} // namespace libra +} // namespace randomization #endif // S2E_LIBRARY_RANDOMIZATION_MINIMAL_STANDARD_LINEAR_CONGRUENTIAL_GENERATOR_WITH_SHUFFLE_HPP_ diff --git a/src/math_physics/randomization/normal_randomization.cpp b/src/math_physics/randomization/normal_randomization.cpp index 02eb484b7..0e5c9e36c 100644 --- a/src/math_physics/randomization/normal_randomization.cpp +++ b/src/math_physics/randomization/normal_randomization.cpp @@ -4,7 +4,7 @@ * @note Ref: NUMERICAL RECIPES in C, p.216-p.217 */ #include "normal_randomization.hpp" -using libra::NormalRand; +using randomization::NormalRand; #include //DBL_EPSILON #include //sqrt, log; diff --git a/src/math_physics/randomization/normal_randomization.hpp b/src/math_physics/randomization/normal_randomization.hpp index 962126a0c..81e688091 100644 --- a/src/math_physics/randomization/normal_randomization.hpp +++ b/src/math_physics/randomization/normal_randomization.hpp @@ -8,9 +8,9 @@ #define S2E_LIBRARY_RANDOMIZATION_NORMAL_RANDOMIZATION_HPP_ #include "minimal_standard_linear_congruential_generator_with_shuffle.hpp" -using libra::MinimalStandardLcgWithShuffle; +using randomization::MinimalStandardLcgWithShuffle; -namespace libra { +namespace randomization { /** * @class NormalRand @@ -106,6 +106,6 @@ class NormalRand { bool is_empty_; //!< Flag to show the holder_ has available value }; -} // namespace libra +} // namespace randomization #endif // S2E_LIBRARY_RANDOMIZATION_NORMAL_RANDOMIZATION_HPP_ diff --git a/src/math_physics/randomization/random_walk.hpp b/src/math_physics/randomization/random_walk.hpp index befcd10de..5af240bf9 100644 --- a/src/math_physics/randomization/random_walk.hpp +++ b/src/math_physics/randomization/random_walk.hpp @@ -37,7 +37,7 @@ class RandomWalk : public math::OrdinaryDifferentialEquation { private: math::Vector limit_; //!< Limit of random walk - libra::NormalRand normal_randomizer_[N]; //!< Random walk excitation noise + randomization::NormalRand normal_randomizer_[N]; //!< Random walk excitation noise }; #include "random_walk_template_functions.hpp" // template function definisions. From d2c23bd495dbe56506e6250ccf440d058b2be7ec Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 20 Jul 2024 11:11:16 +0900 Subject: [PATCH 250/456] Fix format --- src/components/base/sensor.hpp | 8 ++++---- src/components/ideal/force_generator.hpp | 4 ++-- src/components/ideal/torque_generator.hpp | 4 ++-- src/components/real/aocs/gnss_receiver.hpp | 6 +++--- src/components/real/propulsion/simple_thruster.hpp | 4 ++-- src/disturbances/magnetic_disturbance.cpp | 3 ++- src/math_physics/randomization/global_randomization.hpp | 6 +++--- src/math_physics/randomization/random_walk.hpp | 2 +- 8 files changed, 19 insertions(+), 18 deletions(-) diff --git a/src/components/base/sensor.hpp b/src/components/base/sensor.hpp index 8562310de..f3ab2e22b 100644 --- a/src/components/base/sensor.hpp +++ b/src/components/base/sensor.hpp @@ -52,11 +52,11 @@ class Sensor { math::Vector Measure(const math::Vector true_value_c); private: - math::Matrix scale_factor_; //!< Scale factor matrix - math::Vector range_to_const_c_; //!< Output range limit to be constant output value at the component frame - math::Vector range_to_zero_c_; //!< Output range limit to be zero output value at the component frame + math::Matrix scale_factor_; //!< Scale factor matrix + math::Vector range_to_const_c_; //!< Output range limit to be constant output value at the component frame + math::Vector range_to_zero_c_; //!< Output range limit to be zero output value at the component frame randomization::NormalRand normal_random_noise_c_[N]; //!< Normal random - RandomWalk random_walk_noise_c_; //!< Random Walk + RandomWalk random_walk_noise_c_; //!< Random Walk /** * @fn Clip diff --git a/src/components/ideal/force_generator.hpp b/src/components/ideal/force_generator.hpp index c3a5eb6ef..d7cb07f49 100644 --- a/src/components/ideal/force_generator.hpp +++ b/src/components/ideal/force_generator.hpp @@ -100,8 +100,8 @@ class ForceGenerator : public Component, public ILoggable { math::Vector<3> generated_force_rtn_N_{0.0}; //!< Generated force in the RTN frame [N] // Noise - randomization::NormalRand magnitude_noise_; //!< Normal random for magnitude noise - randomization::NormalRand direction_noise_; //!< Normal random for direction noise + randomization::NormalRand magnitude_noise_; //!< Normal random for magnitude noise + randomization::NormalRand direction_noise_; //!< Normal random for direction noise double direction_error_standard_deviation_rad_; //!< Standard deviation of direction error [rad] /** diff --git a/src/components/ideal/torque_generator.hpp b/src/components/ideal/torque_generator.hpp index eb6c01b81..6ddaf1c5d 100644 --- a/src/components/ideal/torque_generator.hpp +++ b/src/components/ideal/torque_generator.hpp @@ -78,8 +78,8 @@ class TorqueGenerator : public Component, public ILoggable { math::Vector<3> generated_torque_b_Nm_{0.0}; //!< Generated torque in the body fixed frame [Nm] // Noise - randomization::NormalRand magnitude_noise_; //!< Normal random for magnitude noise - randomization::NormalRand direction_noise_; //!< Normal random for direction noise + randomization::NormalRand magnitude_noise_; //!< Normal random for magnitude noise + randomization::NormalRand direction_noise_; //!< Normal random for direction noise double direction_error_standard_deviation_rad_; //!< Standard deviation of direction error [rad] /** diff --git a/src/components/real/aocs/gnss_receiver.hpp b/src/components/real/aocs/gnss_receiver.hpp index 9bc48a411..8f1d867ac 100644 --- a/src/components/real/aocs/gnss_receiver.hpp +++ b/src/components/real/aocs/gnss_receiver.hpp @@ -139,9 +139,9 @@ class GnssReceiver : public Component, public ILoggable { // Simple position observation randomization::NormalRand position_random_noise_ecef_m_[3]; //!< Random noise for position at the ECEF frame [m] randomization::NormalRand velocity_random_noise_ecef_m_s_[3]; //!< Random noise for velocity at the ECEF frame [m] - math::Vector<3> position_ecef_m_{0.0}; //!< Observed position in the ECEF frame [m] - math::Vector<3> velocity_ecef_m_s_{0.0}; //!< Observed velocity in the ECEF frame [m/s] - GeodeticPosition geodetic_position_; //!< Observed position in the geodetic frame + math::Vector<3> position_ecef_m_{0.0}; //!< Observed position in the ECEF frame [m] + math::Vector<3> velocity_ecef_m_s_{0.0}; //!< Observed velocity in the ECEF frame [m/s] + GeodeticPosition geodetic_position_; //!< Observed position in the geodetic frame // Time observation UTC utc_ = {2000, 1, 1, 0, 0, 0.0}; //!< Observed time in UTC [year, month, day, hour, min, sec] diff --git a/src/components/real/propulsion/simple_thruster.hpp b/src/components/real/propulsion/simple_thruster.hpp index 948a9bdcd..f2466fcc9 100644 --- a/src/components/real/propulsion/simple_thruster.hpp +++ b/src/components/real/propulsion/simple_thruster.hpp @@ -114,8 +114,8 @@ class SimpleThruster : public Component, public ILoggable { double duty_ = 0.0; //!< PWM Duty [0.0 : 1.0] double thrust_magnitude_max_N_ = 0.0; //!< Maximum thrust magnitude [N] double direction_noise_standard_deviation_rad_ = 0.0; //!< Standard deviation of thrust direction error [rad] - randomization::NormalRand magnitude_random_noise_; //!< Normal random for thrust magnitude error - randomization::NormalRand direction_random_noise_; //!< Normal random for thrust direction error + randomization::NormalRand magnitude_random_noise_; //!< Normal random for thrust magnitude error + randomization::NormalRand direction_random_noise_; //!< Normal random for thrust direction error // outputs Vector<3> output_thrust_b_N_{0.0}; //!< Generated thrust on the body fixed frame [N] Vector<3> output_torque_b_Nm_{0.0}; //!< Generated torque on the body fixed frame [Nm] diff --git a/src/disturbances/magnetic_disturbance.cpp b/src/disturbances/magnetic_disturbance.cpp index 3b49be06c..901777c6a 100644 --- a/src/disturbances/magnetic_disturbance.cpp +++ b/src/disturbances/magnetic_disturbance.cpp @@ -34,7 +34,8 @@ void MagneticDisturbance::CalcRMM() { static math::Vector<3> random_walk_std_dev(residual_magnetic_moment_.GetRandomWalkStandardDeviation_Am2()); static math::Vector<3> random_walk_limit(residual_magnetic_moment_.GetRandomWalkLimit_Am2()); static RandomWalk<3> random_walk(0.1, random_walk_std_dev, random_walk_limit); // [FIXME] step width is constant - static randomization::NormalRand normal_random(0.0, residual_magnetic_moment_.GetRandomNoiseStandardDeviation_Am2(), global_randomization.MakeSeed()); + static randomization::NormalRand normal_random(0.0, residual_magnetic_moment_.GetRandomNoiseStandardDeviation_Am2(), + global_randomization.MakeSeed()); rmm_b_Am2_ = residual_magnetic_moment_.GetConstantValue_b_Am2(); for (int i = 0; i < 3; ++i) { diff --git a/src/math_physics/randomization/global_randomization.hpp b/src/math_physics/randomization/global_randomization.hpp index a55ae9e98..24c88ec2b 100644 --- a/src/math_physics/randomization/global_randomization.hpp +++ b/src/math_physics/randomization/global_randomization.hpp @@ -32,9 +32,9 @@ class GlobalRandomization { long MakeSeed(); private: - static const unsigned int kMaxSeed = 0xffffffff; //!< Maximum value of seed - randomization::MinimalStandardLcg base_randomizer_; //!< Base of global randomization - long seed_; //!< Seed of global randomization + static const unsigned int kMaxSeed = 0xffffffff; //!< Maximum value of seed + randomization::MinimalStandardLcg base_randomizer_; //!< Base of global randomization + long seed_; //!< Seed of global randomization }; extern GlobalRandomization global_randomization; //!< Global randomization diff --git a/src/math_physics/randomization/random_walk.hpp b/src/math_physics/randomization/random_walk.hpp index 5af240bf9..ecd269001 100644 --- a/src/math_physics/randomization/random_walk.hpp +++ b/src/math_physics/randomization/random_walk.hpp @@ -36,7 +36,7 @@ class RandomWalk : public math::OrdinaryDifferentialEquation { virtual void DerivativeFunction(double x, const math::Vector& state, math::Vector& rhs); private: - math::Vector limit_; //!< Limit of random walk + math::Vector limit_; //!< Limit of random walk randomization::NormalRand normal_randomizer_[N]; //!< Random walk excitation noise }; From fa7a41a0e9b0f0c960e32c92c2b28673db148ffc Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 20 Jul 2024 11:21:46 +0900 Subject: [PATCH 251/456] Remove warnings --- src/dynamics/attitude/initialize_attitude.cpp | 1 - 1 file changed, 1 deletion(-) diff --git a/src/dynamics/attitude/initialize_attitude.cpp b/src/dynamics/attitude/initialize_attitude.cpp index f149f1e1c..d4ed6e202 100644 --- a/src/dynamics/attitude/initialize_attitude.cpp +++ b/src/dynamics/attitude/initialize_attitude.cpp @@ -77,7 +77,6 @@ Attitude* InitAttitude(std::string file_name, const Orbit* orbit, const LocalCel AttitudeControlMode main_mode = ConvertStringToCtrlMode(main_mode_in); AttitudeControlMode sub_mode = ConvertStringToCtrlMode(sub_mode_in); - math::Quaternion quaternion_i2b; ini_file_ca.ReadQuaternion(section_, "initial_quaternion_i2b", quaternion_i2b); math::Vector<3> main_target_direction_b, sub_target_direction_b; ini_file_ca.ReadVector(section_ca_, "main_pointing_direction_b", main_target_direction_b); From 1e52b2ea53bf688bc375104dc4ede4f39ac393bf Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 20 Jul 2024 14:30:40 +0900 Subject: [PATCH 252/456] Add gnss namespace --- src/environment/global/gnss_satellites.cpp | 2 ++ src/environment/global/gnss_satellites.hpp | 6 +++--- src/math_physics/gnss/antex_file_reader.cpp | 4 ++++ src/math_physics/gnss/antex_file_reader.hpp | 4 ++++ src/math_physics/gnss/bias_sinex_file_reader.cpp | 4 ++++ src/math_physics/gnss/bias_sinex_file_reader.hpp | 4 ++++ src/math_physics/gnss/gnss_satellite_number.cpp | 4 ++++ src/math_physics/gnss/gnss_satellite_number.hpp | 4 ++++ src/math_physics/gnss/igs_product_name_handling.hpp | 4 ++++ src/math_physics/gnss/sp3_file_reader.cpp | 4 ++++ src/math_physics/gnss/sp3_file_reader.hpp | 4 ++++ src/math_physics/gnss/test_antex_file_reader.cpp | 2 ++ src/math_physics/gnss/test_bias_sinex_file_reader.cpp | 2 ++ src/math_physics/gnss/test_gnss_satellite_number.cpp | 2 ++ src/math_physics/gnss/test_igs_product_name_handling.cpp | 2 ++ src/math_physics/gnss/test_sp3_file_reader.cpp | 2 ++ 16 files changed, 51 insertions(+), 3 deletions(-) diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index d68216ea2..2796fc553 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -15,6 +15,8 @@ #include "setting_file_reader/initialize_file_access.hpp" #include "utilities/macros.hpp" +using namespace gnss; + const size_t kNumberOfInterpolation = 9; void GnssSatellites::Initialize(const std::vector& sp3_files, const EpochTime start_time) { diff --git a/src/environment/global/gnss_satellites.hpp b/src/environment/global/gnss_satellites.hpp index a3021e64c..b7b49ddf7 100644 --- a/src/environment/global/gnss_satellites.hpp +++ b/src/environment/global/gnss_satellites.hpp @@ -54,7 +54,7 @@ class GnssSatellites : public ILoggable { * @param [in] sp3_files: List of SP3 files * @param [in] start_time: The simulation start time */ - void Initialize(const std::vector& sp3_files, const EpochTime start_time); + void Initialize(const std::vector& sp3_files, const EpochTime start_time); /** * @fn IsCalcEnabled @@ -113,7 +113,7 @@ class GnssSatellites : public ILoggable { private: bool is_calc_enabled_ = false; //!< Flag to manage the GNSS satellite position calculation - std::vector sp3_files_; //!< List of SP3 files + std::vector sp3_files_; //!< List of SP3 files size_t number_of_calculated_gnss_satellites_; //!< Number of calculated GNSS satellites size_t sp3_file_id_; //!< Current SP3 file ID EpochTime reference_time_; //!< Reference start time of the SP3 handling @@ -133,7 +133,7 @@ class GnssSatellites : public ILoggable { * @param [in] current_time: Target time * @return true means no error, false means the time argument is out of range */ - bool GetCurrentSp3File(Sp3FileReader& current_sp3_file, const EpochTime current_time); + bool GetCurrentSp3File(gnss::Sp3FileReader& current_sp3_file, const EpochTime current_time); /** * @fn UpdateInterpolationInformation diff --git a/src/math_physics/gnss/antex_file_reader.cpp b/src/math_physics/gnss/antex_file_reader.cpp index e9c379787..1547a3cf4 100644 --- a/src/math_physics/gnss/antex_file_reader.cpp +++ b/src/math_physics/gnss/antex_file_reader.cpp @@ -10,6 +10,8 @@ #include #include +namespace gnss { + #define ANTEX_LINE_TYPE_POSITION (60) AntexGridDefinition::AntexGridDefinition(const double zenith_start_angle_deg, const double zenith_end_angle_deg, const double zenith_step_angle_deg, @@ -196,3 +198,5 @@ DateTime AntexFileReader::ReadDateTime(std::string line) { sscanf(line.c_str(), "%zu %2zu %2zu %2zu %2zu %10lf", &year, &month, &day, &hour, &minute, &second); return DateTime(year, month, day, hour, minute, second); } + +} // namespace gnss diff --git a/src/math_physics/gnss/antex_file_reader.hpp b/src/math_physics/gnss/antex_file_reader.hpp index ef2ef64c4..e730b09c2 100644 --- a/src/math_physics/gnss/antex_file_reader.hpp +++ b/src/math_physics/gnss/antex_file_reader.hpp @@ -16,6 +16,8 @@ #include #include +namespace gnss { + /** * @class AntexGridDefinition * @brief grid data definition in ANTEX file @@ -343,4 +345,6 @@ class AntexFileReader { DateTime ReadDateTime(std::string line); }; +} // namespace gnss + #endif // S2E_LIBRARY_ANTEX_FILE_READER_HPP_ diff --git a/src/math_physics/gnss/bias_sinex_file_reader.cpp b/src/math_physics/gnss/bias_sinex_file_reader.cpp index ebb47913a..252523ebf 100644 --- a/src/math_physics/gnss/bias_sinex_file_reader.cpp +++ b/src/math_physics/gnss/bias_sinex_file_reader.cpp @@ -9,6 +9,8 @@ #include #include +namespace gnss { + bool BiasSinexFileReader::ReadFile(const std::string file_name) { // File open std::ifstream bias_sinex_file(file_name); @@ -242,3 +244,5 @@ void BiasSolutionData::SetTargetSignal(const std::string signal1, const std::str target_signal_ = BiasTargetSignal::kError; } } + +} // namespace gnss diff --git a/src/math_physics/gnss/bias_sinex_file_reader.hpp b/src/math_physics/gnss/bias_sinex_file_reader.hpp index 49d85e91e..20e591d0c 100644 --- a/src/math_physics/gnss/bias_sinex_file_reader.hpp +++ b/src/math_physics/gnss/bias_sinex_file_reader.hpp @@ -10,6 +10,8 @@ #include #include +namespace gnss { + /** * @enum BiasIdentifier * @brief Bias Identifier @@ -184,4 +186,6 @@ class BiasSinexFileReader { void ReadBiasSolution(std::ifstream& bias_sinex_file); }; +} // namespace gnss + #endif // S2E_LIBRARY_BIAS_SINEX_FILE_READER_HPP_ \ No newline at end of file diff --git a/src/math_physics/gnss/gnss_satellite_number.cpp b/src/math_physics/gnss/gnss_satellite_number.cpp index b3c53efba..6eb8861a5 100644 --- a/src/math_physics/gnss/gnss_satellite_number.cpp +++ b/src/math_physics/gnss/gnss_satellite_number.cpp @@ -5,6 +5,8 @@ #include "gnss_satellite_number.hpp" +namespace gnss { + size_t ConvertGnssSatelliteNumberToIndex(const std::string satellite_number) { switch (satellite_number.front()) { case 'G': @@ -58,3 +60,5 @@ std::string ConvertIndexToGnssSatelliteNumber(const size_t index) { return output; } + +} // namespace gnss diff --git a/src/math_physics/gnss/gnss_satellite_number.hpp b/src/math_physics/gnss/gnss_satellite_number.hpp index 08fd91576..319fd34a5 100644 --- a/src/math_physics/gnss/gnss_satellite_number.hpp +++ b/src/math_physics/gnss/gnss_satellite_number.hpp @@ -10,6 +10,8 @@ #include +namespace gnss { + // GNSS satellite number definition // TODO: Move to initialized file? const size_t kNumberOfGpsSatellite = 32; //!< Number of GPS satellites @@ -44,4 +46,6 @@ size_t ConvertGnssSatelliteNumberToIndex(const std::string satellite_number); */ std::string ConvertIndexToGnssSatelliteNumber(const size_t index); +} // namespace gnss + #endif // S2E_LIBRARY_GNSS_GNSS_SATELLITE_NUMBER_HPP_ diff --git a/src/math_physics/gnss/igs_product_name_handling.hpp b/src/math_physics/gnss/igs_product_name_handling.hpp index 7f2644e8d..e2352f76c 100644 --- a/src/math_physics/gnss/igs_product_name_handling.hpp +++ b/src/math_physics/gnss/igs_product_name_handling.hpp @@ -10,6 +10,8 @@ #include +namespace gnss { + /** * @fn GetOrbitClockFileName * @brief Return IGS orbit and clock final product file name @@ -83,4 +85,6 @@ size_t IncrementYearDoy(const size_t year_doy) { return output; } +} // namespace gnss + #endif // S2E_LIBRARY_GNSS_IGS_PRODUCT_NAME_HANDLING_HPP_ diff --git a/src/math_physics/gnss/sp3_file_reader.cpp b/src/math_physics/gnss/sp3_file_reader.cpp index 10043e10d..2419c03dd 100644 --- a/src/math_physics/gnss/sp3_file_reader.cpp +++ b/src/math_physics/gnss/sp3_file_reader.cpp @@ -11,6 +11,8 @@ #include #include +namespace gnss { + Sp3FileReader::Sp3FileReader(const std::string file_name) { ReadFile(file_name); } DateTime Sp3FileReader::GetEpochData(const size_t epoch_id) const { @@ -419,3 +421,5 @@ Sp3VelocityClockRateCorrelation Sp3FileReader::DecodeVelocityClockRateCorrelatio return correlation; } + +} // namespace gnss diff --git a/src/math_physics/gnss/sp3_file_reader.hpp b/src/math_physics/gnss/sp3_file_reader.hpp index 4b7a017eb..e904b6050 100644 --- a/src/math_physics/gnss/sp3_file_reader.hpp +++ b/src/math_physics/gnss/sp3_file_reader.hpp @@ -17,6 +17,8 @@ #include #include +namespace gnss { + #define SP3_BAD_CLOCK_VALUE (999999.999999) #define SP3_BAD_POSITION_VALUE (0.000000) @@ -234,4 +236,6 @@ class Sp3FileReader { Sp3VelocityClockRateCorrelation DecodeVelocityClockRateCorrelation(std::string line); }; +} // namespace gnss + #endif // S2E_LIBRARY_GNSS_SP3_FILE_READER_HPP_ diff --git a/src/math_physics/gnss/test_antex_file_reader.cpp b/src/math_physics/gnss/test_antex_file_reader.cpp index d5d392f19..320c598af 100644 --- a/src/math_physics/gnss/test_antex_file_reader.cpp +++ b/src/math_physics/gnss/test_antex_file_reader.cpp @@ -7,6 +7,8 @@ #include "antex_file_reader.hpp" +using namespace gnss; + /** * @brief Test Constructor */ diff --git a/src/math_physics/gnss/test_bias_sinex_file_reader.cpp b/src/math_physics/gnss/test_bias_sinex_file_reader.cpp index 99c52c8d7..a681eedcc 100644 --- a/src/math_physics/gnss/test_bias_sinex_file_reader.cpp +++ b/src/math_physics/gnss/test_bias_sinex_file_reader.cpp @@ -2,6 +2,8 @@ #include "bias_sinex_file_reader.hpp" +using namespace gnss; + TEST(BiasSinex, Constructor) { // File read error check BiasSinexFileReader bias_sinex_file_fault("false_file_path.BSX"); diff --git a/src/math_physics/gnss/test_gnss_satellite_number.cpp b/src/math_physics/gnss/test_gnss_satellite_number.cpp index 5bbf535ee..259920e29 100644 --- a/src/math_physics/gnss/test_gnss_satellite_number.cpp +++ b/src/math_physics/gnss/test_gnss_satellite_number.cpp @@ -6,6 +6,8 @@ #include "gnss_satellite_number.hpp" +using namespace gnss; + /** * @brief Test satellite number to index */ diff --git a/src/math_physics/gnss/test_igs_product_name_handling.cpp b/src/math_physics/gnss/test_igs_product_name_handling.cpp index b674af7dc..f1af19529 100644 --- a/src/math_physics/gnss/test_igs_product_name_handling.cpp +++ b/src/math_physics/gnss/test_igs_product_name_handling.cpp @@ -7,6 +7,8 @@ #include "igs_product_name_handling.hpp" +using namespace gnss; + /** * @brief Test GetOrbitClockFinalFileName */ diff --git a/src/math_physics/gnss/test_sp3_file_reader.cpp b/src/math_physics/gnss/test_sp3_file_reader.cpp index 4a017894e..9ef514d41 100644 --- a/src/math_physics/gnss/test_sp3_file_reader.cpp +++ b/src/math_physics/gnss/test_sp3_file_reader.cpp @@ -6,6 +6,8 @@ #include "sp3_file_reader.hpp" +using namespace gnss; + /** * @brief Test Constructor */ From a215e90dab873b47b36b10021fcbd61241ba982a Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 20 Jul 2024 14:37:28 +0900 Subject: [PATCH 253/456] Fix format --- src/environment/global/gnss_satellites.hpp | 2 +- src/math_physics/gnss/gnss_satellite_number.hpp | 2 +- src/math_physics/gnss/sp3_file_reader.cpp | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/src/environment/global/gnss_satellites.hpp b/src/environment/global/gnss_satellites.hpp index b7b49ddf7..cf4d645ee 100644 --- a/src/environment/global/gnss_satellites.hpp +++ b/src/environment/global/gnss_satellites.hpp @@ -113,7 +113,7 @@ class GnssSatellites : public ILoggable { private: bool is_calc_enabled_ = false; //!< Flag to manage the GNSS satellite position calculation - std::vector sp3_files_; //!< List of SP3 files + std::vector sp3_files_; //!< List of SP3 files size_t number_of_calculated_gnss_satellites_; //!< Number of calculated GNSS satellites size_t sp3_file_id_; //!< Current SP3 file ID EpochTime reference_time_; //!< Reference start time of the SP3 handling diff --git a/src/math_physics/gnss/gnss_satellite_number.hpp b/src/math_physics/gnss/gnss_satellite_number.hpp index 319fd34a5..35087c537 100644 --- a/src/math_physics/gnss/gnss_satellite_number.hpp +++ b/src/math_physics/gnss/gnss_satellite_number.hpp @@ -46,6 +46,6 @@ size_t ConvertGnssSatelliteNumberToIndex(const std::string satellite_number); */ std::string ConvertIndexToGnssSatelliteNumber(const size_t index); -} // namespace gnss +} // namespace gnss #endif // S2E_LIBRARY_GNSS_GNSS_SATELLITE_NUMBER_HPP_ diff --git a/src/math_physics/gnss/sp3_file_reader.cpp b/src/math_physics/gnss/sp3_file_reader.cpp index 2419c03dd..8106ba9cc 100644 --- a/src/math_physics/gnss/sp3_file_reader.cpp +++ b/src/math_physics/gnss/sp3_file_reader.cpp @@ -422,4 +422,4 @@ Sp3VelocityClockRateCorrelation Sp3FileReader::DecodeVelocityClockRateCorrelatio return correlation; } -} // namespace gnss +} // namespace gnss From c9f20d45414fd6e9a7b14305ec0248042d434e7a Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 20 Jul 2024 14:47:27 +0900 Subject: [PATCH 254/456] Add orbit namespace --- src/dynamics/orbit/encke_orbit_propagation.cpp | 4 ++-- src/dynamics/orbit/encke_orbit_propagation.hpp | 2 +- src/dynamics/orbit/initialize_orbit.cpp | 16 ++++++++-------- src/dynamics/orbit/kepler_orbit_propagation.hpp | 4 ++-- src/dynamics/orbit/relative_orbit.cpp | 14 +++++++------- src/dynamics/orbit/relative_orbit.hpp | 10 +++++----- src/environment/global/gnss_satellites.cpp | 2 +- src/environment/global/gnss_satellites.hpp | 2 +- src/math_physics/orbit/interpolation_orbit.cpp | 4 ++++ src/math_physics/orbit/interpolation_orbit.hpp | 4 ++++ src/math_physics/orbit/kepler_orbit.cpp | 4 ++++ src/math_physics/orbit/kepler_orbit.hpp | 4 ++++ src/math_physics/orbit/orbital_elements.cpp | 4 ++++ src/math_physics/orbit/orbital_elements.hpp | 4 ++++ src/math_physics/orbit/relative_orbit_models.cpp | 4 ++++ src/math_physics/orbit/relative_orbit_models.hpp | 4 ++++ .../orbit/test_interpolation_orbit.cpp | 2 ++ 17 files changed, 61 insertions(+), 27 deletions(-) diff --git a/src/dynamics/orbit/encke_orbit_propagation.cpp b/src/dynamics/orbit/encke_orbit_propagation.cpp index a5a839d5c..9b67322f2 100644 --- a/src/dynamics/orbit/encke_orbit_propagation.cpp +++ b/src/dynamics/orbit/encke_orbit_propagation.cpp @@ -90,8 +90,8 @@ void EnckeOrbitPropagation::Initialize(double current_time_jd, math::Vector<3> r // reference orbit reference_position_i_m_ = reference_position_i_m; reference_velocity_i_m_s_ = reference_velocity_i_m_s; - OrbitalElements oe_ref(gravity_constant_m3_s2_, current_time_jd, reference_position_i_m, reference_velocity_i_m_s); - reference_kepler_orbit = KeplerOrbit(gravity_constant_m3_s2_, oe_ref); + orbit::OrbitalElements oe_ref(gravity_constant_m3_s2_, current_time_jd, reference_position_i_m, reference_velocity_i_m_s); + reference_kepler_orbit = orbit::KeplerOrbit(gravity_constant_m3_s2_, oe_ref); // difference orbit difference_position_i_m_.FillUp(0.0); diff --git a/src/dynamics/orbit/encke_orbit_propagation.hpp b/src/dynamics/orbit/encke_orbit_propagation.hpp index a6abce7e8..9cfc94498 100644 --- a/src/dynamics/orbit/encke_orbit_propagation.hpp +++ b/src/dynamics/orbit/encke_orbit_propagation.hpp @@ -65,7 +65,7 @@ class EnckeOrbitPropagation : public Orbit, public math::OrdinaryDifferentialEqu // reference orbit math::Vector<3> reference_position_i_m_; //!< Reference orbit position in the inertial frame [m] math::Vector<3> reference_velocity_i_m_s_; //!< Reference orbit velocity in the inertial frame [m/s] - KeplerOrbit reference_kepler_orbit; //!< Reference Kepler orbital element + orbit::KeplerOrbit reference_kepler_orbit; //!< Reference Kepler orbital element // difference orbit math::Vector<3> difference_position_i_m_; //!< Difference orbit position in the inertial frame [m] diff --git a/src/dynamics/orbit/initialize_orbit.cpp b/src/dynamics/orbit/initialize_orbit.cpp index 9921da134..8ce7ab313 100644 --- a/src/dynamics/orbit/initialize_orbit.cpp +++ b/src/dynamics/orbit/initialize_orbit.cpp @@ -46,8 +46,8 @@ Orbit* InitOrbit(const CelestialInformation* celestial_information, std::string // initialize orbit for relative dynamics of formation flying RelativeOrbit::RelativeOrbitUpdateMethod update_method = (RelativeOrbit::RelativeOrbitUpdateMethod)(conf.ReadInt(section_, "relative_orbit_update_method")); - RelativeOrbitModel relative_dynamics_model_type = (RelativeOrbitModel)(conf.ReadInt(section_, "relative_dynamics_model_type")); - StmModel stm_model_type = (StmModel)(conf.ReadInt(section_, "stm_model_type")); + orbit::RelativeOrbitModel relative_dynamics_model_type = (orbit::RelativeOrbitModel)(conf.ReadInt(section_, "relative_dynamics_model_type")); + orbit::StmModel stm_model_type = (orbit::StmModel)(conf.ReadInt(section_, "stm_model_type")); math::Vector<3> init_relative_position_lvlh; conf.ReadVector<3>(section_, "initial_relative_position_lvlh_m", init_relative_position_lvlh); @@ -62,7 +62,7 @@ Orbit* InitOrbit(const CelestialInformation* celestial_information, std::string init_relative_velocity_lvlh, update_method, relative_dynamics_model_type, stm_model_type, relative_information); } else if (propagate_mode == "KEPLER") { // initialize orbit for Kepler propagation - OrbitalElements oe; + orbit::OrbitalElements oe; // TODO: init_mode_kepler should be removed in the next major update if (initialize_mode == OrbitInitializeMode::kInertialPositionAndVelocity) { // initialize with position and velocity @@ -70,7 +70,7 @@ Orbit* InitOrbit(const CelestialInformation* celestial_information, std::string conf.ReadVector<3>(section_, "initial_position_i_m", init_pos_m); math::Vector<3> init_vel_m_s; conf.ReadVector<3>(section_, "initial_velocity_i_m_s", init_vel_m_s); - oe = OrbitalElements(gravity_constant_m3_s2, current_time_jd, init_pos_m, init_vel_m_s); + oe = orbit::OrbitalElements(gravity_constant_m3_s2, current_time_jd, init_pos_m, init_vel_m_s); } else { // initialize with orbital elements double semi_major_axis_m = conf.ReadDouble(section_, "semi_major_axis_m"); @@ -79,9 +79,9 @@ Orbit* InitOrbit(const CelestialInformation* celestial_information, std::string double raan_rad = conf.ReadDouble(section_, "raan_rad"); double arg_perigee_rad = conf.ReadDouble(section_, "argument_of_perigee_rad"); double epoch_jday = conf.ReadDouble(section_, "epoch_jday"); - oe = OrbitalElements(epoch_jday, semi_major_axis_m, eccentricity, inclination_rad, raan_rad, arg_perigee_rad); + oe = orbit::OrbitalElements(epoch_jday, semi_major_axis_m, eccentricity, inclination_rad, raan_rad, arg_perigee_rad); } - KeplerOrbit kepler_orbit(gravity_constant_m3_s2, oe); + orbit::KeplerOrbit kepler_orbit(gravity_constant_m3_s2, oe); orbit = new KeplerOrbitPropagation(celestial_information, current_time_jd, kepler_orbit); } else if (propagate_mode == "ENCKE") { // initialize orbit for Encke's method @@ -130,8 +130,8 @@ math::Vector<6> InitializePosVel(std::string initialize_file, double current_tim double raan_rad = conf.ReadDouble(section_, "raan_rad"); double arg_perigee_rad = conf.ReadDouble(section_, "argument_of_perigee_rad"); double epoch_jday = conf.ReadDouble(section_, "epoch_jday"); - OrbitalElements oe(epoch_jday, semi_major_axis_m, eccentricity, inclination_rad, raan_rad, arg_perigee_rad); - KeplerOrbit kepler_orbit(gravity_constant_m3_s2, oe); + orbit::OrbitalElements oe(epoch_jday, semi_major_axis_m, eccentricity, inclination_rad, raan_rad, arg_perigee_rad); + orbit::KeplerOrbit kepler_orbit(gravity_constant_m3_s2, oe); kepler_orbit.CalcOrbit(current_time_jd); position_i_m = kepler_orbit.GetPosition_i_m(); diff --git a/src/dynamics/orbit/kepler_orbit_propagation.hpp b/src/dynamics/orbit/kepler_orbit_propagation.hpp index f2421003e..ec93197ab 100644 --- a/src/dynamics/orbit/kepler_orbit_propagation.hpp +++ b/src/dynamics/orbit/kepler_orbit_propagation.hpp @@ -13,7 +13,7 @@ * @class KeplerOrbitPropagation * @brief Class to propagate spacecraft orbit with Kepler equation */ -class KeplerOrbitPropagation : public Orbit, public KeplerOrbit { +class KeplerOrbitPropagation : public Orbit, public orbit::KeplerOrbit { public: // Initialize with orbital elements /** @@ -23,7 +23,7 @@ class KeplerOrbitPropagation : public Orbit, public KeplerOrbit { * @param [in] current_time_jd: Current Julian day [day] * @param [in] kepler_orbit: Kepler orbit */ - KeplerOrbitPropagation(const CelestialInformation* celestial_information, const double current_time_jd, KeplerOrbit kepler_orbit); + KeplerOrbitPropagation(const CelestialInformation* celestial_information, const double current_time_jd, orbit::KeplerOrbit kepler_orbit); /** * @fn ~KeplerOrbitPropagation * @brief Destructor diff --git a/src/dynamics/orbit/relative_orbit.cpp b/src/dynamics/orbit/relative_orbit.cpp index 5bf3270e3..10fffce21 100644 --- a/src/dynamics/orbit/relative_orbit.cpp +++ b/src/dynamics/orbit/relative_orbit.cpp @@ -10,7 +10,7 @@ RelativeOrbit::RelativeOrbit(const CelestialInformation* celestial_information, double gravity_constant_m3_s2, double time_step_s, int reference_spacecraft_id, math::Vector<3> relative_position_lvlh_m, math::Vector<3> relative_velocity_lvlh_m_s, - RelativeOrbitUpdateMethod update_method, RelativeOrbitModel relative_dynamics_model_type, StmModel stm_model_type, + RelativeOrbitUpdateMethod update_method, orbit::RelativeOrbitModel relative_dynamics_model_type, orbit::StmModel stm_model_type, RelativeInformation* relative_information) : Orbit(celestial_information), math::OrdinaryDifferentialEquation<6>(time_step_s), @@ -66,12 +66,12 @@ void RelativeOrbit::InitializeState(math::Vector<3> relative_position_lvlh_m, ma TransformEcefToGeodetic(); } -void RelativeOrbit::CalculateSystemMatrix(RelativeOrbitModel relative_dynamics_model_type, const Orbit* reference_sat_orbit, +void RelativeOrbit::CalculateSystemMatrix(orbit::RelativeOrbitModel relative_dynamics_model_type, const Orbit* reference_sat_orbit, double gravity_constant_m3_s2) { switch (relative_dynamics_model_type) { - case RelativeOrbitModel::kHill: { + case orbit::RelativeOrbitModel::kHill: { double reference_sat_orbit_radius = reference_sat_orbit->GetPosition_i_m().CalcNorm(); - system_matrix_ = CalcHillSystemMatrix(reference_sat_orbit_radius, gravity_constant_m3_s2); + system_matrix_ = orbit::CalcHillSystemMatrix(reference_sat_orbit_radius, gravity_constant_m3_s2); } default: { // NOT REACHED @@ -80,11 +80,11 @@ void RelativeOrbit::CalculateSystemMatrix(RelativeOrbitModel relative_dynamics_m } } -void RelativeOrbit::CalculateStm(StmModel stm_model_type, const Orbit* reference_sat_orbit, double gravity_constant_m3_s2, double elapsed_sec) { +void RelativeOrbit::CalculateStm(orbit::StmModel stm_model_type, const Orbit* reference_sat_orbit, double gravity_constant_m3_s2, double elapsed_sec) { switch (stm_model_type) { - case StmModel::kHcw: { + case orbit::StmModel::kHcw: { double reference_sat_orbit_radius = reference_sat_orbit->GetPosition_i_m().CalcNorm(); - stm_ = CalcHcwStm(reference_sat_orbit_radius, gravity_constant_m3_s2, elapsed_sec); + stm_ = orbit::CalcHcwStm(reference_sat_orbit_radius, gravity_constant_m3_s2, elapsed_sec); } default: { // NOT REACHED diff --git a/src/dynamics/orbit/relative_orbit.hpp b/src/dynamics/orbit/relative_orbit.hpp index 82560566c..f31ffc27d 100644 --- a/src/dynamics/orbit/relative_orbit.hpp +++ b/src/dynamics/orbit/relative_orbit.hpp @@ -41,7 +41,7 @@ class RelativeOrbit : public Orbit, public math::OrdinaryDifferentialEquation<6> */ RelativeOrbit(const CelestialInformation* celestial_information, double gravity_constant_m3_s2, double time_step_s, int reference_spacecraft_id, math::Vector<3> relative_position_lvlh_m, math::Vector<3> relative_velocity_lvlh_m_s, RelativeOrbitUpdateMethod update_method, - RelativeOrbitModel relative_dynamics_model_type, StmModel stm_model_type, RelativeInformation* relative_information); + orbit::RelativeOrbitModel relative_dynamics_model_type, orbit::StmModel stm_model_type, RelativeInformation* relative_information); /** * @fn ~RelativeOrbit * @brief Destructor @@ -81,8 +81,8 @@ class RelativeOrbit : public Orbit, public math::OrdinaryDifferentialEquation<6> math::Vector<3> relative_velocity_lvlh_m_s_; //!< Relative velocity in the LVLH frame RelativeOrbitUpdateMethod update_method_; //!< Update method - RelativeOrbitModel relative_dynamics_model_type_; //!< Relative dynamics model type - StmModel stm_model_type_; //!< State Transition Matrix model type + orbit::RelativeOrbitModel relative_dynamics_model_type_; //!< Relative dynamics model type + orbit::StmModel stm_model_type_; //!< State Transition Matrix model type RelativeInformation* relative_information_; //!< Relative information /** @@ -102,7 +102,7 @@ class RelativeOrbit : public Orbit, public math::OrdinaryDifferentialEquation<6> * @param [in] reference_sat_orbit: Orbit information of reference satellite * @param [in] gravity_constant_m3_s2: Gravity constant of the center body [m3/s2] */ - void CalculateSystemMatrix(RelativeOrbitModel relative_dynamics_model_type, const Orbit* reference_sat_orbit, double gravity_constant_m3_s2); + void CalculateSystemMatrix(orbit::RelativeOrbitModel relative_dynamics_model_type, const Orbit* reference_sat_orbit, double gravity_constant_m3_s2); /** * @fn CalculateStm * @brief Calculate State Transition Matrix @@ -111,7 +111,7 @@ class RelativeOrbit : public Orbit, public math::OrdinaryDifferentialEquation<6> * @param [in] gravity_constant_m3_s2: Gravity constant of the center body [m3/s2] * @param [in] elapsed_sec: Elapsed time [sec] */ - void CalculateStm(StmModel stm_model_type, const Orbit* reference_sat_orbit, double gravity_constant_m3_s2, double elapsed_sec); + void CalculateStm(orbit::StmModel stm_model_type, const Orbit* reference_sat_orbit, double gravity_constant_m3_s2, double elapsed_sec); /** * @fn PropagateRk4 * @brief Propagate relative orbit with RK4 diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index 2796fc553..c3af068f2 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -40,7 +40,7 @@ void GnssSatellites::Initialize(const std::vector& sp3_files, con reference_time_ = EpochTime(initial_sp3_file.GetEpochData(reference_interpolation_id_)); // Initialize orbit - orbit_.assign(number_of_calculated_gnss_satellites_, InterpolationOrbit(kNumberOfInterpolation)); + orbit_.assign(number_of_calculated_gnss_satellites_, orbit::InterpolationOrbit(kNumberOfInterpolation)); // Initialize clock std::vector temp; diff --git a/src/environment/global/gnss_satellites.hpp b/src/environment/global/gnss_satellites.hpp index cf4d645ee..2a3357da0 100644 --- a/src/environment/global/gnss_satellites.hpp +++ b/src/environment/global/gnss_satellites.hpp @@ -120,7 +120,7 @@ class GnssSatellites : public ILoggable { size_t reference_interpolation_id_ = 0; //!< Reference epoch ID of the interpolation EpochTime current_epoch_time_; //!< The last updated time - std::vector orbit_; //!< GNSS satellite orbit with interpolation + std::vector orbit_; //!< GNSS satellite orbit with interpolation std::vector clock_; //!< GNSS satellite clock offset with interpolation // References diff --git a/src/math_physics/orbit/interpolation_orbit.cpp b/src/math_physics/orbit/interpolation_orbit.cpp index c7d26302a..33d2843a5 100644 --- a/src/math_physics/orbit/interpolation_orbit.cpp +++ b/src/math_physics/orbit/interpolation_orbit.cpp @@ -5,6 +5,8 @@ #include "interpolation_orbit.hpp" +namespace orbit { + InterpolationOrbit::InterpolationOrbit(const size_t degree) { std::vector time; time.assign(degree, -1.0); @@ -34,3 +36,5 @@ math::Vector<3> InterpolationOrbit::CalcPositionWithTrigonometric(const double t } return output_position; } + +} // namespace orbit diff --git a/src/math_physics/orbit/interpolation_orbit.hpp b/src/math_physics/orbit/interpolation_orbit.hpp index 10a60ed6b..cf83660ab 100644 --- a/src/math_physics/orbit/interpolation_orbit.hpp +++ b/src/math_physics/orbit/interpolation_orbit.hpp @@ -10,6 +10,8 @@ #include #include +namespace orbit { + /** * @class InterpolationOrbit * @brief Orbit calculation with mathematical interpolation @@ -69,4 +71,6 @@ class InterpolationOrbit { std::vector interpolation_position_; // 3D vector of interpolation }; +} // namespace orbit + #endif // S2E_LIBRARY_ORBIT_INTERPOLATION_ORBIT_HPP_ diff --git a/src/math_physics/orbit/kepler_orbit.cpp b/src/math_physics/orbit/kepler_orbit.cpp index ca7458152..2b3878703 100644 --- a/src/math_physics/orbit/kepler_orbit.cpp +++ b/src/math_physics/orbit/kepler_orbit.cpp @@ -7,6 +7,8 @@ #include "../math/matrix_vector.hpp" #include "../math/s2e_math.hpp" +namespace orbit { + KeplerOrbit::KeplerOrbit() {} // Initialize with orbital elements KeplerOrbit::KeplerOrbit(const double gravity_constant_m3_s2, const OrbitalElements oe) : gravity_constant_m3_s2_(gravity_constant_m3_s2), oe_(oe) { @@ -97,3 +99,5 @@ double KeplerOrbit::SolveKeplerNewtonMethod(const double eccentricity, const dou } return u_rad; } + +} // namespace orbit diff --git a/src/math_physics/orbit/kepler_orbit.hpp b/src/math_physics/orbit/kepler_orbit.hpp index a19784a0d..fec55f130 100644 --- a/src/math_physics/orbit/kepler_orbit.hpp +++ b/src/math_physics/orbit/kepler_orbit.hpp @@ -10,6 +10,8 @@ #include "../math/vector.hpp" #include "./orbital_elements.hpp" +namespace orbit { + /** * @class KeplerOrbit * @brief Class to calculate Kepler orbit calculation @@ -87,4 +89,6 @@ class KeplerOrbit { double SolveKeplerNewtonMethod(const double eccentricity, const double mean_anomaly_rad, const double angle_limit_rad, const int iteration_limit); }; +} // namespace orbit + #endif // S2E_LIBRARY_ORBIT_KEPLER_ORBIT_HPP_ diff --git a/src/math_physics/orbit/orbital_elements.cpp b/src/math_physics/orbit/orbital_elements.cpp index dbd3e89d8..3fd2920b7 100644 --- a/src/math_physics/orbit/orbital_elements.cpp +++ b/src/math_physics/orbit/orbital_elements.cpp @@ -9,6 +9,8 @@ #include "../math/s2e_math.hpp" +namespace orbit { + OrbitalElements::OrbitalElements() {} // initialize with OE @@ -85,3 +87,5 @@ void OrbitalElements::CalcOeFromPosVel(const double gravity_constant_m3_s2, cons double dt_s = (u_rad - eccentricity_ * sin(u_rad)) / n_rad_s; epoch_jday_ = time_jday - dt_s / (24.0 * 60.0 * 60.0); } + +} // namespace orbit diff --git a/src/math_physics/orbit/orbital_elements.hpp b/src/math_physics/orbit/orbital_elements.hpp index 9b813ac5a..27424653e 100644 --- a/src/math_physics/orbit/orbital_elements.hpp +++ b/src/math_physics/orbit/orbital_elements.hpp @@ -8,6 +8,8 @@ #include "../math/vector.hpp" +namespace orbit { + /** * @class OrbitalElements * @brief Class for classical orbital elements @@ -104,4 +106,6 @@ class OrbitalElements { const math::Vector<3> velocity_i_m_s); }; +} // namespace orbit + #endif // S2E_LIBRARY_ORBIT_ORBITAL_ELEMENTS_HPP_ diff --git a/src/math_physics/orbit/relative_orbit_models.cpp b/src/math_physics/orbit/relative_orbit_models.cpp index e7c83ca9a..a291e4633 100644 --- a/src/math_physics/orbit/relative_orbit_models.cpp +++ b/src/math_physics/orbit/relative_orbit_models.cpp @@ -4,6 +4,8 @@ */ #include "relative_orbit_models.hpp" +namespace orbit { + math::Matrix<6, 6> CalcHillSystemMatrix(double orbit_radius_m, double gravity_constant_m3_s2) { math::Matrix<6, 6> system_matrix; @@ -91,3 +93,5 @@ math::Matrix<6, 6> CalcHcwStm(double orbit_radius_m, double gravity_constant_m3_ stm[5][5] = cos(n * t); return stm; } + +} // namespace orbit diff --git a/src/math_physics/orbit/relative_orbit_models.hpp b/src/math_physics/orbit/relative_orbit_models.hpp index ff120823d..881d73bfb 100644 --- a/src/math_physics/orbit/relative_orbit_models.hpp +++ b/src/math_physics/orbit/relative_orbit_models.hpp @@ -9,6 +9,8 @@ #include "../math/matrix.hpp" #include "../math/vector.hpp" +namespace orbit { + /** * @enum RelativeOrbitModel * @brief Relative orbit model @@ -42,4 +44,6 @@ math::Matrix<6, 6> CalcHillSystemMatrix(const double orbit_radius_m, const doubl */ math::Matrix<6, 6> CalcHcwStm(const double orbit_radius_m, const double gravity_constant_m3_s2, const double elapsed_time_s); +} // namespace orbit + #endif // S2E_LIBRARY_ORBIT_RELATIVE_ORBIT_MODEL_HPP_ diff --git a/src/math_physics/orbit/test_interpolation_orbit.cpp b/src/math_physics/orbit/test_interpolation_orbit.cpp index 22439c87e..d7fe51c67 100644 --- a/src/math_physics/orbit/test_interpolation_orbit.cpp +++ b/src/math_physics/orbit/test_interpolation_orbit.cpp @@ -8,6 +8,8 @@ #include "interpolation_orbit.hpp" +using namespace orbit; + /** * @brief Test for Constructor function */ From 80cfe1fc7cd98569085df8dbb71bf8976477baec Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 20 Jul 2024 14:49:07 +0900 Subject: [PATCH 255/456] Fix format --- src/dynamics/orbit/encke_orbit_propagation.hpp | 2 +- src/dynamics/orbit/relative_orbit.cpp | 7 ++++--- src/dynamics/orbit/relative_orbit.hpp | 4 ++-- src/environment/global/gnss_satellites.hpp | 4 ++-- 4 files changed, 9 insertions(+), 8 deletions(-) diff --git a/src/dynamics/orbit/encke_orbit_propagation.hpp b/src/dynamics/orbit/encke_orbit_propagation.hpp index 9cfc94498..a32052e2b 100644 --- a/src/dynamics/orbit/encke_orbit_propagation.hpp +++ b/src/dynamics/orbit/encke_orbit_propagation.hpp @@ -65,7 +65,7 @@ class EnckeOrbitPropagation : public Orbit, public math::OrdinaryDifferentialEqu // reference orbit math::Vector<3> reference_position_i_m_; //!< Reference orbit position in the inertial frame [m] math::Vector<3> reference_velocity_i_m_s_; //!< Reference orbit velocity in the inertial frame [m/s] - orbit::KeplerOrbit reference_kepler_orbit; //!< Reference Kepler orbital element + orbit::KeplerOrbit reference_kepler_orbit; //!< Reference Kepler orbital element // difference orbit math::Vector<3> difference_position_i_m_; //!< Difference orbit position in the inertial frame [m] diff --git a/src/dynamics/orbit/relative_orbit.cpp b/src/dynamics/orbit/relative_orbit.cpp index 10fffce21..f60f52682 100644 --- a/src/dynamics/orbit/relative_orbit.cpp +++ b/src/dynamics/orbit/relative_orbit.cpp @@ -10,8 +10,8 @@ RelativeOrbit::RelativeOrbit(const CelestialInformation* celestial_information, double gravity_constant_m3_s2, double time_step_s, int reference_spacecraft_id, math::Vector<3> relative_position_lvlh_m, math::Vector<3> relative_velocity_lvlh_m_s, - RelativeOrbitUpdateMethod update_method, orbit::RelativeOrbitModel relative_dynamics_model_type, orbit::StmModel stm_model_type, - RelativeInformation* relative_information) + RelativeOrbitUpdateMethod update_method, orbit::RelativeOrbitModel relative_dynamics_model_type, + orbit::StmModel stm_model_type, RelativeInformation* relative_information) : Orbit(celestial_information), math::OrdinaryDifferentialEquation<6>(time_step_s), gravity_constant_m3_s2_(gravity_constant_m3_s2), @@ -80,7 +80,8 @@ void RelativeOrbit::CalculateSystemMatrix(orbit::RelativeOrbitModel relative_dyn } } -void RelativeOrbit::CalculateStm(orbit::StmModel stm_model_type, const Orbit* reference_sat_orbit, double gravity_constant_m3_s2, double elapsed_sec) { +void RelativeOrbit::CalculateStm(orbit::StmModel stm_model_type, const Orbit* reference_sat_orbit, double gravity_constant_m3_s2, + double elapsed_sec) { switch (stm_model_type) { case orbit::StmModel::kHcw: { double reference_sat_orbit_radius = reference_sat_orbit->GetPosition_i_m().CalcNorm(); diff --git a/src/dynamics/orbit/relative_orbit.hpp b/src/dynamics/orbit/relative_orbit.hpp index f31ffc27d..3aae6e104 100644 --- a/src/dynamics/orbit/relative_orbit.hpp +++ b/src/dynamics/orbit/relative_orbit.hpp @@ -80,10 +80,10 @@ class RelativeOrbit : public Orbit, public math::OrdinaryDifferentialEquation<6> math::Vector<3> relative_position_lvlh_m_; //!< Relative position in the LVLH frame math::Vector<3> relative_velocity_lvlh_m_s_; //!< Relative velocity in the LVLH frame - RelativeOrbitUpdateMethod update_method_; //!< Update method + RelativeOrbitUpdateMethod update_method_; //!< Update method orbit::RelativeOrbitModel relative_dynamics_model_type_; //!< Relative dynamics model type orbit::StmModel stm_model_type_; //!< State Transition Matrix model type - RelativeInformation* relative_information_; //!< Relative information + RelativeInformation* relative_information_; //!< Relative information /** * @fn InitializeState diff --git a/src/environment/global/gnss_satellites.hpp b/src/environment/global/gnss_satellites.hpp index 2a3357da0..0aa46ef38 100644 --- a/src/environment/global/gnss_satellites.hpp +++ b/src/environment/global/gnss_satellites.hpp @@ -120,8 +120,8 @@ class GnssSatellites : public ILoggable { size_t reference_interpolation_id_ = 0; //!< Reference epoch ID of the interpolation EpochTime current_epoch_time_; //!< The last updated time - std::vector orbit_; //!< GNSS satellite orbit with interpolation - std::vector clock_; //!< GNSS satellite clock offset with interpolation + std::vector orbit_; //!< GNSS satellite orbit with interpolation + std::vector clock_; //!< GNSS satellite clock offset with interpolation // References const EarthRotation& earth_rotation_; //!< Earth rotation From 216744ceb34cd6d62c82d9780fe9e534afeade27 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 20 Jul 2024 14:56:30 +0900 Subject: [PATCH 256/456] Fix test --- .../numerical_integration/test_runge_kutta.cpp | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/src/math_physics/numerical_integration/test_runge_kutta.cpp b/src/math_physics/numerical_integration/test_runge_kutta.cpp index fd2438ec6..376406850 100644 --- a/src/math_physics/numerical_integration/test_runge_kutta.cpp +++ b/src/math_physics/numerical_integration/test_runge_kutta.cpp @@ -416,8 +416,8 @@ TEST(NUMERICAL_INTEGRATION, Integrate2dTwoBodyOrbitSmallEccentricity) { initial_position[1] = initial_state[1]; initial_velocity[0] = initial_state[2]; initial_velocity[1] = initial_state[3]; - OrbitalElements oe(1.0, 0.0, initial_position, initial_velocity); - KeplerOrbit kepler(1.0, oe); + orbit::OrbitalElements oe(1.0, 0.0, initial_position, initial_velocity); + orbit::KeplerOrbit kepler(1.0, oe); kepler.CalcOrbit((double)(step_num * step_width_s) / (24.0 * 60.0 * 60.0)); double error_tolerance = 2e-4; @@ -486,8 +486,8 @@ TEST(NUMERICAL_INTEGRATION, Integrate2dTwoBodyOrbitLargeEccentricity) { initial_position[1] = initial_state[1]; initial_velocity[0] = initial_state[2]; initial_velocity[1] = initial_state[3]; - OrbitalElements oe(1.0, 0.0, initial_position, initial_velocity); - KeplerOrbit kepler(1.0, oe); + orbit::OrbitalElements oe(1.0, 0.0, initial_position, initial_velocity); + orbit::KeplerOrbit kepler(1.0, oe); kepler.CalcOrbit((double)(step_num * step_width_s) / (24.0 * 60.0 * 60.0)); double error_tolerance = 2e-1; @@ -551,8 +551,8 @@ TEST(NUMERICAL_INTEGRATION, Interpolation2dTwoBodyOrbitSmallEccentricity) { initial_position[1] = initial_state[1]; initial_velocity[0] = initial_state[2]; initial_velocity[1] = initial_state[3]; - OrbitalElements oe(1.0, 0.0, initial_position, initial_velocity); - KeplerOrbit kepler(1.0, oe); + orbit::OrbitalElements oe(1.0, 0.0, initial_position, initial_velocity); + orbit::KeplerOrbit kepler(1.0, oe); kepler.CalcOrbit((double)(step_num * step_width_s) / (24.0 * 60.0 * 60.0)); double error_tolerance = 5e-2; @@ -646,8 +646,8 @@ TEST(NUMERICAL_INTEGRATION, Interpolation2dTwoBodyOrbitLargeEccentricity) { initial_position[1] = initial_state[1]; initial_velocity[0] = initial_state[2]; initial_velocity[1] = initial_state[3]; - OrbitalElements oe(1.0, 0.0, initial_position, initial_velocity); - KeplerOrbit kepler(1.0, oe); + orbit::OrbitalElements oe(1.0, 0.0, initial_position, initial_velocity); + orbit::KeplerOrbit kepler(1.0, oe); kepler.CalcOrbit((double)(step_num * step_width_s) / (24.0 * 60.0 * 60.0)); double error_tolerance = 1e-5; From 5873393163aced92d2f73f2794a93247b1cf4ca0 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 20 Jul 2024 15:11:21 +0900 Subject: [PATCH 257/456] Add time_system namespace --- src/environment/global/gnss_satellites.cpp | 31 ++++++++++--------- src/environment/global/gnss_satellites.hpp | 12 +++---- src/math_physics/gnss/antex_file_reader.cpp | 4 +-- src/math_physics/gnss/antex_file_reader.hpp | 14 ++++----- src/math_physics/gnss/sp3_file_reader.cpp | 18 +++++------ src/math_physics/gnss/sp3_file_reader.hpp | 28 ++++++++--------- .../time_system/date_time_format.cpp | 4 +++ .../time_system/date_time_format.hpp | 4 +++ src/math_physics/time_system/epoch_time.cpp | 4 +++ src/math_physics/time_system/epoch_time.hpp | 4 +++ src/math_physics/time_system/gps_time.cpp | 4 +++ src/math_physics/time_system/gps_time.hpp | 4 +++ .../time_system/test_date_time_format.cpp | 2 ++ .../time_system/test_epoch_time.cpp | 2 ++ .../time_system/test_gps_time.cpp | 2 ++ 15 files changed, 84 insertions(+), 53 deletions(-) diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index c3af068f2..21749c9aa 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -19,7 +19,7 @@ using namespace gnss; const size_t kNumberOfInterpolation = 9; -void GnssSatellites::Initialize(const std::vector& sp3_files, const EpochTime start_time) { +void GnssSatellites::Initialize(const std::vector& sp3_files, const time_system::EpochTime start_time) { sp3_files_ = sp3_files; current_epoch_time_ = start_time; @@ -37,7 +37,7 @@ void GnssSatellites::Initialize(const std::vector& sp3_files, con if (nearest_epoch_id >= half_interpolation_number) { reference_interpolation_id_ = nearest_epoch_id - half_interpolation_number; } - reference_time_ = EpochTime(initial_sp3_file.GetEpochData(reference_interpolation_id_)); + reference_time_ = time_system::EpochTime(initial_sp3_file.GetEpochData(reference_interpolation_id_)); // Initialize orbit orbit_.assign(number_of_calculated_gnss_satellites_, orbit::InterpolationOrbit(kNumberOfInterpolation)); @@ -60,9 +60,9 @@ void GnssSatellites::Update(const SimulationTime& simulation_time) { // Get time UTC current_utc = simulation_time.GetCurrentUtc(); - DateTime current_date_time((size_t)current_utc.year, (size_t)current_utc.month, (size_t)current_utc.day, (size_t)current_utc.hour, - (size_t)current_utc.minute, current_utc.second); - current_epoch_time_ = EpochTime(current_date_time); + time_system::DateTime current_date_time((size_t)current_utc.year, (size_t)current_utc.month, (size_t)current_utc.day, (size_t)current_utc.hour, + (size_t)current_utc.minute, current_utc.second); + current_epoch_time_ = time_system::EpochTime(current_date_time); // Check interpolation update double diff_s = current_epoch_time_.GetTimeWithFraction_s() - reference_time_.GetTimeWithFraction_s(); @@ -74,10 +74,10 @@ void GnssSatellites::Update(const SimulationTime& simulation_time) { return; } -math::Vector<3> GnssSatellites::GetPosition_ecef_m(const size_t gnss_satellite_id, const EpochTime time) const { +math::Vector<3> GnssSatellites::GetPosition_ecef_m(const size_t gnss_satellite_id, const time_system::EpochTime time) const { if (gnss_satellite_id > number_of_calculated_gnss_satellites_) return math::Vector<3>(0.0); - EpochTime target_time; + time_system::EpochTime target_time; if (time.GetTime_s() == 0) { target_time = current_epoch_time_; @@ -92,10 +92,10 @@ math::Vector<3> GnssSatellites::GetPosition_ecef_m(const size_t gnss_satellite_i return orbit_[gnss_satellite_id].CalcPositionWithTrigonometric(diff_s, math::tau / kOrbitalPeriodCorrection_s); } -double GnssSatellites::GetClock_s(const size_t gnss_satellite_id, const EpochTime time) const { +double GnssSatellites::GetClock_s(const size_t gnss_satellite_id, const time_system::EpochTime time) const { if (gnss_satellite_id > number_of_calculated_gnss_satellites_) return 0.0; - EpochTime target_time; + time_system::EpochTime target_time; if (time.GetTime_s() == 0) { target_time = current_epoch_time_; @@ -109,9 +109,9 @@ double GnssSatellites::GetClock_s(const size_t gnss_satellite_id, const EpochTim return clock_[gnss_satellite_id].CalcPolynomial(diff_s) * 1e-6; } -bool GnssSatellites::GetCurrentSp3File(Sp3FileReader& current_sp3_file, const EpochTime current_time) { +bool GnssSatellites::GetCurrentSp3File(Sp3FileReader& current_sp3_file, const time_system::EpochTime current_time) { for (size_t i = 0; i < sp3_files_.size(); i++) { - EpochTime sp3_start_time(sp3_files_[i].GetStartEpochDateTime()); + time_system::EpochTime sp3_start_time(sp3_files_[i].GetStartEpochDateTime()); double diff_s = current_time.GetTimeWithFraction_s() - sp3_start_time.GetTimeWithFraction_s(); if (diff_s < 0.0) { // Error @@ -129,7 +129,7 @@ bool GnssSatellites::UpdateInterpolationInformation() { Sp3FileReader sp3_file = sp3_files_[sp3_file_id_]; for (size_t gnss_id = 0; gnss_id < number_of_calculated_gnss_satellites_; gnss_id++) { - EpochTime sp3_time = EpochTime(sp3_file.GetEpochData(reference_interpolation_id_)); + time_system::EpochTime sp3_time = time_system::EpochTime(sp3_file.GetEpochData(reference_interpolation_id_)); double time_diff_s = sp3_time.GetTimeWithFraction_s() - reference_time_.GetTimeWithFraction_s(); math::Vector<3> sp3_position_m = 1000.0 * sp3_file.GetSatellitePosition_km(reference_interpolation_id_, gnss_id); @@ -226,9 +226,10 @@ GnssSatellites* InitGnssSatellites(const std::string file_name, const EarthRotat } // - DateTime start_date_time((size_t)simulation_time.GetStartYear(), (size_t)simulation_time.GetStartMonth(), (size_t)simulation_time.GetStartDay(), - (size_t)simulation_time.GetStartHour(), (size_t)simulation_time.GetStartMinute(), simulation_time.GetStartSecond()); - EpochTime start_epoch_time(start_date_time); + time_system::DateTime start_date_time((size_t)simulation_time.GetStartYear(), (size_t)simulation_time.GetStartMonth(), + (size_t)simulation_time.GetStartDay(), (size_t)simulation_time.GetStartHour(), + (size_t)simulation_time.GetStartMinute(), simulation_time.GetStartSecond()); + time_system::EpochTime start_epoch_time(start_date_time); gnss_satellites->Initialize(sp3_file_readers, start_epoch_time); return gnss_satellites; diff --git a/src/environment/global/gnss_satellites.hpp b/src/environment/global/gnss_satellites.hpp index 0aa46ef38..77508f73b 100644 --- a/src/environment/global/gnss_satellites.hpp +++ b/src/environment/global/gnss_satellites.hpp @@ -54,7 +54,7 @@ class GnssSatellites : public ILoggable { * @param [in] sp3_files: List of SP3 files * @param [in] start_time: The simulation start time */ - void Initialize(const std::vector& sp3_files, const EpochTime start_time); + void Initialize(const std::vector& sp3_files, const time_system::EpochTime start_time); /** * @fn IsCalcEnabled @@ -87,7 +87,7 @@ class GnssSatellites : public ILoggable { * @param [in] time: Target time to get the GNSS satellite. When the argument is not set, the last updated time is used for the calculation. * @return GNSS satellite position at ECEF frame at the time. Or return zero vector when the arguments are out of range. */ - math::Vector<3> GetPosition_ecef_m(const size_t gnss_satellite_id, const EpochTime time = EpochTime(0, 0.0)) const; + math::Vector<3> GetPosition_ecef_m(const size_t gnss_satellite_id, const time_system::EpochTime time = time_system::EpochTime(0, 0.0)) const; /** * @fn GetGetClock_s @@ -96,7 +96,7 @@ class GnssSatellites : public ILoggable { * @param [in] time: Target time to get the GNSS satellite. When the argument is not set, the last updated time is used for the calculation. * @return GNSS satellite clock offset at the time. Or return zero when the arguments are out of range. */ - double GetClock_s(const size_t gnss_satellite_id, const EpochTime time = EpochTime(0, 0.0)) const; + double GetClock_s(const size_t gnss_satellite_id, const time_system::EpochTime time = time_system::EpochTime(0, 0.0)) const; // Override ILoggable /** @@ -116,9 +116,9 @@ class GnssSatellites : public ILoggable { std::vector sp3_files_; //!< List of SP3 files size_t number_of_calculated_gnss_satellites_; //!< Number of calculated GNSS satellites size_t sp3_file_id_; //!< Current SP3 file ID - EpochTime reference_time_; //!< Reference start time of the SP3 handling + time_system::EpochTime reference_time_; //!< Reference start time of the SP3 handling size_t reference_interpolation_id_ = 0; //!< Reference epoch ID of the interpolation - EpochTime current_epoch_time_; //!< The last updated time + time_system::EpochTime current_epoch_time_; //!< The last updated time std::vector orbit_; //!< GNSS satellite orbit with interpolation std::vector clock_; //!< GNSS satellite clock offset with interpolation @@ -133,7 +133,7 @@ class GnssSatellites : public ILoggable { * @param [in] current_time: Target time * @return true means no error, false means the time argument is out of range */ - bool GetCurrentSp3File(gnss::Sp3FileReader& current_sp3_file, const EpochTime current_time); + bool GetCurrentSp3File(gnss::Sp3FileReader& current_sp3_file, const time_system::EpochTime current_time); /** * @fn UpdateInterpolationInformation diff --git a/src/math_physics/gnss/antex_file_reader.cpp b/src/math_physics/gnss/antex_file_reader.cpp index 1547a3cf4..c36cdacc4 100644 --- a/src/math_physics/gnss/antex_file_reader.cpp +++ b/src/math_physics/gnss/antex_file_reader.cpp @@ -192,11 +192,11 @@ AntexPhaseCenterData AntexFileReader::ReadPhaseCenterData(std::ifstream& antex_f return phase_center_data; } -DateTime AntexFileReader::ReadDateTime(std::string line) { +time_system::DateTime AntexFileReader::ReadDateTime(std::string line) { size_t year, month, day, hour, minute; double second; sscanf(line.c_str(), "%zu %2zu %2zu %2zu %2zu %10lf", &year, &month, &day, &hour, &minute, &second); - return DateTime(year, month, day, hour, minute, second); + return time_system::DateTime(year, month, day, hour, minute, second); } } // namespace gnss diff --git a/src/math_physics/gnss/antex_file_reader.hpp b/src/math_physics/gnss/antex_file_reader.hpp index e730b09c2..13e126c55 100644 --- a/src/math_physics/gnss/antex_file_reader.hpp +++ b/src/math_physics/gnss/antex_file_reader.hpp @@ -203,12 +203,12 @@ class AntexSatelliteData { * @fn SetValidStartTime * @param[in] valid_start_time: Valid start time */ - inline void SetValidStartTime(const DateTime valid_start_time) { valid_start_time_ = valid_start_time; }; + inline void SetValidStartTime(const time_system::DateTime valid_start_time) { valid_start_time_ = valid_start_time; }; /** * @fn SetValidEndTime * @param[in] valid_end_time: Valid end time */ - inline void SetValidEndTime(const DateTime valid_end_time) { valid_end_time_ = valid_end_time; }; + inline void SetValidEndTime(const time_system::DateTime valid_end_time) { valid_end_time_ = valid_end_time; }; /** * @fn SetNumberOfFrequency * @param[in] number_of_frequency: Number of frequency @@ -235,12 +235,12 @@ class AntexSatelliteData { * @fn GetValidStartTime * @return Valid start time */ - inline DateTime GetValidStartTime() const { return valid_start_time_; }; + inline time_system::DateTime GetValidStartTime() const { return valid_start_time_; }; /** * @fn GetValidEndTime * @return Valid end time */ - inline DateTime GetValidEndTime() const { return valid_end_time_; }; + inline time_system::DateTime GetValidEndTime() const { return valid_end_time_; }; /** * @fn GetNumberOfFrequency * @return Number of frequency @@ -256,8 +256,8 @@ class AntexSatelliteData { private: std::string antenna_type_; //!< Antenna type std::string serial_number_; //!< Serial number or satellite code - DateTime valid_start_time_; //!< Valid start time - DateTime valid_end_time_; //!< Valid end time (The latest data does not have the end time) + time_system::DateTime valid_start_time_; //!< Valid start time + time_system::DateTime valid_end_time_; //!< Valid end time (The latest data does not have the end time) size_t number_of_frequency_ = 1; //!< Number of frequency std::vector phase_center_data_; //!< Phase center data for each frequency }; @@ -342,7 +342,7 @@ class AntexFileReader { * @param[in] line: A single line in ANTEX file * @return Read date time */ - DateTime ReadDateTime(std::string line); + time_system::DateTime ReadDateTime(std::string line); }; } // namespace gnss diff --git a/src/math_physics/gnss/sp3_file_reader.cpp b/src/math_physics/gnss/sp3_file_reader.cpp index 8106ba9cc..7fbf0e831 100644 --- a/src/math_physics/gnss/sp3_file_reader.cpp +++ b/src/math_physics/gnss/sp3_file_reader.cpp @@ -15,9 +15,9 @@ namespace gnss { Sp3FileReader::Sp3FileReader(const std::string file_name) { ReadFile(file_name); } -DateTime Sp3FileReader::GetEpochData(const size_t epoch_id) const { +time_system::DateTime Sp3FileReader::GetEpochData(const size_t epoch_id) const { if (epoch_id > epoch_.size()) { - DateTime zero; + time_system::DateTime zero; return zero; } return epoch_[epoch_id]; @@ -69,7 +69,7 @@ bool Sp3FileReader::ReadFile(const std::string file_name) { size_t year, month, day, hour, minute; double second; sscanf(line.substr(3, 28).c_str(), "%zu %2zu %2zu %2zu %2zu %12lf", &year, &month, &day, &hour, &minute, &second); - epoch_.push_back(DateTime(year, month, day, hour, minute, second)); + epoch_.push_back(time_system::DateTime(year, month, day, hour, minute, second)); // Orbit and Clock information for (size_t satellite_id = 0; satellite_id < header_.number_of_satellites_; satellite_id++) { @@ -117,7 +117,7 @@ bool Sp3FileReader::ReadFile(const std::string file_name) { } // Test - DateTime test = epoch_[0]; + time_system::DateTime test = epoch_[0]; test = epoch_[1]; std::vector test_p = position_clock_[0]; test_p = position_clock_[1]; @@ -126,7 +126,7 @@ bool Sp3FileReader::ReadFile(const std::string file_name) { return true; } -size_t Sp3FileReader::SearchNearestEpochId(const EpochTime time) { +size_t Sp3FileReader::SearchNearestEpochId(const time_system::EpochTime time) { size_t nearest_epoch_id = 0; // Get header info @@ -134,10 +134,10 @@ size_t Sp3FileReader::SearchNearestEpochId(const EpochTime time) { const double interval_s = header_.epoch_interval_s_; // Check range - EpochTime start_epoch(epoch_[0]); + time_system::EpochTime start_epoch(epoch_[0]); if (start_epoch > time) { nearest_epoch_id = 0; - } else if ((EpochTime)(epoch_[num_epoch - 1]) < time) { + } else if ((time_system::EpochTime)(epoch_[num_epoch - 1]) < time) { nearest_epoch_id = num_epoch - 1; } else { // Calc nearest point double diff_s = time.GetTimeWithFraction_s() - start_epoch.GetTimeWithFraction_s(); @@ -171,7 +171,7 @@ size_t Sp3FileReader::ReadHeader(std::ifstream& sp3_file) { size_t year, month, day, hour, minute; double second; sscanf(line.substr(3, 28).c_str(), "%zu %2zu %2zu %2zu %2zu %12lf", &year, &month, &day, &hour, &minute, &second); - header_.start_epoch_ = DateTime(year, month, day, hour, minute, second); + header_.start_epoch_ = time_system::DateTime(year, month, day, hour, minute, second); header_.number_of_epoch_ = std::stoi(line.substr(32, 7)); header_.used_data_ = line.substr(40, 5); header_.coordinate_system_ = line.substr(46, 5); @@ -199,7 +199,7 @@ size_t Sp3FileReader::ReadHeader(std::ifstream& sp3_file) { return 0; } // Read contents - header_.start_gps_time_ = GpsTime(std::stoi(line.substr(3, 4)), std::stod(line.substr(8, 15))); + header_.start_gps_time_ = time_system::GpsTime(std::stoi(line.substr(3, 4)), std::stod(line.substr(8, 15))); header_.epoch_interval_s_ = std::stod(line.substr(24, 14)); header_.start_time_mjday_ = std::stoi(line.substr(39, 5)); header_.start_time_mjday_fractional_day_ = std::stod(line.substr(45, 15)); diff --git a/src/math_physics/gnss/sp3_file_reader.hpp b/src/math_physics/gnss/sp3_file_reader.hpp index e904b6050..15e4566dc 100644 --- a/src/math_physics/gnss/sp3_file_reader.hpp +++ b/src/math_physics/gnss/sp3_file_reader.hpp @@ -51,16 +51,16 @@ enum class Sp3OrbitType { struct Sp3Header { // 1st line information // version -> not implemented yet - Sp3Mode mode_; //!< position or velocity - DateTime start_epoch_; //!< Time of start epoch - size_t number_of_epoch_ = 0; //!< Number of epoch in the SP3 file - std::string used_data_; //!< Used data to generate the SP3 file - std::string coordinate_system_; //!< Coordinate system for the position and velocity data - Sp3OrbitType orbit_type_; //!< Orbit type - std::string agency_name_; //!< Agency name who generates the SP3 file + Sp3Mode mode_; //!< position or velocity + time_system::DateTime start_epoch_; //!< Time of start epoch + size_t number_of_epoch_ = 0; //!< Number of epoch in the SP3 file + std::string used_data_; //!< Used data to generate the SP3 file + std::string coordinate_system_; //!< Coordinate system for the position and velocity data + Sp3OrbitType orbit_type_; //!< Orbit type + std::string agency_name_; //!< Agency name who generates the SP3 file // 2nd line information - GpsTime start_gps_time_; //!< Start time of orbit + time_system::GpsTime start_gps_time_; //!< Start time of orbit double epoch_interval_s_ = 1.0; //!< Epoch interval (0.0, 100000.0) size_t start_time_mjday_; //!< Start time of the orbit data (44244 = 6th Jan. 1980) [Modified Julian day] double start_time_mjday_fractional_day_ = 0.0; //!< Fractional part of the start time [0.0, 1.0) [day] @@ -172,19 +172,19 @@ class Sp3FileReader { inline Sp3Header GetHeader() const { return header_; } inline size_t GetNumberOfEpoch() const { return header_.number_of_epoch_; } inline size_t GetNumberOfSatellites() const { return header_.number_of_satellites_; } - inline DateTime GetStartEpochDateTime() const { return header_.start_epoch_; } - inline GpsTime GetStartEpochGpsTime() const { return header_.start_gps_time_; } + inline time_system::DateTime GetStartEpochDateTime() const { return header_.start_epoch_; } + inline time_system::GpsTime GetStartEpochGpsTime() const { return header_.start_gps_time_; } // Data - DateTime GetEpochData(const size_t epoch_id) const; + time_system::DateTime GetEpochData(const size_t epoch_id) const; Sp3PositionClock GetPositionClock(const size_t epoch_id, const size_t satellite_id); double GetSatelliteClockOffset(const size_t epoch_id, const size_t satellite_id); math::Vector<3> GetSatellitePosition_km(const size_t epoch_id, const size_t satellite_id); - size_t SearchNearestEpochId(const EpochTime time); + size_t SearchNearestEpochId(const time_system::EpochTime time); private: - Sp3Header header_; //!< SP3 header information - std::vector epoch_; //!< Epoch data list + Sp3Header header_; //!< SP3 header information + std::vector epoch_; //!< Epoch data list // Orbit and clock data (Use as position_clock_[satellite_id][epoch_id]) std::map> position_clock_; //!< Position and Clock data diff --git a/src/math_physics/time_system/date_time_format.cpp b/src/math_physics/time_system/date_time_format.cpp index d3efc41ca..069c7247f 100644 --- a/src/math_physics/time_system/date_time_format.cpp +++ b/src/math_physics/time_system/date_time_format.cpp @@ -11,6 +11,8 @@ #include #include +namespace time_system { + DateTime::DateTime(const std::string date_time) { sscanf(date_time.c_str(), "%zu/%zu/%zu %zu:%zu:%lf", &year_, &month_, &day_, &hour_, &minute_, &second_); } @@ -52,3 +54,5 @@ std::string DateTime::GetAsString() const { std::string output = stream.str(); return output; } + +} // namespace time_system diff --git a/src/math_physics/time_system/date_time_format.hpp b/src/math_physics/time_system/date_time_format.hpp index 1e7d69d59..25084e979 100644 --- a/src/math_physics/time_system/date_time_format.hpp +++ b/src/math_physics/time_system/date_time_format.hpp @@ -10,6 +10,8 @@ #include "epoch_time.hpp" +namespace time_system { + class EpochTime; /** @@ -60,4 +62,6 @@ class DateTime { double second_; //!< Second [0.0, 60.0) }; +} // namespace time_system + #endif // S2E_LIBRARY_TIME_SYSTEM_DATE_TIME_FORMAT_HPP_ diff --git a/src/math_physics/time_system/epoch_time.cpp b/src/math_physics/time_system/epoch_time.cpp index b0bcda350..b3b6ec730 100644 --- a/src/math_physics/time_system/epoch_time.cpp +++ b/src/math_physics/time_system/epoch_time.cpp @@ -7,6 +7,8 @@ #include +namespace time_system { + EpochTime::EpochTime(const DateTime date_time) { // No leap second calculation const int doy[] = {1, 32, 60, 91, 121, 152, 182, 213, 244, 274, 305, 335}; //!< Day of Year for the 1st day of each month @@ -73,3 +75,5 @@ EpochTime EpochTime::operator-(const EpochTime& right_side) const { EpochTime result(time_s, fraction_s); return result; } + +} // namespace time_system diff --git a/src/math_physics/time_system/epoch_time.hpp b/src/math_physics/time_system/epoch_time.hpp index b783c674c..7f7dfe871 100644 --- a/src/math_physics/time_system/epoch_time.hpp +++ b/src/math_physics/time_system/epoch_time.hpp @@ -10,6 +10,8 @@ #include "date_time_format.hpp" +namespace time_system { + class DateTime; /** @@ -67,4 +69,6 @@ class EpochTime { double fraction_s_; //!< Fraction of second under 1 sec [0, 1) }; +} // namespace time_system + #endif // S2E_LIBRARY_TIME_SYSTEM_EPOCH_TIME_HPP_ diff --git a/src/math_physics/time_system/gps_time.cpp b/src/math_physics/time_system/gps_time.cpp index a9ceabeb8..cb3a5fec9 100644 --- a/src/math_physics/time_system/gps_time.cpp +++ b/src/math_physics/time_system/gps_time.cpp @@ -5,6 +5,8 @@ #include "gps_time.hpp" +namespace time_system { + const DateTime GpsTime::kEpochOfGpsTimeInDateTime_ = DateTime("1980/1/6 00:00:00.0"); const EpochTime GpsTime::kEpochOfGpsTimeInEpochTime_ = EpochTime(kEpochOfGpsTimeInDateTime_); const EpochTime GpsTime::kLeapSecondAheadFromUtc_ = EpochTime(18, 0); //!< Leap second ahead from UTC @ May 2023 @@ -23,3 +25,5 @@ void GpsTime::CalcEpochTime() { epoch_time_ = kEpochOfGpsTimeInEpochTime_ + time_diff; } + +} // namespace time_system diff --git a/src/math_physics/time_system/gps_time.hpp b/src/math_physics/time_system/gps_time.hpp index 2a2f657ee..f86242754 100644 --- a/src/math_physics/time_system/gps_time.hpp +++ b/src/math_physics/time_system/gps_time.hpp @@ -11,6 +11,8 @@ #include "date_time_format.hpp" #include "epoch_time.hpp" +namespace time_system { + /** * @class GpsTime * @brief A class to define GPS time expression @@ -95,4 +97,6 @@ class GpsTime { void CalcEpochTime(); }; +} // namespace time_system + #endif // S2E_LIBRARY_TIME_SYSTEM_GPS_TIME_HPP_ diff --git a/src/math_physics/time_system/test_date_time_format.cpp b/src/math_physics/time_system/test_date_time_format.cpp index 8ac7a60cd..4ac1a3840 100644 --- a/src/math_physics/time_system/test_date_time_format.cpp +++ b/src/math_physics/time_system/test_date_time_format.cpp @@ -2,6 +2,8 @@ #include "date_time_format.hpp" +using namespace time_system; + /** * @brief Test Constructor with value */ diff --git a/src/math_physics/time_system/test_epoch_time.cpp b/src/math_physics/time_system/test_epoch_time.cpp index 6ade9cad2..6cb5f0c1b 100644 --- a/src/math_physics/time_system/test_epoch_time.cpp +++ b/src/math_physics/time_system/test_epoch_time.cpp @@ -3,6 +3,8 @@ #include "date_time_format.hpp" #include "epoch_time.hpp" +using namespace time_system; + TEST(EpochTime, ConstructorNominal) { EpochTime time(1000000000, 0.250); diff --git a/src/math_physics/time_system/test_gps_time.cpp b/src/math_physics/time_system/test_gps_time.cpp index c3aeabe24..425556774 100644 --- a/src/math_physics/time_system/test_gps_time.cpp +++ b/src/math_physics/time_system/test_gps_time.cpp @@ -2,6 +2,8 @@ #include "gps_time.hpp" +using namespace time_system; + /** * @brief Test Constructor */ From 83865aab75f969cbb800b518c434e9043917c225 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 20 Jul 2024 16:08:06 +0900 Subject: [PATCH 258/456] Add control_utilities namespace --- src/components/real/aocs/reaction_wheel.hpp | 8 ++++---- src/math_physics/control_utilities/first_order_lag.hpp | 4 ++++ 2 files changed, 8 insertions(+), 4 deletions(-) diff --git a/src/components/real/aocs/reaction_wheel.hpp b/src/components/real/aocs/reaction_wheel.hpp index dde525ab8..e9cde9dd6 100644 --- a/src/components/real/aocs/reaction_wheel.hpp +++ b/src/components/real/aocs/reaction_wheel.hpp @@ -180,10 +180,10 @@ class ReactionWheel : public Component, public ILoggable { math::Vector<3> rotation_axis_b_; //!< Wheel rotation vector in the body fixed frame. // Parameters for control delay - const double step_width_s_; //!< step width for ReactionWheelOde [sec] - const double dead_time_s_; //!< dead time [sec] - std::vector acceleration_delay_buffer_; //!< Delay buffer for acceleration - FirstOrderLag delayed_acceleration_rad_s2_; //!< Delayed acceleration [rad/s2] + const double step_width_s_; //!< step width for ReactionWheelOde [sec] + const double dead_time_s_; //!< dead time [sec] + std::vector acceleration_delay_buffer_; //!< Delay buffer for acceleration + control_utilities::FirstOrderLag delayed_acceleration_rad_s2_; //!< Delayed acceleration [rad/s2] // Coasting friction // f_rad_s2 = v_rad_s * coefficients(0) + (v_rad_s)^2 * coefficients(1) + ... diff --git a/src/math_physics/control_utilities/first_order_lag.hpp b/src/math_physics/control_utilities/first_order_lag.hpp index 9bb0d9056..9a9d27ed3 100644 --- a/src/math_physics/control_utilities/first_order_lag.hpp +++ b/src/math_physics/control_utilities/first_order_lag.hpp @@ -6,6 +6,8 @@ #ifndef S2E_LIBRARY_CONTROL_UTILITIES_FIRST_ORDER_LAG_HPP_ #define S2E_LIBRARY_CONTROL_UTILITIES_FIRST_ORDER_LAG_HPP_ +namespace control_utilities { + /** * @class FirstOderLag * @brief A class to emulate the first order lag @@ -45,4 +47,6 @@ class FirstOrderLag { const double gain_; //!< Gain }; +} // namespace control_utilities + #endif // S2E_LIBRARY_CONTROL_UTILITIES_FIRST_ORDER_LAG_HPP_ From f4866fedc20a5d695053a050f6c6a26a4de56fde Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 20 Jul 2024 16:11:44 +0900 Subject: [PATCH 259/456] Add geodesy namespace --- src/components/real/aocs/gnss_receiver.hpp | 4 ++-- src/dynamics/orbit/orbit.hpp | 8 ++++---- src/environment/local/geomagnetic_field.cpp | 2 +- src/environment/local/geomagnetic_field.hpp | 2 +- .../atmosphere/harris_priester_model.cpp | 4 ++-- .../atmosphere/harris_priester_model.hpp | 2 +- src/math_physics/geodesy/geodetic_position.cpp | 4 ++++ src/math_physics/geodesy/geodetic_position.hpp | 4 ++++ src/simulation/ground_station/ground_station.cpp | 2 +- src/simulation/ground_station/ground_station.hpp | 12 ++++++------ 10 files changed, 26 insertions(+), 18 deletions(-) diff --git a/src/components/real/aocs/gnss_receiver.hpp b/src/components/real/aocs/gnss_receiver.hpp index 8f1d867ac..f0fe73b06 100644 --- a/src/components/real/aocs/gnss_receiver.hpp +++ b/src/components/real/aocs/gnss_receiver.hpp @@ -107,7 +107,7 @@ class GnssReceiver : public Component, public ILoggable { * @fn GetMeasuredGeodeticPosition * @brief Return Observed position in the LLH frame [m] */ - inline const GeodeticPosition GetMeasuredGeodeticPosition(void) const { return geodetic_position_; } + inline const geodesy::GeodeticPosition GetMeasuredGeodeticPosition(void) const { return geodetic_position_; } /** * @fn GetMeasuredVelocity_ecef_m_s * @brief Return Observed velocity in the ECEF frame [m/s] @@ -141,7 +141,7 @@ class GnssReceiver : public Component, public ILoggable { randomization::NormalRand velocity_random_noise_ecef_m_s_[3]; //!< Random noise for velocity at the ECEF frame [m] math::Vector<3> position_ecef_m_{0.0}; //!< Observed position in the ECEF frame [m] math::Vector<3> velocity_ecef_m_s_{0.0}; //!< Observed velocity in the ECEF frame [m/s] - GeodeticPosition geodetic_position_; //!< Observed position in the geodetic frame + geodesy::GeodeticPosition geodetic_position_; //!< Observed position in the geodetic frame // Time observation UTC utc_ = {2000, 1, 1, 0, 0, 0.0}; //!< Observed time in UTC [year, month, day, hour, min, sec] diff --git a/src/dynamics/orbit/orbit.hpp b/src/dynamics/orbit/orbit.hpp index ced6b516c..d3df8fb4a 100644 --- a/src/dynamics/orbit/orbit.hpp +++ b/src/dynamics/orbit/orbit.hpp @@ -113,7 +113,7 @@ class Orbit : public ILoggable { * @fn GetGeodeticPosition * @brief Return spacecraft position in the geodetic frame [m] */ - inline GeodeticPosition GetGeodeticPosition() const { return spacecraft_geodetic_position_; } + inline geodesy::GeodeticPosition GetGeodeticPosition() const { return spacecraft_geodetic_position_; } // TODO delete the following functions inline double GetLatitude_rad() const { return spacecraft_geodetic_position_.GetLatitude_rad(); } @@ -191,9 +191,9 @@ class Orbit : public ILoggable { bool is_calc_enabled_ = false; //!< Calculate flag OrbitPropagateMode propagate_mode_; //!< Propagation mode - math::Vector<3> spacecraft_position_i_m_; //!< Spacecraft position in the inertial frame [m] - math::Vector<3> spacecraft_position_ecef_m_; //!< Spacecraft position in the ECEF frame [m] - GeodeticPosition spacecraft_geodetic_position_; //!< Spacecraft position in the Geodetic frame + math::Vector<3> spacecraft_position_i_m_; //!< Spacecraft position in the inertial frame [m] + math::Vector<3> spacecraft_position_ecef_m_; //!< Spacecraft position in the ECEF frame [m] + geodesy::GeodeticPosition spacecraft_geodetic_position_; //!< Spacecraft position in the Geodetic frame math::Vector<3> spacecraft_velocity_i_m_s_; //!< Spacecraft velocity in the inertial frame [m/s] math::Vector<3> spacecraft_velocity_b_m_s_; //!< Spacecraft velocity in the body frame [m/s] diff --git a/src/environment/local/geomagnetic_field.cpp b/src/environment/local/geomagnetic_field.cpp index 382978d62..d167ae9ea 100644 --- a/src/environment/local/geomagnetic_field.cpp +++ b/src/environment/local/geomagnetic_field.cpp @@ -22,7 +22,7 @@ GeomagneticField::GeomagneticField(const std::string igrf_file_name, const doubl set_file_path(igrf_file_name_.c_str()); } -void GeomagneticField::CalcMagneticField(const double decimal_year, const double sidereal_day, const GeodeticPosition position, +void GeomagneticField::CalcMagneticField(const double decimal_year, const double sidereal_day, const geodesy::GeodeticPosition position, const math::Quaternion quaternion_i2b) { if (!IsCalcEnabled) return; diff --git a/src/environment/local/geomagnetic_field.hpp b/src/environment/local/geomagnetic_field.hpp index f7305e0e0..f8c38b997 100644 --- a/src/environment/local/geomagnetic_field.hpp +++ b/src/environment/local/geomagnetic_field.hpp @@ -43,7 +43,7 @@ class GeomagneticField : public ILoggable { * @param [in] position: Position of target point to calculate the magnetic field * @param [in] quaternion_i2b: Spacecraft attitude quaternion from the inertial frame to the body fixed frame */ - void CalcMagneticField(const double decimal_year, const double sidereal_day, const GeodeticPosition position, + void CalcMagneticField(const double decimal_year, const double sidereal_day, const geodesy::GeodeticPosition position, const math::Quaternion quaternion_i2b); /** diff --git a/src/math_physics/atmosphere/harris_priester_model.cpp b/src/math_physics/atmosphere/harris_priester_model.cpp index cb38aa17c..3f2b022b3 100644 --- a/src/math_physics/atmosphere/harris_priester_model.cpp +++ b/src/math_physics/atmosphere/harris_priester_model.cpp @@ -28,8 +28,8 @@ double CalcScaleHeight_km(const std::map::const_iterator density */ double CalcApexDensity_g_km3(const std::map::const_iterator density_itr, const double altitude_km); -double CalcAirDensityWithHarrisPriester_kg_m3(const GeodeticPosition geodetic_position, const math::Vector<3> sun_direction_eci, const double f10_7, - const double exponent_parameter) { +double CalcAirDensityWithHarrisPriester_kg_m3(const geodesy::GeodeticPosition geodetic_position, const math::Vector<3> sun_direction_eci, + const double f10_7, const double exponent_parameter) { // Altitude double altitude_km = geodetic_position.GetAltitude_m() / 1000.0; diff --git a/src/math_physics/atmosphere/harris_priester_model.hpp b/src/math_physics/atmosphere/harris_priester_model.hpp index b9cd1feab..f9d8ffcc5 100644 --- a/src/math_physics/atmosphere/harris_priester_model.hpp +++ b/src/math_physics/atmosphere/harris_priester_model.hpp @@ -20,7 +20,7 @@ namespace atmosphere { * @param [in] exponent_parameter: n in the equation. n=2 for low inclination orbit and n=6 for polar orbit. * @return Atmospheric density [kg/m^3] */ -double CalcAirDensityWithHarrisPriester_kg_m3(const GeodeticPosition geodetic_position, const math::Vector<3> sun_direction_eci, +double CalcAirDensityWithHarrisPriester_kg_m3(const geodesy::GeodeticPosition geodetic_position, const math::Vector<3> sun_direction_eci, const double f10_7 = 100.0, const double exponent_parameter = 4); } // namespace atmosphere diff --git a/src/math_physics/geodesy/geodetic_position.cpp b/src/math_physics/geodesy/geodetic_position.cpp index 11b453cf6..d24169cba 100644 --- a/src/math_physics/geodesy/geodetic_position.cpp +++ b/src/math_physics/geodesy/geodetic_position.cpp @@ -10,6 +10,8 @@ #include #include +namespace geodesy { + GeodeticPosition::GeodeticPosition() { latitude_rad_ = 0.0; longitude_rad_ = 0.0; @@ -83,3 +85,5 @@ void GeodeticPosition::CalcQuaternionXcxfToLtc() { quaternion_xcxf_to_ltc_ = quaternion_xcxf_to_ltc_.ConvertFromDcm(dcm_xcxf_to_ltc); } + +} // namespace geodesy diff --git a/src/math_physics/geodesy/geodetic_position.hpp b/src/math_physics/geodesy/geodetic_position.hpp index 12628aa92..556744f69 100644 --- a/src/math_physics/geodesy/geodetic_position.hpp +++ b/src/math_physics/geodesy/geodetic_position.hpp @@ -9,6 +9,8 @@ #include #include +namespace geodesy { + /** * @class GeodeticPosition * @brief Class to mange geodetic position expression @@ -78,4 +80,6 @@ class GeodeticPosition { void CalcQuaternionXcxfToLtc(); }; +} // namespace geodesy + #endif // S2E_LIBRARY_GEODESY_GEODETIC_POSITION_HPP_ \ No newline at end of file diff --git a/src/simulation/ground_station/ground_station.cpp b/src/simulation/ground_station/ground_station.cpp index 1b95d8b96..2f9483f2c 100644 --- a/src/simulation/ground_station/ground_station.cpp +++ b/src/simulation/ground_station/ground_station.cpp @@ -35,7 +35,7 @@ void GroundStation::Initialize(const SimulationConfiguration* configuration, con double latitude_deg = conf.ReadDouble(Section, "latitude_deg"); double longitude_deg = conf.ReadDouble(Section, "longitude_deg"); double height_m = conf.ReadDouble(Section, "height_m"); - geodetic_position_ = GeodeticPosition(latitude_deg * math::deg_to_rad, longitude_deg * math::deg_to_rad, height_m); + geodetic_position_ = geodesy::GeodeticPosition(latitude_deg * math::deg_to_rad, longitude_deg * math::deg_to_rad, height_m); position_ecef_m_ = geodetic_position_.CalcEcefPosition(); elevation_limit_angle_deg_ = conf.ReadDouble(Section, "elevation_limit_angle_deg"); diff --git a/src/simulation/ground_station/ground_station.hpp b/src/simulation/ground_station/ground_station.hpp index f7caeb019..41a051d58 100644 --- a/src/simulation/ground_station/ground_station.hpp +++ b/src/simulation/ground_station/ground_station.hpp @@ -67,7 +67,7 @@ class GroundStation : public ILoggable { * @fn GetGeodeticPosition * @brief Return ground station position in the geodetic frame */ - GeodeticPosition GetGeodeticPosition() const { return geodetic_position_; } + geodesy::GeodeticPosition GetGeodeticPosition() const { return geodetic_position_; } /** * @fn GetPosition_ecef_m * @brief Return ground station position in the ECEF frame [m] @@ -91,11 +91,11 @@ class GroundStation : public ILoggable { bool IsVisible(const unsigned int spacecraft_id) const { return is_visible_.at(spacecraft_id); } protected: - unsigned int ground_station_id_; //!< Ground station ID - GeodeticPosition geodetic_position_; //!< Ground Station Position in the geodetic frame - Vector<3> position_ecef_m_{0.0}; //!< Ground Station Position in the ECEF frame [m] - Vector<3> position_i_m_{0.0}; //!< Ground Station Position in the inertial frame [m] - double elevation_limit_angle_deg_; //!< Minimum elevation angle to work the ground station [deg] + unsigned int ground_station_id_; //!< Ground station ID + geodesy::GeodeticPosition geodetic_position_; //!< Ground Station Position in the geodetic frame + Vector<3> position_ecef_m_{0.0}; //!< Ground Station Position in the ECEF frame [m] + Vector<3> position_i_m_{0.0}; //!< Ground Station Position in the inertial frame [m] + double elevation_limit_angle_deg_; //!< Minimum elevation angle to work the ground station [deg] std::map is_visible_; //!< Visible flag for each spacecraft ID (not care antenna) unsigned int number_of_spacecraft_; //!< Number of spacecraft in the simulation From aba36b1b0a4bb77c8e96d50ef3eab02cf968cbc2 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 20 Jul 2024 16:14:40 +0900 Subject: [PATCH 260/456] Add gravity namespace --- src/disturbances/geopotential.cpp | 2 +- src/disturbances/geopotential.hpp | 2 +- src/disturbances/lunar_gravity_field.cpp | 2 +- src/disturbances/lunar_gravity_field.hpp | 2 +- src/math_physics/gravity/gravity_potential.cpp | 4 ++++ src/math_physics/gravity/gravity_potential.hpp | 4 ++++ src/math_physics/gravity/test_gravity_potential.cpp | 2 ++ 7 files changed, 14 insertions(+), 4 deletions(-) diff --git a/src/disturbances/geopotential.cpp b/src/disturbances/geopotential.cpp index cd2d1b03f..70b7cb534 100644 --- a/src/disturbances/geopotential.cpp +++ b/src/disturbances/geopotential.cpp @@ -43,7 +43,7 @@ Geopotential::Geopotential(const int degree, const std::string file_path, const } } // Initialize GravityPotential - geopotential_ = GravityPotential(degree, c_, s_); + geopotential_ = gravity::GravityPotential(degree, c_, s_); } bool Geopotential::ReadCoefficientsEgm96(std::string file_name) { diff --git a/src/disturbances/geopotential.hpp b/src/disturbances/geopotential.hpp index 7c2bdaaed..4903cb412 100644 --- a/src/disturbances/geopotential.hpp +++ b/src/disturbances/geopotential.hpp @@ -60,7 +60,7 @@ class Geopotential : public Disturbance { virtual std::string GetLogValue() const; private: - GravityPotential geopotential_; + gravity::GravityPotential geopotential_; size_t degree_; //!< Maximum degree setting to calculate the geo-potential std::vector> c_; //!< Cosine coefficients std::vector> s_; //!< Sine coefficients diff --git a/src/disturbances/lunar_gravity_field.cpp b/src/disturbances/lunar_gravity_field.cpp index 769372476..bad7c5f7c 100644 --- a/src/disturbances/lunar_gravity_field.cpp +++ b/src/disturbances/lunar_gravity_field.cpp @@ -46,7 +46,7 @@ LunarGravityField::LunarGravityField(const int degree, const std::string file_pa } } // Initialize GravityPotential - lunar_potential_ = GravityPotential(degree, c_, s_, gravity_constants_km3_s2_ * 1e9, reference_radius_km_ * 1e3); + lunar_potential_ = gravity::GravityPotential(degree, c_, s_, gravity_constants_km3_s2_ * 1e9, reference_radius_km_ * 1e3); } bool LunarGravityField::ReadCoefficientsGrgm1200a(std::string file_name) { diff --git a/src/disturbances/lunar_gravity_field.hpp b/src/disturbances/lunar_gravity_field.hpp index 2993c8bf0..f1fa27c57 100644 --- a/src/disturbances/lunar_gravity_field.hpp +++ b/src/disturbances/lunar_gravity_field.hpp @@ -62,7 +62,7 @@ class LunarGravityField : public Disturbance { virtual std::string GetLogValue() const; private: - GravityPotential lunar_potential_; + gravity::GravityPotential lunar_potential_; double reference_radius_km_; double gravity_constants_km3_s2_; size_t degree_; //!< Maximum degree setting to calculate the geo-potential diff --git a/src/math_physics/gravity/gravity_potential.cpp b/src/math_physics/gravity/gravity_potential.cpp index f959b566a..d6c2fda06 100644 --- a/src/math_physics/gravity/gravity_potential.cpp +++ b/src/math_physics/gravity/gravity_potential.cpp @@ -10,6 +10,8 @@ #include #include +namespace gravity { + GravityPotential::GravityPotential(const size_t degree, const std::vector> cosine_coefficients, const std::vector> sine_coefficients, const double gravity_constants_m3_s2, const double center_body_radius_m) @@ -275,3 +277,5 @@ void GravityPotential::v_w_nm_update(double *v_nm, double *w_nm, const double v_ *w_nm = c_normalize * (c1 * z_tmp * w_prev - c2 * c2_normalize * re_tmp * w_prev2); return; } + +} // namespace gravity diff --git a/src/math_physics/gravity/gravity_potential.hpp b/src/math_physics/gravity/gravity_potential.hpp index aafefda57..94d0c8269 100644 --- a/src/math_physics/gravity/gravity_potential.hpp +++ b/src/math_physics/gravity/gravity_potential.hpp @@ -12,6 +12,8 @@ #include "../math/matrix.hpp" #include "../math/vector.hpp" +namespace gravity { + /** * @class GravityPotential * @brief Class to calculate gravity potential @@ -83,4 +85,6 @@ class GravityPotential { void v_w_nm_update(double *v_nm, double *w_nm, const double v_prev, const double w_prev, const double v_prev2, const double w_prev2); }; +} // namespace gravity + #endif // S2E_LIBRARY_GRAVITY_GRAVITY_POTENTIAL_HPP_ diff --git a/src/math_physics/gravity/test_gravity_potential.cpp b/src/math_physics/gravity/test_gravity_potential.cpp index df177e38f..22450d621 100644 --- a/src/math_physics/gravity/test_gravity_potential.cpp +++ b/src/math_physics/gravity/test_gravity_potential.cpp @@ -6,6 +6,8 @@ #include "gravity_potential.hpp" +using namespace gravity; + /** * @brief Test for Acceleration calculation */ From f539e9b77c21e41c6df4720fa08a2298670c393f Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 20 Jul 2024 16:15:43 +0900 Subject: [PATCH 261/456] Add optics namespace --- src/math_physics/optics/gaussian_beam_base.cpp | 4 ++++ src/math_physics/optics/gaussian_beam_base.hpp | 4 ++++ 2 files changed, 8 insertions(+) diff --git a/src/math_physics/optics/gaussian_beam_base.cpp b/src/math_physics/optics/gaussian_beam_base.cpp index ba9a03e89..86995e7e2 100644 --- a/src/math_physics/optics/gaussian_beam_base.cpp +++ b/src/math_physics/optics/gaussian_beam_base.cpp @@ -8,6 +8,8 @@ #include #include +namespace optics { + GaussianBeamBase::GaussianBeamBase(double wavelength_m, double radius_beam_waist_m, double total_power_W) : wavelength_m_(wavelength_m), radius_beam_waist_m_(radius_beam_waist_m), total_power_W_(total_power_W) {} @@ -46,3 +48,5 @@ double GaussianBeamBase::CalcIntensity_W_m2(double distance_from_beam_waist_m, d double intensity_W_m2 = peak_intensity_W_m2 * gaussian_dist; return intensity_W_m2; } + +} // namespace optics diff --git a/src/math_physics/optics/gaussian_beam_base.hpp b/src/math_physics/optics/gaussian_beam_base.hpp index 6b9721742..9ecc08e80 100644 --- a/src/math_physics/optics/gaussian_beam_base.hpp +++ b/src/math_physics/optics/gaussian_beam_base.hpp @@ -8,6 +8,8 @@ #include "../math/vector.hpp" +namespace optics { + /** * @class GaussianBeamBase * @brief Class to express gaussian beam laser @@ -107,4 +109,6 @@ class GaussianBeamBase { math::Vector<3> position_beam_waist_i_m_{0.0}; //!< Position of beam waist in the inertial frame [m] (Not used?) }; +} // namespace optics + #endif // S2E_LIBRARY_OPTICS_GAUSSIAN_BEAM_BASE_HPP_ From 05d4687ff0cc6761febad7a43fbfe5a1b5d0eb3d Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 20 Jul 2024 16:16:51 +0900 Subject: [PATCH 262/456] Add planet_rotation namespace --- src/environment/global/moon_rotation.cpp | 2 +- src/math_physics/planet_rotation/moon_rotation_utilities.cpp | 4 ++++ src/math_physics/planet_rotation/moon_rotation_utilities.hpp | 4 ++++ 3 files changed, 9 insertions(+), 1 deletion(-) diff --git a/src/environment/global/moon_rotation.cpp b/src/environment/global/moon_rotation.cpp index 1314de4f7..1b8aea98d 100644 --- a/src/environment/global/moon_rotation.cpp +++ b/src/environment/global/moon_rotation.cpp @@ -19,7 +19,7 @@ void MoonRotation::Update(const SimulationTime& simulation_time) { if (mode_ == MoonRotationMode::kSimple) { math::Vector<3> moon_position_eci_m = celestial_information_.GetPositionFromSelectedBody_i_m("MOON", "EARTH"); math::Vector<3> moon_velocity_eci_m_s = celestial_information_.GetVelocityFromSelectedBody_i_m_s("MOON", "EARTH"); - dcm_j2000_to_mcmf_ = CalcDcmEciToPrincipalAxis(moon_position_eci_m, moon_velocity_eci_m_s); + dcm_j2000_to_mcmf_ = planet_rotation::CalcDcmEciToPrincipalAxis(moon_position_eci_m, moon_velocity_eci_m_s); } else if (mode_ == MoonRotationMode::kIauMoon) { ConstSpiceChar from[] = "J2000"; ConstSpiceChar to[] = "IAU_MOON"; diff --git a/src/math_physics/planet_rotation/moon_rotation_utilities.cpp b/src/math_physics/planet_rotation/moon_rotation_utilities.cpp index 93a3ee2e5..cd6dc020a 100644 --- a/src/math_physics/planet_rotation/moon_rotation_utilities.cpp +++ b/src/math_physics/planet_rotation/moon_rotation_utilities.cpp @@ -10,6 +10,8 @@ #include +namespace planet_rotation { + math::Matrix<3, 3> CalcDcmEciToPrincipalAxis(const math::Vector<3> moon_position_eci_m, const math::Vector<3> moon_velocity_eci_m_s) { math::Matrix<3, 3> dcm_eci2me = CalcDcmEciToMeanEarth(moon_position_eci_m, moon_velocity_eci_m_s); math::Matrix<3, 3> dcm_me2pa = CalcDcmMeanEarthToPrincipalAxis(); @@ -46,3 +48,5 @@ math::Matrix<3, 3> CalcDcmMeanEarthToPrincipalAxis() { return dcm_me_pa; } + +} // namespace planet_rotation diff --git a/src/math_physics/planet_rotation/moon_rotation_utilities.hpp b/src/math_physics/planet_rotation/moon_rotation_utilities.hpp index e2726f5e4..9ce97f876 100644 --- a/src/math_physics/planet_rotation/moon_rotation_utilities.hpp +++ b/src/math_physics/planet_rotation/moon_rotation_utilities.hpp @@ -12,6 +12,8 @@ #include "math_physics/math/matrix.hpp" #include "math_physics/math/vector.hpp" +namespace planet_rotation { + /** * @fn CalcDcmEciToPrincipalAxis * @brief Calculate DCM from ECI to PA (Principal Axis) moon fixed frame @@ -34,4 +36,6 @@ math::Matrix<3, 3> CalcDcmEciToMeanEarth(const math::Vector<3> moon_position_eci */ math::Matrix<3, 3> CalcDcmMeanEarthToPrincipalAxis(); +} // namespace planet_rotation + #endif // S2E_LIBRARY_PLANET_ROTATION_MOON_MEAN_EARTH_PRINCIPAL_AXIS_FRAME_HPP_ From c0d9dd99a606be7d1f5ba513a001a7841cc63c96 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 20 Jul 2024 16:22:27 +0900 Subject: [PATCH 263/456] Fix format --- src/math_physics/geodesy/geodetic_position.cpp | 2 +- src/math_physics/optics/gaussian_beam_base.hpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/math_physics/geodesy/geodetic_position.cpp b/src/math_physics/geodesy/geodetic_position.cpp index d24169cba..e7353b670 100644 --- a/src/math_physics/geodesy/geodetic_position.cpp +++ b/src/math_physics/geodesy/geodetic_position.cpp @@ -86,4 +86,4 @@ void GeodeticPosition::CalcQuaternionXcxfToLtc() { quaternion_xcxf_to_ltc_ = quaternion_xcxf_to_ltc_.ConvertFromDcm(dcm_xcxf_to_ltc); } -} // namespace geodesy +} // namespace geodesy diff --git a/src/math_physics/optics/gaussian_beam_base.hpp b/src/math_physics/optics/gaussian_beam_base.hpp index 9ecc08e80..6f40fa8a2 100644 --- a/src/math_physics/optics/gaussian_beam_base.hpp +++ b/src/math_physics/optics/gaussian_beam_base.hpp @@ -109,6 +109,6 @@ class GaussianBeamBase { math::Vector<3> position_beam_waist_i_m_{0.0}; //!< Position of beam waist in the inertial frame [m] (Not used?) }; -} // namespace optics +} // namespace optics #endif // S2E_LIBRARY_OPTICS_GAUSSIAN_BEAM_BASE_HPP_ From a55c61537835b68e805d4a4f3bf77eadda866851 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 20 Jul 2024 18:07:15 +0900 Subject: [PATCH 264/456] Move logs directory --- .gitignore | 2 +- {data/sample/logs => logs}/.gitkeep | 0 2 files changed, 1 insertion(+), 1 deletion(-) rename {data/sample/logs => logs}/.gitkeep (100%) diff --git a/.gitignore b/.gitignore index 2429be973..956b6a2bf 100644 --- a/.gitignore +++ b/.gitignore @@ -9,7 +9,7 @@ src/.vscode/ build/ # Log files -data/**/logs/ +**/logs/ # CSIPCE scripts/tmp_cspice/ diff --git a/data/sample/logs/.gitkeep b/logs/.gitkeep similarity index 100% rename from data/sample/logs/.gitkeep rename to logs/.gitkeep From 38b6b8c993993c29f1089b883bb126b7f60a5b0d Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 20 Jul 2024 18:08:39 +0900 Subject: [PATCH 265/456] Modify path to logs directory --- data/sample/initialize_files/sample_simulation_base.ini | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/data/sample/initialize_files/sample_simulation_base.ini b/data/sample/initialize_files/sample_simulation_base.ini index 46762b380..af9ef4d67 100644 --- a/data/sample/initialize_files/sample_simulation_base.ini +++ b/data/sample/initialize_files/sample_simulation_base.ini @@ -147,4 +147,4 @@ number_of_simulated_ground_station = 1 spacecraft_file(0) = INI_FILE_DIR_FROM_EXE/sample_satellite.ini ground_station_file(0) = INI_FILE_DIR_FROM_EXE/sample_ground_station.ini gnss_file = INI_FILE_DIR_FROM_EXE/sample_gnss.ini -log_file_save_directory = ../../data/sample/logs/ +log_file_save_directory = ../../logs/ From 0e2fb496a8bd603fbfe5456ad6a09dd364c992aa Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 20 Jul 2024 18:10:03 +0900 Subject: [PATCH 266/456] Modify path to logs directory --- scripts/Plot/common.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/scripts/Plot/common.py b/scripts/Plot/common.py index d53e6a8a3..c8a3510cb 100644 --- a/scripts/Plot/common.py +++ b/scripts/Plot/common.py @@ -53,7 +53,7 @@ def read_scalar_from_csv(read_file_name, header_name): return vector def add_log_file_arguments(aparser): - aparser.add_argument('--logs-dir', type=str, help='logs directory like "../../data/sample/logs"', default='../../data/sample/logs') + aparser.add_argument('--logs-dir', type=str, help='logs directory like "../../logs"', default='../../logs') aparser.add_argument('--file-tag', type=str, help='log file tag like 220627_142946') return aparser From dbd58835685c517c5fbbbf0a1fe089e303ea5123 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 20 Jul 2024 18:18:06 +0900 Subject: [PATCH 267/456] Move and rename initialize_files --- .../components/angular_velocity_observer.ini | 0 .../sample_antenna_radiation_pattern.csv | 0 .../components/attitude_observer.ini | 0 {data/sample/initialize_files => settings}/components/battery.ini | 0 .../components/component_interference.ini | 0 .../initialize_files => settings}/components/force_generator.ini | 0 .../initialize_files => settings}/components/gnss_receiver.ini | 0 .../components/ground_station_antenna.ini | 0 .../components/ground_station_calculator.ini | 0 .../initialize_files => settings}/components/gyro_sensor.ini | 0 .../initialize_files => settings}/components/magnetometer.ini | 0 .../initialize_files => settings}/components/magnetorquer.ini | 0 .../initialize_files => settings}/components/orbit_observer.ini | 0 .../components/pcu_initial_study.ini | 0 .../initialize_files => settings}/components/reaction_wheel.ini | 0 .../radial_force_harmonics_coefficients.csv | 0 .../radial_torque_harmonics_coefficients.csv | 0 .../components/solar_array_panel.ini | 0 .../components/spacecraft_antenna.ini | 0 .../initialize_files => settings}/components/star_sensor.ini | 0 .../initialize_files => settings}/components/sun_sensor.ini | 0 .../sample/initialize_files => settings}/components/telescope.ini | 0 .../components/thermal_components.ini | 0 .../sample/initialize_files => settings}/components/thruster.ini | 0 .../initialize_files => settings}/components/torque_generator.ini | 0 .../wings_command_sender_to_c2a/SAMPLE_MOBC_CMD_DB_CMD_DB.csv | 0 .../components/wings_command_sender_to_c2a/example.ops | 0 .../wings_command_sender_to_c2a/wings_command_sender_to_c2a.ini | 0 .../initialize_files => settings}/gnss/final_products/.gitkeep | 0 {data/sample/initialize_files => settings}/sample_disturbance.ini | 0 {data/sample/initialize_files => settings}/sample_gnss.ini | 0 .../initialize_files => settings}/sample_ground_station.ini | 0 .../sample_inter_satellite_communication.ini | 0 .../initialize_files => settings}/sample_local_environment.ini | 0 {data/sample/initialize_files => settings}/sample_satellite.ini | 0 .../initialize_files => settings}/sample_simulation_base.ini | 0 {data/sample/initialize_files => settings}/sample_structure.ini | 0 .../initialize_files => settings}/thermal_csv_files/cij.csv | 0 .../initialize_files => settings}/thermal_csv_files/heaters.csv | 0 .../initialize_files => settings}/thermal_csv_files/heatload.csv | 0 .../initialize_files => settings}/thermal_csv_files/node.csv | 0 .../initialize_files => settings}/thermal_csv_files/rij.csv | 0 42 files changed, 0 insertions(+), 0 deletions(-) rename {data/sample/initialize_files => settings}/components/angular_velocity_observer.ini (100%) rename {data/sample/initialize_files => settings}/components/antenna_radiation_pattern_csv_files/sample_antenna_radiation_pattern.csv (100%) rename {data/sample/initialize_files => settings}/components/attitude_observer.ini (100%) rename {data/sample/initialize_files => settings}/components/battery.ini (100%) rename {data/sample/initialize_files => settings}/components/component_interference.ini (100%) rename {data/sample/initialize_files => settings}/components/force_generator.ini (100%) rename {data/sample/initialize_files => settings}/components/gnss_receiver.ini (100%) rename {data/sample/initialize_files => settings}/components/ground_station_antenna.ini (100%) rename {data/sample/initialize_files => settings}/components/ground_station_calculator.ini (100%) rename {data/sample/initialize_files => settings}/components/gyro_sensor.ini (100%) rename {data/sample/initialize_files => settings}/components/magnetometer.ini (100%) rename {data/sample/initialize_files => settings}/components/magnetorquer.ini (100%) rename {data/sample/initialize_files => settings}/components/orbit_observer.ini (100%) rename {data/sample/initialize_files => settings}/components/pcu_initial_study.ini (100%) rename {data/sample/initialize_files => settings}/components/reaction_wheel.ini (100%) rename {data/sample/initialize_files => settings}/components/rw_disturbance_csv_files/radial_force_harmonics_coefficients.csv (100%) rename {data/sample/initialize_files => settings}/components/rw_disturbance_csv_files/radial_torque_harmonics_coefficients.csv (100%) rename {data/sample/initialize_files => settings}/components/solar_array_panel.ini (100%) rename {data/sample/initialize_files => settings}/components/spacecraft_antenna.ini (100%) rename {data/sample/initialize_files => settings}/components/star_sensor.ini (100%) rename {data/sample/initialize_files => settings}/components/sun_sensor.ini (100%) rename {data/sample/initialize_files => settings}/components/telescope.ini (100%) rename {data/sample/initialize_files => settings}/components/thermal_components.ini (100%) rename {data/sample/initialize_files => settings}/components/thruster.ini (100%) rename {data/sample/initialize_files => settings}/components/torque_generator.ini (100%) rename {data/sample/initialize_files => settings}/components/wings_command_sender_to_c2a/SAMPLE_MOBC_CMD_DB_CMD_DB.csv (100%) rename {data/sample/initialize_files => settings}/components/wings_command_sender_to_c2a/example.ops (100%) rename {data/sample/initialize_files => settings}/components/wings_command_sender_to_c2a/wings_command_sender_to_c2a.ini (100%) rename {data/sample/initialize_files => settings}/gnss/final_products/.gitkeep (100%) rename {data/sample/initialize_files => settings}/sample_disturbance.ini (100%) rename {data/sample/initialize_files => settings}/sample_gnss.ini (100%) rename {data/sample/initialize_files => settings}/sample_ground_station.ini (100%) rename {data/sample/initialize_files => settings}/sample_inter_satellite_communication.ini (100%) rename {data/sample/initialize_files => settings}/sample_local_environment.ini (100%) rename {data/sample/initialize_files => settings}/sample_satellite.ini (100%) rename {data/sample/initialize_files => settings}/sample_simulation_base.ini (100%) rename {data/sample/initialize_files => settings}/sample_structure.ini (100%) rename {data/sample/initialize_files => settings}/thermal_csv_files/cij.csv (100%) rename {data/sample/initialize_files => settings}/thermal_csv_files/heaters.csv (100%) rename {data/sample/initialize_files => settings}/thermal_csv_files/heatload.csv (100%) rename {data/sample/initialize_files => settings}/thermal_csv_files/node.csv (100%) rename {data/sample/initialize_files => settings}/thermal_csv_files/rij.csv (100%) diff --git a/data/sample/initialize_files/components/angular_velocity_observer.ini b/settings/components/angular_velocity_observer.ini similarity index 100% rename from data/sample/initialize_files/components/angular_velocity_observer.ini rename to settings/components/angular_velocity_observer.ini diff --git a/data/sample/initialize_files/components/antenna_radiation_pattern_csv_files/sample_antenna_radiation_pattern.csv b/settings/components/antenna_radiation_pattern_csv_files/sample_antenna_radiation_pattern.csv similarity index 100% rename from data/sample/initialize_files/components/antenna_radiation_pattern_csv_files/sample_antenna_radiation_pattern.csv rename to settings/components/antenna_radiation_pattern_csv_files/sample_antenna_radiation_pattern.csv diff --git a/data/sample/initialize_files/components/attitude_observer.ini b/settings/components/attitude_observer.ini similarity index 100% rename from data/sample/initialize_files/components/attitude_observer.ini rename to settings/components/attitude_observer.ini diff --git a/data/sample/initialize_files/components/battery.ini b/settings/components/battery.ini similarity index 100% rename from data/sample/initialize_files/components/battery.ini rename to settings/components/battery.ini diff --git a/data/sample/initialize_files/components/component_interference.ini b/settings/components/component_interference.ini similarity index 100% rename from data/sample/initialize_files/components/component_interference.ini rename to settings/components/component_interference.ini diff --git a/data/sample/initialize_files/components/force_generator.ini b/settings/components/force_generator.ini similarity index 100% rename from data/sample/initialize_files/components/force_generator.ini rename to settings/components/force_generator.ini diff --git a/data/sample/initialize_files/components/gnss_receiver.ini b/settings/components/gnss_receiver.ini similarity index 100% rename from data/sample/initialize_files/components/gnss_receiver.ini rename to settings/components/gnss_receiver.ini diff --git a/data/sample/initialize_files/components/ground_station_antenna.ini b/settings/components/ground_station_antenna.ini similarity index 100% rename from data/sample/initialize_files/components/ground_station_antenna.ini rename to settings/components/ground_station_antenna.ini diff --git a/data/sample/initialize_files/components/ground_station_calculator.ini b/settings/components/ground_station_calculator.ini similarity index 100% rename from data/sample/initialize_files/components/ground_station_calculator.ini rename to settings/components/ground_station_calculator.ini diff --git a/data/sample/initialize_files/components/gyro_sensor.ini b/settings/components/gyro_sensor.ini similarity index 100% rename from data/sample/initialize_files/components/gyro_sensor.ini rename to settings/components/gyro_sensor.ini diff --git a/data/sample/initialize_files/components/magnetometer.ini b/settings/components/magnetometer.ini similarity index 100% rename from data/sample/initialize_files/components/magnetometer.ini rename to settings/components/magnetometer.ini diff --git a/data/sample/initialize_files/components/magnetorquer.ini b/settings/components/magnetorquer.ini similarity index 100% rename from data/sample/initialize_files/components/magnetorquer.ini rename to settings/components/magnetorquer.ini diff --git a/data/sample/initialize_files/components/orbit_observer.ini b/settings/components/orbit_observer.ini similarity index 100% rename from data/sample/initialize_files/components/orbit_observer.ini rename to settings/components/orbit_observer.ini diff --git a/data/sample/initialize_files/components/pcu_initial_study.ini b/settings/components/pcu_initial_study.ini similarity index 100% rename from data/sample/initialize_files/components/pcu_initial_study.ini rename to settings/components/pcu_initial_study.ini diff --git a/data/sample/initialize_files/components/reaction_wheel.ini b/settings/components/reaction_wheel.ini similarity index 100% rename from data/sample/initialize_files/components/reaction_wheel.ini rename to settings/components/reaction_wheel.ini diff --git a/data/sample/initialize_files/components/rw_disturbance_csv_files/radial_force_harmonics_coefficients.csv b/settings/components/rw_disturbance_csv_files/radial_force_harmonics_coefficients.csv similarity index 100% rename from data/sample/initialize_files/components/rw_disturbance_csv_files/radial_force_harmonics_coefficients.csv rename to settings/components/rw_disturbance_csv_files/radial_force_harmonics_coefficients.csv diff --git a/data/sample/initialize_files/components/rw_disturbance_csv_files/radial_torque_harmonics_coefficients.csv b/settings/components/rw_disturbance_csv_files/radial_torque_harmonics_coefficients.csv similarity index 100% rename from data/sample/initialize_files/components/rw_disturbance_csv_files/radial_torque_harmonics_coefficients.csv rename to settings/components/rw_disturbance_csv_files/radial_torque_harmonics_coefficients.csv diff --git a/data/sample/initialize_files/components/solar_array_panel.ini b/settings/components/solar_array_panel.ini similarity index 100% rename from data/sample/initialize_files/components/solar_array_panel.ini rename to settings/components/solar_array_panel.ini diff --git a/data/sample/initialize_files/components/spacecraft_antenna.ini b/settings/components/spacecraft_antenna.ini similarity index 100% rename from data/sample/initialize_files/components/spacecraft_antenna.ini rename to settings/components/spacecraft_antenna.ini diff --git a/data/sample/initialize_files/components/star_sensor.ini b/settings/components/star_sensor.ini similarity index 100% rename from data/sample/initialize_files/components/star_sensor.ini rename to settings/components/star_sensor.ini diff --git a/data/sample/initialize_files/components/sun_sensor.ini b/settings/components/sun_sensor.ini similarity index 100% rename from data/sample/initialize_files/components/sun_sensor.ini rename to settings/components/sun_sensor.ini diff --git a/data/sample/initialize_files/components/telescope.ini b/settings/components/telescope.ini similarity index 100% rename from data/sample/initialize_files/components/telescope.ini rename to settings/components/telescope.ini diff --git a/data/sample/initialize_files/components/thermal_components.ini b/settings/components/thermal_components.ini similarity index 100% rename from data/sample/initialize_files/components/thermal_components.ini rename to settings/components/thermal_components.ini diff --git a/data/sample/initialize_files/components/thruster.ini b/settings/components/thruster.ini similarity index 100% rename from data/sample/initialize_files/components/thruster.ini rename to settings/components/thruster.ini diff --git a/data/sample/initialize_files/components/torque_generator.ini b/settings/components/torque_generator.ini similarity index 100% rename from data/sample/initialize_files/components/torque_generator.ini rename to settings/components/torque_generator.ini diff --git a/data/sample/initialize_files/components/wings_command_sender_to_c2a/SAMPLE_MOBC_CMD_DB_CMD_DB.csv b/settings/components/wings_command_sender_to_c2a/SAMPLE_MOBC_CMD_DB_CMD_DB.csv similarity index 100% rename from data/sample/initialize_files/components/wings_command_sender_to_c2a/SAMPLE_MOBC_CMD_DB_CMD_DB.csv rename to settings/components/wings_command_sender_to_c2a/SAMPLE_MOBC_CMD_DB_CMD_DB.csv diff --git a/data/sample/initialize_files/components/wings_command_sender_to_c2a/example.ops b/settings/components/wings_command_sender_to_c2a/example.ops similarity index 100% rename from data/sample/initialize_files/components/wings_command_sender_to_c2a/example.ops rename to settings/components/wings_command_sender_to_c2a/example.ops diff --git a/data/sample/initialize_files/components/wings_command_sender_to_c2a/wings_command_sender_to_c2a.ini b/settings/components/wings_command_sender_to_c2a/wings_command_sender_to_c2a.ini similarity index 100% rename from data/sample/initialize_files/components/wings_command_sender_to_c2a/wings_command_sender_to_c2a.ini rename to settings/components/wings_command_sender_to_c2a/wings_command_sender_to_c2a.ini diff --git a/data/sample/initialize_files/gnss/final_products/.gitkeep b/settings/gnss/final_products/.gitkeep similarity index 100% rename from data/sample/initialize_files/gnss/final_products/.gitkeep rename to settings/gnss/final_products/.gitkeep diff --git a/data/sample/initialize_files/sample_disturbance.ini b/settings/sample_disturbance.ini similarity index 100% rename from data/sample/initialize_files/sample_disturbance.ini rename to settings/sample_disturbance.ini diff --git a/data/sample/initialize_files/sample_gnss.ini b/settings/sample_gnss.ini similarity index 100% rename from data/sample/initialize_files/sample_gnss.ini rename to settings/sample_gnss.ini diff --git a/data/sample/initialize_files/sample_ground_station.ini b/settings/sample_ground_station.ini similarity index 100% rename from data/sample/initialize_files/sample_ground_station.ini rename to settings/sample_ground_station.ini diff --git a/data/sample/initialize_files/sample_inter_satellite_communication.ini b/settings/sample_inter_satellite_communication.ini similarity index 100% rename from data/sample/initialize_files/sample_inter_satellite_communication.ini rename to settings/sample_inter_satellite_communication.ini diff --git a/data/sample/initialize_files/sample_local_environment.ini b/settings/sample_local_environment.ini similarity index 100% rename from data/sample/initialize_files/sample_local_environment.ini rename to settings/sample_local_environment.ini diff --git a/data/sample/initialize_files/sample_satellite.ini b/settings/sample_satellite.ini similarity index 100% rename from data/sample/initialize_files/sample_satellite.ini rename to settings/sample_satellite.ini diff --git a/data/sample/initialize_files/sample_simulation_base.ini b/settings/sample_simulation_base.ini similarity index 100% rename from data/sample/initialize_files/sample_simulation_base.ini rename to settings/sample_simulation_base.ini diff --git a/data/sample/initialize_files/sample_structure.ini b/settings/sample_structure.ini similarity index 100% rename from data/sample/initialize_files/sample_structure.ini rename to settings/sample_structure.ini diff --git a/data/sample/initialize_files/thermal_csv_files/cij.csv b/settings/thermal_csv_files/cij.csv similarity index 100% rename from data/sample/initialize_files/thermal_csv_files/cij.csv rename to settings/thermal_csv_files/cij.csv diff --git a/data/sample/initialize_files/thermal_csv_files/heaters.csv b/settings/thermal_csv_files/heaters.csv similarity index 100% rename from data/sample/initialize_files/thermal_csv_files/heaters.csv rename to settings/thermal_csv_files/heaters.csv diff --git a/data/sample/initialize_files/thermal_csv_files/heatload.csv b/settings/thermal_csv_files/heatload.csv similarity index 100% rename from data/sample/initialize_files/thermal_csv_files/heatload.csv rename to settings/thermal_csv_files/heatload.csv diff --git a/data/sample/initialize_files/thermal_csv_files/node.csv b/settings/thermal_csv_files/node.csv similarity index 100% rename from data/sample/initialize_files/thermal_csv_files/node.csv rename to settings/thermal_csv_files/node.csv diff --git a/data/sample/initialize_files/thermal_csv_files/rij.csv b/settings/thermal_csv_files/rij.csv similarity index 100% rename from data/sample/initialize_files/thermal_csv_files/rij.csv rename to settings/thermal_csv_files/rij.csv From 57efaba1a624cca36e625a5a32213ad7e8c41f31 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 20 Jul 2024 18:19:49 +0900 Subject: [PATCH 268/456] Fix initialize_files path --- .github/workflows/build.yml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index 9bb75dab4..50ea99116 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -122,7 +122,7 @@ jobs: - name: fix simulation config shell: bash - working-directory: ./data/sample/initialize_files + working-directory: ./settings run: | find . -type f -name '*.ini' -exec sed -i 's/..\/..\/..\/ExtLibraries/..\/..\/ExtLibraries/g' {} \; @@ -212,7 +212,7 @@ jobs: cmake --build . - name: fix simulation config - working-directory: ./data/sample/initialize_files + working-directory: ./settings run: | find . -type f -name '*.ini' -exec sed -i 's/..\/..\/..\/ExtLibraries/..\/..\/ExtLibraries/g' {} \; From 3720ab5ab3ebaf8f65073dddd34bd999b8783145 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 20 Jul 2024 18:20:27 +0900 Subject: [PATCH 269/456] Fix to use macro --- .../wings_command_sender_to_c2a.ini | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/settings/components/wings_command_sender_to_c2a/wings_command_sender_to_c2a.ini b/settings/components/wings_command_sender_to_c2a/wings_command_sender_to_c2a.ini index 0d8a2811e..22dad4d70 100644 --- a/settings/components/wings_command_sender_to_c2a/wings_command_sender_to_c2a.ini +++ b/settings/components/wings_command_sender_to_c2a/wings_command_sender_to_c2a.ini @@ -1,5 +1,5 @@ [WINGS_COMMAND_SENDER_TO_C2A] command_send_enable = ENABLE prescaler = 1 -c2a_command_database_file = ../../data/initialize_files/components/wings_command_sender_to_c2a/SAMPLE_MOBC_CMD_DB_CMD_DB.csv -wings_operation_file = ../../data/initialize_files/components/wings_command_sender_to_c2a/example.ops +c2a_command_database_file = INI_FILE_DIR_FROM_EXE/components/wings_command_sender_to_c2a/SAMPLE_MOBC_CMD_DB_CMD_DB.csv +wings_operation_file = INI_FILE_DIR_FROM_EXE/components/wings_command_sender_to_c2a/example.ops From e7b06ed16367ab1a0b770abee56bf13943806344 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 20 Jul 2024 18:27:05 +0900 Subject: [PATCH 270/456] Add environment directory in settings --- settings/{ => environment}/sample_gnss.ini | 0 1 file changed, 0 insertions(+), 0 deletions(-) rename settings/{ => environment}/sample_gnss.ini (100%) diff --git a/settings/sample_gnss.ini b/settings/environment/sample_gnss.ini similarity index 100% rename from settings/sample_gnss.ini rename to settings/environment/sample_gnss.ini From bcf5f6b95030344becaf6226d569d223a10b32f4 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 20 Jul 2024 18:28:07 +0900 Subject: [PATCH 271/456] Move gnss directory --- settings/{ => environment}/gnss/final_products/.gitkeep | 0 1 file changed, 0 insertions(+), 0 deletions(-) rename settings/{ => environment}/gnss/final_products/.gitkeep (100%) diff --git a/settings/gnss/final_products/.gitkeep b/settings/environment/gnss/final_products/.gitkeep similarity index 100% rename from settings/gnss/final_products/.gitkeep rename to settings/environment/gnss/final_products/.gitkeep From fbe9736e0455e74a8fa7c7c23dcb913b32273a41 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 20 Jul 2024 18:32:34 +0900 Subject: [PATCH 272/456] Make sample_satellite directory --- .../{sample_disturbance.ini => sample_satellite/disturbance.ini} | 0 .../local_environment.inii} | 0 settings/{sample_satellite.ini => sample_satellite/satellite.ini} | 0 settings/{sample_structure.ini => sample_satellite/structure.ini} | 0 4 files changed, 0 insertions(+), 0 deletions(-) rename settings/{sample_disturbance.ini => sample_satellite/disturbance.ini} (100%) rename settings/{sample_local_environment.ini => sample_satellite/local_environment.inii} (100%) rename settings/{sample_satellite.ini => sample_satellite/satellite.ini} (100%) rename settings/{sample_structure.ini => sample_satellite/structure.ini} (100%) diff --git a/settings/sample_disturbance.ini b/settings/sample_satellite/disturbance.ini similarity index 100% rename from settings/sample_disturbance.ini rename to settings/sample_satellite/disturbance.ini diff --git a/settings/sample_local_environment.ini b/settings/sample_satellite/local_environment.inii similarity index 100% rename from settings/sample_local_environment.ini rename to settings/sample_satellite/local_environment.inii diff --git a/settings/sample_satellite.ini b/settings/sample_satellite/satellite.ini similarity index 100% rename from settings/sample_satellite.ini rename to settings/sample_satellite/satellite.ini diff --git a/settings/sample_structure.ini b/settings/sample_satellite/structure.ini similarity index 100% rename from settings/sample_structure.ini rename to settings/sample_satellite/structure.ini From 50a00a3d167db97695506c4a480a4b80b05e1de5 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 20 Jul 2024 18:34:13 +0900 Subject: [PATCH 273/456] Move to sample_satellite directory --- .../components/angular_velocity_observer.ini | 0 .../sample_antenna_radiation_pattern.csv | 0 settings/{ => sample_satellite}/components/attitude_observer.ini | 0 settings/{ => sample_satellite}/components/battery.ini | 0 .../{ => sample_satellite}/components/component_interference.ini | 0 settings/{ => sample_satellite}/components/force_generator.ini | 0 settings/{ => sample_satellite}/components/gnss_receiver.ini | 0 .../{ => sample_satellite}/components/ground_station_antenna.ini | 0 .../components/ground_station_calculator.ini | 0 settings/{ => sample_satellite}/components/gyro_sensor.ini | 0 settings/{ => sample_satellite}/components/magnetometer.ini | 0 settings/{ => sample_satellite}/components/magnetorquer.ini | 0 settings/{ => sample_satellite}/components/orbit_observer.ini | 0 settings/{ => sample_satellite}/components/pcu_initial_study.ini | 0 settings/{ => sample_satellite}/components/reaction_wheel.ini | 0 .../radial_force_harmonics_coefficients.csv | 0 .../radial_torque_harmonics_coefficients.csv | 0 settings/{ => sample_satellite}/components/solar_array_panel.ini | 0 settings/{ => sample_satellite}/components/spacecraft_antenna.ini | 0 settings/{ => sample_satellite}/components/star_sensor.ini | 0 settings/{ => sample_satellite}/components/sun_sensor.ini | 0 settings/{ => sample_satellite}/components/telescope.ini | 0 settings/{ => sample_satellite}/components/thermal_components.ini | 0 settings/{ => sample_satellite}/components/thruster.ini | 0 settings/{ => sample_satellite}/components/torque_generator.ini | 0 .../wings_command_sender_to_c2a/SAMPLE_MOBC_CMD_DB_CMD_DB.csv | 0 .../components/wings_command_sender_to_c2a/example.ops | 0 .../wings_command_sender_to_c2a/wings_command_sender_to_c2a.ini | 0 settings/{ => sample_satellite}/thermal_csv_files/cij.csv | 0 settings/{ => sample_satellite}/thermal_csv_files/heaters.csv | 0 settings/{ => sample_satellite}/thermal_csv_files/heatload.csv | 0 settings/{ => sample_satellite}/thermal_csv_files/node.csv | 0 settings/{ => sample_satellite}/thermal_csv_files/rij.csv | 0 33 files changed, 0 insertions(+), 0 deletions(-) rename settings/{ => sample_satellite}/components/angular_velocity_observer.ini (100%) rename settings/{ => sample_satellite}/components/antenna_radiation_pattern_csv_files/sample_antenna_radiation_pattern.csv (100%) rename settings/{ => sample_satellite}/components/attitude_observer.ini (100%) rename settings/{ => sample_satellite}/components/battery.ini (100%) rename settings/{ => sample_satellite}/components/component_interference.ini (100%) rename settings/{ => sample_satellite}/components/force_generator.ini (100%) rename settings/{ => sample_satellite}/components/gnss_receiver.ini (100%) rename settings/{ => sample_satellite}/components/ground_station_antenna.ini (100%) rename settings/{ => sample_satellite}/components/ground_station_calculator.ini (100%) rename settings/{ => sample_satellite}/components/gyro_sensor.ini (100%) rename settings/{ => sample_satellite}/components/magnetometer.ini (100%) rename settings/{ => sample_satellite}/components/magnetorquer.ini (100%) rename settings/{ => sample_satellite}/components/orbit_observer.ini (100%) rename settings/{ => sample_satellite}/components/pcu_initial_study.ini (100%) rename settings/{ => sample_satellite}/components/reaction_wheel.ini (100%) rename settings/{ => sample_satellite}/components/rw_disturbance_csv_files/radial_force_harmonics_coefficients.csv (100%) rename settings/{ => sample_satellite}/components/rw_disturbance_csv_files/radial_torque_harmonics_coefficients.csv (100%) rename settings/{ => sample_satellite}/components/solar_array_panel.ini (100%) rename settings/{ => sample_satellite}/components/spacecraft_antenna.ini (100%) rename settings/{ => sample_satellite}/components/star_sensor.ini (100%) rename settings/{ => sample_satellite}/components/sun_sensor.ini (100%) rename settings/{ => sample_satellite}/components/telescope.ini (100%) rename settings/{ => sample_satellite}/components/thermal_components.ini (100%) rename settings/{ => sample_satellite}/components/thruster.ini (100%) rename settings/{ => sample_satellite}/components/torque_generator.ini (100%) rename settings/{ => sample_satellite}/components/wings_command_sender_to_c2a/SAMPLE_MOBC_CMD_DB_CMD_DB.csv (100%) rename settings/{ => sample_satellite}/components/wings_command_sender_to_c2a/example.ops (100%) rename settings/{ => sample_satellite}/components/wings_command_sender_to_c2a/wings_command_sender_to_c2a.ini (100%) rename settings/{ => sample_satellite}/thermal_csv_files/cij.csv (100%) rename settings/{ => sample_satellite}/thermal_csv_files/heaters.csv (100%) rename settings/{ => sample_satellite}/thermal_csv_files/heatload.csv (100%) rename settings/{ => sample_satellite}/thermal_csv_files/node.csv (100%) rename settings/{ => sample_satellite}/thermal_csv_files/rij.csv (100%) diff --git a/settings/components/angular_velocity_observer.ini b/settings/sample_satellite/components/angular_velocity_observer.ini similarity index 100% rename from settings/components/angular_velocity_observer.ini rename to settings/sample_satellite/components/angular_velocity_observer.ini diff --git a/settings/components/antenna_radiation_pattern_csv_files/sample_antenna_radiation_pattern.csv b/settings/sample_satellite/components/antenna_radiation_pattern_csv_files/sample_antenna_radiation_pattern.csv similarity index 100% rename from settings/components/antenna_radiation_pattern_csv_files/sample_antenna_radiation_pattern.csv rename to settings/sample_satellite/components/antenna_radiation_pattern_csv_files/sample_antenna_radiation_pattern.csv diff --git a/settings/components/attitude_observer.ini b/settings/sample_satellite/components/attitude_observer.ini similarity index 100% rename from settings/components/attitude_observer.ini rename to settings/sample_satellite/components/attitude_observer.ini diff --git a/settings/components/battery.ini b/settings/sample_satellite/components/battery.ini similarity index 100% rename from settings/components/battery.ini rename to settings/sample_satellite/components/battery.ini diff --git a/settings/components/component_interference.ini b/settings/sample_satellite/components/component_interference.ini similarity index 100% rename from settings/components/component_interference.ini rename to settings/sample_satellite/components/component_interference.ini diff --git a/settings/components/force_generator.ini b/settings/sample_satellite/components/force_generator.ini similarity index 100% rename from settings/components/force_generator.ini rename to settings/sample_satellite/components/force_generator.ini diff --git a/settings/components/gnss_receiver.ini b/settings/sample_satellite/components/gnss_receiver.ini similarity index 100% rename from settings/components/gnss_receiver.ini rename to settings/sample_satellite/components/gnss_receiver.ini diff --git a/settings/components/ground_station_antenna.ini b/settings/sample_satellite/components/ground_station_antenna.ini similarity index 100% rename from settings/components/ground_station_antenna.ini rename to settings/sample_satellite/components/ground_station_antenna.ini diff --git a/settings/components/ground_station_calculator.ini b/settings/sample_satellite/components/ground_station_calculator.ini similarity index 100% rename from settings/components/ground_station_calculator.ini rename to settings/sample_satellite/components/ground_station_calculator.ini diff --git a/settings/components/gyro_sensor.ini b/settings/sample_satellite/components/gyro_sensor.ini similarity index 100% rename from settings/components/gyro_sensor.ini rename to settings/sample_satellite/components/gyro_sensor.ini diff --git a/settings/components/magnetometer.ini b/settings/sample_satellite/components/magnetometer.ini similarity index 100% rename from settings/components/magnetometer.ini rename to settings/sample_satellite/components/magnetometer.ini diff --git a/settings/components/magnetorquer.ini b/settings/sample_satellite/components/magnetorquer.ini similarity index 100% rename from settings/components/magnetorquer.ini rename to settings/sample_satellite/components/magnetorquer.ini diff --git a/settings/components/orbit_observer.ini b/settings/sample_satellite/components/orbit_observer.ini similarity index 100% rename from settings/components/orbit_observer.ini rename to settings/sample_satellite/components/orbit_observer.ini diff --git a/settings/components/pcu_initial_study.ini b/settings/sample_satellite/components/pcu_initial_study.ini similarity index 100% rename from settings/components/pcu_initial_study.ini rename to settings/sample_satellite/components/pcu_initial_study.ini diff --git a/settings/components/reaction_wheel.ini b/settings/sample_satellite/components/reaction_wheel.ini similarity index 100% rename from settings/components/reaction_wheel.ini rename to settings/sample_satellite/components/reaction_wheel.ini diff --git a/settings/components/rw_disturbance_csv_files/radial_force_harmonics_coefficients.csv b/settings/sample_satellite/components/rw_disturbance_csv_files/radial_force_harmonics_coefficients.csv similarity index 100% rename from settings/components/rw_disturbance_csv_files/radial_force_harmonics_coefficients.csv rename to settings/sample_satellite/components/rw_disturbance_csv_files/radial_force_harmonics_coefficients.csv diff --git a/settings/components/rw_disturbance_csv_files/radial_torque_harmonics_coefficients.csv b/settings/sample_satellite/components/rw_disturbance_csv_files/radial_torque_harmonics_coefficients.csv similarity index 100% rename from settings/components/rw_disturbance_csv_files/radial_torque_harmonics_coefficients.csv rename to settings/sample_satellite/components/rw_disturbance_csv_files/radial_torque_harmonics_coefficients.csv diff --git a/settings/components/solar_array_panel.ini b/settings/sample_satellite/components/solar_array_panel.ini similarity index 100% rename from settings/components/solar_array_panel.ini rename to settings/sample_satellite/components/solar_array_panel.ini diff --git a/settings/components/spacecraft_antenna.ini b/settings/sample_satellite/components/spacecraft_antenna.ini similarity index 100% rename from settings/components/spacecraft_antenna.ini rename to settings/sample_satellite/components/spacecraft_antenna.ini diff --git a/settings/components/star_sensor.ini b/settings/sample_satellite/components/star_sensor.ini similarity index 100% rename from settings/components/star_sensor.ini rename to settings/sample_satellite/components/star_sensor.ini diff --git a/settings/components/sun_sensor.ini b/settings/sample_satellite/components/sun_sensor.ini similarity index 100% rename from settings/components/sun_sensor.ini rename to settings/sample_satellite/components/sun_sensor.ini diff --git a/settings/components/telescope.ini b/settings/sample_satellite/components/telescope.ini similarity index 100% rename from settings/components/telescope.ini rename to settings/sample_satellite/components/telescope.ini diff --git a/settings/components/thermal_components.ini b/settings/sample_satellite/components/thermal_components.ini similarity index 100% rename from settings/components/thermal_components.ini rename to settings/sample_satellite/components/thermal_components.ini diff --git a/settings/components/thruster.ini b/settings/sample_satellite/components/thruster.ini similarity index 100% rename from settings/components/thruster.ini rename to settings/sample_satellite/components/thruster.ini diff --git a/settings/components/torque_generator.ini b/settings/sample_satellite/components/torque_generator.ini similarity index 100% rename from settings/components/torque_generator.ini rename to settings/sample_satellite/components/torque_generator.ini diff --git a/settings/components/wings_command_sender_to_c2a/SAMPLE_MOBC_CMD_DB_CMD_DB.csv b/settings/sample_satellite/components/wings_command_sender_to_c2a/SAMPLE_MOBC_CMD_DB_CMD_DB.csv similarity index 100% rename from settings/components/wings_command_sender_to_c2a/SAMPLE_MOBC_CMD_DB_CMD_DB.csv rename to settings/sample_satellite/components/wings_command_sender_to_c2a/SAMPLE_MOBC_CMD_DB_CMD_DB.csv diff --git a/settings/components/wings_command_sender_to_c2a/example.ops b/settings/sample_satellite/components/wings_command_sender_to_c2a/example.ops similarity index 100% rename from settings/components/wings_command_sender_to_c2a/example.ops rename to settings/sample_satellite/components/wings_command_sender_to_c2a/example.ops diff --git a/settings/components/wings_command_sender_to_c2a/wings_command_sender_to_c2a.ini b/settings/sample_satellite/components/wings_command_sender_to_c2a/wings_command_sender_to_c2a.ini similarity index 100% rename from settings/components/wings_command_sender_to_c2a/wings_command_sender_to_c2a.ini rename to settings/sample_satellite/components/wings_command_sender_to_c2a/wings_command_sender_to_c2a.ini diff --git a/settings/thermal_csv_files/cij.csv b/settings/sample_satellite/thermal_csv_files/cij.csv similarity index 100% rename from settings/thermal_csv_files/cij.csv rename to settings/sample_satellite/thermal_csv_files/cij.csv diff --git a/settings/thermal_csv_files/heaters.csv b/settings/sample_satellite/thermal_csv_files/heaters.csv similarity index 100% rename from settings/thermal_csv_files/heaters.csv rename to settings/sample_satellite/thermal_csv_files/heaters.csv diff --git a/settings/thermal_csv_files/heatload.csv b/settings/sample_satellite/thermal_csv_files/heatload.csv similarity index 100% rename from settings/thermal_csv_files/heatload.csv rename to settings/sample_satellite/thermal_csv_files/heatload.csv diff --git a/settings/thermal_csv_files/node.csv b/settings/sample_satellite/thermal_csv_files/node.csv similarity index 100% rename from settings/thermal_csv_files/node.csv rename to settings/sample_satellite/thermal_csv_files/node.csv diff --git a/settings/thermal_csv_files/rij.csv b/settings/sample_satellite/thermal_csv_files/rij.csv similarity index 100% rename from settings/thermal_csv_files/rij.csv rename to settings/sample_satellite/thermal_csv_files/rij.csv From 87358f1851ffdd0c17e1149c2d87f5b158db6830 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 20 Jul 2024 18:35:19 +0900 Subject: [PATCH 274/456] Make sample_ground_station directory --- .../ground_station.ini} | 0 1 file changed, 0 insertions(+), 0 deletions(-) rename settings/{sample_ground_station.ini => sample_ground_station/ground_station.ini} (100%) diff --git a/settings/sample_ground_station.ini b/settings/sample_ground_station/ground_station.ini similarity index 100% rename from settings/sample_ground_station.ini rename to settings/sample_ground_station/ground_station.ini From 20af6acc589f5a0274c9e9b5c3fff5ad4740ccc9 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 20 Jul 2024 23:02:17 +0900 Subject: [PATCH 275/456] Update file path --- settings/environment/sample_gnss.ini | 2 +- .../components/reaction_wheel.ini | 4 +- .../components/spacecraft_antenna.ini | 4 +- .../wings_command_sender_to_c2a.ini | 4 +- settings/sample_satellite/satellite.ini | 40 +++++++++---------- settings/sample_simulation_base.ini | 6 +-- 6 files changed, 30 insertions(+), 30 deletions(-) diff --git a/settings/environment/sample_gnss.ini b/settings/environment/sample_gnss.ini index 88a793478..35ab917bf 100644 --- a/settings/environment/sample_gnss.ini +++ b/settings/environment/sample_gnss.ini @@ -1,5 +1,5 @@ [GNSS_SATELLITES] -directory_path = INI_FILE_DIR_FROM_EXE/gnss/final_products/ +directory_path = INI_FILE_DIR_FROM_EXE/environment/gnss/final_products/ calculation = DISABLE logging = DISABLE diff --git a/settings/sample_satellite/components/reaction_wheel.ini b/settings/sample_satellite/components/reaction_wheel.ini index 89f35cba3..0aa5a33f1 100644 --- a/settings/sample_satellite/components/reaction_wheel.ini +++ b/settings/sample_satellite/components/reaction_wheel.ini @@ -56,8 +56,8 @@ jitter_logging = DISABLE // prescaler for calculation of RW jitter // To calculate the jitter, set the update cycle to about 0.1 ms. fast_prescaler = 1 -radial_force_harmonics_coefficient_file = INI_FILE_DIR_FROM_EXE/components/rw_disturbance_csv_files/radial_force_harmonics_coefficients.csv -radial_torque_harmonics_coefficient_file = INI_FILE_DIR_FROM_EXE/components/rw_disturbance_csv_files/radial_torque_harmonics_coefficients.csv +radial_force_harmonics_coefficient_file = INI_FILE_DIR_FROM_EXE/sample_satellite/components/rw_disturbance_csv_files/radial_force_harmonics_coefficients.csv +radial_torque_harmonics_coefficient_file = INI_FILE_DIR_FROM_EXE/sample_satellite/components/rw_disturbance_csv_files/radial_torque_harmonics_coefficients.csv harmonics_degree = 12 considers_structural_resonance = DISABLE structural_resonance_frequency_Hz = 585.0 //[Hz] diff --git a/settings/sample_satellite/components/spacecraft_antenna.ini b/settings/sample_satellite/components/spacecraft_antenna.ini index 49bf43bc0..8f57eaf70 100644 --- a/settings/sample_satellite/components/spacecraft_antenna.ini +++ b/settings/sample_satellite/components/spacecraft_antenna.ini @@ -37,7 +37,7 @@ tx_antenna_gain_model = RADIATION_PATTERN_CSV tx_gain_dBi = 8.0 // Antenna radiation pattern CSV file path -tx_antenna_radiation_pattern_file = INI_FILE_DIR_FROM_EXE/components/antenna_radiation_pattern_csv_files/sample_antenna_radiation_pattern.csv +tx_antenna_radiation_pattern_file = INI_FILE_DIR_FROM_EXE/sample_satellite/components/antenna_radiation_pattern_csv_files/sample_antenna_radiation_pattern.csv // General information of the CSV file tx_length_theta = 360 tx_length_phi = 181 @@ -65,7 +65,7 @@ rx_antenna_gain_model = RADIATION_PATTERN_CSV rx_gain_dBi = 43.27 // Antenna radiation pattern CSV file path -rx_antenna_radiation_pattern_file = INI_FILE_DIR_FROM_EXE/components/antenna_radiation_pattern_csv_files/sample_antenna_radiation_pattern.csv +rx_antenna_radiation_pattern_file = INI_FILE_DIR_FROM_EXE/sample_satellite/components/antenna_radiation_pattern_csv_files/sample_antenna_radiation_pattern.csv // General information of the CSV file rx_length_theta = 360 rx_length_phi = 181 diff --git a/settings/sample_satellite/components/wings_command_sender_to_c2a/wings_command_sender_to_c2a.ini b/settings/sample_satellite/components/wings_command_sender_to_c2a/wings_command_sender_to_c2a.ini index 22dad4d70..456a9e6f2 100644 --- a/settings/sample_satellite/components/wings_command_sender_to_c2a/wings_command_sender_to_c2a.ini +++ b/settings/sample_satellite/components/wings_command_sender_to_c2a/wings_command_sender_to_c2a.ini @@ -1,5 +1,5 @@ [WINGS_COMMAND_SENDER_TO_C2A] command_send_enable = ENABLE prescaler = 1 -c2a_command_database_file = INI_FILE_DIR_FROM_EXE/components/wings_command_sender_to_c2a/SAMPLE_MOBC_CMD_DB_CMD_DB.csv -wings_operation_file = INI_FILE_DIR_FROM_EXE/components/wings_command_sender_to_c2a/example.ops +c2a_command_database_file = INI_FILE_DIR_FROM_EXE/sample_satellite/components/wings_command_sender_to_c2a/SAMPLE_MOBC_CMD_DB_CMD_DB.csv +wings_operation_file = INI_FILE_DIR_FROM_EXE/sample_satellite/components/wings_command_sender_to_c2a/example.ops diff --git a/settings/sample_satellite/satellite.ini b/settings/sample_satellite/satellite.ini index 881767e86..913947ca2 100644 --- a/settings/sample_satellite/satellite.ini +++ b/settings/sample_satellite/satellite.ini @@ -128,27 +128,27 @@ error_tolerance = 0.0001 calculation = DISABLE debug = DISABLE solar_calc_setting = DISABLE -thermal_file_directory = INI_FILE_DIR_FROM_EXE/thermal_csv_files/ +thermal_file_directory = INI_FILE_DIR_FROM_EXE/sample_satellite/thermal_csv_files/ [SETTING_FILES] -local_environment_file = INI_FILE_DIR_FROM_EXE/sample_local_environment.ini -disturbance_file = INI_FILE_DIR_FROM_EXE/sample_disturbance.ini -structure_file = INI_FILE_DIR_FROM_EXE/sample_structure.ini +local_environment_file = INI_FILE_DIR_FROM_EXE/sample_satellite/local_environment.ini +disturbance_file = INI_FILE_DIR_FROM_EXE/sample_satellite/disturbance.ini +structure_file = INI_FILE_DIR_FROM_EXE/sample_satellite/structure.ini [COMPONENT_FILES] -gyro_file = INI_FILE_DIR_FROM_EXE/components/gyro_sensor.ini -magnetometer_file = INI_FILE_DIR_FROM_EXE/components/magnetometer.ini -stt_file = INI_FILE_DIR_FROM_EXE/components/star_sensor.ini -ss_file = INI_FILE_DIR_FROM_EXE/components/sun_sensor.ini -gnss_file = INI_FILE_DIR_FROM_EXE/components/gnss_receiver.ini -magnetorquer_file = INI_FILE_DIR_FROM_EXE/components/magnetorquer.ini -rw_file = INI_FILE_DIR_FROM_EXE/components/reaction_wheel.ini -thruster_file = INI_FILE_DIR_FROM_EXE/components/thruster.ini -force_generator_file = INI_FILE_DIR_FROM_EXE/components/force_generator.ini -torque_generator_file = INI_FILE_DIR_FROM_EXE/components/torque_generator.ini -angular_velocity_observer_file = INI_FILE_DIR_FROM_EXE/components/angular_velocity_observer.ini -attitude_observer_file = INI_FILE_DIR_FROM_EXE/components/attitude_observer.ini -orbit_observer_file = INI_FILE_DIR_FROM_EXE/components/orbit_observer.ini -antenna_file = INI_FILE_DIR_FROM_EXE/components/spacecraft_antenna.ini -component_interference_file = INI_FILE_DIR_FROM_EXE/components/component_interference.ini -telescope_file = INI_FILE_DIR_FROM_EXE/components/telescope.ini +gyro_file = INI_FILE_DIR_FROM_EXE/sample_satellite/components/gyro_sensor.ini +magnetometer_file = INI_FILE_DIR_FROM_EXE/sample_satellite/components/magnetometer.ini +stt_file = INI_FILE_DIR_FROM_EXE/sample_satellite/components/star_sensor.ini +ss_file = INI_FILE_DIR_FROM_EXE/sample_satellite/components/sun_sensor.ini +gnss_file = INI_FILE_DIR_FROM_EXE/sample_satellite/components/gnss_receiver.ini +magnetorquer_file = INI_FILE_DIR_FROM_EXE/sample_satellite/components/magnetorquer.ini +rw_file = INI_FILE_DIR_FROM_EXE/sample_satellite/components/reaction_wheel.ini +thruster_file = INI_FILE_DIR_FROM_EXE/sample_satellite/components/thruster.ini +force_generator_file = INI_FILE_DIR_FROM_EXE/sample_satellite/components/force_generator.ini +torque_generator_file = INI_FILE_DIR_FROM_EXE/sample_satellite/components/torque_generator.ini +angular_velocity_observer_file = INI_FILE_DIR_FROM_EXE/sample_satellite/components/angular_velocity_observer.ini +attitude_observer_file = INI_FILE_DIR_FROM_EXE/sample_satellite/components/attitude_observer.ini +orbit_observer_file = INI_FILE_DIR_FROM_EXE/sample_satellite/components/orbit_observer.ini +antenna_file = INI_FILE_DIR_FROM_EXE/sample_satellite/components/spacecraft_antenna.ini +component_interference_file = INI_FILE_DIR_FROM_EXE/sample_satellite/components/component_interference.ini +telescope_file = INI_FILE_DIR_FROM_EXE/sample_satellite/components/telescope.ini diff --git a/settings/sample_simulation_base.ini b/settings/sample_simulation_base.ini index af9ef4d67..4ebf15089 100644 --- a/settings/sample_simulation_base.ini +++ b/settings/sample_simulation_base.ini @@ -144,7 +144,7 @@ save_initialize_files = ENABLE // If you want to add a ground station, create the corresponding ground_station.ini, and specify it as ground_station_file(1), ground_station_file(2), ect. number_of_simulated_spacecraft = 1 number_of_simulated_ground_station = 1 -spacecraft_file(0) = INI_FILE_DIR_FROM_EXE/sample_satellite.ini -ground_station_file(0) = INI_FILE_DIR_FROM_EXE/sample_ground_station.ini -gnss_file = INI_FILE_DIR_FROM_EXE/sample_gnss.ini +spacecraft_file(0) = INI_FILE_DIR_FROM_EXE/sample_satellite/satellite.ini +ground_station_file(0) = INI_FILE_DIR_FROM_EXE/sample_ground_station/ground_station.ini +gnss_file = INI_FILE_DIR_FROM_EXE/environment/sample_gnss.ini log_file_save_directory = ../../logs/ From 07ae81802d4a8bf388896e8d44ceaabb50be773a Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 20 Jul 2024 23:05:51 +0900 Subject: [PATCH 276/456] Make ground_station/components --- .../components/ground_station_antenna.ini | 0 .../components/ground_station_calculator.ini | 0 settings/sample_ground_station/ground_station.ini | 4 ++-- 3 files changed, 2 insertions(+), 2 deletions(-) rename settings/{sample_satellite => sample_ground_station}/components/ground_station_antenna.ini (100%) rename settings/{sample_satellite => sample_ground_station}/components/ground_station_calculator.ini (100%) diff --git a/settings/sample_satellite/components/ground_station_antenna.ini b/settings/sample_ground_station/components/ground_station_antenna.ini similarity index 100% rename from settings/sample_satellite/components/ground_station_antenna.ini rename to settings/sample_ground_station/components/ground_station_antenna.ini diff --git a/settings/sample_satellite/components/ground_station_calculator.ini b/settings/sample_ground_station/components/ground_station_calculator.ini similarity index 100% rename from settings/sample_satellite/components/ground_station_calculator.ini rename to settings/sample_ground_station/components/ground_station_calculator.ini diff --git a/settings/sample_ground_station/ground_station.ini b/settings/sample_ground_station/ground_station.ini index ab57e1164..a44fa2f4b 100644 --- a/settings/sample_ground_station/ground_station.ini +++ b/settings/sample_ground_station/ground_station.ini @@ -8,5 +8,5 @@ height_m = 3.4 elevation_limit_angle_deg = 5.0 [COMPONENT_FILES] -ground_station_antenna_file = INI_FILE_DIR_FROM_EXE/components/ground_station_antenna.ini -ground_station_calculator_file = INI_FILE_DIR_FROM_EXE/components/ground_station_calculator.ini +ground_station_antenna_file = INI_FILE_DIR_FROM_EXE/sample_ground_station/components/ground_station_antenna.ini +ground_station_calculator_file = INI_FILE_DIR_FROM_EXE/sample_ground_station/components/ground_station_calculator.ini From 606af830878bbc5b50acdf24fc1a0bd77b139c82 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 20 Jul 2024 23:07:18 +0900 Subject: [PATCH 277/456] Add antenna pattern for ground station --- .../sample_antenna_radiation_pattern.csv | 360 ++++++++++++++++++ .../components/ground_station_antenna.ini | 2 +- 2 files changed, 361 insertions(+), 1 deletion(-) create mode 100644 settings/sample_ground_station/components/antenna_radiation_pattern_csv_files/sample_antenna_radiation_pattern.csv diff --git a/settings/sample_ground_station/components/antenna_radiation_pattern_csv_files/sample_antenna_radiation_pattern.csv b/settings/sample_ground_station/components/antenna_radiation_pattern_csv_files/sample_antenna_radiation_pattern.csv new file mode 100644 index 000000000..4d9c8a515 --- /dev/null +++ b/settings/sample_ground_station/components/antenna_radiation_pattern_csv_files/sample_antenna_radiation_pattern.csv @@ -0,0 +1,360 @@ 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\ No newline at end of file diff --git a/settings/sample_ground_station/components/ground_station_antenna.ini b/settings/sample_ground_station/components/ground_station_antenna.ini index 37c50a680..c016b3365 100644 --- a/settings/sample_ground_station/components/ground_station_antenna.ini +++ b/settings/sample_ground_station/components/ground_station_antenna.ini @@ -65,7 +65,7 @@ rx_antenna_gain_model = ISOTROPIC rx_gain_dBi = 43.27 // Antenna radiation pattern CSV file path -rx_antenna_radiation_pattern_file = INI_FILE_DIR_FROM_EXE/components/antenna_radiation_pattern_csv_files/sample_antenna_radiation_pattern.csv +rx_antenna_radiation_pattern_file = INI_FILE_DIR_FROM_EXE/sample_ground_station/components/antenna_radiation_pattern_csv_files/sample_antenna_radiation_pattern.csv // General information of the CSV file rx_length_theta = 360 rx_length_phi = 181 From 0c33f8d19a64ff9d77fd4b6cba954f5d5cd4eb16 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 20 Jul 2024 23:12:17 +0900 Subject: [PATCH 278/456] Fix data directory in s2e --- .../{local_environment.inii => local_environment.ini} | 0 src/s2e.cpp | 2 +- 2 files changed, 1 insertion(+), 1 deletion(-) rename settings/sample_satellite/{local_environment.inii => local_environment.ini} (100%) diff --git a/settings/sample_satellite/local_environment.inii b/settings/sample_satellite/local_environment.ini similarity index 100% rename from settings/sample_satellite/local_environment.inii rename to settings/sample_satellite/local_environment.ini diff --git a/src/s2e.cpp b/src/s2e.cpp index cf0bee4f4..d6d4a5486 100644 --- a/src/s2e.cpp +++ b/src/s2e.cpp @@ -46,7 +46,7 @@ int main(int argc, char *argv[]) system_clock::time_point start, end; start = system_clock::now(); - std::string data_path = "../../data/"; + std::string data_path = "../../"; std::string ini_path = INI_FILE_DIR_FROM_EXE; std::string ini_file = ini_path + "/sample_simulation_base.ini"; From 536052af9773aefc629bf4c9819a85923f8a7c44 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 20 Jul 2024 23:22:12 +0900 Subject: [PATCH 279/456] Fix to use GITHUB_OUTPUT --- .github/workflows/build.yml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index 50ea99116..023ee40e5 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -149,8 +149,8 @@ jobs: run: | COMPILER="${{ matrix.compiler }}" read -r -a COMPILER <<< "$COMPILER" - echo "::set-output name=CC::${COMPILER[0]}" - echo "::set-output name=CXX::${COMPILER[1]}" + echo "CC=${COMPILER[0]}" >> "$GITHUB_OUTPUT" + echo "CXX=${COMPILER[1]}" >> "$GITHUB_OUTPUT" - name: install deps run: | From dcd483986bb29eec1326d5c544e743447028fe80 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 20 Jul 2024 23:33:30 +0900 Subject: [PATCH 280/456] Fix small --- .github/workflows/build.yml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index 023ee40e5..2290e90f3 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -149,8 +149,8 @@ jobs: run: | COMPILER="${{ matrix.compiler }}" read -r -a COMPILER <<< "$COMPILER" - echo "CC=${COMPILER[0]}" >> "$GITHUB_OUTPUT" - echo "CXX=${COMPILER[1]}" >> "$GITHUB_OUTPUT" + echo "CC=$COMPILER[0]" >> "$GITHUB_OUTPUT" + echo "CXX=$COMPILER[1]" >> "$GITHUB_OUTPUT" - name: install deps run: | From 0bd6d364a7ac900a65e527cbda357d8b146905b1 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 20 Jul 2024 23:42:21 +0900 Subject: [PATCH 281/456] Fix small --- .github/workflows/build.yml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index 2290e90f3..023ee40e5 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -149,8 +149,8 @@ jobs: run: | COMPILER="${{ matrix.compiler }}" read -r -a COMPILER <<< "$COMPILER" - echo "CC=$COMPILER[0]" >> "$GITHUB_OUTPUT" - echo "CXX=$COMPILER[1]" >> "$GITHUB_OUTPUT" + echo "CC=${COMPILER[0]}" >> "$GITHUB_OUTPUT" + echo "CXX=${COMPILER[1]}" >> "$GITHUB_OUTPUT" - name: install deps run: | From ecf0dafc581d825d96e2621d5b7bf779cbfff956 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 20 Jul 2024 23:54:36 +0900 Subject: [PATCH 282/456] Fix small --- .github/workflows/build.yml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index 023ee40e5..13e4492ea 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -149,8 +149,8 @@ jobs: run: | COMPILER="${{ matrix.compiler }}" read -r -a COMPILER <<< "$COMPILER" - echo "CC=${COMPILER[0]}" >> "$GITHUB_OUTPUT" - echo "CXX=${COMPILER[1]}" >> "$GITHUB_OUTPUT" + # echo "CC=${COMPILER[0]}" >> "$GITHUB_OUTPUT" + # echo "CXX=${COMPILER[1]}" >> "$GITHUB_OUTPUT" - name: install deps run: | From 859389af346e56fcb9e8a798a6f6621d08649421 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sun, 21 Jul 2024 09:09:55 +0900 Subject: [PATCH 283/456] Fix data directory path in CI --- .github/workflows/build.yml | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index 13e4492ea..b607210a4 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -128,9 +128,9 @@ jobs: - name: run simulation(SampleSat) if: matrix.build_bit == 'BUILD_64BIT=OFF' || (matrix.build_bit == 'BUILD_64BIT=ON' && matrix.use_c2a == 'USE_C2A=OFF') - working-directory: ./data/sample + working-directory: ./ run: | - ..\..\Debug\S2E.exe + .\Debug\S2E.exe build_s2e_linux: name: Build on Linux @@ -149,8 +149,8 @@ jobs: run: | COMPILER="${{ matrix.compiler }}" read -r -a COMPILER <<< "$COMPILER" - # echo "CC=${COMPILER[0]}" >> "$GITHUB_OUTPUT" - # echo "CXX=${COMPILER[1]}" >> "$GITHUB_OUTPUT" + echo "CC=${COMPILER[0]}" >> "$GITHUB_OUTPUT" + echo "CXX=${COMPILER[1]}" >> "$GITHUB_OUTPUT" - name: install deps run: | @@ -217,16 +217,16 @@ jobs: find . -type f -name '*.ini' -exec sed -i 's/..\/..\/..\/ExtLibraries/..\/..\/ExtLibraries/g' {} \; - name: run simulation(SampleSat) - working-directory: ./data/sample + working-directory: ./ run: | - ../../S2E + S2E - name: generate graph working-directory: ./scripts/Plot run: | sudo apt-get install -y gnuplot pip3 install yq - LOG=$(ls ../../data/sample/logs/logs_*/*.csv) + LOG=$(ls ../../logs/logs_*/*.csv) echo "plot $LOG" ./gen_graph.sh "${LOG}" ls From c4b4edf2987ebc0dceb39fc71d3fad37b5eb74fa Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sun, 21 Jul 2024 09:15:24 +0900 Subject: [PATCH 284/456] Modify default settings directory path --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index a4426f1e9..e42256c80 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -42,7 +42,7 @@ endif() ## Directory path for ini files if(NOT DEFINED INI_FILE_DIR_FROM_EXE) - set(INI_FILE_DIR_FROM_EXE ../../data/sample/initialize_files) + set(INI_FILE_DIR_FROM_EXE ../../settings) endif() if(NOT DEFINED EXT_LIB_DIR_FROM_EXE) From 97107aabf1c545ba98dc51478434c42fa59fa4c2 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sun, 21 Jul 2024 09:51:37 +0900 Subject: [PATCH 285/456] Add EXT_LIB_DIR_FROM_EXE option to CI --- .github/workflows/build.yml | 11 ++--------- 1 file changed, 2 insertions(+), 9 deletions(-) diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index b607210a4..496610e26 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -109,7 +109,7 @@ jobs: shell: cmd run: | cl.exe - cmake -G "Visual Studio 17 2022" -A Win32 -DCMAKE_CONFIGURATION_TYPES:STRING="Debug" -DEXT_LIB_DIR=./ExtLibraries -DFLIGHT_SW_DIR=./c2a-core -DC2A_NAME=Examples/minimum_user -D${{ matrix.use_c2a }} -D${{ matrix.build_bit }} + cmake -G "Visual Studio 17 2022" -A Win32 -DCMAKE_CONFIGURATION_TYPES:STRING="Debug" -DEXT_LIB_DIR=./ExtLibraries -DEXT_LIB_DIR_FROM_EXE=../ExtLibraries -DFLIGHT_SW_DIR=./c2a-core -DC2A_NAME=Examples/minimum_user -D${{ matrix.use_c2a }} -D${{ matrix.build_bit }} cmake --build . - name: build 64bit @@ -117,18 +117,11 @@ jobs: shell: cmd run: | cl.exe - cmake -G "Visual Studio 17 2022" -A x64 -DCMAKE_CONFIGURATION_TYPES:STRING="Debug" -DEXT_LIB_DIR=./ExtLibraries -DFLIGHT_SW_DIR=./c2a-core -DC2A_NAME=Examples/minimum_user -D${{ matrix.use_c2a }} -D${{ matrix.build_bit }} + cmake -G "Visual Studio 17 2022" -A x64 -DCMAKE_CONFIGURATION_TYPES:STRING="Debug" -DEXT_LIB_DIR=./ExtLibraries -DEXT_LIB_DIR_FROM_EXE=../ExtLibraries -DFLIGHT_SW_DIR=./c2a-core -DC2A_NAME=Examples/minimum_user -D${{ matrix.use_c2a }} -D${{ matrix.build_bit }} cmake --build . - - name: fix simulation config - shell: bash - working-directory: ./settings - run: | - find . -type f -name '*.ini' -exec sed -i 's/..\/..\/..\/ExtLibraries/..\/..\/ExtLibraries/g' {} \; - - name: run simulation(SampleSat) if: matrix.build_bit == 'BUILD_64BIT=OFF' || (matrix.build_bit == 'BUILD_64BIT=ON' && matrix.use_c2a == 'USE_C2A=OFF') - working-directory: ./ run: | .\Debug\S2E.exe From 57c8a857324d45e2b3346089c90c3542b3fdd635 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sun, 21 Jul 2024 10:30:33 +0900 Subject: [PATCH 286/456] Fix Linux build --- .github/workflows/build.yml | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index 496610e26..9c699fd80 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -122,6 +122,7 @@ jobs: - name: run simulation(SampleSat) if: matrix.build_bit == 'BUILD_64BIT=OFF' || (matrix.build_bit == 'BUILD_64BIT=ON' && matrix.use_c2a == 'USE_C2A=OFF') + working-directory: ./ run: | .\Debug\S2E.exe @@ -201,7 +202,7 @@ jobs: CC: ${{ steps.compiler.outputs.CC }} CXX: ${{ steps.compiler.outputs.CXX }} run: | - cmake . -DEXT_LIB_DIR=./ExtLibraries -D${{ matrix.build_bit }} + cmake . -DEXT_LIB_DIR=./ExtLibraries -DEXT_LIB_DIR_FROM_EXE=./ExtLibraries -D${{ matrix.build_bit }} cmake --build . - name: fix simulation config @@ -212,7 +213,7 @@ jobs: - name: run simulation(SampleSat) working-directory: ./ run: | - S2E + ./S2E - name: generate graph working-directory: ./scripts/Plot From 227931843ea9939bf83812a295d3382cca45cfe9 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sun, 21 Jul 2024 10:45:21 +0900 Subject: [PATCH 287/456] Fix INI file path --- .github/workflows/build.yml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index 9c699fd80..5e920c9c8 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -109,7 +109,7 @@ jobs: shell: cmd run: | cl.exe - cmake -G "Visual Studio 17 2022" -A Win32 -DCMAKE_CONFIGURATION_TYPES:STRING="Debug" -DEXT_LIB_DIR=./ExtLibraries -DEXT_LIB_DIR_FROM_EXE=../ExtLibraries -DFLIGHT_SW_DIR=./c2a-core -DC2A_NAME=Examples/minimum_user -D${{ matrix.use_c2a }} -D${{ matrix.build_bit }} + cmake -G "Visual Studio 17 2022" -A Win32 -DCMAKE_CONFIGURATION_TYPES:STRING="Debug" -DINI_FILE_DIR_FROM_EXE=../settings -DEXT_LIB_DIR=./ExtLibraries -DEXT_LIB_DIR_FROM_EXE=../ExtLibraries -DFLIGHT_SW_DIR=./c2a-core -DC2A_NAME=Examples/minimum_user -D${{ matrix.use_c2a }} -D${{ matrix.build_bit }} cmake --build . - name: build 64bit @@ -117,7 +117,7 @@ jobs: shell: cmd run: | cl.exe - cmake -G "Visual Studio 17 2022" -A x64 -DCMAKE_CONFIGURATION_TYPES:STRING="Debug" -DEXT_LIB_DIR=./ExtLibraries -DEXT_LIB_DIR_FROM_EXE=../ExtLibraries -DFLIGHT_SW_DIR=./c2a-core -DC2A_NAME=Examples/minimum_user -D${{ matrix.use_c2a }} -D${{ matrix.build_bit }} + cmake -G "Visual Studio 17 2022" -A x64 -DCMAKE_CONFIGURATION_TYPES:STRING="Debug" -DINI_FILE_DIR_FROM_EXE=../settings -DEXT_LIB_DIR=./ExtLibraries -DEXT_LIB_DIR_FROM_EXE=../ExtLibraries -DFLIGHT_SW_DIR=./c2a-core -DC2A_NAME=Examples/minimum_user -D${{ matrix.use_c2a }} -D${{ matrix.build_bit }} cmake --build . - name: run simulation(SampleSat) @@ -202,7 +202,7 @@ jobs: CC: ${{ steps.compiler.outputs.CC }} CXX: ${{ steps.compiler.outputs.CXX }} run: | - cmake . -DEXT_LIB_DIR=./ExtLibraries -DEXT_LIB_DIR_FROM_EXE=./ExtLibraries -D${{ matrix.build_bit }} + cmake . -DEXT_LIB_DIR=./ExtLibraries -DEXT_LIB_DIR_FROM_EXE=./ExtLibraries -DINI_FILE_DIR_FROM_EXE=./settings -D${{ matrix.build_bit }} cmake --build . - name: fix simulation config From 60905854e202c2708cee69dcf33633d17c3306c7 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sun, 21 Jul 2024 10:57:47 +0900 Subject: [PATCH 288/456] Add CORE_DIR_FROM_EXE setting in CI --- .github/workflows/build.yml | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index 5e920c9c8..bc0c0b751 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -109,7 +109,7 @@ jobs: shell: cmd run: | cl.exe - cmake -G "Visual Studio 17 2022" -A Win32 -DCMAKE_CONFIGURATION_TYPES:STRING="Debug" -DINI_FILE_DIR_FROM_EXE=../settings -DEXT_LIB_DIR=./ExtLibraries -DEXT_LIB_DIR_FROM_EXE=../ExtLibraries -DFLIGHT_SW_DIR=./c2a-core -DC2A_NAME=Examples/minimum_user -D${{ matrix.use_c2a }} -D${{ matrix.build_bit }} + cmake -G "Visual Studio 17 2022" -A Win32 -DCMAKE_CONFIGURATION_TYPES:STRING="Debug" -DINI_FILE_DIR_FROM_EXE=../settings -DCORE_DIR_FROM_EXE=../ -DEXT_LIB_DIR=./ExtLibraries -DEXT_LIB_DIR_FROM_EXE=../ExtLibraries -DFLIGHT_SW_DIR=./c2a-core -DC2A_NAME=Examples/minimum_user -D${{ matrix.use_c2a }} -D${{ matrix.build_bit }} cmake --build . - name: build 64bit @@ -117,14 +117,14 @@ jobs: shell: cmd run: | cl.exe - cmake -G "Visual Studio 17 2022" -A x64 -DCMAKE_CONFIGURATION_TYPES:STRING="Debug" -DINI_FILE_DIR_FROM_EXE=../settings -DEXT_LIB_DIR=./ExtLibraries -DEXT_LIB_DIR_FROM_EXE=../ExtLibraries -DFLIGHT_SW_DIR=./c2a-core -DC2A_NAME=Examples/minimum_user -D${{ matrix.use_c2a }} -D${{ matrix.build_bit }} + cmake -G "Visual Studio 17 2022" -A x64 -DCMAKE_CONFIGURATION_TYPES:STRING="Debug" -DINI_FILE_DIR_FROM_EXE=../settings -DCORE_DIR_FROM_EXE=../ -DEXT_LIB_DIR=./ExtLibraries -DEXT_LIB_DIR_FROM_EXE=../ExtLibraries -DFLIGHT_SW_DIR=./c2a-core -DC2A_NAME=Examples/minimum_user -D${{ matrix.use_c2a }} -D${{ matrix.build_bit }} cmake --build . - name: run simulation(SampleSat) if: matrix.build_bit == 'BUILD_64BIT=OFF' || (matrix.build_bit == 'BUILD_64BIT=ON' && matrix.use_c2a == 'USE_C2A=OFF') - working-directory: ./ + working-directory: ./Debug run: | - .\Debug\S2E.exe + .\S2E.exe build_s2e_linux: name: Build on Linux @@ -202,7 +202,7 @@ jobs: CC: ${{ steps.compiler.outputs.CC }} CXX: ${{ steps.compiler.outputs.CXX }} run: | - cmake . -DEXT_LIB_DIR=./ExtLibraries -DEXT_LIB_DIR_FROM_EXE=./ExtLibraries -DINI_FILE_DIR_FROM_EXE=./settings -D${{ matrix.build_bit }} + cmake . -DEXT_LIB_DIR=./ExtLibraries -DEXT_LIB_DIR_FROM_EXE=./ExtLibraries -DINI_FILE_DIR_FROM_EXE=./settings -DCORE_DIR_FROM_EXE=./ -D${{ matrix.build_bit }} cmake --build . - name: fix simulation config From cf8aebf3c37813639aef3d23789d212013146881 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sun, 21 Jul 2024 11:00:47 +0900 Subject: [PATCH 289/456] Fix simulation config setting --- .github/workflows/build.yml | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index bc0c0b751..769b9269d 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -120,6 +120,11 @@ jobs: cmake -G "Visual Studio 17 2022" -A x64 -DCMAKE_CONFIGURATION_TYPES:STRING="Debug" -DINI_FILE_DIR_FROM_EXE=../settings -DCORE_DIR_FROM_EXE=../ -DEXT_LIB_DIR=./ExtLibraries -DEXT_LIB_DIR_FROM_EXE=../ExtLibraries -DFLIGHT_SW_DIR=./c2a-core -DC2A_NAME=Examples/minimum_user -D${{ matrix.use_c2a }} -D${{ matrix.build_bit }} cmake --build . + - name: fix simulation config + working-directory: ./settings + run: | + find . -type f -name '*.ini' -exec sed -i 's/..\/..\/logs/.\/logs/g' {} \; + - name: run simulation(SampleSat) if: matrix.build_bit == 'BUILD_64BIT=OFF' || (matrix.build_bit == 'BUILD_64BIT=ON' && matrix.use_c2a == 'USE_C2A=OFF') working-directory: ./Debug @@ -208,7 +213,7 @@ jobs: - name: fix simulation config working-directory: ./settings run: | - find . -type f -name '*.ini' -exec sed -i 's/..\/..\/..\/ExtLibraries/..\/..\/ExtLibraries/g' {} \; + find . -type f -name '*.ini' -exec sed -i 's/..\/..\/logs/.\/logs/g' {} \; - name: run simulation(SampleSat) working-directory: ./ From 8cdc86beb316ecb567a5d5e4cd30908c08e62ced Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sun, 21 Jul 2024 11:01:21 +0900 Subject: [PATCH 290/456] Fix simulation config setting --- .github/workflows/build.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index 769b9269d..05d60651b 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -123,7 +123,7 @@ jobs: - name: fix simulation config working-directory: ./settings run: | - find . -type f -name '*.ini' -exec sed -i 's/..\/..\/logs/.\/logs/g' {} \; + find . -type f -name '*.ini' -exec sed -i 's/..\/..\/logs/..\/logs/g' {} \; - name: run simulation(SampleSat) if: matrix.build_bit == 'BUILD_64BIT=OFF' || (matrix.build_bit == 'BUILD_64BIT=ON' && matrix.use_c2a == 'USE_C2A=OFF') From efff45b55cb2597c1d5a566a0da1bdea5d3ef533 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sun, 21 Jul 2024 11:41:43 +0900 Subject: [PATCH 291/456] Fix working directory for Win --- .github/workflows/build.yml | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index 05d60651b..1fe12b28f 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -109,7 +109,7 @@ jobs: shell: cmd run: | cl.exe - cmake -G "Visual Studio 17 2022" -A Win32 -DCMAKE_CONFIGURATION_TYPES:STRING="Debug" -DINI_FILE_DIR_FROM_EXE=../settings -DCORE_DIR_FROM_EXE=../ -DEXT_LIB_DIR=./ExtLibraries -DEXT_LIB_DIR_FROM_EXE=../ExtLibraries -DFLIGHT_SW_DIR=./c2a-core -DC2A_NAME=Examples/minimum_user -D${{ matrix.use_c2a }} -D${{ matrix.build_bit }} + cmake -G "Visual Studio 17 2022" -A Win32 -DCMAKE_CONFIGURATION_TYPES:STRING="Debug" -DINI_FILE_DIR_FROM_EXE=./settings -DCORE_DIR_FROM_EXE=./ -DEXT_LIB_DIR=./ExtLibraries -DEXT_LIB_DIR_FROM_EXE=./ExtLibraries -DFLIGHT_SW_DIR=./c2a-core -DC2A_NAME=Examples/minimum_user -D${{ matrix.use_c2a }} -D${{ matrix.build_bit }} cmake --build . - name: build 64bit @@ -117,19 +117,19 @@ jobs: shell: cmd run: | cl.exe - cmake -G "Visual Studio 17 2022" -A x64 -DCMAKE_CONFIGURATION_TYPES:STRING="Debug" -DINI_FILE_DIR_FROM_EXE=../settings -DCORE_DIR_FROM_EXE=../ -DEXT_LIB_DIR=./ExtLibraries -DEXT_LIB_DIR_FROM_EXE=../ExtLibraries -DFLIGHT_SW_DIR=./c2a-core -DC2A_NAME=Examples/minimum_user -D${{ matrix.use_c2a }} -D${{ matrix.build_bit }} + cmake -G "Visual Studio 17 2022" -A x64 -DCMAKE_CONFIGURATION_TYPES:STRING="Debug" -DINI_FILE_DIR_FROM_EXE=./settings -DCORE_DIR_FROM_EXE=./ -DEXT_LIB_DIR=./ExtLibraries -DEXT_LIB_DIR_FROM_EXE=./ExtLibraries -DFLIGHT_SW_DIR=./c2a-core -DC2A_NAME=Examples/minimum_user -D${{ matrix.use_c2a }} -D${{ matrix.build_bit }} cmake --build . - name: fix simulation config working-directory: ./settings run: | - find . -type f -name '*.ini' -exec sed -i 's/..\/..\/logs/..\/logs/g' {} \; + find . -type f -name '*.ini' -exec sed -i 's/..\/..\/logs/.\/logs/g' {} \; - name: run simulation(SampleSat) if: matrix.build_bit == 'BUILD_64BIT=OFF' || (matrix.build_bit == 'BUILD_64BIT=ON' && matrix.use_c2a == 'USE_C2A=OFF') - working-directory: ./Debug + working-directory: ./ run: | - .\S2E.exe + .\Debug\S2E.exe build_s2e_linux: name: Build on Linux From 7f4afcc1b84add4277a9e3891c97365f3551e6d0 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sun, 21 Jul 2024 14:00:35 +0900 Subject: [PATCH 292/456] Revive shell:bash --- .github/workflows/build.yml | 1 + 1 file changed, 1 insertion(+) diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index 1fe12b28f..19400a55e 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -121,6 +121,7 @@ jobs: cmake --build . - name: fix simulation config + shell: bash working-directory: ./settings run: | find . -type f -name '*.ini' -exec sed -i 's/..\/..\/logs/.\/logs/g' {} \; From 159361f0d0aef5420713ec6aec39a8be52510018 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 22 Jul 2024 18:19:10 +0900 Subject: [PATCH 293/456] Fix ini file name --- scripts/Plot/plot_gs_visibility.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/scripts/Plot/plot_gs_visibility.py b/scripts/Plot/plot_gs_visibility.py index 1cd0ee8cc..ff218a93a 100644 --- a/scripts/Plot/plot_gs_visibility.py +++ b/scripts/Plot/plot_gs_visibility.py @@ -43,7 +43,7 @@ print("log: " + read_file_tag) # Read Gound Station position from the ini file in the logs directory -gs_ini_file_name = path_to_logs + '/' + 'logs_' + read_file_tag + "/sample_ground_station.ini" +gs_ini_file_name = path_to_logs + '/' + 'logs_' + read_file_tag + "/ground_station.ini" configur = ConfigParser(comment_prefixes=('#', ';', '//'), inline_comment_prefixes=('#', ';', '//')) configur.read(gs_ini_file_name) gs_lat_deg = configur.getfloat('GROUND_STATION_0', 'latitude_deg') From e0706c46690b2d9e29a1782470127f9a3e97f84a Mon Sep 17 00:00:00 2001 From: "renovate[bot]" <29139614+renovate[bot]@users.noreply.github.com> Date: Thu, 8 Aug 2024 22:27:36 +0000 Subject: [PATCH 294/456] Update dependency numpy-stl to v3.1.2 --- scripts/Plot/Pipfile | 2 +- scripts/Plot/Pipfile.lock | 248 ++++++++++++++++++++------------------ 2 files changed, 130 insertions(+), 120 deletions(-) diff --git a/scripts/Plot/Pipfile b/scripts/Plot/Pipfile index 38356acf7..4b2737a08 100644 --- a/scripts/Plot/Pipfile +++ b/scripts/Plot/Pipfile @@ -8,7 +8,7 @@ basemap = "==1.4.1" matplotlib = "==3.7.2" numpy = "==1.24.3" pandas = "==2.0.3" -numpy-stl = "==3.0.1" +numpy-stl = "==3.1.2" numpy-quaternion = "==2023.0.4" python-utils = "==3.5.2" diff --git a/scripts/Plot/Pipfile.lock b/scripts/Plot/Pipfile.lock index 7a98a2a8a..426831690 100644 --- a/scripts/Plot/Pipfile.lock +++ b/scripts/Plot/Pipfile.lock @@ -1,7 +1,7 @@ { "_meta": { "hash": { - "sha256": "f4ca1dee72da4042d6b1600578b0e579b9f98edbac9f1bd220a102f936f25c76" + "sha256": "c94693aa0122b4dd9d16b46736bce49f6d7b910a0b1765e86dc1ba5b3274bd8a" }, "pipfile-spec": 6, "requires": { @@ -81,7 +81,6 @@ "sha256:5a1e7645bc0ec61a09e26c36f6106dd4cf40c6db3a1fb6352b0244e7fb057c7b", "sha256:c198e21b1289c2ab85ee4e67bb4b4ef3ead0892059901a8d5b622f24a1101e90" ], - "index": "pypi", "markers": "python_version >= '3.6'", "version": "==2024.7.4" }, @@ -153,51 +152,51 @@ }, "fonttools": { "hashes": [ - "sha256:099634631b9dd271d4a835d2b2a9e042ccc94ecdf7e2dd9f7f34f7daf333358d", - "sha256:0c555e039d268445172b909b1b6bdcba42ada1cf4a60e367d68702e3f87e5f64", - "sha256:1e677bfb2b4bd0e5e99e0f7283e65e47a9814b0486cb64a41adf9ef110e078f2", - "sha256:2367d47816cc9783a28645bc1dac07f8ffc93e0f015e8c9fc674a5b76a6da6e4", - "sha256:28d072169fe8275fb1a0d35e3233f6df36a7e8474e56cb790a7258ad822b6fd6", - "sha256:31f0e3147375002aae30696dd1dc596636abbd22fca09d2e730ecde0baad1d6b", - "sha256:3e0ad3c6ea4bd6a289d958a1eb922767233f00982cf0fe42b177657c86c80a8f", - "sha256:45b4afb069039f0366a43a5d454bc54eea942bfb66b3fc3e9a2c07ef4d617380", - "sha256:4a2a6ba400d386e904fd05db81f73bee0008af37799a7586deaa4aef8cd5971e", - "sha256:4f520d9ac5b938e6494f58a25c77564beca7d0199ecf726e1bd3d56872c59749", - "sha256:52a6e0a7a0bf611c19bc8ec8f7592bdae79c8296c70eb05917fd831354699b20", - "sha256:5a4788036201c908079e89ae3f5399b33bf45b9ea4514913f4dbbe4fac08efe0", - 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"markers": "python_version >= '3.8'", - "version": "==10.3.0" + "version": "==10.4.0" }, "pyparsing": { "hashes": [ From 5ef82688d2ae6edd1b536bee0b4aeee81251dcc0 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sun, 25 Aug 2024 14:02:28 +0900 Subject: [PATCH 295/456] Fix small for formatting --- src/components/real/cdh/on_board_computer_with_c2a.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/components/real/cdh/on_board_computer_with_c2a.hpp b/src/components/real/cdh/on_board_computer_with_c2a.hpp index dc05f6661..c4cde6047 100644 --- a/src/components/real/cdh/on_board_computer_with_c2a.hpp +++ b/src/components/real/cdh/on_board_computer_with_c2a.hpp @@ -8,8 +8,8 @@ #include -#include "on_board_computer.hpp" #include "c2a_communication.h" +#include "on_board_computer.hpp" /* * @class ObcWithC2a From acf63dbbdbdf25d2248e4b88c97b9879eaa26e17 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sun, 25 Aug 2024 14:10:15 +0900 Subject: [PATCH 296/456] Rename .h to .hpp --- .../real/cdh/{c2a_communication.h => c2a_communication.hpp} | 0 src/components/real/cdh/on_board_computer_with_c2a.hpp | 2 +- 2 files changed, 1 insertion(+), 1 deletion(-) rename src/components/real/cdh/{c2a_communication.h => c2a_communication.hpp} (100%) diff --git a/src/components/real/cdh/c2a_communication.h b/src/components/real/cdh/c2a_communication.hpp similarity index 100% rename from src/components/real/cdh/c2a_communication.h rename to src/components/real/cdh/c2a_communication.hpp diff --git a/src/components/real/cdh/on_board_computer_with_c2a.hpp b/src/components/real/cdh/on_board_computer_with_c2a.hpp index c4cde6047..9aa143257 100644 --- a/src/components/real/cdh/on_board_computer_with_c2a.hpp +++ b/src/components/real/cdh/on_board_computer_with_c2a.hpp @@ -8,7 +8,7 @@ #include -#include "c2a_communication.h" +#include "c2a_communication.hpp" #include "on_board_computer.hpp" /* From cfb77ac0b7c382f8fe6ea4fea973bcd30bd71c8f Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sun, 25 Aug 2024 14:29:13 +0900 Subject: [PATCH 297/456] Move egm file to settings --- .../environment/gravity_field}/egm96_to360.ascii | 0 1 file changed, 0 insertions(+), 0 deletions(-) rename {ExtLibraries/GeoPotential => settings/environment/gravity_field}/egm96_to360.ascii (100%) diff --git a/ExtLibraries/GeoPotential/egm96_to360.ascii b/settings/environment/gravity_field/egm96_to360.ascii similarity index 100% rename from ExtLibraries/GeoPotential/egm96_to360.ascii rename to settings/environment/gravity_field/egm96_to360.ascii From b7a375de235c2af86432e42007e42e565a3ceaec Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sun, 25 Aug 2024 14:29:46 +0900 Subject: [PATCH 298/456] Delete GeoPotential CMake --- ExtLibraries/GeoPotential/CMakeLists.txt | 11 ----------- 1 file changed, 11 deletions(-) delete mode 100644 ExtLibraries/GeoPotential/CMakeLists.txt diff --git a/ExtLibraries/GeoPotential/CMakeLists.txt b/ExtLibraries/GeoPotential/CMakeLists.txt deleted file mode 100644 index 037c56652..000000000 --- a/ExtLibraries/GeoPotential/CMakeLists.txt +++ /dev/null @@ -1,11 +0,0 @@ -project(geopotential) - -cmake_minimum_required(VERSION 3.13) - - -set(GEOPOTENTIAL_INSTALL_DIR ${EXT_LIB_DIR}/GeoPotential/) - -## install table -install(FILES ${CMAKE_CURRENT_SOURCE_DIR}/egm96_to360.ascii - DESTINATION ${GEOPOTENTIAL_INSTALL_DIR} -) From 3a96fc9fd4a54ae8540fa92c5610f1dbb4f8121d Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sun, 25 Aug 2024 14:30:23 +0900 Subject: [PATCH 299/456] Remove Geopotential CMake call --- ExtLibraries/CMakeLists.txt | 1 - 1 file changed, 1 deletion(-) diff --git a/ExtLibraries/CMakeLists.txt b/ExtLibraries/CMakeLists.txt index d4b66fba9..062e93ccd 100644 --- a/ExtLibraries/CMakeLists.txt +++ b/ExtLibraries/CMakeLists.txt @@ -23,5 +23,4 @@ message("ExtLibraries install dir: ${EXT_LIB_DIR}") add_subdirectory(nrlmsise00) add_subdirectory(cspice) -add_subdirectory(GeoPotential) add_subdirectory(lunar_gravity_field) From 5fbb92b3b74494659d57e2f835e3c15e7f954937 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sun, 25 Aug 2024 14:41:16 +0900 Subject: [PATCH 300/456] Update download directory for lunar gravity field --- ExtLibraries/lunar_gravity_field/CMakeLists.txt | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/ExtLibraries/lunar_gravity_field/CMakeLists.txt b/ExtLibraries/lunar_gravity_field/CMakeLists.txt index 35a6f92dc..2c5f75c56 100644 --- a/ExtLibraries/lunar_gravity_field/CMakeLists.txt +++ b/ExtLibraries/lunar_gravity_field/CMakeLists.txt @@ -4,7 +4,9 @@ cmake_minimum_required(VERSION 3.18) include(FetchContent) -set(LUNAR_GRAVITY_FIELD_INSTALL_DIR ${EXT_LIB_DIR}/lunar_gravity_field) +set(SETTINGS_DIR "${CMAKE_CURRENT_LIST_DIR}/../../settings/") + +set(LUNAR_GRAVITY_FIELD_INSTALL_DIR ${SETTINGS_DIR}/environment/gravity_field) set(LUNAR_GRAVITY_FIELD_URL_BASE https://pds-geosciences.wustl.edu/grail/grail-l-lgrs-5-rdr-v1/grail_1001/shadr) set(LUNAR_GRAVITY_FIELD_FILE gggrx_1200a_sha.tab) From 076b3378bbfd15e4a1e396c839e2fb2f385ccd79 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sun, 25 Aug 2024 14:43:02 +0900 Subject: [PATCH 301/456] Update default directory path for gravity field settings --- settings/sample_satellite/disturbance.ini | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/settings/sample_satellite/disturbance.ini b/settings/sample_satellite/disturbance.ini index 21bb68c1f..06564e503 100644 --- a/settings/sample_satellite/disturbance.ini +++ b/settings/sample_satellite/disturbance.ini @@ -3,14 +3,14 @@ calculation = DISABLE logging = ENABLE degree = 4 -coefficients_file_path = EXT_LIB_DIR_FROM_EXE/GeoPotential/egm96_to360.ascii +coefficients_file_path = INI_FILE_DIR_FROM_EXE/environment/gravity_field/egm96_to360.ascii [LUNAR_GRAVITY_FIELD] // Enable only when the center object is defined as the Moon calculation = DISABLE logging = ENABLE degree = 10 -coefficients_file_path = EXT_LIB_DIR_FROM_EXE/LunarGravityField/gggrx_1200a_sha.tab +coefficients_file_path = INI_FILE_DIR_FROM_EXE/environment/gravity_field/gggrx_1200a_sha.tab [MAGNETIC_DISTURBANCE] From d2ae413e9a26df24c885278f5a2b249388144fa5 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sun, 25 Aug 2024 14:52:41 +0900 Subject: [PATCH 302/456] Move IGRF coeff files to settings --- .../environment/magnetic_field}/igrf11.coef | 0 .../environment/magnetic_field}/igrf12.coef | 0 .../environment/magnetic_field}/igrf13.coef | 0 3 files changed, 0 insertions(+), 0 deletions(-) rename {src/math_physics/geomagnetic => settings/environment/magnetic_field}/igrf11.coef (100%) rename {src/math_physics/geomagnetic => settings/environment/magnetic_field}/igrf12.coef (100%) rename {src/math_physics/geomagnetic => settings/environment/magnetic_field}/igrf13.coef (100%) diff --git a/src/math_physics/geomagnetic/igrf11.coef b/settings/environment/magnetic_field/igrf11.coef similarity index 100% rename from src/math_physics/geomagnetic/igrf11.coef rename to settings/environment/magnetic_field/igrf11.coef diff --git a/src/math_physics/geomagnetic/igrf12.coef b/settings/environment/magnetic_field/igrf12.coef similarity index 100% rename from src/math_physics/geomagnetic/igrf12.coef rename to settings/environment/magnetic_field/igrf12.coef diff --git a/src/math_physics/geomagnetic/igrf13.coef b/settings/environment/magnetic_field/igrf13.coef similarity index 100% rename from src/math_physics/geomagnetic/igrf13.coef rename to settings/environment/magnetic_field/igrf13.coef From a195423506eee9061e0d17a53fd54ccb1c6af7f6 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sun, 25 Aug 2024 14:56:06 +0900 Subject: [PATCH 303/456] Update directory path to the IGRF coefficient --- settings/sample_satellite/local_environment.ini | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/settings/sample_satellite/local_environment.ini b/settings/sample_satellite/local_environment.ini index bcd67e73c..0da4954c5 100644 --- a/settings/sample_satellite/local_environment.ini +++ b/settings/sample_satellite/local_environment.ini @@ -1,7 +1,7 @@ [MAGNETIC_FIELD_ENVIRONMENT] calculation = ENABLE logging = ENABLE -coefficient_file = CORE_DIR_FROM_EXE/src/math_physics/geomagnetic/igrf13.coef +coefficient_file = INI_FILE_DIR_FROM_EXE/environment/magnetic_field/igrf13.coef magnetic_field_random_walk_standard_deviation_nT = 10.0 magnetic_field_random_walk_limit_nT = 400.0 magnetic_field_white_noise_standard_deviation_nT = 50.0 From 7da0c37c67fe5a0299a9fca1e6591c88cb665874 Mon Sep 17 00:00:00 2001 From: "renovate[bot]" <29139614+renovate[bot]@users.noreply.github.com> Date: Sun, 25 Aug 2024 05:56:40 +0000 Subject: [PATCH 304/456] Update actions/setup-python action to v5.1.1 --- .github/workflows/build.yml | 2 +- .github/workflows/validate-scripts.yml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index 9bb75dab4..abfda2024 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -239,7 +239,7 @@ jobs: ver=$(grep python_version ./Pipfile | sed -e 's/^python_version\s=\s"\(.*\)"$/\1/') echo "version=$ver" >> "$GITHUB_OUTPUT" - - uses: actions/setup-python@v5.1.0 + - uses: actions/setup-python@v5.1.1 with: python-version: ${{ steps.python-version.outputs.version }} diff --git a/.github/workflows/validate-scripts.yml b/.github/workflows/validate-scripts.yml index 899eca69a..b8a576ad5 100644 --- a/.github/workflows/validate-scripts.yml +++ b/.github/workflows/validate-scripts.yml @@ -28,7 +28,7 @@ jobs: ver=$(grep python_version ./Pipfile | sed -e 's/^python_version\s=\s"\(.*\)"$/\1/') echo "version=${ver}" >> "$GITHUB_OUTPUT" - - uses: actions/setup-python@v5.1.0 + - uses: actions/setup-python@v5.1.1 with: python-version: ${{ steps.python-version.outputs.version }} From f68bf7e74974d6ad9a52ebb547299eac894c9c01 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sun, 25 Aug 2024 15:09:29 +0900 Subject: [PATCH 305/456] Add space wheather directory --- settings/environment/space_wheather/.gitkeep | 0 1 file changed, 0 insertions(+), 0 deletions(-) create mode 100644 settings/environment/space_wheather/.gitkeep diff --git a/settings/environment/space_wheather/.gitkeep b/settings/environment/space_wheather/.gitkeep new file mode 100644 index 000000000..e69de29bb From f8ebcd9018962b6e0c78b49fa59f858595df54eb Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sun, 25 Aug 2024 15:17:59 +0900 Subject: [PATCH 306/456] Modify nrlmsise CMake --- ExtLibraries/nrlmsise00/CMakeLists.txt | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/ExtLibraries/nrlmsise00/CMakeLists.txt b/ExtLibraries/nrlmsise00/CMakeLists.txt index 3d683c47a..fbf798d7a 100644 --- a/ExtLibraries/nrlmsise00/CMakeLists.txt +++ b/ExtLibraries/nrlmsise00/CMakeLists.txt @@ -5,7 +5,10 @@ cmake_minimum_required(VERSION 3.18) include(ExternalProject) include(FetchContent) +set(SETTINGS_DIR "${CMAKE_CURRENT_LIST_DIR}/../../settings/") + set(NRLMSISE_INSTALL_DIR ${EXT_LIB_DIR}/nrlmsise00) +set(TABLE_FILE_INSTALL_DIR ${SETTINGS_DIR}/environment/space_wheather) set(NRLMSISE_TABLE_URL_BASE ftp://ftp.agi.com/pub/DynamicEarthData) set(NRLMSISE_TABLE_FILE SpaceWeather-v1.2.txt) @@ -90,5 +93,5 @@ install(FILES ${NRLMSISE_TMP_DIR}/nrlmsise-00_data.c ## install table install(FILES ${NRLMSISE_TMP_DIR}/${NRLMSISE_TABLE_FILE} - DESTINATION ${NRLMSISE_INSTALL_DIR}/table + DESTINATION ${TABLE_FILE_INSTALL_DIR} ) From 31c420f09ccc0ea27fce2753a314829d8893b901 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sun, 25 Aug 2024 15:23:15 +0900 Subject: [PATCH 307/456] Update directory path for space wheather --- settings/sample_satellite/local_environment.ini | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/settings/sample_satellite/local_environment.ini b/settings/sample_satellite/local_environment.ini index bcd67e73c..0183ecc65 100644 --- a/settings/sample_satellite/local_environment.ini +++ b/settings/sample_satellite/local_environment.ini @@ -26,7 +26,7 @@ logging = ENABLE // NRLMSISE00: NRLMSISE00 model // HARRIS_PRIESTER: Harris-Priester model model = STANDARD -nrlmsise00_table_file = EXT_LIB_DIR_FROM_EXE/nrlmsise00/table/SpaceWeather-v1.2.txt +nrlmsise00_table_file = INI_FILE_DIR_FROM_EXE/environment/space_wheather/SpaceWeather-v1.2.txt // Whether using user-defined f10.7 and ap value // Ref of f10.7: https://www.swpc.noaa.gov/phenomena/f107-cm-radio-emissions // Ref of ap: http://wdc.kugi.kyoto-u.ac.jp/kp/kpexp-j.html From 4ce4458f4ba98684e8ff74d56103cc4cd281e071 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sun, 25 Aug 2024 15:27:36 +0900 Subject: [PATCH 308/456] Fix typo --- ExtLibraries/nrlmsise00/CMakeLists.txt | 2 +- settings/environment/{space_wheather => space_weather}/.gitkeep | 0 settings/sample_satellite/local_environment.ini | 2 +- 3 files changed, 2 insertions(+), 2 deletions(-) rename settings/environment/{space_wheather => space_weather}/.gitkeep (100%) diff --git a/ExtLibraries/nrlmsise00/CMakeLists.txt b/ExtLibraries/nrlmsise00/CMakeLists.txt index fbf798d7a..cb256c8d2 100644 --- a/ExtLibraries/nrlmsise00/CMakeLists.txt +++ b/ExtLibraries/nrlmsise00/CMakeLists.txt @@ -8,7 +8,7 @@ include(FetchContent) set(SETTINGS_DIR "${CMAKE_CURRENT_LIST_DIR}/../../settings/") set(NRLMSISE_INSTALL_DIR ${EXT_LIB_DIR}/nrlmsise00) -set(TABLE_FILE_INSTALL_DIR ${SETTINGS_DIR}/environment/space_wheather) +set(TABLE_FILE_INSTALL_DIR ${SETTINGS_DIR}/environment/space_weather) set(NRLMSISE_TABLE_URL_BASE ftp://ftp.agi.com/pub/DynamicEarthData) set(NRLMSISE_TABLE_FILE SpaceWeather-v1.2.txt) diff --git a/settings/environment/space_wheather/.gitkeep b/settings/environment/space_weather/.gitkeep similarity index 100% rename from settings/environment/space_wheather/.gitkeep rename to settings/environment/space_weather/.gitkeep diff --git a/settings/sample_satellite/local_environment.ini b/settings/sample_satellite/local_environment.ini index 0183ecc65..45ef6a452 100644 --- a/settings/sample_satellite/local_environment.ini +++ b/settings/sample_satellite/local_environment.ini @@ -26,7 +26,7 @@ logging = ENABLE // NRLMSISE00: NRLMSISE00 model // HARRIS_PRIESTER: Harris-Priester model model = STANDARD -nrlmsise00_table_file = INI_FILE_DIR_FROM_EXE/environment/space_wheather/SpaceWeather-v1.2.txt +nrlmsise00_table_file = INI_FILE_DIR_FROM_EXE/environment/space_weather/SpaceWeather-v1.2.txt // Whether using user-defined f10.7 and ap value // Ref of f10.7: https://www.swpc.noaa.gov/phenomena/f107-cm-radio-emissions // Ref of ap: http://wdc.kugi.kyoto-u.ac.jp/kp/kpexp-j.html From c9e52a2f390e397a46e21f314fdc8236e778bcca Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sun, 25 Aug 2024 15:37:48 +0900 Subject: [PATCH 309/456] Fix CI --- .github/workflows/build.yml | 2 -- .github/workflows/google-test.yml | 1 - 2 files changed, 3 deletions(-) diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index 19400a55e..a72318e07 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -99,7 +99,6 @@ jobs: ls cspice/include ls cspice/generic_kernels ls nrlmsise00 - ls nrlmsise00/table ls nrlmsise00/lib* ls nrlmsise00/lib*/libnrlmsise00.lib ls nrlmsise00/src @@ -198,7 +197,6 @@ jobs: ls cspice/include ls cspice/generic_kernels ls nrlmsise00 - ls nrlmsise00/table ls nrlmsise00/lib* ls nrlmsise00/lib*/libnrlmsise00.a ls nrlmsise00/src diff --git a/.github/workflows/google-test.yml b/.github/workflows/google-test.yml index 5fd93f89d..aa36bc177 100644 --- a/.github/workflows/google-test.yml +++ b/.github/workflows/google-test.yml @@ -85,7 +85,6 @@ jobs: ls cspice/include ls cspice/generic_kernels ls nrlmsise00 - ls nrlmsise00/table ls nrlmsise00/lib* ls nrlmsise00/lib*/libnrlmsise00.a ls nrlmsise00/src From 7da59874ffeda36ae3c91b9c8e5e18ba9052b92c Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sun, 25 Aug 2024 16:03:44 +0900 Subject: [PATCH 310/456] Add cspice directory in settings/environment --- settings/environment/cspice/.gitkeep | 0 1 file changed, 0 insertions(+), 0 deletions(-) create mode 100644 settings/environment/cspice/.gitkeep diff --git a/settings/environment/cspice/.gitkeep b/settings/environment/cspice/.gitkeep new file mode 100644 index 000000000..e69de29bb From d7aa8efa08f55f4b2ee2b02a77701c3505a5fe09 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sun, 25 Aug 2024 16:15:36 +0900 Subject: [PATCH 311/456] Update generic kernel storing directory --- ExtLibraries/cspice/CMakeLists.txt | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/ExtLibraries/cspice/CMakeLists.txt b/ExtLibraries/cspice/CMakeLists.txt index 43b879ee9..570dbb844 100644 --- a/ExtLibraries/cspice/CMakeLists.txt +++ b/ExtLibraries/cspice/CMakeLists.txt @@ -8,6 +8,9 @@ include(FetchContent) set(CSPICE_INSTALL_DIR ${EXT_LIB_DIR}/cspice) set(GENERIC_KERNEL_URL_BASE https://naif.jpl.nasa.gov/pub/naif/generic_kernels) +set(SETTINGS_DIR "${CMAKE_CURRENT_LIST_DIR}/../../settings/") +set(GENERIC_KERNEL_INSTALL_DIR ${SETTINGS_DIR}/environment/cspice) + if(WIN32) # Windows if(BUILD_64BIT) @@ -118,5 +121,5 @@ configure_file( ) install(DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/generic_kernels - DESTINATION ${CSPICE_INSTALL_DIR} + DESTINATION ${GENERIC_KERNEL_INSTALL_DIR} ) From 4cc78bf43958c1e56d6204350d6593e3f923b26a Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sun, 25 Aug 2024 16:18:12 +0900 Subject: [PATCH 312/456] Update directory path for CSPICE kernels --- settings/sample_simulation_base.ini | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/settings/sample_simulation_base.ini b/settings/sample_simulation_base.ini index 4ebf15089..aa7a914d0 100644 --- a/settings/sample_simulation_base.ini +++ b/settings/sample_simulation_base.ini @@ -115,11 +115,11 @@ rotation_mode(10) = DISABLE [CSPICE_KERNELS] // CSPICE Kernel files definition -tls = EXT_LIB_DIR_FROM_EXE/cspice/generic_kernels/lsk/naif0010.tls -tpc1 = EXT_LIB_DIR_FROM_EXE/cspice/generic_kernels/pck/de-403-masses.tpc -tpc2 = EXT_LIB_DIR_FROM_EXE/cspice/generic_kernels/pck/gm_de431.tpc -tpc3 = EXT_LIB_DIR_FROM_EXE/cspice/generic_kernels/pck/pck00010.tpc -bsp = EXT_LIB_DIR_FROM_EXE/cspice/generic_kernels/spk/planets/de430.bsp +tls = INI_FILE_DIR_FROM_EXE/environment/cspice/generic_kernels/lsk/naif0010.tls +tpc1 = INI_FILE_DIR_FROM_EXE/environment/cspice/generic_kernels/pck/de-403-masses.tpc +tpc2 = INI_FILE_DIR_FROM_EXE/environment/cspice/generic_kernels/pck/gm_de431.tpc +tpc3 = INI_FILE_DIR_FROM_EXE/environment/cspice/generic_kernels/pck/pck00010.tpc +bsp = INI_FILE_DIR_FROM_EXE/environment/cspice/generic_kernels/spk/planets/de430.bsp [HIPPARCOS_CATALOGUE] From 08f4628e1c086a8ce75ab434d16fdf27c950afe7 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sun, 25 Aug 2024 16:29:11 +0900 Subject: [PATCH 313/456] Add star catalogue directory --- settings/environment/star_catalogue/.gitkeep | 0 1 file changed, 0 insertions(+), 0 deletions(-) create mode 100644 settings/environment/star_catalogue/.gitkeep diff --git a/settings/environment/star_catalogue/.gitkeep b/settings/environment/star_catalogue/.gitkeep new file mode 100644 index 000000000..e69de29bb From 5ebaedfe06baa40f1937c866294d41f6c581e277 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sun, 25 Aug 2024 16:32:47 +0900 Subject: [PATCH 314/456] Fix hip catalogue download directory --- scripts/Common/download_HIPcatalogue.sh | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/scripts/Common/download_HIPcatalogue.sh b/scripts/Common/download_HIPcatalogue.sh index 84f5f00ed..8afea5f12 100755 --- a/scripts/Common/download_HIPcatalogue.sh +++ b/scripts/Common/download_HIPcatalogue.sh @@ -2,8 +2,8 @@ cd `dirname $0` #set variables -DIR_TMP=../../../ExtLibraries/tmp_hipcatalogue/ -DIR_HIPCATALOGUE=../../../ExtLibraries/HipparcosCatalogue/ +DIR_TMP=./tmp_hipcatalogue/ +DIR_HIPCATALOGUE=../../settings/environment/star_catalogue/ mkdir -p $DIR_TMP mkdir -p $DIR_HIPCATALOGUE From 817965ace0ecd7d8676ea3f0da40a4ef45e132c1 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sun, 25 Aug 2024 16:34:55 +0900 Subject: [PATCH 315/456] Update directory path to the hip catalogue --- settings/sample_simulation_base.ini | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/settings/sample_simulation_base.ini b/settings/sample_simulation_base.ini index 4ebf15089..2027cfb2c 100644 --- a/settings/sample_simulation_base.ini +++ b/settings/sample_simulation_base.ini @@ -123,7 +123,7 @@ bsp = EXT_LIB_DIR_FROM_EXE/cspice/generic_kernels/spk/planets/de430.bsp [HIPPARCOS_CATALOGUE] -catalogue_file_path = EXT_LIB_DIR_FROM_EXE/HipparcosCatalogue/hip_main.csv +catalogue_file_path = INI_FILE_DIR_FROM_EXE/environment/star_catalogue/hip_main.csv max_magnitude = 3.0 // Max magnitude to read from Hip catalog calculation = DISABLE logging = DISABLE From 4804ab6b3699b27fcd62bfc9c7ab3bc58d4af4c3 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sun, 25 Aug 2024 17:10:51 +0900 Subject: [PATCH 316/456] Fix to path reviewdog --- .github/workflows/build.yml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index abfda2024..cb1e39408 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -149,8 +149,8 @@ jobs: run: | COMPILER="${{ matrix.compiler }}" read -r -a COMPILER <<< "$COMPILER" - echo "::set-output name=CC::${COMPILER[0]}" - echo "::set-output name=CXX::${COMPILER[1]}" + echo "CC=${COMPILER[0]}" >> "$GITHUB_OUTPUT" + echo "CXX=${COMPILER[1]}" >> "$GITHUB_OUTPUT" - name: install deps run: | From 254cd7806b911c843434c8c8672d18651aaa2507 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sun, 25 Aug 2024 22:35:06 +0900 Subject: [PATCH 317/456] Add gitignore for new setting files --- .gitignore | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/.gitignore b/.gitignore index 956b6a2bf..f88fd866e 100644 --- a/.gitignore +++ b/.gitignore @@ -34,3 +34,9 @@ Icon # Python __pycache__/ + +# Setting files +settings/environment/cspice +settings/environment/space_weather +settings/environment/gravity_field +settings/environment/star_catalogue From e8646bfeebbe9562f1456808d29350b7ff2a83f7 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sun, 25 Aug 2024 22:41:26 +0900 Subject: [PATCH 318/456] Rename INI_FILE_DIR_FROM_EXE to SETTINGS_DIR_FROM_EXE --- CMakeLists.txt | 4 +- common.cmake | 2 +- settings/environment/sample_gnss.ini | 2 +- .../components/ground_station_antenna.ini | 4 +- .../sample_ground_station/ground_station.ini | 4 +- .../components/reaction_wheel.ini | 4 +- .../components/spacecraft_antenna.ini | 4 +- .../wings_command_sender_to_c2a.ini | 4 +- settings/sample_satellite/disturbance.ini | 4 +- .../sample_satellite/local_environment.ini | 4 +- settings/sample_satellite/satellite.ini | 40 +++++++++---------- settings/sample_simulation_base.ini | 18 ++++----- src/s2e.cpp | 2 +- .../initialize_file_access.cpp | 4 +- 14 files changed, 50 insertions(+), 50 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 5eb89eb14..0810da767 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -41,8 +41,8 @@ if(NOT DEFINED C2A_NAME) endif() ## Directory path for ini files -if(NOT DEFINED INI_FILE_DIR_FROM_EXE) - set(INI_FILE_DIR_FROM_EXE ../../settings) +if(NOT DEFINED SETTINGS_DIR_FROM_EXE) + set(SETTINGS_DIR_FROM_EXE ../../settings) endif() if(NOT DEFINED EXT_LIB_DIR_FROM_EXE) diff --git a/common.cmake b/common.cmake index fcc983a70..84163c86a 100644 --- a/common.cmake +++ b/common.cmake @@ -8,7 +8,7 @@ target_include_directories(${PROJECT_NAME} PUBLIC ${S2E_DIR}/src) target_include_directories(${PROJECT_NAME} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}) # Directory path setting -target_compile_definitions(${PROJECT_NAME} PRIVATE "INI_FILE_DIR_FROM_EXE=\"${INI_FILE_DIR_FROM_EXE}\"") +target_compile_definitions(${PROJECT_NAME} PRIVATE "SETTINGS_DIR_FROM_EXE=\"${SETTINGS_DIR_FROM_EXE}\"") target_compile_definitions(${PROJECT_NAME} PRIVATE "EXT_LIB_DIR_FROM_EXE=\"${EXT_LIB_DIR_FROM_EXE}\"") target_compile_definitions(${PROJECT_NAME} PRIVATE "CORE_DIR_FROM_EXE=\"${CORE_DIR_FROM_EXE}\"") diff --git a/settings/environment/sample_gnss.ini b/settings/environment/sample_gnss.ini index 35ab917bf..875e031cf 100644 --- a/settings/environment/sample_gnss.ini +++ b/settings/environment/sample_gnss.ini @@ -1,5 +1,5 @@ [GNSS_SATELLITES] -directory_path = INI_FILE_DIR_FROM_EXE/environment/gnss/final_products/ +directory_path = SETTINGS_DIR_FROM_EXE/environment/gnss/final_products/ calculation = DISABLE logging = DISABLE diff --git a/settings/sample_ground_station/components/ground_station_antenna.ini b/settings/sample_ground_station/components/ground_station_antenna.ini index c016b3365..efba3beae 100644 --- a/settings/sample_ground_station/components/ground_station_antenna.ini +++ b/settings/sample_ground_station/components/ground_station_antenna.ini @@ -37,7 +37,7 @@ tx_antenna_gain_model = ISOTROPIC tx_gain_dBi = 12.0 // Antenna radiation pattern CSV file path -tx_antenna_radiation_pattern_file = INI_FILE_DIR_FROM_EXE/components/antenna_radiation_pattern_csv_files/sample_antenna_radiation_pattern.csv +tx_antenna_radiation_pattern_file = SETTINGS_DIR_FROM_EXE/components/antenna_radiation_pattern_csv_files/sample_antenna_radiation_pattern.csv // General information of the CSV file tx_length_theta = 360 tx_length_phi = 181 @@ -65,7 +65,7 @@ rx_antenna_gain_model = ISOTROPIC rx_gain_dBi = 43.27 // Antenna radiation pattern CSV file path -rx_antenna_radiation_pattern_file = INI_FILE_DIR_FROM_EXE/sample_ground_station/components/antenna_radiation_pattern_csv_files/sample_antenna_radiation_pattern.csv +rx_antenna_radiation_pattern_file = SETTINGS_DIR_FROM_EXE/sample_ground_station/components/antenna_radiation_pattern_csv_files/sample_antenna_radiation_pattern.csv // General information of the CSV file rx_length_theta = 360 rx_length_phi = 181 diff --git a/settings/sample_ground_station/ground_station.ini b/settings/sample_ground_station/ground_station.ini index a44fa2f4b..d4b20b69e 100644 --- a/settings/sample_ground_station/ground_station.ini +++ b/settings/sample_ground_station/ground_station.ini @@ -8,5 +8,5 @@ height_m = 3.4 elevation_limit_angle_deg = 5.0 [COMPONENT_FILES] -ground_station_antenna_file = INI_FILE_DIR_FROM_EXE/sample_ground_station/components/ground_station_antenna.ini -ground_station_calculator_file = INI_FILE_DIR_FROM_EXE/sample_ground_station/components/ground_station_calculator.ini +ground_station_antenna_file = SETTINGS_DIR_FROM_EXE/sample_ground_station/components/ground_station_antenna.ini +ground_station_calculator_file = SETTINGS_DIR_FROM_EXE/sample_ground_station/components/ground_station_calculator.ini diff --git a/settings/sample_satellite/components/reaction_wheel.ini b/settings/sample_satellite/components/reaction_wheel.ini index 0aa5a33f1..25c687e00 100644 --- a/settings/sample_satellite/components/reaction_wheel.ini +++ b/settings/sample_satellite/components/reaction_wheel.ini @@ -56,8 +56,8 @@ jitter_logging = DISABLE // prescaler for calculation of RW jitter // To calculate the jitter, set the update cycle to about 0.1 ms. fast_prescaler = 1 -radial_force_harmonics_coefficient_file = INI_FILE_DIR_FROM_EXE/sample_satellite/components/rw_disturbance_csv_files/radial_force_harmonics_coefficients.csv -radial_torque_harmonics_coefficient_file = INI_FILE_DIR_FROM_EXE/sample_satellite/components/rw_disturbance_csv_files/radial_torque_harmonics_coefficients.csv +radial_force_harmonics_coefficient_file = SETTINGS_DIR_FROM_EXE/sample_satellite/components/rw_disturbance_csv_files/radial_force_harmonics_coefficients.csv +radial_torque_harmonics_coefficient_file = SETTINGS_DIR_FROM_EXE/sample_satellite/components/rw_disturbance_csv_files/radial_torque_harmonics_coefficients.csv harmonics_degree = 12 considers_structural_resonance = DISABLE structural_resonance_frequency_Hz = 585.0 //[Hz] diff --git a/settings/sample_satellite/components/spacecraft_antenna.ini b/settings/sample_satellite/components/spacecraft_antenna.ini index 8f57eaf70..4464043ba 100644 --- a/settings/sample_satellite/components/spacecraft_antenna.ini +++ b/settings/sample_satellite/components/spacecraft_antenna.ini @@ -37,7 +37,7 @@ tx_antenna_gain_model = RADIATION_PATTERN_CSV tx_gain_dBi = 8.0 // Antenna radiation pattern CSV file path -tx_antenna_radiation_pattern_file = INI_FILE_DIR_FROM_EXE/sample_satellite/components/antenna_radiation_pattern_csv_files/sample_antenna_radiation_pattern.csv +tx_antenna_radiation_pattern_file = SETTINGS_DIR_FROM_EXE/sample_satellite/components/antenna_radiation_pattern_csv_files/sample_antenna_radiation_pattern.csv // General information of the CSV file tx_length_theta = 360 tx_length_phi = 181 @@ -65,7 +65,7 @@ rx_antenna_gain_model = RADIATION_PATTERN_CSV rx_gain_dBi = 43.27 // Antenna radiation pattern CSV file path -rx_antenna_radiation_pattern_file = INI_FILE_DIR_FROM_EXE/sample_satellite/components/antenna_radiation_pattern_csv_files/sample_antenna_radiation_pattern.csv +rx_antenna_radiation_pattern_file = SETTINGS_DIR_FROM_EXE/sample_satellite/components/antenna_radiation_pattern_csv_files/sample_antenna_radiation_pattern.csv // General information of the CSV file rx_length_theta = 360 rx_length_phi = 181 diff --git a/settings/sample_satellite/components/wings_command_sender_to_c2a/wings_command_sender_to_c2a.ini b/settings/sample_satellite/components/wings_command_sender_to_c2a/wings_command_sender_to_c2a.ini index 456a9e6f2..99aedf387 100644 --- a/settings/sample_satellite/components/wings_command_sender_to_c2a/wings_command_sender_to_c2a.ini +++ b/settings/sample_satellite/components/wings_command_sender_to_c2a/wings_command_sender_to_c2a.ini @@ -1,5 +1,5 @@ [WINGS_COMMAND_SENDER_TO_C2A] command_send_enable = ENABLE prescaler = 1 -c2a_command_database_file = INI_FILE_DIR_FROM_EXE/sample_satellite/components/wings_command_sender_to_c2a/SAMPLE_MOBC_CMD_DB_CMD_DB.csv -wings_operation_file = INI_FILE_DIR_FROM_EXE/sample_satellite/components/wings_command_sender_to_c2a/example.ops +c2a_command_database_file = SETTINGS_DIR_FROM_EXE/sample_satellite/components/wings_command_sender_to_c2a/SAMPLE_MOBC_CMD_DB_CMD_DB.csv +wings_operation_file = SETTINGS_DIR_FROM_EXE/sample_satellite/components/wings_command_sender_to_c2a/example.ops diff --git a/settings/sample_satellite/disturbance.ini b/settings/sample_satellite/disturbance.ini index 06564e503..0c98d04e2 100644 --- a/settings/sample_satellite/disturbance.ini +++ b/settings/sample_satellite/disturbance.ini @@ -3,14 +3,14 @@ calculation = DISABLE logging = ENABLE degree = 4 -coefficients_file_path = INI_FILE_DIR_FROM_EXE/environment/gravity_field/egm96_to360.ascii +coefficients_file_path = SETTINGS_DIR_FROM_EXE/environment/gravity_field/egm96_to360.ascii [LUNAR_GRAVITY_FIELD] // Enable only when the center object is defined as the Moon calculation = DISABLE logging = ENABLE degree = 10 -coefficients_file_path = INI_FILE_DIR_FROM_EXE/environment/gravity_field/gggrx_1200a_sha.tab +coefficients_file_path = SETTINGS_DIR_FROM_EXE/environment/gravity_field/gggrx_1200a_sha.tab [MAGNETIC_DISTURBANCE] diff --git a/settings/sample_satellite/local_environment.ini b/settings/sample_satellite/local_environment.ini index 69929e7a7..fe0da8b26 100644 --- a/settings/sample_satellite/local_environment.ini +++ b/settings/sample_satellite/local_environment.ini @@ -1,7 +1,7 @@ [MAGNETIC_FIELD_ENVIRONMENT] calculation = ENABLE logging = ENABLE -coefficient_file = INI_FILE_DIR_FROM_EXE/environment/magnetic_field/igrf13.coef +coefficient_file = SETTINGS_DIR_FROM_EXE/environment/magnetic_field/igrf13.coef magnetic_field_random_walk_standard_deviation_nT = 10.0 magnetic_field_random_walk_limit_nT = 400.0 magnetic_field_white_noise_standard_deviation_nT = 50.0 @@ -26,7 +26,7 @@ logging = ENABLE // NRLMSISE00: NRLMSISE00 model // HARRIS_PRIESTER: Harris-Priester model model = STANDARD -nrlmsise00_table_file = INI_FILE_DIR_FROM_EXE/environment/space_weather/SpaceWeather-v1.2.txt +nrlmsise00_table_file = SETTINGS_DIR_FROM_EXE/environment/space_weather/SpaceWeather-v1.2.txt // Whether using user-defined f10.7 and ap value // Ref of f10.7: https://www.swpc.noaa.gov/phenomena/f107-cm-radio-emissions // Ref of ap: http://wdc.kugi.kyoto-u.ac.jp/kp/kpexp-j.html diff --git a/settings/sample_satellite/satellite.ini b/settings/sample_satellite/satellite.ini index 913947ca2..1c0677570 100644 --- a/settings/sample_satellite/satellite.ini +++ b/settings/sample_satellite/satellite.ini @@ -128,27 +128,27 @@ error_tolerance = 0.0001 calculation = DISABLE debug = DISABLE solar_calc_setting = DISABLE -thermal_file_directory = INI_FILE_DIR_FROM_EXE/sample_satellite/thermal_csv_files/ +thermal_file_directory = SETTINGS_DIR_FROM_EXE/sample_satellite/thermal_csv_files/ [SETTING_FILES] -local_environment_file = INI_FILE_DIR_FROM_EXE/sample_satellite/local_environment.ini -disturbance_file = INI_FILE_DIR_FROM_EXE/sample_satellite/disturbance.ini -structure_file = INI_FILE_DIR_FROM_EXE/sample_satellite/structure.ini +local_environment_file = SETTINGS_DIR_FROM_EXE/sample_satellite/local_environment.ini +disturbance_file = SETTINGS_DIR_FROM_EXE/sample_satellite/disturbance.ini +structure_file = SETTINGS_DIR_FROM_EXE/sample_satellite/structure.ini [COMPONENT_FILES] -gyro_file = INI_FILE_DIR_FROM_EXE/sample_satellite/components/gyro_sensor.ini -magnetometer_file = INI_FILE_DIR_FROM_EXE/sample_satellite/components/magnetometer.ini -stt_file = INI_FILE_DIR_FROM_EXE/sample_satellite/components/star_sensor.ini -ss_file = INI_FILE_DIR_FROM_EXE/sample_satellite/components/sun_sensor.ini -gnss_file = INI_FILE_DIR_FROM_EXE/sample_satellite/components/gnss_receiver.ini -magnetorquer_file = INI_FILE_DIR_FROM_EXE/sample_satellite/components/magnetorquer.ini -rw_file = INI_FILE_DIR_FROM_EXE/sample_satellite/components/reaction_wheel.ini -thruster_file = INI_FILE_DIR_FROM_EXE/sample_satellite/components/thruster.ini -force_generator_file = INI_FILE_DIR_FROM_EXE/sample_satellite/components/force_generator.ini -torque_generator_file = INI_FILE_DIR_FROM_EXE/sample_satellite/components/torque_generator.ini -angular_velocity_observer_file = INI_FILE_DIR_FROM_EXE/sample_satellite/components/angular_velocity_observer.ini -attitude_observer_file = INI_FILE_DIR_FROM_EXE/sample_satellite/components/attitude_observer.ini -orbit_observer_file = INI_FILE_DIR_FROM_EXE/sample_satellite/components/orbit_observer.ini -antenna_file = INI_FILE_DIR_FROM_EXE/sample_satellite/components/spacecraft_antenna.ini -component_interference_file = INI_FILE_DIR_FROM_EXE/sample_satellite/components/component_interference.ini -telescope_file = INI_FILE_DIR_FROM_EXE/sample_satellite/components/telescope.ini +gyro_file = SETTINGS_DIR_FROM_EXE/sample_satellite/components/gyro_sensor.ini +magnetometer_file = SETTINGS_DIR_FROM_EXE/sample_satellite/components/magnetometer.ini +stt_file = SETTINGS_DIR_FROM_EXE/sample_satellite/components/star_sensor.ini +ss_file = SETTINGS_DIR_FROM_EXE/sample_satellite/components/sun_sensor.ini +gnss_file = SETTINGS_DIR_FROM_EXE/sample_satellite/components/gnss_receiver.ini +magnetorquer_file = SETTINGS_DIR_FROM_EXE/sample_satellite/components/magnetorquer.ini +rw_file = SETTINGS_DIR_FROM_EXE/sample_satellite/components/reaction_wheel.ini +thruster_file = SETTINGS_DIR_FROM_EXE/sample_satellite/components/thruster.ini +force_generator_file = SETTINGS_DIR_FROM_EXE/sample_satellite/components/force_generator.ini +torque_generator_file = SETTINGS_DIR_FROM_EXE/sample_satellite/components/torque_generator.ini +angular_velocity_observer_file = SETTINGS_DIR_FROM_EXE/sample_satellite/components/angular_velocity_observer.ini +attitude_observer_file = SETTINGS_DIR_FROM_EXE/sample_satellite/components/attitude_observer.ini +orbit_observer_file = SETTINGS_DIR_FROM_EXE/sample_satellite/components/orbit_observer.ini +antenna_file = SETTINGS_DIR_FROM_EXE/sample_satellite/components/spacecraft_antenna.ini +component_interference_file = SETTINGS_DIR_FROM_EXE/sample_satellite/components/component_interference.ini +telescope_file = SETTINGS_DIR_FROM_EXE/sample_satellite/components/telescope.ini diff --git a/settings/sample_simulation_base.ini b/settings/sample_simulation_base.ini index bf66c7ab4..891544bd6 100644 --- a/settings/sample_simulation_base.ini +++ b/settings/sample_simulation_base.ini @@ -115,15 +115,15 @@ rotation_mode(10) = DISABLE [CSPICE_KERNELS] // CSPICE Kernel files definition -tls = INI_FILE_DIR_FROM_EXE/environment/cspice/generic_kernels/lsk/naif0010.tls -tpc1 = INI_FILE_DIR_FROM_EXE/environment/cspice/generic_kernels/pck/de-403-masses.tpc -tpc2 = INI_FILE_DIR_FROM_EXE/environment/cspice/generic_kernels/pck/gm_de431.tpc -tpc3 = INI_FILE_DIR_FROM_EXE/environment/cspice/generic_kernels/pck/pck00010.tpc -bsp = INI_FILE_DIR_FROM_EXE/environment/cspice/generic_kernels/spk/planets/de430.bsp +tls = SETTINGS_DIR_FROM_EXE/environment/cspice/generic_kernels/lsk/naif0010.tls +tpc1 = SETTINGS_DIR_FROM_EXE/environment/cspice/generic_kernels/pck/de-403-masses.tpc +tpc2 = SETTINGS_DIR_FROM_EXE/environment/cspice/generic_kernels/pck/gm_de431.tpc +tpc3 = SETTINGS_DIR_FROM_EXE/environment/cspice/generic_kernels/pck/pck00010.tpc +bsp = SETTINGS_DIR_FROM_EXE/environment/cspice/generic_kernels/spk/planets/de430.bsp [HIPPARCOS_CATALOGUE] -catalogue_file_path = INI_FILE_DIR_FROM_EXE/environment/star_catalogue/hip_main.csv +catalogue_file_path = SETTINGS_DIR_FROM_EXE/environment/star_catalogue/hip_main.csv max_magnitude = 3.0 // Max magnitude to read from Hip catalog calculation = DISABLE logging = DISABLE @@ -144,7 +144,7 @@ save_initialize_files = ENABLE // If you want to add a ground station, create the corresponding ground_station.ini, and specify it as ground_station_file(1), ground_station_file(2), ect. number_of_simulated_spacecraft = 1 number_of_simulated_ground_station = 1 -spacecraft_file(0) = INI_FILE_DIR_FROM_EXE/sample_satellite/satellite.ini -ground_station_file(0) = INI_FILE_DIR_FROM_EXE/sample_ground_station/ground_station.ini -gnss_file = INI_FILE_DIR_FROM_EXE/environment/sample_gnss.ini +spacecraft_file(0) = SETTINGS_DIR_FROM_EXE/sample_satellite/satellite.ini +ground_station_file(0) = SETTINGS_DIR_FROM_EXE/sample_ground_station/ground_station.ini +gnss_file = SETTINGS_DIR_FROM_EXE/environment/sample_gnss.ini log_file_save_directory = ../../logs/ diff --git a/src/s2e.cpp b/src/s2e.cpp index d6d4a5486..960452763 100644 --- a/src/s2e.cpp +++ b/src/s2e.cpp @@ -47,7 +47,7 @@ int main(int argc, char *argv[]) start = system_clock::now(); std::string data_path = "../../"; - std::string ini_path = INI_FILE_DIR_FROM_EXE; + std::string ini_path = SETTINGS_DIR_FROM_EXE; std::string ini_file = ini_path + "/sample_simulation_base.ini"; // Parsing arguments: SatAttSim [ini_file] diff --git a/src/setting_file_reader/initialize_file_access.cpp b/src/setting_file_reader/initialize_file_access.cpp index a9261c2dc..e25f89583 100644 --- a/src/setting_file_reader/initialize_file_access.cpp +++ b/src/setting_file_reader/initialize_file_access.cpp @@ -165,8 +165,8 @@ std::string IniAccess::ReadString(const char* section_name, const char* key_name std::regex inline_comment_pattern("\\s*//.*"); value = std::regex_replace(value, inline_comment_pattern, ""); // INI_FILE_DIR - std::string ini_path = INI_FILE_DIR_FROM_EXE; - value = std::regex_replace(value, std::regex("INI_FILE_DIR_FROM_EXE"), ini_path); + std::string ini_path = SETTINGS_DIR_FROM_EXE; + value = std::regex_replace(value, std::regex("SETTINGS_DIR_FROM_EXE"), ini_path); // EXT_LIB_DIR std::string ext_lib_path = EXT_LIB_DIR_FROM_EXE; value = std::regex_replace(value, std::regex("EXT_LIB_DIR_FROM_EXE"), ext_lib_path); From 0c9ddc30d9c1c79dd7ba483722e1aa9e568ec468 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sun, 25 Aug 2024 22:46:38 +0900 Subject: [PATCH 319/456] Fix Actions setting --- .github/workflows/build.yml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index a72318e07..22fc7babf 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -108,7 +108,7 @@ jobs: shell: cmd run: | cl.exe - cmake -G "Visual Studio 17 2022" -A Win32 -DCMAKE_CONFIGURATION_TYPES:STRING="Debug" -DINI_FILE_DIR_FROM_EXE=./settings -DCORE_DIR_FROM_EXE=./ -DEXT_LIB_DIR=./ExtLibraries -DEXT_LIB_DIR_FROM_EXE=./ExtLibraries -DFLIGHT_SW_DIR=./c2a-core -DC2A_NAME=Examples/minimum_user -D${{ matrix.use_c2a }} -D${{ matrix.build_bit }} + cmake -G "Visual Studio 17 2022" -A Win32 -DCMAKE_CONFIGURATION_TYPES:STRING="Debug" -DSETTINGS_DIR_FROM_EXE=./settings -DCORE_DIR_FROM_EXE=./ -DEXT_LIB_DIR=./ExtLibraries -DEXT_LIB_DIR_FROM_EXE=./ExtLibraries -DFLIGHT_SW_DIR=./c2a-core -DC2A_NAME=Examples/minimum_user -D${{ matrix.use_c2a }} -D${{ matrix.build_bit }} cmake --build . - name: build 64bit @@ -116,7 +116,7 @@ jobs: shell: cmd run: | cl.exe - cmake -G "Visual Studio 17 2022" -A x64 -DCMAKE_CONFIGURATION_TYPES:STRING="Debug" -DINI_FILE_DIR_FROM_EXE=./settings -DCORE_DIR_FROM_EXE=./ -DEXT_LIB_DIR=./ExtLibraries -DEXT_LIB_DIR_FROM_EXE=./ExtLibraries -DFLIGHT_SW_DIR=./c2a-core -DC2A_NAME=Examples/minimum_user -D${{ matrix.use_c2a }} -D${{ matrix.build_bit }} + cmake -G "Visual Studio 17 2022" -A x64 -DCMAKE_CONFIGURATION_TYPES:STRING="Debug" -DSETTINGS_DIR_FROM_EXE=./settings -DCORE_DIR_FROM_EXE=./ -DEXT_LIB_DIR=./ExtLibraries -DEXT_LIB_DIR_FROM_EXE=./ExtLibraries -DFLIGHT_SW_DIR=./c2a-core -DC2A_NAME=Examples/minimum_user -D${{ matrix.use_c2a }} -D${{ matrix.build_bit }} cmake --build . - name: fix simulation config @@ -206,7 +206,7 @@ jobs: CC: ${{ steps.compiler.outputs.CC }} CXX: ${{ steps.compiler.outputs.CXX }} run: | - cmake . -DEXT_LIB_DIR=./ExtLibraries -DEXT_LIB_DIR_FROM_EXE=./ExtLibraries -DINI_FILE_DIR_FROM_EXE=./settings -DCORE_DIR_FROM_EXE=./ -D${{ matrix.build_bit }} + cmake . -DEXT_LIB_DIR=./ExtLibraries -DEXT_LIB_DIR_FROM_EXE=./ExtLibraries -DSETTINGS_DIR_FROM_EXE=./settings -DCORE_DIR_FROM_EXE=./ -D${{ matrix.build_bit }} cmake --build . - name: fix simulation config From f5ee3069bbcd6227aa528c6076226fbc81b00cfc Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sun, 25 Aug 2024 23:08:45 +0900 Subject: [PATCH 320/456] modify extlib directory definition --- ExtLibraries/CMakeLists.txt | 5 +++++ ExtLibraries/cspice/CMakeLists.txt | 1 - ExtLibraries/lunar_gravity_field/CMakeLists.txt | 2 -- ExtLibraries/nrlmsise00/CMakeLists.txt | 2 -- 4 files changed, 5 insertions(+), 5 deletions(-) diff --git a/ExtLibraries/CMakeLists.txt b/ExtLibraries/CMakeLists.txt index 062e93ccd..1723ecb87 100644 --- a/ExtLibraries/CMakeLists.txt +++ b/ExtLibraries/CMakeLists.txt @@ -16,8 +16,13 @@ if(NOT DEFINED EXT_LIB_DIR) set(EXT_LIB_DIR "${CMAKE_CURRENT_LIST_DIR}/../../ExtLibraries/") endif() +if(NOT DEFINED SETTINGS_DIR) + set(SETTINGS_DIR "${CMAKE_CURRENT_LIST_DIR}/../settings/") +endif() + # windows path string(REPLACE "\\" "/" EXT_LIB_DIR ${EXT_LIB_DIR}) +string(REPLACE "\\" "/" SETTINGS_DIR ${SETTINGS_DIR}) message("ExtLibraries install dir: ${EXT_LIB_DIR}") diff --git a/ExtLibraries/cspice/CMakeLists.txt b/ExtLibraries/cspice/CMakeLists.txt index 570dbb844..68247c39b 100644 --- a/ExtLibraries/cspice/CMakeLists.txt +++ b/ExtLibraries/cspice/CMakeLists.txt @@ -8,7 +8,6 @@ include(FetchContent) set(CSPICE_INSTALL_DIR ${EXT_LIB_DIR}/cspice) set(GENERIC_KERNEL_URL_BASE https://naif.jpl.nasa.gov/pub/naif/generic_kernels) -set(SETTINGS_DIR "${CMAKE_CURRENT_LIST_DIR}/../../settings/") set(GENERIC_KERNEL_INSTALL_DIR ${SETTINGS_DIR}/environment/cspice) if(WIN32) diff --git a/ExtLibraries/lunar_gravity_field/CMakeLists.txt b/ExtLibraries/lunar_gravity_field/CMakeLists.txt index 2c5f75c56..271b1faa9 100644 --- a/ExtLibraries/lunar_gravity_field/CMakeLists.txt +++ b/ExtLibraries/lunar_gravity_field/CMakeLists.txt @@ -4,8 +4,6 @@ cmake_minimum_required(VERSION 3.18) include(FetchContent) -set(SETTINGS_DIR "${CMAKE_CURRENT_LIST_DIR}/../../settings/") - set(LUNAR_GRAVITY_FIELD_INSTALL_DIR ${SETTINGS_DIR}/environment/gravity_field) set(LUNAR_GRAVITY_FIELD_URL_BASE https://pds-geosciences.wustl.edu/grail/grail-l-lgrs-5-rdr-v1/grail_1001/shadr) diff --git a/ExtLibraries/nrlmsise00/CMakeLists.txt b/ExtLibraries/nrlmsise00/CMakeLists.txt index cb256c8d2..ee49b64d9 100644 --- a/ExtLibraries/nrlmsise00/CMakeLists.txt +++ b/ExtLibraries/nrlmsise00/CMakeLists.txt @@ -5,8 +5,6 @@ cmake_minimum_required(VERSION 3.18) include(ExternalProject) include(FetchContent) -set(SETTINGS_DIR "${CMAKE_CURRENT_LIST_DIR}/../../settings/") - set(NRLMSISE_INSTALL_DIR ${EXT_LIB_DIR}/nrlmsise00) set(TABLE_FILE_INSTALL_DIR ${SETTINGS_DIR}/environment/space_weather) From f518c3c23d6ff3be3e41bec2d2a9654cd81ce92a Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sun, 25 Aug 2024 23:22:48 +0900 Subject: [PATCH 321/456] Add setting file copy when cache is available --- .github/workflows/build.yml | 15 +++++++++++++++ 1 file changed, 15 insertions(+) diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index a72318e07..fa11509f2 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -90,6 +90,7 @@ jobs: working-directory: ./ExtLibraries run: | cmake --install . + - name: check extlib shell: powershell working-directory: ./ExtLibraries @@ -103,6 +104,13 @@ jobs: ls nrlmsise00/lib*/libnrlmsise00.lib ls nrlmsise00/src + - name: copy to settings + if: steps.cache-extlib.outputs.cache-hit = 'true' + shell: powershell + working-directory: ./ExtLibraries + run: | + cp -r "cspice/generic_kernels" "../settings/cspice/generic_kernels" + - name: build 32bit if: matrix.build_bit == 'BUILD_64BIT=OFF' shell: cmd @@ -189,6 +197,7 @@ jobs: working-directory: ./ExtLibraries run: | cmake --install . + - name: check extlib working-directory: ./ExtLibraries run: | @@ -201,6 +210,12 @@ jobs: ls nrlmsise00/lib*/libnrlmsise00.a ls nrlmsise00/src + - name: copy to settings + if: steps.cache-extlib.outputs.cache-hit = 'true' + working-directory: ./ExtLibraries + run: | + cp -r "cspice/generic_kernels" "../settings/cspice/generic_kernels" + - name: build env: CC: ${{ steps.compiler.outputs.CC }} From e51be0d63440a730c53541764c915cc8832cf081 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sun, 25 Aug 2024 23:26:55 +0900 Subject: [PATCH 322/456] Fix small --- .github/workflows/build.yml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index fa11509f2..eee8ec36d 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -105,7 +105,7 @@ jobs: ls nrlmsise00/src - name: copy to settings - if: steps.cache-extlib.outputs.cache-hit = 'true' + if: steps.cache-extlib.outputs.cache-hit == 'true' shell: powershell working-directory: ./ExtLibraries run: | @@ -211,7 +211,7 @@ jobs: ls nrlmsise00/src - name: copy to settings - if: steps.cache-extlib.outputs.cache-hit = 'true' + if: steps.cache-extlib.outputs.cache-hit == 'true' working-directory: ./ExtLibraries run: | cp -r "cspice/generic_kernels" "../settings/cspice/generic_kernels" From eaa00e547017fd977d46b73c47a491ba2a1b8155 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sun, 25 Aug 2024 23:41:17 +0900 Subject: [PATCH 323/456] Fix directory --- .github/workflows/build.yml | 8 +++----- 1 file changed, 3 insertions(+), 5 deletions(-) diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index eee8ec36d..d6327a8f1 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -107,9 +107,8 @@ jobs: - name: copy to settings if: steps.cache-extlib.outputs.cache-hit == 'true' shell: powershell - working-directory: ./ExtLibraries run: | - cp -r "cspice/generic_kernels" "../settings/cspice/generic_kernels" + cp -r "./ExtLibraries/cspice/generic_kernels" "./settings/cspice" - name: build 32bit if: matrix.build_bit == 'BUILD_64BIT=OFF' @@ -212,9 +211,8 @@ jobs: - name: copy to settings if: steps.cache-extlib.outputs.cache-hit == 'true' - working-directory: ./ExtLibraries - run: | - cp -r "cspice/generic_kernels" "../settings/cspice/generic_kernels" + run: | + cp -r "./ExtLibraries/cspice/generic_kernels" "./settings/cspice" - name: build env: From 48b4e05fc485dec0fac5c7ebd1b23b32119412f5 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sun, 25 Aug 2024 23:48:44 +0900 Subject: [PATCH 324/456] Add copied file checking --- .github/workflows/build.yml | 1 + 1 file changed, 1 insertion(+) diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index d6327a8f1..ffceae265 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -109,6 +109,7 @@ jobs: shell: powershell run: | cp -r "./ExtLibraries/cspice/generic_kernels" "./settings/cspice" + ls ./settings/cspice - name: build 32bit if: matrix.build_bit == 'BUILD_64BIT=OFF' From 8d40c5e33332dacb81d32d640580c93c19d5f3b2 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sun, 25 Aug 2024 23:55:15 +0900 Subject: [PATCH 325/456] Add copied file checking --- .github/workflows/build.yml | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index ffceae265..1d310d5f8 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -108,8 +108,12 @@ jobs: if: steps.cache-extlib.outputs.cache-hit == 'true' shell: powershell run: | + ls ./settings/cspice cp -r "./ExtLibraries/cspice/generic_kernels" "./settings/cspice" ls ./settings/cspice + ls ./settings/cspice/lsk + ls ./settings/cspice/pck + ls ./settings/cspice/spk - name: build 32bit if: matrix.build_bit == 'BUILD_64BIT=OFF' @@ -213,7 +217,12 @@ jobs: - name: copy to settings if: steps.cache-extlib.outputs.cache-hit == 'true' run: | + ls ./settings/cspice cp -r "./ExtLibraries/cspice/generic_kernels" "./settings/cspice" + ls ./settings/cspice + ls ./settings/cspice/lsk + ls ./settings/cspice/pck + ls ./settings/cspice/spk - name: build env: From 098952ecbde70b183d5ff94a3db791cb63be3823 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 26 Aug 2024 01:43:43 +0900 Subject: [PATCH 326/456] Fix directory --- .github/workflows/build.yml | 26 ++++++++++++++------------ 1 file changed, 14 insertions(+), 12 deletions(-) diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index 1d310d5f8..8da7e8ae6 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -107,13 +107,14 @@ jobs: - name: copy to settings if: steps.cache-extlib.outputs.cache-hit == 'true' shell: powershell + working-directory: ./ExtLibraries run: | - ls ./settings/cspice - cp -r "./ExtLibraries/cspice/generic_kernels" "./settings/cspice" - ls ./settings/cspice - ls ./settings/cspice/lsk - ls ./settings/cspice/pck - ls ./settings/cspice/spk + ls ../settings/cspice + cp -r "./cspice/generic_kernels" "../settings/cspice" + ls ../settings/cspice + ls ../settings/cspice/lsk + ls ../settings/cspice/pck + ls ../settings/cspice/spk - name: build 32bit if: matrix.build_bit == 'BUILD_64BIT=OFF' @@ -216,13 +217,14 @@ jobs: - name: copy to settings if: steps.cache-extlib.outputs.cache-hit == 'true' + working-directory: ./ExtLibraries run: | - ls ./settings/cspice - cp -r "./ExtLibraries/cspice/generic_kernels" "./settings/cspice" - ls ./settings/cspice - ls ./settings/cspice/lsk - ls ./settings/cspice/pck - ls ./settings/cspice/spk + ls ../settings/cspice + cp -r "./cspice/generic_kernels" "../settings/cspice" + ls ../settings/cspice + ls ../settings/cspice/lsk + ls ../settings/cspice/pck + ls ../settings/cspice/spk - name: build env: From 7d6b20017bd06dddf41a3cb16191e7e9655325e2 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 26 Aug 2024 01:47:20 +0900 Subject: [PATCH 327/456] Fix directory --- .github/workflows/build.yml | 29 ++++++++++++++--------------- 1 file changed, 14 insertions(+), 15 deletions(-) diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index 8da7e8ae6..a1faf1e49 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -107,14 +107,13 @@ jobs: - name: copy to settings if: steps.cache-extlib.outputs.cache-hit == 'true' shell: powershell - working-directory: ./ExtLibraries run: | - ls ../settings/cspice - cp -r "./cspice/generic_kernels" "../settings/cspice" - ls ../settings/cspice - ls ../settings/cspice/lsk - ls ../settings/cspice/pck - ls ../settings/cspice/spk + ls ../settings/environment/cspice + cp -r "./ExtLibraries/cspice/generic_kernels" "./settings/environment/cspice" + ls ../settings/environment/cspice + ls ../settings/environment/cspice/lsk + ls ../settings/environment/cspice/pck + ls ../settings/environment/cspice/spk - name: build 32bit if: matrix.build_bit == 'BUILD_64BIT=OFF' @@ -217,14 +216,14 @@ jobs: - name: copy to settings if: steps.cache-extlib.outputs.cache-hit == 'true' - working-directory: ./ExtLibraries - run: | - ls ../settings/cspice - cp -r "./cspice/generic_kernels" "../settings/cspice" - ls ../settings/cspice - ls ../settings/cspice/lsk - ls ../settings/cspice/pck - ls ../settings/cspice/spk + run: | + ls ../settings/environment/cspice + cp -r "./ExtLibraries/cspice/generic_kernels" "./settings/environment/cspice" + ls ../settings/environment/cspice + ls ../settings/environment/cspice/lsk + ls ../settings/environment/cspice/pck + ls ../settings/environment/cspice/spk + - name: build env: From 894a63b848f9b5f3218e6f024781d93d59ed2ce3 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 26 Aug 2024 01:50:40 +0900 Subject: [PATCH 328/456] Fix directory --- .github/workflows/build.yml | 20 ++++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index a1faf1e49..6deb8403d 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -108,12 +108,12 @@ jobs: if: steps.cache-extlib.outputs.cache-hit == 'true' shell: powershell run: | - ls ../settings/environment/cspice + ls ./settings/environment/cspice cp -r "./ExtLibraries/cspice/generic_kernels" "./settings/environment/cspice" - ls ../settings/environment/cspice - ls ../settings/environment/cspice/lsk - ls ../settings/environment/cspice/pck - ls ../settings/environment/cspice/spk + ls ./settings/environment/cspice + ls ./settings/environment/cspice/lsk + ls ./settings/environment/cspice/pck + ls ./settings/environment/cspice/spk - name: build 32bit if: matrix.build_bit == 'BUILD_64BIT=OFF' @@ -217,12 +217,12 @@ jobs: - name: copy to settings if: steps.cache-extlib.outputs.cache-hit == 'true' run: | - ls ../settings/environment/cspice + ls ./settings/environment/cspice cp -r "./ExtLibraries/cspice/generic_kernels" "./settings/environment/cspice" - ls ../settings/environment/cspice - ls ../settings/environment/cspice/lsk - ls ../settings/environment/cspice/pck - ls ../settings/environment/cspice/spk + ls ./settings/environment/cspice + ls ./settings/environment/cspice/lsk + ls ./settings/environment/cspice/pck + ls ./settings/environment/cspice/spk - name: build From edf63e4c81334d0adb7ee304fbd2961ed7e059fc Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 26 Aug 2024 01:53:35 +0900 Subject: [PATCH 329/456] Fix --- .github/workflows/build.yml | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index 6deb8403d..604c0de06 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -111,9 +111,9 @@ jobs: ls ./settings/environment/cspice cp -r "./ExtLibraries/cspice/generic_kernels" "./settings/environment/cspice" ls ./settings/environment/cspice - ls ./settings/environment/cspice/lsk - ls ./settings/environment/cspice/pck - ls ./settings/environment/cspice/spk + ls ./settings/environment/cspice/generic_kernels/lsk + ls ./settings/environment/cspice/generic_kernels/pck + ls ./settings/environment/cspice/generic_kernels/spk - name: build 32bit if: matrix.build_bit == 'BUILD_64BIT=OFF' @@ -220,9 +220,9 @@ jobs: ls ./settings/environment/cspice cp -r "./ExtLibraries/cspice/generic_kernels" "./settings/environment/cspice" ls ./settings/environment/cspice - ls ./settings/environment/cspice/lsk - ls ./settings/environment/cspice/pck - ls ./settings/environment/cspice/spk + ls ./settings/environment/cspice/generic_kernels/lsk + ls ./settings/environment/cspice/generic_kernels/pck + ls ./settings/environment/cspice/generic_kernels/spk - name: build From 747c94b8e365a1be76cbdecf65c2bbc8fa27f83c Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 26 Aug 2024 07:53:53 +0900 Subject: [PATCH 330/456] Fix ini file copy for telescope --- src/simulation_sample/spacecraft/sample_components.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/simulation_sample/spacecraft/sample_components.cpp b/src/simulation_sample/spacecraft/sample_components.cpp index 20f6f055f..41a1a7d40 100644 --- a/src/simulation_sample/spacecraft/sample_components.cpp +++ b/src/simulation_sample/spacecraft/sample_components.cpp @@ -84,10 +84,10 @@ SampleComponents::SampleComponents(const Dynamics* dynamics, Structure* structur thruster_ = new SimpleThruster(InitSimpleThruster(clock_generator, pcu_->GetPowerPort(2), 1, file_name, structure_, dynamics)); // Mission - const std::string telescope_ini_path = iniAccess.ReadString("COMPONENT_FILES", "telescope_file"); + file_name = iniAccess.ReadString("COMPONENT_FILES", "telescope_file"); configuration_->main_logger_->CopyFileToLogDirectory(file_name); telescope_ = - new Telescope(InitTelescope(clock_generator, 1, telescope_ini_path, &(dynamics_->GetAttitude()), &(global_environment_->GetHipparcosCatalog()), + new Telescope(InitTelescope(clock_generator, 1, file_name, &(dynamics_->GetAttitude()), &(global_environment_->GetHipparcosCatalog()), &(local_environment_->GetCelestialInformation()), &(dynamics_->GetOrbit()))); // Force Generator From b1b14f93869175aa1f3f8803f7d9cdacc523a65d Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Mon, 26 Aug 2024 07:59:21 +0900 Subject: [PATCH 331/456] Fix format --- src/simulation_sample/spacecraft/sample_components.cpp | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/src/simulation_sample/spacecraft/sample_components.cpp b/src/simulation_sample/spacecraft/sample_components.cpp index 41a1a7d40..b45d960c3 100644 --- a/src/simulation_sample/spacecraft/sample_components.cpp +++ b/src/simulation_sample/spacecraft/sample_components.cpp @@ -86,9 +86,8 @@ SampleComponents::SampleComponents(const Dynamics* dynamics, Structure* structur // Mission file_name = iniAccess.ReadString("COMPONENT_FILES", "telescope_file"); configuration_->main_logger_->CopyFileToLogDirectory(file_name); - telescope_ = - new Telescope(InitTelescope(clock_generator, 1, file_name, &(dynamics_->GetAttitude()), &(global_environment_->GetHipparcosCatalog()), - &(local_environment_->GetCelestialInformation()), &(dynamics_->GetOrbit()))); + telescope_ = new Telescope(InitTelescope(clock_generator, 1, file_name, &(dynamics_->GetAttitude()), &(global_environment_->GetHipparcosCatalog()), + &(local_environment_->GetCelestialInformation()), &(dynamics_->GetOrbit()))); // Force Generator file_name = iniAccess.ReadString("COMPONENT_FILES", "force_generator_file"); From 5af10e3447444dfbc872e4b9b69b9715e97f8418 Mon Sep 17 00:00:00 2001 From: "renovate[bot]" <29139614+renovate[bot]@users.noreply.github.com> Date: Thu, 29 Aug 2024 15:10:32 +0000 Subject: [PATCH 332/456] Update actions/setup-python action to v5.2.0 --- .github/workflows/build.yml | 2 +- .github/workflows/validate-scripts.yml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index e9195e884..84b55c146 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -261,7 +261,7 @@ jobs: ver=$(grep python_version ./Pipfile | sed -e 's/^python_version\s=\s"\(.*\)"$/\1/') echo "version=$ver" >> "$GITHUB_OUTPUT" - - uses: actions/setup-python@v5.1.1 + - uses: actions/setup-python@v5.2.0 with: python-version: ${{ steps.python-version.outputs.version }} diff --git a/.github/workflows/validate-scripts.yml b/.github/workflows/validate-scripts.yml index b8a576ad5..29a154f98 100644 --- a/.github/workflows/validate-scripts.yml +++ b/.github/workflows/validate-scripts.yml @@ -28,7 +28,7 @@ jobs: ver=$(grep python_version ./Pipfile | sed -e 's/^python_version\s=\s"\(.*\)"$/\1/') echo "version=${ver}" >> "$GITHUB_OUTPUT" - - uses: actions/setup-python@v5.1.1 + - uses: actions/setup-python@v5.2.0 with: python-version: ${{ steps.python-version.outputs.version }} From dc89d5b2e9fd03c93a4d5ad82f78a73c7852d75e Mon Sep 17 00:00:00 2001 From: kai0722 Date: Thu, 12 Sep 2024 18:09:16 +0900 Subject: [PATCH 333/456] Add albedo radiation calculation to Node class --- src/dynamics/thermal/node.cpp | 18 ++++++++++++++++++ src/dynamics/thermal/node.hpp | 15 +++++++++++++++ 2 files changed, 33 insertions(+) diff --git a/src/dynamics/thermal/node.cpp b/src/dynamics/thermal/node.cpp index e641ca2df..ddc4225ff 100644 --- a/src/dynamics/thermal/node.cpp +++ b/src/dynamics/thermal/node.cpp @@ -25,6 +25,7 @@ Node::Node(const size_t node_id, const string node_name, const NodeType node_typ normal_vector_b_(normal_vector_b) { AssertNodeParams(); solar_radiation_W_ = 0; + albedo_flux_W_ = 0; } Node::~Node() {} @@ -40,6 +41,23 @@ double Node::CalcSolarRadiation_W(libra::Vector<3> sun_direction_b, double solar return solar_radiation_W_; } +double Node::CalcAlbedoRadiation_W(libra:Vector<3> earth_direction_b, double solar_flux_W_m2, double albedo_factor, double earth_distance_m) { + double cos_theta_albedo = InnerProduct(earth_direction_b, normal_vector_b_); + + // 地球の半径 + double earth_radius_m = 6371.0e3; + + // アルベドによる入熱の計算 + if (cos_theta_albedo > 0) { + // 地球からの反射光による放射フラックスを計算 (アルベドの寄与) + double albedo_flux_W_m2 = solar_flux_W_m2 * albedo_factor * (earth_radius_m / earth_distance_m) * (earth_radius_m / earth_distance_m); + albedo_flux_W_ = albedo_flux_W_m2 * area_m2_ * alpha_ * cos_theta_albedo; + } else { + albedo_flux_W_ = 0; + } + return albedo_flux_W_; +} + void Node::PrintParam(void) { string node_type_str = ""; if (node_type_ == NodeType::kDiffusive) { diff --git a/src/dynamics/thermal/node.hpp b/src/dynamics/thermal/node.hpp index 0de19fb8a..22a4ab5e3 100644 --- a/src/dynamics/thermal/node.hpp +++ b/src/dynamics/thermal/node.hpp @@ -59,6 +59,14 @@ class Node { * @return double: Solar Radiation [W] */ double CalcSolarRadiation_W(libra::Vector<3> sun_direction_b, double solar_flux_W_m2); + /** + * @fn CalcAlbedoRadiation_W + * @brief Calculate albedo radiation [W] from earth direction, albedo factor, area, and normal vector + * + * @param earth_direction_b: Earth direction in body frame + * @return double: Albedo Radiation [W] + */ + double Node::CalcAlbedoRadiation_W(libra::Vector<3> earth_direction_b, double solar_flux_W_m2, double albedo_factor, double earth_distance_m); // Getter /** @@ -103,6 +111,12 @@ class Node { * @return double: Solar Radiation [W] */ inline double GetSolarRadiation_W(void) const { return solar_radiation_W_; } + /** + * @fn GetAlbedoFlux_W + * @brief Return Albedo Flux [W] + * @return double: Albedo Flux [W] + */ + inline double GetAlbedoFlux_W(void) const { return albedo_flux_W_; } /** * @fn GetNodeType * @brief Return Node Type @@ -135,6 +149,7 @@ class Node { double alpha_; double area_m2_; double solar_radiation_W_; + double albedo_flux_W_; NodeType node_type_; libra::Vector<3> normal_vector_b_; From 09feae404c2cd1ec606d8960c7214b58f0c71ad4 Mon Sep 17 00:00:00 2001 From: kai0722 Date: Thu, 12 Sep 2024 18:11:23 +0900 Subject: [PATCH 334/456] Add albedo heatload calculation to Heatload class --- src/dynamics/thermal/heatload.cpp | 1 + src/dynamics/thermal/heatload.hpp | 6 ++++++ 2 files changed, 7 insertions(+) diff --git a/src/dynamics/thermal/heatload.cpp b/src/dynamics/thermal/heatload.cpp index c182e4ecb..e68ae638b 100644 --- a/src/dynamics/thermal/heatload.cpp +++ b/src/dynamics/thermal/heatload.cpp @@ -12,6 +12,7 @@ Heatload::Heatload(int node_id, std::vector time_table_s, std::vector Date: Thu, 12 Sep 2024 18:15:21 +0900 Subject: [PATCH 335/456] Refactor temperature propagation method to include albedo factor --- src/dynamics/thermal/temperature.cpp | 59 +++++++++++++++++++--------- src/dynamics/thermal/temperature.hpp | 13 +++--- 2 files changed, 48 insertions(+), 24 deletions(-) diff --git a/src/dynamics/thermal/temperature.cpp b/src/dynamics/thermal/temperature.cpp index 9b1b37d89..47b5e07be 100644 --- a/src/dynamics/thermal/temperature.cpp +++ b/src/dynamics/thermal/temperature.cpp @@ -17,7 +17,7 @@ using namespace std; Temperature::Temperature(const vector> conductance_matrix_W_K, const vector> radiation_matrix_m2, vector nodes, vector heatloads, vector heaters, vector heater_controllers, const size_t node_num, const double propagation_step_s, const SolarRadiationPressureEnvironment* srp_environment, const bool is_calc_enabled, - const SolarCalcSetting solar_calc_setting, const bool debug) + const SolarCalcSetting solar_calc_setting, const double albedo_factor, const bool debug) : conductance_matrix_W_K_(conductance_matrix_W_K), radiation_matrix_m2_(radiation_matrix_m2), nodes_(nodes), @@ -29,6 +29,7 @@ Temperature::Temperature(const vector> conductance_matrix_W_K, co srp_environment_(srp_environment), is_calc_enabled_(is_calc_enabled), solar_calc_setting_(solar_calc_setting), + albedo_factor_(albedo_factor), debug_(debug) { propagation_time_s_ = 0; if (debug_) { @@ -47,18 +48,13 @@ Temperature::Temperature() { Temperature::~Temperature() {} -void Temperature::Propagate(libra::Vector<3> sun_position_b_m, const double time_end_s) { +void Temperature::Propagate(const LocalCelestialInformation* local_celestial_information, const double time_end_s) { if (!is_calc_enabled_) return; - double sun_distance_m = sun_position_b_m.CalcNorm(); - libra::Vector<3> sun_direction_b; - for (size_t i = 0; i < 3; i++) { - sun_direction_b[i] = sun_position_b_m[i] / sun_distance_m; - } while (time_end_s - propagation_time_s_ - propagation_step_s_ > 1.0e-6) { - CalcRungeOneStep(propagation_time_s_, propagation_step_s_, sun_direction_b, node_num_); + CalcRungeOneStep(propagation_time_s_, propagation_step_s_, local_celestial_information, node_num_); propagation_time_s_ += propagation_step_s_; } - CalcRungeOneStep(propagation_time_s_, time_end_s - propagation_time_s_, sun_direction_b, node_num_); + CalcRungeOneStep(propagation_time_s_, time_end_s - propagation_time_s_, local_celestial_information, node_num_); propagation_time_s_ = time_end_s; UpdateHeaterStatus(); @@ -66,12 +62,16 @@ void Temperature::Propagate(libra::Vector<3> sun_position_b_m, const double time cout << fixed; cout << "Time: " << time_end_s << " Temp: "; for (auto itr = nodes_.begin(); itr != nodes_.end(); ++itr) { - cout << setprecision(4) << itr->GetTemperature_K() << " "; + cout << setprecision(4) << itr->GetTemperature_degC() << " "; } cout << "SolarR: "; for (auto itr = nodes_.begin(); itr != nodes_.end(); ++itr) { cout << setprecision(4) << itr->GetSolarRadiation_W() << " "; } + cout << "AlbedoF: "; + for (auto itr = nodes_.begin(); itr != nodes_.end(); ++itr) { + cout << setprecision(4) << itr->GetAlbedoFlux_W() << " "; + } cout << "SunDir: "; for (size_t i = 0; i < 3; i++) { cout << setprecision(3) << sun_direction_b[i] << " "; @@ -84,7 +84,7 @@ void Temperature::Propagate(libra::Vector<3> sun_position_b_m, const double time } } -void Temperature::CalcRungeOneStep(double time_now_s, double time_step_s, libra::Vector<3> sun_direction_b, size_t node_num) { +void Temperature::CalcRungeOneStep(double time_now_s, double time_step_s, const LocalCelestialInformation* local_celestial_information, size_t node_num) { vector temperatures_now_K(node_num); for (size_t i = 0; i < node_num; i++) { temperatures_now_K[i] = nodes_[i].GetTemperature_K(); @@ -93,22 +93,22 @@ void Temperature::CalcRungeOneStep(double time_now_s, double time_step_s, libra: vector k1(node_num), k2(node_num), k3(node_num), k4(node_num); vector xk2(node_num), xk3(node_num), xk4(node_num); - k1 = CalcTemperatureDifferentials(temperatures_now_K, time_now_s, sun_direction_b, node_num); + k1 = CalcTemperatureDifferentials(temperatures_now_K, time_now_s, local_celestial_information, node_num); for (size_t i = 0; i < node_num; i++) { xk2[i] = temperatures_now_K[i] + (time_step_s / 2.0) * k1[i]; } - k2 = CalcTemperatureDifferentials(xk2, (time_now_s + time_step_s / 2.0), sun_direction_b, node_num); + k2 = CalcTemperatureDifferentials(xk2, (time_now_s + time_step_s / 2.0), local_celestial_information, node_num); for (size_t i = 0; i < node_num; i++) { xk3[i] = temperatures_now_K[i] + (time_step_s / 2.0) * k2[i]; } - k3 = CalcTemperatureDifferentials(xk3, (time_now_s + time_step_s / 2.0), sun_direction_b, node_num); + k3 = CalcTemperatureDifferentials(xk3, (time_now_s + time_step_s / 2.0), local_celestial_information, node_num); for (size_t i = 0; i < node_num; i++) { xk4[i] = temperatures_now_K[i] + time_step_s * k3[i]; } - k4 = CalcTemperatureDifferentials(xk4, (time_now_s + time_step_s), sun_direction_b, node_num); + k4 = CalcTemperatureDifferentials(xk4, (time_now_s + time_step_s), local_celestial_information, node_num); vector temperatures_next_K(node_num); for (size_t i = 0; i < node_num; i++) { @@ -119,11 +119,28 @@ void Temperature::CalcRungeOneStep(double time_now_s, double time_step_s, libra: nodes_[i].SetTemperature_K(temperatures_next_K[i]); } } - -vector Temperature::CalcTemperatureDifferentials(vector temperatures_K, double t, libra::Vector<3> sun_direction_b, size_t node_num) { +vector Temperature::CalcTemperatureDifferentials(vector temperatures_K, double t, const LocalCelestialInformation* local_celestial_information, size_t node_num) { // TODO: consider the following unused arguments are really needed UNUSED(temperatures_K); + std::string sun_str = "SUN"; + char* c_sun = new char[sun_str.size() + 1]; + std::char_traits::copy(c_sun, sun_str.c_str(), sun_str.size() + 1); // string -> char* + std::string earth_str = "EARTH"; + char* c_earth = new char[earth_str.size() + 1]; + std::char_traits::copy(c_earth, earth_str.c_str(), earth_str.size() + 1); // string -> char* + libra::Vector<3> sun_position_b_m = local_celestial_information->GetPositionFromSpacecraft_b_m(c_sun); + libra::Vector<3> earth_position_b_m = local_celestial_information->GetPositionFromSpacecraft_b_m(c_earth); + double sun_distance_m = sun_position_b_m.CalcNorm(); + double earth_distance_m = earth_position_b_m.CalcNorm(); + libra::Vector<3> sun_direction_b; + for (size_t i = 0; i < 3; i++) { + sun_direction_b[i] = sun_position_b_m[i] / sun_distance_m; + } + libra::Vector<3> earth_direction_b; + for (size_t i = 0; i < 3; i++) { + earth_direction_b[i] = earth_position_b_m[i] / earth_distance_m; + } vector differentials_K_s(node_num); for (size_t i = 0; i < node_num; i++) { heatloads_[i].SetElapsedTime_s(t); @@ -131,7 +148,9 @@ vector Temperature::CalcTemperatureDifferentials(vector temperat double solar_flux_W_m2 = srp_environment_->GetPowerDensity_W_m2(); if (solar_calc_setting_ == SolarCalcSetting::kEnable) { double solar_radiation_W = nodes_[i].CalcSolarRadiation_W(sun_direction_b, solar_flux_W_m2); + double albedo_radiation_W = nodes_[i].CalcAlbedoRadiation_W(earth_direction_b, solar_flux_W_m2, albedo_factor_, earth_distance_m); heatloads_[i].SetSolarHeatload_W(solar_radiation_W); + heatloads_[i].SetAlbedoHeatload_W(albedo_radiation_W); } double heater_power_W = GetHeaterPower_W(i); heatloads_[i].SetHeaterHeatload_W(heater_power_W); @@ -152,6 +171,8 @@ vector Temperature::CalcTemperatureDifferentials(vector temperat differentials_K_s[i] = 0; } } + delete[] c_sun; + delete[] c_earth; return differentials_K_s; } @@ -313,6 +334,8 @@ Temperature* InitTemperature(const std::string file_name, const double rk_prop_s bool debug = mainIni.ReadEnable("THERMAL", "debug"); + double albedo_factor = mainIni.ReadDouble("THERMAL", "albedo_factor"); + // Read Heatloads from CSV File string filepath_heatload = file_path + "heatload.csv"; IniAccess conf_heatload(filepath_heatload); @@ -371,6 +394,6 @@ Temperature* InitTemperature(const std::string file_name, const double rk_prop_s Temperature* temperature; temperature = new Temperature(conductance_matrix, radiation_matrix, node_list, heatload_list, heater_list, heater_controller_list, node_num, - rk_prop_step_s, srp_environment, is_calc_enabled, solar_calc_setting, debug); + rk_prop_step_s, srp_environment, is_calc_enabled, solar_calc_setting, albedo_factor, debug); return temperature; } diff --git a/src/dynamics/thermal/temperature.hpp b/src/dynamics/thermal/temperature.hpp index b45a8edd2..8c454c24e 100644 --- a/src/dynamics/thermal/temperature.hpp +++ b/src/dynamics/thermal/temperature.hpp @@ -44,6 +44,7 @@ class Temperature : public ILoggable { bool is_calc_enabled_; // Whether temperature calculation is enabled SolarCalcSetting solar_calc_setting_; // setting for solar calculation bool debug_; // Activate debug output or not + double albedo_factor_; // Albedo factor for calculating albedo radiation /** * @fn CalcRungeOneStep @@ -51,21 +52,21 @@ class Temperature : public ILoggable { * * @param[in] time_now_s: Current elapsed time [s] * @param[in] time_step_s: Time step of RK4 [s] - * @param[in] sun_direction_b: Sun position in body frame [m] + * @param[in] local_celestial_information: LocalCelestialInformation object for calculating radiation * @param[in] node_num: Number of nodes */ - void CalcRungeOneStep(double time_now_s, double time_step_s, libra::Vector<3> sun_direction_b, size_t node_num); + void CalcRungeOneStep(double time_now_s, double time_step_s, const LocalCelestialInformation* local_celestial_information, size_t node_num); /** * @fn CalcTemperatureDifferentials * @brief Calculate differential of thermal equilibrium equation * * @param temperatures_K: [UNUSED] Temperatures of each node [K] * @param time_now_s: Current elapsed time [s] - * @param[in] sun_direction_b: Sun direction in body frame + * @param[in] local_celestial_information: LocalCelestialInformation object for calculating radiation * @param node_num: Number of nodes * @return std::vector: Differential of thermal equilibrium equation at time now */ - std::vector CalcTemperatureDifferentials(std::vector temperatures_K, double time_now_s, const libra::Vector<3> sun_direction_b, + std::vector CalcTemperatureDifferentials(std::vector temperatures_K, double time_now_s, const LocalCelestialInformation* local_celestial_information, size_t node_num); public: @@ -105,10 +106,10 @@ class Temperature : public ILoggable { * @fn Propagate * @brief Propagate thermal calculation until time_end_s * - * @param[in] sun_position_b_m: Sun position in body frame [m] + * @param[in] local_celestial_information: LocalCelestialInformation object for calculating radiation * @param time_end_s: Time to finish propagation [s] */ - void Propagate(libra::Vector<3> sun_position_b_m, const double time_end_s); + void Propagate(const LocalCelestialInformation* local_celestial_information, const double time_end_s); // Getter /** From 89bf2de0a4a8cf9fe331b6cfd7e5ec424719a112 Mon Sep 17 00:00:00 2001 From: kai0722 Date: Thu, 12 Sep 2024 18:34:07 +0900 Subject: [PATCH 336/456] Refactor temperature propagation method to include albedo factor --- src/dynamics/dynamics.cpp | 6 +----- src/dynamics/thermal/node.cpp | 2 +- src/dynamics/thermal/node.hpp | 2 +- src/dynamics/thermal/temperature.cpp | 10 ++++++++++ src/dynamics/thermal/temperature.hpp | 2 +- 5 files changed, 14 insertions(+), 8 deletions(-) diff --git a/src/dynamics/dynamics.cpp b/src/dynamics/dynamics.cpp index 04d0886a7..9487a45c2 100644 --- a/src/dynamics/dynamics.cpp +++ b/src/dynamics/dynamics.cpp @@ -50,11 +50,7 @@ void Dynamics::Update(const SimulationTime* simulation_time, const LocalCelestia // Thermal if (simulation_time->GetThermalPropagateFlag()) { - std::string sun_str = "SUN"; - char* c_sun = new char[sun_str.size() + 1]; - std::char_traits::copy(c_sun, sun_str.c_str(), sun_str.size() + 1); // string -> char* - temperature_->Propagate(local_celestial_information->GetPositionFromSpacecraft_b_m(c_sun), simulation_time->GetElapsedTime_s()); - delete[] c_sun; + temperature_->Propagate(local_celestial_information, simulation_time->GetElapsedTime_s()); } } diff --git a/src/dynamics/thermal/node.cpp b/src/dynamics/thermal/node.cpp index ddc4225ff..454d61b62 100644 --- a/src/dynamics/thermal/node.cpp +++ b/src/dynamics/thermal/node.cpp @@ -41,7 +41,7 @@ double Node::CalcSolarRadiation_W(libra::Vector<3> sun_direction_b, double solar return solar_radiation_W_; } -double Node::CalcAlbedoRadiation_W(libra:Vector<3> earth_direction_b, double solar_flux_W_m2, double albedo_factor, double earth_distance_m) { +double Node::CalcAlbedoRadiation_W(libra::Vector<3> earth_direction_b, double solar_flux_W_m2, double albedo_factor, double earth_distance_m) { double cos_theta_albedo = InnerProduct(earth_direction_b, normal_vector_b_); // 地球の半径 diff --git a/src/dynamics/thermal/node.hpp b/src/dynamics/thermal/node.hpp index 22a4ab5e3..750b423ee 100644 --- a/src/dynamics/thermal/node.hpp +++ b/src/dynamics/thermal/node.hpp @@ -66,7 +66,7 @@ class Node { * @param earth_direction_b: Earth direction in body frame * @return double: Albedo Radiation [W] */ - double Node::CalcAlbedoRadiation_W(libra::Vector<3> earth_direction_b, double solar_flux_W_m2, double albedo_factor, double earth_distance_m); + double CalcAlbedoRadiation_W(libra::Vector<3> earth_direction_b, double solar_flux_W_m2, double albedo_factor, double earth_distance_m); // Getter /** diff --git a/src/dynamics/thermal/temperature.cpp b/src/dynamics/thermal/temperature.cpp index 47b5e07be..53478cd6c 100644 --- a/src/dynamics/thermal/temperature.cpp +++ b/src/dynamics/thermal/temperature.cpp @@ -72,10 +72,20 @@ void Temperature::Propagate(const LocalCelestialInformation* local_celestial_inf for (auto itr = nodes_.begin(); itr != nodes_.end(); ++itr) { cout << setprecision(4) << itr->GetAlbedoFlux_W() << " "; } + std::string sun_str = "SUN"; + char* c_sun = new char[sun_str.size() + 1]; + std::char_traits::copy(c_sun, sun_str.c_str(), sun_str.size() + 1); // string -> char* + libra::Vector<3> sun_position_b_m = local_celestial_information->GetPositionFromSpacecraft_b_m(c_sun); + double sun_distance_m = sun_position_b_m.CalcNorm(); + libra::Vector<3> sun_direction_b; + for (size_t i = 0; i < 3; i++) { + sun_direction_b[i] = sun_position_b_m[i] / sun_distance_m; + } cout << "SunDir: "; for (size_t i = 0; i < 3; i++) { cout << setprecision(3) << sun_direction_b[i] << " "; } + delete[] c_sun; cout << "Heatload: "; for (auto itr = heatloads_.begin(); itr != heatloads_.end(); ++itr) { cout << setprecision(3) << itr->GetTotalHeatload_W() << " "; diff --git a/src/dynamics/thermal/temperature.hpp b/src/dynamics/thermal/temperature.hpp index 8c454c24e..9f933a384 100644 --- a/src/dynamics/thermal/temperature.hpp +++ b/src/dynamics/thermal/temperature.hpp @@ -89,7 +89,7 @@ class Temperature : public ILoggable { Temperature(const std::vector> conductance_matrix_W_K, const std::vector> radiation_matrix_m2, std::vector nodes, std::vector heatloads, std::vector heaters, std::vector heater_controllers, const size_t node_num, const double propagation_step_s, const SolarRadiationPressureEnvironment* srp_environment, - const bool is_calc_enabled, const SolarCalcSetting solar_calc_setting, const bool debug); + const bool is_calc_enabled, const SolarCalcSetting solar_calc_setting, const double albedo_factor , const bool debug); /** * @fn Temperature * @brief Construct a new Temperature object, used when thermal calculation is disabled. From 81438fcd64195834f39914cf4a14058c21c3978e Mon Sep 17 00:00:00 2001 From: kai0722 Date: Thu, 12 Sep 2024 20:04:24 +0900 Subject: [PATCH 337/456] Refactor thermal module to include albedo heatload calculation --- src/dynamics/thermal/heatload.hpp | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/src/dynamics/thermal/heatload.hpp b/src/dynamics/thermal/heatload.hpp index f09f6c740..d7cce3478 100644 --- a/src/dynamics/thermal/heatload.hpp +++ b/src/dynamics/thermal/heatload.hpp @@ -39,7 +39,7 @@ class Heatload { * @fn UpdateTotalHeatload * @brief Update total heatload value by summing up all factors */ - void UpdateTotalHeatload(void) { total_heatload_W_ = solar_heatload_W_ + internal_heatload_W_ + heater_heatload_W_; } + void UpdateTotalHeatload(void) { total_heatload_W_ = solar_heatload_W_ + albedo_heatload_W_ + internal_heatload_W_ + heater_heatload_W_; } // Getter /** @@ -47,6 +47,11 @@ class Heatload { * @brief Return Solar Heatload */ inline double GetSolarHeatload_W(void) const { return solar_heatload_W_; } + /** + * @fn GetAlbedoHeatload_W + * @brief Return Albedo Heatload + */ + inline double GetAlbedoHeatload_W(void) const { return albedo_heatload_W_; } /** * @fn GetInternalHeatload_W * @brief Return Internal Heatload From b8bf76e3448e0adf97b710d98c664d43851875c9 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 14 Sep 2024 00:03:53 -0700 Subject: [PATCH 338/456] Rename namespaec math to s2e::math --- src/components/base/sensor.hpp | 18 +- .../base/sensor_template_functions.hpp | 34 ++-- .../examples/example_change_structure.cpp | 2 +- .../ideal/angular_velocity_observer.hpp | 4 +- src/components/ideal/attitude_observer.cpp | 6 +- src/components/ideal/attitude_observer.hpp | 4 +- src/components/ideal/force_generator.cpp | 32 ++-- src/components/ideal/force_generator.hpp | 16 +- src/components/ideal/orbit_observer.cpp | 14 +- src/components/ideal/orbit_observer.hpp | 10 +- src/components/ideal/torque_generator.cpp | 16 +- src/components/ideal/torque_generator.hpp | 8 +- src/components/real/aocs/gnss_receiver.cpp | 60 +++---- src/components/real/aocs/gnss_receiver.hpp | 32 ++-- src/components/real/aocs/gyro_sensor.cpp | 8 +- src/components/real/aocs/gyro_sensor.hpp | 10 +- src/components/real/aocs/magnetometer.cpp | 8 +- src/components/real/aocs/magnetometer.hpp | 16 +- src/components/real/aocs/magnetorquer.cpp | 64 +++---- src/components/real/aocs/magnetorquer.hpp | 50 +++--- .../aocs/mtq_magnetometer_interference.cpp | 10 +- .../aocs/mtq_magnetometer_interference.hpp | 4 +- src/components/real/aocs/reaction_wheel.cpp | 38 ++--- src/components/real/aocs/reaction_wheel.hpp | 28 +-- .../real/aocs/reaction_wheel_jitter.cpp | 6 +- .../real/aocs/reaction_wheel_jitter.hpp | 40 ++--- .../real/aocs/reaction_wheel_ode.cpp | 4 +- .../real/aocs/reaction_wheel_ode.hpp | 4 +- src/components/real/aocs/star_sensor.cpp | 66 ++++---- src/components/real/aocs/star_sensor.hpp | 30 ++-- src/components/real/aocs/sun_sensor.cpp | 36 ++-- src/components/real/aocs/sun_sensor.hpp | 14 +- src/components/real/communication/antenna.cpp | 4 +- src/components/real/communication/antenna.hpp | 8 +- .../antenna_radiation_pattern.hpp | 6 +- .../ground_station_calculator.cpp | 2 +- src/components/real/mission/telescope.cpp | 48 +++--- src/components/real/mission/telescope.hpp | 26 +-- .../real/power/csv_scenario_interface.cpp | 4 +- .../real/power/csv_scenario_interface.hpp | 2 +- .../real/power/solar_array_panel.cpp | 18 +- .../real/power/solar_array_panel.hpp | 8 +- .../real/propulsion/simple_thruster.cpp | 30 ++-- src/disturbances/air_drag.cpp | 20 +-- src/disturbances/air_drag.hpp | 6 +- src/disturbances/disturbance.hpp | 24 +-- src/disturbances/disturbances.hpp | 6 +- src/disturbances/geopotential.cpp | 8 +- src/disturbances/geopotential.hpp | 2 +- src/disturbances/gravity_gradient.cpp | 4 +- src/disturbances/gravity_gradient.hpp | 2 +- src/disturbances/lunar_gravity_field.cpp | 12 +- src/disturbances/lunar_gravity_field.hpp | 2 +- src/disturbances/magnetic_disturbance.cpp | 4 +- src/disturbances/magnetic_disturbance.hpp | 4 +- .../solar_radiation_pressure_disturbance.cpp | 6 +- .../solar_radiation_pressure_disturbance.hpp | 4 +- src/disturbances/surface_force.cpp | 24 +-- src/disturbances/surface_force.hpp | 10 +- src/disturbances/third_body_gravity.cpp | 14 +- src/disturbances/third_body_gravity.hpp | 4 +- src/dynamics/attitude/attitude.cpp | 24 +-- src/dynamics/attitude/attitude.hpp | 36 ++-- src/dynamics/attitude/attitude_rk4.cpp | 34 ++-- src/dynamics/attitude/attitude_rk4.hpp | 12 +- .../attitude_with_cantilever_vibration.cpp | 20 +-- .../attitude_with_cantilever_vibration.hpp | 10 +- src/dynamics/attitude/controlled_attitude.cpp | 58 +++---- src/dynamics/attitude/controlled_attitude.hpp | 28 +-- src/dynamics/attitude/initialize_attitude.cpp | 20 +-- src/dynamics/attitude/initialize_attitude.hpp | 2 +- ...ode_attitude_with_cantilever_vibration.hpp | 76 ++++----- src/dynamics/dynamics.cpp | 2 +- src/dynamics/dynamics.hpp | 6 +- .../orbit/encke_orbit_propagation.cpp | 18 +- .../orbit/encke_orbit_propagation.hpp | 18 +- src/dynamics/orbit/initialize_orbit.cpp | 34 ++-- src/dynamics/orbit/initialize_orbit.hpp | 2 +- src/dynamics/orbit/orbit.cpp | 26 +-- src/dynamics/orbit/orbit.hpp | 40 ++--- src/dynamics/orbit/relative_orbit.cpp | 28 +-- src/dynamics/orbit/relative_orbit.hpp | 16 +- src/dynamics/orbit/rk4_orbit_propagation.cpp | 8 +- src/dynamics/orbit/rk4_orbit_propagation.hpp | 8 +- src/dynamics/thermal/heatload.cpp | 2 +- src/dynamics/thermal/node.cpp | 8 +- src/dynamics/thermal/node.hpp | 6 +- src/dynamics/thermal/temperature.cpp | 8 +- src/dynamics/thermal/temperature.hpp | 6 +- .../global/celestial_information.hpp | 30 ++-- src/environment/global/earth_rotation.cpp | 160 +++++++++--------- src/environment/global/earth_rotation.hpp | 16 +- src/environment/global/gnss_satellites.cpp | 12 +- src/environment/global/gnss_satellites.hpp | 6 +- .../global/hipparcos_catalogue.cpp | 14 +- .../global/hipparcos_catalogue.hpp | 4 +- src/environment/global/moon_rotation.cpp | 8 +- src/environment/global/moon_rotation.hpp | 4 +- src/environment/local/atmosphere.cpp | 2 +- src/environment/local/geomagnetic_field.cpp | 6 +- src/environment/local/geomagnetic_field.hpp | 10 +- .../local/local_celestial_information.cpp | 48 +++--- .../local/local_celestial_information.hpp | 22 +-- .../solar_radiation_pressure_environment.cpp | 10 +- src/logger/log_utility.hpp | 12 +- .../atmosphere/harris_priester_model.cpp | 10 +- .../atmosphere/harris_priester_model.hpp | 2 +- .../atmosphere/wrapper_nrlmsise00.cpp | 6 +- .../geodesy/geodetic_position.cpp | 10 +- .../geodesy/geodetic_position.hpp | 8 +- src/math_physics/gnss/antex_file_reader.cpp | 2 +- src/math_physics/gnss/antex_file_reader.hpp | 6 +- src/math_physics/gnss/sp3_file_reader.cpp | 10 +- src/math_physics/gnss/sp3_file_reader.hpp | 10 +- .../gravity/gravity_potential.cpp | 8 +- .../gravity/gravity_potential.hpp | 4 +- .../gravity/test_gravity_potential.cpp | 40 ++--- src/math_physics/math/constants.hpp | 4 +- src/math_physics/math/interpolation.cpp | 4 +- src/math_physics/math/interpolation.hpp | 4 +- src/math_physics/math/matrix.hpp | 4 +- .../math/matrix_template_functions.hpp | 4 +- src/math_physics/math/matrix_vector.hpp | 4 +- .../math/matrix_vector_template_functions.hpp | 4 +- .../math/ordinary_differential_equation.hpp | 6 +- ...fferential_equation_template_functions.hpp | 4 +- src/math_physics/math/quaternion.cpp | 4 +- src/math_physics/math/quaternion.hpp | 4 +- src/math_physics/math/s2e_math.cpp | 12 +- src/math_physics/math/s2e_math.hpp | 4 +- src/math_physics/math/test_interpolation.cpp | 30 ++-- src/math_physics/math/test_matrix.cpp | 60 +++---- src/math_physics/math/test_matrix_vector.cpp | 10 +- src/math_physics/math/test_quaternion.cpp | 134 +++++++-------- src/math_physics/math/test_s2e_math.cpp | 14 +- src/math_physics/math/test_vector.cpp | 94 +++++----- src/math_physics/math/vector.cpp | 4 +- src/math_physics/math/vector.hpp | 4 +- .../math/vector_template_functions.hpp | 4 +- .../dormand_prince_5.hpp | 4 +- .../dormand_prince_5_implementation.hpp | 6 +- .../embedded_runge_kutta_implementation.hpp | 6 +- .../numerical_integration/interface_ode.hpp | 2 +- .../numerical_integrator.hpp | 10 +- .../numerical_integration/ode_examples.hpp | 16 +- .../numerical_integration/runge_kutta.hpp | 2 +- .../numerical_integration/runge_kutta_4.hpp | 2 +- .../runge_kutta_fehlberg.hpp | 2 +- .../runge_kutta_fehlberg_implementation.hpp | 8 +- .../runge_kutta_template.hpp | 4 +- .../test_runge_kutta.cpp | 86 +++++----- .../optics/gaussian_beam_base.cpp | 8 +- .../optics/gaussian_beam_base.hpp | 12 +- .../orbit/interpolation_orbit.cpp | 8 +- .../orbit/interpolation_orbit.hpp | 6 +- src/math_physics/orbit/kepler_orbit.cpp | 16 +- src/math_physics/orbit/kepler_orbit.hpp | 10 +- src/math_physics/orbit/orbital_elements.cpp | 16 +- src/math_physics/orbit/orbital_elements.hpp | 8 +- .../orbit/relative_orbit_models.cpp | 8 +- .../orbit/relative_orbit_models.hpp | 4 +- .../orbit/test_interpolation_orbit.cpp | 4 +- .../moon_rotation_utilities.cpp | 30 ++-- .../moon_rotation_utilities.hpp | 6 +- .../randomization/random_walk.hpp | 8 +- .../random_walk_template_functions.hpp | 6 +- .../initialize_file_access.cpp | 4 +- .../initialize_file_access.hpp | 6 +- .../ground_station/ground_station.cpp | 14 +- .../initialize_monte_carlo_parameters.cpp | 70 ++++---- .../initialize_monte_carlo_parameters.hpp | 26 +-- .../initialize_monte_carlo_simulation.cpp | 4 +- .../monte_carlo_simulation_executor.cpp | 2 +- .../monte_carlo_simulation_executor.hpp | 12 +- .../simulation_object.cpp | 2 +- .../simulation_object.hpp | 6 +- .../relative_information.cpp | 58 +++---- .../relative_information.hpp | 26 +-- .../spacecraft/installed_components.cpp | 8 +- .../spacecraft/installed_components.hpp | 4 +- .../structure/initialize_structure.cpp | 8 +- .../structure/kinematics_parameters.cpp | 2 +- .../structure/kinematics_parameters.hpp | 14 +- .../structure/residual_magnetic_moment.hpp | 2 +- .../spacecraft/structure/surface.cpp | 2 +- .../spacecraft/structure/surface.hpp | 14 +- .../spacecraft/sample_components.cpp | 14 +- .../spacecraft/sample_components.hpp | 4 +- 188 files changed, 1528 insertions(+), 1528 deletions(-) diff --git a/src/components/base/sensor.hpp b/src/components/base/sensor.hpp index f3ab2e22b..398b24263 100644 --- a/src/components/base/sensor.hpp +++ b/src/components/base/sensor.hpp @@ -31,9 +31,9 @@ class Sensor { * @param [in] random_walk_standard_deviation_c: Standard deviation of random wark at the component frame * @param [in] random_walk_limit_c: Limit of random walk at the component frame */ - Sensor(const math::Matrix& scale_factor, const math::Vector& range_to_const_c, const math::Vector& range_to_zero_c, - const math::Vector& bias_noise_c, const math::Vector& normal_random_standard_deviation_c, const double random_walk_step_width_s, - const math::Vector& random_walk_standard_deviation_c, const math::Vector& random_walk_limit_c); + Sensor(const s2e::math::Matrix& scale_factor, const s2e::math::Vector& range_to_const_c, const s2e::math::Vector& range_to_zero_c, + const s2e::math::Vector& bias_noise_c, const s2e::math::Vector& normal_random_standard_deviation_c, const double random_walk_step_width_s, + const s2e::math::Vector& random_walk_standard_deviation_c, const s2e::math::Vector& random_walk_limit_c); /** * @fn ~Sensor * @brief Destructor @@ -41,7 +41,7 @@ class Sensor { ~Sensor(); protected: - math::Vector bias_noise_c_; //!< Constant bias noise at the component frame + s2e::math::Vector bias_noise_c_; //!< Constant bias noise at the component frame /** * @fn Measure @@ -49,12 +49,12 @@ class Sensor { * @param [in] true_value_c: True value at the component frame * @return Observed value with noise at the component frame */ - math::Vector Measure(const math::Vector true_value_c); + s2e::math::Vector Measure(const s2e::math::Vector true_value_c); private: - math::Matrix scale_factor_; //!< Scale factor matrix - math::Vector range_to_const_c_; //!< Output range limit to be constant output value at the component frame - math::Vector range_to_zero_c_; //!< Output range limit to be zero output value at the component frame + s2e::math::Matrix scale_factor_; //!< Scale factor matrix + s2e::math::Vector range_to_const_c_; //!< Output range limit to be constant output value at the component frame + s2e::math::Vector range_to_zero_c_; //!< Output range limit to be zero output value at the component frame randomization::NormalRand normal_random_noise_c_[N]; //!< Normal random RandomWalk random_walk_noise_c_; //!< Random Walk @@ -64,7 +64,7 @@ class Sensor { * @param [in] input_c: Input value at the component frame * @return Clipped value */ - math::Vector Clip(const math::Vector input_c); + s2e::math::Vector Clip(const s2e::math::Vector input_c); /** * @fn RangeCheck * @brief Check the range_to_const_c_ and range_to_zero_c_ is correct and fixed the values diff --git a/src/components/base/sensor_template_functions.hpp b/src/components/base/sensor_template_functions.hpp index 247093ce2..ef6f9a7e5 100644 --- a/src/components/base/sensor_template_functions.hpp +++ b/src/components/base/sensor_template_functions.hpp @@ -10,10 +10,10 @@ #include template -Sensor::Sensor(const math::Matrix& scale_factor, const math::Vector& range_to_const_c, const math::Vector& range_to_zero_c, - const math::Vector& bias_noise_c, const math::Vector& normal_random_standard_deviation_c, - const double random_walk_step_width_s, const math::Vector& random_walk_standard_deviation_c, - const math::Vector& random_walk_limit_c) +Sensor::Sensor(const s2e::math::Matrix& scale_factor, const s2e::math::Vector& range_to_const_c, const s2e::math::Vector& range_to_zero_c, + const s2e::math::Vector& bias_noise_c, const s2e::math::Vector& normal_random_standard_deviation_c, + const double random_walk_step_width_s, const s2e::math::Vector& random_walk_standard_deviation_c, + const s2e::math::Vector& random_walk_limit_c) : bias_noise_c_(bias_noise_c), scale_factor_(scale_factor), range_to_const_c_(range_to_const_c), @@ -29,8 +29,8 @@ template Sensor::~Sensor() {} template -math::Vector Sensor::Measure(const math::Vector true_value_c) { - math::Vector calc_value_c; +s2e::math::Vector Sensor::Measure(const s2e::math::Vector true_value_c) { + s2e::math::Vector calc_value_c; calc_value_c = scale_factor_ * true_value_c; calc_value_c += bias_noise_c_; for (size_t i = 0; i < N; ++i) { @@ -42,8 +42,8 @@ math::Vector Sensor::Measure(const math::Vector true_value_c) { } template -math::Vector Sensor::Clip(const math::Vector input_c) { - math::Vector output_c; +s2e::math::Vector Sensor::Clip(const s2e::math::Vector input_c) { + s2e::math::Vector output_c; for (size_t i = 0; i < N; ++i) { if (input_c[i] >= range_to_const_c_[i] && input_c[i] < range_to_zero_c_[i]) { output_c[i] = range_to_const_c_[i]; @@ -80,11 +80,11 @@ Sensor ReadSensorInformation(const std::string file_name, const double step_w IniAccess ini_file(file_name); std::string section = "SENSOR_BASE_" + component_name; - math::Vector scale_factor_vector; + s2e::math::Vector scale_factor_vector; ini_file.ReadVector(section.c_str(), "scale_factor_c", scale_factor_vector); - math::Matrix scale_factor_c; + s2e::math::Matrix scale_factor_c; if (scale_factor_vector.CalcNorm() == 0.0) { - scale_factor_c = math::MakeIdentityMatrix(); + scale_factor_c = s2e::math::MakeIdentityMatrix(); } else { for (size_t i = 0; i < N; i++) { for (size_t j = 0; j < N; j++) { @@ -94,26 +94,26 @@ Sensor ReadSensorInformation(const std::string file_name, const double step_w } std::string key_name; - math::Vector constant_bias_c; + s2e::math::Vector constant_bias_c; key_name = "constant_bias_c_" + unit; ini_file.ReadVector(section.c_str(), key_name.c_str(), constant_bias_c); - math::Vector normal_random_standard_deviation_c; + s2e::math::Vector normal_random_standard_deviation_c; key_name = "normal_random_standard_deviation_c_" + unit; ini_file.ReadVector(section.c_str(), key_name.c_str(), normal_random_standard_deviation_c); - math::Vector random_walk_standard_deviation_c; + s2e::math::Vector random_walk_standard_deviation_c; key_name = "random_walk_standard_deviation_c_" + unit; ini_file.ReadVector(section.c_str(), key_name.c_str(), random_walk_standard_deviation_c); - math::Vector random_walk_limit_c; + s2e::math::Vector random_walk_limit_c; key_name = "random_walk_limit_c_" + unit; ini_file.ReadVector(section.c_str(), key_name.c_str(), random_walk_limit_c); key_name = "range_to_constant_" + unit; double range_to_const = ini_file.ReadDouble(section.c_str(), key_name.c_str()); - math::Vector range_to_const_c{range_to_const}; + s2e::math::Vector range_to_const_c{range_to_const}; key_name = "range_to_zero_" + unit; double range_to_zero = ini_file.ReadDouble(section.c_str(), key_name.c_str()); - math::Vector range_to_zero_c{range_to_zero}; + s2e::math::Vector range_to_zero_c{range_to_zero}; Sensor sensor_base(scale_factor_c, range_to_const_c, range_to_zero_c, constant_bias_c, normal_random_standard_deviation_c, step_width_s, random_walk_standard_deviation_c, random_walk_limit_c); diff --git a/src/components/examples/example_change_structure.cpp b/src/components/examples/example_change_structure.cpp index 87e589700..bc28f4547 100644 --- a/src/components/examples/example_change_structure.cpp +++ b/src/components/examples/example_change_structure.cpp @@ -35,7 +35,7 @@ void ExampleChangeStructure::MainRoutine(const int time_count) { structure_->GetToSetSurfaces()[0].SetArea_m2(0.5); // Inertia Tensor - math::Matrix<3, 3> inertia_tensor_b_kgm2(0.0); + s2e::math::Matrix<3, 3> inertia_tensor_b_kgm2(0.0); inertia_tensor_b_kgm2[0][0] = 0.2; inertia_tensor_b_kgm2[1][1] = 0.2; inertia_tensor_b_kgm2[2][2] = 0.2; diff --git a/src/components/ideal/angular_velocity_observer.hpp b/src/components/ideal/angular_velocity_observer.hpp index 3b162a36a..bf22777ac 100644 --- a/src/components/ideal/angular_velocity_observer.hpp +++ b/src/components/ideal/angular_velocity_observer.hpp @@ -57,10 +57,10 @@ class AngularVelocityObserver : public Component, public Sensor<3>, public ILogg * @fn GetAngularVelocity_b_rad_s * @brief Return observed angular velocity */ - inline math::Vector<3> GetAngularVelocity_b_rad_s() const { return angular_velocity_b_rad_s_; } + inline s2e::math::Vector<3> GetAngularVelocity_b_rad_s() const { return angular_velocity_b_rad_s_; } protected: - math::Vector<3> angular_velocity_b_rad_s_{0.0}; //!< Observed angular velocity [rad/s] + s2e::math::Vector<3> angular_velocity_b_rad_s_{0.0}; //!< Observed angular velocity [rad/s] const Attitude& attitude_; //!< Dynamics information }; diff --git a/src/components/ideal/attitude_observer.cpp b/src/components/ideal/attitude_observer.cpp index 312a1930c..26ffee05b 100644 --- a/src/components/ideal/attitude_observer.cpp +++ b/src/components/ideal/attitude_observer.cpp @@ -18,14 +18,14 @@ void AttitudeObserver::MainRoutine(const int time_count) { UNUSED(time_count); // Error calculation - math::Vector<3> random_direction; + s2e::math::Vector<3> random_direction; random_direction[0] = direction_noise_; random_direction[1] = direction_noise_; random_direction[2] = direction_noise_; random_direction = random_direction.CalcNormalizedVector(); double error_angle_rad = angle_noise_; - math::Quaternion error_quaternion(random_direction, error_angle_rad); + s2e::math::Quaternion error_quaternion(random_direction, error_angle_rad); observed_quaternion_i2b_ = error_quaternion * attitude_.GetQuaternion_i2b(); } @@ -57,7 +57,7 @@ AttitudeObserver InitializeAttitudeObserver(ClockGenerator* clock_generator, con // AttitudeObserver double error_angle_standard_deviation_deg = ini_file.ReadDouble("ATTITUDE_OBSERVER", "error_angle_standard_deviation_deg"); - double error_angle_standard_deviation_rad = math::deg_to_rad * error_angle_standard_deviation_deg; + double error_angle_standard_deviation_rad = s2e::math::deg_to_rad * error_angle_standard_deviation_deg; AttitudeObserver attitude_observer(prescaler, clock_generator, error_angle_standard_deviation_rad, attitude); return attitude_observer; diff --git a/src/components/ideal/attitude_observer.hpp b/src/components/ideal/attitude_observer.hpp index 3244dce32..1efc18b71 100644 --- a/src/components/ideal/attitude_observer.hpp +++ b/src/components/ideal/attitude_observer.hpp @@ -57,10 +57,10 @@ class AttitudeObserver : public Component, public ILoggable { * @fn GetQuaternion_i2c * @brief Return observed quaternion from the inertial frame to the body-fixed frame */ - inline const math::Quaternion GetQuaternion_i2b() const { return observed_quaternion_i2b_; }; + inline const s2e::math::Quaternion GetQuaternion_i2b() const { return observed_quaternion_i2b_; }; protected: - math::Quaternion observed_quaternion_i2b_ = {0.0, 0.0, 0.0, 1.0}; //!< Observed quaternion + s2e::math::Quaternion observed_quaternion_i2b_ = {0.0, 0.0, 0.0, 1.0}; //!< Observed quaternion randomization::NormalRand angle_noise_; //!< Normal random for magnitude noise randomization::NormalRand direction_noise_; //!< Normal random for direction noise diff --git a/src/components/ideal/force_generator.cpp b/src/components/ideal/force_generator.cpp index 833703477..79a062ede 100644 --- a/src/components/ideal/force_generator.cpp +++ b/src/components/ideal/force_generator.cpp @@ -29,16 +29,16 @@ void ForceGenerator::MainRoutine(const int time_count) { double norm_ordered_force = ordered_force_b_N_.CalcNorm(); if (norm_ordered_force > 0.0 + DBL_EPSILON) { // Add noise only when the force is generated - math::Vector<3> true_direction = generated_force_b_N_.CalcNormalizedVector(); - math::Quaternion error_quaternion = GenerateDirectionNoiseQuaternion(true_direction, direction_error_standard_deviation_rad_); - math::Vector<3> converted_direction = error_quaternion.FrameConversion(true_direction); + s2e::math::Vector<3> true_direction = generated_force_b_N_.CalcNormalizedVector(); + s2e::math::Quaternion error_quaternion = GenerateDirectionNoiseQuaternion(true_direction, direction_error_standard_deviation_rad_); + s2e::math::Vector<3> converted_direction = error_quaternion.FrameConversion(true_direction); double force_norm_with_error = norm_ordered_force + magnitude_noise_; generated_force_b_N_ = force_norm_with_error * converted_direction; } // Convert frame - math::Quaternion q_i2b = dynamics_->GetAttitude().GetQuaternion_i2b(); - math::Quaternion q_i2rtn = dynamics_->GetOrbit().CalcQuaternion_i2lvlh(); + s2e::math::Quaternion q_i2b = dynamics_->GetAttitude().GetQuaternion_i2b(); + s2e::math::Quaternion q_i2rtn = dynamics_->GetOrbit().CalcQuaternion_i2lvlh(); generated_force_i_N_ = q_i2b.InverseFrameConversion(generated_force_b_N_); generated_force_rtn_N_ = q_i2rtn.FrameConversion(generated_force_i_N_); } @@ -49,16 +49,16 @@ void ForceGenerator::PowerOffRoutine() { generated_force_rtn_N_ *= 0.0; } -void ForceGenerator::SetForce_i_N(const math::Vector<3> force_i_N) { - math::Quaternion q_i2b = dynamics_->GetAttitude().GetQuaternion_i2b(); +void ForceGenerator::SetForce_i_N(const s2e::math::Vector<3> force_i_N) { + s2e::math::Quaternion q_i2b = dynamics_->GetAttitude().GetQuaternion_i2b(); ordered_force_b_N_ = q_i2b.FrameConversion(force_i_N); } -void ForceGenerator::SetForce_rtn_N(const math::Vector<3> force_rtn_N) { - math::Quaternion q_i2b = dynamics_->GetAttitude().GetQuaternion_i2b(); - math::Quaternion q_i2rtn = dynamics_->GetOrbit().CalcQuaternion_i2lvlh(); +void ForceGenerator::SetForce_rtn_N(const s2e::math::Vector<3> force_rtn_N) { + s2e::math::Quaternion q_i2b = dynamics_->GetAttitude().GetQuaternion_i2b(); + s2e::math::Quaternion q_i2rtn = dynamics_->GetOrbit().CalcQuaternion_i2lvlh(); - math::Vector<3> force_i_N = q_i2rtn.InverseFrameConversion(force_rtn_N); + s2e::math::Vector<3> force_i_N = q_i2rtn.InverseFrameConversion(force_rtn_N); ordered_force_b_N_ = q_i2b.FrameConversion(force_i_N); } @@ -85,14 +85,14 @@ std::string ForceGenerator::GetLogValue() const { return str_tmp; } -math::Quaternion ForceGenerator::GenerateDirectionNoiseQuaternion(math::Vector<3> true_direction, const double error_standard_deviation_rad) { - math::Vector<3> random_direction; +s2e::math::Quaternion ForceGenerator::GenerateDirectionNoiseQuaternion(s2e::math::Vector<3> true_direction, const double error_standard_deviation_rad) { + s2e::math::Vector<3> random_direction; random_direction[0] = direction_noise_; random_direction[1] = direction_noise_; random_direction[2] = direction_noise_; random_direction = random_direction.CalcNormalizedVector(); - math::Vector<3> rotation_axis; + s2e::math::Vector<3> rotation_axis; rotation_axis = OuterProduct(true_direction, random_direction); double norm_rotation_axis = rotation_axis.CalcNorm(); if (norm_rotation_axis < 0.0 + DBL_EPSILON) { @@ -101,7 +101,7 @@ math::Quaternion ForceGenerator::GenerateDirectionNoiseQuaternion(math::Vector<3 } double error_angle_rad = direction_noise_ * error_standard_deviation_rad; - math::Quaternion error_quaternion(rotation_axis, error_angle_rad); + s2e::math::Quaternion error_quaternion(rotation_axis, error_angle_rad); return error_quaternion; } @@ -117,7 +117,7 @@ ForceGenerator InitializeForceGenerator(ClockGenerator* clock_generator, const s char section[30] = "FORCE_GENERATOR"; double force_magnitude_standard_deviation_N = ini_file.ReadDouble(section, "force_magnitude_standard_deviation_N"); double force_direction_standard_deviation_deg = ini_file.ReadDouble(section, "force_direction_standard_deviation_deg"); - double force_direction_standard_deviation_rad = math::deg_to_rad * force_direction_standard_deviation_deg; + double force_direction_standard_deviation_rad = s2e::math::deg_to_rad * force_direction_standard_deviation_deg; ForceGenerator force_generator(prescaler, clock_generator, force_magnitude_standard_deviation_N, force_direction_standard_deviation_rad, dynamics); return force_generator; diff --git a/src/components/ideal/force_generator.hpp b/src/components/ideal/force_generator.hpp index d7cb07f49..9a07fe269 100644 --- a/src/components/ideal/force_generator.hpp +++ b/src/components/ideal/force_generator.hpp @@ -81,23 +81,23 @@ class ForceGenerator : public Component, public ILoggable { * @fn SetForce_b_N * @brief Set ordered force in the body fixed frame [N] */ - inline void SetForce_b_N(const math::Vector<3> force_b_N) { ordered_force_b_N_ = force_b_N; }; + inline void SetForce_b_N(const s2e::math::Vector<3> force_b_N) { ordered_force_b_N_ = force_b_N; }; /** * @fn SetForce_i_N * @brief Set ordered force in the inertial frame [N] */ - void SetForce_i_N(const math::Vector<3> force_i_N); + void SetForce_i_N(const s2e::math::Vector<3> force_i_N); /** * @fn SetForce_rtn_N * @brief Set ordered force in the RTN frame [N] */ - void SetForce_rtn_N(const math::Vector<3> force_rtn_N); + void SetForce_rtn_N(const s2e::math::Vector<3> force_rtn_N); protected: - math::Vector<3> ordered_force_b_N_{0.0}; //!< Ordered force in the body fixed frame [N] - math::Vector<3> generated_force_b_N_{0.0}; //!< Generated force in the body fixed frame [N] - math::Vector<3> generated_force_i_N_{0.0}; //!< Generated force in the inertial frame [N] - math::Vector<3> generated_force_rtn_N_{0.0}; //!< Generated force in the RTN frame [N] + s2e::math::Vector<3> ordered_force_b_N_{0.0}; //!< Ordered force in the body fixed frame [N] + s2e::math::Vector<3> generated_force_b_N_{0.0}; //!< Generated force in the body fixed frame [N] + s2e::math::Vector<3> generated_force_i_N_{0.0}; //!< Generated force in the inertial frame [N] + s2e::math::Vector<3> generated_force_rtn_N_{0.0}; //!< Generated force in the RTN frame [N] // Noise randomization::NormalRand magnitude_noise_; //!< Normal random for magnitude noise @@ -110,7 +110,7 @@ class ForceGenerator : public Component, public ILoggable { * @param [in] true_direction: True direction * @param [in] error_standard_deviation_rad: Standard deviation of direction error [rad] */ - math::Quaternion GenerateDirectionNoiseQuaternion(math::Vector<3> true_direction, const double error_standard_deviation_rad); + s2e::math::Quaternion GenerateDirectionNoiseQuaternion(s2e::math::Vector<3> true_direction, const double error_standard_deviation_rad); const Dynamics* dynamics_; //!< Spacecraft dynamics information }; diff --git a/src/components/ideal/orbit_observer.cpp b/src/components/ideal/orbit_observer.cpp index e1b91d0c7..48a2157d2 100644 --- a/src/components/ideal/orbit_observer.cpp +++ b/src/components/ideal/orbit_observer.cpp @@ -9,7 +9,7 @@ #include OrbitObserver::OrbitObserver(const int prescaler, ClockGenerator* clock_generator, const NoiseFrame noise_frame, - const math::Vector<6> error_standard_deviation, const Orbit& orbit) + const s2e::math::Vector<6> error_standard_deviation, const Orbit& orbit) : Component(prescaler, clock_generator), noise_frame_(noise_frame), orbit_(orbit) { for (size_t i = 0; i < 6; i++) { normal_random_noise_[i].SetParameters(0.0, error_standard_deviation[i], global_randomization.MakeSeed()); @@ -20,11 +20,11 @@ void OrbitObserver::MainRoutine(const int time_count) { UNUSED(time_count); // Calc noise - math::Vector<3> position_error_i_m{0.0}; - math::Vector<3> position_error_rtn_m{0.0}; - math::Vector<3> velocity_error_i_m_s{0.0}; - math::Vector<3> velocity_error_rtn_m_s{0.0}; - math::Quaternion q_i2rtn = orbit_.CalcQuaternion_i2lvlh(); + s2e::math::Vector<3> position_error_i_m{0.0}; + s2e::math::Vector<3> position_error_rtn_m{0.0}; + s2e::math::Vector<3> velocity_error_i_m_s{0.0}; + s2e::math::Vector<3> velocity_error_rtn_m_s{0.0}; + s2e::math::Quaternion q_i2rtn = orbit_.CalcQuaternion_i2lvlh(); switch (noise_frame_) { case NoiseFrame::kInertial: for (size_t axis = 0; axis < 3; axis++) { @@ -93,7 +93,7 @@ OrbitObserver InitializeOrbitObserver(ClockGenerator* clock_generator, const std // Noise const NoiseFrame noise_frame = SetNoiseFrame(ini_file.ReadString("ORBIT_OBSERVER", "noise_frame")); - math::Vector<6> noise_standard_deviation; + s2e::math::Vector<6> noise_standard_deviation; ini_file.ReadVector("ORBIT_OBSERVER", "noise_standard_deviation", noise_standard_deviation); OrbitObserver orbit_observer(prescaler, clock_generator, noise_frame, noise_standard_deviation, orbit); diff --git a/src/components/ideal/orbit_observer.hpp b/src/components/ideal/orbit_observer.hpp index 09437c079..ab3aa9887 100644 --- a/src/components/ideal/orbit_observer.hpp +++ b/src/components/ideal/orbit_observer.hpp @@ -37,7 +37,7 @@ class OrbitObserver : public Component, public ILoggable { * @param [in] error_standard_deviation: Position and Velocity standard deviation noise [m, m/s] * @param [in] orbit: Orbit information */ - OrbitObserver(const int prescaler, ClockGenerator* clock_generator, const NoiseFrame noise_frame, const math::Vector<6> error_standard_deviation, + OrbitObserver(const int prescaler, ClockGenerator* clock_generator, const NoiseFrame noise_frame, const s2e::math::Vector<6> error_standard_deviation, const Orbit& orbit); /** @@ -69,17 +69,17 @@ class OrbitObserver : public Component, public ILoggable { * @fn GetPosition_i_m * @brief Return observed position */ - inline const math::Vector<3> GetPosition_i_m() const { return observed_position_i_m_; }; + inline const s2e::math::Vector<3> GetPosition_i_m() const { return observed_position_i_m_; }; /** * @fn GetVelocity_i_m_s * @brief Return observed velocity */ - inline const math::Vector<3> GetVelocity_i_m_s() const { return observed_velocity_i_m_s_; }; + inline const s2e::math::Vector<3> GetVelocity_i_m_s() const { return observed_velocity_i_m_s_; }; protected: - math::Vector<3> observed_position_i_m_{0.0}; //!< Observed position @ inertial frame [m] - math::Vector<3> observed_velocity_i_m_s_{0.0}; //!< Observed velocity @ inertial frame [m/s] + s2e::math::Vector<3> observed_position_i_m_{0.0}; //!< Observed position @ inertial frame [m] + s2e::math::Vector<3> observed_velocity_i_m_s_{0.0}; //!< Observed velocity @ inertial frame [m/s] NoiseFrame noise_frame_; //!< Noise definition frame randomization::NormalRand normal_random_noise_[6]; //!< Position and Velocity noise [m, m/s] diff --git a/src/components/ideal/torque_generator.cpp b/src/components/ideal/torque_generator.cpp index d090f0d34..efcf0392d 100644 --- a/src/components/ideal/torque_generator.cpp +++ b/src/components/ideal/torque_generator.cpp @@ -29,9 +29,9 @@ void TorqueGenerator::MainRoutine(const int time_count) { double norm_ordered_torque = ordered_torque_b_Nm_.CalcNorm(); if (norm_ordered_torque > 0.0 + DBL_EPSILON) { // Add noise only when the torque is generated - math::Vector<3> true_direction = generated_torque_b_Nm_.CalcNormalizedVector(); - math::Quaternion error_quaternion = GenerateDirectionNoiseQuaternion(true_direction, direction_error_standard_deviation_rad_); - math::Vector<3> converted_direction = error_quaternion.FrameConversion(true_direction); + s2e::math::Vector<3> true_direction = generated_torque_b_Nm_.CalcNormalizedVector(); + s2e::math::Quaternion error_quaternion = GenerateDirectionNoiseQuaternion(true_direction, direction_error_standard_deviation_rad_); + s2e::math::Vector<3> converted_direction = error_quaternion.FrameConversion(true_direction); double torque_norm_with_error = norm_ordered_torque + magnitude_noise_; generated_torque_b_Nm_ = torque_norm_with_error * converted_direction; } @@ -58,14 +58,14 @@ std::string TorqueGenerator::GetLogValue() const { return str_tmp; } -math::Quaternion TorqueGenerator::GenerateDirectionNoiseQuaternion(math::Vector<3> true_direction, const double error_standard_deviation_rad) { - math::Vector<3> random_direction; +s2e::math::Quaternion TorqueGenerator::GenerateDirectionNoiseQuaternion(s2e::math::Vector<3> true_direction, const double error_standard_deviation_rad) { + s2e::math::Vector<3> random_direction; random_direction[0] = direction_noise_; random_direction[1] = direction_noise_; random_direction[2] = direction_noise_; random_direction = random_direction.CalcNormalizedVector(); - math::Vector<3> rotation_axis; + s2e::math::Vector<3> rotation_axis; rotation_axis = OuterProduct(true_direction, random_direction); double norm_rotation_axis = rotation_axis.CalcNorm(); if (norm_rotation_axis < 0.0 + DBL_EPSILON) { @@ -74,7 +74,7 @@ math::Quaternion TorqueGenerator::GenerateDirectionNoiseQuaternion(math::Vector< } double error_angle_rad = direction_noise_ * error_standard_deviation_rad; - math::Quaternion error_quaternion(rotation_axis, error_angle_rad); + s2e::math::Quaternion error_quaternion(rotation_axis, error_angle_rad); return error_quaternion; } @@ -90,7 +90,7 @@ TorqueGenerator InitializeTorqueGenerator(ClockGenerator* clock_generator, const char section[30] = "TORQUE_GENERATOR"; double torque_magnitude_standard_deviation_Nm = ini_file.ReadDouble(section, "torque_magnitude_standard_deviation_Nm"); double torque_direction_standard_deviation_deg = ini_file.ReadDouble(section, "torque_direction_standard_deviation_deg"); - double torque_direction_standard_deviation_rad = math::deg_to_rad * torque_direction_standard_deviation_deg; + double torque_direction_standard_deviation_rad = s2e::math::deg_to_rad * torque_direction_standard_deviation_deg; TorqueGenerator torque_generator(prescaler, clock_generator, torque_magnitude_standard_deviation_Nm, torque_direction_standard_deviation_rad, dynamics); diff --git a/src/components/ideal/torque_generator.hpp b/src/components/ideal/torque_generator.hpp index 6ddaf1c5d..c03aa4da1 100644 --- a/src/components/ideal/torque_generator.hpp +++ b/src/components/ideal/torque_generator.hpp @@ -71,11 +71,11 @@ class TorqueGenerator : public Component, public ILoggable { * @fn SetTorque_b_Nm * @brief Set ordered torque in the body fixed frame [Nm] */ - inline void SetTorque_b_Nm(const math::Vector<3> torque_b_Nm) { ordered_torque_b_Nm_ = torque_b_Nm; }; + inline void SetTorque_b_Nm(const s2e::math::Vector<3> torque_b_Nm) { ordered_torque_b_Nm_ = torque_b_Nm; }; protected: - math::Vector<3> ordered_torque_b_Nm_{0.0}; //!< Ordered torque in the body fixed frame [Nm] - math::Vector<3> generated_torque_b_Nm_{0.0}; //!< Generated torque in the body fixed frame [Nm] + s2e::math::Vector<3> ordered_torque_b_Nm_{0.0}; //!< Ordered torque in the body fixed frame [Nm] + s2e::math::Vector<3> generated_torque_b_Nm_{0.0}; //!< Generated torque in the body fixed frame [Nm] // Noise randomization::NormalRand magnitude_noise_; //!< Normal random for magnitude noise @@ -88,7 +88,7 @@ class TorqueGenerator : public Component, public ILoggable { * @param [in] true_direction: True direction * @param [in] error_standard_deviation_rad: Standard deviation of direction error [rad] */ - math::Quaternion GenerateDirectionNoiseQuaternion(math::Vector<3> true_direction, const double error_standard_deviation_rad); + s2e::math::Quaternion GenerateDirectionNoiseQuaternion(s2e::math::Vector<3> true_direction, const double error_standard_deviation_rad); const Dynamics* dynamics_; //!< Spacecraft dynamics information }; diff --git a/src/components/real/aocs/gnss_receiver.cpp b/src/components/real/aocs/gnss_receiver.cpp index a07a52a0b..87e88abfd 100644 --- a/src/components/real/aocs/gnss_receiver.cpp +++ b/src/components/real/aocs/gnss_receiver.cpp @@ -12,9 +12,9 @@ #include GnssReceiver::GnssReceiver(const int prescaler, ClockGenerator* clock_generator, const size_t component_id, const AntennaModel antenna_model, - const math::Vector<3> antenna_position_b_m, const math::Quaternion quaternion_b2c, const double half_width_deg, - const math::Vector<3> position_noise_standard_deviation_ecef_m, - const math::Vector<3> velocity_noise_standard_deviation_ecef_m_s, const Dynamics* dynamics, + const s2e::math::Vector<3> antenna_position_b_m, const s2e::math::Quaternion quaternion_b2c, const double half_width_deg, + const s2e::math::Vector<3> position_noise_standard_deviation_ecef_m, + const s2e::math::Vector<3> velocity_noise_standard_deviation_ecef_m_s, const Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time) : Component(prescaler, clock_generator), component_id_(component_id), @@ -32,9 +32,9 @@ GnssReceiver::GnssReceiver(const int prescaler, ClockGenerator* clock_generator, } GnssReceiver::GnssReceiver(const int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, const size_t component_id, - const AntennaModel antenna_model, const math::Vector<3> antenna_position_b_m, const math::Quaternion quaternion_b2c, - const double half_width_deg, const math::Vector<3> position_noise_standard_deviation_ecef_m, - const math::Vector<3> velocity_noise_standard_deviation_ecef_m_s, const Dynamics* dynamics, + const AntennaModel antenna_model, const s2e::math::Vector<3> antenna_position_b_m, const s2e::math::Quaternion quaternion_b2c, + const double half_width_deg, const s2e::math::Vector<3> position_noise_standard_deviation_ecef_m, + const s2e::math::Vector<3> velocity_noise_standard_deviation_ecef_m_s, const Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time) : Component(prescaler, clock_generator, power_port), component_id_(component_id), @@ -56,8 +56,8 @@ void GnssReceiver::MainRoutine(const int time_count) { // Antenna checking // TODO: Use ECEF position only - math::Vector<3> position_true_eci = dynamics_->GetOrbit().GetPosition_i_m(); - math::Quaternion quaternion_i2b = dynamics_->GetAttitude().GetQuaternion_i2b(); + s2e::math::Vector<3> position_true_eci = dynamics_->GetOrbit().GetPosition_i_m(); + s2e::math::Quaternion quaternion_i2b = dynamics_->GetAttitude().GetQuaternion_i2b(); CheckAntenna(position_true_eci, quaternion_i2b); if (is_gnss_visible_) { @@ -74,7 +74,7 @@ void GnssReceiver::MainRoutine(const int time_count) { ConvertJulianDayToGpsTime(simulation_time_->GetCurrentTime_jd()); } -void GnssReceiver::CheckAntenna(const math::Vector<3> position_true_eci_m, const math::Quaternion quaternion_i2b) { +void GnssReceiver::CheckAntenna(const s2e::math::Vector<3> position_true_eci_m, const s2e::math::Quaternion quaternion_i2b) { if (antenna_model_ == AntennaModel::kSimple) { CheckAntennaSimple(position_true_eci_m, quaternion_i2b); } else if (antenna_model_ == AntennaModel::kCone) { @@ -84,15 +84,15 @@ void GnssReceiver::CheckAntenna(const math::Vector<3> position_true_eci_m, const } } -void GnssReceiver::CheckAntennaSimple(const math::Vector<3> position_true_eci_m, const math::Quaternion quaternion_i2b) { +void GnssReceiver::CheckAntennaSimple(const s2e::math::Vector<3> position_true_eci_m, const s2e::math::Quaternion quaternion_i2b) { // Simplest model // GNSS satellites are visible when antenna directs anti-earth direction // Antenna normal vector at inertial frame - math::Vector<3> antenna_direction_c(0.0); + s2e::math::Vector<3> antenna_direction_c(0.0); antenna_direction_c[2] = 1.0; - math::Vector<3> antenna_direction_b = quaternion_b2c_.InverseFrameConversion(antenna_direction_c); - math::Vector<3> antenna_direction_i = quaternion_i2b.InverseFrameConversion(antenna_direction_b); + s2e::math::Vector<3> antenna_direction_b = quaternion_b2c_.InverseFrameConversion(antenna_direction_c); + s2e::math::Vector<3> antenna_direction_i = quaternion_i2b.InverseFrameConversion(antenna_direction_b); double inner = InnerProduct(position_true_eci_m, antenna_direction_i); if (inner <= 0.0) { @@ -102,18 +102,18 @@ void GnssReceiver::CheckAntennaSimple(const math::Vector<3> position_true_eci_m, } } -void GnssReceiver::CheckAntennaCone(const math::Vector<3> position_true_eci_m, const math::Quaternion quaternion_i2b) { +void GnssReceiver::CheckAntennaCone(const s2e::math::Vector<3> position_true_eci_m, const s2e::math::Quaternion quaternion_i2b) { // Cone model gnss_information_list_.clear(); // Antenna pointing direction vector at inertial frame - math::Vector<3> antenna_pointing_direction_c(0.0); + s2e::math::Vector<3> antenna_pointing_direction_c(0.0); antenna_pointing_direction_c[2] = 1.0; - math::Vector<3> antenna_pointing_direction_b = quaternion_b2c_.InverseFrameConversion(antenna_pointing_direction_c); - math::Vector<3> antenna_pointing_direction_i = quaternion_i2b.InverseFrameConversion(antenna_pointing_direction_b); + s2e::math::Vector<3> antenna_pointing_direction_b = quaternion_b2c_.InverseFrameConversion(antenna_pointing_direction_c); + s2e::math::Vector<3> antenna_pointing_direction_i = quaternion_i2b.InverseFrameConversion(antenna_pointing_direction_b); // Antenna position vector at inertial frame - math::Vector<3> antenna_position_i_m = position_true_eci_m + quaternion_i2b.InverseFrameConversion(antenna_position_b_m_); + s2e::math::Vector<3> antenna_position_i_m = position_true_eci_m + quaternion_i2b.InverseFrameConversion(antenna_position_b_m_); // initialize visible_satellite_number_ = 0; @@ -122,9 +122,9 @@ void GnssReceiver::CheckAntennaCone(const math::Vector<3> position_true_eci_m, c for (size_t i = 0; i < number_of_calculated_gnss_satellites; i++) { // compute direction from sat to gnss in body-fixed frame - math::Vector<3> gnss_satellite_position_i_m = gnss_satellites_->GetPosition_eci_m(i); - math::Vector<3> antenna_to_gnss_satellite_i_m = gnss_satellite_position_i_m - antenna_position_i_m; - math::Vector<3> antenna_to_gnss_satellite_direction_i = antenna_to_gnss_satellite_i_m.CalcNormalizedVector(); + s2e::math::Vector<3> gnss_satellite_position_i_m = gnss_satellites_->GetPosition_eci_m(i); + s2e::math::Vector<3> antenna_to_gnss_satellite_i_m = gnss_satellite_position_i_m - antenna_position_i_m; + s2e::math::Vector<3> antenna_to_gnss_satellite_direction_i = antenna_to_gnss_satellite_i_m.CalcNormalizedVector(); // Check GNSS satellites are visible from the receiver(not care antenna direction) bool is_gnss_satellite_visible_from_receiver = false; @@ -147,7 +147,7 @@ void GnssReceiver::CheckAntennaCone(const math::Vector<3> position_true_eci_m, c // Check GNSS satellites are in the antenna half width angle double inner2 = InnerProduct(antenna_pointing_direction_i, antenna_to_gnss_satellite_direction_i); - if (inner2 > cos(half_width_deg_ * math::deg_to_rad) && is_gnss_satellite_visible_from_receiver) { + if (inner2 > cos(half_width_deg_ * s2e::math::deg_to_rad) && is_gnss_satellite_visible_from_receiver) { // is visible visible_satellite_number_++; SetGnssInfo(antenna_to_gnss_satellite_i_m, quaternion_i2b, i); @@ -161,10 +161,10 @@ void GnssReceiver::CheckAntennaCone(const math::Vector<3> position_true_eci_m, c } } -void GnssReceiver::SetGnssInfo(const math::Vector<3> antenna_to_satellite_i_m, const math::Quaternion quaternion_i2b, +void GnssReceiver::SetGnssInfo(const s2e::math::Vector<3> antenna_to_satellite_i_m, const s2e::math::Quaternion quaternion_i2b, const std::size_t gnss_system_id) { - math::Vector<3> antenna_to_satellite_direction_b = quaternion_i2b.FrameConversion(antenna_to_satellite_i_m); - math::Vector<3> antenna_to_satellite_direction_c = quaternion_b2c_.FrameConversion(antenna_to_satellite_direction_b); + s2e::math::Vector<3> antenna_to_satellite_direction_b = quaternion_i2b.FrameConversion(antenna_to_satellite_i_m); + s2e::math::Vector<3> antenna_to_satellite_direction_c = quaternion_b2c_.FrameConversion(antenna_to_satellite_direction_b); double distance_m = antenna_to_satellite_i_m.CalcNorm(); double longitude_rad = AcTan(antenna_to_satellite_direction_c[1], antenna_to_satellite_direction_c[0]); @@ -175,7 +175,7 @@ void GnssReceiver::SetGnssInfo(const math::Vector<3> antenna_to_satellite_i_m, c gnss_information_list_.push_back(gnss_info_new); } -void GnssReceiver::AddNoise(const math::Vector<3> position_true_ecef_m, const math::Vector<3> velocity_true_ecef_m_s) { +void GnssReceiver::AddNoise(const s2e::math::Vector<3> position_true_ecef_m, const s2e::math::Vector<3> velocity_true_ecef_m_s) { for (size_t i = 0; i < 3; i++) { position_ecef_m_[i] = position_true_ecef_m[i] + position_random_noise_ecef_m_[i]; velocity_ecef_m_s_[i] = velocity_true_ecef_m_s[i] + velocity_random_noise_ecef_m_s_[i]; @@ -252,11 +252,11 @@ AntennaModel SetAntennaModel(const std::string antenna_model) { typedef struct _gnss_receiver_param { int prescaler; AntennaModel antenna_model; - math::Vector<3> antenna_pos_b; - math::Quaternion quaternion_b2c; + s2e::math::Vector<3> antenna_pos_b; + s2e::math::Quaternion quaternion_b2c; double half_width_deg; - math::Vector<3> position_noise_standard_deviation_ecef_m; - math::Vector<3> velocity_noise_standard_deviation_ecef_m_s; + s2e::math::Vector<3> position_noise_standard_deviation_ecef_m; + s2e::math::Vector<3> velocity_noise_standard_deviation_ecef_m_s; } GnssReceiverParam; GnssReceiverParam ReadGnssReceiverIni(const std::string file_name, const GnssSatellites* gnss_satellites, const size_t component_id) { diff --git a/src/components/real/aocs/gnss_receiver.hpp b/src/components/real/aocs/gnss_receiver.hpp index f0fe73b06..006d70ab0 100644 --- a/src/components/real/aocs/gnss_receiver.hpp +++ b/src/components/real/aocs/gnss_receiver.hpp @@ -59,8 +59,8 @@ class GnssReceiver : public Component, public ILoggable { * @param [in] simulation_time: Simulation time information */ GnssReceiver(const int prescaler, ClockGenerator* clock_generator, const size_t component_id, const AntennaModel antenna_model, - const math::Vector<3> antenna_position_b_m, const math::Quaternion quaternion_b2c, const double half_width_deg, - const math::Vector<3> position_noise_standard_deviation_ecef_m, const math::Vector<3> velocity_noise_standard_deviation_ecef_m_s, + const s2e::math::Vector<3> antenna_position_b_m, const s2e::math::Quaternion quaternion_b2c, const double half_width_deg, + const s2e::math::Vector<3> position_noise_standard_deviation_ecef_m, const s2e::math::Vector<3> velocity_noise_standard_deviation_ecef_m_s, const Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time); /** * @fn GnssReceiver @@ -79,9 +79,9 @@ class GnssReceiver : public Component, public ILoggable { * @param [in] simulation_time: Simulation time information */ GnssReceiver(const int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, const size_t component_id, - const AntennaModel antenna_model, const math::Vector<3> antenna_position_b_m, const math::Quaternion quaternion_b2c, - const double half_width_deg, const math::Vector<3> position_noise_standard_deviation_ecef_m, - const math::Vector<3> velocity_noise_standard_deviation_ecef_m_s, const Dynamics* dynamics, const GnssSatellites* gnss_satellites, + const AntennaModel antenna_model, const s2e::math::Vector<3> antenna_position_b_m, const s2e::math::Quaternion quaternion_b2c, + const double half_width_deg, const s2e::math::Vector<3> position_noise_standard_deviation_ecef_m, + const s2e::math::Vector<3> velocity_noise_standard_deviation_ecef_m_s, const Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time); // Override functions for Component @@ -102,7 +102,7 @@ class GnssReceiver : public Component, public ILoggable { * @fn GetMeasuredPosition_ecef_m * @brief Return Observed position in the ECEF frame [m] */ - inline const math::Vector<3> GetMeasuredPosition_ecef_m(void) const { return position_ecef_m_; } + inline const s2e::math::Vector<3> GetMeasuredPosition_ecef_m(void) const { return position_ecef_m_; } /** * @fn GetMeasuredGeodeticPosition * @brief Return Observed position in the LLH frame [m] @@ -112,7 +112,7 @@ class GnssReceiver : public Component, public ILoggable { * @fn GetMeasuredVelocity_ecef_m_s * @brief Return Observed velocity in the ECEF frame [m/s] */ - inline const math::Vector<3> GetMeasuredVelocity_ecef_m_s(void) const { return velocity_ecef_m_s_; } + inline const s2e::math::Vector<3> GetMeasuredVelocity_ecef_m_s(void) const { return velocity_ecef_m_s_; } // Override ILoggable /** @@ -131,16 +131,16 @@ class GnssReceiver : public Component, public ILoggable { const size_t component_id_; //!< Receiver ID // Antenna - math::Vector<3> antenna_position_b_m_; //!< GNSS antenna position at the body-fixed frame [m] - math::Quaternion quaternion_b2c_; //!< Quaternion from body frame to component frame (antenna frame) + s2e::math::Vector<3> antenna_position_b_m_; //!< GNSS antenna position at the body-fixed frame [m] + s2e::math::Quaternion quaternion_b2c_; //!< Quaternion from body frame to component frame (antenna frame) double half_width_deg_ = 0.0; //!< Half width of the antenna cone model [deg] AntennaModel antenna_model_; //!< Antenna model // Simple position observation randomization::NormalRand position_random_noise_ecef_m_[3]; //!< Random noise for position at the ECEF frame [m] randomization::NormalRand velocity_random_noise_ecef_m_s_[3]; //!< Random noise for velocity at the ECEF frame [m] - math::Vector<3> position_ecef_m_{0.0}; //!< Observed position in the ECEF frame [m] - math::Vector<3> velocity_ecef_m_s_{0.0}; //!< Observed velocity in the ECEF frame [m/s] + s2e::math::Vector<3> position_ecef_m_{0.0}; //!< Observed position in the ECEF frame [m] + s2e::math::Vector<3> velocity_ecef_m_s_{0.0}; //!< Observed velocity in the ECEF frame [m/s] geodesy::GeodeticPosition geodetic_position_; //!< Observed position in the geodetic frame // Time observation @@ -166,7 +166,7 @@ class GnssReceiver : public Component, public ILoggable { * @param [in] position_true_i_m: True position of the spacecraft in the ECI frame [m] * @param [in] quaternion_i2b: True attitude of the spacecraft expressed by quaternion from the inertial frame to the body-fixed frame */ - void CheckAntenna(const math::Vector<3> position_true_i_m, const math::Quaternion quaternion_i2b); + void CheckAntenna(const s2e::math::Vector<3> position_true_i_m, const s2e::math::Quaternion quaternion_i2b); /** * @fn CheckAntennaSimple * @brief Check the antenna can detect GNSS signal with Simple mode @@ -174,7 +174,7 @@ class GnssReceiver : public Component, public ILoggable { * @param [in] position_true_i_m: True position of the spacecraft in the ECI frame [m] * @param [in] quaternion_i2b: True attitude of the spacecraft expressed by quaternion from the inertial frame to the body-fixed frame */ - void CheckAntennaSimple(const math::Vector<3> position_true_i_m, const math::Quaternion quaternion_i2b); + void CheckAntennaSimple(const s2e::math::Vector<3> position_true_i_m, const s2e::math::Quaternion quaternion_i2b); /** * @fn CheckAntennaCone * @brief Check the antenna can detect GNSS signal with Cone mode @@ -182,7 +182,7 @@ class GnssReceiver : public Component, public ILoggable { * @param [in] position_true_i_m: True position of the spacecraft in the ECI frame [m] * @param [in] quaternion_i2b: True attitude of the spacecraft expressed by quaternion from the inertial frame to the body-fixed frame */ - void CheckAntennaCone(const math::Vector<3> position_true_i_m, const math::Quaternion quaternion_i2b); + void CheckAntennaCone(const s2e::math::Vector<3> position_true_i_m, const s2e::math::Quaternion quaternion_i2b); /** * @fn SetGnssInfo * @brief Calculate and set the GnssInfo values of target GNSS satellite @@ -190,14 +190,14 @@ class GnssReceiver : public Component, public ILoggable { * @param [in] quaternion_i2b: True attitude of the spacecraft expressed by quaternion from the inertial frame to the body-fixed frame * @param [in] gnss_system_id: ID of target GNSS satellite */ - void SetGnssInfo(const math::Vector<3> antenna_to_satellite_i_m, const math::Quaternion quaternion_i2b, const size_t gnss_system_id); + void SetGnssInfo(const s2e::math::Vector<3> antenna_to_satellite_i_m, const s2e::math::Quaternion quaternion_i2b, const size_t gnss_system_id); /** * @fn AddNoise * @brief Substitutional method for "Measure" in other sensor models inherited Sensor class * @param [in] position_true_ecef_m: True position of the spacecraft in the ECEF frame [m] * @param [in] velocity_true_ecef_m_s: True velocity of the spacecraft in the ECEF frame [m/s] */ - void AddNoise(const math::Vector<3> position_true_ecef_m, const math::Vector<3> velocity_true_ecef_m_s); + void AddNoise(const s2e::math::Vector<3> position_true_ecef_m, const s2e::math::Vector<3> velocity_true_ecef_m_s); /** * @fn ConvertJulianDayToGpsTime * @brief Convert Julian day to GPS time diff --git a/src/components/real/aocs/gyro_sensor.cpp b/src/components/real/aocs/gyro_sensor.cpp index 20e03edc9..244127fb1 100644 --- a/src/components/real/aocs/gyro_sensor.cpp +++ b/src/components/real/aocs/gyro_sensor.cpp @@ -8,11 +8,11 @@ #include GyroSensor::GyroSensor(const int prescaler, ClockGenerator* clock_generator, Sensor& sensor_base, const unsigned int sensor_id, - const math::Quaternion& quaternion_b2c, const Dynamics* dynamics) + const s2e::math::Quaternion& quaternion_b2c, const Dynamics* dynamics) : Component(prescaler, clock_generator), Sensor(sensor_base), sensor_id_(sensor_id), quaternion_b2c_(quaternion_b2c), dynamics_(dynamics) {} GyroSensor::GyroSensor(const int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, Sensor& sensor_base, const unsigned int sensor_id, - const math::Quaternion& quaternion_b2c, const Dynamics* dynamics) + const s2e::math::Quaternion& quaternion_b2c, const Dynamics* dynamics) : Component(prescaler, clock_generator, power_port), Sensor(sensor_base), sensor_id_(sensor_id), @@ -52,7 +52,7 @@ GyroSensor InitGyroSensor(ClockGenerator* clock_generator, int sensor_id, const const std::string section_name = sensor_name + std::to_string(static_cast(sensor_id)); const char* GSection = section_name.c_str(); - math::Quaternion quaternion_b2c; + s2e::math::Quaternion quaternion_b2c; gyro_conf.ReadQuaternion(GSection, "quaternion_b2c", quaternion_b2c); int prescaler = gyro_conf.ReadInt(GSection, "prescaler"); if (prescaler <= 1) prescaler = 1; @@ -73,7 +73,7 @@ GyroSensor InitGyroSensor(ClockGenerator* clock_generator, PowerPort* power_port const std::string section_name = sensor_name + std::to_string(static_cast(sensor_id)); const char* GSection = section_name.c_str(); - math::Quaternion quaternion_b2c; + s2e::math::Quaternion quaternion_b2c; gyro_conf.ReadQuaternion(GSection, "quaternion_b2c", quaternion_b2c); int prescaler = gyro_conf.ReadInt(GSection, "prescaler"); if (prescaler <= 1) prescaler = 1; diff --git a/src/components/real/aocs/gyro_sensor.hpp b/src/components/real/aocs/gyro_sensor.hpp index 139bf8597..cd0ec6d34 100644 --- a/src/components/real/aocs/gyro_sensor.hpp +++ b/src/components/real/aocs/gyro_sensor.hpp @@ -32,7 +32,7 @@ class GyroSensor : public Component, public Sensor, public ILogg * @param [in] dynamics: Dynamics information */ GyroSensor(const int prescaler, ClockGenerator* clock_generator, Sensor& sensor_base, const unsigned int sensor_id, - const math::Quaternion& quaternion_b2c, const Dynamics* dynamics); + const s2e::math::Quaternion& quaternion_b2c, const Dynamics* dynamics); /** * @fn GyroSensor * @brief Constructor with power port @@ -45,7 +45,7 @@ class GyroSensor : public Component, public Sensor, public ILogg * @param [in] dynamics: Dynamics information */ GyroSensor(const int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, Sensor& sensor_base, const unsigned int sensor_id, - const math::Quaternion& quaternion_b2c, const Dynamics* dynamics); + const s2e::math::Quaternion& quaternion_b2c, const Dynamics* dynamics); /** * @fn ~GyroSensor * @brief Destructor @@ -75,13 +75,13 @@ class GyroSensor : public Component, public Sensor, public ILogg * @fn GetMeasuredAngularVelocity_c_rad_s * @brief Return observed angular velocity of the component frame with respect to the inertial frame */ - inline const math::Vector& GetMeasuredAngularVelocity_c_rad_s(void) const { return angular_velocity_c_rad_s_; } + inline const s2e::math::Vector& GetMeasuredAngularVelocity_c_rad_s(void) const { return angular_velocity_c_rad_s_; } protected: - math::Vector angular_velocity_c_rad_s_{ + s2e::math::Vector angular_velocity_c_rad_s_{ 0.0}; //!< Observed angular velocity of the component frame with respect to the inertial frame [rad/s] unsigned int sensor_id_ = 0; //!< Sensor ID - math::Quaternion quaternion_b2c_{0.0, 0.0, 0.0, 1.0}; //!< Quaternion from body frame to component frame + s2e::math::Quaternion quaternion_b2c_{0.0, 0.0, 0.0, 1.0}; //!< Quaternion from body frame to component frame const Dynamics* dynamics_; //!< Dynamics information }; diff --git a/src/components/real/aocs/magnetometer.cpp b/src/components/real/aocs/magnetometer.cpp index d28be5bad..91236b2e4 100644 --- a/src/components/real/aocs/magnetometer.cpp +++ b/src/components/real/aocs/magnetometer.cpp @@ -8,14 +8,14 @@ #include Magnetometer::Magnetometer(int prescaler, ClockGenerator* clock_generator, Sensor& sensor_base, const unsigned int sensor_id, - const math::Quaternion& quaternion_b2c, const GeomagneticField* geomagnetic_field) + const s2e::math::Quaternion& quaternion_b2c, const GeomagneticField* geomagnetic_field) : Component(prescaler, clock_generator), Sensor(sensor_base), sensor_id_(sensor_id), quaternion_b2c_(quaternion_b2c), geomagnetic_field_(geomagnetic_field) {} Magnetometer::Magnetometer(int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, Sensor& sensor_base, const unsigned int sensor_id, - const math::Quaternion& quaternion_b2c, const GeomagneticField* geomagnetic_field) + const s2e::math::Quaternion& quaternion_b2c, const GeomagneticField* geomagnetic_field) : Component(prescaler, clock_generator, power_port), Sensor(sensor_base), sensor_id_(sensor_id), @@ -57,7 +57,7 @@ Magnetometer InitMagnetometer(ClockGenerator* clock_generator, int sensor_id, co int prescaler = magsensor_conf.ReadInt(MSSection, "prescaler"); if (prescaler <= 1) prescaler = 1; - math::Quaternion quaternion_b2c; + s2e::math::Quaternion quaternion_b2c; magsensor_conf.ReadQuaternion(MSSection, "quaternion_b2c", quaternion_b2c); // Sensor @@ -78,7 +78,7 @@ Magnetometer InitMagnetometer(ClockGenerator* clock_generator, PowerPort* power_ int prescaler = magsensor_conf.ReadInt(MSSection, "prescaler"); if (prescaler <= 1) prescaler = 1; - math::Quaternion quaternion_b2c; + s2e::math::Quaternion quaternion_b2c; magsensor_conf.ReadQuaternion(MSSection, "quaternion_b2c", quaternion_b2c); // Sensor diff --git a/src/components/real/aocs/magnetometer.hpp b/src/components/real/aocs/magnetometer.hpp index deaccf1aa..d4d7502e6 100644 --- a/src/components/real/aocs/magnetometer.hpp +++ b/src/components/real/aocs/magnetometer.hpp @@ -32,7 +32,7 @@ class Magnetometer : public Component, public Sensor, pu * @param [in] geomagnetic_field: Geomagnetic environment */ Magnetometer(const int prescaler, ClockGenerator* clock_generator, Sensor& sensor_base, const unsigned int sensor_id, - const math::Quaternion& quaternion_b2c, const GeomagneticField* geomagnetic_field); + const s2e::math::Quaternion& quaternion_b2c, const GeomagneticField* geomagnetic_field); /** * @fn Magnetometer * @brief Constructor with power port @@ -45,7 +45,7 @@ class Magnetometer : public Component, public Sensor, pu * @param [in] geomagnetic_field: Geomagnetic environment */ Magnetometer(const int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, Sensor& sensor_base, const unsigned int sensor_id, - const math::Quaternion& quaternion_b2c, const GeomagneticField* geomagnetic_field); + const s2e::math::Quaternion& quaternion_b2c, const GeomagneticField* geomagnetic_field); /** * @fn ~Magnetometer * @brief Destructor @@ -75,32 +75,32 @@ class Magnetometer : public Component, public Sensor, pu * @fn GetMeasuredMagneticField_c_nT * @brief Return observed magnetic field on the component frame */ - inline const math::Vector& GetMeasuredMagneticField_c_nT(void) const { return magnetic_field_c_nT_; } + inline const s2e::math::Vector& GetMeasuredMagneticField_c_nT(void) const { return magnetic_field_c_nT_; } /** * @fn SetConstantBiasNoise_c_nT * @brief Set constant bias noise at component frame [nT] * @param [in] constant_noise_c_nT: Constant bias noise at component frame [nT] */ - inline void SetConstantBiasNoise_c_nT(math::Vector constant_noise_c_nT) { bias_noise_c_ = constant_noise_c_nT; } + inline void SetConstantBiasNoise_c_nT(s2e::math::Vector constant_noise_c_nT) { bias_noise_c_ = constant_noise_c_nT; } /** * @fn AddConstantBiasNoise_c_nT * @brief Add constant bias noise at component frame [nT] * @param [in] constant_noise_c_nT: Additional constant bias noise at component frame [nT] */ - inline void AddConstantBiasNoise_c_nT(math::Vector constant_noise_c_nT) { bias_noise_c_ += constant_noise_c_nT; } + inline void AddConstantBiasNoise_c_nT(s2e::math::Vector constant_noise_c_nT) { bias_noise_c_ += constant_noise_c_nT; } /** * @fn GetConstantBiasNoise_c_nT * @brief Get constant bias noise at component frame [nT] */ - inline math::Vector GetConstantBiasNoise_c_nT() const { return bias_noise_c_; } + inline s2e::math::Vector GetConstantBiasNoise_c_nT() const { return bias_noise_c_; } protected: - math::Vector magnetic_field_c_nT_{0.0}; //!< Observed magnetic field on the component frame [nT] + s2e::math::Vector magnetic_field_c_nT_{0.0}; //!< Observed magnetic field on the component frame [nT] unsigned int sensor_id_ = 0; //!< Sensor ID - math::Quaternion quaternion_b2c_{0.0, 0.0, 0.0, 1.0}; //!< Quaternion from body frame to component frame + s2e::math::Quaternion quaternion_b2c_{0.0, 0.0, 0.0, 1.0}; //!< Quaternion from body frame to component frame const GeomagneticField* geomagnetic_field_; //!< Geomagnetic environment }; diff --git a/src/components/real/aocs/magnetorquer.cpp b/src/components/real/aocs/magnetorquer.cpp index 0f1a2bb22..909996b84 100644 --- a/src/components/real/aocs/magnetorquer.cpp +++ b/src/components/real/aocs/magnetorquer.cpp @@ -11,13 +11,13 @@ #include #include -Magnetorquer::Magnetorquer(const int prescaler, ClockGenerator* clock_generator, const int component_id, const math::Quaternion& quaternion_b2c, - const math::Matrix& scale_factor, - const math::Vector& max_magnetic_moment_c_Am2, const math::Vector& min_magnetic_moment_c_Am2, - const math::Vector& bias_noise_c_Am2_, double random_walk_step_width_s, - const math::Vector& random_walk_standard_deviation_c_Am2, - const math::Vector& random_walk_limit_c_Am2, - const math::Vector& normal_random_standard_deviation_c_Am2, const GeomagneticField* geomagnetic_field) +Magnetorquer::Magnetorquer(const int prescaler, ClockGenerator* clock_generator, const int component_id, const s2e::math::Quaternion& quaternion_b2c, + const s2e::math::Matrix& scale_factor, + const s2e::math::Vector& max_magnetic_moment_c_Am2, const s2e::math::Vector& min_magnetic_moment_c_Am2, + const s2e::math::Vector& bias_noise_c_Am2_, double random_walk_step_width_s, + const s2e::math::Vector& random_walk_standard_deviation_c_Am2, + const s2e::math::Vector& random_walk_limit_c_Am2, + const s2e::math::Vector& normal_random_standard_deviation_c_Am2, const GeomagneticField* geomagnetic_field) : Component(prescaler, clock_generator), component_id_(component_id), quaternion_b2c_(quaternion_b2c), @@ -34,12 +34,12 @@ Magnetorquer::Magnetorquer(const int prescaler, ClockGenerator* clock_generator, } Magnetorquer::Magnetorquer(const int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, const int component_id, - const math::Quaternion& quaternion_b2c, const math::Matrix& scale_factor, - const math::Vector& max_magnetic_moment_c_Am2, const math::Vector& min_magnetic_moment_c_Am2, - const math::Vector& bias_noise_c_Am2_, double random_walk_step_width_s, - const math::Vector& random_walk_standard_deviation_c_Am2, - const math::Vector& random_walk_limit_c_Am2, - const math::Vector& normal_random_standard_deviation_c_Am2, const GeomagneticField* geomagnetic_field) + const s2e::math::Quaternion& quaternion_b2c, const s2e::math::Matrix& scale_factor, + const s2e::math::Vector& max_magnetic_moment_c_Am2, const s2e::math::Vector& min_magnetic_moment_c_Am2, + const s2e::math::Vector& bias_noise_c_Am2_, double random_walk_step_width_s, + const s2e::math::Vector& random_walk_standard_deviation_c_Am2, + const s2e::math::Vector& random_walk_limit_c_Am2, + const s2e::math::Vector& normal_random_standard_deviation_c_Am2, const GeomagneticField* geomagnetic_field) : Component(prescaler, clock_generator, power_port), component_id_(component_id), quaternion_b2c_(quaternion_b2c), @@ -67,7 +67,7 @@ void Magnetorquer::PowerOffRoutine() { output_magnetic_moment_b_Am2_ *= 0.0; } -math::Vector Magnetorquer::CalcOutputTorque(void) { +s2e::math::Vector Magnetorquer::CalcOutputTorque(void) { for (size_t i = 0; i < kMtqDimension; ++i) { // Limit Check if (output_magnetic_moment_c_Am2_[i] > max_magnetic_moment_c_Am2_[i]) { @@ -121,33 +121,33 @@ Magnetorquer InitMagnetorquer(ClockGenerator* clock_generator, int actuator_id, int prescaler = magtorquer_conf.ReadInt(MTSection, "prescaler"); if (prescaler <= 1) prescaler = 1; - math::Vector sf_vec; + s2e::math::Vector sf_vec; magtorquer_conf.ReadVector(MTSection, "scale_factor_c", sf_vec); - math::Matrix scale_factor; + s2e::math::Matrix scale_factor; for (size_t i = 0; i < kMtqDimension; i++) { for (size_t j = 0; j < kMtqDimension; j++) { scale_factor[i][j] = sf_vec[i * kMtqDimension + j]; } } - math::Quaternion quaternion_b2c; + s2e::math::Quaternion quaternion_b2c; magtorquer_conf.ReadQuaternion(MTSection, "quaternion_b2c", quaternion_b2c); - math::Vector max_magnetic_moment_c_Am2; + s2e::math::Vector max_magnetic_moment_c_Am2; magtorquer_conf.ReadVector(MTSection, "max_output_magnetic_moment_c_Am2", max_magnetic_moment_c_Am2); - math::Vector min_magnetic_moment_c_Am2; + s2e::math::Vector min_magnetic_moment_c_Am2; magtorquer_conf.ReadVector(MTSection, "min_output_magnetic_moment_c_Am2", min_magnetic_moment_c_Am2); - math::Vector bias_noise_c_Am2; + s2e::math::Vector bias_noise_c_Am2; magtorquer_conf.ReadVector(MTSection, "constant_bias_noise_c_Am2", bias_noise_c_Am2); double random_walk_step_width_s = component_step_time_s * (double)prescaler; - math::Vector random_walk_standard_deviation_c_Am2; + s2e::math::Vector random_walk_standard_deviation_c_Am2; magtorquer_conf.ReadVector(MTSection, "random_walk_standard_deviation_c_Am2", random_walk_standard_deviation_c_Am2); - math::Vector random_walk_limit_c_Am2; + s2e::math::Vector random_walk_limit_c_Am2; magtorquer_conf.ReadVector(MTSection, "random_walk_limit_c_Am2", random_walk_limit_c_Am2); - math::Vector normal_random_standard_deviation_c_Am2; + s2e::math::Vector normal_random_standard_deviation_c_Am2; magtorquer_conf.ReadVector(MTSection, "white_noise_standard_deviation_c_Am2", normal_random_standard_deviation_c_Am2); Magnetorquer magtorquer(prescaler, clock_generator, actuator_id, quaternion_b2c, scale_factor, max_magnetic_moment_c_Am2, min_magnetic_moment_c_Am2, @@ -166,33 +166,33 @@ Magnetorquer InitMagnetorquer(ClockGenerator* clock_generator, PowerPort* power_ int prescaler = magtorquer_conf.ReadInt(MTSection, "prescaler"); if (prescaler <= 1) prescaler = 1; - math::Vector sf_vec; + s2e::math::Vector sf_vec; magtorquer_conf.ReadVector(MTSection, "scale_factor_c", sf_vec); - math::Matrix scale_factor; + s2e::math::Matrix scale_factor; for (size_t i = 0; i < kMtqDimension; i++) { for (size_t j = 0; j < kMtqDimension; j++) { scale_factor[i][j] = sf_vec[i * kMtqDimension + j]; } } - math::Quaternion quaternion_b2c; + s2e::math::Quaternion quaternion_b2c; magtorquer_conf.ReadQuaternion(MTSection, "quaternion_b2c", quaternion_b2c); - math::Vector max_magnetic_moment_c_Am2; + s2e::math::Vector max_magnetic_moment_c_Am2; magtorquer_conf.ReadVector(MTSection, "max_output_magnetic_moment_c_Am2", max_magnetic_moment_c_Am2); - math::Vector min_magnetic_moment_c_Am2; + s2e::math::Vector min_magnetic_moment_c_Am2; magtorquer_conf.ReadVector(MTSection, "min_output_magnetic_moment_c_Am2", min_magnetic_moment_c_Am2); - math::Vector bias_noise_c_Am2; + s2e::math::Vector bias_noise_c_Am2; magtorquer_conf.ReadVector(MTSection, "constant_bias_noise_c_Am2", bias_noise_c_Am2); double random_walk_step_width_s = component_step_time_s * (double)prescaler; - math::Vector random_walk_standard_deviation_c_Am2; + s2e::math::Vector random_walk_standard_deviation_c_Am2; magtorquer_conf.ReadVector(MTSection, "random_walk_standard_deviation_c_Am2", random_walk_standard_deviation_c_Am2); - math::Vector random_walk_limit_c_Am2; + s2e::math::Vector random_walk_limit_c_Am2; magtorquer_conf.ReadVector(MTSection, "random_walk_limit_c_Am2", random_walk_limit_c_Am2); - math::Vector normal_random_standard_deviation_c_Am2; + s2e::math::Vector normal_random_standard_deviation_c_Am2; magtorquer_conf.ReadVector(MTSection, "white_noise_standard_deviation_c_Am2", normal_random_standard_deviation_c_Am2); // PowerPort diff --git a/src/components/real/aocs/magnetorquer.hpp b/src/components/real/aocs/magnetorquer.hpp index 91b91864b..112125eb9 100644 --- a/src/components/real/aocs/magnetorquer.hpp +++ b/src/components/real/aocs/magnetorquer.hpp @@ -41,11 +41,11 @@ class Magnetorquer : public Component, public ILoggable { * @param [in] normal_random_standard_deviation_c_Am2: Standard deviation for the normal random noise in the component frame [Am2] * @param [in] geomagnetic_field: Geomagnetic environment */ - Magnetorquer(const int prescaler, ClockGenerator* clock_generator, const int component_id, const math::Quaternion& quaternion_b2c, - const math::Matrix& scale_factor, const math::Vector& max_magnetic_moment_c_Am2, - const math::Vector& min_magnetic_moment_c_Am2, const math::Vector& bias_noise_c_Am2_, - double random_walk_step_width_s, const math::Vector& random_walk_standard_deviation_c_Am2, - const math::Vector& random_walk_limit_c_Am2, const math::Vector& normal_random_standard_deviation_c_Am2, + Magnetorquer(const int prescaler, ClockGenerator* clock_generator, const int component_id, const s2e::math::Quaternion& quaternion_b2c, + const s2e::math::Matrix& scale_factor, const s2e::math::Vector& max_magnetic_moment_c_Am2, + const s2e::math::Vector& min_magnetic_moment_c_Am2, const s2e::math::Vector& bias_noise_c_Am2_, + double random_walk_step_width_s, const s2e::math::Vector& random_walk_standard_deviation_c_Am2, + const s2e::math::Vector& random_walk_limit_c_Am2, const s2e::math::Vector& normal_random_standard_deviation_c_Am2, const GeomagneticField* geomagnetic_field); /** * @fn Magnetorquer @@ -66,11 +66,11 @@ class Magnetorquer : public Component, public ILoggable { * @param [in] geomagnetic_field: Geomagnetic environment */ Magnetorquer(const int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, const int component_id, - const math::Quaternion& quaternion_b2c, const math::Matrix& scale_factor, - const math::Vector& max_magnetic_moment_c_Am2, const math::Vector& min_magnetic_moment_c_Am2, - const math::Vector& bias_noise_c_Am2_, double random_walk_step_width_s, - const math::Vector& random_walk_standard_deviation_c_Am2, const math::Vector& random_walk_limit_c_Am2, - const math::Vector& normal_random_standard_deviation_c_Am2, const GeomagneticField* geomagnetic_field); + const s2e::math::Quaternion& quaternion_b2c, const s2e::math::Matrix& scale_factor, + const s2e::math::Vector& max_magnetic_moment_c_Am2, const s2e::math::Vector& min_magnetic_moment_c_Am2, + const s2e::math::Vector& bias_noise_c_Am2_, double random_walk_step_width_s, + const s2e::math::Vector& random_walk_standard_deviation_c_Am2, const s2e::math::Vector& random_walk_limit_c_Am2, + const s2e::math::Vector& normal_random_standard_deviation_c_Am2, const GeomagneticField* geomagnetic_field); // Override functions for Component /** @@ -100,39 +100,39 @@ class Magnetorquer : public Component, public ILoggable { * @fn GetOutputTorque_b_Nm * @brief Return output torque in the body fixed frame [Nm] */ - inline const math::Vector& GetOutputTorque_b_Nm(void) const { return torque_b_Nm_; }; + inline const s2e::math::Vector& GetOutputTorque_b_Nm(void) const { return torque_b_Nm_; }; /** * @fn SetOutputMagneticMoment_c_Am2 * @brief Set output magnetic moment in the component frame [Am2] */ - inline void SetOutputMagneticMoment_c_Am2(const math::Vector mag_moment_c) { output_magnetic_moment_c_Am2_ = mag_moment_c; }; + inline void SetOutputMagneticMoment_c_Am2(const s2e::math::Vector mag_moment_c) { output_magnetic_moment_c_Am2_ = mag_moment_c; }; /** * @fn SetOutputMagneticMoment_b_Am2 * @brief Return output magnetic moment in the body fixed frame [Am2] */ - inline const math::Vector& SetOutputMagneticMoment_b_Am2(void) const { return output_magnetic_moment_b_Am2_; }; + inline const s2e::math::Vector& SetOutputMagneticMoment_b_Am2(void) const { return output_magnetic_moment_b_Am2_; }; /** * @fn GetOutputMagneticMoment_b_Am2 * @brief Return output magnetic moment in the body fixed frame [Am2] */ - inline const math::Vector& GetOutputMagneticMoment_c_Am2(void) const { return output_magnetic_moment_c_Am2_; }; + inline const s2e::math::Vector& GetOutputMagneticMoment_c_Am2(void) const { return output_magnetic_moment_c_Am2_; }; protected: const int component_id_ = 0; //!< Actuator ID const double kConvertNanoT2T = 1.0e-9; //!< Constant to convert nT to T - math::Vector torque_b_Nm_{0.0}; //!< Output torque in the body fixed frame [Nm] - math::Vector output_magnetic_moment_c_Am2_{0.0}; //!< Output output magnetic moment in the component frame [Am2] - math::Vector output_magnetic_moment_b_Am2_{0.0}; //!< Output output magnetic moment in the body fixed frame [Am2] - math::Quaternion quaternion_b2c_{0.0, 0.0, 0.0, 1.0}; //!< Quaternion from body frame to component frame - math::Quaternion quaternion_c2b_{0.0, 0.0, 0.0, 1.0}; //!< Quaternion from component frame to body frame - math::Matrix scale_factor_; //!< Scale factor matrix - math::Vector max_magnetic_moment_c_Am2_{100.0}; //!< Maximum magnetic moment in the component frame [Am2] - math::Vector min_magnetic_moment_c_Am2_{-100.0}; //!< Minimum magnetic moment in the component frame [Am2] - - math::Vector bias_noise_c_Am2_{0.0}; //!< Constant bias noise in the component frame [Am2] + s2e::math::Vector torque_b_Nm_{0.0}; //!< Output torque in the body fixed frame [Nm] + s2e::math::Vector output_magnetic_moment_c_Am2_{0.0}; //!< Output output magnetic moment in the component frame [Am2] + s2e::math::Vector output_magnetic_moment_b_Am2_{0.0}; //!< Output output magnetic moment in the body fixed frame [Am2] + s2e::math::Quaternion quaternion_b2c_{0.0, 0.0, 0.0, 1.0}; //!< Quaternion from body frame to component frame + s2e::math::Quaternion quaternion_c2b_{0.0, 0.0, 0.0, 1.0}; //!< Quaternion from component frame to body frame + s2e::math::Matrix scale_factor_; //!< Scale factor matrix + s2e::math::Vector max_magnetic_moment_c_Am2_{100.0}; //!< Maximum magnetic moment in the component frame [Am2] + s2e::math::Vector min_magnetic_moment_c_Am2_{-100.0}; //!< Minimum magnetic moment in the component frame [Am2] + + s2e::math::Vector bias_noise_c_Am2_{0.0}; //!< Constant bias noise in the component frame [Am2] RandomWalk random_walk_c_Am2_; //!< Random walk noise randomization::NormalRand random_noise_c_Am2_[kMtqDimension]; //!< Normal random noise @@ -143,7 +143,7 @@ class Magnetorquer : public Component, public ILoggable { * @brief Calculate output torque * @return Output torque in the body fixed frame [Nm] */ - math::Vector CalcOutputTorque(void); + s2e::math::Vector CalcOutputTorque(void); }; /** diff --git a/src/components/real/aocs/mtq_magnetometer_interference.cpp b/src/components/real/aocs/mtq_magnetometer_interference.cpp index 9aa2bb1e2..7b603abbc 100644 --- a/src/components/real/aocs/mtq_magnetometer_interference.cpp +++ b/src/components/real/aocs/mtq_magnetometer_interference.cpp @@ -18,8 +18,8 @@ MtqMagnetometerInterference::MtqMagnetometerInterference(const std::string file_ for (size_t degree = 1; degree <= polynomial_degree_; degree++) { const std::string key_name = "additional_bias_by_mtq_coefficients_" + std::to_string(static_cast(degree)); - math::Vector<9> additional_bias_by_mtq_coefficients_vec; - math::Matrix<3, 3> additional_bias_by_mtq_coefficients; + s2e::math::Vector<9> additional_bias_by_mtq_coefficients_vec; + s2e::math::Matrix<3, 3> additional_bias_by_mtq_coefficients; ini_file.ReadVector(section.c_str(), key_name.c_str(), additional_bias_by_mtq_coefficients_vec); for (size_t i = 0; i < 3; i++) { for (size_t j = 0; j < 3; j++) { @@ -35,10 +35,10 @@ void MtqMagnetometerInterference::UpdateInterference(void) { magnetometer_.AddConstantBiasNoise_c_nT(-1.0 * previous_added_bias_c_nT_); // Calculate bias - math::Vector<3> additional_bias_c_nT{0.0}; - math::Vector<3> mtq_output_c_Am2 = magnetorquer_.GetOutputMagneticMoment_c_Am2(); + s2e::math::Vector<3> additional_bias_c_nT{0.0}; + s2e::math::Vector<3> mtq_output_c_Am2 = magnetorquer_.GetOutputMagneticMoment_c_Am2(); for (size_t degree = 1; degree <= polynomial_degree_; degree++) { - math::Vector<3> hadamard_mtq; + s2e::math::Vector<3> hadamard_mtq; for (size_t axis = 0; axis < 3; axis++) { hadamard_mtq[axis] = pow(mtq_output_c_Am2[axis], degree); } diff --git a/src/components/real/aocs/mtq_magnetometer_interference.hpp b/src/components/real/aocs/mtq_magnetometer_interference.hpp index fea4824eb..2c2c4c0d8 100644 --- a/src/components/real/aocs/mtq_magnetometer_interference.hpp +++ b/src/components/real/aocs/mtq_magnetometer_interference.hpp @@ -31,8 +31,8 @@ class MtqMagnetometerInterference { protected: size_t polynomial_degree_; //!< Polynomial degree - std::vector> additional_bias_by_mtq_coefficients_; //!< Polynomial coefficients of additional bias noise - math::Vector<3> previous_added_bias_c_nT_{0.0}; + std::vector> additional_bias_by_mtq_coefficients_; //!< Polynomial coefficients of additional bias noise + s2e::math::Vector<3> previous_added_bias_c_nT_{0.0}; Magnetometer& magnetometer_; //!< Magnetometer const Magnetorquer& magnetorquer_; //!< Magnetorquer diff --git a/src/components/real/aocs/reaction_wheel.cpp b/src/components/real/aocs/reaction_wheel.cpp index 54ab6149e..e0e2a1c13 100644 --- a/src/components/real/aocs/reaction_wheel.cpp +++ b/src/components/real/aocs/reaction_wheel.cpp @@ -13,7 +13,7 @@ ReactionWheel::ReactionWheel(const int prescaler, ClockGenerator* clock_generator, const int component_id, const double step_width_s, const double rotor_inertia_kgm2, const double max_torque_Nm, const double max_velocity_rpm, - const math::Quaternion quaternion_b2c, const math::Vector<3> position_b_m, const double dead_time_s, + const s2e::math::Quaternion quaternion_b2c, const s2e::math::Vector<3> position_b_m, const double dead_time_s, const double time_constant_s, const std::vector friction_coefficients, const double stop_limit_angular_velocity_rad_s, const bool is_calc_jitter_enabled, const bool is_log_jitter_enabled, const int fast_prescaler, ReactionWheelJitter& rw_jitter, bool drive_flag, const double init_velocity_rad_s) @@ -31,7 +31,7 @@ ReactionWheel::ReactionWheel(const int prescaler, ClockGenerator* clock_generato stop_limit_angular_velocity_rad_s_(stop_limit_angular_velocity_rad_s), drive_flag_(drive_flag), velocity_limit_rpm_(max_velocity_rpm_), - ode_angular_velocity_(step_width_s_, velocity_limit_rpm_ * math::rpm_to_rad_s, init_velocity_rad_s), + ode_angular_velocity_(step_width_s_, velocity_limit_rpm_ * s2e::math::rpm_to_rad_s, init_velocity_rad_s), rw_jitter_(rw_jitter), is_calculated_jitter_(is_calc_jitter_enabled), is_logged_jitter_(is_log_jitter_enabled) { @@ -40,7 +40,7 @@ ReactionWheel::ReactionWheel(const int prescaler, ClockGenerator* clock_generato ReactionWheel::ReactionWheel(const int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, const int component_id, const double step_width_s, const double rotor_inertia_kgm2, const double max_torque_Nm, const double max_velocity_rpm, - const math::Quaternion quaternion_b2c, const math::Vector<3> position_b_m, const double dead_time_s, + const s2e::math::Quaternion quaternion_b2c, const s2e::math::Vector<3> position_b_m, const double dead_time_s, const double time_constant_s, const std::vector friction_coefficients, const double stop_limit_angular_velocity_rad_s, const bool is_calc_jitter_enabled, const bool is_log_jitter_enabled, const int fast_prescaler, ReactionWheelJitter& rw_jitter, const bool drive_flag, const double init_velocity_rad_s) @@ -58,7 +58,7 @@ ReactionWheel::ReactionWheel(const int prescaler, ClockGenerator* clock_generato stop_limit_angular_velocity_rad_s_(stop_limit_angular_velocity_rad_s), drive_flag_(drive_flag), velocity_limit_rpm_(max_velocity_rpm_), - ode_angular_velocity_(step_width_s, velocity_limit_rpm_ * math::rpm_to_rad_s, init_velocity_rad_s), + ode_angular_velocity_(step_width_s, velocity_limit_rpm_ * s2e::math::rpm_to_rad_s, init_velocity_rad_s), rw_jitter_(rw_jitter), is_calculated_jitter_(is_calc_jitter_enabled), is_logged_jitter_(is_log_jitter_enabled) { @@ -66,7 +66,7 @@ ReactionWheel::ReactionWheel(const int prescaler, ClockGenerator* clock_generato } void ReactionWheel::Initialize() { - rotation_axis_c_ = math::Vector<3>(0.0); + rotation_axis_c_ = s2e::math::Vector<3>(0.0); rotation_axis_c_[2] = 1.0; rotation_axis_b_ = quaternion_b2c_.InverseFrameConversion(rotation_axis_c_); @@ -77,7 +77,7 @@ void ReactionWheel::Initialize() { generated_angular_acceleration_rad_s2_ = 0.0; angular_velocity_rad_s_ = ode_angular_velocity_.GetAngularVelocity_rad_s(); - angular_velocity_rpm_ = angular_velocity_rad_s_ * math::rad_s_to_rpm; + angular_velocity_rpm_ = angular_velocity_rad_s_ * s2e::math::rad_s_to_rpm; // Turn on RW jitter calculation if (is_calculated_jitter_) { @@ -99,7 +99,7 @@ void ReactionWheel::FastUpdate() { } } -math::Vector<3> ReactionWheel::CalcTorque() { +s2e::math::Vector<3> ReactionWheel::CalcTorque() { if (!drive_flag_) // RW idle mode -> coasting mode { // Clear delay buffer @@ -116,7 +116,7 @@ math::Vector<3> ReactionWheel::CalcTorque() { if (abs_angular_velocity_rad_s < stop_limit_angular_velocity_rad_s_) { // Stop rotation rotation_direction = 0.0; - math::Vector<1> zero_rad_s{0.0}; + s2e::math::Vector<1> zero_rad_s{0.0}; ode_angular_velocity_.Setup(0.0, zero_rad_s); } else if (angular_velocity_rad_s_ > 0.0) { rotation_direction = -1.0; @@ -141,7 +141,7 @@ math::Vector<3> ReactionWheel::CalcTorque() { // Substitution double pre_angular_velocity_rad = angular_velocity_rad_s_; angular_velocity_rad_s_ = ode_angular_velocity_.GetAngularVelocity_rad_s(); - angular_velocity_rpm_ = angular_velocity_rad_s_ * math::rad_s_to_rpm; + angular_velocity_rpm_ = angular_velocity_rad_s_ * s2e::math::rad_s_to_rpm; generated_angular_acceleration_rad_s2_ = (angular_velocity_rad_s_ - pre_angular_velocity_rad) / step_width_s_; // Calc output torque by RW @@ -150,20 +150,20 @@ math::Vector<3> ReactionWheel::CalcTorque() { return output_torque_b_Nm_; } -const math::Vector<3> ReactionWheel::GetOutputTorque_b_Nm() const { +const s2e::math::Vector<3> ReactionWheel::GetOutputTorque_b_Nm() const { if (is_calculated_jitter_) { // Add jitter_force_b_N_-derived torque and jitter_torque_b_Nm_ to output_torque_b - return output_torque_b_Nm_ - math::OuterProduct(position_b_m_, rw_jitter_.GetJitterForce_b_N()) - rw_jitter_.GetJitterTorque_b_Nm(); + return output_torque_b_Nm_ - s2e::math::OuterProduct(position_b_m_, rw_jitter_.GetJitterForce_b_N()) - rw_jitter_.GetJitterTorque_b_Nm(); } else { return output_torque_b_Nm_; } } -const math::Vector<3> ReactionWheel::GetJitterForce_b_N() const { +const s2e::math::Vector<3> ReactionWheel::GetJitterForce_b_N() const { if (is_calculated_jitter_) { return rw_jitter_.GetJitterForce_b_N(); } else { - math::Vector<3> zero{0.0}; + s2e::math::Vector<3> zero{0.0}; return zero; } } @@ -188,7 +188,7 @@ void ReactionWheel::SetVelocityLimit_rpm(const double velocity_limit_rpm) { } else { velocity_limit_rpm_ = velocity_limit_rpm; } - ode_angular_velocity_.SetAngularVelocityLimit_rad_s(velocity_limit_rpm_ * math::rpm_to_rad_s); + ode_angular_velocity_.SetAngularVelocityLimit_rad_s(velocity_limit_rpm_ * s2e::math::rpm_to_rad_s); return; } @@ -238,8 +238,8 @@ double rotor_inertia_kgm2; double max_torque_Nm; double max_velocity_rpm; // Mounting -math::Quaternion quaternion_b2c; -math::Vector<3> position_b_m; +s2e::math::Quaternion quaternion_b2c; +s2e::math::Vector<3> position_b_m; // Time delay double dead_time_s; double time_constant_s; @@ -279,11 +279,11 @@ void InitParams(int actuator_id, std::string file_name, double compo_update_step rw_ini_file.ReadQuaternion(rw_section, "quaternion_b2c", quaternion_b2c); } else // direction_determination_mode == "DIRECTION" { - math::Vector<3> direction_b; + s2e::math::Vector<3> direction_b; rw_ini_file.ReadVector(rw_section, "direction_b", direction_b); - math::Vector<3> direction_c(0.0); + s2e::math::Vector<3> direction_c(0.0); direction_c[2] = 1.0; - math::Quaternion q(direction_b, direction_c); + s2e::math::Quaternion q(direction_b, direction_c); quaternion_b2c = q.Conjugate(); } rw_ini_file.ReadVector(rw_section, "position_b_m", position_b_m); diff --git a/src/components/real/aocs/reaction_wheel.hpp b/src/components/real/aocs/reaction_wheel.hpp index e9cde9dd6..5852b8a74 100644 --- a/src/components/real/aocs/reaction_wheel.hpp +++ b/src/components/real/aocs/reaction_wheel.hpp @@ -49,8 +49,8 @@ class ReactionWheel : public Component, public ILoggable { * @param [in] init_velocity_rad_s: Initial value of angular velocity of RW */ ReactionWheel(const int prescaler, ClockGenerator* clock_generator, const int component_id, const double step_width_s, - const double rotor_inertia_kgm2, const double max_torque_Nm, const double max_velocity_rpm, const math::Quaternion quaternion_b2c, - const math::Vector<3> position_b_m, const double dead_time_s, const double time_constant_s, + const double rotor_inertia_kgm2, const double max_torque_Nm, const double max_velocity_rpm, const s2e::math::Quaternion quaternion_b2c, + const s2e::math::Vector<3> position_b_m, const double dead_time_s, const double time_constant_s, const std::vector friction_coefficients, const double stop_limit_angular_velocity_rad_s, const bool is_calc_jitter_enabled, const bool is_log_jitter_enabled, const int fast_prescaler, ReactionWheelJitter& rw_jitter, const bool drive_flag = false, const double init_velocity_rad_s = 0.0); @@ -79,8 +79,8 @@ class ReactionWheel : public Component, public ILoggable { * @param [in] init_velocity_rad_s: Initial value of angular velocity of RW [rad/s] */ ReactionWheel(const int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, const int component_id, const double step_width_s, - const double rotor_inertia_kgm2, const double max_torque_Nm, const double max_velocity_rpm, const math::Quaternion quaternion_b2c, - const math::Vector<3> position_b_m, const double dead_time_s, const double time_constant_s, + const double rotor_inertia_kgm2, const double max_torque_Nm, const double max_velocity_rpm, const s2e::math::Quaternion quaternion_b2c, + const s2e::math::Vector<3> position_b_m, const double dead_time_s, const double time_constant_s, const std::vector friction_coefficients, const double stop_limit_angular_velocity_rad_s, const bool is_calc_jitter_enabled, const bool is_log_jitter_enabled, const int fast_prescaler, ReactionWheelJitter& rw_jitter, const bool drive_flag = false, const double init_velocity_rad_s = 0.0); @@ -119,12 +119,12 @@ class ReactionWheel : public Component, public ILoggable { * @fn GetOutputTorque_b_Nm * @brief Return output torque in the body fixed frame [Nm] */ - const math::Vector<3> GetOutputTorque_b_Nm() const; + const s2e::math::Vector<3> GetOutputTorque_b_Nm() const; /** * @fn GetJitterForce_b_N * @brief Return output force by jitter in the body fixed frame [N] */ - inline const math::Vector<3> GetJitterForce_b_N() const; + inline const s2e::math::Vector<3> GetJitterForce_b_N() const; /** * @fn GetDriveFlag * @brief Return drive flag @@ -144,7 +144,7 @@ class ReactionWheel : public Component, public ILoggable { * @fn GetAngularMomentum_b_Nms * @brief Return angular momentum of RW [Nms] */ - inline const math::Vector<3> GetAngularMomentum_b_Nms() const { return angular_momentum_b_Nms_; }; + inline const s2e::math::Vector<3> GetAngularMomentum_b_Nms() const { return angular_momentum_b_Nms_; }; // Setter /** @@ -174,10 +174,10 @@ class ReactionWheel : public Component, public ILoggable { const double rotor_inertia_kgm2_; //!< Inertia of RW rotor [kgm2] const double max_torque_Nm_; //!< Maximum output torque [Nm] const double max_velocity_rpm_; //!< Maximum angular velocity of rotor [rpm] - const math::Quaternion quaternion_b2c_; //!< Quaternion from body frame to component frame - const math::Vector<3> position_b_m_; //!< Position of RW in the body fixed frame [m] - math::Vector<3> rotation_axis_c_; //!< Wheel rotation axis on the component frame. Constant as (0 0 1). (Output torque is minus direction) - math::Vector<3> rotation_axis_b_; //!< Wheel rotation vector in the body fixed frame. + const s2e::math::Quaternion quaternion_b2c_; //!< Quaternion from body frame to component frame + const s2e::math::Vector<3> position_b_m_; //!< Position of RW in the body fixed frame [m] + s2e::math::Vector<3> rotation_axis_c_; //!< Wheel rotation axis on the component frame. Constant as (0 0 1). (Output torque is minus direction) + s2e::math::Vector<3> rotation_axis_b_; //!< Wheel rotation vector in the body fixed frame. // Parameters for control delay const double step_width_s_; //!< step width for ReactionWheelOde [sec] @@ -199,8 +199,8 @@ class ReactionWheel : public Component, public ILoggable { double angular_velocity_rpm_ = 0.0; //!< Current angular velocity [rpm] double angular_velocity_rad_s_ = 0.0; //!< Current angular velocity [rad/s] // Output at body frame - math::Vector<3> output_torque_b_Nm_{0.0}; //!< Output torque in the body fixed frame [Nm] - math::Vector<3> angular_momentum_b_Nms_{0.0}; //!< Angular momentum of RW [Nms] + s2e::math::Vector<3> output_torque_b_Nm_{0.0}; //!< Output torque in the body fixed frame [Nm] + s2e::math::Vector<3> angular_momentum_b_Nms_{0.0}; //!< Angular momentum of RW [Nms] // ODE double velocity_limit_rpm_; //!< Velocity limit defined by users [RPM] @@ -216,7 +216,7 @@ class ReactionWheel : public Component, public ILoggable { * @fn CalcTorque * @brief Calculation of generated torque */ - math::Vector<3> CalcTorque(); + s2e::math::Vector<3> CalcTorque(); /** * @fn Initialize * @brief Initialize function diff --git a/src/components/real/aocs/reaction_wheel_jitter.cpp b/src/components/real/aocs/reaction_wheel_jitter.cpp index 189e364f7..5e4a2930b 100644 --- a/src/components/real/aocs/reaction_wheel_jitter.cpp +++ b/src/components/real/aocs/reaction_wheel_jitter.cpp @@ -11,14 +11,14 @@ ReactionWheelJitter::ReactionWheelJitter(std::vector> radial_force_harmonics_coefficients, std::vector> radial_torque_harmonics_coefficients, const double update_interval_s, - const math::Quaternion quaternion_b2c, const double structural_resonance_frequency_Hz, + const s2e::math::Quaternion quaternion_b2c, const double structural_resonance_frequency_Hz, const double damping_factor, const double bandwidth, const bool considers_structural_resonance) : radial_force_harmonics_coefficients_(radial_force_harmonics_coefficients), radial_torque_harmonics_coefficients_(radial_torque_harmonics_coefficients), update_interval_s_(update_interval_s), quaternion_b2c_(quaternion_b2c), structural_resonance_frequency_Hz_(structural_resonance_frequency_Hz), - structural_resonance_angular_frequency_Hz_(math::tau * structural_resonance_frequency_Hz), + structural_resonance_angular_frequency_Hz_(s2e::math::tau * structural_resonance_frequency_Hz), damping_factor_(damping_factor), bandwidth_(bandwidth), considers_structural_resonance_(considers_structural_resonance) { @@ -26,7 +26,7 @@ ReactionWheelJitter::ReactionWheelJitter(std::vector> radial // Generate random number for initial rotation phase std::random_device seed_gen; std::default_random_engine engine(seed_gen()); - std::uniform_real_distribution dist(0.0, math::tau); + std::uniform_real_distribution dist(0.0, s2e::math::tau); // Initialize RW rotation phase for (size_t i = 0; i < radial_force_harmonics_coefficients_.size(); i++) { jitter_force_rotation_phase_.push_back(dist(engine)); diff --git a/src/components/real/aocs/reaction_wheel_jitter.hpp b/src/components/real/aocs/reaction_wheel_jitter.hpp index dbf2e24c5..a6da8a503 100644 --- a/src/components/real/aocs/reaction_wheel_jitter.hpp +++ b/src/components/real/aocs/reaction_wheel_jitter.hpp @@ -36,7 +36,7 @@ class ReactionWheelJitter { */ ReactionWheelJitter(std::vector> radial_force_harmonics_coefficients, std::vector> radial_torque_harmonics_coefficients, const double update_interval_s, - const math::Quaternion quaternion_b2c, const double structural_resonance_frequency_Hz, const double damping_factor, + const s2e::math::Quaternion quaternion_b2c, const double structural_resonance_frequency_Hz, const double damping_factor, const double bandwidth, const bool considers_structural_resonance); /** * @fn ~ReactionWheelJitter @@ -55,24 +55,24 @@ class ReactionWheelJitter { * @fn GetJitterForce_b_N * @brief Return generated jitter force in the body fixed frame [N] */ - const math::Vector<3> GetJitterForce_b_N() const { return jitter_force_b_N_; } + const s2e::math::Vector<3> GetJitterForce_b_N() const { return jitter_force_b_N_; } /** * @fn GetJitterTorque_b_Nm * @brief Return generated jitter torque in the body fixed frame [Nm] */ - const math::Vector<3> GetJitterTorque_b_Nm() const { return jitter_torque_b_Nm_; } + const s2e::math::Vector<3> GetJitterTorque_b_Nm() const { return jitter_torque_b_Nm_; } /** * @fn GetJitterForce_c_N * @brief Return generated jitter force in the components frame [N] */ - const math::Vector<3> GetJitterForce_c_N() const { + const s2e::math::Vector<3> GetJitterForce_c_N() const { return considers_structural_resonance_ ? filtered_jitter_force_n_c_ : unfiltered_jitter_force_n_c_; } /** * @fn GetJitterTorque_c_Nm * @brief Return generated jitter torque in the component frame [Nm] */ - const math::Vector<3> GetJitterTorque_c_Nm() const { + const s2e::math::Vector<3> GetJitterTorque_c_Nm() const { return considers_structural_resonance_ ? filtered_jitter_torque_n_c_ : unfiltered_jitter_torque_n_c_; } @@ -81,7 +81,7 @@ class ReactionWheelJitter { std::vector> radial_torque_harmonics_coefficients_; //!< Coefficients for radial torque harmonics double update_interval_s_; //!< Jitter update interval [sec] - math::Quaternion quaternion_b2c_; //!< Quaternion from body frame to component frame + s2e::math::Quaternion quaternion_b2c_; //!< Quaternion from body frame to component frame double structural_resonance_frequency_Hz_; //!< Frequency of structural resonance [Hz] double structural_resonance_angular_frequency_Hz_; //!< Angular Frequency of structural resonance @@ -94,22 +94,22 @@ class ReactionWheelJitter { std::vector jitter_torque_rotation_phase_; //!< 2 * pi * h_i * Omega * t [rad] // Variables for solving difference equations in component frame - math::Vector<3> unfiltered_jitter_force_n_c_{0.0}; - math::Vector<3> unfiltered_jitter_force_n_1_c_{0.0}; - math::Vector<3> unfiltered_jitter_force_n_2_c_{0.0}; - math::Vector<3> unfiltered_jitter_torque_n_c_{0.0}; - math::Vector<3> unfiltered_jitter_torque_n_1_c_{0.0}; - math::Vector<3> unfiltered_jitter_torque_n_2_c_{0.0}; - math::Vector<3> filtered_jitter_force_n_c_{0.0}; - math::Vector<3> filtered_jitter_force_n_1_c_{0.0}; - math::Vector<3> filtered_jitter_force_n_2_c_{0.0}; - math::Vector<3> filtered_jitter_torque_n_c_{0.0}; - math::Vector<3> filtered_jitter_torque_n_1_c_{0.0}; - math::Vector<3> filtered_jitter_torque_n_2_c_{0.0}; + s2e::math::Vector<3> unfiltered_jitter_force_n_c_{0.0}; + s2e::math::Vector<3> unfiltered_jitter_force_n_1_c_{0.0}; + s2e::math::Vector<3> unfiltered_jitter_force_n_2_c_{0.0}; + s2e::math::Vector<3> unfiltered_jitter_torque_n_c_{0.0}; + s2e::math::Vector<3> unfiltered_jitter_torque_n_1_c_{0.0}; + s2e::math::Vector<3> unfiltered_jitter_torque_n_2_c_{0.0}; + s2e::math::Vector<3> filtered_jitter_force_n_c_{0.0}; + s2e::math::Vector<3> filtered_jitter_force_n_1_c_{0.0}; + s2e::math::Vector<3> filtered_jitter_force_n_2_c_{0.0}; + s2e::math::Vector<3> filtered_jitter_torque_n_c_{0.0}; + s2e::math::Vector<3> filtered_jitter_torque_n_1_c_{0.0}; + s2e::math::Vector<3> filtered_jitter_torque_n_2_c_{0.0}; double coefficients_[6]; //!< Coefficients of difference equation - math::Vector<3> jitter_force_b_N_{0.0}; //!< Generated jitter force in the body frame [N] - math::Vector<3> jitter_torque_b_Nm_{0.0}; //!< Generated jitter torque in the body frame [Nm] + s2e::math::Vector<3> jitter_force_b_N_{0.0}; //!< Generated jitter force in the body frame [N] + s2e::math::Vector<3> jitter_torque_b_Nm_{0.0}; //!< Generated jitter torque in the body frame [Nm] /** * @fn AddStructuralResonance diff --git a/src/components/real/aocs/reaction_wheel_ode.cpp b/src/components/real/aocs/reaction_wheel_ode.cpp index 48b440089..263e24460 100644 --- a/src/components/real/aocs/reaction_wheel_ode.cpp +++ b/src/components/real/aocs/reaction_wheel_ode.cpp @@ -8,10 +8,10 @@ ReactionWheelOde::ReactionWheelOde(const double step_width_s, const double velocity_limit_rad_s, const double initial_angular_velocity_rad_s) : OrdinaryDifferentialEquation<1>(step_width_s), velocity_limit_rad_s_(velocity_limit_rad_s) { - this->Setup(0.0, math::Vector<1>(initial_angular_velocity_rad_s)); + this->Setup(0.0, s2e::math::Vector<1>(initial_angular_velocity_rad_s)); } -void ReactionWheelOde::DerivativeFunction(double x, const math::Vector<1> &state, math::Vector<1> &rhs) { +void ReactionWheelOde::DerivativeFunction(double x, const s2e::math::Vector<1> &state, s2e::math::Vector<1> &rhs) { UNUSED(x); double angular_velocity_rad_s = state[0]; diff --git a/src/components/real/aocs/reaction_wheel_ode.hpp b/src/components/real/aocs/reaction_wheel_ode.hpp index 89bec07c3..5553ed389 100644 --- a/src/components/real/aocs/reaction_wheel_ode.hpp +++ b/src/components/real/aocs/reaction_wheel_ode.hpp @@ -12,7 +12,7 @@ * @file ReactionWheelOde * @brief Ordinary differential equation of angular velocity of reaction wheel with first-order lag */ -class ReactionWheelOde : public math::OrdinaryDifferentialEquation<1> { +class ReactionWheelOde : public s2e::math::OrdinaryDifferentialEquation<1> { public: /** * @fn ReactionWheelOde @@ -53,7 +53,7 @@ class ReactionWheelOde : public math::OrdinaryDifferentialEquation<1> { * @param [in] state: State vector * @param [out] rhs: Differentiated value of state vector */ - void DerivativeFunction(double x, const math::Vector<1>& state, math::Vector<1>& rhs) override; + void DerivativeFunction(double x, const s2e::math::Vector<1>& state, s2e::math::Vector<1>& rhs) override; double velocity_limit_rad_s_; double angular_acceleration_rad_s2_ = 0.0; //!< Angular acceleration [rad/s2] diff --git a/src/components/real/aocs/star_sensor.cpp b/src/components/real/aocs/star_sensor.cpp index 60a10d7a5..c6c0e5384 100644 --- a/src/components/real/aocs/star_sensor.cpp +++ b/src/components/real/aocs/star_sensor.cpp @@ -14,9 +14,9 @@ #include using namespace std; -using namespace math; +using namespace s2e::math; -StarSensor::StarSensor(const int prescaler, ClockGenerator* clock_generator, const int component_id, const math::Quaternion& quaternion_b2c, +StarSensor::StarSensor(const int prescaler, ClockGenerator* clock_generator, const int component_id, const s2e::math::Quaternion& quaternion_b2c, const double standard_deviation_orthogonal_direction, const double standard_deviation_sight_direction, const double step_time_s, const unsigned int output_delay, const unsigned int output_interval, const double sun_forbidden_angle_rad, const double earth_forbidden_angle_rad, const double moon_forbidden_angle_rad, @@ -41,7 +41,7 @@ StarSensor::StarSensor(const int prescaler, ClockGenerator* clock_generator, con Initialize(); } StarSensor::StarSensor(const int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, const int component_id, - const math::Quaternion& quaternion_b2c, const double standard_deviation_orthogonal_direction, + const s2e::math::Quaternion& quaternion_b2c, const double standard_deviation_orthogonal_direction, const double standard_deviation_sight_direction, const double step_time_s, const unsigned int output_delay, const unsigned int output_interval, const double sun_forbidden_angle_rad, const double earth_forbidden_angle_rad, const double moon_forbidden_angle_rad, const double capture_rate_limit_rad_s, const Dynamics* dynamics, @@ -67,21 +67,21 @@ StarSensor::StarSensor(const int prescaler, ClockGenerator* clock_generator, Pow } void StarSensor::Initialize() { - measured_quaternion_i2c_ = math::Quaternion(0.0, 0.0, 0.0, 1.0); + measured_quaternion_i2c_ = s2e::math::Quaternion(0.0, 0.0, 0.0, 1.0); // Decide delay buffer size max_delay_ = int(output_delay_ * 2 / step_time_s_); if (max_delay_ <= 0) max_delay_ = 1; - vector temp(max_delay_); + vector temp(max_delay_); delay_buffer_ = temp; // Initialize delay buffer for (int i = 0; i < max_delay_; ++i) { delay_buffer_[i] = measured_quaternion_i2c_; } - sight_direction_c_ = math::Vector<3>(0.0); - first_orthogonal_direction_c = math::Vector<3>(0.0); - second_orthogonal_direction_c = math::Vector<3>(0.0); + sight_direction_c_ = s2e::math::Vector<3>(0.0); + first_orthogonal_direction_c = s2e::math::Vector<3>(0.0); + second_orthogonal_direction_c = s2e::math::Vector<3>(0.0); sight_direction_c_[0] = 1.0; //(1,0,0)@Component coordinates, viewing direction first_orthogonal_direction_c[1] = 1.0; //(0,1,0)@Component coordinates, line-of-sight orthogonal direction second_orthogonal_direction_c[2] = 1.0; //(0,0,1)@Component coordinates, line-of-sight orthogonal direction @@ -110,10 +110,10 @@ void StarSensor::update(const LocalCelestialInformation* local_celestial_informa // Add noise on sight direction Quaternion q_sight(sight_direction_c_, sight_direction_noise_); // Random noise on orthogonal direction of sight. Range [0:2pi] - double rot = math::tau * double(rotation_noise_); + double rot = s2e::math::tau * double(rotation_noise_); // Calc observation error on orthogonal direction of sight - math::Vector<3> rot_axis = cos(rot) * first_orthogonal_direction_c + sin(rot) * second_orthogonal_direction_c; - math::Quaternion q_ortho(rot_axis, orthogonal_direction_noise_); + s2e::math::Vector<3> rot_axis = cos(rot) * first_orthogonal_direction_c + sin(rot) * second_orthogonal_direction_c; + s2e::math::Quaternion q_ortho(rot_axis, orthogonal_direction_noise_); // Judge errors AllJudgement(local_celestial_information, attitude); @@ -137,9 +137,9 @@ void StarSensor::AllJudgement(const LocalCelestialInformation* local_celestial_i error_flag_ = false; } -int StarSensor::SunJudgement(const math::Vector<3>& sun_b) { - math::Quaternion q_c2b = quaternion_b2c_.Conjugate(); - math::Vector<3> sight_b = q_c2b.FrameConversion(sight_direction_c_); +int StarSensor::SunJudgement(const s2e::math::Vector<3>& sun_b) { + s2e::math::Quaternion q_c2b = quaternion_b2c_.Conjugate(); + s2e::math::Vector<3> sight_b = q_c2b.FrameConversion(sight_direction_c_); double sun_angle_rad = CalAngleVector_rad(sun_b, sight_b); if (sun_angle_rad < sun_forbidden_angle_rad_) return 1; @@ -147,9 +147,9 @@ int StarSensor::SunJudgement(const math::Vector<3>& sun_b) { return 0; } -int StarSensor::EarthJudgement(const math::Vector<3>& earth_b) { - math::Quaternion q_c2b = quaternion_b2c_.Conjugate(); - math::Vector<3> sight_b = q_c2b.FrameConversion(sight_direction_c_); +int StarSensor::EarthJudgement(const s2e::math::Vector<3>& earth_b) { + s2e::math::Quaternion q_c2b = quaternion_b2c_.Conjugate(); + s2e::math::Vector<3> sight_b = q_c2b.FrameConversion(sight_direction_c_); double earth_size_rad = atan2(environment::earth_equatorial_radius_m, earth_b.CalcNorm()); // angles between sat<->earth_center & sat<->earth_edge double earth_center_angle_rad = CalAngleVector_rad(earth_b, sight_b); // angles between sat<->earth_center & sat_sight @@ -160,9 +160,9 @@ int StarSensor::EarthJudgement(const math::Vector<3>& earth_b) { return 0; } -int StarSensor::MoonJudgement(const math::Vector<3>& moon_b) { - math::Quaternion q_c2b = quaternion_b2c_.Conjugate(); - math::Vector<3> sight_b = q_c2b.FrameConversion(sight_direction_c_); +int StarSensor::MoonJudgement(const s2e::math::Vector<3>& moon_b) { + s2e::math::Quaternion q_c2b = quaternion_b2c_.Conjugate(); + s2e::math::Vector<3> sight_b = q_c2b.FrameConversion(sight_direction_c_); double moon_angle_rad = CalAngleVector_rad(moon_b, sight_b); if (moon_angle_rad < moon_forbidden_angle_rad_) return 1; @@ -170,7 +170,7 @@ int StarSensor::MoonJudgement(const math::Vector<3>& moon_b) { return 0; } -int StarSensor::CaptureRateJudgement(const math::Vector<3>& omega_b_rad_s) { +int StarSensor::CaptureRateJudgement(const s2e::math::Vector<3>& omega_b_rad_s) { double omega_norm = omega_b_rad_s.CalcNorm(); if (omega_norm > capture_rate_limit_rad_s_) return 1; @@ -199,8 +199,8 @@ std::string StarSensor::GetLogValue() const { } double StarSensor::CalAngleVector_rad(const Vector<3>& vector1, const Vector<3>& vector2) { - math::Vector<3> vect1_normal = vector1.CalcNormalizedVector(); - math::Vector<3> vect2_normal = vector2.CalcNormalizedVector(); + s2e::math::Vector<3> vect1_normal = vector1.CalcNormalizedVector(); + s2e::math::Vector<3> vect2_normal = vector2.CalcNormalizedVector(); double cosTheta = InnerProduct(vect1_normal, vect2_normal); // Calc cos value double theta_rad = acos(cosTheta); @@ -223,7 +223,7 @@ StarSensor InitStarSensor(ClockGenerator* clock_generator, int sensor_id, const int prescaler = STT_conf.ReadInt(STTSection, "prescaler"); if (prescaler <= 1) prescaler = 1; double step_time_s = component_step_time_s * prescaler; - math::Quaternion quaternion_b2c; + s2e::math::Quaternion quaternion_b2c; STT_conf.ReadQuaternion(STTSection, "quaternion_b2c", quaternion_b2c); double standard_deviation_orthogonal_direction = STT_conf.ReadDouble(STTSection, "standard_deviation_orthogonal_direction_rad"); double standard_deviation_sight_direction = STT_conf.ReadDouble(STTSection, "standard_deviation_sight_direction_rad"); @@ -232,13 +232,13 @@ StarSensor InitStarSensor(ClockGenerator* clock_generator, int sensor_id, const double output_interval_sec = STT_conf.ReadDouble(STTSection, "output_interval_s"); int output_interval = max(int(output_interval_sec / step_time_s), 1); double sun_forbidden_angle_deg = STT_conf.ReadDouble(STTSection, "sun_exclusion_angle_deg"); - double sun_forbidden_angle_rad = sun_forbidden_angle_deg * math::pi / 180.0; + double sun_forbidden_angle_rad = sun_forbidden_angle_deg * s2e::math::pi / 180.0; double earth_forbidden_angle_deg = STT_conf.ReadDouble(STTSection, "earth_exclusion_angle_deg"); - double earth_forbidden_angle_rad = earth_forbidden_angle_deg * math::pi / 180.0; + double earth_forbidden_angle_rad = earth_forbidden_angle_deg * s2e::math::pi / 180.0; double moon_forbidden_angle_deg = STT_conf.ReadDouble(STTSection, "moon_exclusion_angle_deg"); - double moon_forbidden_angle_rad = moon_forbidden_angle_deg * math::pi / 180.0; + double moon_forbidden_angle_rad = moon_forbidden_angle_deg * s2e::math::pi / 180.0; double capture_rate_deg_s = STT_conf.ReadDouble(STTSection, "angular_rate_limit_deg_s"); - double capture_rate_rad_s = capture_rate_deg_s * math::pi / 180.0; + double capture_rate_rad_s = capture_rate_deg_s * s2e::math::pi / 180.0; StarSensor stt(prescaler, clock_generator, sensor_id, quaternion_b2c, standard_deviation_orthogonal_direction, standard_deviation_sight_direction, step_time_s, output_delay, output_interval, sun_forbidden_angle_rad, earth_forbidden_angle_rad, moon_forbidden_angle_rad, @@ -257,7 +257,7 @@ StarSensor InitStarSensor(ClockGenerator* clock_generator, PowerPort* power_port if (prescaler <= 1) prescaler = 1; double step_time_s = component_step_time_s * prescaler; - math::Quaternion quaternion_b2c; + s2e::math::Quaternion quaternion_b2c; STT_conf.ReadQuaternion(STTSection, "quaternion_b2c", quaternion_b2c); double standard_deviation_orthogonal_direction = STT_conf.ReadDouble(STTSection, "standard_deviation_orthogonal_direction_rad"); double standard_deviation_sight_direction = STT_conf.ReadDouble(STTSection, "standard_deviation_sight_direction_rad"); @@ -266,13 +266,13 @@ StarSensor InitStarSensor(ClockGenerator* clock_generator, PowerPort* power_port double output_interval_sec = STT_conf.ReadDouble(STTSection, "output_interval_s"); int output_interval = max(int(output_interval_sec / step_time_s), 1); double sun_forbidden_angle_deg = STT_conf.ReadDouble(STTSection, "sun_exclusion_angle_deg"); - double sun_forbidden_angle_rad = sun_forbidden_angle_deg * math::pi / 180.0; + double sun_forbidden_angle_rad = sun_forbidden_angle_deg * s2e::math::pi / 180.0; double earth_forbidden_angle_deg = STT_conf.ReadDouble(STTSection, "earth_exclusion_angle_deg"); - double earth_forbidden_angle_rad = earth_forbidden_angle_deg * math::pi / 180.0; + double earth_forbidden_angle_rad = earth_forbidden_angle_deg * s2e::math::pi / 180.0; double moon_forbidden_angle_deg = STT_conf.ReadDouble(STTSection, "moon_exclusion_angle_deg"); - double moon_forbidden_angle_rad = moon_forbidden_angle_deg * math::pi / 180.0; + double moon_forbidden_angle_rad = moon_forbidden_angle_deg * s2e::math::pi / 180.0; double capture_rate_deg_s = STT_conf.ReadDouble(STTSection, "angular_rate_limit_deg_s"); - double capture_rate_rad_s = capture_rate_deg_s * math::pi / 180.0; + double capture_rate_rad_s = capture_rate_deg_s * s2e::math::pi / 180.0; power_port->InitializeWithInitializeFile(file_name); diff --git a/src/components/real/aocs/star_sensor.hpp b/src/components/real/aocs/star_sensor.hpp index 5965c5e9a..40f7c46a0 100644 --- a/src/components/real/aocs/star_sensor.hpp +++ b/src/components/real/aocs/star_sensor.hpp @@ -43,7 +43,7 @@ class StarSensor : public Component, public ILoggable { * @param [in] dynamics: Dynamics information * @param [in] local_environment: Local environment information */ - StarSensor(const int prescaler, ClockGenerator* clock_generator, const int component_id, const math::Quaternion& quaternion_b2c, + StarSensor(const int prescaler, ClockGenerator* clock_generator, const int component_id, const s2e::math::Quaternion& quaternion_b2c, const double standard_deviation_orthogonal_direction, const double standard_deviation_sight_direction, const double step_time_s, const unsigned int output_delay, const unsigned int output_interval, const double sun_forbidden_angle_rad, const double earth_forbidden_angle_rad, const double moon_forbidden_angle_rad, const double capture_rate_limit_rad_s, @@ -69,7 +69,7 @@ class StarSensor : public Component, public ILoggable { * @param [in] local_environment: Local environment information */ StarSensor(const int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, const int component_id, - const math::Quaternion& quaternion_b2c, const double standard_deviation_orthogonal_direction, + const s2e::math::Quaternion& quaternion_b2c, const double standard_deviation_orthogonal_direction, const double standard_deviation_sight_direction, const double step_time_s, const unsigned int output_delay, const unsigned int output_interval, const double sun_forbidden_angle_rad, const double earth_forbidden_angle_rad, const double moon_forbidden_angle_rad, const double capture_rate_limit_rad_s, const Dynamics* dynamics, @@ -98,7 +98,7 @@ class StarSensor : public Component, public ILoggable { * @fn GetMeasuredQuaternion_i2c * @brief Return observed quaternion from the inertial frame to the component frame */ - inline const math::Quaternion GetMeasuredQuaternion_i2c() const { return measured_quaternion_i2c_; }; + inline const s2e::math::Quaternion GetMeasuredQuaternion_i2c() const { return measured_quaternion_i2c_; }; /** * @fn GetErrorFlag * @brief Return error flag @@ -108,11 +108,11 @@ class StarSensor : public Component, public ILoggable { protected: // StarSensor general parameters const int component_id_; //!< Sensor ID - math::Quaternion quaternion_b2c_; //!< Quaternion from body frame to component frame - math::Quaternion measured_quaternion_i2c_ = {0.0, 0.0, 0.0, 1.0}; //!< StarSensor observed quaternion - math::Vector<3> sight_direction_c_; //!< Sight direction vector at component frame - math::Vector<3> first_orthogonal_direction_c; //!< The first orthogonal direction of sight at component frame - math::Vector<3> second_orthogonal_direction_c; //!< The second orthogonal direction of sight at component frame + s2e::math::Quaternion quaternion_b2c_; //!< Quaternion from body frame to component frame + s2e::math::Quaternion measured_quaternion_i2c_ = {0.0, 0.0, 0.0, 1.0}; //!< StarSensor observed quaternion + s2e::math::Vector<3> sight_direction_c_; //!< Sight direction vector at component frame + s2e::math::Vector<3> first_orthogonal_direction_c; //!< The first orthogonal direction of sight at component frame + s2e::math::Vector<3> second_orthogonal_direction_c; //!< The second orthogonal direction of sight at component frame // Noise parameters randomization::MinimalStandardLcgWithShuffle rotation_noise_; //!< Randomize object for orthogonal direction @@ -121,7 +121,7 @@ class StarSensor : public Component, public ILoggable { // Delay emulation parameters int max_delay_; //!< Max delay - std::vector delay_buffer_; //!< Buffer of quaternion for delay emulation + std::vector delay_buffer_; //!< Buffer of quaternion for delay emulation int buffer_position_; //!< Buffer position double step_time_s_; //!< Step time for delay calculation [sec] unsigned int output_delay_; //!< Output delay [0, max_delay_] [step_sec] @@ -153,7 +153,7 @@ class StarSensor : public Component, public ILoggable { * @param [in] local_celestial_information: Local celestial information * @param [in] attitude: Attitude information */ - math::Quaternion Measure(const LocalCelestialInformation* local_celestial_information, const Attitude* attitude); + s2e::math::Quaternion Measure(const LocalCelestialInformation* local_celestial_information, const Attitude* attitude); /** * @fn AllJudgement @@ -168,28 +168,28 @@ class StarSensor : public Component, public ILoggable { * @param [in] sun_b: Sun direction vector in the body fixed frame * @return 1: violated, 0: not violated */ - int SunJudgement(const math::Vector<3>& sun_b); + int SunJudgement(const s2e::math::Vector<3>& sun_b); /** * @fn EarthJudgement * @brief Judge violation of earth forbidden angle * @param [in] earth_b: Earth direction vector in the body fixed frame * @return 1: violated, 0: not violated */ - int EarthJudgement(const math::Vector<3>& earth_b); + int EarthJudgement(const s2e::math::Vector<3>& earth_b); /** * @fn MoonJudgement * @brief Judge violation of moon forbidden angle * @param [in] moon_b: Moon direction vector in the body fixed frame * @return 1: violated, 0: not violated */ - int MoonJudgement(const math::Vector<3>& moon_b); + int MoonJudgement(const s2e::math::Vector<3>& moon_b); /** * @fn CaptureRateJudgement * @brief Judge violation of angular velocity limit * @param [in] omega_b_rad_s: Angular velocity of spacecraft in the body fixed frame * @return 1: violated, 0: not violated */ - int CaptureRateJudgement(const math::Vector<3>& omega_b_rad_s); + int CaptureRateJudgement(const s2e::math::Vector<3>& omega_b_rad_s); /** * @fn CalAngleVector_rad * @brief Calculate angle between two vectors @@ -197,7 +197,7 @@ class StarSensor : public Component, public ILoggable { * @param [in] vector2: Second vector * @return Angle between two vectors [rad] */ - double CalAngleVector_rad(const math::Vector<3>& vector1, const math::Vector<3>& vector2); + double CalAngleVector_rad(const s2e::math::Vector<3>& vector1, const s2e::math::Vector<3>& vector2); /** * @fn Initialize diff --git a/src/components/real/aocs/sun_sensor.cpp b/src/components/real/aocs/sun_sensor.cpp index 6b47949ae..b9fbd3cae 100644 --- a/src/components/real/aocs/sun_sensor.cpp +++ b/src/components/real/aocs/sun_sensor.cpp @@ -14,7 +14,7 @@ using randomization::NormalRand; using namespace std; -SunSensor::SunSensor(const int prescaler, ClockGenerator* clock_generator, const int component_id, const math::Quaternion& quaternion_b2c, +SunSensor::SunSensor(const int prescaler, ClockGenerator* clock_generator, const int component_id, const s2e::math::Quaternion& quaternion_b2c, const double detectable_angle_rad, const double random_noise_standard_deviation_rad, const double bias_noise_standard_deviation_rad, const double intensity_lower_threshold_percent, const SolarRadiationPressureEnvironment* srp_environment, const LocalCelestialInformation* local_celestial_information) @@ -29,7 +29,7 @@ SunSensor::SunSensor(const int prescaler, ClockGenerator* clock_generator, const } SunSensor::SunSensor(const int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, const int component_id, - const math::Quaternion& quaternion_b2c, const double detectable_angle_rad, const double random_noise_standard_deviation_rad, + const s2e::math::Quaternion& quaternion_b2c, const double detectable_angle_rad, const double random_noise_standard_deviation_rad, const double bias_noise_standard_deviation_rad, const double intensity_lower_threshold_percent, const SolarRadiationPressureEnvironment* srp_environment, const LocalCelestialInformation* local_celestial_information) : Component(prescaler, clock_generator, power_port), @@ -59,8 +59,8 @@ void SunSensor::MainRoutine(const int time_count) { } void SunSensor::Measure() { - math::Vector<3> sun_pos_b = local_celestial_information_->GetPositionFromSpacecraft_b_m("SUN"); - math::Vector<3> sun_dir_b = sun_pos_b.CalcNormalizedVector(); + s2e::math::Vector<3> sun_pos_b = local_celestial_information_->GetPositionFromSpacecraft_b_m("SUN"); + s2e::math::Vector<3> sun_dir_b = sun_pos_b.CalcNormalizedVector(); sun_direction_true_c_ = quaternion_b2c_.FrameConversion(sun_dir_b); // Frame conversion from body to component @@ -87,7 +87,7 @@ void SunSensor::Measure() { measured_sun_direction_c_ = measured_sun_direction_c_.CalcNormalizedVector(); } else { - measured_sun_direction_c_ = math::Vector<3>(0); + measured_sun_direction_c_ = s2e::math::Vector<3>(0); alpha_rad_ = 0.0; beta_rad_ = 0.0; } @@ -96,7 +96,7 @@ void SunSensor::Measure() { } void SunSensor::SunDetectionJudgement() { - math::Vector<3> sun_direction_c = sun_direction_true_c_.CalcNormalizedVector(); + s2e::math::Vector<3> sun_direction_c = sun_direction_true_c_.CalcNormalizedVector(); double sun_angle_ = acos(sun_direction_c[2]); @@ -112,10 +112,10 @@ void SunSensor::SunDetectionJudgement() { } void SunSensor::CalcSolarIlluminance() { - math::Vector<3> sun_direction_c = sun_direction_true_c_.CalcNormalizedVector(); + s2e::math::Vector<3> sun_direction_c = sun_direction_true_c_.CalcNormalizedVector(); double sun_angle_ = acos(sun_direction_c[2]); - if (sun_angle_ > math::pi_2) { + if (sun_angle_ > s2e::math::pi_2) { solar_illuminance_W_m2_ = 0.0; return; } @@ -126,8 +126,8 @@ void SunSensor::CalcSolarIlluminance() { } double SunSensor::TanRange(double x) { - if (x > math::pi_2) x = math::pi - x; - if (x < -math::pi_2) x = -math::pi - x; + if (x > s2e::math::pi_2) x = s2e::math::pi - x; + if (x < -s2e::math::pi_2) x = -s2e::math::pi - x; return x; } @@ -161,20 +161,20 @@ SunSensor InitSunSensor(ClockGenerator* clock_generator, int ss_id, std::string int prescaler = ss_conf.ReadInt(Section, "prescaler"); if (prescaler <= 1) prescaler = 1; - math::Quaternion quaternion_b2c; + s2e::math::Quaternion quaternion_b2c; ss_conf.ReadQuaternion(Section, "quaternion_b2c", quaternion_b2c); double detectable_angle_deg = 0.0, detectable_angle_rad = 0.0; detectable_angle_deg = ss_conf.ReadDouble(Section, "field_of_view_deg"); - detectable_angle_rad = math::pi / 180.0 * detectable_angle_deg; + detectable_angle_rad = s2e::math::pi / 180.0 * detectable_angle_deg; double nr_stddev = 0.0; nr_stddev = ss_conf.ReadDouble(Section, "white_noise_standard_deviation_deg"); - nr_stddev *= math::pi / 180.0; + nr_stddev *= s2e::math::pi / 180.0; double nr_bias_stddev = 0.0; nr_bias_stddev = ss_conf.ReadDouble(Section, "bias_standard_deviation_deg"); - nr_bias_stddev *= math::pi / 180.0; + nr_bias_stddev *= s2e::math::pi / 180.0; double intensity_lower_threshold_percent; intensity_lower_threshold_percent = ss_conf.ReadDouble(Section, "intensity_lower_threshold_percent"); @@ -194,20 +194,20 @@ SunSensor InitSunSensor(ClockGenerator* clock_generator, PowerPort* power_port, int prescaler = ss_conf.ReadInt(Section, "prescaler"); if (prescaler <= 1) prescaler = 1; - math::Quaternion quaternion_b2c; + s2e::math::Quaternion quaternion_b2c; ss_conf.ReadQuaternion(Section, "quaternion_b2c", quaternion_b2c); double detectable_angle_deg = 0.0, detectable_angle_rad = 0.0; detectable_angle_deg = ss_conf.ReadDouble(Section, "field_of_view_deg"); - detectable_angle_rad = math::pi / 180.0 * detectable_angle_deg; + detectable_angle_rad = s2e::math::pi / 180.0 * detectable_angle_deg; double nr_stddev = 0.0; nr_stddev = ss_conf.ReadDouble(Section, "white_noise_standard_deviation_deg"); - nr_stddev *= math::pi / 180.0; + nr_stddev *= s2e::math::pi / 180.0; double nr_bias_stddev = 0.0; nr_bias_stddev = ss_conf.ReadDouble(Section, "bias_standard_deviation_deg"); - nr_bias_stddev *= math::pi / 180.0; + nr_bias_stddev *= s2e::math::pi / 180.0; double intensity_lower_threshold_percent; intensity_lower_threshold_percent = ss_conf.ReadDouble(Section, "intensity_lower_threshold_percent"); diff --git a/src/components/real/aocs/sun_sensor.hpp b/src/components/real/aocs/sun_sensor.hpp index e2c9623fd..81625a87c 100644 --- a/src/components/real/aocs/sun_sensor.hpp +++ b/src/components/real/aocs/sun_sensor.hpp @@ -35,7 +35,7 @@ class SunSensor : public Component, public ILoggable { * @param [in] srp_environment: Solar Radiation Pressure environment * @param [in] local_celestial_information: Local celestial information */ - SunSensor(const int prescaler, ClockGenerator* clock_generator, const int component_id, const math::Quaternion& quaternion_b2c, + SunSensor(const int prescaler, ClockGenerator* clock_generator, const int component_id, const s2e::math::Quaternion& quaternion_b2c, const double detectable_angle_rad, const double random_noise_standard_deviation_rad, const double bias_noise_standard_deviation_rad, const double intensity_lower_threshold_percent, const SolarRadiationPressureEnvironment* srp_environment, const LocalCelestialInformation* local_celestial_information); @@ -55,7 +55,7 @@ class SunSensor : public Component, public ILoggable { * @param [in] local_celestial_information: Local celestial information */ SunSensor(const int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, const int component_id, - const math::Quaternion& quaternion_b2c, const double detectable_angle_rad, const double random_noise_standard_deviation_rad, + const s2e::math::Quaternion& quaternion_b2c, const double detectable_angle_rad, const double random_noise_standard_deviation_rad, const double bias_noise_standard_deviation_rad, const double intensity_lower_threshold_percent, const SolarRadiationPressureEnvironment* srp_environment, const LocalCelestialInformation* local_celestial_information); @@ -80,19 +80,19 @@ class SunSensor : public Component, public ILoggable { // Getter inline bool GetSunDetectedFlag() const { return sun_detected_flag_; }; - inline const math::Vector<3> GetMeasuredSunDirection_c() const { return measured_sun_direction_c_; }; - inline const math::Vector<3> GetMeasuredSunDirection_b() const { return quaternion_b2c_.Conjugate().FrameConversion(measured_sun_direction_c_); }; + inline const s2e::math::Vector<3> GetMeasuredSunDirection_c() const { return measured_sun_direction_c_; }; + inline const s2e::math::Vector<3> GetMeasuredSunDirection_b() const { return quaternion_b2c_.Conjugate().FrameConversion(measured_sun_direction_c_); }; inline double GetSunAngleAlpha_rad() const { return alpha_rad_; }; inline double GetSunAngleBeta_rad() const { return beta_rad_; }; inline double GetSolarIlluminance_W_m2() const { return solar_illuminance_W_m2_; }; protected: const int component_id_; //!< Sensor ID - math::Quaternion quaternion_b2c_; //!< Quaternion from body frame to component frame (Z-axis of the component is sight direction) + s2e::math::Quaternion quaternion_b2c_; //!< Quaternion from body frame to component frame (Z-axis of the component is sight direction) double intensity_lower_threshold_percent_; //!< If the light intensity becomes smaller than this, it becomes impossible to get the sun direction - math::Vector<3> sun_direction_true_c_{0.0}; //!< True value of sun vector in the component frame - math::Vector<3> measured_sun_direction_c_{0.0}; //!< Measured sun vector in the component frame + s2e::math::Vector<3> sun_direction_true_c_{0.0}; //!< True value of sun vector in the component frame + s2e::math::Vector<3> measured_sun_direction_c_{0.0}; //!< Measured sun vector in the component frame double alpha_rad_ = 0.0; //!< Angle between Z-axis and the sun direction projected on XZ plane [rad] double beta_rad_ = 0.0; //!< Angle between Z-axis and the sun direction projected on YZ plane [rad] diff --git a/src/components/real/communication/antenna.cpp b/src/components/real/communication/antenna.cpp index b0713a76e..db044cb5d 100644 --- a/src/components/real/communication/antenna.cpp +++ b/src/components/real/communication/antenna.cpp @@ -11,7 +11,7 @@ #include #include -Antenna::Antenna(const int component_id, const math::Quaternion& quaternion_b2c, const bool is_transmitter, const bool is_receiver, +Antenna::Antenna(const int component_id, const s2e::math::Quaternion& quaternion_b2c, const bool is_transmitter, const bool is_receiver, const double frequency_MHz, const Vector<5> tx_parameters, const Vector<4> rx_parameters) : component_id_(component_id), is_transmitter_(is_transmitter), is_receiver_(is_receiver), frequency_MHz_(frequency_MHz) { quaternion_b2c_ = quaternion_b2c; @@ -45,7 +45,7 @@ Antenna::Antenna(const int component_id, const math::Quaternion& quaternion_b2c, } } -Antenna::Antenna(const int component_id, const math::Quaternion& quaternion_b2c, const bool is_transmitter, const bool is_receiver, +Antenna::Antenna(const int component_id, const s2e::math::Quaternion& quaternion_b2c, const bool is_transmitter, const bool is_receiver, const double frequency_MHz, const double tx_bitrate_bps, const double tx_output_power_W, const AntennaParameters tx_parameters, const double rx_system_noise_temperature_K, const AntennaParameters rx_parameters) : component_id_(component_id), diff --git a/src/components/real/communication/antenna.hpp b/src/components/real/communication/antenna.hpp index fbdaffb0a..78d8f48df 100644 --- a/src/components/real/communication/antenna.hpp +++ b/src/components/real/communication/antenna.hpp @@ -8,8 +8,8 @@ #include #include -using math::Quaternion; -using math::Vector; +using s2e::math::Quaternion; +using s2e::math::Vector; #include #include "./antenna_radiation_pattern.hpp" @@ -54,7 +54,7 @@ class Antenna { * @param [in] tx_parameters: output, gain, loss_feeder, loss_pointing for TX * @param [in] rx_parameters: gain, loss_feeder, loss_pointing, system_temperature for RX */ - Antenna(const int component_id, const math::Quaternion& quaternion_b2c, const bool is_transmitter, const bool is_receiver, + Antenna(const int component_id, const s2e::math::Quaternion& quaternion_b2c, const bool is_transmitter, const bool is_receiver, const double frequency_MHz, const Vector<5> tx_parameters, const Vector<4> rx_parameters); /** @@ -71,7 +71,7 @@ class Antenna { * @param [in] rx_system_noise_temperature_K: Receive system noise temperature [K] * @param [in] rx_parameters: RX antenna parameters */ - Antenna(const int component_id, const math::Quaternion& quaternion_b2c, const bool is_transmitter, const bool is_receiver, + Antenna(const int component_id, const s2e::math::Quaternion& quaternion_b2c, const bool is_transmitter, const bool is_receiver, const double frequency_MHz, const double tx_bitrate_bps, const double tx_output_power_W, const AntennaParameters tx_parameters, const double rx_system_noise_temperature_K, const AntennaParameters rx_parameters); /** diff --git a/src/components/real/communication/antenna_radiation_pattern.hpp b/src/components/real/communication/antenna_radiation_pattern.hpp index 422d168ab..93aff7df9 100644 --- a/src/components/real/communication/antenna_radiation_pattern.hpp +++ b/src/components/real/communication/antenna_radiation_pattern.hpp @@ -36,7 +36,7 @@ class AntennaRadiationPattern { * @param[in] phi_max_rad_: Maximum value of phi */ AntennaRadiationPattern(const std::string file_path, const size_t length_theta = 360, const size_t length_phi = 181, - const double theta_max_rad = math::tau, const double phi_max_rad = math::pi); + const double theta_max_rad = s2e::math::tau, const double phi_max_rad = s2e::math::pi); /** * @fn ~AntennaRadiationPattern @@ -56,8 +56,8 @@ class AntennaRadiationPattern { private: size_t length_theta_ = 360; //!< Length of grid for theta direction size_t length_phi_ = 181; //!< Length of grid for phi direction - double theta_max_rad_ = math::tau; //!< Maximum value of theta - double phi_max_rad_ = math::pi; //!< Maximum value of phi + double theta_max_rad_ = s2e::math::tau; //!< Maximum value of theta + double phi_max_rad_ = s2e::math::pi; //!< Maximum value of phi std::vector> gain_dBi_; //!< Antenna gain table [dBi] }; diff --git a/src/components/real/communication/ground_station_calculator.cpp b/src/components/real/communication/ground_station_calculator.cpp index 01b80ff25..2f4d1f19a 100644 --- a/src/components/real/communication/ground_station_calculator.cpp +++ b/src/components/real/communication/ground_station_calculator.cpp @@ -72,7 +72,7 @@ double GroundStationCalculator::CalcCn0OnGs(const Dynamics& dynamics, const Ante Vector<3> pos_gs2sc_i = sc_pos_i - gs_pos_i; double dist_sc_gs_km = pos_gs2sc_i.CalcNorm() / 1000.0; - double loss_space_dB = -20.0 * log10(4.0 * math::pi * dist_sc_gs_km / (300.0 / spacecraft_tx_antenna.GetFrequency_MHz() / 1000.0)); + double loss_space_dB = -20.0 * log10(4.0 * s2e::math::pi * dist_sc_gs_km / (300.0 / spacecraft_tx_antenna.GetFrequency_MHz() / 1000.0)); // GS direction on SC TX antenna frame Vector<3> sc_to_gs_i = gs_pos_i - sc_pos_i; diff --git a/src/components/real/mission/telescope.cpp b/src/components/real/mission/telescope.cpp index 31bc2919f..0e5a01c91 100644 --- a/src/components/real/mission/telescope.cpp +++ b/src/components/real/mission/telescope.cpp @@ -11,9 +11,9 @@ #include using namespace std; -using namespace math; +using namespace s2e::math; -Telescope::Telescope(ClockGenerator* clock_generator, const math::Quaternion& quaternion_b2c, const double sun_forbidden_angle_rad, +Telescope::Telescope(ClockGenerator* clock_generator, const s2e::math::Quaternion& quaternion_b2c, const double sun_forbidden_angle_rad, const double earth_forbidden_angle_rad, const double moon_forbidden_angle_rad, const int x_number_of_pix, const int y_number_of_pix, const double x_fov_per_pix, const double y_fov_per_pix, size_t number_of_logged_stars, const Attitude* attitude, const HipparcosCatalogue* hipparcos, const LocalCelestialInformation* local_celestial_information, @@ -38,8 +38,8 @@ Telescope::Telescope(ClockGenerator* clock_generator, const math::Quaternion& qu x_field_of_view_rad = x_number_of_pix_ * x_fov_per_pix_; y_field_of_view_rad = y_number_of_pix_ * y_fov_per_pix_; - assert(x_field_of_view_rad < math::pi_2); // Avoid the case that the field of view is over 90 degrees - assert(y_field_of_view_rad < math::pi_2); + assert(x_field_of_view_rad < s2e::math::pi_2); // Avoid the case that the field of view is over 90 degrees + assert(y_field_of_view_rad < s2e::math::pi_2); sight_direction_c_ = Vector<3>(0); sight_direction_c_[0] = 1; // (1,0,0) at component frame, Sight direction vector @@ -58,7 +58,7 @@ Telescope::Telescope(ClockGenerator* clock_generator, const math::Quaternion& qu } // Get initial spacecraft position in ECEF if (orbit_ != nullptr) { - math::Vector<3> initial_spacecraft_position_ecef_m = orbit_->GetPosition_ecef_m(); + s2e::math::Vector<3> initial_spacecraft_position_ecef_m = orbit_->GetPosition_ecef_m(); initial_ground_position_ecef_m_ = environment::earth_equatorial_radius_m * initial_spacecraft_position_ecef_m; initial_ground_position_ecef_m_ /= (orbit_->GetGeodeticPosition().GetAltitude_m() + environment::earth_equatorial_radius_m); } @@ -83,26 +83,26 @@ void Telescope::MainRoutine(const int time_count) { // sun_pos_c = quaternion_b2c_.FrameConversion(dynamics_->celestial_->GetPositionFromSpacecraft_b_m("SUN")); // earth_pos_c = quaternion_b2c_.FrameConversion(dynamics_->celestial_->GetPositionFromSpacecraft_b_m("EARTH")); // moon_pos_c = quaternion_b2c_.FrameConversion(dynamics_->celestial_->GetPositionFromSpacecraft_b_m("MOON")); - // angle_sun = CalcAngleTwoVectors_rad(sight_direction_c_, sun_pos_c) * 180/math::pi; - // angle_earth = CalcAngleTwoVectors_rad(sight_direction_c_, earth_pos_c) * 180 / math::pi; angle_moon = - // CalcAngleTwoVectors_rad(sight_direction_c_, moon_pos_c) * 180 / math::pi; + // angle_sun = CalcAngleTwoVectors_rad(sight_direction_c_, sun_pos_c) * 180/s2e::math::pi; + // angle_earth = CalcAngleTwoVectors_rad(sight_direction_c_, earth_pos_c) * 180 / s2e::math::pi; angle_moon = + // CalcAngleTwoVectors_rad(sight_direction_c_, moon_pos_c) * 180 / s2e::math::pi; //****************************************************************************** // Direction calculation of ground point ObserveGroundPositionDeviation(); } -bool Telescope::JudgeForbiddenAngle(const math::Vector<3>& target_b, const double forbidden_angle) { - math::Quaternion q_c2b = quaternion_b2c_.Conjugate(); - math::Vector<3> sight_b = q_c2b.FrameConversion(sight_direction_c_); - double angle_rad = math::CalcAngleTwoVectors_rad(target_b, sight_b); +bool Telescope::JudgeForbiddenAngle(const s2e::math::Vector<3>& target_b, const double forbidden_angle) { + s2e::math::Quaternion q_c2b = quaternion_b2c_.Conjugate(); + s2e::math::Vector<3> sight_b = q_c2b.FrameConversion(sight_direction_c_); + double angle_rad = s2e::math::CalcAngleTwoVectors_rad(target_b, sight_b); if (angle_rad < forbidden_angle) { return true; } else return false; } -void Telescope::Observe(math::Vector<2>& position_image_sensor, const math::Vector<3, double> target_b) { - math::Vector<3, double> target_c = quaternion_b2c_.FrameConversion(target_b); +void Telescope::Observe(s2e::math::Vector<2>& position_image_sensor, const s2e::math::Vector<3, double> target_b) { + s2e::math::Vector<3, double> target_c = quaternion_b2c_.FrameConversion(target_b); double arg_x = atan2(target_c[2], target_c[0]); // Angle from X-axis on XZ plane in the component frame double arg_y = atan2(target_c[1], target_c[0]); // Angle from X-axis on XY plane in the component frame @@ -122,8 +122,8 @@ void Telescope::ObserveStars() { size_t count = 0; // Counter for while loop while (star_list_in_sight.size() < number_of_logged_stars_) { - math::Vector<3> target_b = hipparcos_->GetStarDirection_b(count, quaternion_i2b); - math::Vector<3> target_c = quaternion_b2c_.FrameConversion(target_b); + s2e::math::Vector<3> target_b = hipparcos_->GetStarDirection_b(count, quaternion_i2b); + s2e::math::Vector<3> target_c = quaternion_b2c_.FrameConversion(target_b); double arg_x = atan2(target_c[2], target_c[0]); // Angle from X-axis on XZ plane in the component frame double arg_y = atan2(target_c[1], target_c[0]); // Angle from X-axis on XY plane in the component frame @@ -174,12 +174,12 @@ void Telescope::ObserveGroundPositionDeviation() { } Quaternion quaternion_i2b = attitude_->GetQuaternion_i2b(); - math::Vector<3> spacecraft_position_ecef_m = orbit_->GetPosition_ecef_m(); - math::Vector<3> direction_ecef = (initial_ground_position_ecef_m_ - spacecraft_position_ecef_m).CalcNormalizedVector(); - math::Matrix<3, 3> dcm_ecef_to_i = local_celestial_information_->GetGlobalInformation().GetEarthRotation().GetDcmJ2000ToEcef().Transpose(); - math::Vector<3> direction_i = (dcm_ecef_to_i * direction_ecef).CalcNormalizedVector(); - math::Vector<3> direction_b = quaternion_i2b.FrameConversion(direction_i); - math::Vector<3> target_c = quaternion_b2c_.FrameConversion(direction_b); + s2e::math::Vector<3> spacecraft_position_ecef_m = orbit_->GetPosition_ecef_m(); + s2e::math::Vector<3> direction_ecef = (initial_ground_position_ecef_m_ - spacecraft_position_ecef_m).CalcNormalizedVector(); + s2e::math::Matrix<3, 3> dcm_ecef_to_i = local_celestial_information_->GetGlobalInformation().GetEarthRotation().GetDcmJ2000ToEcef().Transpose(); + s2e::math::Vector<3> direction_i = (dcm_ecef_to_i * direction_ecef).CalcNormalizedVector(); + s2e::math::Vector<3> direction_b = quaternion_i2b.FrameConversion(direction_i); + s2e::math::Vector<3> target_c = quaternion_b2c_.FrameConversion(direction_b); // Ground position in the image sensor in the satellite frame double ground_angle_z_rad = atan2(target_c[2], target_c[0]); @@ -247,7 +247,7 @@ string Telescope::GetLogValue() const { Telescope InitTelescope(ClockGenerator* clock_generator, int sensor_id, const string file_name, const Attitude* attitude, const HipparcosCatalogue* hipparcos, const LocalCelestialInformation* local_celestial_information, const Orbit* orbit) { - using math::pi; + using s2e::math::pi; IniAccess Telescope_conf(file_name); const string st_sensor_id = std::to_string(static_cast(sensor_id)); @@ -260,7 +260,7 @@ Telescope InitTelescope(ClockGenerator* clock_generator, int sensor_id, const st strcat(TelescopeSection, cs); #endif - math::Quaternion quaternion_b2c; + s2e::math::Quaternion quaternion_b2c; Telescope_conf.ReadQuaternion(TelescopeSection, "quaternion_b2c", quaternion_b2c); double sun_forbidden_angle_deg = Telescope_conf.ReadDouble(TelescopeSection, "sun_exclusion_angle_deg"); diff --git a/src/components/real/mission/telescope.hpp b/src/components/real/mission/telescope.hpp index dec83517b..737a49c98 100644 --- a/src/components/real/mission/telescope.hpp +++ b/src/components/real/mission/telescope.hpp @@ -23,7 +23,7 @@ */ struct Star { HipparcosData hipparcos_data; //!< Hipparcos data - math::Vector<2> position_image_sensor; //!< Position of image sensor + s2e::math::Vector<2> position_image_sensor; //!< Position of image sensor }; /* @@ -50,7 +50,7 @@ class Telescope : public Component, public ILoggable { * @param [in] local_celestial_information: Local celestial information * @param [in] orbit: Orbit information */ - Telescope(ClockGenerator* clock_generator, const math::Quaternion& quaternion_b2c, const double sun_forbidden_angle_rad, + Telescope(ClockGenerator* clock_generator, const s2e::math::Quaternion& quaternion_b2c, const double sun_forbidden_angle_rad, const double earth_forbidden_angle_rad, const double moon_forbidden_angle_rad, const int x_number_of_pix, const int y_number_of_pix, const double x_fov_per_pix, const double y_fov_per_pix, size_t number_of_logged_stars, const Attitude* attitude, const HipparcosCatalogue* hipparcos, const LocalCelestialInformation* local_celestial_information, const Orbit* orbit = nullptr); @@ -67,8 +67,8 @@ class Telescope : public Component, public ILoggable { protected: private: - math::Quaternion quaternion_b2c_; //!< Quaternion from the body frame to component frame - math::Vector<3> sight_direction_c_; //!< Sight direction vector in the component frame + s2e::math::Quaternion quaternion_b2c_; //!< Quaternion from the body frame to component frame + s2e::math::Vector<3> sight_direction_c_; //!< Sight direction vector in the component frame double sun_forbidden_angle_rad_; //!< Sun forbidden angle [rad] double earth_forbidden_angle_rad_; //!< Earth forbidden angle [rad] @@ -89,10 +89,10 @@ class Telescope : public Component, public ILoggable { size_t number_of_logged_stars_; //!< Number of logged stars - math::Vector<2> sun_position_image_sensor{-1}; //!< Position of the sun on the image plane - math::Vector<2> earth_position_image_sensor{-1}; //!< Position of the earth on the image plane - math::Vector<2> moon_position_image_sensor{-1}; //!< Position of the moon on the image plane - math::Vector<3> initial_ground_position_ecef_m_; //!< Initial spacecraft position + s2e::math::Vector<2> sun_position_image_sensor{-1}; //!< Position of the sun on the image plane + s2e::math::Vector<2> earth_position_image_sensor{-1}; //!< Position of the earth on the image plane + s2e::math::Vector<2> moon_position_image_sensor{-1}; //!< Position of the moon on the image plane + s2e::math::Vector<3> initial_ground_position_ecef_m_; //!< Initial spacecraft position std::vector star_list_in_sight; //!< Star information in the field of view @@ -102,7 +102,7 @@ class Telescope : public Component, public ILoggable { * @param [in] target_b: Direction vector of target on the body fixed frame * @param [in] forbidden_angle: Forbidden angle [rad] */ - bool JudgeForbiddenAngle(const math::Vector<3>& target_b, const double forbidden_angle); + bool JudgeForbiddenAngle(const s2e::math::Vector<3>& target_b, const double forbidden_angle); // Override functions for Component /** @@ -117,7 +117,7 @@ class Telescope : public Component, public ILoggable { * @param [out] position_image_sensor: Position on image sensor plane * @param [in] target_b: Direction vector of target on the body fixed frame */ - void Observe(math::Vector<2>& position_image_sensor, const math::Vector<3, double> target_b); + void Observe(s2e::math::Vector<2>& position_image_sensor, const s2e::math::Vector<3, double> target_b); /** * @fn ObserveStars * @brief Observe stars from Hipparcos catalogue @@ -147,9 +147,9 @@ class Telescope : public Component, public ILoggable { virtual std::string GetLogValue() const; // For debug ********************************************** - // math::Vector<3> sun_pos_c; - // math::Vector<3> earth_pos_c; - // math::Vector<3> moon_pos_c; + // s2e::math::Vector<3> sun_pos_c; + // s2e::math::Vector<3> earth_pos_c; + // s2e::math::Vector<3> moon_pos_c; // double angle_sun; // double angle_earth; // double angle_moon; diff --git a/src/components/real/power/csv_scenario_interface.cpp b/src/components/real/power/csv_scenario_interface.cpp index d0b5c1beb..7978d510c 100644 --- a/src/components/real/power/csv_scenario_interface.cpp +++ b/src/components/real/power/csv_scenario_interface.cpp @@ -36,8 +36,8 @@ void CsvScenarioInterface::Initialize(const std::string file_name) { bool CsvScenarioInterface::IsCsvScenarioEnabled() { return CsvScenarioInterface::is_csv_scenario_enabled_; } -math::Vector<3> CsvScenarioInterface::GetSunDirectionBody(const double time_query) { - math::Vector<3> sun_dir_b; +s2e::math::Vector<3> CsvScenarioInterface::GetSunDirectionBody(const double time_query) { + s2e::math::Vector<3> sun_dir_b; sun_dir_b[0] = GetValueFromBuffer("sun_dir_b_x", time_query); sun_dir_b[1] = GetValueFromBuffer("sun_dir_b_y", time_query); sun_dir_b[2] = GetValueFromBuffer("sun_dir_b_z", time_query); diff --git a/src/components/real/power/csv_scenario_interface.hpp b/src/components/real/power/csv_scenario_interface.hpp index 30f96ead1..e8177ca5f 100644 --- a/src/components/real/power/csv_scenario_interface.hpp +++ b/src/components/real/power/csv_scenario_interface.hpp @@ -36,7 +36,7 @@ class CsvScenarioInterface { * @brief Return sun direction vector in the body fixed frame * @param [in] time_query: Time query */ - static math::Vector<3> GetSunDirectionBody(const double time_query); + static s2e::math::Vector<3> GetSunDirectionBody(const double time_query); /** * @fn GetSunFlag * @brief Return sun flag diff --git a/src/components/real/power/solar_array_panel.cpp b/src/components/real/power/solar_array_panel.cpp index 43a22afa8..126f66da7 100644 --- a/src/components/real/power/solar_array_panel.cpp +++ b/src/components/real/power/solar_array_panel.cpp @@ -10,7 +10,7 @@ #include SolarArrayPanel::SolarArrayPanel(const int prescaler, ClockGenerator* clock_generator, int component_id, int number_of_series, int number_of_parallel, - double cell_area_m2, math::Vector<3> normal_vector, double cell_efficiency, double transmission_efficiency, + double cell_area_m2, s2e::math::Vector<3> normal_vector, double cell_efficiency, double transmission_efficiency, const SolarRadiationPressureEnvironment* srp_environment, const LocalCelestialInformation* local_celestial_information, double component_step_time_s) : Component(prescaler, clock_generator), @@ -29,7 +29,7 @@ SolarArrayPanel::SolarArrayPanel(const int prescaler, ClockGenerator* clock_gene } SolarArrayPanel::SolarArrayPanel(const int prescaler, ClockGenerator* clock_generator, int component_id, int number_of_series, int number_of_parallel, - double cell_area_m2, math::Vector<3> normal_vector, double cell_efficiency, double transmission_efficiency, + double cell_area_m2, s2e::math::Vector<3> normal_vector, double cell_efficiency, double transmission_efficiency, const SolarRadiationPressureEnvironment* srp_environment, double component_step_time_s) : Component(prescaler, clock_generator), component_id_(component_id), @@ -46,7 +46,7 @@ SolarArrayPanel::SolarArrayPanel(const int prescaler, ClockGenerator* clock_gene } SolarArrayPanel::SolarArrayPanel(ClockGenerator* clock_generator, int component_id, int number_of_series, int number_of_parallel, double cell_area_m2, - math::Vector<3> normal_vector, double cell_efficiency, double transmission_efficiency, + s2e::math::Vector<3> normal_vector, double cell_efficiency, double transmission_efficiency, const SolarRadiationPressureEnvironment* srp_environment, const LocalCelestialInformation* local_celestial_information) : Component(10, clock_generator), @@ -99,14 +99,14 @@ void SolarArrayPanel::MainRoutine(const int time_count) { if (CsvScenarioInterface::IsCsvScenarioEnabled()) { double time_query = compo_step_time_s_ * time_count; const auto solar_constant = srp_environment_->GetSolarConstant_W_m2(); - math::Vector<3> sun_direction_body = CsvScenarioInterface::GetSunDirectionBody(time_query); - math::Vector<3> normalized_sun_direction_body = sun_direction_body.CalcNormalizedVector(); + s2e::math::Vector<3> sun_direction_body = CsvScenarioInterface::GetSunDirectionBody(time_query); + s2e::math::Vector<3> normalized_sun_direction_body = sun_direction_body.CalcNormalizedVector(); power_generation_W_ = cell_efficiency_ * transmission_efficiency_ * solar_constant * (int)CsvScenarioInterface::GetSunFlag(time_query) * cell_area_m2_ * number_of_parallel_ * number_of_series_ * InnerProduct(normal_vector_, normalized_sun_direction_body); } else { const auto power_density = srp_environment_->GetPowerDensity_W_m2(); - math::Vector<3> sun_pos_b = local_celestial_information_->GetPositionFromSpacecraft_b_m("SUN"); - math::Vector<3> sun_dir_b = sun_pos_b.CalcNormalizedVector(); + s2e::math::Vector<3> sun_pos_b = local_celestial_information_->GetPositionFromSpacecraft_b_m("SUN"); + s2e::math::Vector<3> sun_dir_b = sun_pos_b.CalcNormalizedVector(); power_generation_W_ = cell_efficiency_ * transmission_efficiency_ * power_density * cell_area_m2_ * number_of_parallel_ * number_of_series_ * InnerProduct(normal_vector_, sun_dir_b); // TODO: Improve implementation. For example, update IV curve with sun direction and calculate generated power @@ -133,7 +133,7 @@ SolarArrayPanel InitSAP(ClockGenerator* clock_generator, int sap_id, const std:: double cell_area_m2; cell_area_m2 = sap_conf.ReadDouble(section_name.c_str(), "cell_area_m2"); - math::Vector<3> normal_vector; + s2e::math::Vector<3> normal_vector; sap_conf.ReadVector(section_name.c_str(), "normal_vector_b", normal_vector); double cell_efficiency; @@ -166,7 +166,7 @@ SolarArrayPanel InitSAP(ClockGenerator* clock_generator, int sap_id, const std:: double cell_area_m2; cell_area_m2 = sap_conf.ReadDouble(section_name.c_str(), "cell_area_m2"); - math::Vector<3> normal_vector; + s2e::math::Vector<3> normal_vector; sap_conf.ReadVector(section_name.c_str(), "normal_vector_b", normal_vector); double cell_efficiency; diff --git a/src/components/real/power/solar_array_panel.hpp b/src/components/real/power/solar_array_panel.hpp index 7ffa91195..db114a081 100644 --- a/src/components/real/power/solar_array_panel.hpp +++ b/src/components/real/power/solar_array_panel.hpp @@ -32,7 +32,7 @@ class SolarArrayPanel : public Component, public ILoggable { * @param [in] component_step_time_s: Component step time [sec] */ SolarArrayPanel(const int prescaler, ClockGenerator* clock_generator, int component_id, int number_of_series, int number_of_parallel, - double cell_area_m2, math::Vector<3> normal_vector, double cell_efficiency, double transmission_efficiency, + double cell_area_m2, s2e::math::Vector<3> normal_vector, double cell_efficiency, double transmission_efficiency, const SolarRadiationPressureEnvironment* srp_environment, const LocalCelestialInformation* local_celestial_information, double component_step_time_s); /** @@ -51,7 +51,7 @@ class SolarArrayPanel : public Component, public ILoggable { * @param [in] component_step_time_s: Component step time [sec] */ SolarArrayPanel(const int prescaler, ClockGenerator* clock_generator, int component_id, int number_of_series, int number_of_parallel, - double cell_area_m2, math::Vector<3> normal_vector, double cell_efficiency, double transmission_efficiency, + double cell_area_m2, s2e::math::Vector<3> normal_vector, double cell_efficiency, double transmission_efficiency, const SolarRadiationPressureEnvironment* srp_environment, double component_step_time_s); /** * @fn SolarArrayPanel @@ -69,7 +69,7 @@ class SolarArrayPanel : public Component, public ILoggable { * @param [in] local_celestial_information: Local celestial information */ SolarArrayPanel(ClockGenerator* clock_generator, int component_id, int number_of_series, int number_of_parallel, double cell_area_m2, - math::Vector<3> normal_vector, double cell_efficiency, double transmission_efficiency, + s2e::math::Vector<3> normal_vector, double cell_efficiency, double transmission_efficiency, const SolarRadiationPressureEnvironment* srp_environment, const LocalCelestialInformation* local_celestial_information); /** * @fn SolarArrayPanel @@ -111,7 +111,7 @@ class SolarArrayPanel : public Component, public ILoggable { const int number_of_series_; //!< Number of series connected solar cells const int number_of_parallel_; //!< Number of parallel connected solar cells const double cell_area_m2_; //!< Solar cell area [m^2] - const math::Vector<3> normal_vector_; //!< Normal vector of SolarArrayPanel on the body fixed frame + const s2e::math::Vector<3> normal_vector_; //!< Normal vector of SolarArrayPanel on the body fixed frame const double cell_efficiency_; //!< Power generation efficiency of solar cell const double transmission_efficiency_; //!< Efficiency of transmission to PCU diff --git a/src/components/real/propulsion/simple_thruster.cpp b/src/components/real/propulsion/simple_thruster.cpp index 70c5f2a1b..7917b5fb1 100644 --- a/src/components/real/propulsion/simple_thruster.cpp +++ b/src/components/real/propulsion/simple_thruster.cpp @@ -11,7 +11,7 @@ // Constructor SimpleThruster::SimpleThruster(const int prescaler, ClockGenerator* clock_generator, const int component_id, - const math::Vector<3> thruster_position_b_m, const math::Vector<3> thrust_direction_b, const double max_magnitude_N, + const s2e::math::Vector<3> thruster_position_b_m, const s2e::math::Vector<3> thrust_direction_b, const double max_magnitude_N, const double magnitude_standard_deviation_N, const double direction_standard_deviation_rad, const Structure* structure, const Dynamics* dynamics) : Component(prescaler, clock_generator), @@ -26,7 +26,7 @@ SimpleThruster::SimpleThruster(const int prescaler, ClockGenerator* clock_genera } SimpleThruster::SimpleThruster(const int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, const int component_id, - const math::Vector<3> thruster_position_b_m, const math::Vector<3> thrust_direction_b, const double max_magnitude_N, + const s2e::math::Vector<3> thruster_position_b_m, const s2e::math::Vector<3> thrust_direction_b, const double max_magnitude_N, const double magnitude_standard_deviation_N, const double direction_standard_deviation_rad, const Structure* structure, const Dynamics* dynamics) : Component(prescaler, clock_generator, power_port), @@ -66,9 +66,9 @@ void SimpleThruster::CalcThrust() { output_thrust_b_N_ = mag * CalcThrustDirection(); } -void SimpleThruster::CalcTorque(const math::Vector<3> center_of_mass_b_m) { - math::Vector<3> vector_center2thruster = thruster_position_b_m_ - center_of_mass_b_m; - math::Vector<3> torque = OuterProduct(vector_center2thruster, output_thrust_b_N_); +void SimpleThruster::CalcTorque(const s2e::math::Vector<3> center_of_mass_b_m) { + s2e::math::Vector<3> vector_center2thruster = thruster_position_b_m_ - center_of_mass_b_m; + s2e::math::Vector<3> torque = OuterProduct(vector_center2thruster, output_thrust_b_N_); output_torque_b_Nm_ = torque; } @@ -95,25 +95,25 @@ std::string SimpleThruster::GetLogValue() const { double SimpleThruster::CalcThrustMagnitude() { return duty_ * thrust_magnitude_max_N_; } -math::Vector<3> SimpleThruster::CalcThrustDirection() { - math::Vector<3> thrust_dir_b_true = thrust_direction_b_; +s2e::math::Vector<3> SimpleThruster::CalcThrustDirection() { + s2e::math::Vector<3> thrust_dir_b_true = thrust_direction_b_; if (direction_noise_standard_deviation_rad_ > 0.0 + DBL_EPSILON) { - math::Vector<3> ex; // Fixme: to use outer product to generate orthogonal vector + s2e::math::Vector<3> ex; // Fixme: to use outer product to generate orthogonal vector ex[0] = 1.0; ex[1] = 0.0; ex[2] = 0.0; int flag = rand() % 2; double make_axis_rot_rad; if (flag == 0) { - make_axis_rot_rad = math::pi * (double)rand() / RAND_MAX; + make_axis_rot_rad = s2e::math::pi * (double)rand() / RAND_MAX; } else { - make_axis_rot_rad = -math::pi * (double)rand() / RAND_MAX; + make_axis_rot_rad = -s2e::math::pi * (double)rand() / RAND_MAX; } - math::Quaternion make_axis_rot(thrust_dir_b_true, make_axis_rot_rad); - math::Vector<3> axis_rot = make_axis_rot.FrameConversion(ex); + s2e::math::Quaternion make_axis_rot(thrust_dir_b_true, make_axis_rot_rad); + s2e::math::Vector<3> axis_rot = make_axis_rot.FrameConversion(ex); - math::Quaternion err_rot(axis_rot, direction_random_noise_); // Generate error quaternion + s2e::math::Quaternion err_rot(axis_rot, direction_random_noise_); // Generate error quaternion thrust_dir_b_true = err_rot.FrameConversion(thrust_dir_b_true); // Add error } @@ -141,7 +141,7 @@ SimpleThruster InitSimpleThruster(ClockGenerator* clock_generator, int thruster_ magnitude_standard_deviation_N = thruster_conf.ReadDouble(Section, "thrust_error_standard_deviation_N"); double deg_err; - deg_err = thruster_conf.ReadDouble(Section, "direction_error_standard_deviation_deg") * math::pi / 180.0; + deg_err = thruster_conf.ReadDouble(Section, "direction_error_standard_deviation_deg") * s2e::math::pi / 180.0; SimpleThruster thruster(prescaler, clock_generator, thruster_id, thruster_pos, thruster_dir, max_magnitude_N, magnitude_standard_deviation_N, deg_err, structure, dynamics); @@ -169,7 +169,7 @@ SimpleThruster InitSimpleThruster(ClockGenerator* clock_generator, PowerPort* po magnitude_standard_deviation_N = thruster_conf.ReadDouble(Section, "thrust_error_standard_deviation_N"); double deg_err; - deg_err = thruster_conf.ReadDouble(Section, "direction_error_standard_deviation_deg") * math::pi / 180.0; + deg_err = thruster_conf.ReadDouble(Section, "direction_error_standard_deviation_deg") * s2e::math::pi / 180.0; power_port->InitializeWithInitializeFile(file_name); diff --git a/src/disturbances/air_drag.cpp b/src/disturbances/air_drag.cpp index d7d91cfac..e64593201 100644 --- a/src/disturbances/air_drag.cpp +++ b/src/disturbances/air_drag.cpp @@ -12,7 +12,7 @@ #include "../logger/log_utility.hpp" -AirDrag::AirDrag(const std::vector& surfaces, const math::Vector<3>& center_of_gravity_b_m, const double wall_temperature_K, +AirDrag::AirDrag(const std::vector& surfaces, const s2e::math::Vector<3>& center_of_gravity_b_m, const double wall_temperature_K, const double molecular_temperature_K, const double molecular_weight_g_mol, const bool is_calculation_enabled) : SurfaceForce(surfaces, center_of_gravity_b_m, is_calculation_enabled), wall_temperature_K_(wall_temperature_K), @@ -26,15 +26,15 @@ AirDrag::AirDrag(const std::vector& surfaces, const math::Vector<3>& ce void AirDrag::Update(const LocalEnvironment& local_environment, const Dynamics& dynamics) { double air_density_kg_m3 = local_environment.GetAtmosphere().GetAirDensity_kg_m3(); - math::Matrix<3, 3> dcm_ecef2eci = + s2e::math::Matrix<3, 3> dcm_ecef2eci = local_environment.GetCelestialInformation().GetGlobalInformation().GetEarthRotation().GetDcmJ2000ToEcef().Transpose(); - math::Vector<3> relative_velocity_wrt_atmosphere_i_m_s = dcm_ecef2eci * dynamics.GetOrbit().GetVelocity_ecef_m_s(); - math::Quaternion quaternion_i2b = dynamics.GetAttitude().GetQuaternion_i2b(); - math::Vector<3> velocity_b_m_s = quaternion_i2b.FrameConversion(relative_velocity_wrt_atmosphere_i_m_s); + s2e::math::Vector<3> relative_velocity_wrt_atmosphere_i_m_s = dcm_ecef2eci * dynamics.GetOrbit().GetVelocity_ecef_m_s(); + s2e::math::Quaternion quaternion_i2b = dynamics.GetAttitude().GetQuaternion_i2b(); + s2e::math::Vector<3> velocity_b_m_s = quaternion_i2b.FrameConversion(relative_velocity_wrt_atmosphere_i_m_s); CalcTorqueForce(velocity_b_m_s, air_density_kg_m3); } -void AirDrag::CalcCoefficients(const math::Vector<3>& velocity_b_m_s, const double air_density_kg_m3) { +void AirDrag::CalcCoefficients(const s2e::math::Vector<3>& velocity_b_m_s, const double air_density_kg_m3) { double velocity_norm_m_s = velocity_b_m_s.CalcNorm(); CalcCnCt(velocity_b_m_s); for (size_t i = 0; i < surfaces_.size(); i++) { @@ -47,14 +47,14 @@ void AirDrag::CalcCoefficients(const math::Vector<3>& velocity_b_m_s, const doub double AirDrag::CalcFunctionPi(const double s) { double x; double erfs = erf(s); // ERF function is defined in math standard library - x = s * exp(-s * s) + sqrt(math::pi) * (s * s + 0.5) * (1.0 + erfs); + x = s * exp(-s * s) + sqrt(s2e::math::pi) * (s * s + 0.5) * (1.0 + erfs); return x; } double AirDrag::CalcFunctionChi(const double s) { double x; double erfs = erf(s); - x = exp(-s * s) + sqrt(math::pi) * s * (1.0 + erfs); + x = exp(-s * s) + sqrt(s2e::math::pi) * s * (1.0 + erfs); return x; } @@ -69,9 +69,9 @@ void AirDrag::CalcCnCt(const Vector<3>& velocity_b_m_s) { double speed_n = speed * cos_theta_[i]; double speed_t = speed * sin_theta_[i]; double diffuse = 1.0 - surfaces_[i].GetAirSpecularity(); - cn_[i] = (2.0 - diffuse) / sqrt(math::pi) * CalcFunctionPi(speed_n) / (speed * speed) + + cn_[i] = (2.0 - diffuse) / sqrt(s2e::math::pi) * CalcFunctionPi(speed_n) / (speed * speed) + diffuse / 2.0 * CalcFunctionChi(speed_n) / (speed * speed) * sqrt(wall_temperature_K_ / molecular_temperature_K_); - ct_[i] = diffuse * speed_t * CalcFunctionChi(speed_n) / (sqrt(math::pi) * speed * speed); + ct_[i] = diffuse * speed_t * CalcFunctionChi(speed_n) / (sqrt(s2e::math::pi) * speed * speed); } } diff --git a/src/disturbances/air_drag.hpp b/src/disturbances/air_drag.hpp index 6d5fe54fd..226e3595b 100644 --- a/src/disturbances/air_drag.hpp +++ b/src/disturbances/air_drag.hpp @@ -30,7 +30,7 @@ class AirDrag : public SurfaceForce { * @param [in] molecular_weight_g_mol: Molecular weight [g/mol] * @param [in] is_calculation_enabled: Calculation flag */ - AirDrag(const std::vector& surfaces, const math::Vector<3>& center_of_gravity_b_m, const double wall_temperature_K, + AirDrag(const std::vector& surfaces, const s2e::math::Vector<3>& center_of_gravity_b_m, const double wall_temperature_K, const double molecular_temperature_K, const double molecular_weight_g_mol, const bool is_calculation_enabled = true); /** @@ -66,7 +66,7 @@ class AirDrag : public SurfaceForce { * @param [in] velocity_b_m_s: Spacecraft's velocity vector in the body frame [m/s] * @param [in] air_density_kg_m3: Air density around the spacecraft [kg/m^3] */ - void CalcCoefficients(const math::Vector<3>& velocity_b_m_s, const double air_density_kg_m3); + void CalcCoefficients(const s2e::math::Vector<3>& velocity_b_m_s, const double air_density_kg_m3); // internal function for calculation /** @@ -74,7 +74,7 @@ class AirDrag : public SurfaceForce { * @brief Calculate the Cn and Ct * @param [in] velocity_b_m_s: Spacecraft's velocity vector in the body frame [m/s] */ - void CalcCnCt(const math::Vector<3>& velocity_b_m_s); + void CalcCnCt(const s2e::math::Vector<3>& velocity_b_m_s); /** * @fn CalcFunctionPi * @brief Calculate The Pi function in the algorithm diff --git a/src/disturbances/disturbance.hpp b/src/disturbances/disturbance.hpp index 6cc662728..427c67fc5 100644 --- a/src/disturbances/disturbance.hpp +++ b/src/disturbances/disturbance.hpp @@ -23,10 +23,10 @@ class Disturbance : public ILoggable { */ Disturbance(const bool is_calculation_enabled = true, const bool is_attitude_dependent = true) : is_calculation_enabled_(is_calculation_enabled), is_attitude_dependent_(is_attitude_dependent) { - force_b_N_ = math::Vector<3>(0.0); - torque_b_Nm_ = math::Vector<3>(0.0); - acceleration_i_m_s2_ = math::Vector<3>(0.0); - acceleration_b_m_s2_ = math::Vector<3>(0.0); + force_b_N_ = s2e::math::Vector<3>(0.0); + torque_b_Nm_ = s2e::math::Vector<3>(0.0); + acceleration_i_m_s2_ = s2e::math::Vector<3>(0.0); + acceleration_b_m_s2_ = s2e::math::Vector<3>(0.0); } /** @@ -60,22 +60,22 @@ class Disturbance : public ILoggable { * @fn GetTorque_b_Nm * @brief Return the disturbance torque in the body frame [Nm] */ - virtual inline math::Vector<3> GetTorque_b_Nm() { return torque_b_Nm_; } + virtual inline s2e::math::Vector<3> GetTorque_b_Nm() { return torque_b_Nm_; } /** * @fn GetForce_b_N * @brief Return the disturbance force in the body frame [N] */ - virtual inline math::Vector<3> GetForce_b_N() { return force_b_N_; } + virtual inline s2e::math::Vector<3> GetForce_b_N() { return force_b_N_; } /** * @fn GetAcceleration_b_m_s2 * @brief Return the disturbance acceleration in the body frame [m/s2] */ - virtual inline math::Vector<3> GetAcceleration_b_m_s2() { return acceleration_b_m_s2_; } + virtual inline s2e::math::Vector<3> GetAcceleration_b_m_s2() { return acceleration_b_m_s2_; } /** * @fn GetAcceleration_i_m_s2 * @brief Return the disturbance acceleration in the inertial frame [m/s2] */ - virtual inline math::Vector<3> GetAcceleration_i_m_s2() { return acceleration_i_m_s2_; } + virtual inline s2e::math::Vector<3> GetAcceleration_i_m_s2() { return acceleration_i_m_s2_; } /** * @fn IsAttitudeDependent * @brief Return the attitude dependent flag @@ -85,10 +85,10 @@ class Disturbance : public ILoggable { protected: bool is_calculation_enabled_; //!< Flag to calculate the disturbance bool is_attitude_dependent_; //!< Flag to show the disturbance depends on attitude information - math::Vector<3> force_b_N_; //!< Disturbance force in the body frame [N] - math::Vector<3> torque_b_Nm_; //!< Disturbance torque in the body frame [Nm] - math::Vector<3> acceleration_b_m_s2_; //!< Disturbance acceleration in the body frame [m/s2] - math::Vector<3> acceleration_i_m_s2_; //!< Disturbance acceleration in the inertial frame [m/s2] + s2e::math::Vector<3> force_b_N_; //!< Disturbance force in the body frame [N] + s2e::math::Vector<3> torque_b_Nm_; //!< Disturbance torque in the body frame [Nm] + s2e::math::Vector<3> acceleration_b_m_s2_; //!< Disturbance acceleration in the body frame [m/s2] + s2e::math::Vector<3> acceleration_i_m_s2_; //!< Disturbance acceleration in the inertial frame [m/s2] }; #endif // S2E_DISTURBANCES_DISTURBANCE_HPP_ diff --git a/src/disturbances/disturbances.hpp b/src/disturbances/disturbances.hpp index 62af465ba..948cabe47 100644 --- a/src/disturbances/disturbances.hpp +++ b/src/disturbances/disturbances.hpp @@ -55,19 +55,19 @@ class Disturbances { * @fn GetTorque * @brief Return total disturbance torque in the body frame [Nm] */ - inline math::Vector<3> GetTorque_b_Nm() { return total_torque_b_Nm_; } + inline s2e::math::Vector<3> GetTorque_b_Nm() { return total_torque_b_Nm_; } /** * @fn GetTorque * @brief Return total disturbance force in the body frame [N] */ - inline math::Vector<3> GetForce_b_N() { return total_force_b_N_; } + inline s2e::math::Vector<3> GetForce_b_N() { return total_force_b_N_; } /** * @fn GetTorque * @brief Return total disturbance acceleration in the inertial frame [m/s2] */ - inline math::Vector<3> GetAcceleration_i_m_s2() { return total_acceleration_i_m_s2_; } + inline s2e::math::Vector<3> GetAcceleration_i_m_s2() { return total_acceleration_i_m_s2_; } private: std::string initialize_file_name_; //!< Initialization file name diff --git a/src/disturbances/geopotential.cpp b/src/disturbances/geopotential.cpp index 70b7cb534..0520730ff 100644 --- a/src/disturbances/geopotential.cpp +++ b/src/disturbances/geopotential.cpp @@ -20,8 +20,8 @@ Geopotential::Geopotential(const int degree, const std::string file_path, const bool is_calculation_enabled) : Disturbance(is_calculation_enabled, false), degree_(degree) { // Initialize - acceleration_ecef_m_s2_ = math::Vector<3>(0.0); - debug_pos_ecef_m_ = math::Vector<3>(0.0); + acceleration_ecef_m_s2_ = s2e::math::Vector<3>(0.0); + debug_pos_ecef_m_ = s2e::math::Vector<3>(0.0); // degree if (degree_ > 360) { degree_ = 360; @@ -83,8 +83,8 @@ void Geopotential::Update(const LocalEnvironment &local_environment, const Dynam UNUSED(time_ms_); #endif - math::Matrix<3, 3> trans_eci2ecef_ = local_environment.GetCelestialInformation().GetGlobalInformation().GetEarthRotation().GetDcmJ2000ToEcef(); - math::Matrix<3, 3> trans_ecef2eci = trans_eci2ecef_.Transpose(); + s2e::math::Matrix<3, 3> trans_eci2ecef_ = local_environment.GetCelestialInformation().GetGlobalInformation().GetEarthRotation().GetDcmJ2000ToEcef(); + s2e::math::Matrix<3, 3> trans_ecef2eci = trans_eci2ecef_.Transpose(); acceleration_i_m_s2_ = trans_ecef2eci * acceleration_ecef_m_s2_; } diff --git a/src/disturbances/geopotential.hpp b/src/disturbances/geopotential.hpp index 4903cb412..0f66a463d 100644 --- a/src/disturbances/geopotential.hpp +++ b/src/disturbances/geopotential.hpp @@ -67,7 +67,7 @@ class Geopotential : public Disturbance { Vector<3> acceleration_ecef_m_s2_; //!< Calculated acceleration in the ECEF frame [m/s2] // debug - math::Vector<3> debug_pos_ecef_m_; //!< Spacecraft position in ECEF frame [m] + s2e::math::Vector<3> debug_pos_ecef_m_; //!< Spacecraft position in ECEF frame [m] double time_ms_ = 0.0; //!< Calculation time [ms] /** diff --git a/src/disturbances/gravity_gradient.cpp b/src/disturbances/gravity_gradient.cpp index b52b4bee5..5eff2c05a 100644 --- a/src/disturbances/gravity_gradient.cpp +++ b/src/disturbances/gravity_gradient.cpp @@ -23,9 +23,9 @@ void GravityGradient::Update(const LocalEnvironment& local_environment, const Dy dynamics.GetAttitude().GetInertiaTensor_b_kgm2()); } -math::Vector<3> GravityGradient::CalcTorque_b_Nm(const math::Vector<3> earth_position_from_sc_b_m, const math::Matrix<3, 3> inertia_tensor_b_kgm2) { +s2e::math::Vector<3> GravityGradient::CalcTorque_b_Nm(const s2e::math::Vector<3> earth_position_from_sc_b_m, const s2e::math::Matrix<3, 3> inertia_tensor_b_kgm2) { double r_norm_m = earth_position_from_sc_b_m.CalcNorm(); - math::Vector<3> u_b = earth_position_from_sc_b_m; // TODO: make undestructive normalize function for Vector + s2e::math::Vector<3> u_b = earth_position_from_sc_b_m; // TODO: make undestructive normalize function for Vector u_b /= r_norm_m; double coeff = 3.0 * gravity_constant_m3_s2_ / pow(r_norm_m, 3.0); diff --git a/src/disturbances/gravity_gradient.hpp b/src/disturbances/gravity_gradient.hpp index be957e19c..9ca8ff37f 100644 --- a/src/disturbances/gravity_gradient.hpp +++ b/src/disturbances/gravity_gradient.hpp @@ -65,7 +65,7 @@ class GravityGradient : public Disturbance { * @param [in] inertia_tensor_b_kgm2: Inertia Tensor at body frame [kg*m^2] * @return Calculated torque at body frame [Nm] */ - math::Vector<3> CalcTorque_b_Nm(const math::Vector<3> earth_position_from_sc_b_m, const math::Matrix<3, 3> inertia_tensor_b_kgm2); + s2e::math::Vector<3> CalcTorque_b_Nm(const s2e::math::Vector<3> earth_position_from_sc_b_m, const s2e::math::Matrix<3, 3> inertia_tensor_b_kgm2); }; /** diff --git a/src/disturbances/lunar_gravity_field.cpp b/src/disturbances/lunar_gravity_field.cpp index bad7c5f7c..1baa1319b 100644 --- a/src/disturbances/lunar_gravity_field.cpp +++ b/src/disturbances/lunar_gravity_field.cpp @@ -20,8 +20,8 @@ LunarGravityField::LunarGravityField(const int degree, const std::string file_path, const bool is_calculation_enabled) : Disturbance(is_calculation_enabled, false), degree_(degree) { // Initialize - acceleration_mcmf_m_s2_ = math::Vector<3>(0.0); - debug_pos_mcmf_m_ = math::Vector<3>(0.0); + acceleration_mcmf_m_s2_ = s2e::math::Vector<3>(0.0); + debug_pos_mcmf_m_ = s2e::math::Vector<3>(0.0); debug_pos_mcmf_m_[0] = 2000000; debug_pos_mcmf_m_[1] = 2000000; debug_pos_mcmf_m_[2] = 2000000; @@ -88,10 +88,10 @@ bool LunarGravityField::ReadCoefficientsGrgm1200a(std::string file_name) { void LunarGravityField::Update(const LocalEnvironment &local_environment, const Dynamics &dynamics) { const CelestialInformation global_celestial_information = local_environment.GetCelestialInformation().GetGlobalInformation(); - math::Matrix<3, 3> dcm_mci2mcmf_ = global_celestial_information.GetMoonRotation().GetDcmJ2000ToMcmf(); + s2e::math::Matrix<3, 3> dcm_mci2mcmf_ = global_celestial_information.GetMoonRotation().GetDcmJ2000ToMcmf(); - math::Vector<3> spacecraft_position_mci_m = dynamics.GetOrbit().GetPosition_i_m(); - math::Vector<3> spacecraft_position_mcmf_m = dcm_mci2mcmf_ * spacecraft_position_mci_m; + s2e::math::Vector<3> spacecraft_position_mci_m = dynamics.GetOrbit().GetPosition_i_m(); + s2e::math::Vector<3> spacecraft_position_mcmf_m = dcm_mci2mcmf_ * spacecraft_position_mci_m; #ifdef DEBUG_LUNAR_GRAVITY_FIELD std::chrono::system_clock::time_point start, end; @@ -107,7 +107,7 @@ void LunarGravityField::Update(const LocalEnvironment &local_environment, const UNUSED(time_ms_); #endif - math::Matrix<3, 3> dcm_mcmf2i = dcm_mci2mcmf_.Transpose(); + s2e::math::Matrix<3, 3> dcm_mcmf2i = dcm_mci2mcmf_.Transpose(); acceleration_i_m_s2_ = dcm_mcmf2i * acceleration_mcmf_m_s2_; } diff --git a/src/disturbances/lunar_gravity_field.hpp b/src/disturbances/lunar_gravity_field.hpp index f1fa27c57..0a77b9c4b 100644 --- a/src/disturbances/lunar_gravity_field.hpp +++ b/src/disturbances/lunar_gravity_field.hpp @@ -71,7 +71,7 @@ class LunarGravityField : public Disturbance { Vector<3> acceleration_mcmf_m_s2_; //!< Calculated acceleration in the MCMF(Moon Centered Moon Fixed) frame [m/s2] // debug - math::Vector<3> debug_pos_mcmf_m_; //!< Spacecraft position in MCMF frame [m] + s2e::math::Vector<3> debug_pos_mcmf_m_; //!< Spacecraft position in MCMF frame [m] double time_ms_ = 0.0; //!< Calculation time [ms] /** diff --git a/src/disturbances/magnetic_disturbance.cpp b/src/disturbances/magnetic_disturbance.cpp index 901777c6a..9af45805c 100644 --- a/src/disturbances/magnetic_disturbance.cpp +++ b/src/disturbances/magnetic_disturbance.cpp @@ -31,8 +31,8 @@ void MagneticDisturbance::Update(const LocalEnvironment& local_environment, cons } void MagneticDisturbance::CalcRMM() { - static math::Vector<3> random_walk_std_dev(residual_magnetic_moment_.GetRandomWalkStandardDeviation_Am2()); - static math::Vector<3> random_walk_limit(residual_magnetic_moment_.GetRandomWalkLimit_Am2()); + static s2e::math::Vector<3> random_walk_std_dev(residual_magnetic_moment_.GetRandomWalkStandardDeviation_Am2()); + static s2e::math::Vector<3> random_walk_limit(residual_magnetic_moment_.GetRandomWalkLimit_Am2()); static RandomWalk<3> random_walk(0.1, random_walk_std_dev, random_walk_limit); // [FIXME] step width is constant static randomization::NormalRand normal_random(0.0, residual_magnetic_moment_.GetRandomNoiseStandardDeviation_Am2(), global_randomization.MakeSeed()); diff --git a/src/disturbances/magnetic_disturbance.hpp b/src/disturbances/magnetic_disturbance.hpp index 80aea05e3..e3be84928 100644 --- a/src/disturbances/magnetic_disturbance.hpp +++ b/src/disturbances/magnetic_disturbance.hpp @@ -50,7 +50,7 @@ class MagneticDisturbance : public Disturbance { private: const double kMagUnit_ = 1.0e-9; //!< Constant value to change the unit [nT] -> [T] - math::Vector<3> rmm_b_Am2_; //!< True RMM of the spacecraft in the body frame [Am2] + s2e::math::Vector<3> rmm_b_Am2_; //!< True RMM of the spacecraft in the body frame [Am2] const ResidualMagneticMoment& residual_magnetic_moment_; //!< RMM parameters /** @@ -64,7 +64,7 @@ class MagneticDisturbance : public Disturbance { * @param [in] magnetic_field_b_nT: Magnetic field vector at the body frame [nT] * @return Calculated disturbance torque in body frame [Nm] */ - math::Vector<3> CalcTorque_b_Nm(const math::Vector<3>& magnetic_field_b_nT); + s2e::math::Vector<3> CalcTorque_b_Nm(const s2e::math::Vector<3>& magnetic_field_b_nT); }; /** diff --git a/src/disturbances/solar_radiation_pressure_disturbance.cpp b/src/disturbances/solar_radiation_pressure_disturbance.cpp index b07d2a858..ed6386234 100644 --- a/src/disturbances/solar_radiation_pressure_disturbance.cpp +++ b/src/disturbances/solar_radiation_pressure_disturbance.cpp @@ -11,17 +11,17 @@ #include "../logger/log_utility.hpp" SolarRadiationPressureDisturbance::SolarRadiationPressureDisturbance(const std::vector& surfaces, - const math::Vector<3>& center_of_gravity_b_m, const bool is_calculation_enabled) + const s2e::math::Vector<3>& center_of_gravity_b_m, const bool is_calculation_enabled) : SurfaceForce(surfaces, center_of_gravity_b_m, is_calculation_enabled) {} void SolarRadiationPressureDisturbance::Update(const LocalEnvironment& local_environment, const Dynamics& dynamics) { UNUSED(dynamics); - math::Vector<3> sun_position_from_sc_b_m = local_environment.GetCelestialInformation().GetPositionFromSpacecraft_b_m("SUN"); + s2e::math::Vector<3> sun_position_from_sc_b_m = local_environment.GetCelestialInformation().GetPositionFromSpacecraft_b_m("SUN"); CalcTorqueForce(sun_position_from_sc_b_m, local_environment.GetSolarRadiationPressure().GetPressure_N_m2()); } -void SolarRadiationPressureDisturbance::CalcCoefficients(const math::Vector<3>& input_direction_b, const double item) { +void SolarRadiationPressureDisturbance::CalcCoefficients(const s2e::math::Vector<3>& input_direction_b, const double item) { UNUSED(input_direction_b); for (size_t i = 0; i < surfaces_.size(); i++) { // Calculate for each surface diff --git a/src/disturbances/solar_radiation_pressure_disturbance.hpp b/src/disturbances/solar_radiation_pressure_disturbance.hpp index 7ec4e9bbc..dc4f08419 100644 --- a/src/disturbances/solar_radiation_pressure_disturbance.hpp +++ b/src/disturbances/solar_radiation_pressure_disturbance.hpp @@ -25,7 +25,7 @@ class SolarRadiationPressureDisturbance : public SurfaceForce { * @param [in] center_of_gravity_b_m: Center of gravity position at the body frame [m] * @param [in] is_calculation_enabled: Calculation flag */ - SolarRadiationPressureDisturbance(const std::vector& surfaces, const math::Vector<3>& center_of_gravity_b_m, + SolarRadiationPressureDisturbance(const std::vector& surfaces, const s2e::math::Vector<3>& center_of_gravity_b_m, const bool is_calculation_enabled = true); /** @@ -55,7 +55,7 @@ class SolarRadiationPressureDisturbance : public SurfaceForce { * @param [in] input_direction_b: Direction vector of the sun at the body frame * @param [in] item: Solar pressure [N/m^2] */ - void CalcCoefficients(const math::Vector<3>& input_direction_b, const double item); + void CalcCoefficients(const s2e::math::Vector<3>& input_direction_b, const double item); }; /** diff --git a/src/disturbances/surface_force.cpp b/src/disturbances/surface_force.cpp index 348944267..158e2a695 100644 --- a/src/disturbances/surface_force.cpp +++ b/src/disturbances/surface_force.cpp @@ -7,7 +7,7 @@ #include "../math_physics/math/vector.hpp" -SurfaceForce::SurfaceForce(const std::vector& surfaces, const math::Vector<3>& center_of_gravity_b_m, const bool is_calculation_enabled) +SurfaceForce::SurfaceForce(const std::vector& surfaces, const s2e::math::Vector<3>& center_of_gravity_b_m, const bool is_calculation_enabled) : Disturbance(is_calculation_enabled, true), surfaces_(surfaces), center_of_gravity_b_m_(center_of_gravity_b_m) { // Initialize vectors size_t num = surfaces_.size(); @@ -17,23 +17,23 @@ SurfaceForce::SurfaceForce(const std::vector& surfaces, const math::Vec sin_theta_.assign(num, 0.0); } -math::Vector<3> SurfaceForce::CalcTorqueForce(math::Vector<3>& input_direction_b, double item) { +s2e::math::Vector<3> SurfaceForce::CalcTorqueForce(s2e::math::Vector<3>& input_direction_b, double item) { CalcTheta(input_direction_b); CalcCoefficients(input_direction_b, item); - math::Vector<3> force_b_N(0.0); - math::Vector<3> torque_b_Nm(0.0); - math::Vector<3> input_b_normal = input_direction_b.CalcNormalizedVector(); + s2e::math::Vector<3> force_b_N(0.0); + s2e::math::Vector<3> torque_b_Nm(0.0); + s2e::math::Vector<3> input_b_normal = input_direction_b.CalcNormalizedVector(); for (size_t i = 0; i < surfaces_.size(); i++) { if (cos_theta_[i] > 0.0) { // if the surface faces to the disturbance source (sun or air) // calc direction of in-plane force - math::Vector<3> normal = surfaces_[i].GetNormal_b(); - math::Vector<3> ncu = OuterProduct(input_b_normal, normal); - math::Vector<3> ncu_normalized = ncu.CalcNormalizedVector(); - math::Vector<3> in_plane_force_direction = OuterProduct(ncu_normalized, normal); + s2e::math::Vector<3> normal = surfaces_[i].GetNormal_b(); + s2e::math::Vector<3> ncu = OuterProduct(input_b_normal, normal); + s2e::math::Vector<3> ncu_normalized = ncu.CalcNormalizedVector(); + s2e::math::Vector<3> in_plane_force_direction = OuterProduct(ncu_normalized, normal); // calc force - math::Vector<3> force_per_surface_b_N = -1.0 * normal_coefficients_[i] * normal + tangential_coefficients_[i] * in_plane_force_direction; + s2e::math::Vector<3> force_per_surface_b_N = -1.0 * normal_coefficients_[i] * normal + tangential_coefficients_[i] * in_plane_force_direction; force_b_N += force_per_surface_b_N; // calc torque torque_b_Nm += OuterProduct(surfaces_[i].GetPosition_b_m() - center_of_gravity_b_m_, force_per_surface_b_N); @@ -44,8 +44,8 @@ math::Vector<3> SurfaceForce::CalcTorqueForce(math::Vector<3>& input_direction_b return torque_b_Nm_; } -void SurfaceForce::CalcTheta(math::Vector<3>& input_direction_b) { - math::Vector<3> input_b_normal = input_direction_b.CalcNormalizedVector(); +void SurfaceForce::CalcTheta(s2e::math::Vector<3>& input_direction_b) { + s2e::math::Vector<3> input_b_normal = input_direction_b.CalcNormalizedVector(); for (size_t i = 0; i < surfaces_.size(); i++) { cos_theta_[i] = InnerProduct(surfaces_[i].GetNormal_b(), input_b_normal); diff --git a/src/disturbances/surface_force.hpp b/src/disturbances/surface_force.hpp index 2fa4a0ac3..2fa6fa7d3 100644 --- a/src/disturbances/surface_force.hpp +++ b/src/disturbances/surface_force.hpp @@ -28,7 +28,7 @@ class SurfaceForce : public Disturbance { * @param [in] center_of_gravity_b_m: Center of gravity position at the body frame [m] * @param [in] is_calculation_enabled: Calculation flag */ - SurfaceForce(const std::vector& surfaces, const math::Vector<3>& center_of_gravity_b_m, const bool is_calculation_enabled = true); + SurfaceForce(const std::vector& surfaces, const s2e::math::Vector<3>& center_of_gravity_b_m, const bool is_calculation_enabled = true); /** * @fn ~SurfaceForce * @brief Destructor @@ -38,7 +38,7 @@ class SurfaceForce : public Disturbance { protected: // Spacecraft Structure parameters const std::vector& surfaces_; //!< List of surfaces - const math::Vector<3>& center_of_gravity_b_m_; //!< Position vector of the center of mass_kg at body frame [m] + const s2e::math::Vector<3>& center_of_gravity_b_m_; //!< Position vector of the center of mass_kg at body frame [m] // Internal calculated variables std::vector normal_coefficients_; //!< coefficients for out-plane force for each surface @@ -54,13 +54,13 @@ class SurfaceForce : public Disturbance { * @param [in] item: Parameter which decide the magnitude of the disturbances (e.g., Solar flux, air density) * @return Calculated disturbance torque in body frame [Nm] */ - math::Vector<3> CalcTorqueForce(math::Vector<3>& input_direction_b, double item); + s2e::math::Vector<3> CalcTorqueForce(s2e::math::Vector<3>& input_direction_b, double item); /** * @fn CalcTheta * @brief Calculate cosX and sinX * @param [in] input_direction_b: Direction of disturbance source at the body frame */ - void CalcTheta(math::Vector<3>& input_direction_b); + void CalcTheta(s2e::math::Vector<3>& input_direction_b); /** * @fn CalcCoefficients @@ -68,7 +68,7 @@ class SurfaceForce : public Disturbance { * @param [in] input_direction_b: Direction of disturbance source at the body frame * @param [in] item: Parameter which decide the magnitude of the disturbances (e.g., Solar flux, air density) */ - virtual void CalcCoefficients(const math::Vector<3>& input_direction_b, const double item) = 0; + virtual void CalcCoefficients(const s2e::math::Vector<3>& input_direction_b, const double item) = 0; }; #endif // S2E_DISTURBANCES_SURFACE_FORCE_HPP_ diff --git a/src/disturbances/third_body_gravity.cpp b/src/disturbances/third_body_gravity.cpp index 72bb2d24f..075415ecf 100644 --- a/src/disturbances/third_body_gravity.cpp +++ b/src/disturbances/third_body_gravity.cpp @@ -9,18 +9,18 @@ ThirdBodyGravity::ThirdBodyGravity(std::set third_body_list, const bool is_calculation_enabled) : Disturbance(is_calculation_enabled, false), third_body_list_(third_body_list) { - acceleration_i_m_s2_ = math::Vector<3>(0.0); + acceleration_i_m_s2_ = s2e::math::Vector<3>(0.0); } ThirdBodyGravity::~ThirdBodyGravity() {} void ThirdBodyGravity::Update(const LocalEnvironment& local_environment, const Dynamics& dynamics) { - acceleration_i_m_s2_ = math::Vector<3>(0.0); // initialize + acceleration_i_m_s2_ = s2e::math::Vector<3>(0.0); // initialize - math::Vector<3> sc_position_i_m = dynamics.GetOrbit().GetPosition_i_m(); + s2e::math::Vector<3> sc_position_i_m = dynamics.GetOrbit().GetPosition_i_m(); for (auto third_body : third_body_list_) { - math::Vector<3> third_body_position_from_sc_i_m = local_environment.GetCelestialInformation().GetPositionFromSpacecraft_i_m(third_body.c_str()); - math::Vector<3> third_body_pos_i_m = sc_position_i_m + third_body_position_from_sc_i_m; + s2e::math::Vector<3> third_body_position_from_sc_i_m = local_environment.GetCelestialInformation().GetPositionFromSpacecraft_i_m(third_body.c_str()); + s2e::math::Vector<3> third_body_pos_i_m = sc_position_i_m + third_body_position_from_sc_i_m; double gravity_constant = local_environment.GetCelestialInformation().GetGlobalInformation().GetGravityConstant_m3_s2(third_body.c_str()); third_body_acceleration_i_m_s2_ = CalcAcceleration_i_m_s2(third_body_pos_i_m, third_body_position_from_sc_i_m, gravity_constant); @@ -28,8 +28,8 @@ void ThirdBodyGravity::Update(const LocalEnvironment& local_environment, const D } } -math::Vector<3> ThirdBodyGravity::CalcAcceleration_i_m_s2(const math::Vector<3> s, const math::Vector<3> sr, const double gravity_constant_m_s2) { - math::Vector<3> acceleration_i_m_s2; +s2e::math::Vector<3> ThirdBodyGravity::CalcAcceleration_i_m_s2(const s2e::math::Vector<3> s, const s2e::math::Vector<3> sr, const double gravity_constant_m_s2) { + s2e::math::Vector<3> acceleration_i_m_s2; double s_norm = s.CalcNorm(); double s_norm3 = s_norm * s_norm * s_norm; diff --git a/src/disturbances/third_body_gravity.hpp b/src/disturbances/third_body_gravity.hpp index 12b9f8b68..36fded28d 100644 --- a/src/disturbances/third_body_gravity.hpp +++ b/src/disturbances/third_body_gravity.hpp @@ -43,7 +43,7 @@ class ThirdBodyGravity : public Disturbance { private: std::set third_body_list_; //!< List of celestial bodies to calculate the third body disturbances - math::Vector<3> third_body_acceleration_i_m_s2_{0.0}; //!< Calculated third body disturbance acceleration in the inertial frame [m/s2] + s2e::math::Vector<3> third_body_acceleration_i_m_s2_{0.0}; //!< Calculated third body disturbance acceleration in the inertial frame [m/s2] // Override classes for ILoggable /** @@ -65,7 +65,7 @@ class ThirdBodyGravity : public Disturbance { * @param [in] GM: The gravitational constants of the third celestial body [m3/s2] * @return Third body disturbance acceleration in the inertial frame in unit [m/s2] */ - math::Vector<3> CalcAcceleration_i_m_s2(const math::Vector<3> s, const math::Vector<3> sr, const double gravity_constant_m_s2); + s2e::math::Vector<3> CalcAcceleration_i_m_s2(const s2e::math::Vector<3> s, const s2e::math::Vector<3> sr, const double gravity_constant_m_s2); }; /** diff --git a/src/dynamics/attitude/attitude.cpp b/src/dynamics/attitude/attitude.cpp index 461144660..35cc6b237 100644 --- a/src/dynamics/attitude/attitude.cpp +++ b/src/dynamics/attitude/attitude.cpp @@ -6,15 +6,15 @@ #include -Attitude::Attitude(const math::Matrix<3, 3>& inertia_tensor_kgm2, const std::string& simulation_object_name) +Attitude::Attitude(const s2e::math::Matrix<3, 3>& inertia_tensor_kgm2, const std::string& simulation_object_name) : SimulationObject(simulation_object_name), inertia_tensor_kgm2_(inertia_tensor_kgm2) { - angular_velocity_b_rad_s_ = math::Vector<3>(0.0); - quaternion_i2b_ = math::Quaternion(0.0, 0.0, 0.0, 1.0); - torque_b_Nm_ = math::Vector<3>(0.0); - angular_momentum_spacecraft_b_Nms_ = math::Vector<3>(0.0); - angular_momentum_reaction_wheel_b_Nms_ = math::Vector<3>(0.0); - angular_momentum_total_b_Nms_ = math::Vector<3>(0.0); - angular_momentum_total_i_Nms_ = math::Vector<3>(0.0); + angular_velocity_b_rad_s_ = s2e::math::Vector<3>(0.0); + quaternion_i2b_ = s2e::math::Quaternion(0.0, 0.0, 0.0, 1.0); + torque_b_Nm_ = s2e::math::Vector<3>(0.0); + angular_momentum_spacecraft_b_Nms_ = s2e::math::Vector<3>(0.0); + angular_momentum_reaction_wheel_b_Nms_ = s2e::math::Vector<3>(0.0); + angular_momentum_total_b_Nms_ = s2e::math::Vector<3>(0.0); + angular_momentum_total_i_Nms_ = s2e::math::Vector<3>(0.0); angular_momentum_total_Nms_ = 0.0; kinetic_energy_J_ = 0.0; } @@ -50,15 +50,15 @@ void Attitude::SetParameters(const MonteCarloSimulationExecutor& mc_simulator) { void Attitude::CalcAngularMomentum(void) { angular_momentum_spacecraft_b_Nms_ = inertia_tensor_kgm2_ * angular_velocity_b_rad_s_; angular_momentum_total_b_Nms_ = angular_momentum_reaction_wheel_b_Nms_ + angular_momentum_spacecraft_b_Nms_; - math::Quaternion q_b2i = quaternion_i2b_.Conjugate(); + s2e::math::Quaternion q_b2i = quaternion_i2b_.Conjugate(); angular_momentum_total_i_Nms_ = q_b2i.FrameConversion(angular_momentum_total_b_Nms_); angular_momentum_total_Nms_ = angular_momentum_total_i_Nms_.CalcNorm(); - kinetic_energy_J_ = 0.5 * math::InnerProduct(angular_momentum_spacecraft_b_Nms_, angular_velocity_b_rad_s_); + kinetic_energy_J_ = 0.5 * s2e::math::InnerProduct(angular_momentum_spacecraft_b_Nms_, angular_velocity_b_rad_s_); } -math::Matrix<4, 4> CalcAngularVelocityMatrix(math::Vector<3> angular_velocity_b_rad_s) { - math::Matrix<4, 4> angular_velocity_matrix; +s2e::math::Matrix<4, 4> CalcAngularVelocityMatrix(s2e::math::Vector<3> angular_velocity_b_rad_s) { + s2e::math::Matrix<4, 4> angular_velocity_matrix; angular_velocity_matrix[0][0] = 0.0f; angular_velocity_matrix[0][1] = angular_velocity_b_rad_s[2]; diff --git a/src/dynamics/attitude/attitude.hpp b/src/dynamics/attitude/attitude.hpp index 130040b88..3485444d9 100644 --- a/src/dynamics/attitude/attitude.hpp +++ b/src/dynamics/attitude/attitude.hpp @@ -23,7 +23,7 @@ class Attitude : public ILoggable, public SimulationObject { * @brief Constructor * @param [in] simulation_object_name: Simulation object name for Monte-Carlo simulation */ - Attitude(const math::Matrix<3, 3>& inertia_tensor_kgm2, const std::string& simulation_object_name = "attitude"); + Attitude(const s2e::math::Matrix<3, 3>& inertia_tensor_kgm2, const std::string& simulation_object_name = "attitude"); /** * @fn ~Attitude * @brief Destructor @@ -40,12 +40,12 @@ class Attitude : public ILoggable, public SimulationObject { * @fn GetAngularVelocity_b_rad_s * @brief Return angular velocity of spacecraft body-fixed frame with respect to the inertial frame [rad/s] */ - inline math::Vector<3> GetAngularVelocity_b_rad_s() const { return angular_velocity_b_rad_s_; } + inline s2e::math::Vector<3> GetAngularVelocity_b_rad_s() const { return angular_velocity_b_rad_s_; } /** * @fn GetQuaternion_i2b * @brief Return attitude quaternion from the inertial frame to the body fixed frame */ - inline math::Quaternion GetQuaternion_i2b() const { return quaternion_i2b_; } + inline s2e::math::Quaternion GetQuaternion_i2b() const { return quaternion_i2b_; } /** * @fn GetTotalAngularMomentNorm_Nms * @brief Return norm of total angular momentum of the spacecraft [Nms] @@ -60,34 +60,34 @@ class Attitude : public ILoggable, public SimulationObject { * @fn GetInertiaTensor_b_kgm2 * @brief Return inertia tensor [kg m^2] */ - inline math::Matrix<3, 3> GetInertiaTensor_b_kgm2() const { return inertia_tensor_kgm2_; } + inline s2e::math::Matrix<3, 3> GetInertiaTensor_b_kgm2() const { return inertia_tensor_kgm2_; } // Setter /** * @fn SetAngularVelocity_b_rad_s * @brief Set angular velocity of the body fixed frame with respect to the inertial frame [rad/s] */ - inline void SetAngularVelocity_b_rad_s(const math::Vector<3> angular_velocity_b_rad_s) { angular_velocity_b_rad_s_ = angular_velocity_b_rad_s; } + inline void SetAngularVelocity_b_rad_s(const s2e::math::Vector<3> angular_velocity_b_rad_s) { angular_velocity_b_rad_s_ = angular_velocity_b_rad_s; } /** * @fn SetQuaternion_i2b * @brief Set attitude quaternion from the inertial frame to the body frame */ - inline void SetQuaternion_i2b(const math::Quaternion quaternion_i2b) { quaternion_i2b_ = quaternion_i2b; } + inline void SetQuaternion_i2b(const s2e::math::Quaternion quaternion_i2b) { quaternion_i2b_ = quaternion_i2b; } /** * @fn SetTorque_b_Nm * @brief Set torque acting on the spacecraft on the body fixed frame [Nm] */ - inline void SetTorque_b_Nm(const math::Vector<3> torque_b_Nm) { torque_b_Nm_ = torque_b_Nm; } + inline void SetTorque_b_Nm(const s2e::math::Vector<3> torque_b_Nm) { torque_b_Nm_ = torque_b_Nm; } /** * @fn AddTorque_b_Nm * @brief Add torque acting on the spacecraft on the body fixed frame [Nm] */ - inline void AddTorque_b_Nm(const math::Vector<3> torque_b_Nm) { torque_b_Nm_ += torque_b_Nm; } + inline void AddTorque_b_Nm(const s2e::math::Vector<3> torque_b_Nm) { torque_b_Nm_ += torque_b_Nm; } /** * @fn SetRwAngularMomentum_b_Nms * @brief Set angular momentum of reaction wheel in the body fixed frame [Nms] */ - inline void SetRwAngularMomentum_b_Nms(const math::Vector<3> angular_momentum_rw_b_Nms) { + inline void SetRwAngularMomentum_b_Nms(const s2e::math::Vector<3> angular_momentum_rw_b_Nms) { angular_momentum_reaction_wheel_b_Nms_ = angular_momentum_rw_b_Nms; } @@ -116,15 +116,15 @@ class Attitude : public ILoggable, public SimulationObject { protected: bool is_calc_enabled_ = true; //!< Calculation flag double propagation_step_s_; //!< Propagation step [sec] - math::Vector<3> angular_velocity_b_rad_s_; //!< Angular velocity of spacecraft body fixed frame with respect to the inertial frame [rad/s] - math::Quaternion quaternion_i2b_; //!< Attitude quaternion from the inertial frame to the body fixed frame - math::Vector<3> torque_b_Nm_; //!< Torque in the body fixed frame [Nm] - const math::Matrix<3, 3>& inertia_tensor_kgm2_; //!< Inertia tensor of the spacecraft [kg m^2] + s2e::math::Vector<3> angular_velocity_b_rad_s_; //!< Angular velocity of spacecraft body fixed frame with respect to the inertial frame [rad/s] + s2e::math::Quaternion quaternion_i2b_; //!< Attitude quaternion from the inertial frame to the body fixed frame + s2e::math::Vector<3> torque_b_Nm_; //!< Torque in the body fixed frame [Nm] + const s2e::math::Matrix<3, 3>& inertia_tensor_kgm2_; //!< Inertia tensor of the spacecraft [kg m^2] - math::Vector<3> angular_momentum_spacecraft_b_Nms_; //!< Angular momentum of spacecraft in the body fixed frame [Nms] - math::Vector<3> angular_momentum_reaction_wheel_b_Nms_; //!< Angular momentum of reaction wheel in the body fixed frame [Nms] - math::Vector<3> angular_momentum_total_b_Nms_; //!< Total angular momentum of spacecraft in the body fixed frame [Nms] - math::Vector<3> angular_momentum_total_i_Nms_; //!< Total angular momentum of spacecraft in the inertial frame [Nms] + s2e::math::Vector<3> angular_momentum_spacecraft_b_Nms_; //!< Angular momentum of spacecraft in the body fixed frame [Nms] + s2e::math::Vector<3> angular_momentum_reaction_wheel_b_Nms_; //!< Angular momentum of reaction wheel in the body fixed frame [Nms] + s2e::math::Vector<3> angular_momentum_total_b_Nms_; //!< Total angular momentum of spacecraft in the body fixed frame [Nms] + s2e::math::Vector<3> angular_momentum_total_i_Nms_; //!< Total angular momentum of spacecraft in the inertial frame [Nms] double angular_momentum_total_Nms_; //!< Norm of total angular momentum [Nms] double kinetic_energy_J_; //!< Rotational Kinetic Energy of Spacecraft [J] @@ -140,6 +140,6 @@ class Attitude : public ILoggable, public SimulationObject { * @brief Generate angular velocity matrix for kinematics calculation * @param [in] angular_velocity_b_rad_s: Angular velocity [rad/s] */ -math::Matrix<4, 4> CalcAngularVelocityMatrix(math::Vector<3> angular_velocity_b_rad_s); +s2e::math::Matrix<4, 4> CalcAngularVelocityMatrix(s2e::math::Vector<3> angular_velocity_b_rad_s); #endif // S2E_DYNAMICS_ATTITUDE_ATTITUDE_HPP_ diff --git a/src/dynamics/attitude/attitude_rk4.cpp b/src/dynamics/attitude/attitude_rk4.cpp index 5ff72c44e..29e130fef 100644 --- a/src/dynamics/attitude/attitude_rk4.cpp +++ b/src/dynamics/attitude/attitude_rk4.cpp @@ -9,8 +9,8 @@ #include #include -AttitudeRk4::AttitudeRk4(const math::Vector<3>& angular_velocity_b_rad_s, const math::Quaternion& quaternion_i2b, - const math::Matrix<3, 3>& inertia_tensor_kgm2, const math::Vector<3>& torque_b_Nm, const double propagation_step_s, +AttitudeRk4::AttitudeRk4(const s2e::math::Vector<3>& angular_velocity_b_rad_s, const s2e::math::Quaternion& quaternion_i2b, + const s2e::math::Matrix<3, 3>& inertia_tensor_kgm2, const s2e::math::Vector<3>& torque_b_Nm, const double propagation_step_s, const std::string& simulation_object_name) : Attitude(inertia_tensor_kgm2, simulation_object_name) { angular_velocity_b_rad_s_ = angular_velocity_b_rad_s; @@ -18,7 +18,7 @@ AttitudeRk4::AttitudeRk4(const math::Vector<3>& angular_velocity_b_rad_s, const torque_b_Nm_ = torque_b_Nm; propagation_step_s_ = propagation_step_s; current_propagation_time_s_ = 0.0; - angular_momentum_reaction_wheel_b_Nms_ = math::Vector<3>(0.0); + angular_momentum_reaction_wheel_b_Nms_ = s2e::math::Vector<3>(0.0); previous_inertia_tensor_kgm2_ = inertia_tensor_kgm2_; inverse_inertia_tensor_ = CalcInverseMatrix(inertia_tensor_kgm2_); CalcAngularMomentum(); @@ -32,14 +32,14 @@ void AttitudeRk4::SetParameters(const MonteCarloSimulationExecutor& mc_simulator // TODO: Consider the following calculation is needed here? current_propagation_time_s_ = 0.0; - angular_momentum_reaction_wheel_b_Nms_ = math::Vector<3>(0.0); //!< Consider how to handle this variable + angular_momentum_reaction_wheel_b_Nms_ = s2e::math::Vector<3>(0.0); //!< Consider how to handle this variable CalcAngularMomentum(); } void AttitudeRk4::Propagate(const double end_time_s) { if (!is_calc_enabled_) return; - math::Matrix<3, 3> dot_inertia_tensor = (1.0 / (end_time_s - current_propagation_time_s_)) * (inertia_tensor_kgm2_ - previous_inertia_tensor_kgm2_); + s2e::math::Matrix<3, 3> dot_inertia_tensor = (1.0 / (end_time_s - current_propagation_time_s_)) * (inertia_tensor_kgm2_ - previous_inertia_tensor_kgm2_); torque_inertia_tensor_change_b_Nm_ = dot_inertia_tensor * angular_velocity_b_rad_s_; inverse_inertia_tensor_ = CalcInverseMatrix(inertia_tensor_kgm2_); @@ -55,29 +55,29 @@ void AttitudeRk4::Propagate(const double end_time_s) { CalcAngularMomentum(); } -math::Vector<7> AttitudeRk4::AttitudeDynamicsAndKinematics(math::Vector<7> x, double t) { +s2e::math::Vector<7> AttitudeRk4::AttitudeDynamicsAndKinematics(s2e::math::Vector<7> x, double t) { UNUSED(t); - math::Vector<7> dxdt; + s2e::math::Vector<7> dxdt; - math::Vector<3> omega_b; + s2e::math::Vector<3> omega_b; for (int i = 0; i < 3; i++) { omega_b[i] = x[i]; } - math::Vector<3> angular_momentum_total_b_Nms = (previous_inertia_tensor_kgm2_ * omega_b) + angular_momentum_reaction_wheel_b_Nms_; - math::Vector<3> rhs = - inverse_inertia_tensor_ * (torque_b_Nm_ - math::OuterProduct(omega_b, angular_momentum_total_b_Nms) - torque_inertia_tensor_change_b_Nm_); + s2e::math::Vector<3> angular_momentum_total_b_Nms = (previous_inertia_tensor_kgm2_ * omega_b) + angular_momentum_reaction_wheel_b_Nms_; + s2e::math::Vector<3> rhs = + inverse_inertia_tensor_ * (torque_b_Nm_ - s2e::math::OuterProduct(omega_b, angular_momentum_total_b_Nms) - torque_inertia_tensor_change_b_Nm_); for (int i = 0; i < 3; ++i) { dxdt[i] = rhs[i]; } - math::Vector<4> quaternion_i2b; + s2e::math::Vector<4> quaternion_i2b; for (int i = 0; i < 4; i++) { quaternion_i2b[i] = x[i + 3]; } - math::Vector<4> d_quaternion = 0.5 * CalcAngularVelocityMatrix(omega_b) * quaternion_i2b; + s2e::math::Vector<4> d_quaternion = 0.5 * CalcAngularVelocityMatrix(omega_b) * quaternion_i2b; for (int i = 0; i < 4; i++) { dxdt[i + 3] = d_quaternion[i]; @@ -87,7 +87,7 @@ math::Vector<7> AttitudeRk4::AttitudeDynamicsAndKinematics(math::Vector<7> x, do } void AttitudeRk4::RungeKuttaOneStep(double t, double dt) { - math::Vector<7> x; + s2e::math::Vector<7> x; for (int i = 0; i < 3; i++) { x[i] = angular_velocity_b_rad_s_[i]; } @@ -95,8 +95,8 @@ void AttitudeRk4::RungeKuttaOneStep(double t, double dt) { x[i + 3] = quaternion_i2b_[i]; } - math::Vector<7> k1, k2, k3, k4; - math::Vector<7> xk2, xk3, xk4; + s2e::math::Vector<7> k1, k2, k3, k4; + s2e::math::Vector<7> xk2, xk3, xk4; k1 = AttitudeDynamicsAndKinematics(x, t); xk2 = x + (dt / 2.0) * k1; @@ -109,7 +109,7 @@ void AttitudeRk4::RungeKuttaOneStep(double t, double dt) { k4 = AttitudeDynamicsAndKinematics(xk4, (t + dt)); - math::Vector<7> next_x = x + (dt / 6.0) * (k1 + 2.0 * k2 + 2.0 * k3 + k4); + s2e::math::Vector<7> next_x = x + (dt / 6.0) * (k1 + 2.0 * k2 + 2.0 * k3 + k4); for (int i = 0; i < 3; i++) { angular_velocity_b_rad_s_[i] = next_x[i]; diff --git a/src/dynamics/attitude/attitude_rk4.hpp b/src/dynamics/attitude/attitude_rk4.hpp index 5fe31d669..003989937 100644 --- a/src/dynamics/attitude/attitude_rk4.hpp +++ b/src/dynamics/attitude/attitude_rk4.hpp @@ -24,8 +24,8 @@ class AttitudeRk4 : public Attitude { * @param [in] propagation_step_s: Initial value of propagation step width [sec] * @param [in] simulation_object_name: Simulation object name for Monte-Carlo simulation */ - AttitudeRk4(const math::Vector<3>& angular_velocity_b_rad_s, const math::Quaternion& quaternion_i2b, const math::Matrix<3, 3>& inertia_tensor_kgm2, - const math::Vector<3>& torque_b_Nm, const double propagation_step_s, const std::string& simulation_object_name = "attitude"); + AttitudeRk4(const s2e::math::Vector<3>& angular_velocity_b_rad_s, const s2e::math::Quaternion& quaternion_i2b, const s2e::math::Matrix<3, 3>& inertia_tensor_kgm2, + const s2e::math::Vector<3>& torque_b_Nm, const double propagation_step_s, const std::string& simulation_object_name = "attitude"); /** * @fn ~AttitudeRk4 * @brief Destructor @@ -48,9 +48,9 @@ class AttitudeRk4 : public Attitude { private: double current_propagation_time_s_; //!< current time [sec] - math::Matrix<3, 3> inverse_inertia_tensor_; //!< Inverse of inertia tensor - math::Matrix<3, 3> previous_inertia_tensor_kgm2_; //!< Previous inertia tensor [kgm2] - math::Vector<3> torque_inertia_tensor_change_b_Nm_; //!< Torque generated by inertia tensor change [Nm] + s2e::math::Matrix<3, 3> inverse_inertia_tensor_; //!< Inverse of inertia tensor + s2e::math::Matrix<3, 3> previous_inertia_tensor_kgm2_; //!< Previous inertia tensor [kgm2] + s2e::math::Vector<3> torque_inertia_tensor_change_b_Nm_; //!< Torque generated by inertia tensor change [Nm] /** * @fn AttitudeDynamicsAndKinematics @@ -58,7 +58,7 @@ class AttitudeRk4 : public Attitude { * @param [in] x: State vector (angular velocity and quaternion) * @param [in] t: Unused TODO: remove? */ - math::Vector<7> AttitudeDynamicsAndKinematics(math::Vector<7> x, double t); + s2e::math::Vector<7> AttitudeDynamicsAndKinematics(s2e::math::Vector<7> x, double t); /** * @fn RungeKuttaOneStep * @brief Equation for one step of Runge-Kutta method diff --git a/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp b/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp index bb23cec85..47c8cad29 100644 --- a/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp +++ b/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp @@ -9,9 +9,9 @@ #include AttitudeWithCantileverVibration::AttitudeWithCantileverVibration( - const math::Vector<3>& angular_velocity_b_rad_s, const math::Quaternion& quaternion_i2b, const math::Matrix<3, 3>& inertia_tensor_kgm2, - const math::Matrix<3, 3>& inertia_tensor_cantilever_kgm2, const double damping_ratio_cantilever, - const double intrinsic_angular_velocity_cantilever_rad_s, const math::Vector<3>& torque_b_Nm, const double propagation_step_s, + const s2e::math::Vector<3>& angular_velocity_b_rad_s, const s2e::math::Quaternion& quaternion_i2b, const s2e::math::Matrix<3, 3>& inertia_tensor_kgm2, + const s2e::math::Matrix<3, 3>& inertia_tensor_cantilever_kgm2, const double damping_ratio_cantilever, + const double intrinsic_angular_velocity_cantilever_rad_s, const s2e::math::Vector<3>& torque_b_Nm, const double propagation_step_s, const std::string& simulation_object_name) : Attitude(inertia_tensor_kgm2, simulation_object_name), numerical_integrator_(propagation_step_s, attitude_ode_, @@ -21,7 +21,7 @@ AttitudeWithCantileverVibration::AttitudeWithCantileverVibration( torque_b_Nm_ = torque_b_Nm; propagation_step_s_ = propagation_step_s; current_propagation_time_s_ = 0.0; - angular_momentum_reaction_wheel_b_Nms_ = math::Vector<3>(0.0); + angular_momentum_reaction_wheel_b_Nms_ = s2e::math::Vector<3>(0.0); attitude_ode_.SetInertiaTensorCantilever_kgm2(inertia_tensor_cantilever_kgm2); attitude_ode_.SetPreviousInertiaTensor_kgm2(inertia_tensor_kgm2_); @@ -30,7 +30,7 @@ AttitudeWithCantileverVibration::AttitudeWithCantileverVibration( double spring_coefficient = pow(intrinsic_angular_velocity_cantilever_rad_s, 2.0); attitude_ode_.SetSpringCoefficient(spring_coefficient); attitude_ode_.SetInverseInertiaTensor(CalcInverseMatrix(inertia_tensor_kgm2_)); - math::Matrix<3, 3> inverse_equivalent_inertia_tensor_cantilever = + s2e::math::Matrix<3, 3> inverse_equivalent_inertia_tensor_cantilever = CalcInverseMatrix(inertia_tensor_kgm2_ - inertia_tensor_cantilever_kgm2) * inertia_tensor_kgm2_; attitude_ode_.SetInverseEquivalentInertiaTensorCantilever(inverse_equivalent_inertia_tensor_cantilever); attitude_ode_.SetTorque_b_Nm(torque_b_Nm_); @@ -65,23 +65,23 @@ void AttitudeWithCantileverVibration::SetParameters(const MonteCarloSimulationEx // TODO: Consider the following calculation is needed here? current_propagation_time_s_ = 0.0; - angular_momentum_reaction_wheel_b_Nms_ = math::Vector<3>(0.0); //!< TODO: Consider how to handle this variable + angular_momentum_reaction_wheel_b_Nms_ = s2e::math::Vector<3>(0.0); //!< TODO: Consider how to handle this variable CalcAngularMomentum(); } void AttitudeWithCantileverVibration::Propagate(const double end_time_s) { if (!is_calc_enabled_) return; - math::Matrix<3, 3> previous_inertia_tensor_kgm2 = attitude_ode_.GetPreviousInertiaTensor_kgm2(); + s2e::math::Matrix<3, 3> previous_inertia_tensor_kgm2 = attitude_ode_.GetPreviousInertiaTensor_kgm2(); assert(end_time_s - current_propagation_time_s_ > 1e-6); - math::Matrix<3, 3> dot_inertia_tensor = (1.0 / (end_time_s - current_propagation_time_s_)) * (inertia_tensor_kgm2_ - previous_inertia_tensor_kgm2); - math::Vector<3> torque_inertia_tensor_b_Nm = dot_inertia_tensor * angular_velocity_b_rad_s_; + s2e::math::Matrix<3, 3> dot_inertia_tensor = (1.0 / (end_time_s - current_propagation_time_s_)) * (inertia_tensor_kgm2_ - previous_inertia_tensor_kgm2); + s2e::math::Vector<3> torque_inertia_tensor_b_Nm = dot_inertia_tensor * angular_velocity_b_rad_s_; attitude_ode_.SetTorqueInertiaTensor_b_Nm(torque_inertia_tensor_b_Nm); attitude_ode_.SetInverseInertiaTensor(CalcInverseMatrix(inertia_tensor_kgm2_)); attitude_ode_.SetTorque_b_Nm(torque_b_Nm_); attitude_ode_.SetAngularMomentumReactionWheel_b_Nms(angular_momentum_reaction_wheel_b_Nms_); - math::Vector<13> state = attitude_ode_.SetStateFromPhysicalQuantities(angular_velocity_b_rad_s_, angular_velocity_cantilever_rad_s_, + s2e::math::Vector<13> state = attitude_ode_.SetStateFromPhysicalQuantities(angular_velocity_b_rad_s_, angular_velocity_cantilever_rad_s_, quaternion_i2b_, euler_angular_cantilever_rad_); numerical_integrator_.GetIntegrator()->SetState(propagation_step_s_, state); while (end_time_s - current_propagation_time_s_ - propagation_step_s_ > 1.0e-6) { diff --git a/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp b/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp index 0ab64d619..95226c473 100644 --- a/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp +++ b/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp @@ -31,10 +31,10 @@ class AttitudeWithCantileverVibration : public Attitude { * @param [in] propagation_step_s: Initial value of propagation step width [sec] * @param [in] simulation_object_name: Simulation object name for Monte-Carlo simulation */ - AttitudeWithCantileverVibration(const math::Vector<3>& angular_velocity_b_rad_s, const math::Quaternion& quaternion_i2b, - const math::Matrix<3, 3>& inertia_tensor_kgm2, const math::Matrix<3, 3>& inertia_tensor_cantilever_kgm2, + AttitudeWithCantileverVibration(const s2e::math::Vector<3>& angular_velocity_b_rad_s, const s2e::math::Quaternion& quaternion_i2b, + const s2e::math::Matrix<3, 3>& inertia_tensor_kgm2, const s2e::math::Matrix<3, 3>& inertia_tensor_cantilever_kgm2, const double damping_ratio_cantilever, const double intrinsic_angular_velocity_cantilever_rad_s, - const math::Vector<3>& torque_b_Nm, const double propagation_step_s, + const s2e::math::Vector<3>& torque_b_Nm, const double propagation_step_s, const std::string& simulation_object_name = "attitude"); /** * @fn ~AttitudeWithCantileverVibration @@ -70,8 +70,8 @@ class AttitudeWithCantileverVibration : public Attitude { private: double current_propagation_time_s_; //!< current time [sec] - math::Vector<3> angular_velocity_cantilever_rad_s_{0.0}; //!< Angular velocity of the cantilever with respect to the body frame [rad/s] - math::Vector<3> euler_angular_cantilever_rad_{0.0}; //!< Euler angle of the cantilever with respect to the body frame [rad/s] + s2e::math::Vector<3> angular_velocity_cantilever_rad_s_{0.0}; //!< Angular velocity of the cantilever with respect to the body frame [rad/s] + s2e::math::Vector<3> euler_angular_cantilever_rad_{0.0}; //!< Euler angle of the cantilever with respect to the body frame [rad/s] numerical_integration::AttitudeWithCantileverVibrationOde attitude_ode_; numerical_integration::NumericalIntegratorManager<13> numerical_integrator_; diff --git a/src/dynamics/attitude/controlled_attitude.cpp b/src/dynamics/attitude/controlled_attitude.cpp index ae12dc2e7..982b1b446 100644 --- a/src/dynamics/attitude/controlled_attitude.cpp +++ b/src/dynamics/attitude/controlled_attitude.cpp @@ -7,9 +7,9 @@ #include #include -ControlledAttitude::ControlledAttitude(const AttitudeControlMode main_mode, const AttitudeControlMode sub_mode, const math::Quaternion quaternion_i2b, - const math::Vector<3> main_target_direction_b, const math::Vector<3> sub_target_direction_b, - const math::Matrix<3, 3>& inertia_tensor_kgm2, const LocalCelestialInformation* local_celestial_information, +ControlledAttitude::ControlledAttitude(const AttitudeControlMode main_mode, const AttitudeControlMode sub_mode, const s2e::math::Quaternion quaternion_i2b, + const s2e::math::Vector<3> main_target_direction_b, const s2e::math::Vector<3> sub_target_direction_b, + const s2e::math::Matrix<3, 3>& inertia_tensor_kgm2, const LocalCelestialInformation* local_celestial_information, const Orbit* orbit, const std::string& simulation_object_name) : Attitude(inertia_tensor_kgm2, simulation_object_name), main_mode_(main_mode), @@ -53,7 +53,7 @@ void ControlledAttitude::Initialize(void) { } void ControlledAttitude::Propagate(const double end_time_s) { - math::Vector<3> main_direction_i, sub_direction_i; + s2e::math::Vector<3> main_direction_i, sub_direction_i; if (!is_calc_enabled_) return; if (main_mode_ == AttitudeControlMode::kInertialStabilize) { @@ -72,28 +72,28 @@ void ControlledAttitude::Propagate(const double end_time_s) { return; } -math::Vector<3> ControlledAttitude::CalcTargetDirection_i(AttitudeControlMode mode) { - math::Vector<3> direction; +s2e::math::Vector<3> ControlledAttitude::CalcTargetDirection_i(AttitudeControlMode mode) { + s2e::math::Vector<3> direction; if (mode == AttitudeControlMode::kSunPointing) { direction = local_celestial_information_->GetPositionFromSpacecraft_i_m("SUN"); // When the local_celestial_information is not initialized. FIXME: This is temporary codes for attitude initialize. if (direction.CalcNorm() == 0.0) { - math::Vector<3> sun_position_i_m = local_celestial_information_->GetGlobalInformation().GetPositionFromCenter_i_m("SUN"); - math::Vector<3> spacecraft_position_i_m = orbit_->GetPosition_i_m(); + s2e::math::Vector<3> sun_position_i_m = local_celestial_information_->GetGlobalInformation().GetPositionFromCenter_i_m("SUN"); + s2e::math::Vector<3> spacecraft_position_i_m = orbit_->GetPosition_i_m(); direction = sun_position_i_m - spacecraft_position_i_m; } } else if (mode == AttitudeControlMode::kEarthCenterPointing) { direction = local_celestial_information_->GetPositionFromSpacecraft_i_m("EARTH"); // When the local_celestial_information is not initialized. FIXME: This is temporary codes for attitude initialize. if (direction.CalcNorm() == 0.0) { - math::Vector<3> earth_position_i_m = local_celestial_information_->GetGlobalInformation().GetPositionFromCenter_i_m("EARTH"); - math::Vector<3> spacecraft_position_i_m = orbit_->GetPosition_i_m(); + s2e::math::Vector<3> earth_position_i_m = local_celestial_information_->GetGlobalInformation().GetPositionFromCenter_i_m("EARTH"); + s2e::math::Vector<3> spacecraft_position_i_m = orbit_->GetPosition_i_m(); direction = earth_position_i_m - spacecraft_position_i_m; } } else if (mode == AttitudeControlMode::kVelocityDirectionPointing) { direction = orbit_->GetVelocity_i_m_s(); } else if (mode == AttitudeControlMode::kGroundSpeedDirectionPointing) { - math::Matrix<3, 3> dcm_ecef2eci = local_celestial_information_->GetGlobalInformation().GetEarthRotation().GetDcmJ2000ToEcef().Transpose(); + s2e::math::Matrix<3, 3> dcm_ecef2eci = local_celestial_information_->GetGlobalInformation().GetEarthRotation().GetDcmJ2000ToEcef().Transpose(); direction = dcm_ecef2eci * orbit_->GetVelocity_ecef_m_s(); } else if (mode == AttitudeControlMode::kOrbitNormalPointing) { direction = OuterProduct(orbit_->GetPosition_i_m(), orbit_->GetVelocity_i_m_s()); @@ -102,29 +102,29 @@ math::Vector<3> ControlledAttitude::CalcTargetDirection_i(AttitudeControlMode mo return direction; } -void ControlledAttitude::PointingControl(const math::Vector<3> main_direction_i, const math::Vector<3> sub_direction_i) { +void ControlledAttitude::PointingControl(const s2e::math::Vector<3> main_direction_i, const s2e::math::Vector<3> sub_direction_i) { // Calc DCM ECI->Target - math::Matrix<3, 3> dcm_t2i = CalcDcm(main_direction_i, sub_direction_i); + s2e::math::Matrix<3, 3> dcm_t2i = CalcDcm(main_direction_i, sub_direction_i); // Calc DCM Target->body - math::Matrix<3, 3> dcm_t2b = CalcDcm(main_target_direction_b_, sub_target_direction_b_); + s2e::math::Matrix<3, 3> dcm_t2b = CalcDcm(main_target_direction_b_, sub_target_direction_b_); // Calc DCM ECI->body - math::Matrix<3, 3> dcm_i2b = dcm_t2b * dcm_t2i.Transpose(); + s2e::math::Matrix<3, 3> dcm_i2b = dcm_t2b * dcm_t2i.Transpose(); // Convert to Quaternion - quaternion_i2b_ = math::Quaternion::ConvertFromDcm(dcm_i2b); + quaternion_i2b_ = s2e::math::Quaternion::ConvertFromDcm(dcm_i2b); } -math::Matrix<3, 3> ControlledAttitude::CalcDcm(const math::Vector<3> main_direction, const math::Vector<3> sub_direction) { +s2e::math::Matrix<3, 3> ControlledAttitude::CalcDcm(const s2e::math::Vector<3> main_direction, const s2e::math::Vector<3> sub_direction) { // Calc basis vectors - math::Vector<3> ex, ey, ez; + s2e::math::Vector<3> ex, ey, ez; ex = main_direction; - math::Vector<3> tmp1 = OuterProduct(ex, sub_direction); - math::Vector<3> tmp2 = OuterProduct(tmp1, ex); + s2e::math::Vector<3> tmp1 = OuterProduct(ex, sub_direction); + s2e::math::Vector<3> tmp2 = OuterProduct(tmp1, ex); ey = tmp2.CalcNormalizedVector(); - math::Vector<3> tmp3 = OuterProduct(ex, ey); + s2e::math::Vector<3> tmp3 = OuterProduct(ex, ey); ez = tmp3.CalcNormalizedVector(); // Generate DCM - math::Matrix<3, 3> dcm; + s2e::math::Matrix<3, 3> dcm; for (int i = 0; i < 3; i++) { dcm[i][0] = ex[i]; dcm[i][1] = ey[i]; @@ -152,24 +152,24 @@ AttitudeControlMode ConvertStringToCtrlMode(const std::string mode) { } void ControlledAttitude::CalcAngularVelocity(const double current_time_s) { - math::Vector<3> controlled_torque_b_Nm(0.0); + s2e::math::Vector<3> controlled_torque_b_Nm(0.0); if (previous_calc_time_s_ > 0.0) { double time_diff_sec = current_time_s - previous_calc_time_s_; - math::Quaternion prev_q_b2i = previous_quaternion_i2b_.Conjugate(); - math::Quaternion q_diff = prev_q_b2i * quaternion_i2b_; + s2e::math::Quaternion prev_q_b2i = previous_quaternion_i2b_.Conjugate(); + s2e::math::Quaternion q_diff = prev_q_b2i * quaternion_i2b_; q_diff = (2.0 / time_diff_sec) * q_diff; - math::Vector<3> angular_acc_b_rad_s2_; + s2e::math::Vector<3> angular_acc_b_rad_s2_; for (int i = 0; i < 3; i++) { angular_velocity_b_rad_s_[i] = q_diff[i]; angular_acc_b_rad_s2_[i] = (previous_omega_b_rad_s_[i] - angular_velocity_b_rad_s_[i]) / time_diff_sec; } - math::Matrix<3, 3> inv_inertia_tensor = CalcInverseMatrix(inertia_tensor_kgm2_); + s2e::math::Matrix<3, 3> inv_inertia_tensor = CalcInverseMatrix(inertia_tensor_kgm2_); controlled_torque_b_Nm = inv_inertia_tensor * angular_acc_b_rad_s2_; } else { - angular_velocity_b_rad_s_ = math::Vector<3>(0.0); - controlled_torque_b_Nm = math::Vector<3>(0.0); + angular_velocity_b_rad_s_ = s2e::math::Vector<3>(0.0); + controlled_torque_b_Nm = s2e::math::Vector<3>(0.0); } // Add torque with disturbances AddTorque_b_Nm(controlled_torque_b_Nm); diff --git a/src/dynamics/attitude/controlled_attitude.hpp b/src/dynamics/attitude/controlled_attitude.hpp index ce26738d8..88204270b 100644 --- a/src/dynamics/attitude/controlled_attitude.hpp +++ b/src/dynamics/attitude/controlled_attitude.hpp @@ -54,9 +54,9 @@ class ControlledAttitude : public Attitude { * @param [in] orbit: Orbit * @param [in] simulation_object_name: Simulation object name for Monte-Carlo simulation */ - ControlledAttitude(const AttitudeControlMode main_mode, const AttitudeControlMode sub_mode, const math::Quaternion quaternion_i2b, - const math::Vector<3> main_target_direction_b, const math::Vector<3> sub_target_direction_b, - const math::Matrix<3, 3>& inertia_tensor_kgm2, const LocalCelestialInformation* local_celestial_information, const Orbit* orbit, + ControlledAttitude(const AttitudeControlMode main_mode, const AttitudeControlMode sub_mode, const s2e::math::Quaternion quaternion_i2b, + const s2e::math::Vector<3> main_target_direction_b, const s2e::math::Vector<3> sub_target_direction_b, + const s2e::math::Matrix<3, 3>& inertia_tensor_kgm2, const LocalCelestialInformation* local_celestial_information, const Orbit* orbit, const std::string& simulation_object_name = "attitude"); /** * @fn ~ControlledAttitude @@ -79,17 +79,17 @@ class ControlledAttitude : public Attitude { * @fn SetQuaternion_i2t * @brief Set quaternion for INERTIAL_STABILIZE mode */ - inline void SetQuaternion_i2t(const math::Quaternion quaternion_i2t) { quaternion_i2b_ = quaternion_i2t; } + inline void SetQuaternion_i2t(const s2e::math::Quaternion quaternion_i2t) { quaternion_i2b_ = quaternion_i2t; } /** * @fn SetMainTargetDirection_b * @brief Set main target direction on the body fixed frame */ - inline void SetMainTargetDirection_b(math::Vector<3> main_target_direction_b) { main_target_direction_b_ = main_target_direction_b; } + inline void SetMainTargetDirection_b(s2e::math::Vector<3> main_target_direction_b) { main_target_direction_b_ = main_target_direction_b; } /** * @fn SetSubTargetDirection_b * @brief Set sub target direction on the body fixed frame */ - inline void SetSubTargetDirection_b(math::Vector<3> sub_target_direction_b) { sub_target_direction_b_ = sub_target_direction_b; } + inline void SetSubTargetDirection_b(s2e::math::Vector<3> sub_target_direction_b) { sub_target_direction_b_ = sub_target_direction_b; } /** * @fn Propagate @@ -101,13 +101,13 @@ class ControlledAttitude : public Attitude { private: AttitudeControlMode main_mode_; //!< Main control mode AttitudeControlMode sub_mode_; //!< Sub control mode - math::Vector<3> main_target_direction_b_; //!< Main target direction on the body fixed frame - math::Vector<3> sub_target_direction_b_; //!< Sub target direction on tge body fixed frame + s2e::math::Vector<3> main_target_direction_b_; //!< Main target direction on the body fixed frame + s2e::math::Vector<3> sub_target_direction_b_; //!< Sub target direction on tge body fixed frame double previous_calc_time_s_ = -1.0; //!< Previous time of velocity calculation [sec] - math::Quaternion previous_quaternion_i2b_; //!< Previous quaternion - math::Vector<3> previous_omega_b_rad_s_; //!< Previous angular velocity [rad/s] + s2e::math::Quaternion previous_quaternion_i2b_; //!< Previous quaternion + s2e::math::Vector<3> previous_omega_b_rad_s_; //!< Previous angular velocity [rad/s] - const double kMinDirectionAngle_rad = 30.0 * math::deg_to_rad; //!< Minimum angle b/w main and sub direction + const double kMinDirectionAngle_rad = 30.0 * s2e::math::deg_to_rad; //!< Minimum angle b/w main and sub direction // TODO Change with ini file // Inputs @@ -126,14 +126,14 @@ class ControlledAttitude : public Attitude { * @param [in] mode: Attitude control mode * @return Target direction at the inertia frame */ - math::Vector<3> CalcTargetDirection_i(AttitudeControlMode mode); + s2e::math::Vector<3> CalcTargetDirection_i(AttitudeControlMode mode); /** * @fn PointingControl * @brief Calculate attitude quaternion * @param [in] main_direction_i: Main target direction in the inertial frame * @param [in] sub_direction_i: Sub target direction in the inertial frame */ - void PointingControl(const math::Vector<3> main_direction_i, const math::Vector<3> sub_direction_i); + void PointingControl(const s2e::math::Vector<3> main_direction_i, const s2e::math::Vector<3> sub_direction_i); /** * @fn CalcAngularVelocity * @brief Calculate angular velocity @@ -146,7 +146,7 @@ class ControlledAttitude : public Attitude { * @param [in] main_direction: Main target direction * @param [in] sub_direction: Sub target direction */ - math::Matrix<3, 3> CalcDcm(const math::Vector<3> main_direction, const math::Vector<3> sub_direction); + s2e::math::Matrix<3, 3> CalcDcm(const s2e::math::Vector<3> main_direction, const s2e::math::Vector<3> sub_direction); }; #endif // S2E_DYNAMICS_ATTITUDE_CONTROLLED_ATTITUDE_HPP_ diff --git a/src/dynamics/attitude/initialize_attitude.cpp b/src/dynamics/attitude/initialize_attitude.cpp index d4ed6e202..640cf98c6 100644 --- a/src/dynamics/attitude/initialize_attitude.cpp +++ b/src/dynamics/attitude/initialize_attitude.cpp @@ -7,7 +7,7 @@ #include Attitude* InitAttitude(std::string file_name, const Orbit* orbit, const LocalCelestialInformation* local_celestial_information, - const double step_width_s, const math::Matrix<3, 3>& inertia_tensor_kgm2, const int spacecraft_id) { + const double step_width_s, const s2e::math::Matrix<3, 3>& inertia_tensor_kgm2, const int spacecraft_id) { IniAccess ini_file(file_name); const char* section_ = "ATTITUDE"; std::string mc_name = "attitude" + std::to_string(spacecraft_id); @@ -16,9 +16,9 @@ Attitude* InitAttitude(std::string file_name, const Orbit* orbit, const LocalCel const std::string propagate_mode = ini_file.ReadString(section_, "propagate_mode"); const std::string initialize_mode = ini_file.ReadString(section_, "initialize_mode"); - math::Vector<3> omega_b; - math::Quaternion quaternion_i2b; - math::Vector<3> torque_b; + s2e::math::Vector<3> omega_b; + s2e::math::Quaternion quaternion_i2b; + s2e::math::Vector<3> torque_b; if (initialize_mode == "CONTROLLED") { // Initialize with Controlled attitude (attitude_tmp temporary used) IniAccess ini_file_ca(file_name); @@ -30,7 +30,7 @@ Attitude* InitAttitude(std::string file_name, const Orbit* orbit, const LocalCel AttitudeControlMode sub_mode = ConvertStringToCtrlMode(sub_mode_in); ini_file_ca.ReadQuaternion(section_, "initial_quaternion_i2b", quaternion_i2b); - math::Vector<3> main_target_direction_b, sub_target_direction_b; + s2e::math::Vector<3> main_target_direction_b, sub_target_direction_b; ini_file_ca.ReadVector(section_ca_, "main_pointing_direction_b", main_target_direction_b); ini_file_ca.ReadVector(section_ca_, "sub_pointing_direction_b", sub_target_direction_b); std::string mc_name_temp = section_ + std::to_string(spacecraft_id) + "_TEMP"; @@ -38,8 +38,8 @@ Attitude* InitAttitude(std::string file_name, const Orbit* orbit, const LocalCel inertia_tensor_kgm2, local_celestial_information, orbit, mc_name_temp); attitude_temp->Propagate(step_width_s); quaternion_i2b = attitude_temp->GetQuaternion_i2b(); - omega_b = math::Vector<3>(0.0); - torque_b = math::Vector<3>(0.0); + omega_b = s2e::math::Vector<3>(0.0); + torque_b = s2e::math::Vector<3>(0.0); } else { // Including the case: initialize_mode == "MANUAL" ini_file.ReadVector(section_, "initial_angular_velocity_b_rad_s", omega_b); @@ -54,8 +54,8 @@ Attitude* InitAttitude(std::string file_name, const Orbit* orbit, const LocalCel IniAccess ini_structure(ini_structure_name); const char* section_cantilever = "CANTILEVER_PARAMETERS"; - math::Matrix<3, 3> inertia_tensor_cantilever_kgm2; - math::Vector<9> inertia_vec; + s2e::math::Matrix<3, 3> inertia_tensor_cantilever_kgm2; + s2e::math::Vector<9> inertia_vec; ini_structure.ReadVector(section_cantilever, "inertia_tensor_cantilever_kgm2", inertia_vec); for (int i = 0; i < 3; i++) { for (int j = 0; j < 3; j++) { @@ -78,7 +78,7 @@ Attitude* InitAttitude(std::string file_name, const Orbit* orbit, const LocalCel AttitudeControlMode main_mode = ConvertStringToCtrlMode(main_mode_in); AttitudeControlMode sub_mode = ConvertStringToCtrlMode(sub_mode_in); ini_file_ca.ReadQuaternion(section_, "initial_quaternion_i2b", quaternion_i2b); - math::Vector<3> main_target_direction_b, sub_target_direction_b; + s2e::math::Vector<3> main_target_direction_b, sub_target_direction_b; ini_file_ca.ReadVector(section_ca_, "main_pointing_direction_b", main_target_direction_b); ini_file_ca.ReadVector(section_ca_, "sub_pointing_direction_b", sub_target_direction_b); diff --git a/src/dynamics/attitude/initialize_attitude.hpp b/src/dynamics/attitude/initialize_attitude.hpp index f9b1bebd4..0e3899c02 100644 --- a/src/dynamics/attitude/initialize_attitude.hpp +++ b/src/dynamics/attitude/initialize_attitude.hpp @@ -22,6 +22,6 @@ * @param [in] spacecraft_id: Satellite ID */ Attitude* InitAttitude(std::string file_name, const Orbit* orbit, const LocalCelestialInformation* local_celestial_information, - const double step_width_s, const math::Matrix<3, 3>& inertia_tensor_kgm2, const int spacecraft_id); + const double step_width_s, const s2e::math::Matrix<3, 3>& inertia_tensor_kgm2, const int spacecraft_id); #endif // S2E_DYNAMICS_ATTITUDE_INITIALIZE_ATTITUDE_HPP_ diff --git a/src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp b/src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp index bd2fd8ae5..770a586db 100644 --- a/src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp +++ b/src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp @@ -28,10 +28,10 @@ class AttitudeWithCantileverVibrationOde : public InterfaceOde<13> { * @param [in] quaternion_i2b: True attitude of the spacecraft expressed by quaternion from the inertial frame to the body-fixed frame * @param [in] euler_angule_cantilever_rad: Euler angle of the cantilever@ body-fixed frame [rad] */ - math::Vector<13> SetStateFromPhysicalQuantities(const math::Vector<3> angular_velocity_b_rad_s, - const math::Vector<3> angular_velocity_cantilever_rad_s, const math::Quaternion quaternion_i2b, - const math::Vector<3> euler_angule_cantilever_rad) const { - math::Vector<13> state; + s2e::math::Vector<13> SetStateFromPhysicalQuantities(const s2e::math::Vector<3> angular_velocity_b_rad_s, + const s2e::math::Vector<3> angular_velocity_cantilever_rad_s, const s2e::math::Quaternion quaternion_i2b, + const s2e::math::Vector<3> euler_angule_cantilever_rad) const { + s2e::math::Vector<13> state; for (size_t i = 0; i < 3; i++) { state[i] = angular_velocity_b_rad_s[i]; } @@ -52,9 +52,9 @@ class AttitudeWithCantileverVibrationOde : public InterfaceOde<13> { * @brief Set physical quantities from state acquired by calculation of the ordinary differential equation * @param [in] state: state variables used to calculate the ordinary differential equation */ - void SetPhysicalQuantitiesFromState(const math::Vector<13> state, math::Vector<3>& angular_velocity_b_rad_s, - math::Vector<3>& angular_velocity_cantilever_rad_s, math::Quaternion& quaternion_i2b, - math::Vector<3>& euler_angular_cantilever_rad) const { + void SetPhysicalQuantitiesFromState(const s2e::math::Vector<13> state, s2e::math::Vector<3>& angular_velocity_b_rad_s, + s2e::math::Vector<3>& angular_velocity_cantilever_rad_s, s2e::math::Quaternion& quaternion_i2b, + s2e::math::Vector<3>& euler_angular_cantilever_rad) const { for (size_t i = 0; i < 3; i++) { angular_velocity_b_rad_s[i] = state[i]; } @@ -69,27 +69,27 @@ class AttitudeWithCantileverVibrationOde : public InterfaceOde<13> { } } - math::Vector<13> DerivativeFunction(const double time_s, const math::Vector<13>& state) const override { + s2e::math::Vector<13> DerivativeFunction(const double time_s, const s2e::math::Vector<13>& state) const override { UNUSED(time_s); - math::Vector<13> output; + s2e::math::Vector<13> output; - math::Vector<3> omega_b_rad_s; - math::Vector<3> omega_cantilever_rad_s; - math::Quaternion quaternion_i2b; - math::Vector<3> euler_angle_cantilever_rad; + s2e::math::Vector<3> omega_b_rad_s; + s2e::math::Vector<3> omega_cantilever_rad_s; + s2e::math::Quaternion quaternion_i2b; + s2e::math::Vector<3> euler_angle_cantilever_rad; SetPhysicalQuantitiesFromState(state, omega_b_rad_s, omega_cantilever_rad_s, quaternion_i2b, euler_angle_cantilever_rad); - math::Vector<3> angular_momentum_total_b_Nms = (previous_inertia_tensor_kgm2_ * omega_b_rad_s) + angular_momentum_reaction_wheel_b_Nms_; - math::Vector<3> net_torque_b_Nm = torque_b_Nm_ - math::OuterProduct(omega_b_rad_s, angular_momentum_total_b_Nms) - torque_inertia_tensor_b_Nm_; + s2e::math::Vector<3> angular_momentum_total_b_Nms = (previous_inertia_tensor_kgm2_ * omega_b_rad_s) + angular_momentum_reaction_wheel_b_Nms_; + s2e::math::Vector<3> net_torque_b_Nm = torque_b_Nm_ - s2e::math::OuterProduct(omega_b_rad_s, angular_momentum_total_b_Nms) - torque_inertia_tensor_b_Nm_; - math::Vector<3> angular_accelaration_cantilever_rad_s2 = + s2e::math::Vector<3> angular_accelaration_cantilever_rad_s2 = -(inverse_equivalent_inertia_tensor_cantilever_ * (attenuation_coefficient_ * omega_cantilever_rad_s + spring_coefficient_ * euler_angle_cantilever_rad)) - inverse_inertia_tensor_ * net_torque_b_Nm; - math::Vector<3> rhs = inverse_inertia_tensor_ * (net_torque_b_Nm - inertia_tensor_cantilever_kgm2_ * angular_accelaration_cantilever_rad_s2); + s2e::math::Vector<3> rhs = inverse_inertia_tensor_ * (net_torque_b_Nm - inertia_tensor_cantilever_kgm2_ * angular_accelaration_cantilever_rad_s2); for (size_t i = 0; i < 3; ++i) { output[i] = rhs[i]; @@ -99,7 +99,7 @@ class AttitudeWithCantileverVibrationOde : public InterfaceOde<13> { output[i + 3] = angular_accelaration_cantilever_rad_s2[i]; } - math::Vector<4> d_quaternion = 0.5 * CalcAngularVelocityMatrix(omega_b_rad_s) * (math::Vector<4>(quaternion_i2b)); + s2e::math::Vector<4> d_quaternion = 0.5 * CalcAngularVelocityMatrix(omega_b_rad_s) * (s2e::math::Vector<4>(quaternion_i2b)); for (size_t i = 0; i < 4; i++) { output[i + 6] = d_quaternion[i]; @@ -110,7 +110,7 @@ class AttitudeWithCantileverVibrationOde : public InterfaceOde<13> { } // The function is used to output the derivative of each corresponding physical quantity. - output = SetStateFromPhysicalQuantities(rhs, angular_accelaration_cantilever_rad_s2, math::Quaternion(d_quaternion), omega_cantilever_rad_s); + output = SetStateFromPhysicalQuantities(rhs, angular_accelaration_cantilever_rad_s2, s2e::math::Quaternion(d_quaternion), omega_cantilever_rad_s); return output; } @@ -130,27 +130,27 @@ class AttitudeWithCantileverVibrationOde : public InterfaceOde<13> { * @fn GetTorqueInertiaTensor_b_Nm * @brief Get torque generated by inertia tensor [Nm] */ - inline math::Vector<3> GetTorqueInertiaTensor_b_Nm() { return torque_inertia_tensor_b_Nm_; } + inline s2e::math::Vector<3> GetTorqueInertiaTensor_b_Nm() { return torque_inertia_tensor_b_Nm_; } /** * @fn GetInverseInertiaTensor * @brief Get inverse of inertia tensor */ - inline math::Matrix<3, 3> GetInverseInertiaTensor() { return inverse_inertia_tensor_; } + inline s2e::math::Matrix<3, 3> GetInverseInertiaTensor() { return inverse_inertia_tensor_; } /** * @fn GetPreviousInertiaTensor_kgm2 * @brief Get previous inertia tensor [kgm2] */ - inline math::Matrix<3, 3> GetPreviousInertiaTensor_kgm2() { return previous_inertia_tensor_kgm2_; } + inline s2e::math::Matrix<3, 3> GetPreviousInertiaTensor_kgm2() { return previous_inertia_tensor_kgm2_; } /** * @fn GetInertiaTensorCantilever_kgm2 * @brief Get inertia tensor of the cantilever [kgm2] */ - inline math::Matrix<3, 3> GetInertiaTensorCantilever_kgm2() { return inertia_tensor_cantilever_kgm2_; } + inline s2e::math::Matrix<3, 3> GetInertiaTensorCantilever_kgm2() { return inertia_tensor_cantilever_kgm2_; } /** * @fn GetInverseEquivalentInertiaTensorCantilever * @brief Get inverse of inertia tensor of the cantilever */ - inline math::Matrix<3, 3> GetInverseEquivalentInertiaTensorCantilever() { return inverse_equivalent_inertia_tensor_cantilever_; } + inline s2e::math::Matrix<3, 3> GetInverseEquivalentInertiaTensorCantilever() { return inverse_equivalent_inertia_tensor_cantilever_; } // Setter /** @@ -167,58 +167,58 @@ class AttitudeWithCantileverVibrationOde : public InterfaceOde<13> { * @fn SetTorque_b_Nm * @brief Set torque acting on the spacecraft on the body fixed frame [Nm] */ - inline void SetTorque_b_Nm(const math::Vector<3> torque_b_Nm) { torque_b_Nm_ = torque_b_Nm; } + inline void SetTorque_b_Nm(const s2e::math::Vector<3> torque_b_Nm) { torque_b_Nm_ = torque_b_Nm; } /** * @fn SetTorqueInertiaTensor_b_Nm * @brief Set torque generated by inertia tensor [Nm] */ - inline void SetTorqueInertiaTensor_b_Nm(const math::Vector<3> torque_inertia_tensor_b_Nm) { + inline void SetTorqueInertiaTensor_b_Nm(const s2e::math::Vector<3> torque_inertia_tensor_b_Nm) { torque_inertia_tensor_b_Nm_ = torque_inertia_tensor_b_Nm; } /** * @fn SetAngularMomentumReactionWheel_b_Nms * @brief Set angular momentum of reaction wheel in the body fixed frame [Nms] */ - inline void SetAngularMomentumReactionWheel_b_Nms(const math::Vector<3> angular_momentum_reaction_wheel_b_Nms) { + inline void SetAngularMomentumReactionWheel_b_Nms(const s2e::math::Vector<3> angular_momentum_reaction_wheel_b_Nms) { angular_momentum_reaction_wheel_b_Nms_ = angular_momentum_reaction_wheel_b_Nms; } /** * @fn SetInverseInertiaTensor * @brief Set inverse of inertia tensor */ - inline void SetInverseInertiaTensor(const math::Matrix<3, 3> inverse_inertia_tensor) { inverse_inertia_tensor_ = inverse_inertia_tensor; } + inline void SetInverseInertiaTensor(const s2e::math::Matrix<3, 3> inverse_inertia_tensor) { inverse_inertia_tensor_ = inverse_inertia_tensor; } /** * @fn SetPreviousInertiaTensor_kgm2 * @brief Set previous inertia tensor [kgm2] */ - inline void SetPreviousInertiaTensor_kgm2(const math::Matrix<3, 3> previous_inertia_tensor_kgm2) { + inline void SetPreviousInertiaTensor_kgm2(const s2e::math::Matrix<3, 3> previous_inertia_tensor_kgm2) { previous_inertia_tensor_kgm2_ = previous_inertia_tensor_kgm2; } /** * @fn SetInertiaTensorCantilever_kgm2 * @brief Set inertia tensor of the cantilever [kgm2] */ - inline void SetInertiaTensorCantilever_kgm2(const math::Matrix<3, 3> inertia_tensor_cantilever_kgm2) { + inline void SetInertiaTensorCantilever_kgm2(const s2e::math::Matrix<3, 3> inertia_tensor_cantilever_kgm2) { inertia_tensor_cantilever_kgm2_ = inertia_tensor_cantilever_kgm2; } /** * @fn SetInverseEquivalentInertiaTensorCantilever * @brief Set inverse of inertia tensor of the cantilever */ - inline void SetInverseEquivalentInertiaTensorCantilever(const math::Matrix<3, 3> inverse_equivalent_inertia_tensor_cantilever) { + inline void SetInverseEquivalentInertiaTensorCantilever(const s2e::math::Matrix<3, 3> inverse_equivalent_inertia_tensor_cantilever) { inverse_equivalent_inertia_tensor_cantilever_ = inverse_equivalent_inertia_tensor_cantilever; } protected: double attenuation_coefficient_ = 0.0; //!< Attenuation coefficient double spring_coefficient_ = 0.0; //!< Spring coefficient - math::Vector<3> torque_b_Nm_{0.0}; //!< Torque in the body fixed frame [Nm] - math::Vector<3> torque_inertia_tensor_b_Nm_{0.0}; //!< Torque generated by inertia tensor [Nm] - math::Vector<3> angular_momentum_reaction_wheel_b_Nms_{0.0}; //!< Angular momentum of reaction wheel in the body fixed frame [Nms] - math::Matrix<3, 3> inverse_inertia_tensor_{0.0}; //!< Inverse of inertia tensor - math::Matrix<3, 3> previous_inertia_tensor_kgm2_{0.0}; //!< Previous inertia tensor [kgm2] - math::Matrix<3, 3> inertia_tensor_cantilever_kgm2_{0.0}; //!< Inertia tensor of the cantilever [kgm2] - math::Matrix<3, 3> inverse_equivalent_inertia_tensor_cantilever_{0.0}; //!< Inverse of inertia tensor of the cantilever + s2e::math::Vector<3> torque_b_Nm_{0.0}; //!< Torque in the body fixed frame [Nm] + s2e::math::Vector<3> torque_inertia_tensor_b_Nm_{0.0}; //!< Torque generated by inertia tensor [Nm] + s2e::math::Vector<3> angular_momentum_reaction_wheel_b_Nms_{0.0}; //!< Angular momentum of reaction wheel in the body fixed frame [Nms] + s2e::math::Matrix<3, 3> inverse_inertia_tensor_{0.0}; //!< Inverse of inertia tensor + s2e::math::Matrix<3, 3> previous_inertia_tensor_kgm2_{0.0}; //!< Previous inertia tensor [kgm2] + s2e::math::Matrix<3, 3> inertia_tensor_cantilever_kgm2_{0.0}; //!< Inertia tensor of the cantilever [kgm2] + s2e::math::Matrix<3, 3> inverse_equivalent_inertia_tensor_cantilever_{0.0}; //!< Inverse of inertia tensor of the cantilever }; } // namespace numerical_integration diff --git a/src/dynamics/dynamics.cpp b/src/dynamics/dynamics.cpp index ef54a9f29..d10a715bd 100644 --- a/src/dynamics/dynamics.cpp +++ b/src/dynamics/dynamics.cpp @@ -59,7 +59,7 @@ void Dynamics::Update(const SimulationTime* simulation_time, const LocalCelestia } void Dynamics::ClearForceTorque(void) { - math::Vector<3> zero(0.0); + s2e::math::Vector<3> zero(0.0); attitude_->SetTorque_b_Nm(zero); orbit_->SetAcceleration_i_m_s2(zero); } diff --git a/src/dynamics/dynamics.hpp b/src/dynamics/dynamics.hpp index 327cc399a..2db4bfbbd 100644 --- a/src/dynamics/dynamics.hpp +++ b/src/dynamics/dynamics.hpp @@ -63,13 +63,13 @@ class Dynamics { * @brief Add input torque for the attitude dynamics propagation * @param [in] torque_b_Nm: Torque in the body fixed frame [Nm] */ - inline void AddTorque_b_Nm(math::Vector<3> torque_b_Nm) { attitude_->AddTorque_b_Nm(torque_b_Nm); } + inline void AddTorque_b_Nm(s2e::math::Vector<3> torque_b_Nm) { attitude_->AddTorque_b_Nm(torque_b_Nm); } /** * @fn AddForce_b_N * @brief Add input force for the orbit dynamics propagation * @param [in] force_b_N: Force in the body fixed frame [N] */ - inline void AddForce_b_N(math::Vector<3> force_b_N) { + inline void AddForce_b_N(s2e::math::Vector<3> force_b_N) { orbit_->AddForce_b_N(force_b_N, attitude_->GetQuaternion_i2b(), structure_->GetKinematicsParameters().GetMass_kg()); } /** @@ -77,7 +77,7 @@ class Dynamics { * @brief Add input acceleration for the orbit dynamics propagation * @param [in] acceleration_i_m_s2: Acceleration in the inertial fixed frame [N] */ - inline void AddAcceleration_i_m_s2(math::Vector<3> acceleration_i_m_s2) { orbit_->AddAcceleration_i_m_s2(acceleration_i_m_s2); } + inline void AddAcceleration_i_m_s2(s2e::math::Vector<3> acceleration_i_m_s2) { orbit_->AddAcceleration_i_m_s2(acceleration_i_m_s2); } /** * @fn ClearForceTorque diff --git a/src/dynamics/orbit/encke_orbit_propagation.cpp b/src/dynamics/orbit/encke_orbit_propagation.cpp index 9b67322f2..ccdbc265d 100644 --- a/src/dynamics/orbit/encke_orbit_propagation.cpp +++ b/src/dynamics/orbit/encke_orbit_propagation.cpp @@ -10,10 +10,10 @@ #include "../../math_physics/orbit/orbital_elements.hpp" EnckeOrbitPropagation::EnckeOrbitPropagation(const CelestialInformation* celestial_information, const double gravity_constant_m3_s2, - const double propagation_step_s, const double current_time_jd, const math::Vector<3> position_i_m, - const math::Vector<3> velocity_i_m_s, const double error_tolerance) + const double propagation_step_s, const double current_time_jd, const s2e::math::Vector<3> position_i_m, + const s2e::math::Vector<3> velocity_i_m_s, const double error_tolerance) : Orbit(celestial_information), - math::OrdinaryDifferentialEquation<6>(propagation_step_s), + s2e::math::OrdinaryDifferentialEquation<6>(propagation_step_s), gravity_constant_m3_s2_(gravity_constant_m3_s2), error_tolerance_(error_tolerance), propagation_step_s_(propagation_step_s) { @@ -60,9 +60,9 @@ void EnckeOrbitPropagation::Propagate(const double end_time_s, const double curr } // Functions for OrdinaryDifferentialEquation -void EnckeOrbitPropagation::DerivativeFunction(double t, const math::Vector<6>& state, math::Vector<6>& rhs) { +void EnckeOrbitPropagation::DerivativeFunction(double t, const s2e::math::Vector<6>& state, s2e::math::Vector<6>& rhs) { UNUSED(t); - math::Vector<3> difference_position_i_m_m, difference_acc_i_m_s2; + s2e::math::Vector<3> difference_position_i_m_m, difference_acc_i_m_s2; for (int i = 0; i < 3; i++) { difference_position_i_m_m[i] = state[i]; } @@ -83,7 +83,7 @@ void EnckeOrbitPropagation::DerivativeFunction(double t, const math::Vector<6>& } // Private Functions -void EnckeOrbitPropagation::Initialize(double current_time_jd, math::Vector<3> reference_position_i_m, math::Vector<3> reference_velocity_i_m_s) { +void EnckeOrbitPropagation::Initialize(double current_time_jd, s2e::math::Vector<3> reference_position_i_m, s2e::math::Vector<3> reference_velocity_i_m_s) { // General spacecraft_acceleration_i_m_s2_.FillUp(0.0); @@ -97,7 +97,7 @@ void EnckeOrbitPropagation::Initialize(double current_time_jd, math::Vector<3> r difference_position_i_m_.FillUp(0.0); difference_velocity_i_m_s_.FillUp(0.0); - math::Vector<6> zero(0.0f); + s2e::math::Vector<6> zero(0.0f); Setup(0.0, zero); UpdateSatOrbit(); @@ -111,11 +111,11 @@ void EnckeOrbitPropagation::UpdateSatOrbit() { TransformEcefToGeodetic(); } -double EnckeOrbitPropagation::CalcQFunction(math::Vector<3> difference_position_i_m) { +double EnckeOrbitPropagation::CalcQFunction(s2e::math::Vector<3> difference_position_i_m) { double r2; r2 = InnerProduct(spacecraft_position_i_m_, spacecraft_position_i_m_); - math::Vector<3> dr_2r; + s2e::math::Vector<3> dr_2r; dr_2r = difference_position_i_m - 2.0 * spacecraft_position_i_m_; double q = InnerProduct(difference_position_i_m, dr_2r) / r2; diff --git a/src/dynamics/orbit/encke_orbit_propagation.hpp b/src/dynamics/orbit/encke_orbit_propagation.hpp index a32052e2b..e5ad30c75 100644 --- a/src/dynamics/orbit/encke_orbit_propagation.hpp +++ b/src/dynamics/orbit/encke_orbit_propagation.hpp @@ -14,7 +14,7 @@ * @class EnckeOrbitPropagation * @brief Class to propagate spacecraft orbit with Encke's method */ -class EnckeOrbitPropagation : public Orbit, public math::OrdinaryDifferentialEquation<6> { +class EnckeOrbitPropagation : public Orbit, public s2e::math::OrdinaryDifferentialEquation<6> { public: /** * @fn EnckeOrbitPropagation @@ -28,7 +28,7 @@ class EnckeOrbitPropagation : public Orbit, public math::OrdinaryDifferentialEqu * @param [in] error_tolerance: Error tolerance threshold */ EnckeOrbitPropagation(const CelestialInformation* celestial_information, const double gravity_constant_m3_s2, const double propagation_step_s, - const double current_time_jd, const math::Vector<3> position_i_m, const math::Vector<3> velocity_i_m_s, + const double current_time_jd, const s2e::math::Vector<3> position_i_m, const s2e::math::Vector<3> velocity_i_m_s, const double error_tolerance); /** * @fn ~EnckeOrbitPropagation @@ -53,7 +53,7 @@ class EnckeOrbitPropagation : public Orbit, public math::OrdinaryDifferentialEqu * @param [in] state: Position and velocity as state vector * @param [out] rhs: Output of the function */ - virtual void DerivativeFunction(double t, const math::Vector<6>& state, math::Vector<6>& rhs); + virtual void DerivativeFunction(double t, const s2e::math::Vector<6>& state, s2e::math::Vector<6>& rhs); private: // General @@ -63,13 +63,13 @@ class EnckeOrbitPropagation : public Orbit, public math::OrdinaryDifferentialEqu double propagation_time_s_; //!< Simulation current time for numerical integration by RK4 // reference orbit - math::Vector<3> reference_position_i_m_; //!< Reference orbit position in the inertial frame [m] - math::Vector<3> reference_velocity_i_m_s_; //!< Reference orbit velocity in the inertial frame [m/s] + s2e::math::Vector<3> reference_position_i_m_; //!< Reference orbit position in the inertial frame [m] + s2e::math::Vector<3> reference_velocity_i_m_s_; //!< Reference orbit velocity in the inertial frame [m/s] orbit::KeplerOrbit reference_kepler_orbit; //!< Reference Kepler orbital element // difference orbit - math::Vector<3> difference_position_i_m_; //!< Difference orbit position in the inertial frame [m] - math::Vector<3> difference_velocity_i_m_s_; //!< Difference orbit velocity in the inertial frame [m/s] + s2e::math::Vector<3> difference_position_i_m_; //!< Difference orbit position in the inertial frame [m] + s2e::math::Vector<3> difference_velocity_i_m_s_; //!< Difference orbit velocity in the inertial frame [m/s] // functions /** @@ -79,7 +79,7 @@ class EnckeOrbitPropagation : public Orbit, public math::OrdinaryDifferentialEqu * @param [in] reference_position_i_m: Initial value of reference orbit position in the inertial frame [m] * @param [in] reference_velocity_i_m_s: Initial value of reference orbit position in the inertial frame [m] */ - void Initialize(const double current_time_jd, const math::Vector<3> reference_position_i_m, const math::Vector<3> reference_velocity_i_m_s); + void Initialize(const double current_time_jd, const s2e::math::Vector<3> reference_position_i_m, const s2e::math::Vector<3> reference_velocity_i_m_s); /** * @fn UpdateSatOrbit * @brief Update satellite orbit @@ -90,7 +90,7 @@ class EnckeOrbitPropagation : public Orbit, public math::OrdinaryDifferentialEqu * @brief Calculate Q function * @param [in] difference_position_i_m: Difference of position in the inertial frame [m] */ - double CalcQFunction(const math::Vector<3> difference_position_i_m); + double CalcQFunction(const s2e::math::Vector<3> difference_position_i_m); }; #endif // S2E_DYNAMICS_ORBIT_ENCKE_ORBIT_PROPAGATION_HPP_ diff --git a/src/dynamics/orbit/initialize_orbit.cpp b/src/dynamics/orbit/initialize_orbit.cpp index 8ce7ab313..80252658b 100644 --- a/src/dynamics/orbit/initialize_orbit.cpp +++ b/src/dynamics/orbit/initialize_orbit.cpp @@ -26,9 +26,9 @@ Orbit* InitOrbit(const CelestialInformation* celestial_information, std::string if (propagate_mode == "RK4") { // initialize RK4 orbit propagator - math::Vector<3> position_i_m; - math::Vector<3> velocity_i_m_s; - math::Vector<6> pos_vel = InitializePosVel(initialize_file, current_time_jd, gravity_constant_m3_s2); + s2e::math::Vector<3> position_i_m; + s2e::math::Vector<3> velocity_i_m_s; + s2e::math::Vector<6> pos_vel = InitializePosVel(initialize_file, current_time_jd, gravity_constant_m3_s2); for (size_t i = 0; i < 3; i++) { position_i_m[i] = pos_vel[i]; velocity_i_m_s[i] = pos_vel[i + 3]; @@ -49,9 +49,9 @@ Orbit* InitOrbit(const CelestialInformation* celestial_information, std::string orbit::RelativeOrbitModel relative_dynamics_model_type = (orbit::RelativeOrbitModel)(conf.ReadInt(section_, "relative_dynamics_model_type")); orbit::StmModel stm_model_type = (orbit::StmModel)(conf.ReadInt(section_, "stm_model_type")); - math::Vector<3> init_relative_position_lvlh; + s2e::math::Vector<3> init_relative_position_lvlh; conf.ReadVector<3>(section_, "initial_relative_position_lvlh_m", init_relative_position_lvlh); - math::Vector<3> init_relative_velocity_lvlh; + s2e::math::Vector<3> init_relative_velocity_lvlh; conf.ReadVector<3>(section_, "initial_relative_velocity_lvlh_m_s", init_relative_velocity_lvlh); // There is a possibility that the orbit of the reference sat is not initialized when RelativeOrbit initialization is called To ensure that @@ -66,9 +66,9 @@ Orbit* InitOrbit(const CelestialInformation* celestial_information, std::string // TODO: init_mode_kepler should be removed in the next major update if (initialize_mode == OrbitInitializeMode::kInertialPositionAndVelocity) { // initialize with position and velocity - math::Vector<3> init_pos_m; + s2e::math::Vector<3> init_pos_m; conf.ReadVector<3>(section_, "initial_position_i_m", init_pos_m); - math::Vector<3> init_vel_m_s; + s2e::math::Vector<3> init_vel_m_s; conf.ReadVector<3>(section_, "initial_velocity_i_m_s", init_vel_m_s); oe = orbit::OrbitalElements(gravity_constant_m3_s2, current_time_jd, init_pos_m, init_vel_m_s); } else { @@ -85,9 +85,9 @@ Orbit* InitOrbit(const CelestialInformation* celestial_information, std::string orbit = new KeplerOrbitPropagation(celestial_information, current_time_jd, kepler_orbit); } else if (propagate_mode == "ENCKE") { // initialize orbit for Encke's method - math::Vector<3> position_i_m; - math::Vector<3> velocity_i_m_s; - math::Vector<6> pos_vel = InitializePosVel(initialize_file, current_time_jd, gravity_constant_m3_s2); + s2e::math::Vector<3> position_i_m; + s2e::math::Vector<3> velocity_i_m_s; + s2e::math::Vector<6> pos_vel = InitializePosVel(initialize_file, current_time_jd, gravity_constant_m3_s2); for (size_t i = 0; i < 3; i++) { position_i_m[i] = pos_vel[i]; velocity_i_m_s[i] = pos_vel[i + 3]; @@ -100,9 +100,9 @@ Orbit* InitOrbit(const CelestialInformation* celestial_information, std::string std::cerr << "ERROR: orbit propagation mode: " << propagate_mode << " is not defined!" << std::endl; std::cerr << "The orbit mode is automatically set as RK4" << std::endl; - math::Vector<3> position_i_m; - math::Vector<3> velocity_i_m_s; - math::Vector<6> pos_vel = InitializePosVel(initialize_file, current_time_jd, gravity_constant_m3_s2); + s2e::math::Vector<3> position_i_m; + s2e::math::Vector<3> velocity_i_m_s; + s2e::math::Vector<6> pos_vel = InitializePosVel(initialize_file, current_time_jd, gravity_constant_m3_s2); for (size_t i = 0; i < 3; i++) { position_i_m[i] = pos_vel[i]; velocity_i_m_s[i] = pos_vel[i + 3]; @@ -115,12 +115,12 @@ Orbit* InitOrbit(const CelestialInformation* celestial_information, std::string return orbit; } -math::Vector<6> InitializePosVel(std::string initialize_file, double current_time_jd, double gravity_constant_m3_s2, std::string section) { +s2e::math::Vector<6> InitializePosVel(std::string initialize_file, double current_time_jd, double gravity_constant_m3_s2, std::string section) { auto conf = IniAccess(initialize_file); const char* section_ = section.c_str(); - math::Vector<3> position_i_m; - math::Vector<3> velocity_i_m_s; - math::Vector<6> pos_vel; + s2e::math::Vector<3> position_i_m; + s2e::math::Vector<3> velocity_i_m_s; + s2e::math::Vector<6> pos_vel; OrbitInitializeMode initialize_mode = SetOrbitInitializeMode(conf.ReadString(section_, "initialize_mode")); if (initialize_mode == OrbitInitializeMode::kOrbitalElements) { diff --git a/src/dynamics/orbit/initialize_orbit.hpp b/src/dynamics/orbit/initialize_orbit.hpp index 6b3aad69f..1bdbe44cd 100644 --- a/src/dynamics/orbit/initialize_orbit.hpp +++ b/src/dynamics/orbit/initialize_orbit.hpp @@ -35,6 +35,6 @@ Orbit* InitOrbit(const CelestialInformation* celestial_information, std::string * @param [in] gravity_constant_m3_s2: Gravity constant [m3/s2] * @param [in] section: Section name */ -math::Vector<6> InitializePosVel(std::string initialize_file, double current_time_jd, double gravity_constant_m3_s2, std::string section = "ORBIT"); +s2e::math::Vector<6> InitializePosVel(std::string initialize_file, double current_time_jd, double gravity_constant_m3_s2, std::string section = "ORBIT"); #endif // S2E_DYNAMICS_ORBIT_INITIALIZE_ORBIT_HPP_ diff --git a/src/dynamics/orbit/orbit.cpp b/src/dynamics/orbit/orbit.cpp index b38aa9c98..d3058f5fd 100644 --- a/src/dynamics/orbit/orbit.cpp +++ b/src/dynamics/orbit/orbit.cpp @@ -4,16 +4,16 @@ */ #include "orbit.hpp" -math::Quaternion Orbit::CalcQuaternion_i2lvlh() const { - math::Vector<3> lvlh_x = spacecraft_position_i_m_; // x-axis in LVLH frame is position vector direction from geocenter to satellite - math::Vector<3> lvlh_ex = lvlh_x.CalcNormalizedVector(); - math::Vector<3> lvlh_z = +s2e::math::Quaternion Orbit::CalcQuaternion_i2lvlh() const { + s2e::math::Vector<3> lvlh_x = spacecraft_position_i_m_; // x-axis in LVLH frame is position vector direction from geocenter to satellite + s2e::math::Vector<3> lvlh_ex = lvlh_x.CalcNormalizedVector(); + s2e::math::Vector<3> lvlh_z = OuterProduct(spacecraft_position_i_m_, spacecraft_velocity_i_m_s_); // z-axis in LVLH frame is angular momentum vector direction of orbit - math::Vector<3> lvlh_ez = lvlh_z.CalcNormalizedVector(); - math::Vector<3> lvlh_y = OuterProduct(lvlh_z, lvlh_x); - math::Vector<3> lvlh_ey = lvlh_y.CalcNormalizedVector(); + s2e::math::Vector<3> lvlh_ez = lvlh_z.CalcNormalizedVector(); + s2e::math::Vector<3> lvlh_y = OuterProduct(lvlh_z, lvlh_x); + s2e::math::Vector<3> lvlh_ey = lvlh_y.CalcNormalizedVector(); - math::Matrix<3, 3> dcm_i2lvlh; + s2e::math::Matrix<3, 3> dcm_i2lvlh; dcm_i2lvlh[0][0] = lvlh_ex[0]; dcm_i2lvlh[0][1] = lvlh_ex[1]; dcm_i2lvlh[0][2] = lvlh_ex[2]; @@ -24,19 +24,19 @@ math::Quaternion Orbit::CalcQuaternion_i2lvlh() const { dcm_i2lvlh[2][1] = lvlh_ez[1]; dcm_i2lvlh[2][2] = lvlh_ez[2]; - math::Quaternion q_i2lvlh = math::Quaternion::ConvertFromDcm(dcm_i2lvlh); + s2e::math::Quaternion q_i2lvlh = s2e::math::Quaternion::ConvertFromDcm(dcm_i2lvlh); return q_i2lvlh.Normalize(); } void Orbit::TransformEciToEcef(void) { - math::Matrix<3, 3> dcm_i_to_xcxf = celestial_information_->GetEarthRotation().GetDcmJ2000ToEcef(); + s2e::math::Matrix<3, 3> dcm_i_to_xcxf = celestial_information_->GetEarthRotation().GetDcmJ2000ToEcef(); spacecraft_position_ecef_m_ = dcm_i_to_xcxf * spacecraft_position_i_m_; // convert velocity vector in ECI to the vector in ECEF - math::Vector<3> earth_angular_velocity_i_rad_s{0.0}; + s2e::math::Vector<3> earth_angular_velocity_i_rad_s{0.0}; earth_angular_velocity_i_rad_s[2] = environment::earth_mean_angular_velocity_rad_s; - math::Vector<3> we_cross_r = OuterProduct(earth_angular_velocity_i_rad_s, spacecraft_position_i_m_); - math::Vector<3> velocity_we_cross_r = spacecraft_velocity_i_m_s_ - we_cross_r; + s2e::math::Vector<3> we_cross_r = OuterProduct(earth_angular_velocity_i_rad_s, spacecraft_position_i_m_); + s2e::math::Vector<3> velocity_we_cross_r = spacecraft_velocity_i_m_s_ - we_cross_r; spacecraft_velocity_ecef_m_s_ = dcm_i_to_xcxf * velocity_we_cross_r; } diff --git a/src/dynamics/orbit/orbit.hpp b/src/dynamics/orbit/orbit.hpp index d3df8fb4a..01be5c87c 100644 --- a/src/dynamics/orbit/orbit.hpp +++ b/src/dynamics/orbit/orbit.hpp @@ -69,7 +69,7 @@ class Orbit : public ILoggable { * @brief Update attitude information * @param [in] quaternion_i2b: End time of simulation [sec] */ - inline void UpdateByAttitude(const math::Quaternion quaternion_i2b) { + inline void UpdateByAttitude(const s2e::math::Quaternion quaternion_i2b) { spacecraft_velocity_b_m_s_ = quaternion_i2b.FrameConversion(spacecraft_velocity_i_m_s_); } @@ -88,27 +88,27 @@ class Orbit : public ILoggable { * @fn GetPosition_i_m * @brief Return spacecraft position in the inertial frame [m] */ - inline math::Vector<3> GetPosition_i_m() const { return spacecraft_position_i_m_; } + inline s2e::math::Vector<3> GetPosition_i_m() const { return spacecraft_position_i_m_; } /** * @fn GetPosition_ecef_m * @brief Return spacecraft position in the ECEF frame [m] */ - inline math::Vector<3> GetPosition_ecef_m() const { return spacecraft_position_ecef_m_; } + inline s2e::math::Vector<3> GetPosition_ecef_m() const { return spacecraft_position_ecef_m_; } /** * @fn GetVelocity_i_m_s * @brief Return spacecraft velocity in the inertial frame [m/s] */ - inline math::Vector<3> GetVelocity_i_m_s() const { return spacecraft_velocity_i_m_s_; } + inline s2e::math::Vector<3> GetVelocity_i_m_s() const { return spacecraft_velocity_i_m_s_; } /** * @fn GetVelocity_b_m_s * @brief Return spacecraft velocity in the body fixed frame [m/s] */ - inline math::Vector<3> GetVelocity_b_m_s() const { return spacecraft_velocity_b_m_s_; } + inline s2e::math::Vector<3> GetVelocity_b_m_s() const { return spacecraft_velocity_b_m_s_; } /** * @fn GetVelocity_ecef_m_s * @brief Return spacecraft velocity in the ECEF frame [m/s] */ - inline math::Vector<3> GetVelocity_ecef_m_s() const { return spacecraft_velocity_ecef_m_s_; } + inline s2e::math::Vector<3> GetVelocity_ecef_m_s() const { return spacecraft_velocity_ecef_m_s_; } /** * @fn GetGeodeticPosition * @brief Return spacecraft position in the geodetic frame [m] @@ -119,8 +119,8 @@ class Orbit : public ILoggable { inline double GetLatitude_rad() const { return spacecraft_geodetic_position_.GetLatitude_rad(); } inline double GetLongitude_rad() const { return spacecraft_geodetic_position_.GetLongitude_rad(); } inline double GetAltitude_m() const { return spacecraft_geodetic_position_.GetAltitude_m(); } - inline math::Vector<3> GetLatLonAlt() const { - math::Vector<3> vec; + inline s2e::math::Vector<3> GetLatLonAlt() const { + s2e::math::Vector<3> vec; vec(0) = spacecraft_geodetic_position_.GetLatitude_rad(); vec(1) = spacecraft_geodetic_position_.GetLongitude_rad(); vec(2) = spacecraft_geodetic_position_.GetAltitude_m(); @@ -137,15 +137,15 @@ class Orbit : public ILoggable { * @fn SetAcceleration_i_m_s2 * @brief Set acceleration in the inertial frame [m/s2] */ - inline void SetAcceleration_i_m_s2(const math::Vector<3> acceleration_i_m_s2) { spacecraft_acceleration_i_m_s2_ = acceleration_i_m_s2; } + inline void SetAcceleration_i_m_s2(const s2e::math::Vector<3> acceleration_i_m_s2) { spacecraft_acceleration_i_m_s2_ = acceleration_i_m_s2; } /** * @fn AddForce_i_N * @brief Add force * @param [in] force_i: Force in the inertial frame [N] * @param [in] spacecraft_mass_kg: Mass of spacecraft [kg] */ - inline void AddForce_i_N(const math::Vector<3> force_i_N, double spacecraft_mass_kg) { - math::Vector<3> acceleration_i_m_s2 = force_i_N; + inline void AddForce_i_N(const s2e::math::Vector<3> force_i_N, double spacecraft_mass_kg) { + s2e::math::Vector<3> acceleration_i_m_s2 = force_i_N; acceleration_i_m_s2 /= spacecraft_mass_kg; // FIXME spacecraft_acceleration_i_m_s2_ += acceleration_i_m_s2; } @@ -153,7 +153,7 @@ class Orbit : public ILoggable { * @fn AddAcceleration_i_m_s2 * @brief Add acceleration in the inertial frame [m/s2] */ - inline void AddAcceleration_i_m_s2(const math::Vector<3> acceleration_i_m_s2) { spacecraft_acceleration_i_m_s2_ += acceleration_i_m_s2; } + inline void AddAcceleration_i_m_s2(const s2e::math::Vector<3> acceleration_i_m_s2) { spacecraft_acceleration_i_m_s2_ += acceleration_i_m_s2; } /** * @fn AddForce_i_N * @brief Add force @@ -161,7 +161,7 @@ class Orbit : public ILoggable { * @param [in] quaternion_i2b: Quaternion from the inertial frame to the body fixed frame * @param [in] spacecraft_mass_kg: Mass of spacecraft [kg] */ - inline void AddForce_b_N(const math::Vector<3> force_b_N, const math::Quaternion quaternion_i2b, const double spacecraft_mass_kg) { + inline void AddForce_b_N(const s2e::math::Vector<3> force_b_N, const s2e::math::Quaternion quaternion_i2b, const double spacecraft_mass_kg) { auto force_i = quaternion_i2b.InverseFrameConversion(force_b_N); AddForce_i_N(force_i, spacecraft_mass_kg); } @@ -170,7 +170,7 @@ class Orbit : public ILoggable { * @fn CalcQuaternion_i2lvlh * @brief Calculate and return quaternion from the inertial frame to the LVLH frame */ - math::Quaternion CalcQuaternion_i2lvlh() const; + s2e::math::Quaternion CalcQuaternion_i2lvlh() const; // Override ILoggable /** @@ -191,15 +191,15 @@ class Orbit : public ILoggable { bool is_calc_enabled_ = false; //!< Calculate flag OrbitPropagateMode propagate_mode_; //!< Propagation mode - math::Vector<3> spacecraft_position_i_m_; //!< Spacecraft position in the inertial frame [m] - math::Vector<3> spacecraft_position_ecef_m_; //!< Spacecraft position in the ECEF frame [m] + s2e::math::Vector<3> spacecraft_position_i_m_; //!< Spacecraft position in the inertial frame [m] + s2e::math::Vector<3> spacecraft_position_ecef_m_; //!< Spacecraft position in the ECEF frame [m] geodesy::GeodeticPosition spacecraft_geodetic_position_; //!< Spacecraft position in the Geodetic frame - math::Vector<3> spacecraft_velocity_i_m_s_; //!< Spacecraft velocity in the inertial frame [m/s] - math::Vector<3> spacecraft_velocity_b_m_s_; //!< Spacecraft velocity in the body frame [m/s] - math::Vector<3> spacecraft_velocity_ecef_m_s_; //!< Spacecraft velocity in the ECEF frame [m/s] + s2e::math::Vector<3> spacecraft_velocity_i_m_s_; //!< Spacecraft velocity in the inertial frame [m/s] + s2e::math::Vector<3> spacecraft_velocity_b_m_s_; //!< Spacecraft velocity in the body frame [m/s] + s2e::math::Vector<3> spacecraft_velocity_ecef_m_s_; //!< Spacecraft velocity in the ECEF frame [m/s] - math::Vector<3> spacecraft_acceleration_i_m_s2_; //!< Spacecraft acceleration in the inertial frame [m/s2] + s2e::math::Vector<3> spacecraft_acceleration_i_m_s2_; //!< Spacecraft acceleration in the inertial frame [m/s2] //!< NOTE: Clear to zero at the end of the Propagate function // Frame Conversion TODO: consider other planet diff --git a/src/dynamics/orbit/relative_orbit.cpp b/src/dynamics/orbit/relative_orbit.cpp index f60f52682..831e8d763 100644 --- a/src/dynamics/orbit/relative_orbit.cpp +++ b/src/dynamics/orbit/relative_orbit.cpp @@ -9,11 +9,11 @@ #include "rk4_orbit_propagation.hpp" RelativeOrbit::RelativeOrbit(const CelestialInformation* celestial_information, double gravity_constant_m3_s2, double time_step_s, - int reference_spacecraft_id, math::Vector<3> relative_position_lvlh_m, math::Vector<3> relative_velocity_lvlh_m_s, + int reference_spacecraft_id, s2e::math::Vector<3> relative_position_lvlh_m, s2e::math::Vector<3> relative_velocity_lvlh_m_s, RelativeOrbitUpdateMethod update_method, orbit::RelativeOrbitModel relative_dynamics_model_type, orbit::StmModel stm_model_type, RelativeInformation* relative_information) : Orbit(celestial_information), - math::OrdinaryDifferentialEquation<6>(time_step_s), + s2e::math::OrdinaryDifferentialEquation<6>(time_step_s), gravity_constant_m3_s2_(gravity_constant_m3_s2), reference_spacecraft_id_(reference_spacecraft_id), update_method_(update_method), @@ -30,7 +30,7 @@ RelativeOrbit::RelativeOrbit(const CelestialInformation* celestial_information, RelativeOrbit::~RelativeOrbit() {} -void RelativeOrbit::InitializeState(math::Vector<3> relative_position_lvlh_m, math::Vector<3> relative_velocity_lvlh_m_s, +void RelativeOrbit::InitializeState(s2e::math::Vector<3> relative_position_lvlh_m, s2e::math::Vector<3> relative_velocity_lvlh_m_s, double gravity_constant_m3_s2, double initial_time_s) { relative_position_lvlh_m_ = relative_position_lvlh_m; relative_velocity_lvlh_m_s_ = relative_velocity_lvlh_m_s; @@ -38,10 +38,10 @@ void RelativeOrbit::InitializeState(math::Vector<3> relative_position_lvlh_m, ma // Disturbance acceleration are not considered in relative orbit propagation spacecraft_acceleration_i_m_s2_ *= 0.0; - math::Vector<3> reference_sat_position_i = relative_information_->GetReferenceSatDynamics(reference_spacecraft_id_)->GetOrbit().GetPosition_i_m(); - math::Vector<3> reference_sat_velocity_i = relative_information_->GetReferenceSatDynamics(reference_spacecraft_id_)->GetOrbit().GetVelocity_i_m_s(); - math::Quaternion q_i2lvlh = relative_information_->GetReferenceSatDynamics(reference_spacecraft_id_)->GetOrbit().CalcQuaternion_i2lvlh(); - math::Quaternion q_lvlh2i = q_i2lvlh.Conjugate(); + s2e::math::Vector<3> reference_sat_position_i = relative_information_->GetReferenceSatDynamics(reference_spacecraft_id_)->GetOrbit().GetPosition_i_m(); + s2e::math::Vector<3> reference_sat_velocity_i = relative_information_->GetReferenceSatDynamics(reference_spacecraft_id_)->GetOrbit().GetVelocity_i_m_s(); + s2e::math::Quaternion q_i2lvlh = relative_information_->GetReferenceSatDynamics(reference_spacecraft_id_)->GetOrbit().CalcQuaternion_i2lvlh(); + s2e::math::Quaternion q_lvlh2i = q_i2lvlh.Conjugate(); spacecraft_position_i_m_ = q_lvlh2i.FrameConversion(relative_position_lvlh_m_) + reference_sat_position_i; spacecraft_velocity_i_m_s_ = q_lvlh2i.FrameConversion(relative_velocity_lvlh_m_s_) + reference_sat_velocity_i; @@ -108,10 +108,10 @@ void RelativeOrbit::Propagate(const double end_time_s, const double current_time PropagateStm(end_time_s); } - math::Vector<3> reference_sat_position_i = relative_information_->GetReferenceSatDynamics(reference_spacecraft_id_)->GetOrbit().GetPosition_i_m(); - math::Vector<3> reference_sat_velocity_i = relative_information_->GetReferenceSatDynamics(reference_spacecraft_id_)->GetOrbit().GetVelocity_i_m_s(); - math::Quaternion q_i2lvlh = relative_information_->GetReferenceSatDynamics(reference_spacecraft_id_)->GetOrbit().CalcQuaternion_i2lvlh(); - math::Quaternion q_lvlh2i = q_i2lvlh.Conjugate(); + s2e::math::Vector<3> reference_sat_position_i = relative_information_->GetReferenceSatDynamics(reference_spacecraft_id_)->GetOrbit().GetPosition_i_m(); + s2e::math::Vector<3> reference_sat_velocity_i = relative_information_->GetReferenceSatDynamics(reference_spacecraft_id_)->GetOrbit().GetVelocity_i_m_s(); + s2e::math::Quaternion q_i2lvlh = relative_information_->GetReferenceSatDynamics(reference_spacecraft_id_)->GetOrbit().CalcQuaternion_i2lvlh(); + s2e::math::Quaternion q_lvlh2i = q_i2lvlh.Conjugate(); spacecraft_position_i_m_ = q_lvlh2i.FrameConversion(relative_position_lvlh_m_) + reference_sat_position_i; spacecraft_velocity_i_m_s_ = q_lvlh2i.FrameConversion(relative_velocity_lvlh_m_s_) + reference_sat_velocity_i; @@ -138,7 +138,7 @@ void RelativeOrbit::PropagateRk4(double elapsed_sec) { } void RelativeOrbit::PropagateStm(double elapsed_sec) { - math::Vector<6> current_state; + s2e::math::Vector<6> current_state; CalculateStm(stm_model_type_, &(relative_information_->GetReferenceSatDynamics(reference_spacecraft_id_)->GetOrbit()), gravity_constant_m3_s2_, elapsed_sec); current_state = stm_ * initial_state_; @@ -151,8 +151,8 @@ void RelativeOrbit::PropagateStm(double elapsed_sec) { relative_velocity_lvlh_m_s_[2] = current_state[5]; } -void RelativeOrbit::DerivativeFunction(double t, const math::Vector<6>& state, - math::Vector<6>& rhs) // only for RK4 relative dynamics propagation +void RelativeOrbit::DerivativeFunction(double t, const s2e::math::Vector<6>& state, + s2e::math::Vector<6>& rhs) // only for RK4 relative dynamics propagation { rhs = system_matrix_ * state; (void)t; diff --git a/src/dynamics/orbit/relative_orbit.hpp b/src/dynamics/orbit/relative_orbit.hpp index 3aae6e104..c281cd3c9 100644 --- a/src/dynamics/orbit/relative_orbit.hpp +++ b/src/dynamics/orbit/relative_orbit.hpp @@ -17,7 +17,7 @@ * @class RelativeOrbit * @brief Class to propagate relative orbit */ -class RelativeOrbit : public Orbit, public math::OrdinaryDifferentialEquation<6> { +class RelativeOrbit : public Orbit, public s2e::math::OrdinaryDifferentialEquation<6> { public: /** * @enum RelativeOrbitUpdateMethod @@ -40,7 +40,7 @@ class RelativeOrbit : public Orbit, public math::OrdinaryDifferentialEquation<6> * @param [in] relative_information: Relative information */ RelativeOrbit(const CelestialInformation* celestial_information, double gravity_constant_m3_s2, double time_step_s, int reference_spacecraft_id, - math::Vector<3> relative_position_lvlh_m, math::Vector<3> relative_velocity_lvlh_m_s, RelativeOrbitUpdateMethod update_method, + s2e::math::Vector<3> relative_position_lvlh_m, s2e::math::Vector<3> relative_velocity_lvlh_m_s, RelativeOrbitUpdateMethod update_method, orbit::RelativeOrbitModel relative_dynamics_model_type, orbit::StmModel stm_model_type, RelativeInformation* relative_information); /** * @fn ~RelativeOrbit @@ -73,12 +73,12 @@ class RelativeOrbit : public Orbit, public math::OrdinaryDifferentialEquation<6> double propagation_time_s_; //!< Simulation current time for numerical integration by RK4 [sec] double propagation_step_s_; //!< Step width for RK4 [sec] - math::Matrix<6, 6> system_matrix_; //!< System matrix - math::Matrix<6, 6> stm_; //!< State transition matrix + s2e::math::Matrix<6, 6> system_matrix_; //!< System matrix + s2e::math::Matrix<6, 6> stm_; //!< State transition matrix - math::Vector<6> initial_state_; //!< Initial state (Position and Velocity) - math::Vector<3> relative_position_lvlh_m_; //!< Relative position in the LVLH frame - math::Vector<3> relative_velocity_lvlh_m_s_; //!< Relative velocity in the LVLH frame + s2e::math::Vector<6> initial_state_; //!< Initial state (Position and Velocity) + s2e::math::Vector<3> relative_position_lvlh_m_; //!< Relative position in the LVLH frame + s2e::math::Vector<3> relative_velocity_lvlh_m_s_; //!< Relative velocity in the LVLH frame RelativeOrbitUpdateMethod update_method_; //!< Update method orbit::RelativeOrbitModel relative_dynamics_model_type_; //!< Relative dynamics model type @@ -93,7 +93,7 @@ class RelativeOrbit : public Orbit, public math::OrdinaryDifferentialEquation<6> * @param [in] gravity_constant_m3_s2: Gravity constant of the center body [m3/s2] * @param [in] initial_time_s: Initialize time [sec] */ - void InitializeState(math::Vector<3> relative_position_lvlh_m, math::Vector<3> relative_velocity_lvlh_m_s, double gravity_constant_m3_s2, + void InitializeState(s2e::math::Vector<3> relative_position_lvlh_m, s2e::math::Vector<3> relative_velocity_lvlh_m_s, double gravity_constant_m3_s2, double initial_time_s = 0); /** * @fn CalculateSystemMatrix diff --git a/src/dynamics/orbit/rk4_orbit_propagation.cpp b/src/dynamics/orbit/rk4_orbit_propagation.cpp index 38a6e39b2..dd2c5abfa 100644 --- a/src/dynamics/orbit/rk4_orbit_propagation.cpp +++ b/src/dynamics/orbit/rk4_orbit_propagation.cpp @@ -9,7 +9,7 @@ #include Rk4OrbitPropagation::Rk4OrbitPropagation(const CelestialInformation* celestial_information, double gravity_constant_m3_s2, double time_step_s, - math::Vector<3> position_i_m, math::Vector<3> velocity_i_m_s, double initial_time_s) + s2e::math::Vector<3> position_i_m, s2e::math::Vector<3> velocity_i_m_s, double initial_time_s) : Orbit(celestial_information), OrdinaryDifferentialEquation<6>(time_step_s), gravity_constant_m3_s2_(gravity_constant_m3_s2) { propagate_mode_ = OrbitPropagateMode::kRk4; @@ -22,7 +22,7 @@ Rk4OrbitPropagation::Rk4OrbitPropagation(const CelestialInformation* celestial_i Rk4OrbitPropagation::~Rk4OrbitPropagation() {} -void Rk4OrbitPropagation::DerivativeFunction(double t, const math::Vector<6>& state, math::Vector<6>& rhs) { +void Rk4OrbitPropagation::DerivativeFunction(double t, const s2e::math::Vector<6>& state, s2e::math::Vector<6>& rhs) { double x = state[0], y = state[1], z = state[2]; double vx = state[3], vy = state[4], vz = state[5]; @@ -38,9 +38,9 @@ void Rk4OrbitPropagation::DerivativeFunction(double t, const math::Vector<6>& st (void)t; } -void Rk4OrbitPropagation::Initialize(math::Vector<3> position_i_m, math::Vector<3> velocity_i_m_s, double initial_time_s) { +void Rk4OrbitPropagation::Initialize(s2e::math::Vector<3> position_i_m, s2e::math::Vector<3> velocity_i_m_s, double initial_time_s) { // state vector [x,y,z,vx,vy,vz] - math::Vector<6> init_state; + s2e::math::Vector<6> init_state; init_state[0] = position_i_m[0]; init_state[1] = position_i_m[1]; init_state[2] = position_i_m[2]; diff --git a/src/dynamics/orbit/rk4_orbit_propagation.hpp b/src/dynamics/orbit/rk4_orbit_propagation.hpp index fde677ddd..83fc56bbe 100644 --- a/src/dynamics/orbit/rk4_orbit_propagation.hpp +++ b/src/dynamics/orbit/rk4_orbit_propagation.hpp @@ -15,7 +15,7 @@ * @class Rk4OrbitPropagation * @brief Class to propagate spacecraft orbit with Runge-Kutta-4 method */ -class Rk4OrbitPropagation : public Orbit, public math::OrdinaryDifferentialEquation<6> { +class Rk4OrbitPropagation : public Orbit, public s2e::math::OrdinaryDifferentialEquation<6> { public: /** * @fn Rk4OrbitPropagation @@ -28,7 +28,7 @@ class Rk4OrbitPropagation : public Orbit, public math::OrdinaryDifferentialEquat * @param [in] initial_time_s: Initial time [sec] */ Rk4OrbitPropagation(const CelestialInformation* celestial_information, double gravity_constant_m3_s2, double time_step_s, - math::Vector<3> position_i_m, math::Vector<3> velocity_i_m_s, double initial_time_s = 0); + s2e::math::Vector<3> position_i_m, s2e::math::Vector<3> velocity_i_m_s, double initial_time_s = 0); /** * @fn ~Rk4OrbitPropagation * @brief Destructor @@ -43,7 +43,7 @@ class Rk4OrbitPropagation : public Orbit, public math::OrdinaryDifferentialEquat * @param [in] state: Position and velocity as state vector * @param [out] rhs: Output of the function */ - virtual void DerivativeFunction(double t, const math::Vector<6>& state, math::Vector<6>& rhs); + virtual void DerivativeFunction(double t, const s2e::math::Vector<6>& state, s2e::math::Vector<6>& rhs); // Override Orbit /** @@ -66,7 +66,7 @@ class Rk4OrbitPropagation : public Orbit, public math::OrdinaryDifferentialEquat * @param [in] velocity_i_m_s: Initial value of velocity in the inertial frame [m/s] * @param [in] initial_time_s: Initial time [sec] */ - void Initialize(math::Vector<3> position_i_m, math::Vector<3> velocity_i_m_s, double initial_time_s = 0); + void Initialize(s2e::math::Vector<3> position_i_m, s2e::math::Vector<3> velocity_i_m_s, double initial_time_s = 0); }; #endif // S2E_DYNAMICS_ORBIT_RK4_ORBIT_PROPAGATION_HPP_ diff --git a/src/dynamics/thermal/heatload.cpp b/src/dynamics/thermal/heatload.cpp index 3d01aad08..15d32b25a 100644 --- a/src/dynamics/thermal/heatload.cpp +++ b/src/dynamics/thermal/heatload.cpp @@ -5,7 +5,7 @@ #include using namespace std; -using namespace math; +using namespace s2e::math; Heatload::Heatload(int node_id, std::vector time_table_s, std::vector internal_heatload_table_W) : node_id_(node_id), time_table_s_(time_table_s), internal_heatload_table_W_(internal_heatload_table_W) { diff --git a/src/dynamics/thermal/node.cpp b/src/dynamics/thermal/node.cpp index b34958a68..31f9774bd 100644 --- a/src/dynamics/thermal/node.cpp +++ b/src/dynamics/thermal/node.cpp @@ -10,10 +10,10 @@ #include using namespace std; -using namespace math; +using namespace s2e::math; Node::Node(const size_t node_id, const string node_name, const NodeType node_type, const size_t heater_id, const double temperature_ini_K, - const double capacity_J_K, const double alpha, const double area_m2, math::Vector<3> normal_vector_b) + const double capacity_J_K, const double alpha, const double area_m2, s2e::math::Vector<3> normal_vector_b) : node_id_(node_id), node_name_(node_name), heater_id_(heater_id), @@ -29,7 +29,7 @@ Node::Node(const size_t node_id, const string node_name, const NodeType node_typ Node::~Node() {} -double Node::CalcSolarRadiation_W(math::Vector<3> sun_direction_b, double solar_flux_W_m2) { +double Node::CalcSolarRadiation_W(s2e::math::Vector<3> sun_direction_b, double solar_flux_W_m2) { double cos_theta = InnerProduct(sun_direction_b, normal_vector_b_); // calculate sun_power @@ -147,7 +147,7 @@ Node InitNode(const std::vector& node_str) { capacity_J_K = stod(node_str[index_capacity]); alpha = stod(node_str[index_alpha]); area_m2 = stod(node_str[index_area]); - math::Vector<3> normal_v_b; + s2e::math::Vector<3> normal_v_b; for (size_t i = 0; i < 3; i++) { normal_v_b[i] = stod(node_str[index_normal_v_b_head + i]); } diff --git a/src/dynamics/thermal/node.hpp b/src/dynamics/thermal/node.hpp index de4653d3e..d579c80f6 100644 --- a/src/dynamics/thermal/node.hpp +++ b/src/dynamics/thermal/node.hpp @@ -45,7 +45,7 @@ class Node { * @param[in] normal_vector_b: Normal vector of face with possibility of solar incidence (Body frame) */ Node(const size_t node_id, const std::string node_name, const NodeType node_type, const size_t heater_id, const double temperature_ini_K, - const double capacity_J_K, const double alpha, const double area_m2, math::Vector<3> normal_vector_b); + const double capacity_J_K, const double alpha, const double area_m2, s2e::math::Vector<3> normal_vector_b); /** * @fn ~Node * @brief Destroy the Node object @@ -58,7 +58,7 @@ class Node { * @param sun_direction_b: Sun direction in body frame * @return double: Solar Radiation [W] */ - double CalcSolarRadiation_W(math::Vector<3> sun_direction_b, double solar_flux_W_m2); + double CalcSolarRadiation_W(s2e::math::Vector<3> sun_direction_b, double solar_flux_W_m2); // Getter /** @@ -136,7 +136,7 @@ class Node { double area_m2_; double solar_radiation_W_; NodeType node_type_; - math::Vector<3> normal_vector_b_; + s2e::math::Vector<3> normal_vector_b_; /** * @fn AssertNodeParams diff --git a/src/dynamics/thermal/temperature.cpp b/src/dynamics/thermal/temperature.cpp index b86e873fe..3c18bfa20 100644 --- a/src/dynamics/thermal/temperature.cpp +++ b/src/dynamics/thermal/temperature.cpp @@ -47,10 +47,10 @@ Temperature::Temperature() { Temperature::~Temperature() {} -void Temperature::Propagate(math::Vector<3> sun_position_b_m, const double time_end_s) { +void Temperature::Propagate(s2e::math::Vector<3> sun_position_b_m, const double time_end_s) { if (!is_calc_enabled_) return; double sun_distance_m = sun_position_b_m.CalcNorm(); - math::Vector<3> sun_direction_b; + s2e::math::Vector<3> sun_direction_b; for (size_t i = 0; i < 3; i++) { sun_direction_b[i] = sun_position_b_m[i] / sun_distance_m; } @@ -84,7 +84,7 @@ void Temperature::Propagate(math::Vector<3> sun_position_b_m, const double time_ } } -void Temperature::CalcRungeOneStep(double time_now_s, double time_step_s, math::Vector<3> sun_direction_b, size_t node_num) { +void Temperature::CalcRungeOneStep(double time_now_s, double time_step_s, s2e::math::Vector<3> sun_direction_b, size_t node_num) { vector temperatures_now_K(node_num); for (size_t i = 0; i < node_num; i++) { temperatures_now_K[i] = nodes_[i].GetTemperature_K(); @@ -120,7 +120,7 @@ void Temperature::CalcRungeOneStep(double time_now_s, double time_step_s, math:: } } -vector Temperature::CalcTemperatureDifferentials(vector temperatures_K, double t, math::Vector<3> sun_direction_b, size_t node_num) { +vector Temperature::CalcTemperatureDifferentials(vector temperatures_K, double t, s2e::math::Vector<3> sun_direction_b, size_t node_num) { // TODO: consider the following unused arguments are really needed UNUSED(temperatures_K); diff --git a/src/dynamics/thermal/temperature.hpp b/src/dynamics/thermal/temperature.hpp index 08eceb28f..ec5177d66 100644 --- a/src/dynamics/thermal/temperature.hpp +++ b/src/dynamics/thermal/temperature.hpp @@ -54,7 +54,7 @@ class Temperature : public ILoggable { * @param[in] sun_direction_b: Sun position in body frame [m] * @param[in] node_num: Number of nodes */ - void CalcRungeOneStep(double time_now_s, double time_step_s, math::Vector<3> sun_direction_b, size_t node_num); + void CalcRungeOneStep(double time_now_s, double time_step_s, s2e::math::Vector<3> sun_direction_b, size_t node_num); /** * @fn CalcTemperatureDifferentials * @brief Calculate differential of thermal equilibrium equation @@ -65,7 +65,7 @@ class Temperature : public ILoggable { * @param node_num: Number of nodes * @return std::vector: Differential of thermal equilibrium equation at time now */ - std::vector CalcTemperatureDifferentials(std::vector temperatures_K, double time_now_s, const math::Vector<3> sun_direction_b, + std::vector CalcTemperatureDifferentials(std::vector temperatures_K, double time_now_s, const s2e::math::Vector<3> sun_direction_b, size_t node_num); public: @@ -108,7 +108,7 @@ class Temperature : public ILoggable { * @param[in] sun_position_b_m: Sun position in body frame [m] * @param time_end_s: Time to finish propagation [s] */ - void Propagate(math::Vector<3> sun_position_b_m, const double time_end_s); + void Propagate(s2e::math::Vector<3> sun_position_b_m, const double time_end_s); // Getter /** diff --git a/src/environment/global/celestial_information.hpp b/src/environment/global/celestial_information.hpp index 50103ffca..6ffe57fbf 100644 --- a/src/environment/global/celestial_information.hpp +++ b/src/environment/global/celestial_information.hpp @@ -73,8 +73,8 @@ class CelestialInformation : public ILoggable { * @brief Return position from the center body in the inertial frame [m] * @param [in] id: ID of CelestialInformation list */ - inline math::Vector<3> GetPositionFromCenter_i_m(const unsigned int id) const { - math::Vector<3> pos(0.0); + inline s2e::math::Vector<3> GetPositionFromCenter_i_m(const unsigned int id) const { + s2e::math::Vector<3> pos(0.0); if (id > number_of_selected_bodies_) return pos; for (int i = 0; i < 3; i++) pos[i] = celestial_body_position_from_center_i_m_[id * 3 + i]; return pos; @@ -84,7 +84,7 @@ class CelestialInformation : public ILoggable { * @brief Return position from the center body in the inertial frame [m] * @param [in] body_name: Name of the body defined in the SPICE */ - inline math::Vector<3> GetPositionFromCenter_i_m(const char* body_name) const { + inline s2e::math::Vector<3> GetPositionFromCenter_i_m(const char* body_name) const { int id = CalcBodyIdFromName(body_name); return GetPositionFromCenter_i_m(id); } @@ -94,11 +94,11 @@ class CelestialInformation : public ILoggable { * @param [in] target_body_name: Name of the target body defined in the SPICE * @param [in] reference_body_name: Name of the reference body defined in the SPICE */ - inline math::Vector<3> GetPositionFromSelectedBody_i_m(const char* target_body_name, const char* reference_body_name) const { + inline s2e::math::Vector<3> GetPositionFromSelectedBody_i_m(const char* target_body_name, const char* reference_body_name) const { int target_id = CalcBodyIdFromName(target_body_name); - math::Vector<3> target_body_position_i_m = GetPositionFromCenter_i_m(target_id); + s2e::math::Vector<3> target_body_position_i_m = GetPositionFromCenter_i_m(target_id); int reference_id = CalcBodyIdFromName(reference_body_name); - math::Vector<3> reference_body_position_i_m = GetPositionFromCenter_i_m(reference_id); + s2e::math::Vector<3> reference_body_position_i_m = GetPositionFromCenter_i_m(reference_id); return target_body_position_i_m - reference_body_position_i_m; } @@ -108,8 +108,8 @@ class CelestialInformation : public ILoggable { * @brief Return velocity from the center body in the inertial frame [m/s] * @param [in] id: ID of CelestialInformation list */ - inline math::Vector<3> GetVelocityFromCenter_i_m_s(const unsigned int id) const { - math::Vector<3> vel(0.0); + inline s2e::math::Vector<3> GetVelocityFromCenter_i_m_s(const unsigned int id) const { + s2e::math::Vector<3> vel(0.0); if (id > number_of_selected_bodies_) return vel; for (int i = 0; i < 3; i++) vel[i] = celestial_body_velocity_from_center_i_m_s_[id * 3 + i]; return vel; @@ -119,7 +119,7 @@ class CelestialInformation : public ILoggable { * @brief Return velocity from the center body in the inertial frame [m/s] * @param [in] body_name: Name of the body defined in the SPICE */ - inline math::Vector<3> GetVelocityFromCenter_i_m_s(const char* body_name) const { + inline s2e::math::Vector<3> GetVelocityFromCenter_i_m_s(const char* body_name) const { int id = CalcBodyIdFromName(body_name); return GetVelocityFromCenter_i_m_s(id); } @@ -129,11 +129,11 @@ class CelestialInformation : public ILoggable { * @param [in] target_body_name: Name of the target body defined in the SPICE * @param [in] reference_body_name: Name of the reference body defined in the SPICE */ - inline math::Vector<3> GetVelocityFromSelectedBody_i_m_s(const char* target_body_name, const char* reference_body_name) const { + inline s2e::math::Vector<3> GetVelocityFromSelectedBody_i_m_s(const char* target_body_name, const char* reference_body_name) const { int target_id = CalcBodyIdFromName(target_body_name); - math::Vector<3> target_body_velocity_i_m_s = GetVelocityFromCenter_i_m_s(target_id); + s2e::math::Vector<3> target_body_velocity_i_m_s = GetVelocityFromCenter_i_m_s(target_id); int reference_id = CalcBodyIdFromName(reference_body_name); - math::Vector<3> reference_body_velocity_i_m_s = GetVelocityFromCenter_i_m_s(reference_id); + s2e::math::Vector<3> reference_body_velocity_i_m_s = GetVelocityFromCenter_i_m_s(reference_id); return target_body_velocity_i_m_s - reference_body_velocity_i_m_s; } @@ -160,8 +160,8 @@ class CelestialInformation : public ILoggable { * @brief Return 3 axis planetographic radii of a celestial body [m] * @param [in] id: ID of CelestialInformation list */ - inline math::Vector<3> GetRadii_m(const unsigned int id) const { - math::Vector<3> radii(0.0); + inline s2e::math::Vector<3> GetRadii_m(const unsigned int id) const { + s2e::math::Vector<3> radii(0.0); if (id > number_of_selected_bodies_) return radii; for (int i = 0; i < 3; i++) radii[i] = celestial_body_planetographic_radii_m_[id * 3 + i]; return radii; @@ -171,7 +171,7 @@ class CelestialInformation : public ILoggable { * @brief Return 3 axis planetographic radii of a celestial body [m] * @param [in] body_name: Name of the body defined in the SPICE */ - inline math::Vector<3> GetRadiiFromName_m(const char* body_name) const { + inline s2e::math::Vector<3> GetRadiiFromName_m(const char* body_name) const { int id = CalcBodyIdFromName(body_name); return GetRadii_m(id); } diff --git a/src/environment/global/earth_rotation.cpp b/src/environment/global/earth_rotation.cpp index dd552f04d..8950fd904 100644 --- a/src/environment/global/earth_rotation.cpp +++ b/src/environment/global/earth_rotation.cpp @@ -17,7 +17,7 @@ // Default constructor EarthRotation::EarthRotation(const EarthRotationMode rotation_mode) : rotation_mode_(rotation_mode) { - dcm_j2000_to_ecef_ = math::MakeIdentityMatrix<3>(); + dcm_j2000_to_ecef_ = s2e::math::MakeIdentityMatrix<3>(); dcm_teme_to_ecef_ = dcm_j2000_to_ecef_; InitializeParameters(); } @@ -32,80 +32,80 @@ void EarthRotation::InitializeParameters() { // Coefficients to compute mean obliquity of the ecliptic // The actual unit of the coefficients are [rad/century^i], where i is the index of the array - c_epsilon_rad_[0] = 23.4392911 * math::deg_to_rad; // [rad] - c_epsilon_rad_[1] = -46.8150000 * math::arcsec_to_rad; // [rad/century] - c_epsilon_rad_[2] = -5.9000e-4 * math::arcsec_to_rad; // [rad/century^2] - c_epsilon_rad_[3] = 1.8130e-3 * math::arcsec_to_rad; // [rad/century^3] + c_epsilon_rad_[0] = 23.4392911 * s2e::math::deg_to_rad; // [rad] + c_epsilon_rad_[1] = -46.8150000 * s2e::math::arcsec_to_rad; // [rad/century] + c_epsilon_rad_[2] = -5.9000e-4 * s2e::math::arcsec_to_rad; // [rad/century^2] + c_epsilon_rad_[3] = 1.8130e-3 * s2e::math::arcsec_to_rad; // [rad/century^3] // Coefficients to compute Delaunay angles // The actual unit of the coefficients are [rad/century^i], where i is the index of the array - c_lm_rad_[0] = 134.96340251 * math::deg_to_rad; // [rad] - c_lm_rad_[1] = 1717915923.21780000 * math::arcsec_to_rad; // [rad/century] - c_lm_rad_[2] = 31.87920000 * math::arcsec_to_rad; // [rad/century^2] - c_lm_rad_[3] = 0.05163500 * math::arcsec_to_rad; // [rad/century^3] - c_lm_rad_[4] = -0.00024470 * math::arcsec_to_rad; // [rad/century^4] - - c_ls_rad_[0] = 357.52910918 * math::deg_to_rad; // [rad] - c_ls_rad_[1] = 129596581.04810000 * math::arcsec_to_rad; // [rad/century] - c_ls_rad_[2] = -0.55320000 * math::arcsec_to_rad; // [rad/century^2] - c_ls_rad_[3] = 0.00013600 * math::arcsec_to_rad; // [rad/century^3] - c_ls_rad_[4] = -0.00001149 * math::arcsec_to_rad; // [rad/century^4] - - c_f_rad_[0] = 93.27209062 * math::deg_to_rad; // [rad] - c_f_rad_[1] = 1739527262.84780000 * math::arcsec_to_rad; // [rad/century] - c_f_rad_[2] = -12.75120000 * math::arcsec_to_rad; // [rad/century^2] - c_f_rad_[3] = -0.00103700 * math::arcsec_to_rad; // [rad/century^3] - c_f_rad_[4] = 0.00000417 * math::arcsec_to_rad; // [rad/century^4] - - c_d_rad_[0] = 297.85019547 * math::deg_to_rad; // [rad] - c_d_rad_[1] = 1602961601.20900000 * math::arcsec_to_rad; // [rad/century] - c_d_rad_[2] = -6.37060000 * math::arcsec_to_rad; // [rad/century^2] - c_d_rad_[3] = 0.00659300 * math::arcsec_to_rad; // [rad/century^3] - c_d_rad_[4] = -0.00003169 * math::arcsec_to_rad; // [rad/century^4] - - c_o_rad_[0] = 125.04455501 * math::deg_to_rad; // [rad] - c_o_rad_[1] = -6962890.54310000 * math::arcsec_to_rad; // [rad/century] - c_o_rad_[2] = 7.47220000 * math::arcsec_to_rad; // [rad/century^2] - c_o_rad_[3] = 0.00770200 * math::arcsec_to_rad; // [rad/century^3] - c_o_rad_[4] = -0.00005939 * math::arcsec_to_rad; // [rad/century^4] + c_lm_rad_[0] = 134.96340251 * s2e::math::deg_to_rad; // [rad] + c_lm_rad_[1] = 1717915923.21780000 * s2e::math::arcsec_to_rad; // [rad/century] + c_lm_rad_[2] = 31.87920000 * s2e::math::arcsec_to_rad; // [rad/century^2] + c_lm_rad_[3] = 0.05163500 * s2e::math::arcsec_to_rad; // [rad/century^3] + c_lm_rad_[4] = -0.00024470 * s2e::math::arcsec_to_rad; // [rad/century^4] + + c_ls_rad_[0] = 357.52910918 * s2e::math::deg_to_rad; // [rad] + c_ls_rad_[1] = 129596581.04810000 * s2e::math::arcsec_to_rad; // [rad/century] + c_ls_rad_[2] = -0.55320000 * s2e::math::arcsec_to_rad; // [rad/century^2] + c_ls_rad_[3] = 0.00013600 * s2e::math::arcsec_to_rad; // [rad/century^3] + c_ls_rad_[4] = -0.00001149 * s2e::math::arcsec_to_rad; // [rad/century^4] + + c_f_rad_[0] = 93.27209062 * s2e::math::deg_to_rad; // [rad] + c_f_rad_[1] = 1739527262.84780000 * s2e::math::arcsec_to_rad; // [rad/century] + c_f_rad_[2] = -12.75120000 * s2e::math::arcsec_to_rad; // [rad/century^2] + c_f_rad_[3] = -0.00103700 * s2e::math::arcsec_to_rad; // [rad/century^3] + c_f_rad_[4] = 0.00000417 * s2e::math::arcsec_to_rad; // [rad/century^4] + + c_d_rad_[0] = 297.85019547 * s2e::math::deg_to_rad; // [rad] + c_d_rad_[1] = 1602961601.20900000 * s2e::math::arcsec_to_rad; // [rad/century] + c_d_rad_[2] = -6.37060000 * s2e::math::arcsec_to_rad; // [rad/century^2] + c_d_rad_[3] = 0.00659300 * s2e::math::arcsec_to_rad; // [rad/century^3] + c_d_rad_[4] = -0.00003169 * s2e::math::arcsec_to_rad; // [rad/century^4] + + c_o_rad_[0] = 125.04455501 * s2e::math::deg_to_rad; // [rad] + c_o_rad_[1] = -6962890.54310000 * s2e::math::arcsec_to_rad; // [rad/century] + c_o_rad_[2] = 7.47220000 * s2e::math::arcsec_to_rad; // [rad/century^2] + c_o_rad_[3] = 0.00770200 * s2e::math::arcsec_to_rad; // [rad/century^3] + c_o_rad_[4] = -0.00005939 * s2e::math::arcsec_to_rad; // [rad/century^4] // Coefficients to compute nutation angles - c_d_epsilon_rad_[0] = 9.2050 * math::arcsec_to_rad; // [rad] - c_d_epsilon_rad_[1] = 0.5730 * math::arcsec_to_rad; // [rad] - c_d_epsilon_rad_[2] = -0.0900 * math::arcsec_to_rad; // [rad] - c_d_epsilon_rad_[3] = 0.0980 * math::arcsec_to_rad; // [rad] - c_d_epsilon_rad_[4] = 0.0070 * math::arcsec_to_rad; // [rad] - c_d_epsilon_rad_[5] = -0.0010 * math::arcsec_to_rad; // [rad] - c_d_epsilon_rad_[6] = 0.0220 * math::arcsec_to_rad; // [rad] - c_d_epsilon_rad_[7] = 0.0130 * math::arcsec_to_rad; // [rad] - c_d_epsilon_rad_[8] = -0.0100 * math::arcsec_to_rad; // [rad] - - c_d_psi_rad_[0] = -17.2060 * math::arcsec_to_rad; // [rad] - c_d_psi_rad_[1] = -1.3170 * math::arcsec_to_rad; // [rad] - c_d_psi_rad_[2] = 0.2070 * math::arcsec_to_rad; // [rad] - c_d_psi_rad_[3] = -0.2280 * math::arcsec_to_rad; // [rad] - c_d_psi_rad_[4] = 0.1480 * math::arcsec_to_rad; // [rad] - c_d_psi_rad_[5] = 0.0710 * math::arcsec_to_rad; // [rad] - c_d_psi_rad_[6] = -0.0520 * math::arcsec_to_rad; // [rad] - c_d_psi_rad_[7] = -0.0300 * math::arcsec_to_rad; // [rad] - c_d_psi_rad_[8] = 0.0220 * math::arcsec_to_rad; // [rad] + c_d_epsilon_rad_[0] = 9.2050 * s2e::math::arcsec_to_rad; // [rad] + c_d_epsilon_rad_[1] = 0.5730 * s2e::math::arcsec_to_rad; // [rad] + c_d_epsilon_rad_[2] = -0.0900 * s2e::math::arcsec_to_rad; // [rad] + c_d_epsilon_rad_[3] = 0.0980 * s2e::math::arcsec_to_rad; // [rad] + c_d_epsilon_rad_[4] = 0.0070 * s2e::math::arcsec_to_rad; // [rad] + c_d_epsilon_rad_[5] = -0.0010 * s2e::math::arcsec_to_rad; // [rad] + c_d_epsilon_rad_[6] = 0.0220 * s2e::math::arcsec_to_rad; // [rad] + c_d_epsilon_rad_[7] = 0.0130 * s2e::math::arcsec_to_rad; // [rad] + c_d_epsilon_rad_[8] = -0.0100 * s2e::math::arcsec_to_rad; // [rad] + + c_d_psi_rad_[0] = -17.2060 * s2e::math::arcsec_to_rad; // [rad] + c_d_psi_rad_[1] = -1.3170 * s2e::math::arcsec_to_rad; // [rad] + c_d_psi_rad_[2] = 0.2070 * s2e::math::arcsec_to_rad; // [rad] + c_d_psi_rad_[3] = -0.2280 * s2e::math::arcsec_to_rad; // [rad] + c_d_psi_rad_[4] = 0.1480 * s2e::math::arcsec_to_rad; // [rad] + c_d_psi_rad_[5] = 0.0710 * s2e::math::arcsec_to_rad; // [rad] + c_d_psi_rad_[6] = -0.0520 * s2e::math::arcsec_to_rad; // [rad] + c_d_psi_rad_[7] = -0.0300 * s2e::math::arcsec_to_rad; // [rad] + c_d_psi_rad_[8] = 0.0220 * s2e::math::arcsec_to_rad; // [rad] // Coefficients to compute precession angle // The actual unit of the coefficients are [rad/century^i], where i is the index of the array - c_zeta_rad_[0] = 2306.218100 * math::arcsec_to_rad; // [rad/century] - c_zeta_rad_[1] = 0.301880 * math::arcsec_to_rad; // [rad/century^2] - c_zeta_rad_[2] = 0.017998 * math::arcsec_to_rad; // [rad/century^3] + c_zeta_rad_[0] = 2306.218100 * s2e::math::arcsec_to_rad; // [rad/century] + c_zeta_rad_[1] = 0.301880 * s2e::math::arcsec_to_rad; // [rad/century^2] + c_zeta_rad_[2] = 0.017998 * s2e::math::arcsec_to_rad; // [rad/century^3] - c_theta_rad_[0] = 2004.310900 * math::arcsec_to_rad; // [rad/century] - c_theta_rad_[1] = -0.426650 * math::arcsec_to_rad; // [rad/century^2] - c_theta_rad_[2] = -0.041833 * math::arcsec_to_rad; // [rad/century^3] + c_theta_rad_[0] = 2004.310900 * s2e::math::arcsec_to_rad; // [rad/century] + c_theta_rad_[1] = -0.426650 * s2e::math::arcsec_to_rad; // [rad/century^2] + c_theta_rad_[2] = -0.041833 * s2e::math::arcsec_to_rad; // [rad/century^3] - c_z_rad_[0] = 2306.218100 * math::arcsec_to_rad; // [rad/century] - c_z_rad_[1] = 1.094680 * math::arcsec_to_rad; // [rad/century^2] - c_z_rad_[2] = 0.018203 * math::arcsec_to_rad; // [rad/century^3] + c_z_rad_[0] = 2306.218100 * s2e::math::arcsec_to_rad; // [rad/century] + c_z_rad_[1] = 1.094680 * s2e::math::arcsec_to_rad; // [rad/century^2] + c_z_rad_[2] = 0.018203 * s2e::math::arcsec_to_rad; // [rad/century^3] } else { // If the rotation mode is neither Simple nor Full, disable the rotation calculation and make the DCM a unit matrix - dcm_j2000_to_ecef_ = math::MakeIdentityMatrix<3>(); + dcm_j2000_to_ecef_ = s2e::math::MakeIdentityMatrix<3>(); } } @@ -125,10 +125,10 @@ void EarthRotation::Update(const double julian_date) { terrestrial_time_julian_century[i + 1] = terrestrial_time_julian_century[i] * terrestrial_time_julian_century[0]; } - math::Matrix<3, 3> dcm_precession; - math::Matrix<3, 3> dcm_nutation; - math::Matrix<3, 3> dcm_rotation; - math::Matrix<3, 3> dcm_polar_motion; + s2e::math::Matrix<3, 3> dcm_precession; + s2e::math::Matrix<3, 3> dcm_nutation; + s2e::math::Matrix<3, 3> dcm_rotation; + s2e::math::Matrix<3, 3> dcm_polar_motion; // Nutation + Precession dcm_precession = Precession(terrestrial_time_julian_century); dcm_nutation = Nutation(terrestrial_time_julian_century); // epsilon_rad_, d_epsilon_rad_, d_psi_rad_ are updated in this procedure @@ -154,9 +154,9 @@ void EarthRotation::Update(const double julian_date) { } } -math::Matrix<3, 3> EarthRotation::AxialRotation(const double gast_rad) { return math::MakeRotationMatrixZ(gast_rad); } +s2e::math::Matrix<3, 3> EarthRotation::AxialRotation(const double gast_rad) { return s2e::math::MakeRotationMatrixZ(gast_rad); } -math::Matrix<3, 3> EarthRotation::Nutation(const double (&t_tt_century)[4]) { +s2e::math::Matrix<3, 3> EarthRotation::Nutation(const double (&t_tt_century)[4]) { // Mean obliquity of the ecliptic epsilon_rad_ = c_epsilon_rad_[0]; for (int i = 0; i < 3; i++) { @@ -208,17 +208,17 @@ math::Matrix<3, 3> EarthRotation::Nutation(const double (&t_tt_century)[4]) { c_d_epsilon_rad_[7] * cos(2 * l_rad + lm_rad) + c_d_epsilon_rad_[8] * cos(2 * ld_rad - ls_rad); double epsi_mod_rad = epsilon_rad_ + d_epsilon_rad_; - math::Matrix<3, 3> x_epsi_1st = math::MakeRotationMatrixX(epsilon_rad_); - math::Matrix<3, 3> z_d_psi = math::MakeRotationMatrixZ(-d_psi_rad_); - math::Matrix<3, 3> x_epsi_2nd = math::MakeRotationMatrixX(-epsi_mod_rad); + s2e::math::Matrix<3, 3> x_epsi_1st = s2e::math::MakeRotationMatrixX(epsilon_rad_); + s2e::math::Matrix<3, 3> z_d_psi = s2e::math::MakeRotationMatrixZ(-d_psi_rad_); + s2e::math::Matrix<3, 3> x_epsi_2nd = s2e::math::MakeRotationMatrixX(-epsi_mod_rad); - math::Matrix<3, 3> dcm_nutation; + s2e::math::Matrix<3, 3> dcm_nutation; dcm_nutation = x_epsi_2nd * z_d_psi * x_epsi_1st; return dcm_nutation; } -math::Matrix<3, 3> EarthRotation::Precession(const double (&t_tt_century)[4]) { +s2e::math::Matrix<3, 3> EarthRotation::Precession(const double (&t_tt_century)[4]) { // Compute precession angles(zeta, theta, z) double zeta_rad = 0.0; for (int i = 0; i < 3; i++) { @@ -234,18 +234,18 @@ math::Matrix<3, 3> EarthRotation::Precession(const double (&t_tt_century)[4]) { } // Develop transformation matrix - math::Matrix<3, 3> z_zeta = math::MakeRotationMatrixZ(-zeta_rad); - math::Matrix<3, 3> y_theta = math::MakeRotationMatrixY(theta_rad); - math::Matrix<3, 3> z_z = math::MakeRotationMatrixZ(-z_rad); + s2e::math::Matrix<3, 3> z_zeta = s2e::math::MakeRotationMatrixZ(-zeta_rad); + s2e::math::Matrix<3, 3> y_theta = s2e::math::MakeRotationMatrixY(theta_rad); + s2e::math::Matrix<3, 3> z_z = s2e::math::MakeRotationMatrixZ(-z_rad); - math::Matrix<3, 3> dcm_precession; + s2e::math::Matrix<3, 3> dcm_precession; dcm_precession = z_z * y_theta * z_zeta; return dcm_precession; } -math::Matrix<3, 3> EarthRotation::PolarMotion(const double x_p, const double y_p) { - math::Matrix<3, 3> dcm_polar_motion; +s2e::math::Matrix<3, 3> EarthRotation::PolarMotion(const double x_p, const double y_p) { + s2e::math::Matrix<3, 3> dcm_polar_motion; dcm_polar_motion[0][0] = 1.0; dcm_polar_motion[0][1] = 0.0; diff --git a/src/environment/global/earth_rotation.hpp b/src/environment/global/earth_rotation.hpp index c12af3f2f..f4c7f7df7 100644 --- a/src/environment/global/earth_rotation.hpp +++ b/src/environment/global/earth_rotation.hpp @@ -45,20 +45,20 @@ class EarthRotation { * @fn GetDcmJ2000ToEcef * @brief Return the DCM between J2000 inertial frame and the Earth Centered Earth Fixed frame */ - inline const math::Matrix<3, 3> GetDcmJ2000ToEcef() const { return dcm_j2000_to_ecef_; }; + inline const s2e::math::Matrix<3, 3> GetDcmJ2000ToEcef() const { return dcm_j2000_to_ecef_; }; /** * @fn GetDcmTemeToEcef * @brief Return the DCM between TEME (Inertial frame used in SGP4) and the Earth Centered Earth Fixed frame */ - inline const math::Matrix<3, 3> GetDcmTemeToEcef() const { return dcm_teme_to_ecef_; }; + inline const s2e::math::Matrix<3, 3> GetDcmTemeToEcef() const { return dcm_teme_to_ecef_; }; private: double d_psi_rad_; //!< Nutation in obliquity [rad] double d_epsilon_rad_; //!< Nutation in longitude [rad] double epsilon_rad_; //!< Mean obliquity of the ecliptic [rad] - math::Matrix<3, 3> dcm_j2000_to_ecef_; //!< Direction Cosine Matrix J2000 to ECEF - math::Matrix<3, 3> dcm_teme_to_ecef_; //!< Direction Cosine Matrix TEME to ECEF + s2e::math::Matrix<3, 3> dcm_j2000_to_ecef_; //!< Direction Cosine Matrix J2000 to ECEF + s2e::math::Matrix<3, 3> dcm_teme_to_ecef_; //!< Direction Cosine Matrix TEME to ECEF EarthRotationMode rotation_mode_; //!< Designation of dynamics model // Definitions of coefficients @@ -94,7 +94,7 @@ class EarthRotation { * @param [in] gast_rad: Greenwich 'Apparent' Sidereal Time [rad] * @return Rotation matrix */ - math::Matrix<3, 3> AxialRotation(const double gast_rad); + s2e::math::Matrix<3, 3> AxialRotation(const double gast_rad); /** * @fn Nutation @@ -102,7 +102,7 @@ class EarthRotation { * @param [in] t_tt_century: nth power of julian century for terrestrial time * @return Rotation matrix */ - math::Matrix<3, 3> Nutation(const double (&t_tt_century)[4]); + s2e::math::Matrix<3, 3> Nutation(const double (&t_tt_century)[4]); /** * @fn Precession @@ -110,14 +110,14 @@ class EarthRotation { * @param [in] t_tt_century: nth power of julian century for terrestrial time * @return Rotation matrix */ - math::Matrix<3, 3> Precession(const double (&t_tt_century)[4]); + s2e::math::Matrix<3, 3> Precession(const double (&t_tt_century)[4]); /** * @fn PolarMotion * @brief Calculate movement of the coordinate axes due to Polar Motion * @note Currently, this function is not used. */ - math::Matrix<3, 3> PolarMotion(const double x_p, const double y_p); + s2e::math::Matrix<3, 3> PolarMotion(const double x_p, const double y_p); }; EarthRotationMode ConvertEarthRotationMode(const std::string mode); diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index 21749c9aa..c2a844d7a 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -45,7 +45,7 @@ void GnssSatellites::Initialize(const std::vector& sp3_files, con // Initialize clock std::vector temp; temp.assign(kNumberOfInterpolation, -1.0); - clock_.assign(number_of_calculated_gnss_satellites_, math::Interpolation(temp, temp)); + clock_.assign(number_of_calculated_gnss_satellites_, s2e::math::Interpolation(temp, temp)); // Initialize interpolation for (size_t i = 0; i < kNumberOfInterpolation; i++) { @@ -74,8 +74,8 @@ void GnssSatellites::Update(const SimulationTime& simulation_time) { return; } -math::Vector<3> GnssSatellites::GetPosition_ecef_m(const size_t gnss_satellite_id, const time_system::EpochTime time) const { - if (gnss_satellite_id > number_of_calculated_gnss_satellites_) return math::Vector<3>(0.0); +s2e::math::Vector<3> GnssSatellites::GetPosition_ecef_m(const size_t gnss_satellite_id, const time_system::EpochTime time) const { + if (gnss_satellite_id > number_of_calculated_gnss_satellites_) return s2e::math::Vector<3>(0.0); time_system::EpochTime target_time; @@ -86,10 +86,10 @@ math::Vector<3> GnssSatellites::GetPosition_ecef_m(const size_t gnss_satellite_i } double diff_s = target_time.GetTimeWithFraction_s() - reference_time_.GetTimeWithFraction_s(); - if (diff_s < 0.0 || diff_s > 1e6) return math::Vector<3>(0.0); + if (diff_s < 0.0 || diff_s > 1e6) return s2e::math::Vector<3>(0.0); const double kOrbitalPeriodCorrection_s = 24 * 60 * 60 * 1.003; // See http://acc.igs.org/orbits/orbit-interp_gpssoln03.pdf - return orbit_[gnss_satellite_id].CalcPositionWithTrigonometric(diff_s, math::tau / kOrbitalPeriodCorrection_s); + return orbit_[gnss_satellite_id].CalcPositionWithTrigonometric(diff_s, s2e::math::tau / kOrbitalPeriodCorrection_s); } double GnssSatellites::GetClock_s(const size_t gnss_satellite_id, const time_system::EpochTime time) const { @@ -131,7 +131,7 @@ bool GnssSatellites::UpdateInterpolationInformation() { for (size_t gnss_id = 0; gnss_id < number_of_calculated_gnss_satellites_; gnss_id++) { time_system::EpochTime sp3_time = time_system::EpochTime(sp3_file.GetEpochData(reference_interpolation_id_)); double time_diff_s = sp3_time.GetTimeWithFraction_s() - reference_time_.GetTimeWithFraction_s(); - math::Vector<3> sp3_position_m = 1000.0 * sp3_file.GetSatellitePosition_km(reference_interpolation_id_, gnss_id); + s2e::math::Vector<3> sp3_position_m = 1000.0 * sp3_file.GetSatellitePosition_km(reference_interpolation_id_, gnss_id); orbit_[gnss_id].PushAndPopData(time_diff_s, sp3_position_m); clock_[gnss_id].PushAndPopData(time_diff_s, sp3_file.GetSatelliteClockOffset(reference_interpolation_id_, gnss_id)); diff --git a/src/environment/global/gnss_satellites.hpp b/src/environment/global/gnss_satellites.hpp index 77508f73b..bbb4aaac3 100644 --- a/src/environment/global/gnss_satellites.hpp +++ b/src/environment/global/gnss_satellites.hpp @@ -75,7 +75,7 @@ class GnssSatellites : public ILoggable { */ void Update(const SimulationTime& simulation_time); - inline math::Vector<3> GetPosition_eci_m(const size_t gnss_satellite_id) const { + inline s2e::math::Vector<3> GetPosition_eci_m(const size_t gnss_satellite_id) const { // TODO: Add target time for earth rotation calculation return earth_rotation_.GetDcmJ2000ToEcef().Transpose() * GetPosition_ecef_m(gnss_satellite_id); } @@ -87,7 +87,7 @@ class GnssSatellites : public ILoggable { * @param [in] time: Target time to get the GNSS satellite. When the argument is not set, the last updated time is used for the calculation. * @return GNSS satellite position at ECEF frame at the time. Or return zero vector when the arguments are out of range. */ - math::Vector<3> GetPosition_ecef_m(const size_t gnss_satellite_id, const time_system::EpochTime time = time_system::EpochTime(0, 0.0)) const; + s2e::math::Vector<3> GetPosition_ecef_m(const size_t gnss_satellite_id, const time_system::EpochTime time = time_system::EpochTime(0, 0.0)) const; /** * @fn GetGetClock_s @@ -121,7 +121,7 @@ class GnssSatellites : public ILoggable { time_system::EpochTime current_epoch_time_; //!< The last updated time std::vector orbit_; //!< GNSS satellite orbit with interpolation - std::vector clock_; //!< GNSS satellite clock offset with interpolation + std::vector clock_; //!< GNSS satellite clock offset with interpolation // References const EarthRotation& earth_rotation_; //!< Earth rotation diff --git a/src/environment/global/hipparcos_catalogue.cpp b/src/environment/global/hipparcos_catalogue.cpp index 7ef29494b..70e9fca25 100644 --- a/src/environment/global/hipparcos_catalogue.cpp +++ b/src/environment/global/hipparcos_catalogue.cpp @@ -50,10 +50,10 @@ bool HipparcosCatalogue::ReadContents(const std::string& file_name, const char d return true; } -math::Vector<3> HipparcosCatalogue::GetStarDirection_i(size_t rank) const { - math::Vector<3> direction_i; - double ra_rad = GetRightAscension_deg(rank) * math::deg_to_rad; - double de_rad = GetDeclination_deg(rank) * math::deg_to_rad; +s2e::math::Vector<3> HipparcosCatalogue::GetStarDirection_i(size_t rank) const { + s2e::math::Vector<3> direction_i; + double ra_rad = GetRightAscension_deg(rank) * s2e::math::deg_to_rad; + double de_rad = GetDeclination_deg(rank) * s2e::math::deg_to_rad; direction_i[0] = cos(ra_rad) * cos(de_rad); direction_i[1] = sin(ra_rad) * cos(de_rad); @@ -62,9 +62,9 @@ math::Vector<3> HipparcosCatalogue::GetStarDirection_i(size_t rank) const { return direction_i; } -math::Vector<3> HipparcosCatalogue::GetStarDirection_b(size_t rank, math::Quaternion quaternion_i2b) const { - math::Vector<3> direction_i; - math::Vector<3> direction_b; +s2e::math::Vector<3> HipparcosCatalogue::GetStarDirection_b(size_t rank, s2e::math::Quaternion quaternion_i2b) const { + s2e::math::Vector<3> direction_i; + s2e::math::Vector<3> direction_b; direction_i = GetStarDirection_i(rank); direction_b = quaternion_i2b.FrameConversion(direction_i); diff --git a/src/environment/global/hipparcos_catalogue.hpp b/src/environment/global/hipparcos_catalogue.hpp index d4a6afdd4..3114fdb3a 100644 --- a/src/environment/global/hipparcos_catalogue.hpp +++ b/src/environment/global/hipparcos_catalogue.hpp @@ -82,14 +82,14 @@ class HipparcosCatalogue : public ILoggable { *@brief Return direction vector of a star in the inertial frame *@param [in] rank: Rank of star magnitude in read catalogue */ - math::Vector<3> GetStarDirection_i(size_t rank) const; + s2e::math::Vector<3> GetStarDirection_i(size_t rank) const; /** *@fn GetStarDir_b *@brief Return direction vector of a star in the body-fixed frame *@param [in] rank: Rank of star magnitude in read catalogue *@param [in] quaternion_i2b: Quaternion from the inertial frame to the body-fixed frame */ - math::Vector<3> GetStarDirection_b(size_t rank, math::Quaternion quaternion_i2b) const; + s2e::math::Vector<3> GetStarDirection_b(size_t rank, s2e::math::Quaternion quaternion_i2b) const; // Override ILoggable /** diff --git a/src/environment/global/moon_rotation.cpp b/src/environment/global/moon_rotation.cpp index 1b8aea98d..75abc2e5b 100644 --- a/src/environment/global/moon_rotation.cpp +++ b/src/environment/global/moon_rotation.cpp @@ -12,13 +12,13 @@ MoonRotation::MoonRotation(const CelestialInformation& celestial_information, MoonRotationMode mode) : mode_(mode), celestial_information_(celestial_information) { - dcm_j2000_to_mcmf_ = math::MakeIdentityMatrix<3>(); + dcm_j2000_to_mcmf_ = s2e::math::MakeIdentityMatrix<3>(); } void MoonRotation::Update(const SimulationTime& simulation_time) { if (mode_ == MoonRotationMode::kSimple) { - math::Vector<3> moon_position_eci_m = celestial_information_.GetPositionFromSelectedBody_i_m("MOON", "EARTH"); - math::Vector<3> moon_velocity_eci_m_s = celestial_information_.GetVelocityFromSelectedBody_i_m_s("MOON", "EARTH"); + s2e::math::Vector<3> moon_position_eci_m = celestial_information_.GetPositionFromSelectedBody_i_m("MOON", "EARTH"); + s2e::math::Vector<3> moon_velocity_eci_m_s = celestial_information_.GetVelocityFromSelectedBody_i_m_s("MOON", "EARTH"); dcm_j2000_to_mcmf_ = planet_rotation::CalcDcmEciToPrincipalAxis(moon_position_eci_m, moon_velocity_eci_m_s); } else if (mode_ == MoonRotationMode::kIauMoon) { ConstSpiceChar from[] = "J2000"; @@ -32,7 +32,7 @@ void MoonRotation::Update(const SimulationTime& simulation_time) { } } } else { - dcm_j2000_to_mcmf_ = math::MakeIdentityMatrix<3>(); + dcm_j2000_to_mcmf_ = s2e::math::MakeIdentityMatrix<3>(); } } diff --git a/src/environment/global/moon_rotation.hpp b/src/environment/global/moon_rotation.hpp index fa9506757..5df9f247a 100644 --- a/src/environment/global/moon_rotation.hpp +++ b/src/environment/global/moon_rotation.hpp @@ -53,11 +53,11 @@ class MoonRotation { * @brief Return the DCM between J2000 inertial frame and the Moon Centered Moon Fixed frame * @note Because this is just a DCM, users need to consider the origin of the vector, which you want to convert with this matrix. */ - inline const math::Matrix<3, 3> GetDcmJ2000ToMcmf() const { return dcm_j2000_to_mcmf_; }; + inline const s2e::math::Matrix<3, 3> GetDcmJ2000ToMcmf() const { return dcm_j2000_to_mcmf_; }; private: MoonRotationMode mode_; //!< Rotation mode - math::Matrix<3, 3> dcm_j2000_to_mcmf_; //!< Direction Cosine Matrix J2000 to MCMF (Moon Centered Moon Fixed) + s2e::math::Matrix<3, 3> dcm_j2000_to_mcmf_; //!< Direction Cosine Matrix J2000 to MCMF (Moon Centered Moon Fixed) const CelestialInformation &celestial_information_; //!< Celestial Information to get moon orbit }; diff --git a/src/environment/local/atmosphere.cpp b/src/environment/local/atmosphere.cpp index b0792bca4..b46e855b2 100644 --- a/src/environment/local/atmosphere.cpp +++ b/src/environment/local/atmosphere.cpp @@ -66,7 +66,7 @@ double Atmosphere::CalcAirDensity_kg_m3(const double decimal_year, const Orbit& manual_average_f107_, manual_ap_); } else if (model_ == "HARRIS_PRIESTER") { // Harris-Priester - math::Vector<3> sun_direction_eci = local_celestial_information_->GetGlobalInformation().GetPositionFromCenter_i_m("SUN").CalcNormalizedVector(); + s2e::math::Vector<3> sun_direction_eci = local_celestial_information_->GetGlobalInformation().GetPositionFromCenter_i_m("SUN").CalcNormalizedVector(); air_density_kg_m3_ = atmosphere::CalcAirDensityWithHarrisPriester_kg_m3(orbit.GetGeodeticPosition(), sun_direction_eci); } else { // No suitable model diff --git a/src/environment/local/geomagnetic_field.cpp b/src/environment/local/geomagnetic_field.cpp index d167ae9ea..971910b0a 100644 --- a/src/environment/local/geomagnetic_field.cpp +++ b/src/environment/local/geomagnetic_field.cpp @@ -23,7 +23,7 @@ GeomagneticField::GeomagneticField(const std::string igrf_file_name, const doubl } void GeomagneticField::CalcMagneticField(const double decimal_year, const double sidereal_day, const geodesy::GeodeticPosition position, - const math::Quaternion quaternion_i2b) { + const s2e::math::Quaternion quaternion_i2b) { if (!IsCalcEnabled) return; const double lat_rad = position.GetLatitude_rad(); @@ -40,8 +40,8 @@ void GeomagneticField::CalcMagneticField(const double decimal_year, const double } void GeomagneticField::AddNoise(double* magnetic_field_array_i_nT) { - static math::Vector<3> standard_deviation(random_walk_standard_deviation_nT_); - static math::Vector<3> limit(random_walk_limit_nT_); + static s2e::math::Vector<3> standard_deviation(random_walk_standard_deviation_nT_); + static s2e::math::Vector<3> limit(random_walk_limit_nT_); static RandomWalk<3> random_walk(0.1, standard_deviation, limit); static randomization::NormalRand white_noise(0.0, white_noise_standard_deviation_nT_, global_randomization.MakeSeed()); diff --git a/src/environment/local/geomagnetic_field.hpp b/src/environment/local/geomagnetic_field.hpp index f8c38b997..d00f46aa1 100644 --- a/src/environment/local/geomagnetic_field.hpp +++ b/src/environment/local/geomagnetic_field.hpp @@ -44,18 +44,18 @@ class GeomagneticField : public ILoggable { * @param [in] quaternion_i2b: Spacecraft attitude quaternion from the inertial frame to the body fixed frame */ void CalcMagneticField(const double decimal_year, const double sidereal_day, const geodesy::GeodeticPosition position, - const math::Quaternion quaternion_i2b); + const s2e::math::Quaternion quaternion_i2b); /** * @fn GetGeomagneticField_i_nT * @brief Return magnetic field vector in the inertial frame [nT] */ - inline math::Vector<3> GetGeomagneticField_i_nT() const { return magnetic_field_i_nT_; } + inline s2e::math::Vector<3> GetGeomagneticField_i_nT() const { return magnetic_field_i_nT_; } /** * @fn GetGeomagneticField_b_nT * @brief Return magnetic field vector in the body fixed frame [nT] */ - inline math::Vector<3> GetGeomagneticField_b_nT() const { return magnetic_field_b_nT_; } + inline s2e::math::Vector<3> GetGeomagneticField_b_nT() const { return magnetic_field_b_nT_; } // Override ILoggable /** @@ -70,8 +70,8 @@ class GeomagneticField : public ILoggable { virtual std::string GetLogValue() const; private: - math::Vector<3> magnetic_field_i_nT_; //!< Magnetic field vector at the inertial frame [nT] - math::Vector<3> magnetic_field_b_nT_; //!< Magnetic field vector at the spacecraft body fixed frame [nT] + s2e::math::Vector<3> magnetic_field_i_nT_; //!< Magnetic field vector at the inertial frame [nT] + s2e::math::Vector<3> magnetic_field_b_nT_; //!< Magnetic field vector at the spacecraft body fixed frame [nT] double random_walk_standard_deviation_nT_; //!< Standard deviation of Random Walk [nT] double random_walk_limit_nT_; //!< Limit of Random Walk [nT] double white_noise_standard_deviation_nT_; //!< Standard deviation of white noise [nT] diff --git a/src/environment/local/local_celestial_information.cpp b/src/environment/local/local_celestial_information.cpp index e73d23132..b34fcc6ed 100644 --- a/src/environment/local/local_celestial_information.cpp +++ b/src/environment/local/local_celestial_information.cpp @@ -43,11 +43,11 @@ LocalCelestialInformation::~LocalCelestialInformation() { delete[] celestial_body_velocity_from_spacecraft_b_m_s_; } -void LocalCelestialInformation::UpdateAllObjectsInformation(const math::Vector<3> spacecraft_position_from_center_i_m, - const math::Vector<3> spacecraft_velocity_from_center_i_m_s, - const math::Quaternion quaternion_i2b, - const math::Vector<3> spacecraft_angular_velocity_rad_s) { - math::Vector<3> celestial_body_position_i_m, celestial_body_velocity_i_m_s; +void LocalCelestialInformation::UpdateAllObjectsInformation(const s2e::math::Vector<3> spacecraft_position_from_center_i_m, + const s2e::math::Vector<3> spacecraft_velocity_from_center_i_m_s, + const s2e::math::Quaternion quaternion_i2b, + const s2e::math::Vector<3> spacecraft_angular_velocity_rad_s) { + s2e::math::Vector<3> celestial_body_position_i_m, celestial_body_velocity_i_m_s; for (int i = 0; i < global_celestial_information_->GetNumberOfSelectedBodies(); i++) { celestial_body_position_i_m = global_celestial_information_->GetPositionFromCenter_i_m(i); celestial_body_velocity_i_m_s = global_celestial_information_->GetVelocityFromCenter_i_m_s(i); @@ -62,8 +62,8 @@ void LocalCelestialInformation::UpdateAllObjectsInformation(const math::Vector<3 return; } -void LocalCelestialInformation::CalcAllPosVel_b(const math::Quaternion quaternion_i2b, const math::Vector<3> spacecraft_angular_velocity_rad_s) { - math::Vector<3> celestial_body_position_i_m, celestial_body_velocity_i_m_s; +void LocalCelestialInformation::CalcAllPosVel_b(const s2e::math::Quaternion quaternion_i2b, const s2e::math::Vector<3> spacecraft_angular_velocity_rad_s) { + s2e::math::Vector<3> celestial_body_position_i_m, celestial_body_velocity_i_m_s; double r_buf1_i[3], velocity_buf1_i[3], r_buf1_b[3], velocity_buf1_b[3]; double r_buf2_i[3], velocity_buf2_i[3], r_buf2_b[3], velocity_buf2_b[3]; for (int i = 0; i < global_celestial_information_->GetNumberOfSelectedBodies(); i++) { @@ -89,50 +89,50 @@ void LocalCelestialInformation::CalcAllPosVel_b(const math::Quaternion quaternio } } -void LocalCelestialInformation::ConvertInertialToBody(const double* input_i, double* output_b, math::Quaternion quaternion_i2b) { - math::Vector<3> temp_i; +void LocalCelestialInformation::ConvertInertialToBody(const double* input_i, double* output_b, s2e::math::Quaternion quaternion_i2b) { + s2e::math::Vector<3> temp_i; for (int i = 0; i < 3; i++) { temp_i[i] = input_i[i]; } - math::Vector<3> temp_b = quaternion_i2b.FrameConversion(temp_i); + s2e::math::Vector<3> temp_b = quaternion_i2b.FrameConversion(temp_i); for (int i = 0; i < 3; i++) { output_b[i] = temp_b[i]; } } void LocalCelestialInformation::ConvertVelocityInertialToBody(const double* position_i, const double* velocity_i, double* velocity_b, - const math::Quaternion quaternion_i2b, const math::Vector<3> angular_velocity_b) { + const s2e::math::Quaternion quaternion_i2b, const s2e::math::Vector<3> angular_velocity_b) { // copy input vector - math::Vector<3> vi; + s2e::math::Vector<3> vi; for (int i = 0; i < 3; i++) { vi[i] = velocity_i[i]; } - math::Vector<3> ri; + s2e::math::Vector<3> ri; for (int i = 0; i < 3; i++) { ri[i] = position_i[i]; } // convert body rate vector into that in inertial coordinate - math::Vector<3> wb; + s2e::math::Vector<3> wb; for (int i = 0; i < 3; i++) { wb[i] = angular_velocity_b[i]; } // compute cross term wxr - math::Vector<3> wxposition_i = OuterProduct(wb, ri); + s2e::math::Vector<3> wxposition_i = OuterProduct(wb, ri); // compute dr/dt + wxr for (int i = 0; i < 3; i++) { vi[i] = vi[i] - wxposition_i[i]; } // convert vector in inertial coordinate into that in body coordinate - math::Vector<3> temp_b = quaternion_i2b.FrameConversion(vi); + s2e::math::Vector<3> temp_b = quaternion_i2b.FrameConversion(vi); for (int i = 0; i < 3; i++) { velocity_b[i] = temp_b[i]; } } -math::Vector<3> LocalCelestialInformation::GetPositionFromSpacecraft_i_m(const char* body_name) const { - math::Vector<3> position; +s2e::math::Vector<3> LocalCelestialInformation::GetPositionFromSpacecraft_i_m(const char* body_name) const { + s2e::math::Vector<3> position; int index = 0; index = global_celestial_information_->CalcBodyIdFromName(body_name); for (int i = 0; i < 3; i++) { @@ -141,14 +141,14 @@ math::Vector<3> LocalCelestialInformation::GetPositionFromSpacecraft_i_m(const c return position; } -math::Vector<3> LocalCelestialInformation::GetCenterBodyPositionFromSpacecraft_i_m() const { +s2e::math::Vector<3> LocalCelestialInformation::GetCenterBodyPositionFromSpacecraft_i_m() const { std::string body_name = global_celestial_information_->GetCenterBodyName(); - math::Vector<3> position = GetPositionFromSpacecraft_i_m(body_name.c_str()); + s2e::math::Vector<3> position = GetPositionFromSpacecraft_i_m(body_name.c_str()); return position; } -math::Vector<3> LocalCelestialInformation::GetPositionFromSpacecraft_b_m(const char* body_name) const { - math::Vector<3> position; +s2e::math::Vector<3> LocalCelestialInformation::GetPositionFromSpacecraft_b_m(const char* body_name) const { + s2e::math::Vector<3> position; int index = 0; index = global_celestial_information_->CalcBodyIdFromName(body_name); for (int i = 0; i < 3; i++) { @@ -157,9 +157,9 @@ math::Vector<3> LocalCelestialInformation::GetPositionFromSpacecraft_b_m(const c return position; } -math::Vector<3> LocalCelestialInformation::GetCenterBodyPositionFromSpacecraft_b_m(void) const { +s2e::math::Vector<3> LocalCelestialInformation::GetCenterBodyPositionFromSpacecraft_b_m(void) const { std::string body_name = global_celestial_information_->GetCenterBodyName(); - math::Vector<3> position = GetPositionFromSpacecraft_b_m(body_name.c_str()); + s2e::math::Vector<3> position = GetPositionFromSpacecraft_b_m(body_name.c_str()); return position; } diff --git a/src/environment/local/local_celestial_information.hpp b/src/environment/local/local_celestial_information.hpp index dc10ab302..ec3a6cbb3 100644 --- a/src/environment/local/local_celestial_information.hpp +++ b/src/environment/local/local_celestial_information.hpp @@ -34,33 +34,33 @@ class LocalCelestialInformation : public ILoggable { * @param [in] quaternion_i2b: Spacecraft attitude quaternion from the inertial frame to the body fixed frame * @param [in] spacecraft_angular_velocity_rad_s: Spacecraft angular velocity with respect to the inertial frame [rad/s] */ - void UpdateAllObjectsInformation(const math::Vector<3> spacecraft_position_from_center_i_m, - const math::Vector<3> spacecraft_velocity_from_center_i_m_s, const math::Quaternion quaternion_i2b, - const math::Vector<3> spacecraft_angular_velocity_rad_s); + void UpdateAllObjectsInformation(const s2e::math::Vector<3> spacecraft_position_from_center_i_m, + const s2e::math::Vector<3> spacecraft_velocity_from_center_i_m_s, const s2e::math::Quaternion quaternion_i2b, + const s2e::math::Vector<3> spacecraft_angular_velocity_rad_s); /** * @fn GetPositionFromSpacecraft_i_m * @brief Return position of a selected body (Origin: Spacecraft, Frame: Inertial frame) * @param [in] body_name Celestial body name */ - math::Vector<3> GetPositionFromSpacecraft_i_m(const char* body_name) const; + s2e::math::Vector<3> GetPositionFromSpacecraft_i_m(const char* body_name) const; /** * @fn GetCenterBodyPositionFromSpacecraft_i_m * @brief Return position of the center body (Origin: Spacecraft, Frame: Inertial frame) */ - math::Vector<3> GetCenterBodyPositionFromSpacecraft_i_m(void) const; + s2e::math::Vector<3> GetCenterBodyPositionFromSpacecraft_i_m(void) const; /** * @fn GetPositionFromSpacecraft_b_m * @brief Return position of a selected body (Origin: Spacecraft, Frame: Body fixed frame) * @param [in] body_name Celestial body name */ - math::Vector<3> GetPositionFromSpacecraft_b_m(const char* body_name) const; + s2e::math::Vector<3> GetPositionFromSpacecraft_b_m(const char* body_name) const; /** * @fn GetCenterBodyPositionFromSpacecraft_b_m * @brief Return position of the center body (Origin: Spacecraft, Frame: Body fixed frame) */ - math::Vector<3> GetCenterBodyPositionFromSpacecraft_b_m(void) const; + s2e::math::Vector<3> GetCenterBodyPositionFromSpacecraft_b_m(void) const; /** * @fn GetGlobalInfo @@ -96,7 +96,7 @@ class LocalCelestialInformation : public ILoggable { * @param [in] quaternion_i2b: Spacecraft attitude quaternion from the inertial frame to the body fixed frame * @param [in] spacecraft_angular_velocity_rad_s: Spacecraft angular velocity with respect to the inertial frame [rad/s] */ - void CalcAllPosVel_b(const math::Quaternion quaternion_i2b, const math::Vector<3> spacecraft_angular_velocity_rad_s); + void CalcAllPosVel_b(const s2e::math::Quaternion quaternion_i2b, const s2e::math::Vector<3> spacecraft_angular_velocity_rad_s); /** * @fn ConvertInertialToBody @@ -105,7 +105,7 @@ class LocalCelestialInformation : public ILoggable { * @param [out] output_b: Output vector in the body fixed frame * @param [in] quaternion_i2b: Spacecraft attitude quaternion from the inertial frame to the body fixed frame */ - void ConvertInertialToBody(const double* input_i, double* output_b, const math::Quaternion quaternion_i2b); + void ConvertInertialToBody(const double* input_i, double* output_b, const s2e::math::Quaternion quaternion_i2b); /** * @fn ConvertVelocityInertialToBody @@ -116,8 +116,8 @@ class LocalCelestialInformation : public ILoggable { * @param [in] quaternion_i2b: Spacecraft attitude quaternion from the inertial frame to the body fixed frame * @param [in] angular_velocity_b: Spacecraft angular velocity with respect to the inertial frame [rad/s] */ - void ConvertVelocityInertialToBody(const double* position_i, const double* velocity_i, double* velocity_b, const math::Quaternion quaternion_i2b, - const math::Vector<3> angular_velocity_b); + void ConvertVelocityInertialToBody(const double* position_i, const double* velocity_i, double* velocity_b, const s2e::math::Quaternion quaternion_i2b, + const s2e::math::Vector<3> angular_velocity_b); }; #endif // S2E_ENVIRONMENT_LOCAL_LOCAL_CELESTIAL_INFORMATION_HPP_ diff --git a/src/environment/local/solar_radiation_pressure_environment.cpp b/src/environment/local/solar_radiation_pressure_environment.cpp index 181e1ea7a..abda33801 100644 --- a/src/environment/local/solar_radiation_pressure_environment.cpp +++ b/src/environment/local/solar_radiation_pressure_environment.cpp @@ -31,7 +31,7 @@ void SolarRadiationPressureEnvironment::UpdateAllStates() { } void SolarRadiationPressureEnvironment::UpdatePressure() { - const math::Vector<3> r_sc2sun_eci = local_celestial_information_->GetPositionFromSpacecraft_i_m("SUN"); + const s2e::math::Vector<3> r_sc2sun_eci = local_celestial_information_->GetPositionFromSpacecraft_i_m("SUN"); const double distance_sat_to_sun = r_sc2sun_eci.CalcNorm(); solar_radiation_pressure_N_m2_ = solar_constant_W_m2_ / environment::speed_of_light_m_s / pow(distance_sat_to_sun / environment::astronomical_unit_m, 2.0); @@ -61,8 +61,8 @@ void SolarRadiationPressureEnvironment::CalcShadowCoefficient(std::string shadow return; } - const math::Vector<3> r_sc2sun_eci = local_celestial_information_->GetPositionFromSpacecraft_i_m("SUN"); - const math::Vector<3> r_sc2source_eci = local_celestial_information_->GetPositionFromSpacecraft_i_m(shadow_source_name.c_str()); + const s2e::math::Vector<3> r_sc2sun_eci = local_celestial_information_->GetPositionFromSpacecraft_i_m("SUN"); + const s2e::math::Vector<3> r_sc2source_eci = local_celestial_information_->GetPositionFromSpacecraft_i_m(shadow_source_name.c_str()); const double shadow_source_radius_m = local_celestial_information_->GetGlobalInformation().GetMeanRadiusFromName_m(shadow_source_name.c_str()); @@ -71,7 +71,7 @@ void SolarRadiationPressureEnvironment::CalcShadowCoefficient(std::string shadow const double sd_source = asin(shadow_source_radius_m / r_sc2source_eci.CalcNorm()); // Apparent radius of the shadow source // Angle of deviation from shadow source center to sun center - math::Vector<3> r_source2sun_eci = r_sc2sun_eci - r_sc2source_eci; + s2e::math::Vector<3> r_source2sun_eci = r_sc2sun_eci - r_sc2source_eci; const double delta = acos(InnerProduct(r_sc2source_eci, r_sc2sun_eci - r_sc2source_eci) / r_sc2source_eci.CalcNorm() / r_source2sun_eci.CalcNorm()); // The angle between the center of the sun and the common chord const double x = (delta * delta + sd_sun * sd_sun - sd_source * sd_source) / (2.0 * delta); @@ -91,7 +91,7 @@ void SolarRadiationPressureEnvironment::CalcShadowCoefficient(std::string shadow } else if (fabs(a - b) <= c && c <= (a + b)) // spacecraft is in penumbra { double A = a * a * acos(x / a) + b * b * acos((c - x) / b) - c * y; // The area of the occulted segment of the apparent solar disk - shadow_coefficient_ *= 1.0 - A / (math::pi * a * a); + shadow_coefficient_ *= 1.0 - A / (s2e::math::pi * a * a); } else { // no occultation takes place if (c < (a + b)) { std::cout << "[Error SRP Environment]: The calculation error was occurred at the shadow calculation." << std::endl; diff --git a/src/logger/log_utility.hpp b/src/logger/log_utility.hpp index 7eba4b767..96ccf3c31 100644 --- a/src/logger/log_utility.hpp +++ b/src/logger/log_utility.hpp @@ -35,7 +35,7 @@ inline std::string WriteScalar(const std::string name, const std::string unit); * @param [in] precision: precision for the value (number of digit) */ template -inline std::string WriteVector(const math::Vector vector, const int precision = 6); +inline std::string WriteVector(const s2e::math::Vector vector, const int precision = 6); /** * @fn WriteVector * @brief Write header for vector value @@ -52,7 +52,7 @@ inline std::string WriteVector(const std::string name, const std::string frame, * @param [in] matrix: matrix value */ template -inline std::string WriteMatrix(const math::Matrix matrix, const int precision = 6); +inline std::string WriteMatrix(const s2e::math::Matrix matrix, const int precision = 6); /** * @fn WriteMatrix * @brief Write header for matrix value @@ -70,7 +70,7 @@ inline std::string WriteMatrix(const std::string name, const std::string frame, * @brief Write quaternion value * @param [in] quaternion: Quaternion */ -inline std::string WriteQuaternion(const math::Quaternion quaternion, const int precision = 6); +inline std::string WriteQuaternion(const s2e::math::Quaternion quaternion, const int precision = 6); /** * @fn WriteQuaternion * @brief Write header for quaternion @@ -91,7 +91,7 @@ std::string WriteScalar(const T scalar, const int precision) { std::string WriteScalar(const std::string name, const std::string unit) { return name + "[" + unit + "],"; } template -std::string WriteVector(const math::Vector vector, const int precision) { +std::string WriteVector(const s2e::math::Vector vector, const int precision) { std::stringstream str_tmp; for (size_t n = 0; n < NUM; n++) { @@ -115,7 +115,7 @@ std::string WriteVector(const std::string name, const std::string frame, const s } template -std::string WriteMatrix(const math::Matrix matrix, const int precision) { +std::string WriteMatrix(const s2e::math::Matrix matrix, const int precision) { std::stringstream str_tmp; for (size_t n = 0; n < ROW; n++) { @@ -138,7 +138,7 @@ std::string WriteMatrix(const std::string name, const std::string frame, const s return str_tmp.str(); } -std::string WriteQuaternion(const math::Quaternion quaternion, const int precision) { +std::string WriteQuaternion(const s2e::math::Quaternion quaternion, const int precision) { std::stringstream str_tmp; for (size_t i = 0; i < 4; i++) { diff --git a/src/math_physics/atmosphere/harris_priester_model.cpp b/src/math_physics/atmosphere/harris_priester_model.cpp index 3f2b022b3..ce88b5a54 100644 --- a/src/math_physics/atmosphere/harris_priester_model.cpp +++ b/src/math_physics/atmosphere/harris_priester_model.cpp @@ -28,27 +28,27 @@ double CalcScaleHeight_km(const std::map::const_iterator density */ double CalcApexDensity_g_km3(const std::map::const_iterator density_itr, const double altitude_km); -double CalcAirDensityWithHarrisPriester_kg_m3(const geodesy::GeodeticPosition geodetic_position, const math::Vector<3> sun_direction_eci, +double CalcAirDensityWithHarrisPriester_kg_m3(const geodesy::GeodeticPosition geodetic_position, const s2e::math::Vector<3> sun_direction_eci, const double f10_7, const double exponent_parameter) { // Altitude double altitude_km = geodetic_position.GetAltitude_m() / 1000.0; // Position - math::Vector<3> position_ecef_m = geodetic_position.CalcEcefPosition(); + s2e::math::Vector<3> position_ecef_m = geodetic_position.CalcEcefPosition(); // Phi: angle between the satellite position and apex of the diurnal bulge double sun_ra_rad; //!< Right ascension of the sun phi double sun_dec_rad; //!< Declination of the sun theta sun_ra_rad = atan2(sun_direction_eci[1], sun_direction_eci[0]); sun_dec_rad = atan2(sun_direction_eci[2], sqrt(sun_direction_eci[0] * sun_direction_eci[0] + sun_direction_eci[1] * sun_direction_eci[1])); - math::Vector<3> apex_direction; - const double lag_angle_rad = 30.0 * math::deg_to_rad; + s2e::math::Vector<3> apex_direction; + const double lag_angle_rad = 30.0 * s2e::math::deg_to_rad; double apex_ra_rad = sun_ra_rad + lag_angle_rad; apex_direction[0] = cos(sun_dec_rad) * cos(apex_ra_rad); apex_direction[1] = cos(sun_dec_rad) * sin(apex_ra_rad); apex_direction[2] = sin(sun_dec_rad); - double beta_rad = math::InnerProduct(position_ecef_m.CalcNormalizedVector(), apex_direction); + double beta_rad = s2e::math::InnerProduct(position_ecef_m.CalcNormalizedVector(), apex_direction); double cos_phi = pow(0.5 + beta_rad / 2.0, exponent_parameter / 2.0); // Find density coefficients from altitude diff --git a/src/math_physics/atmosphere/harris_priester_model.hpp b/src/math_physics/atmosphere/harris_priester_model.hpp index f9d8ffcc5..fb08c4977 100644 --- a/src/math_physics/atmosphere/harris_priester_model.hpp +++ b/src/math_physics/atmosphere/harris_priester_model.hpp @@ -20,7 +20,7 @@ namespace atmosphere { * @param [in] exponent_parameter: n in the equation. n=2 for low inclination orbit and n=6 for polar orbit. * @return Atmospheric density [kg/m^3] */ -double CalcAirDensityWithHarrisPriester_kg_m3(const geodesy::GeodeticPosition geodetic_position, const math::Vector<3> sun_direction_eci, +double CalcAirDensityWithHarrisPriester_kg_m3(const geodesy::GeodeticPosition geodetic_position, const s2e::math::Vector<3> sun_direction_eci, const double f10_7 = 100.0, const double exponent_parameter = 4); } // namespace atmosphere diff --git a/src/math_physics/atmosphere/wrapper_nrlmsise00.cpp b/src/math_physics/atmosphere/wrapper_nrlmsise00.cpp index c000ca49e..8401d233b 100644 --- a/src/math_physics/atmosphere/wrapper_nrlmsise00.cpp +++ b/src/math_physics/atmosphere/wrapper_nrlmsise00.cpp @@ -187,9 +187,9 @@ double CalcNRLMSISE00(double decyear, double latrad, double lonrad, double alt, input.year = 0; /* without effect */ input.sec = date[3] * 60.0 * 60.0 + date[4] * 60.0 + date[5]; input.alt = alt / 1000.0; - input.g_lat = latrad * math::rad_to_deg; - input.g_long = lonrad * math::rad_to_deg; - input.lst = input.sec / 3600.0 + lonrad * math::rad_to_deg / 15.0; + input.g_lat = latrad * s2e::math::rad_to_deg; + input.g_long = lonrad * s2e::math::rad_to_deg; + input.lst = input.sec / 3600.0 + lonrad * s2e::math::rad_to_deg / 15.0; if (is_manual_param) { input.f107 = manual_f107; diff --git a/src/math_physics/geodesy/geodetic_position.cpp b/src/math_physics/geodesy/geodetic_position.cpp index e7353b670..65969df15 100644 --- a/src/math_physics/geodesy/geodetic_position.cpp +++ b/src/math_physics/geodesy/geodetic_position.cpp @@ -25,7 +25,7 @@ GeodeticPosition::GeodeticPosition(const double latitude_rad, const double longi CalcQuaternionXcxfToLtc(); } -void GeodeticPosition::UpdateFromEcef(const math::Vector<3> position_ecef_m) { +void GeodeticPosition::UpdateFromEcef(const s2e::math::Vector<3> position_ecef_m) { const double earth_radius_m = environment::earth_equatorial_radius_m; const double flattening = environment::earth_flattening; @@ -46,7 +46,7 @@ void GeodeticPosition::UpdateFromEcef(const math::Vector<3> position_ecef_m) { altitude_m_ = r_m / cos(lat_tmp_rad) - c * earth_radius_m; - if (lat_tmp_rad > math::pi_2) lat_tmp_rad -= math::tau; + if (lat_tmp_rad > s2e::math::pi_2) lat_tmp_rad -= s2e::math::tau; latitude_rad_ = lat_tmp_rad; @@ -54,7 +54,7 @@ void GeodeticPosition::UpdateFromEcef(const math::Vector<3> position_ecef_m) { return; } -math::Vector<3> GeodeticPosition::CalcEcefPosition() const { +s2e::math::Vector<3> GeodeticPosition::CalcEcefPosition() const { const double earth_radius_m = environment::earth_equatorial_radius_m; const double flattening = environment::earth_flattening; @@ -63,7 +63,7 @@ math::Vector<3> GeodeticPosition::CalcEcefPosition() const { double c = 1.0 / sqrt(1.0 - e2 * sin(latitude_rad_) * sin(latitude_rad_)); double n = c * earth_radius_m; - math::Vector<3> pos_ecef_m; + s2e::math::Vector<3> pos_ecef_m; pos_ecef_m(0) = (n + altitude_m_) * cos(latitude_rad_) * cos(theta); pos_ecef_m(1) = (n + altitude_m_) * cos(latitude_rad_) * sin(theta); pos_ecef_m(2) = (n * (1.0 - e2) + altitude_m_) * sin(latitude_rad_); @@ -72,7 +72,7 @@ math::Vector<3> GeodeticPosition::CalcEcefPosition() const { } void GeodeticPosition::CalcQuaternionXcxfToLtc() { - math::Matrix<3, 3> dcm_xcxf_to_ltc; + s2e::math::Matrix<3, 3> dcm_xcxf_to_ltc; dcm_xcxf_to_ltc[0][0] = -sin(longitude_rad_); dcm_xcxf_to_ltc[0][1] = cos(longitude_rad_); dcm_xcxf_to_ltc[0][2] = 0; diff --git a/src/math_physics/geodesy/geodetic_position.hpp b/src/math_physics/geodesy/geodetic_position.hpp index 556744f69..a850c5936 100644 --- a/src/math_physics/geodesy/geodetic_position.hpp +++ b/src/math_physics/geodesy/geodetic_position.hpp @@ -36,13 +36,13 @@ class GeodeticPosition { * @brief Update geodetic position with position vector in the ECEF frame * @param [in] position_ecef_m: Position vector in the ECEF frame [m] */ - void UpdateFromEcef(const math::Vector<3> position_ecef_m); + void UpdateFromEcef(const s2e::math::Vector<3> position_ecef_m); /** * @fn CalcEcefPosition * @brief Calculate and return the ECEF position from the geodetic position */ - math::Vector<3> CalcEcefPosition() const; + s2e::math::Vector<3> CalcEcefPosition() const; // Getter /** @@ -64,14 +64,14 @@ class GeodeticPosition { * @fn GetQuaternionXcxfToLtc * @brief Conversion quaternion from XCXF (e.g. ECEF) to LTC frame */ - inline math::Quaternion GetQuaternionXcxfToLtc() const { return quaternion_xcxf_to_ltc_; } + inline s2e::math::Quaternion GetQuaternionXcxfToLtc() const { return quaternion_xcxf_to_ltc_; } private: double latitude_rad_; //!< Latitude [rad] South: -π/2 to 0, North: 0 to π/2 double longitude_rad_; //!< Longitude [rad] East: 0 to π, West: 2π to π (i.e., defined as 0 to 2π [rad] east of the Greenwich meridian) double altitude_m_; //!< Altitude [m] - math::Quaternion quaternion_xcxf_to_ltc_; //!< Conversion quaternion from XCXF (e.g. ECEF) to LTC (Local Topographic Coordinate) + s2e::math::Quaternion quaternion_xcxf_to_ltc_; //!< Conversion quaternion from XCXF (e.g. ECEF) to LTC (Local Topographic Coordinate) /** * @fn CalcQuaternionXcxfToLtc diff --git a/src/math_physics/gnss/antex_file_reader.cpp b/src/math_physics/gnss/antex_file_reader.cpp index c36cdacc4..9a80470d4 100644 --- a/src/math_physics/gnss/antex_file_reader.cpp +++ b/src/math_physics/gnss/antex_file_reader.cpp @@ -171,7 +171,7 @@ AntexPhaseCenterData AntexFileReader::ReadPhaseCenterData(std::ifstream& antex_f } // Phase center offset if (line.find("NORTH / EAST / UP") == ANTEX_LINE_TYPE_POSITION) { - math::Vector<3> offset{0.0}; + s2e::math::Vector<3> offset{0.0}; sscanf(line.c_str(), "%lf %lf %lf", &offset[0], &offset[1], &offset[2]); phase_center_data.SetPhaseCenterOffset_mm(offset); } diff --git a/src/math_physics/gnss/antex_file_reader.hpp b/src/math_physics/gnss/antex_file_reader.hpp index 13e126c55..11ac0dc7d 100644 --- a/src/math_physics/gnss/antex_file_reader.hpp +++ b/src/math_physics/gnss/antex_file_reader.hpp @@ -128,7 +128,7 @@ class AntexPhaseCenterData { * @fn SetPhaseCenterOffset_mm * @param[in] phase_center_offset_mm: Phase center offset vector [mm] */ - inline void SetPhaseCenterOffset_mm(const math::Vector<3> phase_center_offset_mm) { phase_center_offset_mm_ = phase_center_offset_mm; } + inline void SetPhaseCenterOffset_mm(const s2e::math::Vector<3> phase_center_offset_mm) { phase_center_offset_mm_ = phase_center_offset_mm; } /** * @fn SetGridInformation * @param[in] grid_information: Grid information @@ -152,7 +152,7 @@ class AntexPhaseCenterData { * @fn GetPhaseCenterOffset_mm * @return Phase center offset vector [mm] */ - inline math::Vector<3> GetPhaseCenterOffset_mm() const { return phase_center_offset_mm_; } + inline s2e::math::Vector<3> GetPhaseCenterOffset_mm() const { return phase_center_offset_mm_; } /** * @fn GetGridInformation * @return Grid information @@ -166,7 +166,7 @@ class AntexPhaseCenterData { private: std::string frequency_name_ = ""; //!< Frequency name - math::Vector<3> phase_center_offset_mm_{0.0}; //!< Phase center offset [mm] + s2e::math::Vector<3> phase_center_offset_mm_{0.0}; //!< Phase center offset [mm] AntexGridDefinition grid_information_; //!< Grid information std::vector> phase_center_variation_matrix_mm_; //!< Phase center variation [mm] (column, row definition: [azimuth][zenith]) }; diff --git a/src/math_physics/gnss/sp3_file_reader.cpp b/src/math_physics/gnss/sp3_file_reader.cpp index 7fbf0e831..b03fb4923 100644 --- a/src/math_physics/gnss/sp3_file_reader.cpp +++ b/src/math_physics/gnss/sp3_file_reader.cpp @@ -40,7 +40,7 @@ double Sp3FileReader::GetSatelliteClockOffset(const size_t epoch_id, const size_ return position_clock.clock_us_; } -math::Vector<3> Sp3FileReader::GetSatellitePosition_km(const size_t epoch_id, const size_t satellite_id) { +s2e::math::Vector<3> Sp3FileReader::GetSatellitePosition_km(const size_t epoch_id, const size_t satellite_id) { Sp3PositionClock position_clock = GetPositionClock(epoch_id, satellite_id); return position_clock.position_km_; } @@ -314,7 +314,7 @@ Sp3PositionClock Sp3FileReader::DecodePositionClockData(std::string line) { position_clock.satellite_id_ = line.substr(1, 3); // Position and clock - math::Vector<3> position_km; + s2e::math::Vector<3> position_km; for (size_t axis = 0; axis < 3; axis++) { position_km[axis] = stod(line.substr(4 + axis * 14, 14)); } @@ -323,7 +323,7 @@ Sp3PositionClock Sp3FileReader::DecodePositionClockData(std::string line) { // Standard deviations if (line.size() > 61) { - math::Vector<3> position_standard_deviation; + s2e::math::Vector<3> position_standard_deviation; for (size_t axis = 0; axis < 3; axis++) { try { position_standard_deviation[axis] = stod(line.substr(61 + axis * 3, 2)); @@ -384,7 +384,7 @@ Sp3VelocityClockRate Sp3FileReader::DecodeVelocityClockRateData(std::string line velocity_clock_rate.satellite_id_ = line.substr(1, 3); // Velocity and clock rate - math::Vector<3> velocity_dm_s; + s2e::math::Vector<3> velocity_dm_s; for (size_t axis = 0; axis < 3; axis++) { velocity_dm_s[axis] = stod(line.substr(4 + axis * 14, 14)); } @@ -393,7 +393,7 @@ Sp3VelocityClockRate Sp3FileReader::DecodeVelocityClockRateData(std::string line // Standard deviations if (line.size() > 60) { - math::Vector<3> velocity_standard_deviation; + s2e::math::Vector<3> velocity_standard_deviation; for (size_t axis = 0; axis < 3; axis++) { velocity_standard_deviation[axis] = stod(line.substr(61 + axis * 2, 2)); } diff --git a/src/math_physics/gnss/sp3_file_reader.hpp b/src/math_physics/gnss/sp3_file_reader.hpp index 15e4566dc..2f04b25fc 100644 --- a/src/math_physics/gnss/sp3_file_reader.hpp +++ b/src/math_physics/gnss/sp3_file_reader.hpp @@ -95,9 +95,9 @@ struct Sp3Header { */ struct Sp3PositionClock { std::string satellite_id_; //!< GNSS satellite ID - math::Vector<3> position_km_{SP3_BAD_POSITION_VALUE}; //!< Satellite position [km] + s2e::math::Vector<3> position_km_{SP3_BAD_POSITION_VALUE}; //!< Satellite position [km] double clock_us_ = SP3_BAD_CLOCK_VALUE; //!< Satellite clock offset [us] - math::Vector<3> position_standard_deviation_{0.0}; //!< Satellite position standard deviation [-] + s2e::math::Vector<3> position_standard_deviation_{0.0}; //!< Satellite position standard deviation [-] double clock_standard_deviation_ = 0.0; //!< Satellite clock offset standard deviation [-] bool clock_event_flag_ = false; //!< true when clock discontinuity is happened bool clock_prediction_flag_ = false; //!< true when clock data is predicted @@ -130,9 +130,9 @@ struct Sp3PositionClockCorrelation { */ struct Sp3VelocityClockRate { std::string satellite_id_; //!< GNSS satellite ID - math::Vector<3> velocity_dm_s_{0.0}; //!< Satellite velocity [dm/s] + s2e::math::Vector<3> velocity_dm_s_{0.0}; //!< Satellite velocity [dm/s] double clock_rate_ = 0.0; //!< Satellite clock offset change rate [-] - math::Vector<3> velocity_standard_deviation_{0.0}; //!< Satellite position standard deviation [-] + s2e::math::Vector<3> velocity_standard_deviation_{0.0}; //!< Satellite position standard deviation [-] double clock_rate_standard_deviation_ = 0.0; //!< Satellite clock offset standard deviation [-] }; @@ -178,7 +178,7 @@ class Sp3FileReader { time_system::DateTime GetEpochData(const size_t epoch_id) const; Sp3PositionClock GetPositionClock(const size_t epoch_id, const size_t satellite_id); double GetSatelliteClockOffset(const size_t epoch_id, const size_t satellite_id); - math::Vector<3> GetSatellitePosition_km(const size_t epoch_id, const size_t satellite_id); + s2e::math::Vector<3> GetSatellitePosition_km(const size_t epoch_id, const size_t satellite_id); size_t SearchNearestEpochId(const time_system::EpochTime time); diff --git a/src/math_physics/gravity/gravity_potential.cpp b/src/math_physics/gravity/gravity_potential.cpp index d6c2fda06..6b55c1558 100644 --- a/src/math_physics/gravity/gravity_potential.cpp +++ b/src/math_physics/gravity/gravity_potential.cpp @@ -28,8 +28,8 @@ GravityPotential::GravityPotential(const size_t degree, const std::vector GravityPotential::CalcAcceleration_xcxf_m_s2(const math::Vector<3> &position_xcxf_m) { - math::Vector<3> acceleration_xcxf_m_s2(0.0); +s2e::math::Vector<3> GravityPotential::CalcAcceleration_xcxf_m_s2(const s2e::math::Vector<3> &position_xcxf_m) { + s2e::math::Vector<3> acceleration_xcxf_m_s2(0.0); if (degree_ <= 0) return acceleration_xcxf_m_s2; // TODO: Consider this assertion is needed xcxf_x_m_ = position_xcxf_m[0]; @@ -95,8 +95,8 @@ math::Vector<3> GravityPotential::CalcAcceleration_xcxf_m_s2(const math::Vector< return acceleration_xcxf_m_s2; } -math::Matrix<3, 3> GravityPotential::CalcPartialDerivative_xcxf_s2(const math::Vector<3> &position_xcxf_m) { - math::Matrix<3, 3> partial_derivative(0.0); +s2e::math::Matrix<3, 3> GravityPotential::CalcPartialDerivative_xcxf_s2(const s2e::math::Vector<3> &position_xcxf_m) { + s2e::math::Matrix<3, 3> partial_derivative(0.0); if (degree_ <= 0) return partial_derivative; xcxf_x_m_ = position_xcxf_m[0]; diff --git a/src/math_physics/gravity/gravity_potential.hpp b/src/math_physics/gravity/gravity_potential.hpp index 94d0c8269..9e25980ba 100644 --- a/src/math_physics/gravity/gravity_potential.hpp +++ b/src/math_physics/gravity/gravity_potential.hpp @@ -48,7 +48,7 @@ class GravityPotential { * @param [in] position_xcxf_m: Position of the spacecraft in the XCXF frame [m] * @return Acceleration in XCXF frame [m/s2] */ - math::Vector<3> CalcAcceleration_xcxf_m_s2(const math::Vector<3> &position_xcxf_m); + s2e::math::Vector<3> CalcAcceleration_xcxf_m_s2(const s2e::math::Vector<3> &position_xcxf_m); /** * @fn CalcAcceleration_xcxf_m_s2 @@ -56,7 +56,7 @@ class GravityPotential { * @param [in] position_xcxf_m: Position of the spacecraft in the XCXF frame [m] * @return Partial derivative of acceleration in XCXF frame [-/s2] */ - math::Matrix<3, 3> CalcPartialDerivative_xcxf_s2(const math::Vector<3> &position_xcxf_m); + s2e::math::Matrix<3, 3> CalcPartialDerivative_xcxf_s2(const s2e::math::Vector<3> &position_xcxf_m); private: size_t degree_ = 0; //!< Maximum degree diff --git a/src/math_physics/gravity/test_gravity_potential.cpp b/src/math_physics/gravity/test_gravity_potential.cpp index 22450d621..1c5177463 100644 --- a/src/math_physics/gravity/test_gravity_potential.cpp +++ b/src/math_physics/gravity/test_gravity_potential.cpp @@ -25,8 +25,8 @@ TEST(GravityPotential, Acceleration) { GravityPotential gravity_potential_(degree, c_, s_, 1.0, 1.0); // Acceleration Calculation check - math::Vector<3> position_xcxf_m; - math::Vector<3> acceleration_xcxf_m_s2; + s2e::math::Vector<3> position_xcxf_m; + s2e::math::Vector<3> acceleration_xcxf_m_s2; const double accuracy = 1.0e-3; // Calc Acceleration @@ -67,8 +67,8 @@ TEST(GravityPotential, PartialDerivative1) { GravityPotential gravity_potential_(degree, c_, s_, 1.0, 1.0); // Calculation check - math::Vector<3> position_xcxf_m; - math::Matrix<3, 3> partial_derivative_xcxf_s2; + s2e::math::Vector<3> position_xcxf_m; + s2e::math::Matrix<3, 3> partial_derivative_xcxf_s2; const double accuracy = 1.0e-3; // Calc Partial Derivative @@ -79,22 +79,22 @@ TEST(GravityPotential, PartialDerivative1) { // Calc Acceleration and numerical partial derivatives double d_r = 1e-9; - math::Matrix<3, 3> numerical_partial_derivative_xcxf_s2; + s2e::math::Matrix<3, 3> numerical_partial_derivative_xcxf_s2; for (size_t i = 0; i < 3; i++) { - math::Vector<3> position_1_xcxf_m = position_xcxf_m; - math::Vector<3> position_2_xcxf_m = position_xcxf_m; + s2e::math::Vector<3> position_1_xcxf_m = position_xcxf_m; + s2e::math::Vector<3> position_2_xcxf_m = position_xcxf_m; position_1_xcxf_m[i] = position_xcxf_m[i] - d_r / 2.0; position_2_xcxf_m[i] = position_xcxf_m[i] + d_r / 2.0; - math::Vector<3> acceleration_1_xcxf_m_s2 = gravity_potential_.CalcAcceleration_xcxf_m_s2(position_1_xcxf_m); - math::Vector<3> acceleration_2_xcxf_m_s2 = gravity_potential_.CalcAcceleration_xcxf_m_s2(position_2_xcxf_m); - math::Vector<3> diff_acceleration_xcxf_m_s2 = acceleration_2_xcxf_m_s2 - acceleration_1_xcxf_m_s2; + s2e::math::Vector<3> acceleration_1_xcxf_m_s2 = gravity_potential_.CalcAcceleration_xcxf_m_s2(position_1_xcxf_m); + s2e::math::Vector<3> acceleration_2_xcxf_m_s2 = gravity_potential_.CalcAcceleration_xcxf_m_s2(position_2_xcxf_m); + s2e::math::Vector<3> diff_acceleration_xcxf_m_s2 = acceleration_2_xcxf_m_s2 - acceleration_1_xcxf_m_s2; for (size_t j = 0; j < 3; j++) { numerical_partial_derivative_xcxf_s2[i][j] = diff_acceleration_xcxf_m_s2[j] / d_r; } } // Compare numerical and analytical calculation - math::Matrix<3, 3> diff; + s2e::math::Matrix<3, 3> diff; for (size_t i = 0; i < 3; i++) { for (size_t j = 0; j < 3; j++) { EXPECT_NEAR(numerical_partial_derivative_xcxf_s2[i][j], partial_derivative_xcxf_s2[i][j], accuracy); @@ -120,8 +120,8 @@ TEST(GravityPotential, PartialDerivative2) { GravityPotential gravity_potential_(degree, c_, s_, 1.0, 1.0); // Calculation check - math::Vector<3> position_xcxf_m; - math::Matrix<3, 3> partial_derivative_xcxf_s2; + s2e::math::Vector<3> position_xcxf_m; + s2e::math::Matrix<3, 3> partial_derivative_xcxf_s2; const double accuracy = 1.0e-3; // Calc Partial Derivative @@ -132,22 +132,22 @@ TEST(GravityPotential, PartialDerivative2) { // Calc Acceleration and numerical partial derivatives double d_r = 1e-9; - math::Matrix<3, 3> numerical_partial_derivative_xcxf_s2; + s2e::math::Matrix<3, 3> numerical_partial_derivative_xcxf_s2; for (size_t i = 0; i < 3; i++) { - math::Vector<3> position_1_xcxf_m = position_xcxf_m; - math::Vector<3> position_2_xcxf_m = position_xcxf_m; + s2e::math::Vector<3> position_1_xcxf_m = position_xcxf_m; + s2e::math::Vector<3> position_2_xcxf_m = position_xcxf_m; position_1_xcxf_m[i] = position_xcxf_m[i] - d_r / 2.0; position_2_xcxf_m[i] = position_xcxf_m[i] + d_r / 2.0; - math::Vector<3> acceleration_1_xcxf_m_s2 = gravity_potential_.CalcAcceleration_xcxf_m_s2(position_1_xcxf_m); - math::Vector<3> acceleration_2_xcxf_m_s2 = gravity_potential_.CalcAcceleration_xcxf_m_s2(position_2_xcxf_m); - math::Vector<3> diff_acceleration_xcxf_m_s2 = acceleration_2_xcxf_m_s2 - acceleration_1_xcxf_m_s2; + s2e::math::Vector<3> acceleration_1_xcxf_m_s2 = gravity_potential_.CalcAcceleration_xcxf_m_s2(position_1_xcxf_m); + s2e::math::Vector<3> acceleration_2_xcxf_m_s2 = gravity_potential_.CalcAcceleration_xcxf_m_s2(position_2_xcxf_m); + s2e::math::Vector<3> diff_acceleration_xcxf_m_s2 = acceleration_2_xcxf_m_s2 - acceleration_1_xcxf_m_s2; for (size_t j = 0; j < 3; j++) { numerical_partial_derivative_xcxf_s2[i][j] = diff_acceleration_xcxf_m_s2[j] / d_r; } } // Compare numerical and analytical calculation - math::Matrix<3, 3> diff; + s2e::math::Matrix<3, 3> diff; for (size_t i = 0; i < 3; i++) { for (size_t j = 0; j < 3; j++) { EXPECT_NEAR(numerical_partial_derivative_xcxf_s2[i][j], partial_derivative_xcxf_s2[i][j], accuracy); diff --git a/src/math_physics/math/constants.hpp b/src/math_physics/math/constants.hpp index 9e6744015..7a6f0cf21 100644 --- a/src/math_physics/math/constants.hpp +++ b/src/math_physics/math/constants.hpp @@ -8,7 +8,7 @@ #include // std::is_floating_point_v -namespace math { +namespace s2e::math { // instead of C++20 std::numbers inline namespace numbers { @@ -47,6 +47,6 @@ DEFINE_MATH_CONSTANT(rad_s_to_rpm, 60.0L / tau) /* rad/s to rpm */ #undef DEFINE_MATH_CONSTANT } // namespace numbers -} // namespace math +} // namespace s2e::math #endif // S2E_LIBRARY_MATH_CONSTANTS_HPP_ diff --git a/src/math_physics/math/interpolation.cpp b/src/math_physics/math/interpolation.cpp index 4415c4dd5..2cab687a6 100644 --- a/src/math_physics/math/interpolation.cpp +++ b/src/math_physics/math/interpolation.cpp @@ -7,7 +7,7 @@ #include -namespace math { +namespace s2e::math { double Interpolation::CalcPolynomial(const double x) const { // Search nearest point @@ -94,4 +94,4 @@ size_t Interpolation::FindNearestPoint(const double x) const { return output; } -} // namespace math +} // namespace s2e::math diff --git a/src/math_physics/math/interpolation.hpp b/src/math_physics/math/interpolation.hpp index 7620ff338..f9815bc78 100644 --- a/src/math_physics/math/interpolation.hpp +++ b/src/math_physics/math/interpolation.hpp @@ -9,7 +9,7 @@ #include #include -namespace math { +namespace s2e::math { /** * @class Interpolation @@ -90,6 +90,6 @@ class Interpolation { size_t FindNearestPoint(const double x) const; }; -} // namespace math +} // namespace s2e::math #endif // S2E_LIBRARY_MATH_INTERPOLATION_HPP_ diff --git a/src/math_physics/math/matrix.hpp b/src/math_physics/math/matrix.hpp index 89429a8ca..a731e1d79 100644 --- a/src/math_physics/math/matrix.hpp +++ b/src/math_physics/math/matrix.hpp @@ -9,7 +9,7 @@ #include // for size_t #include // for ostream, cout -namespace math { +namespace s2e::math { /** * @class Matrix @@ -244,7 +244,7 @@ Matrix MakeRotationMatrixY(const double& theta_rad); template Matrix MakeRotationMatrixZ(const double& theta_rad); -} // namespace math +} // namespace s2e::math #include "matrix_template_functions.hpp" diff --git a/src/math_physics/math/matrix_template_functions.hpp b/src/math_physics/math/matrix_template_functions.hpp index dbfa9aa1b..56685a685 100644 --- a/src/math_physics/math/matrix_template_functions.hpp +++ b/src/math_physics/math/matrix_template_functions.hpp @@ -9,7 +9,7 @@ #include #include // for cout -namespace math { +namespace s2e::math { template Matrix::Matrix(const T& n) { @@ -186,6 +186,6 @@ Matrix MakeRotationMatrixZ(const double& theta_rad) { return m; } -} // namespace math +} // namespace s2e::math #endif // S2E_LIBRARY_MATH_MATRIX_TEMPLATE_FUNCTIONS_HPP_ diff --git a/src/math_physics/math/matrix_vector.hpp b/src/math_physics/math/matrix_vector.hpp index 7c76a07f5..1d4803ded 100644 --- a/src/math_physics/math/matrix_vector.hpp +++ b/src/math_physics/math/matrix_vector.hpp @@ -9,7 +9,7 @@ #include "matrix.hpp" #include "vector.hpp" -namespace math { +namespace s2e::math { /** * @fn operator* @@ -52,7 +52,7 @@ Matrix& LuDecomposition(Matrix& matrix, size_t index[]); template Vector& SolveLinearSystemWithLu(const Matrix& matrix, const size_t index[], Vector& vector); -} // namespace math +} // namespace s2e::math #include "matrix_vector_template_functions.hpp" diff --git a/src/math_physics/math/matrix_vector_template_functions.hpp b/src/math_physics/math/matrix_vector_template_functions.hpp index d16f08a2a..31289721b 100644 --- a/src/math_physics/math/matrix_vector_template_functions.hpp +++ b/src/math_physics/math/matrix_vector_template_functions.hpp @@ -8,7 +8,7 @@ #include // for invalid_argument. -namespace math { +namespace s2e::math { template Vector operator*(const Matrix& matrix, const Vector& vector) { @@ -139,6 +139,6 @@ Vector& SolveLinearSystemWithLu(const Matrix& a, const size_t index[], return b; } -} // namespace math +} // namespace s2e::math #endif // S2E_LIBRARY_MATH_MATRIX_VECTOR_TEMPLATE_FUNCTIONS_HPP_ diff --git a/src/math_physics/math/ordinary_differential_equation.hpp b/src/math_physics/math/ordinary_differential_equation.hpp index 36ff4ae86..fb0d81b36 100644 --- a/src/math_physics/math/ordinary_differential_equation.hpp +++ b/src/math_physics/math/ordinary_differential_equation.hpp @@ -8,7 +8,7 @@ #include "./vector.hpp" -namespace math { +namespace s2e::math { /** * @class OrdinaryDifferentialEquation @@ -102,7 +102,7 @@ class OrdinaryDifferentialEquation { * @fn GetState * @brief Return current state vector for inheriting class */ - inline math::Vector& GetState() { return state_; } + inline s2e::math::Vector& GetState() { return state_; } private: double independent_variable_; //!< Latest value of independent variable @@ -111,7 +111,7 @@ class OrdinaryDifferentialEquation { double step_width_s_; //!< Step width }; -} // namespace math +} // namespace s2e::math #include "./ordinary_differential_equation_template_functions.hpp" diff --git a/src/math_physics/math/ordinary_differential_equation_template_functions.hpp b/src/math_physics/math/ordinary_differential_equation_template_functions.hpp index 7c5dc3071..334be563a 100644 --- a/src/math_physics/math/ordinary_differential_equation_template_functions.hpp +++ b/src/math_physics/math/ordinary_differential_equation_template_functions.hpp @@ -5,7 +5,7 @@ #ifndef S2E_LIBRARY_MATH_ORDINARY_DIFFERENTIA_EQUATION_TEMPLATE_FUNCTIONS_HPP_ #define S2E_LIBRARY_MATH_ORDINARY_DIFFERENTIA_EQUATION_TEMPLATE_FUNCTIONS_HPP_ -namespace math { +namespace s2e::math { template OrdinaryDifferentialEquation::OrdinaryDifferentialEquation(double step_width_s) @@ -44,6 +44,6 @@ void OrdinaryDifferentialEquation::Update() { independent_variable_ += step_width_s_; // Update independent variable } -} // namespace math +} // namespace s2e::math #endif // S2E_LIBRARY_MATH_ORDINARY_DIFFERENTIA_EQUATION_TEMPLATE_FUNCTIONS_HPP_ diff --git a/src/math_physics/math/quaternion.cpp b/src/math_physics/math/quaternion.cpp index 27dacc275..d2f28f085 100644 --- a/src/math_physics/math/quaternion.cpp +++ b/src/math_physics/math/quaternion.cpp @@ -9,7 +9,7 @@ #include #include -namespace math { +namespace s2e::math { Quaternion::Quaternion(const Vector<3>& rotation_axis, const double rotation_angle_rad) { double half_rotation_angle_rad = rotation_angle_rad * 0.5; @@ -236,4 +236,4 @@ Vector<3> Quaternion::InverseFrameConversion(const Vector<3>& vector) const { Vector<4> Quaternion::ConvertToVector() { return quaternion_; } -} // namespace math +} // namespace s2e::math diff --git a/src/math_physics/math/quaternion.hpp b/src/math_physics/math/quaternion.hpp index 76720f773..1980ec8c1 100644 --- a/src/math_physics/math/quaternion.hpp +++ b/src/math_physics/math/quaternion.hpp @@ -9,7 +9,7 @@ #include "matrix.hpp" #include "vector.hpp" -namespace math { +namespace s2e::math { /** * @class Quaternion @@ -203,6 +203,6 @@ Quaternion operator*(const Quaternion& lhs, const Vector<3>& rhs); * @return Quaternion */ Quaternion operator*(const double& lhs, const Quaternion& rhs); -} // namespace math +} // namespace s2e::math #endif // S2E_LIBRARY_MATH_QUATERNION_HPP_ diff --git a/src/math_physics/math/s2e_math.cpp b/src/math_physics/math/s2e_math.cpp index 943e6da91..26020cd77 100644 --- a/src/math_physics/math/s2e_math.cpp +++ b/src/math_physics/math/s2e_math.cpp @@ -7,20 +7,20 @@ #include -namespace math { +namespace s2e::math { double WrapTo2Pi(const double angle_rad) { double angle_out = angle_rad; if (angle_out < 0.0) { while (angle_out < 0.0) { - angle_out += math::tau; + angle_out += s2e::math::tau; } - } else if (angle_out > math::tau) { - while (angle_out > math::tau) { - angle_out -= math::tau; + } else if (angle_out > s2e::math::tau) { + while (angle_out > s2e::math::tau) { + angle_out -= s2e::math::tau; } } else { // nothing to do } return angle_out; } -} // namespace math +} // namespace s2e::math diff --git a/src/math_physics/math/s2e_math.hpp b/src/math_physics/math/s2e_math.hpp index fb7bbccb6..8cafb64d4 100644 --- a/src/math_physics/math/s2e_math.hpp +++ b/src/math_physics/math/s2e_math.hpp @@ -8,7 +8,7 @@ #include -namespace math { +namespace s2e::math { /** * @fn WrapTo2Pi @@ -17,6 +17,6 @@ namespace math { */ double WrapTo2Pi(const double angle_rad); -} // namespace math +} // namespace s2e::math #endif // S2E_LIBRARY_MATH_S2E_MATH_HPP_ diff --git a/src/math_physics/math/test_interpolation.cpp b/src/math_physics/math/test_interpolation.cpp index 674b12419..a29f3b330 100644 --- a/src/math_physics/math/test_interpolation.cpp +++ b/src/math_physics/math/test_interpolation.cpp @@ -15,7 +15,7 @@ TEST(Interpolation, PolynomialLinearFunction) { std::vector x{0.0, 1.0, 2.0, 3.0, 4.0}; std::vector y{0.0, 2.0, 4.0, 6.0, 8.0}; - math::Interpolation interpolation(x, y); + s2e::math::Interpolation interpolation(x, y); double xx = 0.4; EXPECT_DOUBLE_EQ(2.0 * xx, interpolation.CalcPolynomial(xx)); @@ -31,7 +31,7 @@ TEST(Interpolation, PolynomialLinearFunction) { TEST(Interpolation, PolynomialQuadraticFunction) { std::vector x{0.0, 1.0, 2.0, 3.0, 4.0}; std::vector y{0.0, 1.0, 4.0, 9.0, 16.0}; - math::Interpolation interpolation(x, y); + s2e::math::Interpolation interpolation(x, y); double xx = 0.4; EXPECT_DOUBLE_EQ(pow(xx, 2.0), interpolation.CalcPolynomial(xx)); @@ -45,16 +45,16 @@ TEST(Interpolation, PolynomialQuadraticFunction) { * @brief Test for sin function with trigonometric interpolation */ TEST(Interpolation, TrigonometricSinFunction) { - std::vector x{0.0, math::pi_2, math::pi, math::pi * 3.0 / 2.0, math::tau}; + std::vector x{0.0, s2e::math::pi_2, s2e::math::pi, s2e::math::pi * 3.0 / 2.0, s2e::math::tau}; std::vector y; for (size_t i = 0; i < x.size(); i++) { y.push_back(sin(x[i])); } - math::Interpolation interpolation(x, y); + s2e::math::Interpolation interpolation(x, y); - double xx = 0.4 * math::pi; + double xx = 0.4 * s2e::math::pi; EXPECT_DOUBLE_EQ(sin(xx), interpolation.CalcTrigonometric(xx)); - xx = 1.4 * math::pi; + xx = 1.4 * s2e::math::pi; EXPECT_DOUBLE_EQ(sin(xx), interpolation.CalcTrigonometric(xx)); } @@ -62,16 +62,16 @@ TEST(Interpolation, TrigonometricSinFunction) { * @brief Test for cos function with trigonometric interpolation */ TEST(Interpolation, TrigonometricCosFunction) { - std::vector x{0.0, 0.3 * math::pi_2, 0.6 * math::pi_2, 0.9 * math::pi_2, 1.2 * math::pi_2}; + std::vector x{0.0, 0.3 * s2e::math::pi_2, 0.6 * s2e::math::pi_2, 0.9 * s2e::math::pi_2, 1.2 * s2e::math::pi_2}; std::vector y; for (size_t i = 0; i < x.size(); i++) { y.push_back(cos(x[i])); } - math::Interpolation interpolation(x, y); + s2e::math::Interpolation interpolation(x, y); - double xx = 0.1 * math::pi_2; + double xx = 0.1 * s2e::math::pi_2; EXPECT_NEAR(cos(xx), interpolation.CalcTrigonometric(xx), 1e-6); - xx = 0.8 * math::pi_2; + xx = 0.8 * s2e::math::pi_2; EXPECT_NEAR(cos(xx), interpolation.CalcTrigonometric(xx), 1e-6); } @@ -79,16 +79,16 @@ TEST(Interpolation, TrigonometricCosFunction) { * @brief Test for cos function with trigonometric interpolation */ TEST(Interpolation, TrigonometricCosSinFunctionOddDegree) { - std::vector x{0.0, 0.3 * math::pi_2, 0.6 * math::pi_2, 0.9 * math::pi_2, 1.2 * math::pi_2, 1.5 * math::pi_2}; + std::vector x{0.0, 0.3 * s2e::math::pi_2, 0.6 * s2e::math::pi_2, 0.9 * s2e::math::pi_2, 1.2 * s2e::math::pi_2, 1.5 * s2e::math::pi_2}; std::vector y; for (size_t i = 0; i < x.size(); i++) { y.push_back(cos(x[i]) + sin(x[i])); } - math::Interpolation interpolation(x, y); + s2e::math::Interpolation interpolation(x, y); - double xx = 0.1 * math::pi_2; + double xx = 0.1 * s2e::math::pi_2; EXPECT_NEAR(cos(xx) + sin(xx), interpolation.CalcTrigonometric(xx), 1e-6); - xx = 0.8 * math::pi_2; + xx = 0.8 * s2e::math::pi_2; EXPECT_NEAR(cos(xx) + sin(xx), interpolation.CalcTrigonometric(xx), 1e-6); } @@ -98,7 +98,7 @@ TEST(Interpolation, TrigonometricCosSinFunctionOddDegree) { TEST(Interpolation, PushAndPop) { std::vector x{0.0, 1.0, 2.0, 3.0, 4.0}; std::vector y{0.0, 2.0, 4.0, 6.0, 8.0}; - math::Interpolation interpolation(x, y); + s2e::math::Interpolation interpolation(x, y); EXPECT_EQ(x.size(), interpolation.GetDegree()); for (size_t i = 0; i < x.size(); i++) { diff --git a/src/math_physics/math/test_matrix.cpp b/src/math_physics/math/test_matrix.cpp index 53dee0b75..9b23c15d5 100644 --- a/src/math_physics/math/test_matrix.cpp +++ b/src/math_physics/math/test_matrix.cpp @@ -14,7 +14,7 @@ TEST(Matrix, ConstructorWithNumber) { const size_t R = 6; const size_t C = 3; double initialize_value = 2.0; - math::Matrix m(initialize_value); + s2e::math::Matrix m(initialize_value); for (size_t r = 0; r < R; r++) { for (size_t c = 0; c < C; c++) { @@ -30,7 +30,7 @@ TEST(Matrix, ConstructorWithNumber) { TEST(Matrix, GetLength) { const size_t R = 6; const size_t C = 3; - math::Matrix m; + s2e::math::Matrix m; EXPECT_EQ(R, m.GetRowLength()); EXPECT_EQ(C, m.GetColumnLength()); @@ -43,8 +43,8 @@ TEST(Matrix, OperatorPlusEqual) { const size_t R = 6; const size_t C = 3; double initialize_value = 2.0; - math::Matrix m(initialize_value); - math::Matrix adding; + s2e::math::Matrix m(initialize_value); + s2e::math::Matrix adding; for (size_t r = 0; r < R; r++) { for (size_t c = 0; c < C; c++) { @@ -71,8 +71,8 @@ TEST(Matrix, OperatorMinusEqual) { const size_t R = 6; const size_t C = 3; double initialize_value = 2.0; - math::Matrix m(initialize_value); - math::Matrix subtracting; + s2e::math::Matrix m(initialize_value); + s2e::math::Matrix subtracting; for (size_t r = 0; r < R; r++) { for (size_t c = 0; c < C; c++) { @@ -99,7 +99,7 @@ TEST(Matrix, OperatorMultiplyEqual) { const size_t R = 6; const size_t C = 3; - math::Matrix m; + s2e::math::Matrix m; double multiplying = 2.0; for (size_t r = 0; r < R; r++) { @@ -125,7 +125,7 @@ TEST(Matrix, OperatorDivideEqual) { const size_t R = 6; const size_t C = 3; - math::Matrix m; + s2e::math::Matrix m; double dividing = 2.0; for (size_t r = 0; r < R; r++) { @@ -152,7 +152,7 @@ TEST(Matrix, FillUp) { const size_t C = 3; double value = 3.0; - math::Matrix m; + s2e::math::Matrix m; m.FillUp(value); @@ -169,7 +169,7 @@ TEST(Matrix, FillUp) { */ TEST(Matrix, CalcTrace) { const size_t N = 6; - math::Matrix m; + s2e::math::Matrix m; for (size_t r = 0; r < N; r++) { for (size_t c = 0; c < N; c++) { @@ -201,8 +201,8 @@ TEST(Matrix, OperatorPlus) { const size_t R = 6; const size_t C = 3; double initialize_value = -2.0; - math::Matrix m(initialize_value); - math::Matrix adding; + s2e::math::Matrix m(initialize_value); + s2e::math::Matrix adding; for (size_t r = 0; r < R; r++) { for (size_t c = 0; c < C; c++) { @@ -210,7 +210,7 @@ TEST(Matrix, OperatorPlus) { } } - math::Matrix added = m + adding; + s2e::math::Matrix added = m + adding; for (size_t r = 0; r < R; r++) { for (size_t c = 0; c < C; c++) { @@ -230,8 +230,8 @@ TEST(Matrix, OperatorMinus) { const size_t R = 6; const size_t C = 3; double initialize_value = 0.6; - math::Matrix m(initialize_value); - math::Matrix subtracting; + s2e::math::Matrix m(initialize_value); + s2e::math::Matrix subtracting; for (size_t r = 0; r < R; r++) { for (size_t c = 0; c < C; c++) { @@ -239,7 +239,7 @@ TEST(Matrix, OperatorMinus) { } } - math::Matrix subtracted = m - subtracting; + s2e::math::Matrix subtracted = m - subtracting; for (size_t r = 0; r < R; r++) { for (size_t c = 0; c < C; c++) { @@ -259,7 +259,7 @@ TEST(Matrix, OperatorMultiplyScalar) { const size_t R = 6; const size_t C = 3; - math::Matrix m; + s2e::math::Matrix m; double multiplying = 0.3; for (size_t r = 0; r < R; r++) { @@ -268,7 +268,7 @@ TEST(Matrix, OperatorMultiplyScalar) { } } - math::Matrix subtracted = multiplying * m; + s2e::math::Matrix subtracted = multiplying * m; for (size_t r = 0; r < R; r++) { for (size_t c = 0; c < C; c++) { @@ -287,8 +287,8 @@ TEST(Matrix, OperatorMultiplyMatrix) { const size_t R = 2; const size_t C = 3; - math::Matrix a; - math::Matrix b; + s2e::math::Matrix a; + s2e::math::Matrix b; a[0][0] = 1.0; a[0][1] = 2.0; @@ -304,7 +304,7 @@ TEST(Matrix, OperatorMultiplyMatrix) { b[2][0] = 5.0; b[2][1] = 6.0; - math::Matrix result = a * b; + s2e::math::Matrix result = a * b; EXPECT_DOUBLE_EQ(22.0, result[0][0]); EXPECT_DOUBLE_EQ(28.0, result[0][1]); @@ -319,14 +319,14 @@ TEST(Matrix, Transpose) { const size_t R = 6; const size_t C = 3; - math::Matrix m; + s2e::math::Matrix m; for (size_t r = 0; r < R; r++) { for (size_t c = 0; c < C; c++) { m[r][c] = r * c; } } - math::Matrix transposed = m.Transpose(); + s2e::math::Matrix transposed = m.Transpose(); for (size_t r = 0; r < R; r++) { for (size_t c = 0; c < C; c++) { @@ -344,7 +344,7 @@ TEST(Matrix, Transpose) { TEST(Matrix, MakeIdentityMatrix) { const size_t N = 6; - math::Matrix m = math::MakeIdentityMatrix(); + s2e::math::Matrix m = s2e::math::MakeIdentityMatrix(); for (size_t r = 0; r < N; r++) { for (size_t c = 0; c < N; c++) { @@ -362,9 +362,9 @@ TEST(Matrix, MakeIdentityMatrix) { */ TEST(Matrix, MakeRotationMatrixX) { const size_t N = 3; - double theta_rad = -45.0 * math::deg_to_rad; + double theta_rad = -45.0 * s2e::math::deg_to_rad; - math::Matrix m = math::MakeRotationMatrixX(theta_rad); + s2e::math::Matrix m = s2e::math::MakeRotationMatrixX(theta_rad); EXPECT_DOUBLE_EQ(1.0, m[0][0]); EXPECT_DOUBLE_EQ(0.0, m[0][1]); @@ -382,9 +382,9 @@ TEST(Matrix, MakeRotationMatrixX) { */ TEST(Matrix, MakeRotationMatrixY) { const size_t N = 3; - double theta_rad = 120.0 * math::deg_to_rad; + double theta_rad = 120.0 * s2e::math::deg_to_rad; - math::Matrix m = math::MakeRotationMatrixY(theta_rad); + s2e::math::Matrix m = s2e::math::MakeRotationMatrixY(theta_rad); EXPECT_DOUBLE_EQ(cos(theta_rad), m[0][0]); EXPECT_DOUBLE_EQ(0.0, m[0][1]); @@ -402,9 +402,9 @@ TEST(Matrix, MakeRotationMatrixY) { */ TEST(Matrix, MakeRotationMatrixZ) { const size_t N = 3; - double theta_rad = 30.0 * math::deg_to_rad; + double theta_rad = 30.0 * s2e::math::deg_to_rad; - math::Matrix m = math::MakeRotationMatrixZ(theta_rad); + s2e::math::Matrix m = s2e::math::MakeRotationMatrixZ(theta_rad); EXPECT_DOUBLE_EQ(cos(theta_rad), m[0][0]); EXPECT_DOUBLE_EQ(sin(theta_rad), m[0][1]); diff --git a/src/math_physics/math/test_matrix_vector.cpp b/src/math_physics/math/test_matrix_vector.cpp index 78fc9babf..958a409b6 100644 --- a/src/math_physics/math/test_matrix_vector.cpp +++ b/src/math_physics/math/test_matrix_vector.cpp @@ -14,8 +14,8 @@ TEST(MatrixVector, MultiplyMatrixVector) { const size_t R = 3; const size_t C = 2; - math::Matrix m; - math::Vector v; + s2e::math::Matrix m; + s2e::math::Vector v; m[0][0] = 1.0; m[0][1] = 2.0; @@ -27,7 +27,7 @@ TEST(MatrixVector, MultiplyMatrixVector) { v[0] = 7.0; v[1] = 1.0; - math::Vector result = m * v; + s2e::math::Vector result = m * v; EXPECT_DOUBLE_EQ(9.0, result[0]); EXPECT_DOUBLE_EQ(-7.0, result[1]); @@ -40,7 +40,7 @@ TEST(MatrixVector, MultiplyMatrixVector) { TEST(MatrixVector, CalcInverseMatrix) { const size_t N = 3; - math::Matrix m; + s2e::math::Matrix m; m[0][0] = 1.0; m[0][1] = 1.0; @@ -52,7 +52,7 @@ TEST(MatrixVector, CalcInverseMatrix) { m[2][1] = -2.0; m[2][2] = 1.0; - math::Matrix inverse = math::CalcInverseMatrix(m); + s2e::math::Matrix inverse = s2e::math::CalcInverseMatrix(m); EXPECT_NEAR(-1.0, inverse[0][0], 1e-10); EXPECT_NEAR(-1.0, inverse[0][1], 1e-10); diff --git a/src/math_physics/math/test_quaternion.cpp b/src/math_physics/math/test_quaternion.cpp index 4995afccc..2821eccee 100644 --- a/src/math_physics/math/test_quaternion.cpp +++ b/src/math_physics/math/test_quaternion.cpp @@ -11,7 +11,7 @@ * @brief Test for constructor from four numbers */ TEST(Quaternion, ConstructorFourNumber) { - math::Quaternion q(0.5, 0.5, 0.5, 0.5); + s2e::math::Quaternion q(0.5, 0.5, 0.5, 0.5); EXPECT_DOUBLE_EQ(0.5, q[0]); EXPECT_DOUBLE_EQ(0.5, q[1]); @@ -23,8 +23,8 @@ TEST(Quaternion, ConstructorFourNumber) { * @brief Test for constructor from Vector */ TEST(Quaternion, ConstructorVector) { - math::Vector<4> v(0.5); - math::Quaternion q(v); + s2e::math::Vector<4> v(0.5); + s2e::math::Quaternion q(v); EXPECT_DOUBLE_EQ(0.5, q[0]); EXPECT_DOUBLE_EQ(0.5, q[1]); @@ -36,12 +36,12 @@ TEST(Quaternion, ConstructorVector) { * @brief Test for constructor from axis and rotation angle X rotation */ TEST(Quaternion, ConstructorAxisAndAngleX) { - math::Vector<3> axis; + s2e::math::Vector<3> axis; axis[0] = 1.0; axis[1] = 0.0; axis[2] = 0.0; - double theta_rad = 90 * math::deg_to_rad; - math::Quaternion q(axis, theta_rad); + double theta_rad = 90 * s2e::math::deg_to_rad; + s2e::math::Quaternion q(axis, theta_rad); EXPECT_NEAR(axis[0] * sin(theta_rad / 2.0), q[0], 1e-5); EXPECT_NEAR(axis[1] * sin(theta_rad / 2.0), q[1], 1e-5); @@ -53,12 +53,12 @@ TEST(Quaternion, ConstructorAxisAndAngleX) { * @brief Test for constructor from axis and rotation angle Y rotation */ TEST(Quaternion, ConstructorAxisAndAngleY) { - math::Vector<3> axis; + s2e::math::Vector<3> axis; axis[0] = 0.0; axis[1] = 1.0; axis[2] = 0.0; - double theta_rad = 45 * math::deg_to_rad; - math::Quaternion q(axis, theta_rad); + double theta_rad = 45 * s2e::math::deg_to_rad; + s2e::math::Quaternion q(axis, theta_rad); EXPECT_NEAR(axis[0] * sin(theta_rad / 2.0), q[0], 1e-5); EXPECT_NEAR(axis[1] * sin(theta_rad / 2.0), q[1], 1e-5); @@ -70,12 +70,12 @@ TEST(Quaternion, ConstructorAxisAndAngleY) { * @brief Test for constructor from axis and rotation angle Z rotation */ TEST(Quaternion, ConstructorAxisAndAngleZ) { - math::Vector<3> axis; + s2e::math::Vector<3> axis; axis[0] = 0.0; axis[1] = 0.0; axis[2] = 1.0; - double theta_rad = -60 * math::deg_to_rad; - math::Quaternion q(axis, theta_rad); + double theta_rad = -60 * s2e::math::deg_to_rad; + s2e::math::Quaternion q(axis, theta_rad); EXPECT_NEAR(axis[0] * sin(theta_rad / 2.0), q[0], 1e-5); EXPECT_NEAR(axis[1] * sin(theta_rad / 2.0), q[1], 1e-5); @@ -87,12 +87,12 @@ TEST(Quaternion, ConstructorAxisAndAngleZ) { * @brief Test for constructor from axis and rotation angle All axes rotation */ TEST(Quaternion, ConstructorAxisAndAngleAll) { - math::Vector<3> axis; + s2e::math::Vector<3> axis; axis[0] = 1.0; axis[1] = 1.0; axis[2] = 1.0; - double theta_rad = 180 * math::deg_to_rad; - math::Quaternion q(axis, theta_rad); + double theta_rad = 180 * s2e::math::deg_to_rad; + s2e::math::Quaternion q(axis, theta_rad); EXPECT_NEAR(axis[0] * sin(theta_rad / 2.0), q[0], 1e-5); EXPECT_NEAR(axis[1] * sin(theta_rad / 2.0), q[1], 1e-5); @@ -104,16 +104,16 @@ TEST(Quaternion, ConstructorAxisAndAngleAll) { * @brief Test for constructor from two vectors: No rotation */ TEST(Quaternion, ConstructorTwoVectorsNoRotation) { - math::Vector<3> before; + s2e::math::Vector<3> before; before[0] = 0.0; before[1] = 0.0; before[2] = 2.0; // To check normalization - math::Vector<3> after; + s2e::math::Vector<3> after; after[0] = 0.0; after[1] = 0.0; after[2] = 1.0; - math::Quaternion q(before, after); + s2e::math::Quaternion q(before, after); EXPECT_NEAR(0.0, q[0], 1e-5); EXPECT_NEAR(0.0, q[1], 1e-5); @@ -125,18 +125,18 @@ TEST(Quaternion, ConstructorTwoVectorsNoRotation) { * @brief Test for constructor from two vectors: X rotation */ TEST(Quaternion, ConstructorTwoVectorsX) { - math::Vector<3> before; + s2e::math::Vector<3> before; before[0] = 0.0; before[1] = 0.0; before[2] = 1.0; - math::Vector<3> after; + s2e::math::Vector<3> after; after[0] = 0.0; after[1] = 1.0; after[2] = 0.0; - math::Quaternion q(before, after); + s2e::math::Quaternion q(before, after); - double theta_rad = -90 * math::deg_to_rad; + double theta_rad = -90 * s2e::math::deg_to_rad; EXPECT_NEAR(sin(theta_rad / 2.0), q[0], 1e-5); EXPECT_NEAR(0.0, q[1], 1e-5); EXPECT_NEAR(0.0, q[2], 1e-5); @@ -147,18 +147,18 @@ TEST(Quaternion, ConstructorTwoVectorsX) { * @brief Test for constructor from two vectors: Y rotation */ TEST(Quaternion, ConstructorTwoVectorsY) { - math::Vector<3> before; + s2e::math::Vector<3> before; before[0] = 0.0; before[1] = 0.0; before[2] = 1.0; - math::Vector<3> after; + s2e::math::Vector<3> after; after[0] = 1.0; after[1] = 0.0; after[2] = 0.0; - math::Quaternion q(before, after); + s2e::math::Quaternion q(before, after); - double theta_rad = 90 * math::deg_to_rad; + double theta_rad = 90 * s2e::math::deg_to_rad; EXPECT_NEAR(0.0, q[0], 1e-5); EXPECT_NEAR(sin(theta_rad / 2.0), q[1], 1e-5); EXPECT_NEAR(0.0, q[2], 1e-5); @@ -169,18 +169,18 @@ TEST(Quaternion, ConstructorTwoVectorsY) { * @brief Test for constructor from two vectors: Z rotation */ TEST(Quaternion, ConstructorTwoVectorsZ) { - math::Vector<3> before; + s2e::math::Vector<3> before; before[0] = 1.0; before[1] = 0.0; before[2] = 0.0; - math::Vector<3> after; + s2e::math::Vector<3> after; after[0] = 0.0; after[1] = 1.0; after[2] = 0.0; - math::Quaternion q(before, after); + s2e::math::Quaternion q(before, after); - double theta_rad = 90 * math::deg_to_rad; + double theta_rad = 90 * s2e::math::deg_to_rad; EXPECT_NEAR(0.0, q[0], 1e-5); EXPECT_NEAR(0.0, q[1], 1e-5); EXPECT_NEAR(sin(theta_rad / 2.0), q[2], 1e-5); @@ -192,7 +192,7 @@ TEST(Quaternion, ConstructorTwoVectorsZ) { * @note TODO: Fix to nondestructive function */ TEST(Quaternion, Normalize) { - math::Quaternion q(1.0, 1.0, 1.0, 1.0); + s2e::math::Quaternion q(1.0, 1.0, 1.0, 1.0); EXPECT_DOUBLE_EQ(1.0, q[0]); EXPECT_DOUBLE_EQ(1.0, q[1]); EXPECT_DOUBLE_EQ(1.0, q[2]); @@ -209,9 +209,9 @@ TEST(Quaternion, Normalize) { * @brief Test for Conjugate */ TEST(Quaternion, Conjugate) { - math::Quaternion q(0.5, 0.5, 0.5, 0.5); + s2e::math::Quaternion q(0.5, 0.5, 0.5, 0.5); - math::Quaternion q_conjugate = q.Conjugate(); + s2e::math::Quaternion q_conjugate = q.Conjugate(); // Check nondestructive function EXPECT_DOUBLE_EQ(0.5, q[0]); @@ -229,10 +229,10 @@ TEST(Quaternion, Conjugate) { * @brief Test for ConvertToDcm Y rotation */ TEST(Quaternion, ConvertToDcmY) { - math::Quaternion q(0.0, 1.0, 0.0, 1.0); + s2e::math::Quaternion q(0.0, 1.0, 0.0, 1.0); q.Normalize(); - math::Matrix<3, 3> dcm = q.ConvertToDcm(); + s2e::math::Matrix<3, 3> dcm = q.ConvertToDcm(); // Check nondestructive function EXPECT_DOUBLE_EQ(0.0, q[0]); @@ -253,7 +253,7 @@ TEST(Quaternion, ConvertToDcmY) { EXPECT_NEAR(0.0, dcm[2][2], accuracy); // Inverse Conversion - math::Quaternion q_from_dcm = math::Quaternion::ConvertFromDcm(dcm); + s2e::math::Quaternion q_from_dcm = s2e::math::Quaternion::ConvertFromDcm(dcm); for (size_t i = 0; i < 4; i++) { EXPECT_NEAR(q[i], q_from_dcm[i], accuracy); } @@ -263,10 +263,10 @@ TEST(Quaternion, ConvertToDcmY) { * @brief Test for ConvertToDcm */ TEST(Quaternion, ConvertToDcm) { - math::Quaternion q(0.5, 0.3, 0.1, 1.0); + s2e::math::Quaternion q(0.5, 0.3, 0.1, 1.0); q.Normalize(); - math::Matrix<3, 3> dcm = q.ConvertToDcm(); + s2e::math::Matrix<3, 3> dcm = q.ConvertToDcm(); // Check nondestructive function const double accuracy = 1.0e-5; @@ -281,7 +281,7 @@ TEST(Quaternion, ConvertToDcm) { EXPECT_NEAR(0.4962963, dcm[2][2], accuracy); // Inverse Conversion - math::Quaternion q_from_dcm = math::Quaternion::ConvertFromDcm(dcm); + s2e::math::Quaternion q_from_dcm = s2e::math::Quaternion::ConvertFromDcm(dcm); for (size_t i = 0; i < 4; i++) { EXPECT_NEAR(q[i], q_from_dcm[i], accuracy); } @@ -291,10 +291,10 @@ TEST(Quaternion, ConvertToDcm) { * @brief Test for ConvertToEuler X rotation */ TEST(Quaternion, ConvertToEulerX) { - math::Quaternion q(1.0, 0.0, 0.0, 1.0); + s2e::math::Quaternion q(1.0, 0.0, 0.0, 1.0); q.Normalize(); - math::Vector<3> euler = q.ConvertToEuler(); + s2e::math::Vector<3> euler = q.ConvertToEuler(); // Check nondestructive function EXPECT_DOUBLE_EQ(1.0 / sqrt(2.0), q[0]); @@ -304,12 +304,12 @@ TEST(Quaternion, ConvertToEulerX) { // Check nondestructive function const double accuracy = 1.0e-7; - EXPECT_NEAR(90 * math::deg_to_rad, euler[0], accuracy); + EXPECT_NEAR(90 * s2e::math::deg_to_rad, euler[0], accuracy); EXPECT_NEAR(0.0, euler[1], accuracy); EXPECT_NEAR(0.0, euler[2], accuracy); // Inverse Conversion - math::Quaternion q_from_euler = math::Quaternion::ConvertFromEuler(euler); + s2e::math::Quaternion q_from_euler = s2e::math::Quaternion::ConvertFromEuler(euler); for (size_t i = 0; i < 4; i++) { EXPECT_NEAR(q[i], q_from_euler[i], accuracy); } @@ -319,10 +319,10 @@ TEST(Quaternion, ConvertToEulerX) { * @brief Test for ConvertToEuler */ TEST(Quaternion, ConvertToEuler) { - math::Quaternion q(0.5, 0.3, 0.1, 1.0); + s2e::math::Quaternion q(0.5, 0.3, 0.1, 1.0); q.Normalize(); - math::Vector<3> euler = q.ConvertToEuler(); + s2e::math::Vector<3> euler = q.ConvertToEuler(); // Check nondestructive function const double accuracy = 1.0e-7; @@ -331,7 +331,7 @@ TEST(Quaternion, ConvertToEuler) { EXPECT_NEAR(0.41012734, euler[2], accuracy); // Inverse Conversion - math::Quaternion q_from_euler = math::Quaternion::ConvertFromEuler(euler); + s2e::math::Quaternion q_from_euler = s2e::math::Quaternion::ConvertFromEuler(euler); for (size_t i = 0; i < 4; i++) { EXPECT_NEAR(q[i], q_from_euler[i], accuracy); } @@ -341,22 +341,22 @@ TEST(Quaternion, ConvertToEuler) { * @brief Test for FrameConversion Z rotation */ TEST(Quaternion, FrameConversionZ) { - math::Quaternion q(0.0, 0.0, 1.0, 1.0); + s2e::math::Quaternion q(0.0, 0.0, 1.0, 1.0); q.Normalize(); - math::Vector<3> v; + s2e::math::Vector<3> v; v[0] = 1.0; v[1] = 0.0; v[2] = 0.0; - math::Vector<3> v_frame_conv = q.FrameConversion(v); + s2e::math::Vector<3> v_frame_conv = q.FrameConversion(v); const double accuracy = 1.0e-7; EXPECT_NEAR(0.0, v_frame_conv[0], accuracy); EXPECT_NEAR(-1.0, v_frame_conv[1], accuracy); EXPECT_NEAR(0.0, v_frame_conv[2], accuracy); - math::Vector<3> v_frame_conv_inv = q.InverseFrameConversion(v_frame_conv); + s2e::math::Vector<3> v_frame_conv_inv = q.InverseFrameConversion(v_frame_conv); for (size_t i = 0; i < 3; i++) { EXPECT_NEAR(v[i], v_frame_conv_inv[i], accuracy); @@ -367,15 +367,15 @@ TEST(Quaternion, FrameConversionZ) { * @brief Test for FrameConversion */ TEST(Quaternion, FrameConversion) { - math::Quaternion q(0.5, 0.3, 0.1, 1.0); + s2e::math::Quaternion q(0.5, 0.3, 0.1, 1.0); q.Normalize(); - math::Vector<3> v; + s2e::math::Vector<3> v; v[0] = 1.0; v[1] = 0.0; v[2] = 0.0; - math::Vector<3> v_frame_conv = q.FrameConversion(v); - math::Vector<3> v_frame_conv_inv = q.InverseFrameConversion(v_frame_conv); + s2e::math::Vector<3> v_frame_conv = q.FrameConversion(v); + s2e::math::Vector<3> v_frame_conv_inv = q.InverseFrameConversion(v_frame_conv); const double accuracy = 1.0e-7; for (size_t i = 0; i < 3; i++) { @@ -387,9 +387,9 @@ TEST(Quaternion, FrameConversion) { * @brief Test for ConvertToVector */ TEST(Quaternion, ConvertToVector) { - math::Quaternion q(0.5, 0.3, 0.1, 1.0); + s2e::math::Quaternion q(0.5, 0.3, 0.1, 1.0); - math::Vector<4> v = q.ConvertToVector(); + s2e::math::Vector<4> v = q.ConvertToVector(); for (size_t i = 0; i < 4; i++) { EXPECT_DOUBLE_EQ(q[i], v[i]); @@ -400,10 +400,10 @@ TEST(Quaternion, ConvertToVector) { * @brief Test for operator+ */ TEST(Quaternion, OperatorPlus) { - math::Quaternion q1(0.5, 0.3, 0.1, 1.0); - math::Quaternion q2(-0.3, 0.1, -1.0, 0.4); + s2e::math::Quaternion q1(0.5, 0.3, 0.1, 1.0); + s2e::math::Quaternion q2(-0.3, 0.1, -1.0, 0.4); - math::Quaternion result = q1 + q2; + s2e::math::Quaternion result = q1 + q2; EXPECT_DOUBLE_EQ(0.2, result[0]); EXPECT_DOUBLE_EQ(0.4, result[1]); @@ -415,10 +415,10 @@ TEST(Quaternion, OperatorPlus) { * @brief Test for operator- */ TEST(Quaternion, OperatorMinus) { - math::Quaternion q1(0.5, 0.3, 0.1, 1.0); - math::Quaternion q2(-0.3, 0.1, -1.0, 0.4); + s2e::math::Quaternion q1(0.5, 0.3, 0.1, 1.0); + s2e::math::Quaternion q2(-0.3, 0.1, -1.0, 0.4); - math::Quaternion result = q1 - q2; + s2e::math::Quaternion result = q1 - q2; EXPECT_DOUBLE_EQ(0.8, result[0]); EXPECT_DOUBLE_EQ(0.2, result[1]); @@ -430,10 +430,10 @@ TEST(Quaternion, OperatorMinus) { * @brief Test for operator* quaternion */ TEST(Quaternion, OperatorQuaternionMultiply) { - math::Quaternion q1(0.289271, -0.576012, -0.420972, 0.638212); - math::Quaternion q2(-0.0821846, 0.501761, 0.721995, -0.469259); + s2e::math::Quaternion q1(0.289271, -0.576012, -0.420972, 0.638212); + s2e::math::Quaternion q2(-0.0821846, 0.501761, 0.721995, -0.469259); - math::Quaternion result = q1 * q2; + s2e::math::Quaternion result = q1 * q2; const double accuracy = 1.0e-7; EXPECT_NEAR(-0.3928446703722, result[0], accuracy); @@ -446,10 +446,10 @@ TEST(Quaternion, OperatorQuaternionMultiply) { * @brief Test for operator* scalar */ TEST(Quaternion, OperatorScalarMultiply) { - math::Quaternion q(0.289271, -0.576012, -0.420972, 0.638212); + s2e::math::Quaternion q(0.289271, -0.576012, -0.420972, 0.638212); double scalar = 2.3; - math::Quaternion result = scalar * q; + s2e::math::Quaternion result = scalar * q; const double accuracy = 1.0e-7; EXPECT_NEAR(q[0] * 2.3, result[0], accuracy); diff --git a/src/math_physics/math/test_s2e_math.cpp b/src/math_physics/math/test_s2e_math.cpp index 949751a3b..7a293b967 100644 --- a/src/math_physics/math/test_s2e_math.cpp +++ b/src/math_physics/math/test_s2e_math.cpp @@ -14,18 +14,18 @@ TEST(S2eMath, WrapTo2Pi) { const double accuracy = 1.0e-7; double input_angle_rad = 0.0; - double wrapped_angle_rad = math::WrapTo2Pi(input_angle_rad); + double wrapped_angle_rad = s2e::math::WrapTo2Pi(input_angle_rad); EXPECT_NEAR(0.0, wrapped_angle_rad, accuracy); input_angle_rad = -1.0e-5; - wrapped_angle_rad = math::WrapTo2Pi(input_angle_rad); - EXPECT_NEAR(math::tau + input_angle_rad, wrapped_angle_rad, accuracy); + wrapped_angle_rad = s2e::math::WrapTo2Pi(input_angle_rad); + EXPECT_NEAR(s2e::math::tau + input_angle_rad, wrapped_angle_rad, accuracy); - input_angle_rad = math::tau + 1.0e-5; - wrapped_angle_rad = math::WrapTo2Pi(input_angle_rad); + input_angle_rad = s2e::math::tau + 1.0e-5; + wrapped_angle_rad = s2e::math::WrapTo2Pi(input_angle_rad); EXPECT_NEAR(1.0e-5, wrapped_angle_rad, accuracy); - input_angle_rad = 10 * math::tau + 1.0e-5; - wrapped_angle_rad = math::WrapTo2Pi(input_angle_rad); + input_angle_rad = 10 * s2e::math::tau + 1.0e-5; + wrapped_angle_rad = s2e::math::WrapTo2Pi(input_angle_rad); EXPECT_NEAR(1.0e-5, wrapped_angle_rad, accuracy); } diff --git a/src/math_physics/math/test_vector.cpp b/src/math_physics/math/test_vector.cpp index 5f636960d..e920dc0b8 100644 --- a/src/math_physics/math/test_vector.cpp +++ b/src/math_physics/math/test_vector.cpp @@ -13,7 +13,7 @@ TEST(Vector, ConstructorWithNumber) { const size_t N = 6; double initialize_value = 2.0; - math::Vector v(initialize_value); + s2e::math::Vector v(initialize_value); for (size_t i = 0; i < N; i++) { EXPECT_DOUBLE_EQ(initialize_value, v[i]); @@ -26,7 +26,7 @@ TEST(Vector, ConstructorWithNumber) { */ TEST(Vector, GetLength) { const size_t N = 6; - math::Vector v; + s2e::math::Vector v; EXPECT_EQ(N, v.GetLength()); } @@ -37,8 +37,8 @@ TEST(Vector, GetLength) { TEST(Vector, OperatorPlusEqual) { const size_t N = 6; double initialize_value = 2.0; - math::Vector v(initialize_value); - math::Vector adding; + s2e::math::Vector v(initialize_value); + s2e::math::Vector adding; for (size_t i = 0; i < N; i++) { adding[i] = double(i); @@ -60,8 +60,8 @@ TEST(Vector, OperatorPlusEqual) { TEST(Vector, OperatorMinusEqual) { const size_t N = 6; double initialize_value = 2.0; - math::Vector v(initialize_value); - math::Vector subtracting; + s2e::math::Vector v(initialize_value); + s2e::math::Vector subtracting; for (size_t i = 0; i < N; i++) { subtracting[i] = double(i); @@ -82,7 +82,7 @@ TEST(Vector, OperatorMinusEqual) { */ TEST(Vector, OperatorMultiplyEqual) { const size_t N = 6; - math::Vector v; + s2e::math::Vector v; double multiplying = 2.0; for (size_t i = 0; i < N; i++) { @@ -104,7 +104,7 @@ TEST(Vector, OperatorMultiplyEqual) { */ TEST(Vector, OperatorDivideEqual) { const size_t N = 6; - math::Vector v; + s2e::math::Vector v; double dividing = 3.0; for (size_t i = 0; i < N; i++) { @@ -126,13 +126,13 @@ TEST(Vector, OperatorDivideEqual) { */ TEST(Vector, OperatorNegative) { const size_t N = 6; - math::Vector v; + s2e::math::Vector v; for (size_t i = 0; i < N; i++) { v[i] = double(i); } - math::Vector v_negative = -v; + s2e::math::Vector v_negative = -v; for (size_t i = 0; i < N; i++) { // Check nondestructive @@ -147,7 +147,7 @@ TEST(Vector, OperatorNegative) { */ TEST(Vector, FillUp) { const size_t N = 6; - math::Vector v; + s2e::math::Vector v; for (size_t i = 0; i < N; i++) { v[i] = double(i); @@ -171,14 +171,14 @@ TEST(Vector, FillUp) { TEST(Vector, OperatorPlus) { const size_t N = 6; double initialize_value = 2.0; - math::Vector v(initialize_value); - math::Vector adding; + s2e::math::Vector v(initialize_value); + s2e::math::Vector adding; for (size_t i = 0; i < N; i++) { adding[i] = double(i); } - math::Vector added = v + adding; + s2e::math::Vector added = v + adding; for (size_t i = 0; i < N; i++) { // Check nondestructive @@ -195,14 +195,14 @@ TEST(Vector, OperatorPlus) { TEST(Vector, OperatorMinus) { const size_t N = 6; double initialize_value = 2.0; - math::Vector v(initialize_value); - math::Vector subtracting; + s2e::math::Vector v(initialize_value); + s2e::math::Vector subtracting; for (size_t i = 0; i < N; i++) { subtracting[i] = double(i); } - math::Vector subtracted = v - subtracting; + s2e::math::Vector subtracted = v - subtracting; for (size_t i = 0; i < N; i++) { // Check nondestructive @@ -218,8 +218,8 @@ TEST(Vector, OperatorMinus) { */ TEST(Vector, InnerProduct) { const size_t N = 3; - math::Vector a; - math::Vector b; + s2e::math::Vector a; + s2e::math::Vector b; for (size_t i = 0; i < N; i++) { a[i] = double(i + 1); @@ -235,8 +235,8 @@ TEST(Vector, InnerProduct) { */ TEST(Vector, InnerProductZero) { const size_t N = 3; - math::Vector a; - math::Vector b; + s2e::math::Vector a; + s2e::math::Vector b; a[0] = 1.0; a[1] = 0.0; @@ -255,8 +255,8 @@ TEST(Vector, InnerProductZero) { */ TEST(Vector, OuterProductZero) { const size_t N = 3; - math::Vector a; - math::Vector b; + s2e::math::Vector a; + s2e::math::Vector b; a[0] = 1.0; a[1] = 0.0; @@ -266,7 +266,7 @@ TEST(Vector, OuterProductZero) { b[1] = 0.0; b[2] = 0.0; - math::Vector<3> result = OuterProduct(a, b); + s2e::math::Vector<3> result = OuterProduct(a, b); for (size_t i = 0; i < N; i++) { EXPECT_DOUBLE_EQ(0.0, result[i]); @@ -278,8 +278,8 @@ TEST(Vector, OuterProductZero) { */ TEST(Vector, OuterProductX) { const size_t N = 3; - math::Vector a; - math::Vector b; + s2e::math::Vector a; + s2e::math::Vector b; a[0] = 0.0; a[1] = 0.0; @@ -289,7 +289,7 @@ TEST(Vector, OuterProductX) { b[1] = 1.0; b[2] = 0.0; - math::Vector<3> result = OuterProduct(a, b); + s2e::math::Vector<3> result = OuterProduct(a, b); EXPECT_DOUBLE_EQ(-1.0, result[0]); EXPECT_DOUBLE_EQ(0.0, result[1]); @@ -301,8 +301,8 @@ TEST(Vector, OuterProductX) { */ TEST(Vector, OuterProductY) { const size_t N = 3; - math::Vector a; - math::Vector b; + s2e::math::Vector a; + s2e::math::Vector b; a[0] = 0.0; a[1] = 0.0; @@ -312,7 +312,7 @@ TEST(Vector, OuterProductY) { b[1] = 0.0; b[2] = 0.0; - math::Vector<3> result = OuterProduct(a, b); + s2e::math::Vector<3> result = OuterProduct(a, b); EXPECT_DOUBLE_EQ(0.0, result[0]); EXPECT_DOUBLE_EQ(1.0, result[1]); @@ -324,8 +324,8 @@ TEST(Vector, OuterProductY) { */ TEST(Vector, OuterProductZ) { const size_t N = 3; - math::Vector a; - math::Vector b; + s2e::math::Vector a; + s2e::math::Vector b; a[0] = 1.0; a[1] = 0.0; @@ -335,7 +335,7 @@ TEST(Vector, OuterProductZ) { b[1] = 1.0; b[2] = 0.0; - math::Vector<3> result = OuterProduct(a, b); + s2e::math::Vector<3> result = OuterProduct(a, b); EXPECT_DOUBLE_EQ(0.0, result[0]); EXPECT_DOUBLE_EQ(0.0, result[1]); @@ -347,7 +347,7 @@ TEST(Vector, OuterProductZ) { */ TEST(Vector, CalcNorm) { const size_t N = 10; - math::Vector v(1.0); + s2e::math::Vector v(1.0); double norm = v.CalcNorm(); @@ -364,9 +364,9 @@ TEST(Vector, CalcNorm) { */ TEST(Vector, Normalize) { const size_t N = 5; - math::Vector v(1.0); + s2e::math::Vector v(1.0); - math::Vector normalized = v.CalcNormalizedVector(); + s2e::math::Vector normalized = v.CalcNormalizedVector(); for (size_t i = 0; i < N; i++) { // Check nondestructive @@ -381,8 +381,8 @@ TEST(Vector, Normalize) { */ TEST(Vector, CalcAngleTwoVectors90deg) { const size_t N = 3; - math::Vector a; - math::Vector b; + s2e::math::Vector a; + s2e::math::Vector b; a[0] = 1.0; a[1] = 0.0; @@ -394,7 +394,7 @@ TEST(Vector, CalcAngleTwoVectors90deg) { double angle_rad = CalcAngleTwoVectors_rad(a, b); - EXPECT_DOUBLE_EQ(90.0 * math::deg_to_rad, angle_rad); + EXPECT_DOUBLE_EQ(90.0 * s2e::math::deg_to_rad, angle_rad); } /** @@ -402,7 +402,7 @@ TEST(Vector, CalcAngleTwoVectors90deg) { */ TEST(Vector, CalcAngleTwoVectors0deg) { const size_t N = 3; - math::Vector a; + s2e::math::Vector a; a[0] = 1.0; a[1] = 0.0; @@ -410,7 +410,7 @@ TEST(Vector, CalcAngleTwoVectors0deg) { double angle_rad = CalcAngleTwoVectors_rad(a, a); - EXPECT_DOUBLE_EQ(0.0 * math::deg_to_rad, angle_rad); + EXPECT_DOUBLE_EQ(0.0 * s2e::math::deg_to_rad, angle_rad); } /** @@ -418,8 +418,8 @@ TEST(Vector, CalcAngleTwoVectors0deg) { */ TEST(Vector, CalcAngleTwoVectors45deg) { const size_t N = 3; - math::Vector a; - math::Vector b; + s2e::math::Vector a; + s2e::math::Vector b; a[0] = 0.0; a[1] = 1.0; @@ -431,7 +431,7 @@ TEST(Vector, CalcAngleTwoVectors45deg) { double angle_rad = CalcAngleTwoVectors_rad(a, b); - EXPECT_DOUBLE_EQ(45.0 * math::deg_to_rad, angle_rad); + EXPECT_DOUBLE_EQ(45.0 * s2e::math::deg_to_rad, angle_rad); } /** @@ -439,11 +439,11 @@ TEST(Vector, CalcAngleTwoVectors45deg) { */ TEST(Vector, GenerateOrthogonalUnitVector) { const size_t N = 3; - math::Vector a(1.0); + s2e::math::Vector a(1.0); - math::Vector b = GenerateOrthogonalUnitVector(a); + s2e::math::Vector b = GenerateOrthogonalUnitVector(a); double angle_rad = CalcAngleTwoVectors_rad(a, b); - EXPECT_DOUBLE_EQ(90.0 * math::deg_to_rad, angle_rad); + EXPECT_DOUBLE_EQ(90.0 * s2e::math::deg_to_rad, angle_rad); } diff --git a/src/math_physics/math/vector.cpp b/src/math_physics/math/vector.cpp index 88c214ba7..22a74e119 100644 --- a/src/math_physics/math/vector.cpp +++ b/src/math_physics/math/vector.cpp @@ -7,7 +7,7 @@ #include "constants.hpp" -namespace math { +namespace s2e::math { Vector<3, double> ConvertFrameOrthogonal2Polar(const Vector<3, double>& orthogonal) { Vector<3, double> polar; // vector on the polar coordinate polar.FillUp(0.0); @@ -51,4 +51,4 @@ Vector<3, double> GenerateOrthogonalUnitVector(const Vector<3, double>& v) { return (orthogonal_vector); } } -} // namespace math +} // namespace s2e::math diff --git a/src/math_physics/math/vector.hpp b/src/math_physics/math/vector.hpp index 5d290d87f..333c62056 100644 --- a/src/math_physics/math/vector.hpp +++ b/src/math_physics/math/vector.hpp @@ -12,7 +12,7 @@ #define dot InnerProduct #define cross OuterProduct -namespace math { +namespace s2e::math { /** * @class Vector * @brief Class for mathematical vector @@ -237,7 +237,7 @@ Vector<3, double> ConvertFrameOrthogonal2Polar(const Vector<3, double>& orthogon */ Vector<3, double> GenerateOrthogonalUnitVector(const Vector<3, double>& v); -} // namespace math +} // namespace s2e::math #include "vector_template_functions.hpp" diff --git a/src/math_physics/math/vector_template_functions.hpp b/src/math_physics/math/vector_template_functions.hpp index 80e51ce5f..9b9900388 100644 --- a/src/math_physics/math/vector_template_functions.hpp +++ b/src/math_physics/math/vector_template_functions.hpp @@ -8,7 +8,7 @@ #include -namespace math { +namespace s2e::math { template Vector::Vector(const T& n) { @@ -146,6 +146,6 @@ double CalcAngleTwoVectors_rad(const Vector& v1, const Vector { * @param [in] sigma: Sigma value (0 < sigma < 1) for interpolation * @return : interpolated state x(t0 + sigma * h) */ - math::Vector CalcInterpolationState(const double sigma) const override; + s2e::math::Vector CalcInterpolationState(const double sigma) const override; private: - std::vector> coefficients_; //!< Coefficients to calculate interpolation weights + std::vector> coefficients_; //!< Coefficients to calculate interpolation weights /** * @fn CalcInterpolationWeights * @brief Calculate weights for interpolation diff --git a/src/math_physics/numerical_integration/dormand_prince_5_implementation.hpp b/src/math_physics/numerical_integration/dormand_prince_5_implementation.hpp index 40b09a9c1..4190202b4 100644 --- a/src/math_physics/numerical_integration/dormand_prince_5_implementation.hpp +++ b/src/math_physics/numerical_integration/dormand_prince_5_implementation.hpp @@ -75,7 +75,7 @@ DormandPrince5::DormandPrince5(const double step_width, const InterfaceOde this->rk_matrix_[6][5] = 11.0 / 84.0; // Interpolation coefficients - math::Vector<5> coefficients_temp; + s2e::math::Vector<5> coefficients_temp; coefficients_temp[0] = 11282082432.0; coefficients_temp[1] = -32272833064.0; coefficients_temp[2] = 34969693132.0; @@ -123,10 +123,10 @@ DormandPrince5::DormandPrince5(const double step_width, const InterfaceOde } template -math::Vector DormandPrince5::CalcInterpolationState(const double sigma) const { +s2e::math::Vector DormandPrince5::CalcInterpolationState(const double sigma) const { std::vector interpolation_weights = CalcInterpolationWeights(sigma); - math::Vector interpolation_state = this->previous_state_; + s2e::math::Vector interpolation_state = this->previous_state_; for (size_t i = 0; i < this->number_of_stages_; i++) { interpolation_state = interpolation_state + (sigma * this->step_width_ * interpolation_weights[i]) * this->slope_[i]; } diff --git a/src/math_physics/numerical_integration/embedded_runge_kutta_implementation.hpp b/src/math_physics/numerical_integration/embedded_runge_kutta_implementation.hpp index ac13a861f..dfed2e7e1 100644 --- a/src/math_physics/numerical_integration/embedded_runge_kutta_implementation.hpp +++ b/src/math_physics/numerical_integration/embedded_runge_kutta_implementation.hpp @@ -14,15 +14,15 @@ void EmbeddedRungeKutta::Integrate() { this->CalcSlope(); this->previous_state_ = this->current_state_; - math::Vector lower_current_state = this->current_state_; //!< eta in the equation - math::Vector higher_current_state = this->current_state_; //!< eta_hat in the equation + s2e::math::Vector lower_current_state = this->current_state_; //!< eta in the equation + s2e::math::Vector higher_current_state = this->current_state_; //!< eta_hat in the equation for (size_t i = 0; i < this->number_of_stages_; i++) { lower_current_state = lower_current_state + this->weights_[i] * this->step_width_ * this->slope_[i]; higher_current_state = higher_current_state + higher_order_weights_[i] * this->step_width_ * this->slope_[i]; } // Error evaluation - math::Vector truncation_error = lower_current_state - higher_current_state; + s2e::math::Vector truncation_error = lower_current_state - higher_current_state; local_truncation_error_ = truncation_error.CalcNorm(); // State update diff --git a/src/math_physics/numerical_integration/interface_ode.hpp b/src/math_physics/numerical_integration/interface_ode.hpp index 1c30058e9..213598675 100644 --- a/src/math_physics/numerical_integration/interface_ode.hpp +++ b/src/math_physics/numerical_integration/interface_ode.hpp @@ -24,7 +24,7 @@ class InterfaceOde { * @param [in] state: State vector * @return Differentiated value of state vector */ - virtual math::Vector DerivativeFunction(const double independent_variable, const math::Vector& state) const = 0; + virtual s2e::math::Vector DerivativeFunction(const double independent_variable, const s2e::math::Vector& state) const = 0; }; } // namespace numerical_integration diff --git a/src/math_physics/numerical_integration/numerical_integrator.hpp b/src/math_physics/numerical_integration/numerical_integrator.hpp index 5f19d0185..83d78e85a 100644 --- a/src/math_physics/numerical_integration/numerical_integrator.hpp +++ b/src/math_physics/numerical_integration/numerical_integrator.hpp @@ -44,7 +44,7 @@ class NumericalIntegrator { * @fn SetState * @brief Set state information */ - inline void SetState(const double independent_variable, const math::Vector& state) { + inline void SetState(const double independent_variable, const s2e::math::Vector& state) { current_independent_variable_ = independent_variable; current_state_ = state; previous_state_ = state; @@ -54,7 +54,7 @@ class NumericalIntegrator { * @fn GetState * @brief Return current state vector */ - inline const math::Vector& GetState() const { return current_state_; } + inline const s2e::math::Vector& GetState() const { return current_state_; } /** * @fn CalcInterpolationState @@ -62,7 +62,7 @@ class NumericalIntegrator { * @param [in] sigma: Sigma value (0 < sigma < 1) for interpolation * @return : interpolated state x(t0 + sigma * h) */ - virtual math::Vector CalcInterpolationState(const double sigma) const = 0; + virtual s2e::math::Vector CalcInterpolationState(const double sigma) const = 0; protected: // Settings @@ -71,8 +71,8 @@ class NumericalIntegrator { // States const InterfaceOde& ode_; //!< Ordinary differential equation double current_independent_variable_; //!< Latest value of independent variable - math::Vector current_state_; //!< Latest state vector - math::Vector previous_state_; //!< Previous state vector + s2e::math::Vector current_state_; //!< Latest state vector + s2e::math::Vector previous_state_; //!< Previous state vector }; } // namespace numerical_integration diff --git a/src/math_physics/numerical_integration/ode_examples.hpp b/src/math_physics/numerical_integration/ode_examples.hpp index b0c9085b5..e6f7e3616 100644 --- a/src/math_physics/numerical_integration/ode_examples.hpp +++ b/src/math_physics/numerical_integration/ode_examples.hpp @@ -13,11 +13,11 @@ namespace numerical_integration { class ExampleLinearOde : public InterfaceOde<1> { public: - math::Vector<1> DerivativeFunction(const double time_s, const math::Vector<1>& state) const { + s2e::math::Vector<1> DerivativeFunction(const double time_s, const s2e::math::Vector<1>& state) const { UNUSED(time_s); UNUSED(state); - math::Vector<1> output(1.0); + s2e::math::Vector<1> output(1.0); return output; } }; @@ -35,11 +35,11 @@ class ExampleQuadraticOde : public InterfaceOde<1> { * @param [in] state: State vector * @return Differentiated value of state vector */ - virtual math::Vector<1> DerivativeFunction(const double time_s, const math::Vector<1>& state) const { + virtual s2e::math::Vector<1> DerivativeFunction(const double time_s, const s2e::math::Vector<1>& state) const { UNUSED(time_s); UNUSED(state); - math::Vector<1> output(0.0); + s2e::math::Vector<1> output(0.0); output[0] = 2.0 * time_s; return output; } @@ -51,10 +51,10 @@ class ExampleQuadraticOde : public InterfaceOde<1> { */ class Example1dPositionVelocityOde : public InterfaceOde<2> { public: - virtual math::Vector<2> DerivativeFunction(const double time_s, const math::Vector<2>& state) const { + virtual s2e::math::Vector<2> DerivativeFunction(const double time_s, const s2e::math::Vector<2>& state) const { UNUSED(time_s); - math::Vector<2> output(0.0); + s2e::math::Vector<2> output(0.0); output[0] = state[1]; output[1] = 0.0; return output; @@ -67,10 +67,10 @@ class Example1dPositionVelocityOde : public InterfaceOde<2> { */ class Example2dTwoBodyOrbitOde : public InterfaceOde<4> { public: - virtual math::Vector<4> DerivativeFunction(const double time_s, const math::Vector<4>& state) const { + virtual s2e::math::Vector<4> DerivativeFunction(const double time_s, const s2e::math::Vector<4>& state) const { UNUSED(time_s); - math::Vector<4> output(0.0); + s2e::math::Vector<4> output(0.0); output[0] = state[2]; output[1] = state[3]; double denominator = pow(state[0] * state[0] + state[1] * state[1], 3.0 / 2.0); diff --git a/src/math_physics/numerical_integration/runge_kutta.hpp b/src/math_physics/numerical_integration/runge_kutta.hpp index 18730c667..333d3cc4a 100644 --- a/src/math_physics/numerical_integration/runge_kutta.hpp +++ b/src/math_physics/numerical_integration/runge_kutta.hpp @@ -46,7 +46,7 @@ class RungeKutta : public NumericalIntegrator { std::vector nodes_; //!< Nodes vector for general RK (c vector in the equation) std::vector weights_; //!< Weights vector for general RK (b vector in the equation) std::vector> rk_matrix_; //!< Runge-Kutta matrix for general RK (a matrix in the equation) - std::vector> slope_; //!< Slope vector for general RK (k vector in the equation) + std::vector> slope_; //!< Slope vector for general RK (k vector in the equation) /** * @fn CalcSlope diff --git a/src/math_physics/numerical_integration/runge_kutta_4.hpp b/src/math_physics/numerical_integration/runge_kutta_4.hpp index b2f267d58..47fc6b6b5 100644 --- a/src/math_physics/numerical_integration/runge_kutta_4.hpp +++ b/src/math_physics/numerical_integration/runge_kutta_4.hpp @@ -45,7 +45,7 @@ class RungeKutta4 : public RungeKutta { } // We did not implement the interpolation for RK4 - math::Vector CalcInterpolationState(const double sigma) const override { + s2e::math::Vector CalcInterpolationState(const double sigma) const override { UNUSED(sigma); return this->current_state_; } diff --git a/src/math_physics/numerical_integration/runge_kutta_fehlberg.hpp b/src/math_physics/numerical_integration/runge_kutta_fehlberg.hpp index 3056241ac..16974368f 100644 --- a/src/math_physics/numerical_integration/runge_kutta_fehlberg.hpp +++ b/src/math_physics/numerical_integration/runge_kutta_fehlberg.hpp @@ -29,7 +29,7 @@ class RungeKuttaFehlberg : public EmbeddedRungeKutta { * @param [in] sigma: Sigma value (0 < sigma < 1) for interpolation * @return : interpolated state x(t0 + sigma * h) */ - math::Vector CalcInterpolationState(const double sigma) const override; + s2e::math::Vector CalcInterpolationState(const double sigma) const override; private: /** diff --git a/src/math_physics/numerical_integration/runge_kutta_fehlberg_implementation.hpp b/src/math_physics/numerical_integration/runge_kutta_fehlberg_implementation.hpp index d5ef9f7c0..04d5f8027 100644 --- a/src/math_physics/numerical_integration/runge_kutta_fehlberg_implementation.hpp +++ b/src/math_physics/numerical_integration/runge_kutta_fehlberg_implementation.hpp @@ -64,15 +64,15 @@ RungeKuttaFehlberg::RungeKuttaFehlberg(const double step_width, const Interfa } template -math::Vector RungeKuttaFehlberg::CalcInterpolationState(const double sigma) const { +s2e::math::Vector RungeKuttaFehlberg::CalcInterpolationState(const double sigma) const { // Calc k7 (slope after state update) - math::Vector state_7 = + s2e::math::Vector state_7 = this->previous_state_ + this->step_width_ * (1.0 / 6.0 * this->slope_[0] + 1.0 / 6.0 * this->slope_[4] + 2.0 / 3.0 * this->slope_[5]); - math::Vector k7 = this->ode_.DerivativeFunction(this->current_independent_variable_, state_7); + s2e::math::Vector k7 = this->ode_.DerivativeFunction(this->current_independent_variable_, state_7); std::vector interpolation_weights = CalcInterpolationWeights(sigma); - math::Vector interpolation_state = this->previous_state_; + s2e::math::Vector interpolation_state = this->previous_state_; for (size_t i = 0; i < this->number_of_stages_; i++) { interpolation_state = interpolation_state + (sigma * this->step_width_ * interpolation_weights[i]) * this->slope_[i]; } diff --git a/src/math_physics/numerical_integration/runge_kutta_template.hpp b/src/math_physics/numerical_integration/runge_kutta_template.hpp index 99bab650c..577b24639 100644 --- a/src/math_physics/numerical_integration/runge_kutta_template.hpp +++ b/src/math_physics/numerical_integration/runge_kutta_template.hpp @@ -22,10 +22,10 @@ void RungeKutta::Integrate() { template void RungeKutta::CalcSlope() { - slope_.assign(number_of_stages_, math::Vector(0.0)); + slope_.assign(number_of_stages_, s2e::math::Vector(0.0)); for (size_t i = 0; i < number_of_stages_; i++) { - math::Vector state = this->current_state_; + s2e::math::Vector state = this->current_state_; for (size_t j = 0; j < i; j++) { state = state + rk_matrix_[i][j] * this->step_width_ * slope_[j]; } diff --git a/src/math_physics/numerical_integration/test_runge_kutta.cpp b/src/math_physics/numerical_integration/test_runge_kutta.cpp index 376406850..d6ab81d28 100644 --- a/src/math_physics/numerical_integration/test_runge_kutta.cpp +++ b/src/math_physics/numerical_integration/test_runge_kutta.cpp @@ -18,7 +18,7 @@ TEST(NUMERICAL_INTEGRATION, Constructor) { numerical_integration::ExampleLinearOde ode; numerical_integration::RungeKutta4<1> linear_ode(0.1, ode); - math::Vector<1> state = linear_ode.GetState(); + s2e::math::Vector<1> state = linear_ode.GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); } @@ -30,7 +30,7 @@ TEST(NUMERICAL_INTEGRATION, IntegrateLinearRk4) { numerical_integration::ExampleLinearOde ode; numerical_integration::RungeKutta4<1> rk4_ode(step_width_s, ode); - math::Vector<1> state = rk4_ode.GetState(); + s2e::math::Vector<1> state = rk4_ode.GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); size_t step_num = 10000; @@ -51,7 +51,7 @@ TEST(NUMERICAL_INTEGRATION, IntegrateLinearRkf) { numerical_integration::ExampleLinearOde ode; numerical_integration::RungeKuttaFehlberg<1> rkf_ode(step_width_s, ode); - math::Vector<1> state = rkf_ode.GetState(); + s2e::math::Vector<1> state = rkf_ode.GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); size_t step_num = 10000; @@ -72,7 +72,7 @@ TEST(NUMERICAL_INTEGRATION, IntegrateLinearDp5) { numerical_integration::ExampleLinearOde ode; numerical_integration::DormandPrince5<1> dp5_ode(step_width_s, ode); - math::Vector<1> state = dp5_ode.GetState(); + s2e::math::Vector<1> state = dp5_ode.GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); size_t step_num = 10000; @@ -93,7 +93,7 @@ TEST(NUMERICAL_INTEGRATION, IntegrateLinearNumericalIntegratorManagerRk4) { numerical_integration::ExampleLinearOde ode; numerical_integration::NumericalIntegratorManager<1> numerical_integrator(step_width_s, ode); - math::Vector<1> state = numerical_integrator.GetIntegrator()->GetState(); + s2e::math::Vector<1> state = numerical_integrator.GetIntegrator()->GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); size_t step_num = 10000; @@ -115,7 +115,7 @@ TEST(NUMERICAL_INTEGRATION, IntegrateLinearNumericalIntegratorManagerRkf) { numerical_integration::NumericalIntegratorManager<1> numerical_integrator(step_width_s, ode, numerical_integration::NumericalIntegrationMethod::kRkf); - math::Vector<1> state = numerical_integrator.GetIntegrator()->GetState(); + s2e::math::Vector<1> state = numerical_integrator.GetIntegrator()->GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); size_t step_num = 10000; @@ -141,7 +141,7 @@ TEST(NUMERICAL_INTEGRATION, IntegrateLinearNumericalIntegratorManagerDp5) { numerical_integration::NumericalIntegratorManager<1> numerical_integrator(step_width_s, ode, numerical_integration::NumericalIntegrationMethod::kDp5); - math::Vector<1> state = numerical_integrator.GetIntegrator()->GetState(); + s2e::math::Vector<1> state = numerical_integrator.GetIntegrator()->GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); size_t step_num = 10000; @@ -166,7 +166,7 @@ TEST(NUMERICAL_INTEGRATION, IntegrateQuadraticRk4) { numerical_integration::ExampleQuadraticOde ode; numerical_integration::RungeKutta4<1> rk4_ode(step_width_s, ode); - math::Vector<1> state = rk4_ode.GetState(); + s2e::math::Vector<1> state = rk4_ode.GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); size_t step_num = 10000; @@ -187,7 +187,7 @@ TEST(NUMERICAL_INTEGRATION, IntegrateQuadraticRkf) { numerical_integration::ExampleQuadraticOde ode; numerical_integration::RungeKuttaFehlberg<1> rkf_ode(step_width_s, ode); - math::Vector<1> state = rkf_ode.GetState(); + s2e::math::Vector<1> state = rkf_ode.GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); size_t step_num = 10000; @@ -208,7 +208,7 @@ TEST(NUMERICAL_INTEGRATION, InterpolationQuadraticRkf) { numerical_integration::ExampleQuadraticOde ode; numerical_integration::RungeKuttaFehlberg<1> rkf_ode(step_width_s, ode); - math::Vector<1> state = rkf_ode.GetState(); + s2e::math::Vector<1> state = rkf_ode.GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); rkf_ode.Integrate(); @@ -237,7 +237,7 @@ TEST(NUMERICAL_INTEGRATION, IntegrateQuadraticDp5) { numerical_integration::ExampleQuadraticOde ode; numerical_integration::DormandPrince5<1> dp5_ode(step_width_s, ode); - math::Vector<1> state = dp5_ode.GetState(); + s2e::math::Vector<1> state = dp5_ode.GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); size_t step_num = 10000; @@ -258,7 +258,7 @@ TEST(NUMERICAL_INTEGRATION, InterpolationQuadraticDp5) { numerical_integration::ExampleQuadraticOde ode; numerical_integration::DormandPrince5<1> dp5_ode(step_width_s, ode); - math::Vector<1> state = dp5_ode.GetState(); + s2e::math::Vector<1> state = dp5_ode.GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); dp5_ode.Integrate(); @@ -287,12 +287,12 @@ TEST(NUMERICAL_INTEGRATION, Integrate1dPositionVelocityRk4) { numerical_integration::Example1dPositionVelocityOde ode; numerical_integration::RungeKutta4<2> rk4_ode(step_width_s, ode); - math::Vector<2> initial_state(0.0); + s2e::math::Vector<2> initial_state(0.0); initial_state[0] = 0.0; initial_state[1] = 0.1; rk4_ode.SetState(0.0, initial_state); - math::Vector<2> state = rk4_ode.GetState(); + s2e::math::Vector<2> state = rk4_ode.GetState(); EXPECT_DOUBLE_EQ(initial_state[0], state[0]); EXPECT_DOUBLE_EQ(initial_state[1], state[1]); @@ -301,7 +301,7 @@ TEST(NUMERICAL_INTEGRATION, Integrate1dPositionVelocityRk4) { rk4_ode.Integrate(); } state = rk4_ode.GetState(); - math::Vector<2> estimated_result(0.0); + s2e::math::Vector<2> estimated_result(0.0); estimated_result[0] = (step_width_s * step_num) * initial_state[1] + initial_state[0]; estimated_result[1] = initial_state[1]; @@ -317,12 +317,12 @@ TEST(NUMERICAL_INTEGRATION, Integrate1dPositionVelocityRkf) { numerical_integration::Example1dPositionVelocityOde ode; numerical_integration::RungeKuttaFehlberg<2> rkf_ode(step_width_s, ode); - math::Vector<2> initial_state(0.0); + s2e::math::Vector<2> initial_state(0.0); initial_state[0] = 0.0; initial_state[1] = 0.1; rkf_ode.SetState(0.0, initial_state); - math::Vector<2> state = rkf_ode.GetState(); + s2e::math::Vector<2> state = rkf_ode.GetState(); EXPECT_DOUBLE_EQ(initial_state[0], state[0]); EXPECT_DOUBLE_EQ(initial_state[1], state[1]); @@ -331,7 +331,7 @@ TEST(NUMERICAL_INTEGRATION, Integrate1dPositionVelocityRkf) { rkf_ode.Integrate(); } state = rkf_ode.GetState(); - math::Vector<2> estimated_result(0.0); + s2e::math::Vector<2> estimated_result(0.0); estimated_result[0] = (step_width_s * step_num) * initial_state[1] + initial_state[0]; estimated_result[1] = initial_state[1]; @@ -347,12 +347,12 @@ TEST(NUMERICAL_INTEGRATION, Integrate1dPositionVelocityDp5) { numerical_integration::Example1dPositionVelocityOde ode; numerical_integration::DormandPrince5<2> dp5_ode(step_width_s, ode); - math::Vector<2> initial_state(0.0); + s2e::math::Vector<2> initial_state(0.0); initial_state[0] = 0.0; initial_state[1] = 0.1; dp5_ode.SetState(0.0, initial_state); - math::Vector<2> state = dp5_ode.GetState(); + s2e::math::Vector<2> state = dp5_ode.GetState(); EXPECT_DOUBLE_EQ(initial_state[0], state[0]); EXPECT_DOUBLE_EQ(initial_state[1], state[1]); @@ -361,7 +361,7 @@ TEST(NUMERICAL_INTEGRATION, Integrate1dPositionVelocityDp5) { dp5_ode.Integrate(); } state = dp5_ode.GetState(); - math::Vector<2> estimated_result(0.0); + s2e::math::Vector<2> estimated_result(0.0); estimated_result[0] = (step_width_s * step_num) * initial_state[1] + initial_state[0]; estimated_result[1] = initial_state[1]; @@ -379,7 +379,7 @@ TEST(NUMERICAL_INTEGRATION, Integrate2dTwoBodyOrbitSmallEccentricity) { numerical_integration::RungeKuttaFehlberg<4> rkf_ode(step_width_s, ode); numerical_integration::DormandPrince5<4> dp5_ode(step_width_s, ode); - math::Vector<4> initial_state(0.0); + s2e::math::Vector<4> initial_state(0.0); const double eccentricity = 0.1; initial_state[0] = 1.0 - eccentricity; initial_state[1] = 0.0; @@ -389,9 +389,9 @@ TEST(NUMERICAL_INTEGRATION, Integrate2dTwoBodyOrbitSmallEccentricity) { rkf_ode.SetState(0.0, initial_state); dp5_ode.SetState(0.0, initial_state); - math::Vector<4> state_rk4 = rk4_ode.GetState(); - math::Vector<4> state_rkf = rkf_ode.GetState(); - math::Vector<4> state_dp5 = dp5_ode.GetState(); + s2e::math::Vector<4> state_rk4 = rk4_ode.GetState(); + s2e::math::Vector<4> state_rkf = rkf_ode.GetState(); + s2e::math::Vector<4> state_dp5 = dp5_ode.GetState(); for (size_t i = 0; i < 4; i++) { EXPECT_DOUBLE_EQ(initial_state[i], state_rk4[i]); EXPECT_DOUBLE_EQ(initial_state[i], state_rkf[i]); @@ -409,8 +409,8 @@ TEST(NUMERICAL_INTEGRATION, Integrate2dTwoBodyOrbitSmallEccentricity) { state_dp5 = dp5_ode.GetState(); // Estimation by Kepler Orbit calculation - math::Vector<3> initial_position(0.0); - math::Vector<3> initial_velocity(0.0); + s2e::math::Vector<3> initial_position(0.0); + s2e::math::Vector<3> initial_velocity(0.0); initial_position[0] = initial_state[0]; initial_position[1] = initial_state[1]; @@ -449,7 +449,7 @@ TEST(NUMERICAL_INTEGRATION, Integrate2dTwoBodyOrbitLargeEccentricity) { numerical_integration::RungeKuttaFehlberg<4> rkf_ode(step_width_s, ode); numerical_integration::DormandPrince5<4> dp5_ode(step_width_s, ode); - math::Vector<4> initial_state(0.0); + s2e::math::Vector<4> initial_state(0.0); const double eccentricity = 0.9; initial_state[0] = 1.0 - eccentricity; initial_state[1] = 0.0; @@ -459,9 +459,9 @@ TEST(NUMERICAL_INTEGRATION, Integrate2dTwoBodyOrbitLargeEccentricity) { rkf_ode.SetState(0.0, initial_state); dp5_ode.SetState(0.0, initial_state); - math::Vector<4> state_rk4 = rk4_ode.GetState(); - math::Vector<4> state_rkf = rkf_ode.GetState(); - math::Vector<4> state_dp5 = dp5_ode.GetState(); + s2e::math::Vector<4> state_rk4 = rk4_ode.GetState(); + s2e::math::Vector<4> state_rkf = rkf_ode.GetState(); + s2e::math::Vector<4> state_dp5 = dp5_ode.GetState(); for (size_t i = 0; i < 4; i++) { EXPECT_DOUBLE_EQ(initial_state[i], state_rk4[i]); EXPECT_DOUBLE_EQ(initial_state[i], state_rkf[i]); @@ -479,8 +479,8 @@ TEST(NUMERICAL_INTEGRATION, Integrate2dTwoBodyOrbitLargeEccentricity) { state_dp5 = dp5_ode.GetState(); // Estimation by Kepler Orbit calculation - math::Vector<3> initial_position(0.0); - math::Vector<3> initial_velocity(0.0); + s2e::math::Vector<3> initial_position(0.0); + s2e::math::Vector<3> initial_velocity(0.0); initial_position[0] = initial_state[0]; initial_position[1] = initial_state[1]; @@ -518,7 +518,7 @@ TEST(NUMERICAL_INTEGRATION, Interpolation2dTwoBodyOrbitSmallEccentricity) { numerical_integration::RungeKuttaFehlberg<4> rkf_ode(step_width_s, ode); numerical_integration::DormandPrince5<4> dp5_ode(step_width_s, ode); - math::Vector<4> initial_state(0.0); + s2e::math::Vector<4> initial_state(0.0); const double eccentricity = 0.1; initial_state[0] = 1.0 - eccentricity; initial_state[1] = 0.0; @@ -527,8 +527,8 @@ TEST(NUMERICAL_INTEGRATION, Interpolation2dTwoBodyOrbitSmallEccentricity) { rkf_ode.SetState(0.0, initial_state); dp5_ode.SetState(0.0, initial_state); - math::Vector<4> state_rkf = rkf_ode.GetState(); - math::Vector<4> state_dp5 = dp5_ode.GetState(); + s2e::math::Vector<4> state_rkf = rkf_ode.GetState(); + s2e::math::Vector<4> state_dp5 = dp5_ode.GetState(); for (size_t i = 0; i < 4; i++) { EXPECT_DOUBLE_EQ(initial_state[i], state_rkf[i]); EXPECT_DOUBLE_EQ(initial_state[i], state_dp5[i]); @@ -543,8 +543,8 @@ TEST(NUMERICAL_INTEGRATION, Interpolation2dTwoBodyOrbitSmallEccentricity) { state_dp5 = dp5_ode.GetState(); // Estimation by Kepler Orbit calculation - math::Vector<3> initial_position(0.0); - math::Vector<3> initial_velocity(0.0); + s2e::math::Vector<3> initial_position(0.0); + s2e::math::Vector<3> initial_velocity(0.0); // Final value initial_position[0] = initial_state[0]; @@ -613,7 +613,7 @@ TEST(NUMERICAL_INTEGRATION, Interpolation2dTwoBodyOrbitLargeEccentricity) { numerical_integration::RungeKuttaFehlberg<4> rkf_ode(step_width_s, ode); numerical_integration::DormandPrince5<4> dp5_ode(step_width_s, ode); - math::Vector<4> initial_state(0.0); + s2e::math::Vector<4> initial_state(0.0); const double eccentricity = 0.8; initial_state[0] = 1.0 - eccentricity; initial_state[1] = 0.0; @@ -622,8 +622,8 @@ TEST(NUMERICAL_INTEGRATION, Interpolation2dTwoBodyOrbitLargeEccentricity) { rkf_ode.SetState(0.0, initial_state); dp5_ode.SetState(0.0, initial_state); - math::Vector<4> state_rkf = rkf_ode.GetState(); - math::Vector<4> state_dp5 = dp5_ode.GetState(); + s2e::math::Vector<4> state_rkf = rkf_ode.GetState(); + s2e::math::Vector<4> state_dp5 = dp5_ode.GetState(); for (size_t i = 0; i < 4; i++) { EXPECT_DOUBLE_EQ(initial_state[i], state_rkf[i]); EXPECT_DOUBLE_EQ(initial_state[i], state_dp5[i]); @@ -638,8 +638,8 @@ TEST(NUMERICAL_INTEGRATION, Interpolation2dTwoBodyOrbitLargeEccentricity) { state_dp5 = dp5_ode.GetState(); // Estimation by Kepler Orbit calculation - math::Vector<3> initial_position(0.0); - math::Vector<3> initial_velocity(0.0); + s2e::math::Vector<3> initial_position(0.0); + s2e::math::Vector<3> initial_velocity(0.0); // Final value initial_position[0] = initial_state[0]; diff --git a/src/math_physics/optics/gaussian_beam_base.cpp b/src/math_physics/optics/gaussian_beam_base.cpp index 86995e7e2..3b558612d 100644 --- a/src/math_physics/optics/gaussian_beam_base.cpp +++ b/src/math_physics/optics/gaussian_beam_base.cpp @@ -30,19 +30,19 @@ void GaussianBeamBase::SetTotalPower_W(const double total_power_W) { total_power_W_ = total_power_W; } -void GaussianBeamBase::SetPointingVector_i(const math::Vector<3> pointing_vector_i) { pointing_vector_i_ = pointing_vector_i; } +void GaussianBeamBase::SetPointingVector_i(const s2e::math::Vector<3> pointing_vector_i) { pointing_vector_i_ = pointing_vector_i; } -void GaussianBeamBase::SetBeamWaistPosition_i_m(const math::Vector<3> position_beam_waist_i_m) { position_beam_waist_i_m_ = position_beam_waist_i_m; } +void GaussianBeamBase::SetBeamWaistPosition_i_m(const s2e::math::Vector<3> position_beam_waist_i_m) { position_beam_waist_i_m_ = position_beam_waist_i_m; } double GaussianBeamBase::CalcBeamWidthRadius_m(double distance_from_beam_waist_m) { - double rayleigh_length_m = math::pi * radius_beam_waist_m_ * radius_beam_waist_m_ / wavelength_m_; + double rayleigh_length_m = s2e::math::pi * radius_beam_waist_m_ * radius_beam_waist_m_ / wavelength_m_; double beam_width_radius_m = radius_beam_waist_m_ * sqrt(1.0 + std::pow((distance_from_beam_waist_m / rayleigh_length_m), 2.0)); return beam_width_radius_m; } double GaussianBeamBase::CalcIntensity_W_m2(double distance_from_beam_waist_m, double deviation_from_optical_axis_m) { double beam_width_radius_m = CalcBeamWidthRadius_m(distance_from_beam_waist_m); - double peak_intensity_W_m2 = (2.0 * total_power_W_) / (math::pi * beam_width_radius_m * beam_width_radius_m); + double peak_intensity_W_m2 = (2.0 * total_power_W_) / (s2e::math::pi * beam_width_radius_m * beam_width_radius_m); double gaussian_dist = std::exp((-2.0 * deviation_from_optical_axis_m * deviation_from_optical_axis_m) / (beam_width_radius_m * beam_width_radius_m)); double intensity_W_m2 = peak_intensity_W_m2 * gaussian_dist; diff --git a/src/math_physics/optics/gaussian_beam_base.hpp b/src/math_physics/optics/gaussian_beam_base.hpp index 6f40fa8a2..010d4bb31 100644 --- a/src/math_physics/optics/gaussian_beam_base.hpp +++ b/src/math_physics/optics/gaussian_beam_base.hpp @@ -50,12 +50,12 @@ class GaussianBeamBase { * @fn SetPointingVector_i * @brief Set pointing direction vector in the inertial frame */ - void SetPointingVector_i(const math::Vector<3> pointing_vector_i); + void SetPointingVector_i(const s2e::math::Vector<3> pointing_vector_i); /** * @fn SetBeamWaistPosition_i_m * @brief Set position of beam waist in the inertial frame [m] (Not used?) */ - void SetBeamWaistPosition_i_m(const math::Vector<3> position_beam_waist_i_m); + void SetBeamWaistPosition_i_m(const s2e::math::Vector<3> position_beam_waist_i_m); // Getter /** @@ -77,12 +77,12 @@ class GaussianBeamBase { * @fn GetPointingVector_i * @brief Return pointing direction vector in the inertial frame */ - inline const math::Vector<3> GetPointingVector_i() const { return pointing_vector_i_; } + inline const s2e::math::Vector<3> GetPointingVector_i() const { return pointing_vector_i_; } /** * @fn GetBeamWaistPosition_i_m * @brief Return position of beam waist in the inertial frame [m] (Not used?) */ - inline const math::Vector<3> GetBeamWaistPosition_i_m() const { return position_beam_waist_i_m_; } + inline const s2e::math::Vector<3> GetBeamWaistPosition_i_m() const { return position_beam_waist_i_m_; } // Calculate functions /** @@ -105,8 +105,8 @@ class GaussianBeamBase { double wavelength_m_; //!< Wavelength [m] double radius_beam_waist_m_; //!< Radius of beam waist [m] double total_power_W_; //!< Total power [W] - math::Vector<3> pointing_vector_i_{0.0}; //!< Pointing direction vector in the inertial frame - math::Vector<3> position_beam_waist_i_m_{0.0}; //!< Position of beam waist in the inertial frame [m] (Not used?) + s2e::math::Vector<3> pointing_vector_i_{0.0}; //!< Pointing direction vector in the inertial frame + s2e::math::Vector<3> position_beam_waist_i_m_{0.0}; //!< Position of beam waist in the inertial frame [m] (Not used?) }; } // namespace optics diff --git a/src/math_physics/orbit/interpolation_orbit.cpp b/src/math_physics/orbit/interpolation_orbit.cpp index 33d2843a5..393b30166 100644 --- a/src/math_physics/orbit/interpolation_orbit.cpp +++ b/src/math_physics/orbit/interpolation_orbit.cpp @@ -12,13 +12,13 @@ InterpolationOrbit::InterpolationOrbit(const size_t degree) { time.assign(degree, -1.0); std::vector position; position.assign(degree, 0.0); - math::Interpolation temp(time, position); + s2e::math::Interpolation temp(time, position); for (size_t axis = 0; axis < 3; axis++) { interpolation_position_.push_back(temp); } } -bool InterpolationOrbit::PushAndPopData(const double time, const math::Vector<3> position) { +bool InterpolationOrbit::PushAndPopData(const double time, const s2e::math::Vector<3> position) { bool result; for (size_t axis = 0; axis < 3; axis++) { result = interpolation_position_[axis].PushAndPopData(time, position[axis]); @@ -29,8 +29,8 @@ bool InterpolationOrbit::PushAndPopData(const double time, const math::Vector<3> return true; } -math::Vector<3> InterpolationOrbit::CalcPositionWithTrigonometric(const double time, const double period) const { - math::Vector<3> output_position; +s2e::math::Vector<3> InterpolationOrbit::CalcPositionWithTrigonometric(const double time, const double period) const { + s2e::math::Vector<3> output_position; for (size_t axis = 0; axis < 3; axis++) { output_position[axis] = interpolation_position_[axis].CalcTrigonometric(time, period); } diff --git a/src/math_physics/orbit/interpolation_orbit.hpp b/src/math_physics/orbit/interpolation_orbit.hpp index cf83660ab..db215f534 100644 --- a/src/math_physics/orbit/interpolation_orbit.hpp +++ b/src/math_physics/orbit/interpolation_orbit.hpp @@ -32,7 +32,7 @@ class InterpolationOrbit { * @param [in] time: time of the new data * @param [in] position: Satellite position of the new data */ - bool PushAndPopData(const double time, const math::Vector<3> position); + bool PushAndPopData(const double time, const s2e::math::Vector<3> position); /** * @fn CalcPositionWithTrigonometric @@ -41,7 +41,7 @@ class InterpolationOrbit { * @param [in] period: Characteristic period * @return Calculated position */ - math::Vector<3> CalcPositionWithTrigonometric(const double time, const double period = 0.0) const; + s2e::math::Vector<3> CalcPositionWithTrigonometric(const double time, const double period = 0.0) const; // Getters /** @@ -68,7 +68,7 @@ class InterpolationOrbit { } private: - std::vector interpolation_position_; // 3D vector of interpolation + std::vector interpolation_position_; // 3D vector of interpolation }; } // namespace orbit diff --git a/src/math_physics/orbit/kepler_orbit.cpp b/src/math_physics/orbit/kepler_orbit.cpp index 2b3878703..389cc96ab 100644 --- a/src/math_physics/orbit/kepler_orbit.cpp +++ b/src/math_physics/orbit/kepler_orbit.cpp @@ -24,10 +24,10 @@ void KeplerOrbit::CalcConstKeplerMotion() { mean_motion_rad_s_ = sqrt(gravity_constant_m3_s2_ / a_m3); // DCM - math::Matrix<3, 3> dcm_arg_perigee = math::MakeRotationMatrixZ(-1.0 * oe_.GetArgPerigee_rad()); - math::Matrix<3, 3> dcm_inclination = math::MakeRotationMatrixX(-1.0 * oe_.GetInclination_rad()); - math::Matrix<3, 3> dcm_raan = math::MakeRotationMatrixZ(-1.0 * oe_.GetRaan_rad()); - math::Matrix<3, 3> dcm_inc_arg = dcm_inclination * dcm_arg_perigee; + s2e::math::Matrix<3, 3> dcm_arg_perigee = s2e::math::MakeRotationMatrixZ(-1.0 * oe_.GetArgPerigee_rad()); + s2e::math::Matrix<3, 3> dcm_inclination = s2e::math::MakeRotationMatrixX(-1.0 * oe_.GetInclination_rad()); + s2e::math::Matrix<3, 3> dcm_raan = s2e::math::MakeRotationMatrixZ(-1.0 * oe_.GetRaan_rad()); + s2e::math::Matrix<3, 3> dcm_inc_arg = dcm_inclination * dcm_arg_perigee; dcm_inplane_to_i_ = dcm_raan * dcm_inc_arg; } @@ -39,12 +39,12 @@ void KeplerOrbit::CalcOrbit(double time_jday) { double dt_s = (time_jday - oe_.GetEpoch_jday()) * (24.0 * 60.0 * 60.0); double mean_anomaly_rad = mean_motion_rad_s_ * dt_s; - double l_rad = math::WrapTo2Pi(mean_anomaly_rad); + double l_rad = s2e::math::WrapTo2Pi(mean_anomaly_rad); // Solve Kepler Equation double eccentric_anomaly_rad; eccentric_anomaly_rad = SolveKeplerNewtonMethod(e, l_rad, 1.0e-5, 10); - double u_rad = math::WrapTo2Pi(eccentric_anomaly_rad); + double u_rad = s2e::math::WrapTo2Pi(eccentric_anomaly_rad); // Calc position and velocity in the plane double cos_u = cos(u_rad); @@ -52,12 +52,12 @@ void KeplerOrbit::CalcOrbit(double time_jday) { double a_sqrt_e_m = a_m * sqrt(1.0 - e * e); double e_cos_u = 1.0 - e * cos_u; - math::Vector<3> pos_inplane_m; + s2e::math::Vector<3> pos_inplane_m; pos_inplane_m[0] = a_m * (cos_u - e); pos_inplane_m[1] = a_sqrt_e_m * sin_u; pos_inplane_m[2] = 0.0; - math::Vector<3> vel_inplane_m_s; + s2e::math::Vector<3> vel_inplane_m_s; vel_inplane_m_s[0] = -1.0 * a_m * n_rad_s * sin_u / e_cos_u; vel_inplane_m_s[1] = n_rad_s * a_sqrt_e_m * cos_u / e_cos_u; vel_inplane_m_s[2] = 0.0; diff --git a/src/math_physics/orbit/kepler_orbit.hpp b/src/math_physics/orbit/kepler_orbit.hpp index fec55f130..b76f15cac 100644 --- a/src/math_physics/orbit/kepler_orbit.hpp +++ b/src/math_physics/orbit/kepler_orbit.hpp @@ -47,22 +47,22 @@ class KeplerOrbit { * @fn GetPosition_i_m * @brief Return position vector in the inertial frame [m] */ - inline const math::Vector<3> GetPosition_i_m() const { return position_i_m_; } + inline const s2e::math::Vector<3> GetPosition_i_m() const { return position_i_m_; } /** * @fn GetVelocity_i_m_s * @brief Return velocity vector in the inertial frame [m/s] */ - inline const math::Vector<3> GetVelocity_i_m_s() const { return velocity_i_m_s_; } + inline const s2e::math::Vector<3> GetVelocity_i_m_s() const { return velocity_i_m_s_; } protected: - math::Vector<3> position_i_m_; //!< Position vector in the inertial frame [m] - math::Vector<3> velocity_i_m_s_; //!< Velocity vector in the inertial frame [m/s] + s2e::math::Vector<3> position_i_m_; //!< Position vector in the inertial frame [m] + s2e::math::Vector<3> velocity_i_m_s_; //!< Velocity vector in the inertial frame [m/s] private: double gravity_constant_m3_s2_; //!< Gravity constant of the center body [m3/s2] OrbitalElements oe_; //!< Orbital elements double mean_motion_rad_s_; //!< Mean motion of the orbit [rad/s] - math::Matrix<3, 3> dcm_inplane_to_i_; //!< Direction cosine matrix from the in-plane frame to the inertial frame + s2e::math::Matrix<3, 3> dcm_inplane_to_i_; //!< Direction cosine matrix from the in-plane frame to the inertial frame /** * @fn CalcConstKeplerMotion diff --git a/src/math_physics/orbit/orbital_elements.cpp b/src/math_physics/orbit/orbital_elements.cpp index 3fd2920b7..4c02fac73 100644 --- a/src/math_physics/orbit/orbital_elements.cpp +++ b/src/math_physics/orbit/orbital_elements.cpp @@ -24,20 +24,20 @@ OrbitalElements::OrbitalElements(const double epoch_jday, const double semi_majo epoch_jday_(epoch_jday) {} // initialize with position and velocity -OrbitalElements::OrbitalElements(const double gravity_constant_m3_s2, const double time_jday, const math::Vector<3> position_i_m, - const math::Vector<3> velocity_i_m_s) { +OrbitalElements::OrbitalElements(const double gravity_constant_m3_s2, const double time_jday, const s2e::math::Vector<3> position_i_m, + const s2e::math::Vector<3> velocity_i_m_s) { CalcOeFromPosVel(gravity_constant_m3_s2, time_jday, position_i_m, velocity_i_m_s); } OrbitalElements::~OrbitalElements() {} // Private Function -void OrbitalElements::CalcOeFromPosVel(const double gravity_constant_m3_s2, const double time_jday, const math::Vector<3> position_i_m, - const math::Vector<3> velocity_i_m_s) { +void OrbitalElements::CalcOeFromPosVel(const double gravity_constant_m3_s2, const double time_jday, const s2e::math::Vector<3> position_i_m, + const s2e::math::Vector<3> velocity_i_m_s) { // common variables double r_m = position_i_m.CalcNorm(); double v2_m2_s2 = InnerProduct(velocity_i_m_s, velocity_i_m_s); - math::Vector<3> h; //!< angular momentum vector + s2e::math::Vector<3> h; //!< angular momentum vector h = OuterProduct(position_i_m, velocity_i_m_s); double h_norm = h.CalcNorm(); @@ -45,7 +45,7 @@ void OrbitalElements::CalcOeFromPosVel(const double gravity_constant_m3_s2, cons semi_major_axis_m_ = gravity_constant_m3_s2 / (2.0 * gravity_constant_m3_s2 / r_m - v2_m2_s2); // inclination - math::Vector<3> h_direction = h.CalcNormalizedVector(); + s2e::math::Vector<3> h_direction = h.CalcNormalizedVector(); inclination_rad_ = acos(h_direction[2]); // RAAN @@ -77,10 +77,10 @@ void OrbitalElements::CalcOeFromPosVel(const double gravity_constant_m3_s2, cons // true anomaly f_rad and eccentric anomaly u_rad double phi_rad = atan2(y_p_m, x_p_m); double f_rad = phi_rad - arg_perigee_rad_; - f_rad = math::WrapTo2Pi(f_rad); + f_rad = s2e::math::WrapTo2Pi(f_rad); double u_rad = atan2(r_m * sin(f_rad) / sqrt(1.0 - eccentricity_ * eccentricity_), r_m * cos(f_rad) + semi_major_axis_m_ * eccentricity_); - u_rad = math::WrapTo2Pi(u_rad); + u_rad = s2e::math::WrapTo2Pi(u_rad); // epoch t0 double n_rad_s = sqrt(gravity_constant_m3_s2 / pow(semi_major_axis_m_, 3.0)); diff --git a/src/math_physics/orbit/orbital_elements.hpp b/src/math_physics/orbit/orbital_elements.hpp index 27424653e..66ccf0c05 100644 --- a/src/math_physics/orbit/orbital_elements.hpp +++ b/src/math_physics/orbit/orbital_elements.hpp @@ -41,8 +41,8 @@ class OrbitalElements { * @param[in] position_i_m: Position vector in the inertial frame [m] * @param[in] velocity_i_m_s: Velocity vector in the inertial frame [m/s] */ - OrbitalElements(const double gravity_constant_m3_s2, const double time_jday, const math::Vector<3> position_i_m, - const math::Vector<3> velocity_i_m_s); + OrbitalElements(const double gravity_constant_m3_s2, const double time_jday, const s2e::math::Vector<3> position_i_m, + const s2e::math::Vector<3> velocity_i_m_s); /** * @fn ~OrbitalElements * @brief Destructor @@ -102,8 +102,8 @@ class OrbitalElements { * @param[in] position_i_m: Position vector in the inertial frame [m] * @param[in] velocity_i_m_s: Velocity vector in the inertial frame [m/s] */ - void CalcOeFromPosVel(const double gravity_constant_m3_s2, const double time_jday, const math::Vector<3> position_i_m, - const math::Vector<3> velocity_i_m_s); + void CalcOeFromPosVel(const double gravity_constant_m3_s2, const double time_jday, const s2e::math::Vector<3> position_i_m, + const s2e::math::Vector<3> velocity_i_m_s); }; } // namespace orbit diff --git a/src/math_physics/orbit/relative_orbit_models.cpp b/src/math_physics/orbit/relative_orbit_models.cpp index a291e4633..b8d619734 100644 --- a/src/math_physics/orbit/relative_orbit_models.cpp +++ b/src/math_physics/orbit/relative_orbit_models.cpp @@ -6,8 +6,8 @@ namespace orbit { -math::Matrix<6, 6> CalcHillSystemMatrix(double orbit_radius_m, double gravity_constant_m3_s2) { - math::Matrix<6, 6> system_matrix; +s2e::math::Matrix<6, 6> CalcHillSystemMatrix(double orbit_radius_m, double gravity_constant_m3_s2) { + s2e::math::Matrix<6, 6> system_matrix; double n = sqrt(gravity_constant_m3_s2 / pow(orbit_radius_m, 3)); system_matrix[0][0] = 0.0; @@ -50,8 +50,8 @@ math::Matrix<6, 6> CalcHillSystemMatrix(double orbit_radius_m, double gravity_co return system_matrix; } -math::Matrix<6, 6> CalcHcwStm(double orbit_radius_m, double gravity_constant_m3_s2, double elapsed_time_s) { - math::Matrix<6, 6> stm; +s2e::math::Matrix<6, 6> CalcHcwStm(double orbit_radius_m, double gravity_constant_m3_s2, double elapsed_time_s) { + s2e::math::Matrix<6, 6> stm; double n = sqrt(gravity_constant_m3_s2 / pow(orbit_radius_m, 3)); double t = elapsed_time_s; diff --git a/src/math_physics/orbit/relative_orbit_models.hpp b/src/math_physics/orbit/relative_orbit_models.hpp index 881d73bfb..62957b28c 100644 --- a/src/math_physics/orbit/relative_orbit_models.hpp +++ b/src/math_physics/orbit/relative_orbit_models.hpp @@ -31,7 +31,7 @@ enum class StmModel { kHcw = 0 }; * @param [in] gravity_constant_m3_s2: Gravity constant of the center body [m3/s2] * @return System matrix */ -math::Matrix<6, 6> CalcHillSystemMatrix(const double orbit_radius_m, const double gravity_constant_m3_s2); +s2e::math::Matrix<6, 6> CalcHillSystemMatrix(const double orbit_radius_m, const double gravity_constant_m3_s2); // STMs /** @@ -42,7 +42,7 @@ math::Matrix<6, 6> CalcHillSystemMatrix(const double orbit_radius_m, const doubl * @param [in] elapsed_time_s: Elapsed time [s] * @return State Transition Matrix */ -math::Matrix<6, 6> CalcHcwStm(const double orbit_radius_m, const double gravity_constant_m3_s2, const double elapsed_time_s); +s2e::math::Matrix<6, 6> CalcHcwStm(const double orbit_radius_m, const double gravity_constant_m3_s2, const double elapsed_time_s); } // namespace orbit diff --git a/src/math_physics/orbit/test_interpolation_orbit.cpp b/src/math_physics/orbit/test_interpolation_orbit.cpp index d7fe51c67..b0972817d 100644 --- a/src/math_physics/orbit/test_interpolation_orbit.cpp +++ b/src/math_physics/orbit/test_interpolation_orbit.cpp @@ -33,7 +33,7 @@ TEST(InterpolationOrbit, PushAndPop) { EXPECT_EQ(degree, interpolation_orbit.GetDegree()); for (size_t i = 0; i < degree; i++) { double time = (double)i; - math::Vector<3> position{i * 2.0}; + s2e::math::Vector<3> position{i * 2.0}; bool ret = interpolation_orbit.PushAndPopData(time, position); EXPECT_TRUE(ret); } @@ -46,7 +46,7 @@ TEST(InterpolationOrbit, PushAndPop) { // False test double time = 2.0; - math::Vector<3> position{-100.0}; + s2e::math::Vector<3> position{-100.0}; bool ret = interpolation_orbit.PushAndPopData(time, position); EXPECT_FALSE(ret); } diff --git a/src/math_physics/planet_rotation/moon_rotation_utilities.cpp b/src/math_physics/planet_rotation/moon_rotation_utilities.cpp index cd6dc020a..0842aa301 100644 --- a/src/math_physics/planet_rotation/moon_rotation_utilities.cpp +++ b/src/math_physics/planet_rotation/moon_rotation_utilities.cpp @@ -12,22 +12,22 @@ namespace planet_rotation { -math::Matrix<3, 3> CalcDcmEciToPrincipalAxis(const math::Vector<3> moon_position_eci_m, const math::Vector<3> moon_velocity_eci_m_s) { - math::Matrix<3, 3> dcm_eci2me = CalcDcmEciToMeanEarth(moon_position_eci_m, moon_velocity_eci_m_s); - math::Matrix<3, 3> dcm_me2pa = CalcDcmMeanEarthToPrincipalAxis(); +s2e::math::Matrix<3, 3> CalcDcmEciToPrincipalAxis(const s2e::math::Vector<3> moon_position_eci_m, const s2e::math::Vector<3> moon_velocity_eci_m_s) { + s2e::math::Matrix<3, 3> dcm_eci2me = CalcDcmEciToMeanEarth(moon_position_eci_m, moon_velocity_eci_m_s); + s2e::math::Matrix<3, 3> dcm_me2pa = CalcDcmMeanEarthToPrincipalAxis(); return dcm_me2pa * dcm_eci2me; } -math::Matrix<3, 3> CalcDcmEciToMeanEarth(const math::Vector<3> moon_position_eci_m, const math::Vector<3> moon_velocity_eci_m_s) { - math::Vector<3> me_ex_eci = -1.0 * moon_position_eci_m.CalcNormalizedVector(); +s2e::math::Matrix<3, 3> CalcDcmEciToMeanEarth(const s2e::math::Vector<3> moon_position_eci_m, const s2e::math::Vector<3> moon_velocity_eci_m_s) { + s2e::math::Vector<3> me_ex_eci = -1.0 * moon_position_eci_m.CalcNormalizedVector(); - math::Vector<3> moon_orbit_norm = math::OuterProduct(moon_position_eci_m, moon_velocity_eci_m_s); - math::Vector<3> me_ez_eci = moon_orbit_norm.CalcNormalizedVector(); + s2e::math::Vector<3> moon_orbit_norm = s2e::math::OuterProduct(moon_position_eci_m, moon_velocity_eci_m_s); + s2e::math::Vector<3> me_ez_eci = moon_orbit_norm.CalcNormalizedVector(); - math::Vector<3> me_ey_eci = math::OuterProduct(me_ez_eci, me_ex_eci); + s2e::math::Vector<3> me_ey_eci = s2e::math::OuterProduct(me_ez_eci, me_ex_eci); - math::Matrix<3, 3> dcm_eci_to_me; + s2e::math::Matrix<3, 3> dcm_eci_to_me; for (size_t i = 0; i < 3; i++) { dcm_eci_to_me[0][i] = me_ex_eci[i]; dcm_eci_to_me[1][i] = me_ey_eci[i]; @@ -37,14 +37,14 @@ math::Matrix<3, 3> CalcDcmEciToMeanEarth(const math::Vector<3> moon_position_eci return dcm_eci_to_me; } -math::Matrix<3, 3> CalcDcmMeanEarthToPrincipalAxis() { +s2e::math::Matrix<3, 3> CalcDcmMeanEarthToPrincipalAxis() { // The correction values between DE430 Principal Axis and Mean Earth frame - const double theta_x_rad = 0.285 * math::arcsec_to_rad; - const double theta_y_rad = 78.580 * math::arcsec_to_rad; - const double theta_z_rad = 67.573 * math::arcsec_to_rad; + const double theta_x_rad = 0.285 * s2e::math::arcsec_to_rad; + const double theta_y_rad = 78.580 * s2e::math::arcsec_to_rad; + const double theta_z_rad = 67.573 * s2e::math::arcsec_to_rad; - math::Matrix<3, 3> dcm_me_pa = - math::MakeRotationMatrixZ(theta_z_rad) * math::MakeRotationMatrixY(theta_y_rad) * math::MakeRotationMatrixX(theta_x_rad); + s2e::math::Matrix<3, 3> dcm_me_pa = + s2e::math::MakeRotationMatrixZ(theta_z_rad) * s2e::math::MakeRotationMatrixY(theta_y_rad) * s2e::math::MakeRotationMatrixX(theta_x_rad); return dcm_me_pa; } diff --git a/src/math_physics/planet_rotation/moon_rotation_utilities.hpp b/src/math_physics/planet_rotation/moon_rotation_utilities.hpp index 9ce97f876..cd3c8b442 100644 --- a/src/math_physics/planet_rotation/moon_rotation_utilities.hpp +++ b/src/math_physics/planet_rotation/moon_rotation_utilities.hpp @@ -20,7 +20,7 @@ namespace planet_rotation { * @param[in] moon_position_eci_m: Moon position vector @ ECI frame [m] * @param[in] moon_velocity_eci_m_s: Moon velocity vector @ ECI frame [m/s] */ -math::Matrix<3, 3> CalcDcmEciToPrincipalAxis(const math::Vector<3> moon_position_eci_m, const math::Vector<3> moon_velocity_eci_m_s); +s2e::math::Matrix<3, 3> CalcDcmEciToPrincipalAxis(const s2e::math::Vector<3> moon_position_eci_m, const s2e::math::Vector<3> moon_velocity_eci_m_s); /** * @fn CalcDcmEciToMeanEarth @@ -28,13 +28,13 @@ math::Matrix<3, 3> CalcDcmEciToPrincipalAxis(const math::Vector<3> moon_position * @param[in] moon_position_eci_m: Moon position vector @ ECI frame [m] * @param[in] moon_velocity_eci_m_s: Moon velocity vector @ ECI frame [m/s] */ -math::Matrix<3, 3> CalcDcmEciToMeanEarth(const math::Vector<3> moon_position_eci_m, const math::Vector<3> moon_velocity_eci_m_s); +s2e::math::Matrix<3, 3> CalcDcmEciToMeanEarth(const s2e::math::Vector<3> moon_position_eci_m, const s2e::math::Vector<3> moon_velocity_eci_m_s); /** * @fn CalcDcmMeToPrincipalAxis * @brief Calculate DCM from ME (Mean Earth) moon fixed frame to PA (Principal Axis) moon fixed frame */ -math::Matrix<3, 3> CalcDcmMeanEarthToPrincipalAxis(); +s2e::math::Matrix<3, 3> CalcDcmMeanEarthToPrincipalAxis(); } // namespace planet_rotation diff --git a/src/math_physics/randomization/random_walk.hpp b/src/math_physics/randomization/random_walk.hpp index ecd269001..822d621aa 100644 --- a/src/math_physics/randomization/random_walk.hpp +++ b/src/math_physics/randomization/random_walk.hpp @@ -15,7 +15,7 @@ * @brief Class to calculate random wark value */ template -class RandomWalk : public math::OrdinaryDifferentialEquation { +class RandomWalk : public s2e::math::OrdinaryDifferentialEquation { public: /** * @fn RandomWalk @@ -24,7 +24,7 @@ class RandomWalk : public math::OrdinaryDifferentialEquation { * @param standard_deviation: Standard deviation of random walk excitation noise * @param limit: Limit of random walk */ - RandomWalk(double step_width_s, const math::Vector& standard_deviation, const math::Vector& limit); + RandomWalk(double step_width_s, const s2e::math::Vector& standard_deviation, const s2e::math::Vector& limit); /** * @fn DerivativeFunction @@ -33,10 +33,10 @@ class RandomWalk : public math::OrdinaryDifferentialEquation { * @param [in] state: State vector * @param [out] rhs: Differentiated value of state vector */ - virtual void DerivativeFunction(double x, const math::Vector& state, math::Vector& rhs); + virtual void DerivativeFunction(double x, const s2e::math::Vector& state, s2e::math::Vector& rhs); private: - math::Vector limit_; //!< Limit of random walk + s2e::math::Vector limit_; //!< Limit of random walk randomization::NormalRand normal_randomizer_[N]; //!< Random walk excitation noise }; diff --git a/src/math_physics/randomization/random_walk_template_functions.hpp b/src/math_physics/randomization/random_walk_template_functions.hpp index c316a3aab..ee224018c 100644 --- a/src/math_physics/randomization/random_walk_template_functions.hpp +++ b/src/math_physics/randomization/random_walk_template_functions.hpp @@ -10,8 +10,8 @@ #include template -RandomWalk::RandomWalk(double step_width_s, const math::Vector& standard_deviation, const math::Vector& limit) - : math::OrdinaryDifferentialEquation(step_width_s), limit_(limit) { +RandomWalk::RandomWalk(double step_width_s, const s2e::math::Vector& standard_deviation, const s2e::math::Vector& limit) + : s2e::math::OrdinaryDifferentialEquation(step_width_s), limit_(limit) { // Set standard deviation for (size_t i = 0; i < N; ++i) { normal_randomizer_[i].SetParameters(0.0, standard_deviation[i], global_randomization.MakeSeed()); @@ -19,7 +19,7 @@ RandomWalk::RandomWalk(double step_width_s, const math::Vector& standard_d } template -void RandomWalk::DerivativeFunction(double x, const math::Vector& state, math::Vector& rhs) { +void RandomWalk::DerivativeFunction(double x, const s2e::math::Vector& state, s2e::math::Vector& rhs) { UNUSED(x); // TODO: consider the x is really need for this function for (size_t i = 0; i < N; ++i) { diff --git a/src/setting_file_reader/initialize_file_access.cpp b/src/setting_file_reader/initialize_file_access.cpp index e25f89583..565a66f98 100644 --- a/src/setting_file_reader/initialize_file_access.cpp +++ b/src/setting_file_reader/initialize_file_access.cpp @@ -118,8 +118,8 @@ std::vector IniAccess::ReadVectorDouble(const char* section_name, const return data; } -void IniAccess::ReadQuaternion(const char* section_name, const char* key_name, math::Quaternion& data) { - math::Quaternion temp; +void IniAccess::ReadQuaternion(const char* section_name, const char* key_name, s2e::math::Quaternion& data) { + s2e::math::Quaternion temp; double norm = 0.0; for (int i = 0; i < 4; i++) { // Read Quaternion as new format diff --git a/src/setting_file_reader/initialize_file_access.hpp b/src/setting_file_reader/initialize_file_access.hpp index df49969ce..06bbc2866 100644 --- a/src/setting_file_reader/initialize_file_access.hpp +++ b/src/setting_file_reader/initialize_file_access.hpp @@ -110,7 +110,7 @@ class IniAccess { * @param[out] data: Read vector type data */ template - void ReadVector(const char* section_name, const char* key_name, math::Vector& data); + void ReadVector(const char* section_name, const char* key_name, s2e::math::Vector& data); /** * @fn ReadStrVector * @brief Read list of string type @@ -126,7 +126,7 @@ class IniAccess { * @param[in] key_name: Key name * @param[out] data: Read quaternion data */ - void ReadQuaternion(const char* section_name, const char* key_name, math::Quaternion& data); + void ReadQuaternion(const char* section_name, const char* key_name, s2e::math::Quaternion& data); /** * @fn ReadChar * @brief Read characters data @@ -208,7 +208,7 @@ class IniAccess { }; template -void IniAccess::ReadVector(const char* section_name, const char* key_name, math::Vector& data) { +void IniAccess::ReadVector(const char* section_name, const char* key_name, s2e::math::Vector& data) { for (size_t i = 0; i < NumElement; i++) { std::stringstream c_name; c_name << key_name << "(" << i << ")"; diff --git a/src/simulation/ground_station/ground_station.cpp b/src/simulation/ground_station/ground_station.cpp index 2f9483f2c..b1486b633 100644 --- a/src/simulation/ground_station/ground_station.cpp +++ b/src/simulation/ground_station/ground_station.cpp @@ -35,7 +35,7 @@ void GroundStation::Initialize(const SimulationConfiguration* configuration, con double latitude_deg = conf.ReadDouble(Section, "latitude_deg"); double longitude_deg = conf.ReadDouble(Section, "longitude_deg"); double height_m = conf.ReadDouble(Section, "height_m"); - geodetic_position_ = geodesy::GeodeticPosition(latitude_deg * math::deg_to_rad, longitude_deg * math::deg_to_rad, height_m); + geodetic_position_ = geodesy::GeodeticPosition(latitude_deg * s2e::math::deg_to_rad, longitude_deg * s2e::math::deg_to_rad, height_m); position_ecef_m_ = geodetic_position_.CalcEcefPosition(); elevation_limit_angle_deg_ = conf.ReadDouble(Section, "elevation_limit_angle_deg"); @@ -46,23 +46,23 @@ void GroundStation::Initialize(const SimulationConfiguration* configuration, con void GroundStation::LogSetup(Logger& logger) { logger.AddLogList(this); } void GroundStation::Update(const EarthRotation& celestial_rotation, const Spacecraft& spacecraft) { - math::Matrix<3, 3> dcm_ecef2eci = celestial_rotation.GetDcmJ2000ToEcef().Transpose(); + s2e::math::Matrix<3, 3> dcm_ecef2eci = celestial_rotation.GetDcmJ2000ToEcef().Transpose(); position_i_m_ = dcm_ecef2eci * position_ecef_m_; is_visible_[spacecraft.GetSpacecraftId()] = CalcIsVisible(spacecraft.GetDynamics().GetOrbit().GetPosition_ecef_m()); } -bool GroundStation::CalcIsVisible(const math::Vector<3> spacecraft_position_ecef_m) { - math::Quaternion q_ecef_to_ltc = geodetic_position_.GetQuaternionXcxfToLtc(); +bool GroundStation::CalcIsVisible(const s2e::math::Vector<3> spacecraft_position_ecef_m) { + s2e::math::Quaternion q_ecef_to_ltc = geodetic_position_.GetQuaternionXcxfToLtc(); - math::Vector<3> sc_pos_ltc = q_ecef_to_ltc.FrameConversion(spacecraft_position_ecef_m - position_ecef_m_); // Satellite position in LTC frame [m] + s2e::math::Vector<3> sc_pos_ltc = q_ecef_to_ltc.FrameConversion(spacecraft_position_ecef_m - position_ecef_m_); // Satellite position in LTC frame [m] sc_pos_ltc = sc_pos_ltc.CalcNormalizedVector(); - math::Vector<3> dir_gs_to_zenith = math::Vector<3>(0); + s2e::math::Vector<3> dir_gs_to_zenith = s2e::math::Vector<3>(0); dir_gs_to_zenith[2] = 1; // Judge the satellite position angle is over the minimum elevation - if (dot(sc_pos_ltc, dir_gs_to_zenith) > sin(elevation_limit_angle_deg_ * math::deg_to_rad)) { + if (dot(sc_pos_ltc, dir_gs_to_zenith) > sin(elevation_limit_angle_deg_ * s2e::math::deg_to_rad)) { return true; } else { return false; diff --git a/src/simulation/monte_carlo_simulation/initialize_monte_carlo_parameters.cpp b/src/simulation/monte_carlo_simulation/initialize_monte_carlo_parameters.cpp index 44d6c211a..8ffaa5ad7 100644 --- a/src/simulation/monte_carlo_simulation/initialize_monte_carlo_parameters.cpp +++ b/src/simulation/monte_carlo_simulation/initialize_monte_carlo_parameters.cpp @@ -46,7 +46,7 @@ void InitializedMonteCarloParameters::GetRandomizedScalar(double& destination) c } } -void InitializedMonteCarloParameters::GetRandomizedQuaternion(math::Quaternion& destination) const { +void InitializedMonteCarloParameters::GetRandomizedQuaternion(s2e::math::Quaternion& destination) const { if (randomization_type_ == kNoRandomization) { ; } else if (4 > randomized_value_.size()) { @@ -120,7 +120,7 @@ void InitializedMonteCarloParameters::GenerateCartesianNormal() { } } -void InitializedMonteCarloParameters::CalcCircularNormalUniform(math::Vector<2>& destination, double r_mean, double r_sigma, double theta_min, +void InitializedMonteCarloParameters::CalcCircularNormalUniform(s2e::math::Vector<2>& destination, double r_mean, double r_sigma, double theta_min, double theta_max) { // r follows normal distribution, and θ follows uniform distribution in Circular frame double r = InitializedMonteCarloParameters::Generate1dNormal(r_mean, r_sigma); @@ -134,7 +134,7 @@ void InitializedMonteCarloParameters::GenerateCircularNormalUniform() { if (mean_or_min_.size() < dim || sigma_or_max_.size() < dim) { throw "Config parameters dimension unmatched."; } - math::Vector temp_vec; + s2e::math::Vector temp_vec; CalcCircularNormalUniform(temp_vec, mean_or_min_[0], sigma_or_max_[0], mean_or_min_[1], sigma_or_max_[1]); randomized_value_.clear(); @@ -143,7 +143,7 @@ void InitializedMonteCarloParameters::GenerateCircularNormalUniform() { } } -void InitializedMonteCarloParameters::CalcCircularNormalNormal(math::Vector<2>& destination, double r_mean, double r_sigma, double theta_mean, +void InitializedMonteCarloParameters::CalcCircularNormalNormal(s2e::math::Vector<2>& destination, double r_mean, double r_sigma, double theta_mean, double theta_sigma) { // r and θ follow normal distribution in Circular frame double r = InitializedMonteCarloParameters::Generate1dNormal(r_mean, r_sigma); @@ -157,7 +157,7 @@ void InitializedMonteCarloParameters::GenerateCircularNormalNormal() { if (mean_or_min_.size() < dim || sigma_or_max_.size() < dim) { throw "Config parameters dimension unmatched."; } - math::Vector temp_vec; + s2e::math::Vector temp_vec; CalcCircularNormalNormal(temp_vec, mean_or_min_[0], sigma_or_max_[0], mean_or_min_[1], sigma_or_max_[1]); randomized_value_.clear(); @@ -166,7 +166,7 @@ void InitializedMonteCarloParameters::GenerateCircularNormalNormal() { } } -void InitializedMonteCarloParameters::CalcSphericalNormalUniformUniform(math::Vector<3>& destination, double r_mean, double r_sigma, double theta_min, +void InitializedMonteCarloParameters::CalcSphericalNormalUniformUniform(s2e::math::Vector<3>& destination, double r_mean, double r_sigma, double theta_min, double theta_max, double phi_min, double phi_max) { // r follows normal distribution, and θ and φ follow uniform distribution in Spherical frame double r = InitializedMonteCarloParameters::Generate1dNormal(r_mean, r_sigma); @@ -182,7 +182,7 @@ void InitializedMonteCarloParameters::GenerateSphericalNormalUniformUniform() { if (mean_or_min_.size() < dim || sigma_or_max_.size() < dim) { throw "Config parameters dimension unmatched."; } - math::Vector temp_vec; + s2e::math::Vector temp_vec; CalcSphericalNormalUniformUniform(temp_vec, mean_or_min_[0], sigma_or_max_[0], mean_or_min_[1], sigma_or_max_[1], mean_or_min_[2], sigma_or_max_[2]); @@ -192,29 +192,29 @@ void InitializedMonteCarloParameters::GenerateSphericalNormalUniformUniform() { } } -void InitializedMonteCarloParameters::CalcSphericalNormalNormal(math::Vector<3>& destination, const math::Vector<3>& mean_vec) { +void InitializedMonteCarloParameters::CalcSphericalNormalNormal(s2e::math::Vector<3>& destination, const s2e::math::Vector<3>& mean_vec) { // r and θ follow normal distribution, and mean vector angle φ follows uniform distribution [0,2*pi] - math::Vector<3> mean_vec_dir; + s2e::math::Vector<3> mean_vec_dir; mean_vec_dir = 1.0 / mean_vec.CalcNorm() * mean_vec; // Unit vector of mean vector direction - math::Vector<3> x_axis(0.0), y_axis(0.0); + s2e::math::Vector<3> x_axis(0.0), y_axis(0.0); x_axis[0] = 1.0; y_axis[1] = 1.0; - math::Vector<3> op_x = OuterProduct(mean_vec_dir, x_axis); - math::Vector<3> op_y = OuterProduct(mean_vec_dir, y_axis); + s2e::math::Vector<3> op_x = OuterProduct(mean_vec_dir, x_axis); + s2e::math::Vector<3> op_y = OuterProduct(mean_vec_dir, y_axis); // An unit vector perpendicular with the mean vector // In case of the mean vector is parallel with X or Y axis, selecting the axis depend on the norm of outer product - math::Vector<3> normal_unit_vec = op_x.CalcNorm() > op_y.CalcNorm() ? op_x = op_x.CalcNormalizedVector() : op_y = op_y.CalcNormalizedVector(); + s2e::math::Vector<3> normal_unit_vec = op_x.CalcNorm() > op_y.CalcNorm() ? op_x = op_x.CalcNormalizedVector() : op_y = op_y.CalcNormalizedVector(); - double rotation_angle_of_normal_unit_vec = InitializedMonteCarloParameters::Generate1dUniform(0.0, math::tau); - math::Quaternion rotation_of_normal_unit_vec(mean_vec_dir, + double rotation_angle_of_normal_unit_vec = InitializedMonteCarloParameters::Generate1dUniform(0.0, s2e::math::tau); + s2e::math::Quaternion rotation_of_normal_unit_vec(mean_vec_dir, -rotation_angle_of_normal_unit_vec); // Use opposite sign to rotate the vector (not the frame) - math::Vector<3> rotation_axis = rotation_of_normal_unit_vec.FrameConversion(normal_unit_vec); // Axis of mean vector rotation + s2e::math::Vector<3> rotation_axis = rotation_of_normal_unit_vec.FrameConversion(normal_unit_vec); // Axis of mean vector rotation double rotation_angle_of_mean_vec = InitializedMonteCarloParameters::Generate1dNormal(0.0, sigma_or_max_[1]); - math::Quaternion rotation_of_mean_vec(rotation_axis, -rotation_angle_of_mean_vec); // Use opposite sign to rotate the vector (not the frame) - math::Vector<3> ret_vec = rotation_of_mean_vec.FrameConversion(mean_vec_dir); // Complete calculation of the direction + s2e::math::Quaternion rotation_of_mean_vec(rotation_axis, -rotation_angle_of_mean_vec); // Use opposite sign to rotate the vector (not the frame) + s2e::math::Vector<3> ret_vec = rotation_of_mean_vec.FrameConversion(mean_vec_dir); // Complete calculation of the direction ret_vec = InitializedMonteCarloParameters::Generate1dNormal(mean_vec.CalcNorm(), sigma_or_max_[0]) * ret_vec; // multiply norm @@ -228,7 +228,7 @@ void InitializedMonteCarloParameters::GenerateSphericalNormalNormal() { if (mean_or_min_.size() < dim || sigma_or_max_.size() < 2) { throw "Config parameters dimension unmatched."; } - math::Vector temp_vec, temp_mean_vec; + s2e::math::Vector temp_vec, temp_mean_vec; for (int i = 0; i < dim; i++) { temp_mean_vec[i] = mean_or_min_[i]; } @@ -240,32 +240,32 @@ void InitializedMonteCarloParameters::GenerateSphericalNormalNormal() { } } -void InitializedMonteCarloParameters::CalcQuaternionUniform(math::Quaternion& destination) { - // Perfectly Randomized math::Quaternion - math::Vector<3> x_axis(0.0); +void InitializedMonteCarloParameters::CalcQuaternionUniform(s2e::math::Quaternion& destination) { + // Perfectly Randomized s2e::math::Quaternion + s2e::math::Vector<3> x_axis(0.0); x_axis[0] = 1.0; // A direction vector converted from the X-axis by a quaternion may follows the uniform distribution in full sphere. - math::Quaternion first_cnv; - math::Vector<3> x_axis_cnvd; + s2e::math::Quaternion first_cnv; + s2e::math::Vector<3> x_axis_cnvd; double theta = acos(1 - (1 - (-1)) * InitializedMonteCarloParameters::Generate1dUniform(0.0, 1.0)); - double phi = InitializedMonteCarloParameters::Generate1dUniform(0, math::tau); + double phi = InitializedMonteCarloParameters::Generate1dUniform(0, s2e::math::tau); x_axis_cnvd[0] = sin(theta) * cos(phi); x_axis_cnvd[1] = sin(theta) * sin(phi); x_axis_cnvd[2] = cos(theta); double cos_angle_between = InnerProduct(x_axis, x_axis_cnvd); - math::Vector<3> op = OuterProduct(x_axis, x_axis_cnvd); + s2e::math::Vector<3> op = OuterProduct(x_axis, x_axis_cnvd); for (int i = 0; i < 3; i++) { first_cnv[i] = op[i]; } first_cnv[3] = cos_angle_between; // Generate randomized rotation angle around the X-axis - double rotation_angle = InitializedMonteCarloParameters::Generate1dUniform(0.0, math::tau); - math::Quaternion second_cnv(x_axis, rotation_angle); + double rotation_angle = InitializedMonteCarloParameters::Generate1dUniform(0.0, s2e::math::tau); + s2e::math::Quaternion second_cnv(x_axis, rotation_angle); - math::Quaternion ret_q = first_cnv * second_cnv; + s2e::math::Quaternion ret_q = first_cnv * second_cnv; for (int i = 0; i < 4; i++) { destination[i] = ret_q[i]; @@ -274,7 +274,7 @@ void InitializedMonteCarloParameters::CalcQuaternionUniform(math::Quaternion& de void InitializedMonteCarloParameters::GenerateQuaternionUniform() { const static int dim = 4; - math::Quaternion temp_q; + s2e::math::Quaternion temp_q; CalcQuaternionUniform(temp_q); randomized_value_.clear(); @@ -283,19 +283,19 @@ void InitializedMonteCarloParameters::GenerateQuaternionUniform() { } } -void InitializedMonteCarloParameters::CalcQuaternionNormal(math::Quaternion& destination, double theta_sigma) { +void InitializedMonteCarloParameters::CalcQuaternionNormal(s2e::math::Quaternion& destination, double theta_sigma) { // Angle from the default quaternion θ follows normal distribution // The rotation axis follows uniform distribution on full sphere - math::Vector<3> rot_axis; + s2e::math::Vector<3> rot_axis; double theta = acos(1 - (1 - (-1)) * InitializedMonteCarloParameters::Generate1dUniform(0.0, 1.0)); - double phi = InitializedMonteCarloParameters::Generate1dUniform(0, math::tau); + double phi = InitializedMonteCarloParameters::Generate1dUniform(0, s2e::math::tau); rot_axis[0] = sin(theta) * cos(phi); rot_axis[1] = sin(theta) * sin(phi); rot_axis[2] = cos(theta); double rotation_angle = InitializedMonteCarloParameters::Generate1dNormal(0.0, theta_sigma); - math::Quaternion ret_q(rot_axis, rotation_angle); + s2e::math::Quaternion ret_q(rot_axis, rotation_angle); for (int i = 0; i < 4; i++) { destination[i] = ret_q[i]; } @@ -307,7 +307,7 @@ void InitializedMonteCarloParameters::GenerateQuaternionNormal() { if (sigma_or_max_.size() < 1) { throw "Config parameters dimension unmatched."; } - math::Quaternion temp_q; + s2e::math::Quaternion temp_q; CalcQuaternionNormal(temp_q, sigma_or_max_[0]); randomized_value_.clear(); diff --git a/src/simulation/monte_carlo_simulation/initialize_monte_carlo_parameters.hpp b/src/simulation/monte_carlo_simulation/initialize_monte_carlo_parameters.hpp index 534650c04..28159c98c 100644 --- a/src/simulation/monte_carlo_simulation/initialize_monte_carlo_parameters.hpp +++ b/src/simulation/monte_carlo_simulation/initialize_monte_carlo_parameters.hpp @@ -31,7 +31,7 @@ class InitializedMonteCarloParameters { kCircularNormalNormal, //!< r and θ follow normal distribution in Circular frame kSphericalNormalUniformUniform, //!< r follows normal distribution, and θ and φ follow uniform distribution in Spherical frame kSphericalNormalNormal, //!< r and θ follow normal distribution, and mean vector angle φ follows uniform distribution [0,2*pi] - kQuaternionUniform, //!< Perfectly Randomized math::Quaternion + kQuaternionUniform, //!< Perfectly Randomized s2e::math::Quaternion kQuaternionNormal, //!< Angle from the default quaternion θ follows normal distribution }; @@ -52,7 +52,7 @@ class InitializedMonteCarloParameters { * @brief Set randomization parameters */ template - void SetRandomConfiguration(const math::Vector& mean_or_min, const math::Vector& sigma_or_max, + void SetRandomConfiguration(const s2e::math::Vector& mean_or_min, const s2e::math::Vector& sigma_or_max, RandomizationType random_type); // Getter @@ -61,12 +61,12 @@ class InitializedMonteCarloParameters { * @brief Get randomized vector value results */ template - void GetRandomizedVector(math::Vector& destination) const; + void GetRandomizedVector(s2e::math::Vector& destination) const; /** * @fn GetRandomizedQuaternion * @brief Get randomized quaternion results */ - void GetRandomizedQuaternion(math::Quaternion& destination) const; + void GetRandomizedQuaternion(s2e::math::Quaternion& destination) const; /** * @fn GetRandomizedScalar * @brief Get randomized value results @@ -175,38 +175,38 @@ class InitializedMonteCarloParameters { * @fn CalcCircularNormalUniform * @brief Calculate randomized value with CircularNormalUniform mode */ - void CalcCircularNormalUniform(math::Vector<2>& destination, double r_mean, double r_sigma, double theta_min, double theta_max); + void CalcCircularNormalUniform(s2e::math::Vector<2>& destination, double r_mean, double r_sigma, double theta_min, double theta_max); /** * @fn CalcCircularNormalNormal * @brief Calculate randomized value with CircularNormalNormal mode */ - void CalcCircularNormalNormal(math::Vector<2>& destination, double r_mean, double r_sigma, double theta_mean, double theta_sigma); + void CalcCircularNormalNormal(s2e::math::Vector<2>& destination, double r_mean, double r_sigma, double theta_mean, double theta_sigma); /** * @fn CalcSphericalNormalUniformUniform * @brief Calculate randomized value with SphericalNormalUniformUniform mode */ - void CalcSphericalNormalUniformUniform(math::Vector<3>& destination, double r_mean, double r_sigma, double theta_min, double theta_max, + void CalcSphericalNormalUniformUniform(s2e::math::Vector<3>& destination, double r_mean, double r_sigma, double theta_min, double theta_max, double phi_min, double phi_max); /** * @fn CalcSphericalNormalNormal * @brief Calculate randomized value with SphericalNormalNormal mode */ - void CalcSphericalNormalNormal(math::Vector<3>& destination, const math::Vector<3>& mean_vec); + void CalcSphericalNormalNormal(s2e::math::Vector<3>& destination, const s2e::math::Vector<3>& mean_vec); /** * @fn CalcQuaternionUniform * @brief Calculate randomized value with QuaternionUniform mode */ - void CalcQuaternionUniform(math::Quaternion& destination); + void CalcQuaternionUniform(s2e::math::Quaternion& destination); /** * @fn CalcQuaternionNormal * @brief Calculate randomized value with QuaternionNormal mode */ - void CalcQuaternionNormal(math::Quaternion& destination, double theta_sigma); + void CalcQuaternionNormal(s2e::math::Quaternion& destination, double theta_sigma); }; template -void InitializedMonteCarloParameters::SetRandomConfiguration(const math::Vector& mean_or_min, - const math::Vector& sigma_or_max, +void InitializedMonteCarloParameters::SetRandomConfiguration(const s2e::math::Vector& mean_or_min, + const s2e::math::Vector& sigma_or_max, InitializedMonteCarloParameters::RandomizationType random_type) { randomization_type_ = random_type; mean_or_min_.clear(); @@ -220,7 +220,7 @@ void InitializedMonteCarloParameters::SetRandomConfiguration(const math::Vector< } template -void InitializedMonteCarloParameters::GetRandomizedVector(math::Vector& destination) const { +void InitializedMonteCarloParameters::GetRandomizedVector(s2e::math::Vector& destination) const { if (randomization_type_ == kNoRandomization) { ; } else if (NumElement > randomized_value_.size()) { diff --git a/src/simulation/monte_carlo_simulation/initialize_monte_carlo_simulation.cpp b/src/simulation/monte_carlo_simulation/initialize_monte_carlo_simulation.cpp index 8c3ad1e39..f03c39754 100644 --- a/src/simulation/monte_carlo_simulation/initialize_monte_carlo_simulation.cpp +++ b/src/simulation/monte_carlo_simulation/initialize_monte_carlo_simulation.cpp @@ -79,12 +79,12 @@ MonteCarloSimulationExecutor* InitMonteCarloSimulation(std::string file_name) { // Read mean_or_min vector key_name = so_dot_ip_str + MonteCarloSimulationExecutor::separator_ + "mean_or_min"; - math::Vector<3> mean_or_min; + s2e::math::Vector<3> mean_or_min; ini_file.ReadVector(section, key_name.c_str(), mean_or_min); // Read sigma_or_max vector key_name = so_dot_ip_str + MonteCarloSimulationExecutor::separator_ + "sigma_or_max"; - math::Vector<3> sigma_or_max; + s2e::math::Vector<3> sigma_or_max; ini_file.ReadVector(section, key_name.c_str(), sigma_or_max); // Write randomize setting diff --git a/src/simulation/monte_carlo_simulation/monte_carlo_simulation_executor.cpp b/src/simulation/monte_carlo_simulation/monte_carlo_simulation_executor.cpp index dead43808..1661c6e3a 100644 --- a/src/simulation/monte_carlo_simulation/monte_carlo_simulation_executor.cpp +++ b/src/simulation/monte_carlo_simulation/monte_carlo_simulation_executor.cpp @@ -47,7 +47,7 @@ void MonteCarloSimulationExecutor::GetInitializedMonteCarloParameterDouble(strin } void MonteCarloSimulationExecutor::GetInitializedMonteCarloParameterQuaternion(string so_name, string init_monte_carlo_parameter_name, - math::Quaternion& destination) const { + s2e::math::Quaternion& destination) const { if (!enabled_) return; { string name = so_name + MonteCarloSimulationExecutor::separator_ + init_monte_carlo_parameter_name; diff --git a/src/simulation/monte_carlo_simulation/monte_carlo_simulation_executor.hpp b/src/simulation/monte_carlo_simulation/monte_carlo_simulation_executor.hpp index ad1fe87cc..7209b38a0 100644 --- a/src/simulation/monte_carlo_simulation/monte_carlo_simulation_executor.hpp +++ b/src/simulation/monte_carlo_simulation/monte_carlo_simulation_executor.hpp @@ -86,7 +86,7 @@ class MonteCarloSimulationExecutor { */ template void GetInitializedMonteCarloParameterVector(std::string so_name, std::string init_monte_carlo_parameter_name, - math::Vector& destination) const; + s2e::math::Vector& destination) const; /** * @fn GetInitializedMonteCarloParameterDouble * @brief Get randomized value and store it in dest @@ -97,7 +97,7 @@ class MonteCarloSimulationExecutor { * @brief Get randomized quaternion and store it in dest_quat */ void GetInitializedMonteCarloParameterQuaternion(std::string so_name, std::string init_monte_carlo_parameter_name, - math::Quaternion& destination) const; + s2e::math::Quaternion& destination) const; // Calculation /** @@ -126,7 +126,7 @@ class MonteCarloSimulationExecutor { * @brief Add initialized parameter */ void AddInitializedMonteCarloParameter(std::string so_name, std::string init_monte_carlo_parameter_name, - const math::Vector& mean_or_min, const math::Vector& sigma_or_max, + const s2e::math::Vector& mean_or_min, const s2e::math::Vector& sigma_or_max, InitializedMonteCarloParameters::RandomizationType random_type); /** @@ -138,7 +138,7 @@ class MonteCarloSimulationExecutor { template void MonteCarloSimulationExecutor::GetInitializedMonteCarloParameterVector(std::string so_name, std::string init_monte_carlo_parameter_name, - math::Vector& destination) const { + s2e::math::Vector& destination) const { if (!enabled_) return; std::string name = so_name + MonteCarloSimulationExecutor::separator_ + init_monte_carlo_parameter_name; if (init_parameter_list_.find(name) == init_parameter_list_.end()) { @@ -151,8 +151,8 @@ void MonteCarloSimulationExecutor::GetInitializedMonteCarloParameterVector(std:: template void MonteCarloSimulationExecutor::AddInitializedMonteCarloParameter(std::string so_name, std::string init_monte_carlo_parameter_name, - const math::Vector& mean_or_min, - const math::Vector& sigma_or_max, + const s2e::math::Vector& mean_or_min, + const s2e::math::Vector& sigma_or_max, InitializedMonteCarloParameters::RandomizationType random_type) { std::string name = so_name + MonteCarloSimulationExecutor::separator_ + init_monte_carlo_parameter_name; if (init_parameter_list_.find(name) == init_parameter_list_.end()) { diff --git a/src/simulation/monte_carlo_simulation/simulation_object.cpp b/src/simulation/monte_carlo_simulation/simulation_object.cpp index 9f41f0e15..a5b1e7b51 100644 --- a/src/simulation/monte_carlo_simulation/simulation_object.cpp +++ b/src/simulation/monte_carlo_simulation/simulation_object.cpp @@ -38,6 +38,6 @@ void SimulationObject::GetInitializedMonteCarloParameterDouble(const MonteCarloS } void SimulationObject::GetInitializedMonteCarloParameterQuaternion(const MonteCarloSimulationExecutor& monte_carlo_simulator, - std::string init_monte_carlo_parameter_name, math::Quaternion& destination) const { + std::string init_monte_carlo_parameter_name, s2e::math::Quaternion& destination) const { monte_carlo_simulator.GetInitializedMonteCarloParameterQuaternion(name_, init_monte_carlo_parameter_name, destination); } diff --git a/src/simulation/monte_carlo_simulation/simulation_object.hpp b/src/simulation/monte_carlo_simulation/simulation_object.hpp index 33708e59d..5a16163ea 100644 --- a/src/simulation/monte_carlo_simulation/simulation_object.hpp +++ b/src/simulation/monte_carlo_simulation/simulation_object.hpp @@ -40,7 +40,7 @@ class SimulationObject { */ template void GetInitializedMonteCarloParameterVector(const MonteCarloSimulationExecutor& monte_carlo_simulator, std::string init_monte_carlo_parameter_name, - math::Vector& destination) const; + s2e::math::Vector& destination) const; /** * @fn GetInitializedMonteCarloParameterDouble @@ -54,7 +54,7 @@ class SimulationObject { * @brief Get randomized quaternion and store it in destination */ void GetInitializedMonteCarloParameterQuaternion(const MonteCarloSimulationExecutor& monte_carlo_simulator, - std::string init_monte_carlo_parameter_name, math::Quaternion& destination) const; + std::string init_monte_carlo_parameter_name, s2e::math::Quaternion& destination) const; /** * @fn SetParameters @@ -80,7 +80,7 @@ class SimulationObject { template void SimulationObject::GetInitializedMonteCarloParameterVector(const MonteCarloSimulationExecutor& monte_carlo_simulator, std::string init_monte_carlo_parameter_name, - math::Vector& destination) const { + s2e::math::Vector& destination) const { monte_carlo_simulator.GetInitializedMonteCarloParameterVector(name_, init_monte_carlo_parameter_name, destination); } diff --git a/src/simulation/multiple_spacecraft/relative_information.cpp b/src/simulation/multiple_spacecraft/relative_information.cpp index f81227cb7..236a9ff19 100644 --- a/src/simulation/multiple_spacecraft/relative_information.cpp +++ b/src/simulation/multiple_spacecraft/relative_information.cpp @@ -13,8 +13,8 @@ void RelativeInformation::Update() { for (size_t target_spacecraft_id = 0; target_spacecraft_id < dynamics_database_.size(); target_spacecraft_id++) { for (size_t reference_spacecraft_id = 0; reference_spacecraft_id < dynamics_database_.size(); reference_spacecraft_id++) { // Position - math::Vector<3> target_sat_pos_i = dynamics_database_.at(target_spacecraft_id)->GetOrbit().GetPosition_i_m(); - math::Vector<3> reference_sat_pos_i = dynamics_database_.at(reference_spacecraft_id)->GetOrbit().GetPosition_i_m(); + s2e::math::Vector<3> target_sat_pos_i = dynamics_database_.at(target_spacecraft_id)->GetOrbit().GetPosition_i_m(); + s2e::math::Vector<3> reference_sat_pos_i = dynamics_database_.at(reference_spacecraft_id)->GetOrbit().GetPosition_i_m(); relative_position_list_i_m_[target_spacecraft_id][reference_spacecraft_id] = target_sat_pos_i - reference_sat_pos_i; relative_position_list_rtn_m_[target_spacecraft_id][reference_spacecraft_id] = CalcRelativePosition_rtn_m(target_spacecraft_id, reference_spacecraft_id); @@ -24,8 +24,8 @@ void RelativeInformation::Update() { relative_position_list_i_m_[target_spacecraft_id][reference_spacecraft_id].CalcNorm(); // Velocity - math::Vector<3> target_sat_vel_i = dynamics_database_.at(target_spacecraft_id)->GetOrbit().GetVelocity_i_m_s(); - math::Vector<3> reference_sat_vel_i = dynamics_database_.at(reference_spacecraft_id)->GetOrbit().GetVelocity_i_m_s(); + s2e::math::Vector<3> target_sat_vel_i = dynamics_database_.at(target_spacecraft_id)->GetOrbit().GetVelocity_i_m_s(); + s2e::math::Vector<3> reference_sat_vel_i = dynamics_database_.at(reference_spacecraft_id)->GetOrbit().GetVelocity_i_m_s(); relative_velocity_list_i_m_s_[target_spacecraft_id][reference_spacecraft_id] = target_sat_vel_i - reference_sat_vel_i; relative_velocity_list_rtn_m_s_[target_spacecraft_id][reference_spacecraft_id] = CalcRelativeVelocity_rtn_m_s(target_spacecraft_id, reference_spacecraft_id); @@ -111,55 +111,55 @@ std::string RelativeInformation::GetLogValue() const { void RelativeInformation::LogSetup(Logger& logger) { logger.AddLogList(this); } -math::Quaternion RelativeInformation::CalcRelativeAttitudeQuaternion(const size_t target_spacecraft_id, const size_t reference_spacecraft_id) { +s2e::math::Quaternion RelativeInformation::CalcRelativeAttitudeQuaternion(const size_t target_spacecraft_id, const size_t reference_spacecraft_id) { // Observer SC Body frame(obs_sat) -> ECI frame(i) - math::Quaternion q_reference_i2b = dynamics_database_.at(reference_spacecraft_id)->GetAttitude().GetQuaternion_i2b(); - math::Quaternion q_reference_b2i = q_reference_i2b.Conjugate(); + s2e::math::Quaternion q_reference_i2b = dynamics_database_.at(reference_spacecraft_id)->GetAttitude().GetQuaternion_i2b(); + s2e::math::Quaternion q_reference_b2i = q_reference_i2b.Conjugate(); // ECI frame(i) -> Target SC body frame(main_sat) - math::Quaternion q_target_i2b = dynamics_database_.at(target_spacecraft_id)->GetAttitude().GetQuaternion_i2b(); + s2e::math::Quaternion q_target_i2b = dynamics_database_.at(target_spacecraft_id)->GetAttitude().GetQuaternion_i2b(); return q_target_i2b * q_reference_b2i; } -math::Vector<3> RelativeInformation::CalcRelativePosition_rtn_m(const size_t target_spacecraft_id, const size_t reference_spacecraft_id) { - math::Vector<3> target_sat_pos_i = dynamics_database_.at(target_spacecraft_id)->GetOrbit().GetPosition_i_m(); - math::Vector<3> reference_sat_pos_i = dynamics_database_.at(reference_spacecraft_id)->GetOrbit().GetPosition_i_m(); - math::Vector<3> relative_pos_i = target_sat_pos_i - reference_sat_pos_i; +s2e::math::Vector<3> RelativeInformation::CalcRelativePosition_rtn_m(const size_t target_spacecraft_id, const size_t reference_spacecraft_id) { + s2e::math::Vector<3> target_sat_pos_i = dynamics_database_.at(target_spacecraft_id)->GetOrbit().GetPosition_i_m(); + s2e::math::Vector<3> reference_sat_pos_i = dynamics_database_.at(reference_spacecraft_id)->GetOrbit().GetPosition_i_m(); + s2e::math::Vector<3> relative_pos_i = target_sat_pos_i - reference_sat_pos_i; // RTN frame for the reference satellite - math::Quaternion q_i2rtn = dynamics_database_.at(reference_spacecraft_id)->GetOrbit().CalcQuaternion_i2lvlh(); + s2e::math::Quaternion q_i2rtn = dynamics_database_.at(reference_spacecraft_id)->GetOrbit().CalcQuaternion_i2lvlh(); - math::Vector<3> relative_pos_rtn = q_i2rtn.FrameConversion(relative_pos_i); + s2e::math::Vector<3> relative_pos_rtn = q_i2rtn.FrameConversion(relative_pos_i); return relative_pos_rtn; } -math::Vector<3> RelativeInformation::CalcRelativeVelocity_rtn_m_s(const size_t target_spacecraft_id, const size_t reference_spacecraft_id) { - math::Vector<3> target_sat_pos_i = dynamics_database_.at(target_spacecraft_id)->GetOrbit().GetPosition_i_m(); - math::Vector<3> reference_sat_pos_i = dynamics_database_.at(reference_spacecraft_id)->GetOrbit().GetPosition_i_m(); - math::Vector<3> relative_pos_i = target_sat_pos_i - reference_sat_pos_i; +s2e::math::Vector<3> RelativeInformation::CalcRelativeVelocity_rtn_m_s(const size_t target_spacecraft_id, const size_t reference_spacecraft_id) { + s2e::math::Vector<3> target_sat_pos_i = dynamics_database_.at(target_spacecraft_id)->GetOrbit().GetPosition_i_m(); + s2e::math::Vector<3> reference_sat_pos_i = dynamics_database_.at(reference_spacecraft_id)->GetOrbit().GetPosition_i_m(); + s2e::math::Vector<3> relative_pos_i = target_sat_pos_i - reference_sat_pos_i; // RTN frame for the reference satellite - math::Quaternion q_i2rtn = dynamics_database_.at(reference_spacecraft_id)->GetOrbit().CalcQuaternion_i2lvlh(); + s2e::math::Quaternion q_i2rtn = dynamics_database_.at(reference_spacecraft_id)->GetOrbit().CalcQuaternion_i2lvlh(); // Rotation vector of RTN frame - math::Vector<3> reference_sat_vel_i = dynamics_database_.at(reference_spacecraft_id)->GetOrbit().GetVelocity_i_m_s(); - math::Vector<3> target_sat_vel_i = dynamics_database_.at(target_spacecraft_id)->GetOrbit().GetVelocity_i_m_s(); - math::Vector<3> rot_vec_rtn_i = cross(reference_sat_pos_i, reference_sat_vel_i); + s2e::math::Vector<3> reference_sat_vel_i = dynamics_database_.at(reference_spacecraft_id)->GetOrbit().GetVelocity_i_m_s(); + s2e::math::Vector<3> target_sat_vel_i = dynamics_database_.at(target_spacecraft_id)->GetOrbit().GetVelocity_i_m_s(); + s2e::math::Vector<3> rot_vec_rtn_i = cross(reference_sat_pos_i, reference_sat_vel_i); double r2_ref = reference_sat_pos_i.CalcNorm() * reference_sat_pos_i.CalcNorm(); rot_vec_rtn_i /= r2_ref; - math::Vector<3> relative_vel_i = target_sat_vel_i - reference_sat_vel_i - cross(rot_vec_rtn_i, relative_pos_i); + s2e::math::Vector<3> relative_vel_i = target_sat_vel_i - reference_sat_vel_i - cross(rot_vec_rtn_i, relative_pos_i); - math::Vector<3> relative_vel_rtn = q_i2rtn.FrameConversion(relative_vel_i); + s2e::math::Vector<3> relative_vel_rtn = q_i2rtn.FrameConversion(relative_vel_i); return relative_vel_rtn; } void RelativeInformation::ResizeLists() { size_t size = dynamics_database_.size(); - relative_position_list_i_m_.assign(size, std::vector>(size, math::Vector<3>(0))); - relative_velocity_list_i_m_s_.assign(size, std::vector>(size, math::Vector<3>(0))); + relative_position_list_i_m_.assign(size, std::vector>(size, s2e::math::Vector<3>(0))); + relative_velocity_list_i_m_s_.assign(size, std::vector>(size, s2e::math::Vector<3>(0))); relative_distance_list_m_.assign(size, std::vector(size, 0.0)); - relative_position_list_rtn_m_.assign(size, std::vector>(size, math::Vector<3>(0))); - relative_velocity_list_rtn_m_s_.assign(size, std::vector>(size, math::Vector<3>(0))); - relative_attitude_quaternion_list_.assign(size, std::vector(size, math::Quaternion(0, 0, 0, 1))); + relative_position_list_rtn_m_.assign(size, std::vector>(size, s2e::math::Vector<3>(0))); + relative_velocity_list_rtn_m_s_.assign(size, std::vector>(size, s2e::math::Vector<3>(0))); + relative_attitude_quaternion_list_.assign(size, std::vector(size, s2e::math::Quaternion(0, 0, 0, 1))); } diff --git a/src/simulation/multiple_spacecraft/relative_information.hpp b/src/simulation/multiple_spacecraft/relative_information.hpp index 87a273641..2eb7e7789 100644 --- a/src/simulation/multiple_spacecraft/relative_information.hpp +++ b/src/simulation/multiple_spacecraft/relative_information.hpp @@ -73,7 +73,7 @@ class RelativeInformation : public ILoggable { * @param [in] target_spacecraft_id: ID of target spacecraft * @param [in] reference_spacecraft_id: ID of reference spacecraft */ - inline math::Quaternion GetRelativeAttitudeQuaternion(const size_t target_spacecraft_id, const size_t reference_spacecraft_id) const { + inline s2e::math::Quaternion GetRelativeAttitudeQuaternion(const size_t target_spacecraft_id, const size_t reference_spacecraft_id) const { return relative_attitude_quaternion_list_[target_spacecraft_id][reference_spacecraft_id]; } /** @@ -82,7 +82,7 @@ class RelativeInformation : public ILoggable { * @param [in] target_spacecraft_id: ID of target spacecraft * @param [in] reference_spacecraft_id: ID of reference spacecraft */ - inline math::Vector<3> GetRelativePosition_i_m(const size_t target_spacecraft_id, const size_t reference_spacecraft_id) const { + inline s2e::math::Vector<3> GetRelativePosition_i_m(const size_t target_spacecraft_id, const size_t reference_spacecraft_id) const { return relative_position_list_i_m_[target_spacecraft_id][reference_spacecraft_id]; } /** @@ -91,7 +91,7 @@ class RelativeInformation : public ILoggable { * @param [in] target_spacecraft_id: ID of target spacecraft * @param [in] reference_spacecraft_id: ID of reference spacecraft */ - inline math::Vector<3> GetRelativeVelocity_i_m_s(const size_t target_spacecraft_id, const size_t reference_spacecraft_id) const { + inline s2e::math::Vector<3> GetRelativeVelocity_i_m_s(const size_t target_spacecraft_id, const size_t reference_spacecraft_id) const { return relative_velocity_list_i_m_s_[target_spacecraft_id][reference_spacecraft_id]; } /** @@ -109,7 +109,7 @@ class RelativeInformation : public ILoggable { * @param [in] target_spacecraft_id: ID of target spacecraft * @param [in] reference_spacecraft_id: ID of reference spacecraft */ - inline math::Vector<3> GetRelativePosition_rtn_m(const size_t target_spacecraft_id, const size_t reference_spacecraft_id) const { + inline s2e::math::Vector<3> GetRelativePosition_rtn_m(const size_t target_spacecraft_id, const size_t reference_spacecraft_id) const { return relative_position_list_rtn_m_[target_spacecraft_id][reference_spacecraft_id]; } /** @@ -118,7 +118,7 @@ class RelativeInformation : public ILoggable { * @param [in] target_spacecraft_id: ID of target spacecraft * @param [in] reference_spacecraft_id: ID of reference spacecraft */ - inline math::Vector<3> GetRelativeVelocity_rtn_m_s(const size_t target_spacecraft_id, const size_t reference_spacecraft_id) const { + inline s2e::math::Vector<3> GetRelativeVelocity_rtn_m_s(const size_t target_spacecraft_id, const size_t reference_spacecraft_id) const { return relative_velocity_list_rtn_m_s_[target_spacecraft_id][reference_spacecraft_id]; } @@ -134,12 +134,12 @@ class RelativeInformation : public ILoggable { private: std::map dynamics_database_; //!< Dynamics database of all spacecraft - std::vector>> relative_position_list_i_m_; //!< Relative position list in the inertial frame in unit [m] - std::vector>> relative_velocity_list_i_m_s_; //!< Relative velocity list in the inertial frame in unit [m/s] - std::vector>> relative_position_list_rtn_m_; //!< Relative position list in the RTN frame in unit [m] - std::vector>> relative_velocity_list_rtn_m_s_; //!< Relative velocity list in the RTN frame in unit [m/s] + std::vector>> relative_position_list_i_m_; //!< Relative position list in the inertial frame in unit [m] + std::vector>> relative_velocity_list_i_m_s_; //!< Relative velocity list in the inertial frame in unit [m/s] + std::vector>> relative_position_list_rtn_m_; //!< Relative position list in the RTN frame in unit [m] + std::vector>> relative_velocity_list_rtn_m_s_; //!< Relative velocity list in the RTN frame in unit [m/s] std::vector> relative_distance_list_m_; //!< Relative distance list in unit [m] - std::vector> relative_attitude_quaternion_list_; //!< Relative attitude quaternion list + std::vector> relative_attitude_quaternion_list_; //!< Relative attitude quaternion list /** * @fn CalcRelativeAttitudeQuaternion @@ -147,21 +147,21 @@ class RelativeInformation : public ILoggable { * @param [in] target_spacecraft_id: ID of the spacecraft * @param [in] reference_spacecraft_id: ID of reference spacecraft */ - math::Quaternion CalcRelativeAttitudeQuaternion(const size_t target_spacecraft_id, const size_t reference_spacecraft_id); + s2e::math::Quaternion CalcRelativeAttitudeQuaternion(const size_t target_spacecraft_id, const size_t reference_spacecraft_id); /** * @fn CalcRelativePosition_rtn_m * @brief Calculate and return the relative position in RTN frame * @param [in] target_spacecraft_id: ID of the spacecraft * @param [in] reference_spacecraft_id: ID of reference spacecraft */ - math::Vector<3> CalcRelativePosition_rtn_m(const size_t target_spacecraft_id, const size_t reference_spacecraft_id); + s2e::math::Vector<3> CalcRelativePosition_rtn_m(const size_t target_spacecraft_id, const size_t reference_spacecraft_id); /** * @fn CalcRelativeVelocity_rtn_m_s * @brief Calculate and return the relative velocity in RTN frame * @param [in] target_spacecraft_id: ID of the spacecraft * @param [in] reference_spacecraft_id: ID of reference spacecraft */ - math::Vector<3> CalcRelativeVelocity_rtn_m_s(const size_t target_spacecraft_id, const size_t reference_spacecraft_id); + s2e::math::Vector<3> CalcRelativeVelocity_rtn_m_s(const size_t target_spacecraft_id, const size_t reference_spacecraft_id); /** * @fn ResizeLists diff --git a/src/simulation/spacecraft/installed_components.cpp b/src/simulation/spacecraft/installed_components.cpp index 7497df29e..6dcb6ee8c 100644 --- a/src/simulation/spacecraft/installed_components.cpp +++ b/src/simulation/spacecraft/installed_components.cpp @@ -7,13 +7,13 @@ #include -math::Vector<3> InstalledComponents::GenerateForce_b_N() { - math::Vector<3> force_b_N_(0.0); +s2e::math::Vector<3> InstalledComponents::GenerateForce_b_N() { + s2e::math::Vector<3> force_b_N_(0.0); return force_b_N_; } -math::Vector<3> InstalledComponents::GenerateTorque_b_Nm() { - math::Vector<3> torque_b_Nm_(0.0); +s2e::math::Vector<3> InstalledComponents::GenerateTorque_b_Nm() { + s2e::math::Vector<3> torque_b_Nm_(0.0); return torque_b_Nm_; } diff --git a/src/simulation/spacecraft/installed_components.hpp b/src/simulation/spacecraft/installed_components.hpp index 4a4550c55..daf41a7a8 100644 --- a/src/simulation/spacecraft/installed_components.hpp +++ b/src/simulation/spacecraft/installed_components.hpp @@ -26,14 +26,14 @@ class InstalledComponents { * @brief Return force generated by components in unit Newton in body fixed frame * @details Users need to override this function to add force generated by components */ - virtual math::Vector<3> GenerateForce_b_N(); + virtual s2e::math::Vector<3> GenerateForce_b_N(); /** * @fn GenerateTorque_b_Nm * @brief Return torque generated by components in unit Newton-meter in body fixed frame * @details Users need to override this function to add torque generated by components */ - virtual math::Vector<3> GenerateTorque_b_Nm(); + virtual s2e::math::Vector<3> GenerateTorque_b_Nm(); /** * @fn ComponentInterference diff --git a/src/simulation/spacecraft/structure/initialize_structure.cpp b/src/simulation/spacecraft/structure/initialize_structure.cpp index 0c2a49b35..b8e578398 100644 --- a/src/simulation/spacecraft/structure/initialize_structure.cpp +++ b/src/simulation/spacecraft/structure/initialize_structure.cpp @@ -13,11 +13,11 @@ KinematicsParameters InitKinematicsParameters(std::string file_name) { auto conf = IniAccess(file_name); const char* section = "KINEMATIC_PARAMETERS"; - math::Vector<3> center_of_gravity_b_m; + s2e::math::Vector<3> center_of_gravity_b_m; conf.ReadVector(section, "center_of_gravity_b_m", center_of_gravity_b_m); double mass_kg = conf.ReadDouble(section, "mass_kg"); - math::Vector<9> inertia_vec; - math::Matrix<3, 3> inertia_tensor_b_kgm2; + s2e::math::Vector<9> inertia_vec; + s2e::math::Matrix<3, 3> inertia_tensor_b_kgm2; conf.ReadVector(section, "inertia_tensor_kgm2", inertia_vec); for (int i = 0; i < 3; i++) { for (int j = 0; j < 3; j++) { @@ -110,7 +110,7 @@ ResidualMagneticMoment InitResidualMagneticMoment(std::string file_name) { auto conf = IniAccess(file_name); const char* section = "RESIDUAL_MAGNETIC_MOMENT"; - math::Vector<3> rmm_const_b; + s2e::math::Vector<3> rmm_const_b; conf.ReadVector(section, "rmm_constant_b_Am2", rmm_const_b); double rmm_rwdev = conf.ReadDouble(section, "rmm_random_walk_speed_Am2"); double random_walk_limit_Am2 = conf.ReadDouble(section, "rmm_random_walk_limit_Am2"); diff --git a/src/simulation/spacecraft/structure/kinematics_parameters.cpp b/src/simulation/spacecraft/structure/kinematics_parameters.cpp index 67906710a..289c62cc7 100644 --- a/src/simulation/spacecraft/structure/kinematics_parameters.cpp +++ b/src/simulation/spacecraft/structure/kinematics_parameters.cpp @@ -5,5 +5,5 @@ #include "kinematics_parameters.hpp" -KinematicsParameters::KinematicsParameters(math::Vector<3> center_of_gravity_b_m, double mass_kg, math::Matrix<3, 3> inertia_tensor_b_kgm2) +KinematicsParameters::KinematicsParameters(s2e::math::Vector<3> center_of_gravity_b_m, double mass_kg, s2e::math::Matrix<3, 3> inertia_tensor_b_kgm2) : center_of_gravity_b_m_(center_of_gravity_b_m), mass_kg_(mass_kg), inertia_tensor_b_kgm2_(inertia_tensor_b_kgm2) {} \ No newline at end of file diff --git a/src/simulation/spacecraft/structure/kinematics_parameters.hpp b/src/simulation/spacecraft/structure/kinematics_parameters.hpp index 52818f018..6cea84b20 100644 --- a/src/simulation/spacecraft/structure/kinematics_parameters.hpp +++ b/src/simulation/spacecraft/structure/kinematics_parameters.hpp @@ -19,7 +19,7 @@ class KinematicsParameters { * @fn KinematicsParameters * @brief Constructor */ - KinematicsParameters(math::Vector<3> center_of_gravity_b_m, double mass_kg, math::Matrix<3, 3> inertia_tensor_b_kgm2); + KinematicsParameters(s2e::math::Vector<3> center_of_gravity_b_m, double mass_kg, s2e::math::Matrix<3, 3> inertia_tensor_b_kgm2); /** * @fn ~KinematicsParameters * @brief Destructor @@ -31,7 +31,7 @@ class KinematicsParameters { * @fn GetCenterOfGravity_b_m * @brief Return Position vector of center of gravity at body frame [m] */ - inline const math::Vector<3>& GetCenterOfGravity_b_m() const { return center_of_gravity_b_m_; } + inline const s2e::math::Vector<3>& GetCenterOfGravity_b_m() const { return center_of_gravity_b_m_; } /** * @fn GetMass_kg * @brief Return Mass of the satellite [kg] @@ -41,7 +41,7 @@ class KinematicsParameters { * @fn GetInertiaTensor_b_kgm2 * @brief Return Inertia tensor at body frame [kgm2] */ - inline const math::Matrix<3, 3>& GetInertiaTensor_b_kgm2() const { return inertia_tensor_b_kgm2_; } + inline const s2e::math::Matrix<3, 3>& GetInertiaTensor_b_kgm2() const { return inertia_tensor_b_kgm2_; } // Setter /** @@ -49,7 +49,7 @@ class KinematicsParameters { * @brief Set center of gravity vector at the body frame [m] * @param [in] center_of_gravity_vector_b_m: Center of gravity vector at the body frame [m] */ - inline void SetCenterOfGravityVector_b_m(const math::Vector<3> center_of_gravity_vector_b_m) { + inline void SetCenterOfGravityVector_b_m(const s2e::math::Vector<3> center_of_gravity_vector_b_m) { center_of_gravity_b_m_ = center_of_gravity_vector_b_m; } /** @@ -75,15 +75,15 @@ class KinematicsParameters { * @brief Inertia tensor at body frame * @param [in] inertia_tensor_b_kgm2: Inertia tensor at body frame [kgm2] */ - inline void SetInertiaTensor_b_kgm2(const math::Matrix<3, 3> inertia_tensor_b_kgm2) { + inline void SetInertiaTensor_b_kgm2(const s2e::math::Matrix<3, 3> inertia_tensor_b_kgm2) { // TODO add assertion check inertia_tensor_b_kgm2_ = inertia_tensor_b_kgm2; } private: - math::Vector<3> center_of_gravity_b_m_; //!< Position vector of center of gravity at body frame [m] + s2e::math::Vector<3> center_of_gravity_b_m_; //!< Position vector of center of gravity at body frame [m] double mass_kg_; //!< Mass of the satellite [kg] - math::Matrix<3, 3> inertia_tensor_b_kgm2_; //!< Inertia tensor at body frame [kgm2] + s2e::math::Matrix<3, 3> inertia_tensor_b_kgm2_; //!< Inertia tensor at body frame [kgm2] }; #endif // S2E_SIMULATION_SPACECRAFT_STRUCTURE_KINEMATICS_PARAMETERS_HPP_ diff --git a/src/simulation/spacecraft/structure/residual_magnetic_moment.hpp b/src/simulation/spacecraft/structure/residual_magnetic_moment.hpp index 72000e51f..93d5e44ab 100644 --- a/src/simulation/spacecraft/structure/residual_magnetic_moment.hpp +++ b/src/simulation/spacecraft/structure/residual_magnetic_moment.hpp @@ -7,7 +7,7 @@ #define S2E_SIMULATION_SPACECRAFT_STRUCTURE_RESIDUAL_MAGNETIC_MOMENT_HPP_ #include -using math::Vector; +using s2e::math::Vector; /** * @class ResidualMagneticMoment diff --git a/src/simulation/spacecraft/structure/surface.cpp b/src/simulation/spacecraft/structure/surface.cpp index 06af72cde..58b0b4cbd 100644 --- a/src/simulation/spacecraft/structure/surface.cpp +++ b/src/simulation/spacecraft/structure/surface.cpp @@ -5,7 +5,7 @@ #include "surface.hpp" -Surface::Surface(const math::Vector<3> position_b_m, const math::Vector<3> normal_b, const double area_m2, const double reflectivity, +Surface::Surface(const s2e::math::Vector<3> position_b_m, const s2e::math::Vector<3> normal_b, const double area_m2, const double reflectivity, const double specularity, const double air_specularity) : position_b_m_(position_b_m), normal_b_(normal_b), diff --git a/src/simulation/spacecraft/structure/surface.hpp b/src/simulation/spacecraft/structure/surface.hpp index db54f219b..2b4b9439f 100644 --- a/src/simulation/spacecraft/structure/surface.hpp +++ b/src/simulation/spacecraft/structure/surface.hpp @@ -18,7 +18,7 @@ class Surface { * @fn Surface * @brief Constructor */ - Surface(const math::Vector<3> position_b_m, const math::Vector<3> normal_b, const double area_m2, const double reflectivity, + Surface(const s2e::math::Vector<3> position_b_m, const s2e::math::Vector<3> normal_b, const double area_m2, const double reflectivity, const double specularity, const double air_specularity); /** * @fn ~Surface @@ -31,12 +31,12 @@ class Surface { * @fn GetPosition_b_m * @brief Return position vector of geometric center of the surface in body frame and meter unit */ - inline const math::Vector<3>& GetPosition_b_m(void) const { return position_b_m_; } + inline const s2e::math::Vector<3>& GetPosition_b_m(void) const { return position_b_m_; } /** * @fn GetNormal_b * @brief Return normal vector of the surface in body frame */ - inline const math::Vector<3>& GetNormal_b(void) const { return normal_b_; } + inline const s2e::math::Vector<3>& GetNormal_b(void) const { return normal_b_; } /** * @fn GetArea_m2 * @brief Return area of the surface in meter^2 unit @@ -64,13 +64,13 @@ class Surface { * @brief Set position vector of geometric center of the surface in body frame [m] * @param[in] position_b_m: Position vector of geometric center of the surface in body frame [m] */ - inline void SetPosition_b_m(const math::Vector<3> position_b_m) { position_b_m_ = position_b_m; } + inline void SetPosition_b_m(const s2e::math::Vector<3> position_b_m) { position_b_m_ = position_b_m; } /** * @fn SetNormal * @brief Set normal vector of the surface in body frame * @param[in] normal_b: Normal vector of the surface in body frame */ - inline void SetNormal_b(const math::Vector<3> normal_b) { normal_b_ = normal_b.CalcNormalizedVector(); } + inline void SetNormal_b(const s2e::math::Vector<3> normal_b) { normal_b_ = normal_b.CalcNormalizedVector(); } /** * @fn SetArea_m2 * @brief Set area of the surface @@ -105,8 +105,8 @@ class Surface { } private: - math::Vector<3> position_b_m_; //!< Position vector of the surface @ Body Frame [m] - math::Vector<3> normal_b_; //!< Normal unit vector of the surface @ Body Frame [-] + s2e::math::Vector<3> position_b_m_; //!< Position vector of the surface @ Body Frame [m] + s2e::math::Vector<3> normal_b_; //!< Normal unit vector of the surface @ Body Frame [-] double area_m2_; //!< Area of the surface [m2] double reflectivity_; //!< Total reflectivity for solar wavelength (1.0 - solar absorption) double specularity_; //!< Ratio of specular reflection in the total reflected light diff --git a/src/simulation_sample/spacecraft/sample_components.cpp b/src/simulation_sample/spacecraft/sample_components.cpp index b45d960c3..5de0f8984 100644 --- a/src/simulation_sample/spacecraft/sample_components.cpp +++ b/src/simulation_sample/spacecraft/sample_components.cpp @@ -141,21 +141,21 @@ SampleComponents::SampleComponents(const Dynamics* dynamics, Structure* structur /**************/ // actuator debug output - // math::Vector mag_moment_c{0.01}; + // s2e::math::Vector mag_moment_c{0.01}; // magnetorquer_->SetOutputMagneticMoment_c_Am2(mag_moment_c); // reaction_wheel_->SetTargetTorque_rw_Nm(0.01); // reaction_wheel_->SetDriveFlag(true); // thruster_->SetDuty(0.9); // force generator debug output - // math::Vector<3> force_N; + // s2e::math::Vector<3> force_N; // force_N[0] = 1.0; // force_N[1] = 0.0; // force_N[2] = 0.0; // force_generator_->SetForce_b_N(force_N); // torque generator debug output - // math::Vector<3> torque_Nm; + // s2e::math::Vector<3> torque_Nm; // torque_Nm[0] = 0.1; // torque_Nm[1] = 0.0; // torque_Nm[2] = 0.0; @@ -188,15 +188,15 @@ SampleComponents::~SampleComponents() { delete hils_port_manager_; // delete after exp_hils } -math::Vector<3> SampleComponents::GenerateForce_b_N() { - math::Vector<3> force_b_N_(0.0); +s2e::math::Vector<3> SampleComponents::GenerateForce_b_N() { + s2e::math::Vector<3> force_b_N_(0.0); force_b_N_ += thruster_->GetOutputThrust_b_N(); force_b_N_ += force_generator_->GetGeneratedForce_b_N(); return force_b_N_; } -math::Vector<3> SampleComponents::GenerateTorque_b_Nm() { - math::Vector<3> torque_b_Nm_(0.0); +s2e::math::Vector<3> SampleComponents::GenerateTorque_b_Nm() { + s2e::math::Vector<3> torque_b_Nm_(0.0); torque_b_Nm_ += magnetorquer_->GetOutputTorque_b_Nm(); torque_b_Nm_ += reaction_wheel_->GetOutputTorque_b_Nm(); torque_b_Nm_ += thruster_->GetOutputTorque_b_Nm(); diff --git a/src/simulation_sample/spacecraft/sample_components.hpp b/src/simulation_sample/spacecraft/sample_components.hpp index d03044b3b..c8c3603d5 100644 --- a/src/simulation_sample/spacecraft/sample_components.hpp +++ b/src/simulation_sample/spacecraft/sample_components.hpp @@ -74,12 +74,12 @@ class SampleComponents : public InstalledComponents { * @fn GenerateForce_b_N * @brief Return force generated by components in unit Newton in body fixed frame */ - math::Vector<3> GenerateForce_b_N() override; + s2e::math::Vector<3> GenerateForce_b_N() override; /** * @fn GenerateTorque_b_Nm * @brief Return torque generated by components in unit Newton-meter in body fixed frame */ - math::Vector<3> GenerateTorque_b_Nm() override; + s2e::math::Vector<3> GenerateTorque_b_Nm() override; /** * @fn ComponentInterference * @brief Handle component interference effect From 70dfc4fc29b2f97916ed127cdb173c5cbe926456 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 14 Sep 2024 00:05:02 -0700 Subject: [PATCH 339/456] Rename namespaec atmosphere to s2e::atmosphere --- src/environment/local/atmosphere.cpp | 4 ++-- src/math_physics/atmosphere/harris_priester_coefficients.hpp | 4 ++-- src/math_physics/atmosphere/harris_priester_model.cpp | 4 ++-- src/math_physics/atmosphere/harris_priester_model.hpp | 4 ++-- src/math_physics/atmosphere/simple_air_density_model.cpp | 4 ++-- src/math_physics/atmosphere/simple_air_density_model.hpp | 4 ++-- 6 files changed, 12 insertions(+), 12 deletions(-) diff --git a/src/environment/local/atmosphere.cpp b/src/environment/local/atmosphere.cpp index b46e855b2..1ea0636a6 100644 --- a/src/environment/local/atmosphere.cpp +++ b/src/environment/local/atmosphere.cpp @@ -56,7 +56,7 @@ double Atmosphere::CalcAirDensity_kg_m3(const double decimal_year, const Orbit& if (model_ == "STANDARD") { // Standard model double altitude_m = orbit.GetGeodeticPosition().GetAltitude_m(); - air_density_kg_m3_ = atmosphere::CalcAirDensityWithSimpleModel(altitude_m); + air_density_kg_m3_ = s2e::atmosphere::CalcAirDensityWithSimpleModel(altitude_m); } else if (model_ == "NRLMSISE00") { // NRLMSISE00 model double lat_rad = orbit.GetGeodeticPosition().GetLatitude_rad(); @@ -67,7 +67,7 @@ double Atmosphere::CalcAirDensity_kg_m3(const double decimal_year, const Orbit& } else if (model_ == "HARRIS_PRIESTER") { // Harris-Priester s2e::math::Vector<3> sun_direction_eci = local_celestial_information_->GetGlobalInformation().GetPositionFromCenter_i_m("SUN").CalcNormalizedVector(); - air_density_kg_m3_ = atmosphere::CalcAirDensityWithHarrisPriester_kg_m3(orbit.GetGeodeticPosition(), sun_direction_eci); + air_density_kg_m3_ = s2e::atmosphere::CalcAirDensityWithHarrisPriester_kg_m3(orbit.GetGeodeticPosition(), sun_direction_eci); } else { // No suitable model return air_density_kg_m3_ = 0.0; diff --git a/src/math_physics/atmosphere/harris_priester_coefficients.hpp b/src/math_physics/atmosphere/harris_priester_coefficients.hpp index 3c467501b..7fd6802b7 100644 --- a/src/math_physics/atmosphere/harris_priester_coefficients.hpp +++ b/src/math_physics/atmosphere/harris_priester_coefficients.hpp @@ -7,7 +7,7 @@ #include -namespace atmosphere { +namespace s2e::atmosphere { // Height [km], density [g/km3] // TODO: Add other solar activities value @@ -28,6 +28,6 @@ const std::map harris_priester_max_density_table = { {640, 0.4121}, {660, 0.3325}, {680, 0.2691}, {700, 0.2185}, {720, 0.1779}, {740, 0.1452}, {760, 0.1190}, {780, 0.09776}, {800, 0.08059}, {840, 0.05741}, {880, 0.04210}, {920, 0.03130}, {960, 0.02360}, {1000, 0.01810}}; -} // namespace atmosphere +} // namespace s2e::atmosphere #endif // S2E_LIBRARY_HARRIS_COEFFICIENTS_HPP_ diff --git a/src/math_physics/atmosphere/harris_priester_model.cpp b/src/math_physics/atmosphere/harris_priester_model.cpp index ce88b5a54..4c04719b1 100644 --- a/src/math_physics/atmosphere/harris_priester_model.cpp +++ b/src/math_physics/atmosphere/harris_priester_model.cpp @@ -10,7 +10,7 @@ #include "harris_priester_coefficients.hpp" -namespace atmosphere { +namespace s2e::atmosphere { /** * @fn CalcScaleHeight_km @@ -88,4 +88,4 @@ double CalcApexDensity_g_km3(const std::map::const_iterator dens return apex_density_g_km3; } -} // namespace atmosphere +} // namespace s2e::atmosphere diff --git a/src/math_physics/atmosphere/harris_priester_model.hpp b/src/math_physics/atmosphere/harris_priester_model.hpp index fb08c4977..b999dbffd 100644 --- a/src/math_physics/atmosphere/harris_priester_model.hpp +++ b/src/math_physics/atmosphere/harris_priester_model.hpp @@ -9,7 +9,7 @@ #include #include -namespace atmosphere { +namespace s2e::atmosphere { /** * @fn CalcAirDensityWithHarrisPriester @@ -23,6 +23,6 @@ namespace atmosphere { double CalcAirDensityWithHarrisPriester_kg_m3(const geodesy::GeodeticPosition geodetic_position, const s2e::math::Vector<3> sun_direction_eci, const double f10_7 = 100.0, const double exponent_parameter = 4); -} // namespace atmosphere +} // namespace s2e::atmosphere #endif // S2E_LIBRARY_HARRIS_PRIESTER_HPP_ diff --git a/src/math_physics/atmosphere/simple_air_density_model.cpp b/src/math_physics/atmosphere/simple_air_density_model.cpp index 7e2b0a440..f616f674b 100644 --- a/src/math_physics/atmosphere/simple_air_density_model.cpp +++ b/src/math_physics/atmosphere/simple_air_density_model.cpp @@ -6,7 +6,7 @@ #include -namespace atmosphere { +namespace s2e::atmosphere { double CalcAirDensityWithSimpleModel(const double altitude_m) { double altitude_km = altitude_m / 1000.0; @@ -138,4 +138,4 @@ double CalcAirDensityWithSimpleModel(const double altitude_m) { return rho_kg_m3; } -} // namespace atmosphere +} // namespace s2e::atmosphere diff --git a/src/math_physics/atmosphere/simple_air_density_model.hpp b/src/math_physics/atmosphere/simple_air_density_model.hpp index b697a66e4..834807d96 100644 --- a/src/math_physics/atmosphere/simple_air_density_model.hpp +++ b/src/math_physics/atmosphere/simple_air_density_model.hpp @@ -5,7 +5,7 @@ #ifndef S2E_LIBRARY_ATMOSPHERE_SIMPLE_AIR_DENSITY_MODEL_HPP_ #define S2E_LIBRARY_ATMOSPHERE_SIMPLE_AIR_DENSITY_MODEL_HPP_ -namespace atmosphere { +namespace s2e::atmosphere { /** * @fn CalcAirDensityWithSimpleModel @@ -15,6 +15,6 @@ namespace atmosphere { */ double CalcAirDensityWithSimpleModel(const double altitude_m); -} // namespace atmosphere +} // namespace s2e::atmosphere #endif // S2E_LIBRARY_ATMOSPHERE_SIMPLE_AIR_DENSITY_MODEL_HPP_ From 4f102b4e7557542d4960939f957c5e0842c245b8 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 14 Sep 2024 00:06:10 -0700 Subject: [PATCH 340/456] Rename namespaec control_utilities to s2e::control_utilities --- src/components/real/aocs/reaction_wheel.hpp | 2 +- src/math_physics/control_utilities/first_order_lag.hpp | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/src/components/real/aocs/reaction_wheel.hpp b/src/components/real/aocs/reaction_wheel.hpp index 5852b8a74..14c66a33e 100644 --- a/src/components/real/aocs/reaction_wheel.hpp +++ b/src/components/real/aocs/reaction_wheel.hpp @@ -183,7 +183,7 @@ class ReactionWheel : public Component, public ILoggable { const double step_width_s_; //!< step width for ReactionWheelOde [sec] const double dead_time_s_; //!< dead time [sec] std::vector acceleration_delay_buffer_; //!< Delay buffer for acceleration - control_utilities::FirstOrderLag delayed_acceleration_rad_s2_; //!< Delayed acceleration [rad/s2] + s2e::control_utilities::FirstOrderLag delayed_acceleration_rad_s2_; //!< Delayed acceleration [rad/s2] // Coasting friction // f_rad_s2 = v_rad_s * coefficients(0) + (v_rad_s)^2 * coefficients(1) + ... diff --git a/src/math_physics/control_utilities/first_order_lag.hpp b/src/math_physics/control_utilities/first_order_lag.hpp index 9a9d27ed3..3c61593be 100644 --- a/src/math_physics/control_utilities/first_order_lag.hpp +++ b/src/math_physics/control_utilities/first_order_lag.hpp @@ -6,7 +6,7 @@ #ifndef S2E_LIBRARY_CONTROL_UTILITIES_FIRST_ORDER_LAG_HPP_ #define S2E_LIBRARY_CONTROL_UTILITIES_FIRST_ORDER_LAG_HPP_ -namespace control_utilities { +namespace s2e::control_utilities { /** * @class FirstOderLag @@ -47,6 +47,6 @@ class FirstOrderLag { const double gain_; //!< Gain }; -} // namespace control_utilities +} // namespace s2e::control_utilities #endif // S2E_LIBRARY_CONTROL_UTILITIES_FIRST_ORDER_LAG_HPP_ From 99abe3c077cf9488c2ac5a552d38b63fda9d496a Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 14 Sep 2024 00:07:41 -0700 Subject: [PATCH 341/456] Rename namespaec geodesy to s2e::geodesy --- src/components/real/aocs/gnss_receiver.hpp | 4 ++-- src/dynamics/orbit/orbit.hpp | 4 ++-- src/environment/local/geomagnetic_field.cpp | 2 +- src/environment/local/geomagnetic_field.hpp | 2 +- src/math_physics/atmosphere/harris_priester_model.cpp | 2 +- src/math_physics/atmosphere/harris_priester_model.hpp | 2 +- src/math_physics/geodesy/geodetic_position.cpp | 4 ++-- src/math_physics/geodesy/geodetic_position.hpp | 4 ++-- src/simulation/ground_station/ground_station.cpp | 2 +- src/simulation/ground_station/ground_station.hpp | 4 ++-- 10 files changed, 15 insertions(+), 15 deletions(-) diff --git a/src/components/real/aocs/gnss_receiver.hpp b/src/components/real/aocs/gnss_receiver.hpp index 006d70ab0..ad9f38103 100644 --- a/src/components/real/aocs/gnss_receiver.hpp +++ b/src/components/real/aocs/gnss_receiver.hpp @@ -107,7 +107,7 @@ class GnssReceiver : public Component, public ILoggable { * @fn GetMeasuredGeodeticPosition * @brief Return Observed position in the LLH frame [m] */ - inline const geodesy::GeodeticPosition GetMeasuredGeodeticPosition(void) const { return geodetic_position_; } + inline const s2e::geodesy::GeodeticPosition GetMeasuredGeodeticPosition(void) const { return geodetic_position_; } /** * @fn GetMeasuredVelocity_ecef_m_s * @brief Return Observed velocity in the ECEF frame [m/s] @@ -141,7 +141,7 @@ class GnssReceiver : public Component, public ILoggable { randomization::NormalRand velocity_random_noise_ecef_m_s_[3]; //!< Random noise for velocity at the ECEF frame [m] s2e::math::Vector<3> position_ecef_m_{0.0}; //!< Observed position in the ECEF frame [m] s2e::math::Vector<3> velocity_ecef_m_s_{0.0}; //!< Observed velocity in the ECEF frame [m/s] - geodesy::GeodeticPosition geodetic_position_; //!< Observed position in the geodetic frame + s2e::geodesy::GeodeticPosition geodetic_position_; //!< Observed position in the geodetic frame // Time observation UTC utc_ = {2000, 1, 1, 0, 0, 0.0}; //!< Observed time in UTC [year, month, day, hour, min, sec] diff --git a/src/dynamics/orbit/orbit.hpp b/src/dynamics/orbit/orbit.hpp index 01be5c87c..79a016b81 100644 --- a/src/dynamics/orbit/orbit.hpp +++ b/src/dynamics/orbit/orbit.hpp @@ -113,7 +113,7 @@ class Orbit : public ILoggable { * @fn GetGeodeticPosition * @brief Return spacecraft position in the geodetic frame [m] */ - inline geodesy::GeodeticPosition GetGeodeticPosition() const { return spacecraft_geodetic_position_; } + inline s2e::geodesy::GeodeticPosition GetGeodeticPosition() const { return spacecraft_geodetic_position_; } // TODO delete the following functions inline double GetLatitude_rad() const { return spacecraft_geodetic_position_.GetLatitude_rad(); } @@ -193,7 +193,7 @@ class Orbit : public ILoggable { s2e::math::Vector<3> spacecraft_position_i_m_; //!< Spacecraft position in the inertial frame [m] s2e::math::Vector<3> spacecraft_position_ecef_m_; //!< Spacecraft position in the ECEF frame [m] - geodesy::GeodeticPosition spacecraft_geodetic_position_; //!< Spacecraft position in the Geodetic frame + s2e::geodesy::GeodeticPosition spacecraft_geodetic_position_; //!< Spacecraft position in the Geodetic frame s2e::math::Vector<3> spacecraft_velocity_i_m_s_; //!< Spacecraft velocity in the inertial frame [m/s] s2e::math::Vector<3> spacecraft_velocity_b_m_s_; //!< Spacecraft velocity in the body frame [m/s] diff --git a/src/environment/local/geomagnetic_field.cpp b/src/environment/local/geomagnetic_field.cpp index 971910b0a..6fcdcc7f9 100644 --- a/src/environment/local/geomagnetic_field.cpp +++ b/src/environment/local/geomagnetic_field.cpp @@ -22,7 +22,7 @@ GeomagneticField::GeomagneticField(const std::string igrf_file_name, const doubl set_file_path(igrf_file_name_.c_str()); } -void GeomagneticField::CalcMagneticField(const double decimal_year, const double sidereal_day, const geodesy::GeodeticPosition position, +void GeomagneticField::CalcMagneticField(const double decimal_year, const double sidereal_day, const s2e::geodesy::GeodeticPosition position, const s2e::math::Quaternion quaternion_i2b) { if (!IsCalcEnabled) return; diff --git a/src/environment/local/geomagnetic_field.hpp b/src/environment/local/geomagnetic_field.hpp index d00f46aa1..3f2adf741 100644 --- a/src/environment/local/geomagnetic_field.hpp +++ b/src/environment/local/geomagnetic_field.hpp @@ -43,7 +43,7 @@ class GeomagneticField : public ILoggable { * @param [in] position: Position of target point to calculate the magnetic field * @param [in] quaternion_i2b: Spacecraft attitude quaternion from the inertial frame to the body fixed frame */ - void CalcMagneticField(const double decimal_year, const double sidereal_day, const geodesy::GeodeticPosition position, + void CalcMagneticField(const double decimal_year, const double sidereal_day, const s2e::geodesy::GeodeticPosition position, const s2e::math::Quaternion quaternion_i2b); /** diff --git a/src/math_physics/atmosphere/harris_priester_model.cpp b/src/math_physics/atmosphere/harris_priester_model.cpp index 4c04719b1..e38476335 100644 --- a/src/math_physics/atmosphere/harris_priester_model.cpp +++ b/src/math_physics/atmosphere/harris_priester_model.cpp @@ -28,7 +28,7 @@ double CalcScaleHeight_km(const std::map::const_iterator density */ double CalcApexDensity_g_km3(const std::map::const_iterator density_itr, const double altitude_km); -double CalcAirDensityWithHarrisPriester_kg_m3(const geodesy::GeodeticPosition geodetic_position, const s2e::math::Vector<3> sun_direction_eci, +double CalcAirDensityWithHarrisPriester_kg_m3(const s2e::geodesy::GeodeticPosition geodetic_position, const s2e::math::Vector<3> sun_direction_eci, const double f10_7, const double exponent_parameter) { // Altitude double altitude_km = geodetic_position.GetAltitude_m() / 1000.0; diff --git a/src/math_physics/atmosphere/harris_priester_model.hpp b/src/math_physics/atmosphere/harris_priester_model.hpp index b999dbffd..a5b05bc7e 100644 --- a/src/math_physics/atmosphere/harris_priester_model.hpp +++ b/src/math_physics/atmosphere/harris_priester_model.hpp @@ -20,7 +20,7 @@ namespace s2e::atmosphere { * @param [in] exponent_parameter: n in the equation. n=2 for low inclination orbit and n=6 for polar orbit. * @return Atmospheric density [kg/m^3] */ -double CalcAirDensityWithHarrisPriester_kg_m3(const geodesy::GeodeticPosition geodetic_position, const s2e::math::Vector<3> sun_direction_eci, +double CalcAirDensityWithHarrisPriester_kg_m3(const s2e::geodesy::GeodeticPosition geodetic_position, const s2e::math::Vector<3> sun_direction_eci, const double f10_7 = 100.0, const double exponent_parameter = 4); } // namespace s2e::atmosphere diff --git a/src/math_physics/geodesy/geodetic_position.cpp b/src/math_physics/geodesy/geodetic_position.cpp index 65969df15..50bac4071 100644 --- a/src/math_physics/geodesy/geodetic_position.cpp +++ b/src/math_physics/geodesy/geodetic_position.cpp @@ -10,7 +10,7 @@ #include #include -namespace geodesy { +namespace s2e::geodesy { GeodeticPosition::GeodeticPosition() { latitude_rad_ = 0.0; @@ -86,4 +86,4 @@ void GeodeticPosition::CalcQuaternionXcxfToLtc() { quaternion_xcxf_to_ltc_ = quaternion_xcxf_to_ltc_.ConvertFromDcm(dcm_xcxf_to_ltc); } -} // namespace geodesy +} // namespace s2e::geodesy diff --git a/src/math_physics/geodesy/geodetic_position.hpp b/src/math_physics/geodesy/geodetic_position.hpp index a850c5936..9687e0ea9 100644 --- a/src/math_physics/geodesy/geodetic_position.hpp +++ b/src/math_physics/geodesy/geodetic_position.hpp @@ -9,7 +9,7 @@ #include #include -namespace geodesy { +namespace s2e::geodesy { /** * @class GeodeticPosition @@ -80,6 +80,6 @@ class GeodeticPosition { void CalcQuaternionXcxfToLtc(); }; -} // namespace geodesy +} // namespace s2e::geodesy #endif // S2E_LIBRARY_GEODESY_GEODETIC_POSITION_HPP_ \ No newline at end of file diff --git a/src/simulation/ground_station/ground_station.cpp b/src/simulation/ground_station/ground_station.cpp index b1486b633..4a0110fc4 100644 --- a/src/simulation/ground_station/ground_station.cpp +++ b/src/simulation/ground_station/ground_station.cpp @@ -35,7 +35,7 @@ void GroundStation::Initialize(const SimulationConfiguration* configuration, con double latitude_deg = conf.ReadDouble(Section, "latitude_deg"); double longitude_deg = conf.ReadDouble(Section, "longitude_deg"); double height_m = conf.ReadDouble(Section, "height_m"); - geodetic_position_ = geodesy::GeodeticPosition(latitude_deg * s2e::math::deg_to_rad, longitude_deg * s2e::math::deg_to_rad, height_m); + geodetic_position_ = s2e::geodesy::GeodeticPosition(latitude_deg * s2e::math::deg_to_rad, longitude_deg * s2e::math::deg_to_rad, height_m); position_ecef_m_ = geodetic_position_.CalcEcefPosition(); elevation_limit_angle_deg_ = conf.ReadDouble(Section, "elevation_limit_angle_deg"); diff --git a/src/simulation/ground_station/ground_station.hpp b/src/simulation/ground_station/ground_station.hpp index 41a051d58..bdb320af9 100644 --- a/src/simulation/ground_station/ground_station.hpp +++ b/src/simulation/ground_station/ground_station.hpp @@ -67,7 +67,7 @@ class GroundStation : public ILoggable { * @fn GetGeodeticPosition * @brief Return ground station position in the geodetic frame */ - geodesy::GeodeticPosition GetGeodeticPosition() const { return geodetic_position_; } + s2e::geodesy::GeodeticPosition GetGeodeticPosition() const { return geodetic_position_; } /** * @fn GetPosition_ecef_m * @brief Return ground station position in the ECEF frame [m] @@ -92,7 +92,7 @@ class GroundStation : public ILoggable { protected: unsigned int ground_station_id_; //!< Ground station ID - geodesy::GeodeticPosition geodetic_position_; //!< Ground Station Position in the geodetic frame + s2e::geodesy::GeodeticPosition geodetic_position_; //!< Ground Station Position in the geodetic frame Vector<3> position_ecef_m_{0.0}; //!< Ground Station Position in the ECEF frame [m] Vector<3> position_i_m_{0.0}; //!< Ground Station Position in the inertial frame [m] double elevation_limit_angle_deg_; //!< Minimum elevation angle to work the ground station [deg] From f6ab6b59bf00f398acbf10e56c0e16057546a430 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 14 Sep 2024 00:09:19 -0700 Subject: [PATCH 342/456] Rename namespaec gnss to s2e::gnss --- src/environment/global/gnss_satellites.cpp | 2 +- src/environment/global/gnss_satellites.hpp | 6 +++--- src/math_physics/gnss/antex_file_reader.cpp | 4 ++-- src/math_physics/gnss/antex_file_reader.hpp | 4 ++-- src/math_physics/gnss/bias_sinex_file_reader.cpp | 4 ++-- src/math_physics/gnss/bias_sinex_file_reader.hpp | 4 ++-- src/math_physics/gnss/gnss_satellite_number.cpp | 4 ++-- src/math_physics/gnss/gnss_satellite_number.hpp | 4 ++-- src/math_physics/gnss/igs_product_name_handling.hpp | 4 ++-- src/math_physics/gnss/sp3_file_reader.cpp | 4 ++-- src/math_physics/gnss/sp3_file_reader.hpp | 4 ++-- src/math_physics/gnss/test_antex_file_reader.cpp | 2 +- src/math_physics/gnss/test_bias_sinex_file_reader.cpp | 2 +- src/math_physics/gnss/test_gnss_satellite_number.cpp | 2 +- src/math_physics/gnss/test_igs_product_name_handling.cpp | 2 +- src/math_physics/gnss/test_sp3_file_reader.cpp | 2 +- 16 files changed, 27 insertions(+), 27 deletions(-) diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index c2a844d7a..ecc7683c8 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -15,7 +15,7 @@ #include "setting_file_reader/initialize_file_access.hpp" #include "utilities/macros.hpp" -using namespace gnss; +using namespace s2e::gnss; const size_t kNumberOfInterpolation = 9; diff --git a/src/environment/global/gnss_satellites.hpp b/src/environment/global/gnss_satellites.hpp index bbb4aaac3..24af47f6f 100644 --- a/src/environment/global/gnss_satellites.hpp +++ b/src/environment/global/gnss_satellites.hpp @@ -54,7 +54,7 @@ class GnssSatellites : public ILoggable { * @param [in] sp3_files: List of SP3 files * @param [in] start_time: The simulation start time */ - void Initialize(const std::vector& sp3_files, const time_system::EpochTime start_time); + void Initialize(const std::vector& sp3_files, const time_system::EpochTime start_time); /** * @fn IsCalcEnabled @@ -113,7 +113,7 @@ class GnssSatellites : public ILoggable { private: bool is_calc_enabled_ = false; //!< Flag to manage the GNSS satellite position calculation - std::vector sp3_files_; //!< List of SP3 files + std::vector sp3_files_; //!< List of SP3 files size_t number_of_calculated_gnss_satellites_; //!< Number of calculated GNSS satellites size_t sp3_file_id_; //!< Current SP3 file ID time_system::EpochTime reference_time_; //!< Reference start time of the SP3 handling @@ -133,7 +133,7 @@ class GnssSatellites : public ILoggable { * @param [in] current_time: Target time * @return true means no error, false means the time argument is out of range */ - bool GetCurrentSp3File(gnss::Sp3FileReader& current_sp3_file, const time_system::EpochTime current_time); + bool GetCurrentSp3File(s2e::gnss::Sp3FileReader& current_sp3_file, const time_system::EpochTime current_time); /** * @fn UpdateInterpolationInformation diff --git a/src/math_physics/gnss/antex_file_reader.cpp b/src/math_physics/gnss/antex_file_reader.cpp index 9a80470d4..2bcd93793 100644 --- a/src/math_physics/gnss/antex_file_reader.cpp +++ b/src/math_physics/gnss/antex_file_reader.cpp @@ -10,7 +10,7 @@ #include #include -namespace gnss { +namespace s2e::gnss { #define ANTEX_LINE_TYPE_POSITION (60) @@ -199,4 +199,4 @@ time_system::DateTime AntexFileReader::ReadDateTime(std::string line) { return time_system::DateTime(year, month, day, hour, minute, second); } -} // namespace gnss +} // namespace s2e::gnss diff --git a/src/math_physics/gnss/antex_file_reader.hpp b/src/math_physics/gnss/antex_file_reader.hpp index 11ac0dc7d..c25c49477 100644 --- a/src/math_physics/gnss/antex_file_reader.hpp +++ b/src/math_physics/gnss/antex_file_reader.hpp @@ -16,7 +16,7 @@ #include #include -namespace gnss { +namespace s2e::gnss { /** * @class AntexGridDefinition @@ -345,6 +345,6 @@ class AntexFileReader { time_system::DateTime ReadDateTime(std::string line); }; -} // namespace gnss +} // namespace s2e::gnss #endif // S2E_LIBRARY_ANTEX_FILE_READER_HPP_ diff --git a/src/math_physics/gnss/bias_sinex_file_reader.cpp b/src/math_physics/gnss/bias_sinex_file_reader.cpp index 252523ebf..b8a203c27 100644 --- a/src/math_physics/gnss/bias_sinex_file_reader.cpp +++ b/src/math_physics/gnss/bias_sinex_file_reader.cpp @@ -9,7 +9,7 @@ #include #include -namespace gnss { +namespace s2e::gnss { bool BiasSinexFileReader::ReadFile(const std::string file_name) { // File open @@ -245,4 +245,4 @@ void BiasSolutionData::SetTargetSignal(const std::string signal1, const std::str } } -} // namespace gnss +} // namespace s2e::gnss diff --git a/src/math_physics/gnss/bias_sinex_file_reader.hpp b/src/math_physics/gnss/bias_sinex_file_reader.hpp index 20e591d0c..694a9bcc5 100644 --- a/src/math_physics/gnss/bias_sinex_file_reader.hpp +++ b/src/math_physics/gnss/bias_sinex_file_reader.hpp @@ -10,7 +10,7 @@ #include #include -namespace gnss { +namespace s2e::gnss { /** * @enum BiasIdentifier @@ -186,6 +186,6 @@ class BiasSinexFileReader { void ReadBiasSolution(std::ifstream& bias_sinex_file); }; -} // namespace gnss +} // namespace s2e::gnss #endif // S2E_LIBRARY_BIAS_SINEX_FILE_READER_HPP_ \ No newline at end of file diff --git a/src/math_physics/gnss/gnss_satellite_number.cpp b/src/math_physics/gnss/gnss_satellite_number.cpp index 6eb8861a5..2241db843 100644 --- a/src/math_physics/gnss/gnss_satellite_number.cpp +++ b/src/math_physics/gnss/gnss_satellite_number.cpp @@ -5,7 +5,7 @@ #include "gnss_satellite_number.hpp" -namespace gnss { +namespace s2e::gnss { size_t ConvertGnssSatelliteNumberToIndex(const std::string satellite_number) { switch (satellite_number.front()) { @@ -61,4 +61,4 @@ std::string ConvertIndexToGnssSatelliteNumber(const size_t index) { return output; } -} // namespace gnss +} // namespace s2e::gnss diff --git a/src/math_physics/gnss/gnss_satellite_number.hpp b/src/math_physics/gnss/gnss_satellite_number.hpp index 35087c537..2b4e1f08b 100644 --- a/src/math_physics/gnss/gnss_satellite_number.hpp +++ b/src/math_physics/gnss/gnss_satellite_number.hpp @@ -10,7 +10,7 @@ #include -namespace gnss { +namespace s2e::gnss { // GNSS satellite number definition // TODO: Move to initialized file? @@ -46,6 +46,6 @@ size_t ConvertGnssSatelliteNumberToIndex(const std::string satellite_number); */ std::string ConvertIndexToGnssSatelliteNumber(const size_t index); -} // namespace gnss +} // namespace s2e::gnss #endif // S2E_LIBRARY_GNSS_GNSS_SATELLITE_NUMBER_HPP_ diff --git a/src/math_physics/gnss/igs_product_name_handling.hpp b/src/math_physics/gnss/igs_product_name_handling.hpp index e2352f76c..01c923fe7 100644 --- a/src/math_physics/gnss/igs_product_name_handling.hpp +++ b/src/math_physics/gnss/igs_product_name_handling.hpp @@ -10,7 +10,7 @@ #include -namespace gnss { +namespace s2e::gnss { /** * @fn GetOrbitClockFileName @@ -85,6 +85,6 @@ size_t IncrementYearDoy(const size_t year_doy) { return output; } -} // namespace gnss +} // namespace s2e::gnss #endif // S2E_LIBRARY_GNSS_IGS_PRODUCT_NAME_HANDLING_HPP_ diff --git a/src/math_physics/gnss/sp3_file_reader.cpp b/src/math_physics/gnss/sp3_file_reader.cpp index b03fb4923..70c170116 100644 --- a/src/math_physics/gnss/sp3_file_reader.cpp +++ b/src/math_physics/gnss/sp3_file_reader.cpp @@ -11,7 +11,7 @@ #include #include -namespace gnss { +namespace s2e::gnss { Sp3FileReader::Sp3FileReader(const std::string file_name) { ReadFile(file_name); } @@ -422,4 +422,4 @@ Sp3VelocityClockRateCorrelation Sp3FileReader::DecodeVelocityClockRateCorrelatio return correlation; } -} // namespace gnss +} // namespace s2e::gnss diff --git a/src/math_physics/gnss/sp3_file_reader.hpp b/src/math_physics/gnss/sp3_file_reader.hpp index 2f04b25fc..5068a4e82 100644 --- a/src/math_physics/gnss/sp3_file_reader.hpp +++ b/src/math_physics/gnss/sp3_file_reader.hpp @@ -17,7 +17,7 @@ #include #include -namespace gnss { +namespace s2e::gnss { #define SP3_BAD_CLOCK_VALUE (999999.999999) #define SP3_BAD_POSITION_VALUE (0.000000) @@ -236,6 +236,6 @@ class Sp3FileReader { Sp3VelocityClockRateCorrelation DecodeVelocityClockRateCorrelation(std::string line); }; -} // namespace gnss +} // namespace s2e::gnss #endif // S2E_LIBRARY_GNSS_SP3_FILE_READER_HPP_ diff --git a/src/math_physics/gnss/test_antex_file_reader.cpp b/src/math_physics/gnss/test_antex_file_reader.cpp index 320c598af..f64af1003 100644 --- a/src/math_physics/gnss/test_antex_file_reader.cpp +++ b/src/math_physics/gnss/test_antex_file_reader.cpp @@ -7,7 +7,7 @@ #include "antex_file_reader.hpp" -using namespace gnss; +using namespace s2e::gnss; /** * @brief Test Constructor diff --git a/src/math_physics/gnss/test_bias_sinex_file_reader.cpp b/src/math_physics/gnss/test_bias_sinex_file_reader.cpp index a681eedcc..c58f7ceae 100644 --- a/src/math_physics/gnss/test_bias_sinex_file_reader.cpp +++ b/src/math_physics/gnss/test_bias_sinex_file_reader.cpp @@ -2,7 +2,7 @@ #include "bias_sinex_file_reader.hpp" -using namespace gnss; +using namespace s2e::gnss; TEST(BiasSinex, Constructor) { // File read error check diff --git a/src/math_physics/gnss/test_gnss_satellite_number.cpp b/src/math_physics/gnss/test_gnss_satellite_number.cpp index 259920e29..0d4cae6f6 100644 --- a/src/math_physics/gnss/test_gnss_satellite_number.cpp +++ b/src/math_physics/gnss/test_gnss_satellite_number.cpp @@ -6,7 +6,7 @@ #include "gnss_satellite_number.hpp" -using namespace gnss; +using namespace s2e::gnss; /** * @brief Test satellite number to index diff --git a/src/math_physics/gnss/test_igs_product_name_handling.cpp b/src/math_physics/gnss/test_igs_product_name_handling.cpp index f1af19529..6b5d40270 100644 --- a/src/math_physics/gnss/test_igs_product_name_handling.cpp +++ b/src/math_physics/gnss/test_igs_product_name_handling.cpp @@ -7,7 +7,7 @@ #include "igs_product_name_handling.hpp" -using namespace gnss; +using namespace s2e::gnss; /** * @brief Test GetOrbitClockFinalFileName diff --git a/src/math_physics/gnss/test_sp3_file_reader.cpp b/src/math_physics/gnss/test_sp3_file_reader.cpp index 9ef514d41..2f9672ab0 100644 --- a/src/math_physics/gnss/test_sp3_file_reader.cpp +++ b/src/math_physics/gnss/test_sp3_file_reader.cpp @@ -6,7 +6,7 @@ #include "sp3_file_reader.hpp" -using namespace gnss; +using namespace s2e::gnss; /** * @brief Test Constructor From 46ceb8574912682ad16feeaf3edfc37b57f6cbcf Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 14 Sep 2024 00:10:13 -0700 Subject: [PATCH 343/456] Rename namespaec gravity to s2e::gravity --- src/disturbances/geopotential.cpp | 2 +- src/disturbances/geopotential.hpp | 2 +- src/disturbances/lunar_gravity_field.cpp | 2 +- src/disturbances/lunar_gravity_field.hpp | 2 +- src/math_physics/gravity/gravity_potential.cpp | 4 ++-- src/math_physics/gravity/gravity_potential.hpp | 4 ++-- src/math_physics/gravity/test_gravity_potential.cpp | 2 +- 7 files changed, 9 insertions(+), 9 deletions(-) diff --git a/src/disturbances/geopotential.cpp b/src/disturbances/geopotential.cpp index 0520730ff..b36df94d4 100644 --- a/src/disturbances/geopotential.cpp +++ b/src/disturbances/geopotential.cpp @@ -43,7 +43,7 @@ Geopotential::Geopotential(const int degree, const std::string file_path, const } } // Initialize GravityPotential - geopotential_ = gravity::GravityPotential(degree, c_, s_); + geopotential_ = s2e::gravity::GravityPotential(degree, c_, s_); } bool Geopotential::ReadCoefficientsEgm96(std::string file_name) { diff --git a/src/disturbances/geopotential.hpp b/src/disturbances/geopotential.hpp index 0f66a463d..0d350caae 100644 --- a/src/disturbances/geopotential.hpp +++ b/src/disturbances/geopotential.hpp @@ -60,7 +60,7 @@ class Geopotential : public Disturbance { virtual std::string GetLogValue() const; private: - gravity::GravityPotential geopotential_; + s2e::gravity::GravityPotential geopotential_; size_t degree_; //!< Maximum degree setting to calculate the geo-potential std::vector> c_; //!< Cosine coefficients std::vector> s_; //!< Sine coefficients diff --git a/src/disturbances/lunar_gravity_field.cpp b/src/disturbances/lunar_gravity_field.cpp index 1baa1319b..781ede97d 100644 --- a/src/disturbances/lunar_gravity_field.cpp +++ b/src/disturbances/lunar_gravity_field.cpp @@ -46,7 +46,7 @@ LunarGravityField::LunarGravityField(const int degree, const std::string file_pa } } // Initialize GravityPotential - lunar_potential_ = gravity::GravityPotential(degree, c_, s_, gravity_constants_km3_s2_ * 1e9, reference_radius_km_ * 1e3); + lunar_potential_ = s2e::gravity::GravityPotential(degree, c_, s_, gravity_constants_km3_s2_ * 1e9, reference_radius_km_ * 1e3); } bool LunarGravityField::ReadCoefficientsGrgm1200a(std::string file_name) { diff --git a/src/disturbances/lunar_gravity_field.hpp b/src/disturbances/lunar_gravity_field.hpp index 0a77b9c4b..dd5f049af 100644 --- a/src/disturbances/lunar_gravity_field.hpp +++ b/src/disturbances/lunar_gravity_field.hpp @@ -62,7 +62,7 @@ class LunarGravityField : public Disturbance { virtual std::string GetLogValue() const; private: - gravity::GravityPotential lunar_potential_; + s2e::gravity::GravityPotential lunar_potential_; double reference_radius_km_; double gravity_constants_km3_s2_; size_t degree_; //!< Maximum degree setting to calculate the geo-potential diff --git a/src/math_physics/gravity/gravity_potential.cpp b/src/math_physics/gravity/gravity_potential.cpp index 6b55c1558..f2adcaa7e 100644 --- a/src/math_physics/gravity/gravity_potential.cpp +++ b/src/math_physics/gravity/gravity_potential.cpp @@ -10,7 +10,7 @@ #include #include -namespace gravity { +namespace s2e::gravity { GravityPotential::GravityPotential(const size_t degree, const std::vector> cosine_coefficients, const std::vector> sine_coefficients, const double gravity_constants_m3_s2, @@ -278,4 +278,4 @@ void GravityPotential::v_w_nm_update(double *v_nm, double *w_nm, const double v_ return; } -} // namespace gravity +} // namespace s2e::gravity diff --git a/src/math_physics/gravity/gravity_potential.hpp b/src/math_physics/gravity/gravity_potential.hpp index 9e25980ba..23d6df4c9 100644 --- a/src/math_physics/gravity/gravity_potential.hpp +++ b/src/math_physics/gravity/gravity_potential.hpp @@ -12,7 +12,7 @@ #include "../math/matrix.hpp" #include "../math/vector.hpp" -namespace gravity { +namespace s2e::gravity { /** * @class GravityPotential @@ -85,6 +85,6 @@ class GravityPotential { void v_w_nm_update(double *v_nm, double *w_nm, const double v_prev, const double w_prev, const double v_prev2, const double w_prev2); }; -} // namespace gravity +} // namespace s2e::gravity #endif // S2E_LIBRARY_GRAVITY_GRAVITY_POTENTIAL_HPP_ diff --git a/src/math_physics/gravity/test_gravity_potential.cpp b/src/math_physics/gravity/test_gravity_potential.cpp index 1c5177463..54717f1c1 100644 --- a/src/math_physics/gravity/test_gravity_potential.cpp +++ b/src/math_physics/gravity/test_gravity_potential.cpp @@ -6,7 +6,7 @@ #include "gravity_potential.hpp" -using namespace gravity; +using namespace s2e::gravity; /** * @brief Test for Acceleration calculation From 5582b4d1c13843964ef66450542c094d1e2b8912 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 14 Sep 2024 00:15:54 -0700 Subject: [PATCH 344/456] Rename namespaec numerical_integration to s2e::numerical_integration --- .../attitude_with_cantilever_vibration.cpp | 2 +- .../attitude_with_cantilever_vibration.hpp | 4 +- ...ode_attitude_with_cantilever_vibration.hpp | 4 +- .../dormand_prince_5.hpp | 4 +- .../dormand_prince_5_implementation.hpp | 4 +- .../embedded_runge_kutta.hpp | 4 +- .../embedded_runge_kutta_implementation.hpp | 4 +- .../numerical_integration/interface_ode.hpp | 4 +- .../numerical_integrator.hpp | 4 +- .../numerical_integrator_manager.hpp | 4 +- .../numerical_integration/ode_examples.hpp | 4 +- .../numerical_integration/runge_kutta.hpp | 4 +- .../numerical_integration/runge_kutta_4.hpp | 4 +- .../runge_kutta_fehlberg.hpp | 4 +- .../runge_kutta_fehlberg_implementation.hpp | 4 +- .../runge_kutta_template.hpp | 4 +- .../test_runge_kutta.cpp | 92 +++++++++---------- 17 files changed, 77 insertions(+), 77 deletions(-) diff --git a/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp b/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp index 47c8cad29..fe58833da 100644 --- a/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp +++ b/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp @@ -15,7 +15,7 @@ AttitudeWithCantileverVibration::AttitudeWithCantileverVibration( const std::string& simulation_object_name) : Attitude(inertia_tensor_kgm2, simulation_object_name), numerical_integrator_(propagation_step_s, attitude_ode_, - numerical_integration::NumericalIntegrationMethod::kRk4) { //!< TODO: Set NumericalIntegrationMethod in *.ini file + s2e::numerical_integration::NumericalIntegrationMethod::kRk4) { //!< TODO: Set NumericalIntegrationMethod in *.ini file angular_velocity_b_rad_s_ = angular_velocity_b_rad_s; quaternion_i2b_ = quaternion_i2b; torque_b_Nm_ = torque_b_Nm; diff --git a/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp b/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp index 95226c473..76a8f974f 100644 --- a/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp +++ b/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp @@ -73,8 +73,8 @@ class AttitudeWithCantileverVibration : public Attitude { s2e::math::Vector<3> angular_velocity_cantilever_rad_s_{0.0}; //!< Angular velocity of the cantilever with respect to the body frame [rad/s] s2e::math::Vector<3> euler_angular_cantilever_rad_{0.0}; //!< Euler angle of the cantilever with respect to the body frame [rad/s] - numerical_integration::AttitudeWithCantileverVibrationOde attitude_ode_; - numerical_integration::NumericalIntegratorManager<13> numerical_integrator_; + s2e::numerical_integration::AttitudeWithCantileverVibrationOde attitude_ode_; + s2e::numerical_integration::NumericalIntegratorManager<13> numerical_integrator_; }; #endif // S2E_DYNAMICS_ATTITUDE_ATTITUDE_WITH_CANTILEVER_VIBRATION_HPP_ diff --git a/src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp b/src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp index 770a586db..f91e2be95 100644 --- a/src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp +++ b/src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp @@ -11,7 +11,7 @@ #include "attitude.hpp" -namespace numerical_integration { +namespace s2e::numerical_integration { /** * @class AttitudeWithCantileverVibrationOde * @brief Class to implement Ordinary Differential Equations for Attitude with Cantilever Vibration @@ -221,6 +221,6 @@ class AttitudeWithCantileverVibrationOde : public InterfaceOde<13> { s2e::math::Matrix<3, 3> inverse_equivalent_inertia_tensor_cantilever_{0.0}; //!< Inverse of inertia tensor of the cantilever }; -} // namespace numerical_integration +} // namespace s2e::numerical_integration #endif // S2E_DYNAMICS_ATTITUDE_ODE_ATTITUDE_WITH_CANTILEVER_VIBRATION_HPP_ diff --git a/src/math_physics/numerical_integration/dormand_prince_5.hpp b/src/math_physics/numerical_integration/dormand_prince_5.hpp index 1c6090d66..90e5fb413 100644 --- a/src/math_physics/numerical_integration/dormand_prince_5.hpp +++ b/src/math_physics/numerical_integration/dormand_prince_5.hpp @@ -11,7 +11,7 @@ #include "embedded_runge_kutta.hpp" -namespace numerical_integration { +namespace s2e::numerical_integration { /** * @class DormandPrince5 @@ -46,7 +46,7 @@ class DormandPrince5 : public EmbeddedRungeKutta { std::vector CalcInterpolationWeights(const double sigma) const; }; -} // namespace numerical_integration +} // namespace s2e::numerical_integration #include "dormand_prince_5_implementation.hpp" diff --git a/src/math_physics/numerical_integration/dormand_prince_5_implementation.hpp b/src/math_physics/numerical_integration/dormand_prince_5_implementation.hpp index 4190202b4..3dc53411c 100644 --- a/src/math_physics/numerical_integration/dormand_prince_5_implementation.hpp +++ b/src/math_physics/numerical_integration/dormand_prince_5_implementation.hpp @@ -11,7 +11,7 @@ #include "dormand_prince_5.hpp" -namespace numerical_integration { +namespace s2e::numerical_integration { template DormandPrince5::DormandPrince5(const double step_width, const InterfaceOde& ode) : EmbeddedRungeKutta(step_width, ode) { @@ -149,6 +149,6 @@ std::vector DormandPrince5::CalcInterpolationWeights(const double sig return interpolation_weights; } -} // namespace numerical_integration +} // namespace s2e::numerical_integration #endif // S2E_LIBRARY_NUMERICAL_INTEGRATION_DORMAND_PRINCE_5_IMPLEMENTATION_HPP_ diff --git a/src/math_physics/numerical_integration/embedded_runge_kutta.hpp b/src/math_physics/numerical_integration/embedded_runge_kutta.hpp index 5e6fd605c..c453fc606 100644 --- a/src/math_physics/numerical_integration/embedded_runge_kutta.hpp +++ b/src/math_physics/numerical_integration/embedded_runge_kutta.hpp @@ -8,7 +8,7 @@ #include "runge_kutta.hpp" -namespace numerical_integration { +namespace s2e::numerical_integration { /** * @class EmbeddedRungeKutta @@ -51,7 +51,7 @@ class EmbeddedRungeKutta : public RungeKutta { double local_truncation_error_; //!< Norm of estimated local truncation error }; -} // namespace numerical_integration +} // namespace s2e::numerical_integration #include "embedded_runge_kutta_implementation.hpp" diff --git a/src/math_physics/numerical_integration/embedded_runge_kutta_implementation.hpp b/src/math_physics/numerical_integration/embedded_runge_kutta_implementation.hpp index dfed2e7e1..1a73d0775 100644 --- a/src/math_physics/numerical_integration/embedded_runge_kutta_implementation.hpp +++ b/src/math_physics/numerical_integration/embedded_runge_kutta_implementation.hpp @@ -7,7 +7,7 @@ #include "embedded_runge_kutta.hpp" -namespace numerical_integration { +namespace s2e::numerical_integration { template void EmbeddedRungeKutta::Integrate() { @@ -37,6 +37,6 @@ void EmbeddedRungeKutta::ControlStepWidth(const double error_tolerance) { this->step_width_ = updated_step_width; } -} // namespace numerical_integration +} // namespace s2e::numerical_integration #endif // S2E_LIBRARY_NUMERICAL_INTEGRATION_EMBEDDED_RUNGE_KUTTA_IMPLEMENTATION_HPP_ diff --git a/src/math_physics/numerical_integration/interface_ode.hpp b/src/math_physics/numerical_integration/interface_ode.hpp index 213598675..a050119b9 100644 --- a/src/math_physics/numerical_integration/interface_ode.hpp +++ b/src/math_physics/numerical_integration/interface_ode.hpp @@ -8,7 +8,7 @@ #include "../math/vector.hpp" -namespace numerical_integration { +namespace s2e::numerical_integration { /** * @class InterfaceOde @@ -27,6 +27,6 @@ class InterfaceOde { virtual s2e::math::Vector DerivativeFunction(const double independent_variable, const s2e::math::Vector& state) const = 0; }; -} // namespace numerical_integration +} // namespace s2e::numerical_integration #endif // S2E_LIBRARY_NUMERICAL_INTEGRATION_INTERFACE_ODE_HPP_ diff --git a/src/math_physics/numerical_integration/numerical_integrator.hpp b/src/math_physics/numerical_integration/numerical_integrator.hpp index 83d78e85a..e125ec810 100644 --- a/src/math_physics/numerical_integration/numerical_integrator.hpp +++ b/src/math_physics/numerical_integration/numerical_integrator.hpp @@ -11,7 +11,7 @@ #include "../math/vector.hpp" #include "interface_ode.hpp" -namespace numerical_integration { +namespace s2e::numerical_integration { /** * @class NumericalIntegrator @@ -75,6 +75,6 @@ class NumericalIntegrator { s2e::math::Vector previous_state_; //!< Previous state vector }; -} // namespace numerical_integration +} // namespace s2e::numerical_integration #endif // S2E_LIBRARY_NUMERICAL_INTEGRATION_NUMERICAL_INTEGRATOR_HPP_ diff --git a/src/math_physics/numerical_integration/numerical_integrator_manager.hpp b/src/math_physics/numerical_integration/numerical_integrator_manager.hpp index 8869f82b6..c37d3b375 100644 --- a/src/math_physics/numerical_integration/numerical_integrator_manager.hpp +++ b/src/math_physics/numerical_integration/numerical_integrator_manager.hpp @@ -12,7 +12,7 @@ #include "runge_kutta_4.hpp" #include "runge_kutta_fehlberg.hpp" -namespace numerical_integration { +namespace s2e::numerical_integration { /** * @enum NumericalIntegrationMethod @@ -62,6 +62,6 @@ class NumericalIntegratorManager { std::shared_ptr> integrator_; }; -} // namespace numerical_integration +} // namespace s2e::numerical_integration #endif // S2E_LIBRARY_NUMERICAL_INTEGRATION_NUMERICAL_INTEGRATION_HPP_ diff --git a/src/math_physics/numerical_integration/ode_examples.hpp b/src/math_physics/numerical_integration/ode_examples.hpp index e6f7e3616..f248f3d3b 100644 --- a/src/math_physics/numerical_integration/ode_examples.hpp +++ b/src/math_physics/numerical_integration/ode_examples.hpp @@ -9,7 +9,7 @@ #include "../../utilities/macros.hpp" #include "interface_ode.hpp" -namespace numerical_integration { +namespace s2e::numerical_integration { class ExampleLinearOde : public InterfaceOde<1> { public: @@ -86,6 +86,6 @@ class Example2dTwoBodyOrbitOde : public InterfaceOde<4> { } }; -} // namespace numerical_integration +} // namespace s2e::numerical_integration #endif // S2E_LIBRARY_NUMERICAL_INTEGRATION_EXAMPLE_ODE_HPP_s diff --git a/src/math_physics/numerical_integration/runge_kutta.hpp b/src/math_physics/numerical_integration/runge_kutta.hpp index 333d3cc4a..2bb9a2505 100644 --- a/src/math_physics/numerical_integration/runge_kutta.hpp +++ b/src/math_physics/numerical_integration/runge_kutta.hpp @@ -9,7 +9,7 @@ #include "numerical_integrator.hpp" -namespace numerical_integration { +namespace s2e::numerical_integration { /** * @class RungeKutta @@ -55,7 +55,7 @@ class RungeKutta : public NumericalIntegrator { void CalcSlope(); }; -} // namespace numerical_integration +} // namespace s2e::numerical_integration #include "runge_kutta_template.hpp" diff --git a/src/math_physics/numerical_integration/runge_kutta_4.hpp b/src/math_physics/numerical_integration/runge_kutta_4.hpp index 47fc6b6b5..d52106039 100644 --- a/src/math_physics/numerical_integration/runge_kutta_4.hpp +++ b/src/math_physics/numerical_integration/runge_kutta_4.hpp @@ -10,7 +10,7 @@ #include "runge_kutta.hpp" -namespace numerical_integration { +namespace s2e::numerical_integration { /** * @class RungeKutta4 @@ -51,6 +51,6 @@ class RungeKutta4 : public RungeKutta { } }; -} // namespace numerical_integration +} // namespace s2e::numerical_integration #endif // S2E_LIBRARY_NUMERICAL_INTEGRATION_RUNGE_KUTTA_4_HPP_ diff --git a/src/math_physics/numerical_integration/runge_kutta_fehlberg.hpp b/src/math_physics/numerical_integration/runge_kutta_fehlberg.hpp index 16974368f..e22c969eb 100644 --- a/src/math_physics/numerical_integration/runge_kutta_fehlberg.hpp +++ b/src/math_physics/numerical_integration/runge_kutta_fehlberg.hpp @@ -8,7 +8,7 @@ #include "embedded_runge_kutta.hpp" -namespace numerical_integration { +namespace s2e::numerical_integration { /** * @class RungeKuttaFehlberg @@ -41,7 +41,7 @@ class RungeKuttaFehlberg : public EmbeddedRungeKutta { std::vector CalcInterpolationWeights(const double sigma) const; }; -} // namespace numerical_integration +} // namespace s2e::numerical_integration #include "runge_kutta_fehlberg_implementation.hpp" diff --git a/src/math_physics/numerical_integration/runge_kutta_fehlberg_implementation.hpp b/src/math_physics/numerical_integration/runge_kutta_fehlberg_implementation.hpp index 04d5f8027..5ccfe3941 100644 --- a/src/math_physics/numerical_integration/runge_kutta_fehlberg_implementation.hpp +++ b/src/math_physics/numerical_integration/runge_kutta_fehlberg_implementation.hpp @@ -8,7 +8,7 @@ #include "runge_kutta_fehlberg.hpp" -namespace numerical_integration { +namespace s2e::numerical_integration { template RungeKuttaFehlberg::RungeKuttaFehlberg(const double step_width, const InterfaceOde& ode) : EmbeddedRungeKutta(step_width, ode) { @@ -96,6 +96,6 @@ std::vector RungeKuttaFehlberg::CalcInterpolationWeights(const double return interpolation_weights; } -} // namespace numerical_integration +} // namespace s2e::numerical_integration #endif // S2E_LIBRARY_NUMERICAL_INTEGRATION_RUNGE_KUTTA_FEHLBERG_IMPLEMENTATION_HPP_ diff --git a/src/math_physics/numerical_integration/runge_kutta_template.hpp b/src/math_physics/numerical_integration/runge_kutta_template.hpp index 577b24639..296fe302f 100644 --- a/src/math_physics/numerical_integration/runge_kutta_template.hpp +++ b/src/math_physics/numerical_integration/runge_kutta_template.hpp @@ -7,7 +7,7 @@ #include "./runge_kutta.hpp" -namespace numerical_integration { +namespace s2e::numerical_integration { template void RungeKutta::Integrate() { @@ -34,6 +34,6 @@ void RungeKutta::CalcSlope() { } } -} // namespace numerical_integration +} // namespace s2e::numerical_integration #endif // S2E_LIBRARY_NUMERICAL_INTEGRATION_RUNGE_KUTTA_TEMPLATE_HPP_ diff --git a/src/math_physics/numerical_integration/test_runge_kutta.cpp b/src/math_physics/numerical_integration/test_runge_kutta.cpp index d6ab81d28..3f66d0471 100644 --- a/src/math_physics/numerical_integration/test_runge_kutta.cpp +++ b/src/math_physics/numerical_integration/test_runge_kutta.cpp @@ -15,8 +15,8 @@ * @brief Test for constructor */ TEST(NUMERICAL_INTEGRATION, Constructor) { - numerical_integration::ExampleLinearOde ode; - numerical_integration::RungeKutta4<1> linear_ode(0.1, ode); + s2e::numerical_integration::ExampleLinearOde ode; + s2e::numerical_integration::RungeKutta4<1> linear_ode(0.1, ode); s2e::math::Vector<1> state = linear_ode.GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); @@ -27,8 +27,8 @@ TEST(NUMERICAL_INTEGRATION, Constructor) { */ TEST(NUMERICAL_INTEGRATION, IntegrateLinearRk4) { double step_width_s = 0.1; - numerical_integration::ExampleLinearOde ode; - numerical_integration::RungeKutta4<1> rk4_ode(step_width_s, ode); + s2e::numerical_integration::ExampleLinearOde ode; + s2e::numerical_integration::RungeKutta4<1> rk4_ode(step_width_s, ode); s2e::math::Vector<1> state = rk4_ode.GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); @@ -48,8 +48,8 @@ TEST(NUMERICAL_INTEGRATION, IntegrateLinearRk4) { */ TEST(NUMERICAL_INTEGRATION, IntegrateLinearRkf) { double step_width_s = 0.1; - numerical_integration::ExampleLinearOde ode; - numerical_integration::RungeKuttaFehlberg<1> rkf_ode(step_width_s, ode); + s2e::numerical_integration::ExampleLinearOde ode; + s2e::numerical_integration::RungeKuttaFehlberg<1> rkf_ode(step_width_s, ode); s2e::math::Vector<1> state = rkf_ode.GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); @@ -69,8 +69,8 @@ TEST(NUMERICAL_INTEGRATION, IntegrateLinearRkf) { */ TEST(NUMERICAL_INTEGRATION, IntegrateLinearDp5) { double step_width_s = 0.1; - numerical_integration::ExampleLinearOde ode; - numerical_integration::DormandPrince5<1> dp5_ode(step_width_s, ode); + s2e::numerical_integration::ExampleLinearOde ode; + s2e::numerical_integration::DormandPrince5<1> dp5_ode(step_width_s, ode); s2e::math::Vector<1> state = dp5_ode.GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); @@ -90,8 +90,8 @@ TEST(NUMERICAL_INTEGRATION, IntegrateLinearDp5) { */ TEST(NUMERICAL_INTEGRATION, IntegrateLinearNumericalIntegratorManagerRk4) { double step_width_s = 0.1; - numerical_integration::ExampleLinearOde ode; - numerical_integration::NumericalIntegratorManager<1> numerical_integrator(step_width_s, ode); + s2e::numerical_integration::ExampleLinearOde ode; + s2e::numerical_integration::NumericalIntegratorManager<1> numerical_integrator(step_width_s, ode); s2e::math::Vector<1> state = numerical_integrator.GetIntegrator()->GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); @@ -111,9 +111,9 @@ TEST(NUMERICAL_INTEGRATION, IntegrateLinearNumericalIntegratorManagerRk4) { */ TEST(NUMERICAL_INTEGRATION, IntegrateLinearNumericalIntegratorManagerRkf) { double step_width_s = 0.1; - numerical_integration::ExampleLinearOde ode; - numerical_integration::NumericalIntegratorManager<1> numerical_integrator(step_width_s, ode, - numerical_integration::NumericalIntegrationMethod::kRkf); + s2e::numerical_integration::ExampleLinearOde ode; + s2e::numerical_integration::NumericalIntegratorManager<1> numerical_integrator(step_width_s, ode, + s2e::numerical_integration::NumericalIntegrationMethod::kRkf); s2e::math::Vector<1> state = numerical_integrator.GetIntegrator()->GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); @@ -137,9 +137,9 @@ TEST(NUMERICAL_INTEGRATION, IntegrateLinearNumericalIntegratorManagerRkf) { */ TEST(NUMERICAL_INTEGRATION, IntegrateLinearNumericalIntegratorManagerDp5) { double step_width_s = 0.1; - numerical_integration::ExampleLinearOde ode; - numerical_integration::NumericalIntegratorManager<1> numerical_integrator(step_width_s, ode, - numerical_integration::NumericalIntegrationMethod::kDp5); + s2e::numerical_integration::ExampleLinearOde ode; + s2e::numerical_integration::NumericalIntegratorManager<1> numerical_integrator(step_width_s, ode, + s2e::numerical_integration::NumericalIntegrationMethod::kDp5); s2e::math::Vector<1> state = numerical_integrator.GetIntegrator()->GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); @@ -163,8 +163,8 @@ TEST(NUMERICAL_INTEGRATION, IntegrateLinearNumericalIntegratorManagerDp5) { */ TEST(NUMERICAL_INTEGRATION, IntegrateQuadraticRk4) { double step_width_s = 0.1; - numerical_integration::ExampleQuadraticOde ode; - numerical_integration::RungeKutta4<1> rk4_ode(step_width_s, ode); + s2e::numerical_integration::ExampleQuadraticOde ode; + s2e::numerical_integration::RungeKutta4<1> rk4_ode(step_width_s, ode); s2e::math::Vector<1> state = rk4_ode.GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); @@ -184,8 +184,8 @@ TEST(NUMERICAL_INTEGRATION, IntegrateQuadraticRk4) { */ TEST(NUMERICAL_INTEGRATION, IntegrateQuadraticRkf) { double step_width_s = 0.1; - numerical_integration::ExampleQuadraticOde ode; - numerical_integration::RungeKuttaFehlberg<1> rkf_ode(step_width_s, ode); + s2e::numerical_integration::ExampleQuadraticOde ode; + s2e::numerical_integration::RungeKuttaFehlberg<1> rkf_ode(step_width_s, ode); s2e::math::Vector<1> state = rkf_ode.GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); @@ -205,8 +205,8 @@ TEST(NUMERICAL_INTEGRATION, IntegrateQuadraticRkf) { */ TEST(NUMERICAL_INTEGRATION, InterpolationQuadraticRkf) { double step_width_s = 10.0; - numerical_integration::ExampleQuadraticOde ode; - numerical_integration::RungeKuttaFehlberg<1> rkf_ode(step_width_s, ode); + s2e::numerical_integration::ExampleQuadraticOde ode; + s2e::numerical_integration::RungeKuttaFehlberg<1> rkf_ode(step_width_s, ode); s2e::math::Vector<1> state = rkf_ode.GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); @@ -234,8 +234,8 @@ TEST(NUMERICAL_INTEGRATION, InterpolationQuadraticRkf) { */ TEST(NUMERICAL_INTEGRATION, IntegrateQuadraticDp5) { double step_width_s = 0.1; - numerical_integration::ExampleQuadraticOde ode; - numerical_integration::DormandPrince5<1> dp5_ode(step_width_s, ode); + s2e::numerical_integration::ExampleQuadraticOde ode; + s2e::numerical_integration::DormandPrince5<1> dp5_ode(step_width_s, ode); s2e::math::Vector<1> state = dp5_ode.GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); @@ -255,8 +255,8 @@ TEST(NUMERICAL_INTEGRATION, IntegrateQuadraticDp5) { */ TEST(NUMERICAL_INTEGRATION, InterpolationQuadraticDp5) { double step_width_s = 10.0; - numerical_integration::ExampleQuadraticOde ode; - numerical_integration::DormandPrince5<1> dp5_ode(step_width_s, ode); + s2e::numerical_integration::ExampleQuadraticOde ode; + s2e::numerical_integration::DormandPrince5<1> dp5_ode(step_width_s, ode); s2e::math::Vector<1> state = dp5_ode.GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); @@ -284,8 +284,8 @@ TEST(NUMERICAL_INTEGRATION, InterpolationQuadraticDp5) { */ TEST(NUMERICAL_INTEGRATION, Integrate1dPositionVelocityRk4) { double step_width_s = 0.1; - numerical_integration::Example1dPositionVelocityOde ode; - numerical_integration::RungeKutta4<2> rk4_ode(step_width_s, ode); + s2e::numerical_integration::Example1dPositionVelocityOde ode; + s2e::numerical_integration::RungeKutta4<2> rk4_ode(step_width_s, ode); s2e::math::Vector<2> initial_state(0.0); initial_state[0] = 0.0; @@ -314,8 +314,8 @@ TEST(NUMERICAL_INTEGRATION, Integrate1dPositionVelocityRk4) { */ TEST(NUMERICAL_INTEGRATION, Integrate1dPositionVelocityRkf) { double step_width_s = 0.1; - numerical_integration::Example1dPositionVelocityOde ode; - numerical_integration::RungeKuttaFehlberg<2> rkf_ode(step_width_s, ode); + s2e::numerical_integration::Example1dPositionVelocityOde ode; + s2e::numerical_integration::RungeKuttaFehlberg<2> rkf_ode(step_width_s, ode); s2e::math::Vector<2> initial_state(0.0); initial_state[0] = 0.0; @@ -344,8 +344,8 @@ TEST(NUMERICAL_INTEGRATION, Integrate1dPositionVelocityRkf) { */ TEST(NUMERICAL_INTEGRATION, Integrate1dPositionVelocityDp5) { double step_width_s = 0.1; - numerical_integration::Example1dPositionVelocityOde ode; - numerical_integration::DormandPrince5<2> dp5_ode(step_width_s, ode); + s2e::numerical_integration::Example1dPositionVelocityOde ode; + s2e::numerical_integration::DormandPrince5<2> dp5_ode(step_width_s, ode); s2e::math::Vector<2> initial_state(0.0); initial_state[0] = 0.0; @@ -374,10 +374,10 @@ TEST(NUMERICAL_INTEGRATION, Integrate1dPositionVelocityDp5) { */ TEST(NUMERICAL_INTEGRATION, Integrate2dTwoBodyOrbitSmallEccentricity) { double step_width_s = 0.1; - numerical_integration::Example2dTwoBodyOrbitOde ode; - numerical_integration::RungeKutta4<4> rk4_ode(step_width_s, ode); - numerical_integration::RungeKuttaFehlberg<4> rkf_ode(step_width_s, ode); - numerical_integration::DormandPrince5<4> dp5_ode(step_width_s, ode); + s2e::numerical_integration::Example2dTwoBodyOrbitOde ode; + s2e::numerical_integration::RungeKutta4<4> rk4_ode(step_width_s, ode); + s2e::numerical_integration::RungeKuttaFehlberg<4> rkf_ode(step_width_s, ode); + s2e::numerical_integration::DormandPrince5<4> dp5_ode(step_width_s, ode); s2e::math::Vector<4> initial_state(0.0); const double eccentricity = 0.1; @@ -444,10 +444,10 @@ TEST(NUMERICAL_INTEGRATION, Integrate2dTwoBodyOrbitSmallEccentricity) { */ TEST(NUMERICAL_INTEGRATION, Integrate2dTwoBodyOrbitLargeEccentricity) { double step_width_s = 0.01; - numerical_integration::Example2dTwoBodyOrbitOde ode; - numerical_integration::RungeKutta4<4> rk4_ode(step_width_s, ode); - numerical_integration::RungeKuttaFehlberg<4> rkf_ode(step_width_s, ode); - numerical_integration::DormandPrince5<4> dp5_ode(step_width_s, ode); + s2e::numerical_integration::Example2dTwoBodyOrbitOde ode; + s2e::numerical_integration::RungeKutta4<4> rk4_ode(step_width_s, ode); + s2e::numerical_integration::RungeKuttaFehlberg<4> rkf_ode(step_width_s, ode); + s2e::numerical_integration::DormandPrince5<4> dp5_ode(step_width_s, ode); s2e::math::Vector<4> initial_state(0.0); const double eccentricity = 0.9; @@ -514,9 +514,9 @@ TEST(NUMERICAL_INTEGRATION, Integrate2dTwoBodyOrbitLargeEccentricity) { */ TEST(NUMERICAL_INTEGRATION, Interpolation2dTwoBodyOrbitSmallEccentricity) { double step_width_s = 1.0; - numerical_integration::Example2dTwoBodyOrbitOde ode; - numerical_integration::RungeKuttaFehlberg<4> rkf_ode(step_width_s, ode); - numerical_integration::DormandPrince5<4> dp5_ode(step_width_s, ode); + s2e::numerical_integration::Example2dTwoBodyOrbitOde ode; + s2e::numerical_integration::RungeKuttaFehlberg<4> rkf_ode(step_width_s, ode); + s2e::numerical_integration::DormandPrince5<4> dp5_ode(step_width_s, ode); s2e::math::Vector<4> initial_state(0.0); const double eccentricity = 0.1; @@ -609,9 +609,9 @@ TEST(NUMERICAL_INTEGRATION, Interpolation2dTwoBodyOrbitSmallEccentricity) { */ TEST(NUMERICAL_INTEGRATION, Interpolation2dTwoBodyOrbitLargeEccentricity) { double step_width_s = 0.01; - numerical_integration::Example2dTwoBodyOrbitOde ode; - numerical_integration::RungeKuttaFehlberg<4> rkf_ode(step_width_s, ode); - numerical_integration::DormandPrince5<4> dp5_ode(step_width_s, ode); + s2e::numerical_integration::Example2dTwoBodyOrbitOde ode; + s2e::numerical_integration::RungeKuttaFehlberg<4> rkf_ode(step_width_s, ode); + s2e::numerical_integration::DormandPrince5<4> dp5_ode(step_width_s, ode); s2e::math::Vector<4> initial_state(0.0); const double eccentricity = 0.8; From 4727707772b9d1ada8c83a8cf08c048b2a6592de Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 14 Sep 2024 00:18:08 -0700 Subject: [PATCH 345/456] Rename namespaec optics to s2e::optics --- src/math_physics/optics/gaussian_beam_base.cpp | 4 ++-- src/math_physics/optics/gaussian_beam_base.hpp | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/src/math_physics/optics/gaussian_beam_base.cpp b/src/math_physics/optics/gaussian_beam_base.cpp index 3b558612d..0cfc5e40b 100644 --- a/src/math_physics/optics/gaussian_beam_base.cpp +++ b/src/math_physics/optics/gaussian_beam_base.cpp @@ -8,7 +8,7 @@ #include #include -namespace optics { +namespace s2e::optics { GaussianBeamBase::GaussianBeamBase(double wavelength_m, double radius_beam_waist_m, double total_power_W) : wavelength_m_(wavelength_m), radius_beam_waist_m_(radius_beam_waist_m), total_power_W_(total_power_W) {} @@ -49,4 +49,4 @@ double GaussianBeamBase::CalcIntensity_W_m2(double distance_from_beam_waist_m, d return intensity_W_m2; } -} // namespace optics +} // namespace s2e::optics diff --git a/src/math_physics/optics/gaussian_beam_base.hpp b/src/math_physics/optics/gaussian_beam_base.hpp index 010d4bb31..f9fd71432 100644 --- a/src/math_physics/optics/gaussian_beam_base.hpp +++ b/src/math_physics/optics/gaussian_beam_base.hpp @@ -8,7 +8,7 @@ #include "../math/vector.hpp" -namespace optics { +namespace s2e::optics { /** * @class GaussianBeamBase @@ -109,6 +109,6 @@ class GaussianBeamBase { s2e::math::Vector<3> position_beam_waist_i_m_{0.0}; //!< Position of beam waist in the inertial frame [m] (Not used?) }; -} // namespace optics +} // namespace s2e::optics #endif // S2E_LIBRARY_OPTICS_GAUSSIAN_BEAM_BASE_HPP_ From 6d641f1f685645a4475cfa381a52cf26f97141cc Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 14 Sep 2024 00:19:56 -0700 Subject: [PATCH 346/456] Rename namespaec orbit to s2e::orbit --- src/dynamics/orbit/encke_orbit_propagation.cpp | 4 ++-- src/dynamics/orbit/encke_orbit_propagation.hpp | 2 +- src/dynamics/orbit/initialize_orbit.cpp | 16 ++++++++-------- src/dynamics/orbit/kepler_orbit_propagation.hpp | 4 ++-- src/dynamics/orbit/relative_orbit.cpp | 16 ++++++++-------- src/dynamics/orbit/relative_orbit.hpp | 10 +++++----- src/environment/global/gnss_satellites.cpp | 2 +- src/environment/global/gnss_satellites.hpp | 2 +- .../numerical_integration/test_runge_kutta.cpp | 16 ++++++++-------- src/math_physics/orbit/interpolation_orbit.cpp | 4 ++-- src/math_physics/orbit/interpolation_orbit.hpp | 4 ++-- src/math_physics/orbit/kepler_orbit.cpp | 4 ++-- src/math_physics/orbit/kepler_orbit.hpp | 4 ++-- src/math_physics/orbit/orbital_elements.cpp | 4 ++-- src/math_physics/orbit/orbital_elements.hpp | 4 ++-- src/math_physics/orbit/relative_orbit_models.cpp | 4 ++-- src/math_physics/orbit/relative_orbit_models.hpp | 4 ++-- .../orbit/test_interpolation_orbit.cpp | 2 +- 18 files changed, 53 insertions(+), 53 deletions(-) diff --git a/src/dynamics/orbit/encke_orbit_propagation.cpp b/src/dynamics/orbit/encke_orbit_propagation.cpp index ccdbc265d..e25abbde4 100644 --- a/src/dynamics/orbit/encke_orbit_propagation.cpp +++ b/src/dynamics/orbit/encke_orbit_propagation.cpp @@ -90,8 +90,8 @@ void EnckeOrbitPropagation::Initialize(double current_time_jd, s2e::math::Vector // reference orbit reference_position_i_m_ = reference_position_i_m; reference_velocity_i_m_s_ = reference_velocity_i_m_s; - orbit::OrbitalElements oe_ref(gravity_constant_m3_s2_, current_time_jd, reference_position_i_m, reference_velocity_i_m_s); - reference_kepler_orbit = orbit::KeplerOrbit(gravity_constant_m3_s2_, oe_ref); + s2e::orbit::OrbitalElements oe_ref(gravity_constant_m3_s2_, current_time_jd, reference_position_i_m, reference_velocity_i_m_s); + reference_kepler_orbit = s2e::orbit::KeplerOrbit(gravity_constant_m3_s2_, oe_ref); // difference orbit difference_position_i_m_.FillUp(0.0); diff --git a/src/dynamics/orbit/encke_orbit_propagation.hpp b/src/dynamics/orbit/encke_orbit_propagation.hpp index e5ad30c75..a43db4e93 100644 --- a/src/dynamics/orbit/encke_orbit_propagation.hpp +++ b/src/dynamics/orbit/encke_orbit_propagation.hpp @@ -65,7 +65,7 @@ class EnckeOrbitPropagation : public Orbit, public s2e::math::OrdinaryDifferenti // reference orbit s2e::math::Vector<3> reference_position_i_m_; //!< Reference orbit position in the inertial frame [m] s2e::math::Vector<3> reference_velocity_i_m_s_; //!< Reference orbit velocity in the inertial frame [m/s] - orbit::KeplerOrbit reference_kepler_orbit; //!< Reference Kepler orbital element + s2e::orbit::KeplerOrbit reference_kepler_orbit; //!< Reference Kepler orbital element // difference orbit s2e::math::Vector<3> difference_position_i_m_; //!< Difference orbit position in the inertial frame [m] diff --git a/src/dynamics/orbit/initialize_orbit.cpp b/src/dynamics/orbit/initialize_orbit.cpp index 80252658b..9d071761f 100644 --- a/src/dynamics/orbit/initialize_orbit.cpp +++ b/src/dynamics/orbit/initialize_orbit.cpp @@ -46,8 +46,8 @@ Orbit* InitOrbit(const CelestialInformation* celestial_information, std::string // initialize orbit for relative dynamics of formation flying RelativeOrbit::RelativeOrbitUpdateMethod update_method = (RelativeOrbit::RelativeOrbitUpdateMethod)(conf.ReadInt(section_, "relative_orbit_update_method")); - orbit::RelativeOrbitModel relative_dynamics_model_type = (orbit::RelativeOrbitModel)(conf.ReadInt(section_, "relative_dynamics_model_type")); - orbit::StmModel stm_model_type = (orbit::StmModel)(conf.ReadInt(section_, "stm_model_type")); + s2e::orbit::RelativeOrbitModel relative_dynamics_model_type = (s2e::orbit::RelativeOrbitModel)(conf.ReadInt(section_, "relative_dynamics_model_type")); + s2e::orbit::StmModel stm_model_type = (s2e::orbit::StmModel)(conf.ReadInt(section_, "stm_model_type")); s2e::math::Vector<3> init_relative_position_lvlh; conf.ReadVector<3>(section_, "initial_relative_position_lvlh_m", init_relative_position_lvlh); @@ -62,7 +62,7 @@ Orbit* InitOrbit(const CelestialInformation* celestial_information, std::string init_relative_velocity_lvlh, update_method, relative_dynamics_model_type, stm_model_type, relative_information); } else if (propagate_mode == "KEPLER") { // initialize orbit for Kepler propagation - orbit::OrbitalElements oe; + s2e::orbit::OrbitalElements oe; // TODO: init_mode_kepler should be removed in the next major update if (initialize_mode == OrbitInitializeMode::kInertialPositionAndVelocity) { // initialize with position and velocity @@ -70,7 +70,7 @@ Orbit* InitOrbit(const CelestialInformation* celestial_information, std::string conf.ReadVector<3>(section_, "initial_position_i_m", init_pos_m); s2e::math::Vector<3> init_vel_m_s; conf.ReadVector<3>(section_, "initial_velocity_i_m_s", init_vel_m_s); - oe = orbit::OrbitalElements(gravity_constant_m3_s2, current_time_jd, init_pos_m, init_vel_m_s); + oe = s2e::orbit::OrbitalElements(gravity_constant_m3_s2, current_time_jd, init_pos_m, init_vel_m_s); } else { // initialize with orbital elements double semi_major_axis_m = conf.ReadDouble(section_, "semi_major_axis_m"); @@ -79,9 +79,9 @@ Orbit* InitOrbit(const CelestialInformation* celestial_information, std::string double raan_rad = conf.ReadDouble(section_, "raan_rad"); double arg_perigee_rad = conf.ReadDouble(section_, "argument_of_perigee_rad"); double epoch_jday = conf.ReadDouble(section_, "epoch_jday"); - oe = orbit::OrbitalElements(epoch_jday, semi_major_axis_m, eccentricity, inclination_rad, raan_rad, arg_perigee_rad); + oe = s2e::orbit::OrbitalElements(epoch_jday, semi_major_axis_m, eccentricity, inclination_rad, raan_rad, arg_perigee_rad); } - orbit::KeplerOrbit kepler_orbit(gravity_constant_m3_s2, oe); + s2e::orbit::KeplerOrbit kepler_orbit(gravity_constant_m3_s2, oe); orbit = new KeplerOrbitPropagation(celestial_information, current_time_jd, kepler_orbit); } else if (propagate_mode == "ENCKE") { // initialize orbit for Encke's method @@ -130,8 +130,8 @@ s2e::math::Vector<6> InitializePosVel(std::string initialize_file, double curren double raan_rad = conf.ReadDouble(section_, "raan_rad"); double arg_perigee_rad = conf.ReadDouble(section_, "argument_of_perigee_rad"); double epoch_jday = conf.ReadDouble(section_, "epoch_jday"); - orbit::OrbitalElements oe(epoch_jday, semi_major_axis_m, eccentricity, inclination_rad, raan_rad, arg_perigee_rad); - orbit::KeplerOrbit kepler_orbit(gravity_constant_m3_s2, oe); + s2e::orbit::OrbitalElements oe(epoch_jday, semi_major_axis_m, eccentricity, inclination_rad, raan_rad, arg_perigee_rad); + s2e::orbit::KeplerOrbit kepler_orbit(gravity_constant_m3_s2, oe); kepler_orbit.CalcOrbit(current_time_jd); position_i_m = kepler_orbit.GetPosition_i_m(); diff --git a/src/dynamics/orbit/kepler_orbit_propagation.hpp b/src/dynamics/orbit/kepler_orbit_propagation.hpp index ec93197ab..9604c4bc1 100644 --- a/src/dynamics/orbit/kepler_orbit_propagation.hpp +++ b/src/dynamics/orbit/kepler_orbit_propagation.hpp @@ -13,7 +13,7 @@ * @class KeplerOrbitPropagation * @brief Class to propagate spacecraft orbit with Kepler equation */ -class KeplerOrbitPropagation : public Orbit, public orbit::KeplerOrbit { +class KeplerOrbitPropagation : public Orbit, public s2e::orbit::KeplerOrbit { public: // Initialize with orbital elements /** @@ -23,7 +23,7 @@ class KeplerOrbitPropagation : public Orbit, public orbit::KeplerOrbit { * @param [in] current_time_jd: Current Julian day [day] * @param [in] kepler_orbit: Kepler orbit */ - KeplerOrbitPropagation(const CelestialInformation* celestial_information, const double current_time_jd, orbit::KeplerOrbit kepler_orbit); + KeplerOrbitPropagation(const CelestialInformation* celestial_information, const double current_time_jd, s2e::orbit::KeplerOrbit kepler_orbit); /** * @fn ~KeplerOrbitPropagation * @brief Destructor diff --git a/src/dynamics/orbit/relative_orbit.cpp b/src/dynamics/orbit/relative_orbit.cpp index 831e8d763..5e6065776 100644 --- a/src/dynamics/orbit/relative_orbit.cpp +++ b/src/dynamics/orbit/relative_orbit.cpp @@ -10,8 +10,8 @@ RelativeOrbit::RelativeOrbit(const CelestialInformation* celestial_information, double gravity_constant_m3_s2, double time_step_s, int reference_spacecraft_id, s2e::math::Vector<3> relative_position_lvlh_m, s2e::math::Vector<3> relative_velocity_lvlh_m_s, - RelativeOrbitUpdateMethod update_method, orbit::RelativeOrbitModel relative_dynamics_model_type, - orbit::StmModel stm_model_type, RelativeInformation* relative_information) + RelativeOrbitUpdateMethod update_method, s2e::orbit::RelativeOrbitModel relative_dynamics_model_type, + s2e::orbit::StmModel stm_model_type, RelativeInformation* relative_information) : Orbit(celestial_information), s2e::math::OrdinaryDifferentialEquation<6>(time_step_s), gravity_constant_m3_s2_(gravity_constant_m3_s2), @@ -66,12 +66,12 @@ void RelativeOrbit::InitializeState(s2e::math::Vector<3> relative_position_lvlh_ TransformEcefToGeodetic(); } -void RelativeOrbit::CalculateSystemMatrix(orbit::RelativeOrbitModel relative_dynamics_model_type, const Orbit* reference_sat_orbit, +void RelativeOrbit::CalculateSystemMatrix(s2e::orbit::RelativeOrbitModel relative_dynamics_model_type, const Orbit* reference_sat_orbit, double gravity_constant_m3_s2) { switch (relative_dynamics_model_type) { - case orbit::RelativeOrbitModel::kHill: { + case s2e::orbit::RelativeOrbitModel::kHill: { double reference_sat_orbit_radius = reference_sat_orbit->GetPosition_i_m().CalcNorm(); - system_matrix_ = orbit::CalcHillSystemMatrix(reference_sat_orbit_radius, gravity_constant_m3_s2); + system_matrix_ = s2e::orbit::CalcHillSystemMatrix(reference_sat_orbit_radius, gravity_constant_m3_s2); } default: { // NOT REACHED @@ -80,12 +80,12 @@ void RelativeOrbit::CalculateSystemMatrix(orbit::RelativeOrbitModel relative_dyn } } -void RelativeOrbit::CalculateStm(orbit::StmModel stm_model_type, const Orbit* reference_sat_orbit, double gravity_constant_m3_s2, +void RelativeOrbit::CalculateStm(s2e::orbit::StmModel stm_model_type, const Orbit* reference_sat_orbit, double gravity_constant_m3_s2, double elapsed_sec) { switch (stm_model_type) { - case orbit::StmModel::kHcw: { + case s2e::orbit::StmModel::kHcw: { double reference_sat_orbit_radius = reference_sat_orbit->GetPosition_i_m().CalcNorm(); - stm_ = orbit::CalcHcwStm(reference_sat_orbit_radius, gravity_constant_m3_s2, elapsed_sec); + stm_ = s2e::orbit::CalcHcwStm(reference_sat_orbit_radius, gravity_constant_m3_s2, elapsed_sec); } default: { // NOT REACHED diff --git a/src/dynamics/orbit/relative_orbit.hpp b/src/dynamics/orbit/relative_orbit.hpp index c281cd3c9..3a98c1249 100644 --- a/src/dynamics/orbit/relative_orbit.hpp +++ b/src/dynamics/orbit/relative_orbit.hpp @@ -41,7 +41,7 @@ class RelativeOrbit : public Orbit, public s2e::math::OrdinaryDifferentialEquati */ RelativeOrbit(const CelestialInformation* celestial_information, double gravity_constant_m3_s2, double time_step_s, int reference_spacecraft_id, s2e::math::Vector<3> relative_position_lvlh_m, s2e::math::Vector<3> relative_velocity_lvlh_m_s, RelativeOrbitUpdateMethod update_method, - orbit::RelativeOrbitModel relative_dynamics_model_type, orbit::StmModel stm_model_type, RelativeInformation* relative_information); + s2e::orbit::RelativeOrbitModel relative_dynamics_model_type, s2e::orbit::StmModel stm_model_type, RelativeInformation* relative_information); /** * @fn ~RelativeOrbit * @brief Destructor @@ -81,8 +81,8 @@ class RelativeOrbit : public Orbit, public s2e::math::OrdinaryDifferentialEquati s2e::math::Vector<3> relative_velocity_lvlh_m_s_; //!< Relative velocity in the LVLH frame RelativeOrbitUpdateMethod update_method_; //!< Update method - orbit::RelativeOrbitModel relative_dynamics_model_type_; //!< Relative dynamics model type - orbit::StmModel stm_model_type_; //!< State Transition Matrix model type + s2e::orbit::RelativeOrbitModel relative_dynamics_model_type_; //!< Relative dynamics model type + s2e::orbit::StmModel stm_model_type_; //!< State Transition Matrix model type RelativeInformation* relative_information_; //!< Relative information /** @@ -102,7 +102,7 @@ class RelativeOrbit : public Orbit, public s2e::math::OrdinaryDifferentialEquati * @param [in] reference_sat_orbit: Orbit information of reference satellite * @param [in] gravity_constant_m3_s2: Gravity constant of the center body [m3/s2] */ - void CalculateSystemMatrix(orbit::RelativeOrbitModel relative_dynamics_model_type, const Orbit* reference_sat_orbit, double gravity_constant_m3_s2); + void CalculateSystemMatrix(s2e::orbit::RelativeOrbitModel relative_dynamics_model_type, const Orbit* reference_sat_orbit, double gravity_constant_m3_s2); /** * @fn CalculateStm * @brief Calculate State Transition Matrix @@ -111,7 +111,7 @@ class RelativeOrbit : public Orbit, public s2e::math::OrdinaryDifferentialEquati * @param [in] gravity_constant_m3_s2: Gravity constant of the center body [m3/s2] * @param [in] elapsed_sec: Elapsed time [sec] */ - void CalculateStm(orbit::StmModel stm_model_type, const Orbit* reference_sat_orbit, double gravity_constant_m3_s2, double elapsed_sec); + void CalculateStm(s2e::orbit::StmModel stm_model_type, const Orbit* reference_sat_orbit, double gravity_constant_m3_s2, double elapsed_sec); /** * @fn PropagateRk4 * @brief Propagate relative orbit with RK4 diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index ecc7683c8..07962c016 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -40,7 +40,7 @@ void GnssSatellites::Initialize(const std::vector& sp3_files, con reference_time_ = time_system::EpochTime(initial_sp3_file.GetEpochData(reference_interpolation_id_)); // Initialize orbit - orbit_.assign(number_of_calculated_gnss_satellites_, orbit::InterpolationOrbit(kNumberOfInterpolation)); + orbit_.assign(number_of_calculated_gnss_satellites_, s2e::orbit::InterpolationOrbit(kNumberOfInterpolation)); // Initialize clock std::vector temp; diff --git a/src/environment/global/gnss_satellites.hpp b/src/environment/global/gnss_satellites.hpp index 24af47f6f..f807d0a75 100644 --- a/src/environment/global/gnss_satellites.hpp +++ b/src/environment/global/gnss_satellites.hpp @@ -120,7 +120,7 @@ class GnssSatellites : public ILoggable { size_t reference_interpolation_id_ = 0; //!< Reference epoch ID of the interpolation time_system::EpochTime current_epoch_time_; //!< The last updated time - std::vector orbit_; //!< GNSS satellite orbit with interpolation + std::vector orbit_; //!< GNSS satellite orbit with interpolation std::vector clock_; //!< GNSS satellite clock offset with interpolation // References diff --git a/src/math_physics/numerical_integration/test_runge_kutta.cpp b/src/math_physics/numerical_integration/test_runge_kutta.cpp index 3f66d0471..b2571ba5c 100644 --- a/src/math_physics/numerical_integration/test_runge_kutta.cpp +++ b/src/math_physics/numerical_integration/test_runge_kutta.cpp @@ -416,8 +416,8 @@ TEST(NUMERICAL_INTEGRATION, Integrate2dTwoBodyOrbitSmallEccentricity) { initial_position[1] = initial_state[1]; initial_velocity[0] = initial_state[2]; initial_velocity[1] = initial_state[3]; - orbit::OrbitalElements oe(1.0, 0.0, initial_position, initial_velocity); - orbit::KeplerOrbit kepler(1.0, oe); + s2e::orbit::OrbitalElements oe(1.0, 0.0, initial_position, initial_velocity); + s2e::orbit::KeplerOrbit kepler(1.0, oe); kepler.CalcOrbit((double)(step_num * step_width_s) / (24.0 * 60.0 * 60.0)); double error_tolerance = 2e-4; @@ -486,8 +486,8 @@ TEST(NUMERICAL_INTEGRATION, Integrate2dTwoBodyOrbitLargeEccentricity) { initial_position[1] = initial_state[1]; initial_velocity[0] = initial_state[2]; initial_velocity[1] = initial_state[3]; - orbit::OrbitalElements oe(1.0, 0.0, initial_position, initial_velocity); - orbit::KeplerOrbit kepler(1.0, oe); + s2e::orbit::OrbitalElements oe(1.0, 0.0, initial_position, initial_velocity); + s2e::orbit::KeplerOrbit kepler(1.0, oe); kepler.CalcOrbit((double)(step_num * step_width_s) / (24.0 * 60.0 * 60.0)); double error_tolerance = 2e-1; @@ -551,8 +551,8 @@ TEST(NUMERICAL_INTEGRATION, Interpolation2dTwoBodyOrbitSmallEccentricity) { initial_position[1] = initial_state[1]; initial_velocity[0] = initial_state[2]; initial_velocity[1] = initial_state[3]; - orbit::OrbitalElements oe(1.0, 0.0, initial_position, initial_velocity); - orbit::KeplerOrbit kepler(1.0, oe); + s2e::orbit::OrbitalElements oe(1.0, 0.0, initial_position, initial_velocity); + s2e::orbit::KeplerOrbit kepler(1.0, oe); kepler.CalcOrbit((double)(step_num * step_width_s) / (24.0 * 60.0 * 60.0)); double error_tolerance = 5e-2; @@ -646,8 +646,8 @@ TEST(NUMERICAL_INTEGRATION, Interpolation2dTwoBodyOrbitLargeEccentricity) { initial_position[1] = initial_state[1]; initial_velocity[0] = initial_state[2]; initial_velocity[1] = initial_state[3]; - orbit::OrbitalElements oe(1.0, 0.0, initial_position, initial_velocity); - orbit::KeplerOrbit kepler(1.0, oe); + s2e::orbit::OrbitalElements oe(1.0, 0.0, initial_position, initial_velocity); + s2e::orbit::KeplerOrbit kepler(1.0, oe); kepler.CalcOrbit((double)(step_num * step_width_s) / (24.0 * 60.0 * 60.0)); double error_tolerance = 1e-5; diff --git a/src/math_physics/orbit/interpolation_orbit.cpp b/src/math_physics/orbit/interpolation_orbit.cpp index 393b30166..db373629a 100644 --- a/src/math_physics/orbit/interpolation_orbit.cpp +++ b/src/math_physics/orbit/interpolation_orbit.cpp @@ -5,7 +5,7 @@ #include "interpolation_orbit.hpp" -namespace orbit { +namespace s2e::orbit { InterpolationOrbit::InterpolationOrbit(const size_t degree) { std::vector time; @@ -37,4 +37,4 @@ s2e::math::Vector<3> InterpolationOrbit::CalcPositionWithTrigonometric(const dou return output_position; } -} // namespace orbit +} // namespace s2e::orbit diff --git a/src/math_physics/orbit/interpolation_orbit.hpp b/src/math_physics/orbit/interpolation_orbit.hpp index db215f534..1443ec959 100644 --- a/src/math_physics/orbit/interpolation_orbit.hpp +++ b/src/math_physics/orbit/interpolation_orbit.hpp @@ -10,7 +10,7 @@ #include #include -namespace orbit { +namespace s2e::orbit { /** * @class InterpolationOrbit @@ -71,6 +71,6 @@ class InterpolationOrbit { std::vector interpolation_position_; // 3D vector of interpolation }; -} // namespace orbit +} // namespace s2e::orbit #endif // S2E_LIBRARY_ORBIT_INTERPOLATION_ORBIT_HPP_ diff --git a/src/math_physics/orbit/kepler_orbit.cpp b/src/math_physics/orbit/kepler_orbit.cpp index 389cc96ab..1f7630ef2 100644 --- a/src/math_physics/orbit/kepler_orbit.cpp +++ b/src/math_physics/orbit/kepler_orbit.cpp @@ -7,7 +7,7 @@ #include "../math/matrix_vector.hpp" #include "../math/s2e_math.hpp" -namespace orbit { +namespace s2e::orbit { KeplerOrbit::KeplerOrbit() {} // Initialize with orbital elements @@ -100,4 +100,4 @@ double KeplerOrbit::SolveKeplerNewtonMethod(const double eccentricity, const dou return u_rad; } -} // namespace orbit +} // namespace s2e::orbit diff --git a/src/math_physics/orbit/kepler_orbit.hpp b/src/math_physics/orbit/kepler_orbit.hpp index b76f15cac..7a12ca760 100644 --- a/src/math_physics/orbit/kepler_orbit.hpp +++ b/src/math_physics/orbit/kepler_orbit.hpp @@ -10,7 +10,7 @@ #include "../math/vector.hpp" #include "./orbital_elements.hpp" -namespace orbit { +namespace s2e::orbit { /** * @class KeplerOrbit @@ -89,6 +89,6 @@ class KeplerOrbit { double SolveKeplerNewtonMethod(const double eccentricity, const double mean_anomaly_rad, const double angle_limit_rad, const int iteration_limit); }; -} // namespace orbit +} // namespace s2e::orbit #endif // S2E_LIBRARY_ORBIT_KEPLER_ORBIT_HPP_ diff --git a/src/math_physics/orbit/orbital_elements.cpp b/src/math_physics/orbit/orbital_elements.cpp index 4c02fac73..69817f80f 100644 --- a/src/math_physics/orbit/orbital_elements.cpp +++ b/src/math_physics/orbit/orbital_elements.cpp @@ -9,7 +9,7 @@ #include "../math/s2e_math.hpp" -namespace orbit { +namespace s2e::orbit { OrbitalElements::OrbitalElements() {} @@ -88,4 +88,4 @@ void OrbitalElements::CalcOeFromPosVel(const double gravity_constant_m3_s2, cons epoch_jday_ = time_jday - dt_s / (24.0 * 60.0 * 60.0); } -} // namespace orbit +} // namespace s2e::orbit diff --git a/src/math_physics/orbit/orbital_elements.hpp b/src/math_physics/orbit/orbital_elements.hpp index 66ccf0c05..b177fda41 100644 --- a/src/math_physics/orbit/orbital_elements.hpp +++ b/src/math_physics/orbit/orbital_elements.hpp @@ -8,7 +8,7 @@ #include "../math/vector.hpp" -namespace orbit { +namespace s2e::orbit { /** * @class OrbitalElements @@ -106,6 +106,6 @@ class OrbitalElements { const s2e::math::Vector<3> velocity_i_m_s); }; -} // namespace orbit +} // namespace s2e::orbit #endif // S2E_LIBRARY_ORBIT_ORBITAL_ELEMENTS_HPP_ diff --git a/src/math_physics/orbit/relative_orbit_models.cpp b/src/math_physics/orbit/relative_orbit_models.cpp index b8d619734..0c6e358b6 100644 --- a/src/math_physics/orbit/relative_orbit_models.cpp +++ b/src/math_physics/orbit/relative_orbit_models.cpp @@ -4,7 +4,7 @@ */ #include "relative_orbit_models.hpp" -namespace orbit { +namespace s2e::orbit { s2e::math::Matrix<6, 6> CalcHillSystemMatrix(double orbit_radius_m, double gravity_constant_m3_s2) { s2e::math::Matrix<6, 6> system_matrix; @@ -94,4 +94,4 @@ s2e::math::Matrix<6, 6> CalcHcwStm(double orbit_radius_m, double gravity_constan return stm; } -} // namespace orbit +} // namespace s2e::orbit diff --git a/src/math_physics/orbit/relative_orbit_models.hpp b/src/math_physics/orbit/relative_orbit_models.hpp index 62957b28c..1a12bf634 100644 --- a/src/math_physics/orbit/relative_orbit_models.hpp +++ b/src/math_physics/orbit/relative_orbit_models.hpp @@ -9,7 +9,7 @@ #include "../math/matrix.hpp" #include "../math/vector.hpp" -namespace orbit { +namespace s2e::orbit { /** * @enum RelativeOrbitModel @@ -44,6 +44,6 @@ s2e::math::Matrix<6, 6> CalcHillSystemMatrix(const double orbit_radius_m, const */ s2e::math::Matrix<6, 6> CalcHcwStm(const double orbit_radius_m, const double gravity_constant_m3_s2, const double elapsed_time_s); -} // namespace orbit +} // namespace s2e::orbit #endif // S2E_LIBRARY_ORBIT_RELATIVE_ORBIT_MODEL_HPP_ diff --git a/src/math_physics/orbit/test_interpolation_orbit.cpp b/src/math_physics/orbit/test_interpolation_orbit.cpp index b0972817d..f83a3f0cf 100644 --- a/src/math_physics/orbit/test_interpolation_orbit.cpp +++ b/src/math_physics/orbit/test_interpolation_orbit.cpp @@ -8,7 +8,7 @@ #include "interpolation_orbit.hpp" -using namespace orbit; +using namespace s2e::orbit; /** * @brief Test for Constructor function From 63d04608d5a1598152661f66f079a510759b86e1 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 14 Sep 2024 00:22:26 -0700 Subject: [PATCH 347/456] Rename namespaec planet_rotation to s2e::planet_rotation --- src/environment/global/moon_rotation.cpp | 2 +- src/math_physics/planet_rotation/moon_rotation_utilities.cpp | 4 ++-- src/math_physics/planet_rotation/moon_rotation_utilities.hpp | 4 ++-- 3 files changed, 5 insertions(+), 5 deletions(-) diff --git a/src/environment/global/moon_rotation.cpp b/src/environment/global/moon_rotation.cpp index 75abc2e5b..a49e236ec 100644 --- a/src/environment/global/moon_rotation.cpp +++ b/src/environment/global/moon_rotation.cpp @@ -19,7 +19,7 @@ void MoonRotation::Update(const SimulationTime& simulation_time) { if (mode_ == MoonRotationMode::kSimple) { s2e::math::Vector<3> moon_position_eci_m = celestial_information_.GetPositionFromSelectedBody_i_m("MOON", "EARTH"); s2e::math::Vector<3> moon_velocity_eci_m_s = celestial_information_.GetVelocityFromSelectedBody_i_m_s("MOON", "EARTH"); - dcm_j2000_to_mcmf_ = planet_rotation::CalcDcmEciToPrincipalAxis(moon_position_eci_m, moon_velocity_eci_m_s); + dcm_j2000_to_mcmf_ = s2e::planet_rotation::CalcDcmEciToPrincipalAxis(moon_position_eci_m, moon_velocity_eci_m_s); } else if (mode_ == MoonRotationMode::kIauMoon) { ConstSpiceChar from[] = "J2000"; ConstSpiceChar to[] = "IAU_MOON"; diff --git a/src/math_physics/planet_rotation/moon_rotation_utilities.cpp b/src/math_physics/planet_rotation/moon_rotation_utilities.cpp index 0842aa301..f2d30c96c 100644 --- a/src/math_physics/planet_rotation/moon_rotation_utilities.cpp +++ b/src/math_physics/planet_rotation/moon_rotation_utilities.cpp @@ -10,7 +10,7 @@ #include -namespace planet_rotation { +namespace s2e::planet_rotation { s2e::math::Matrix<3, 3> CalcDcmEciToPrincipalAxis(const s2e::math::Vector<3> moon_position_eci_m, const s2e::math::Vector<3> moon_velocity_eci_m_s) { s2e::math::Matrix<3, 3> dcm_eci2me = CalcDcmEciToMeanEarth(moon_position_eci_m, moon_velocity_eci_m_s); @@ -49,4 +49,4 @@ s2e::math::Matrix<3, 3> CalcDcmMeanEarthToPrincipalAxis() { return dcm_me_pa; } -} // namespace planet_rotation +} // namespace s2e::planet_rotation diff --git a/src/math_physics/planet_rotation/moon_rotation_utilities.hpp b/src/math_physics/planet_rotation/moon_rotation_utilities.hpp index cd3c8b442..d7e3eff30 100644 --- a/src/math_physics/planet_rotation/moon_rotation_utilities.hpp +++ b/src/math_physics/planet_rotation/moon_rotation_utilities.hpp @@ -12,7 +12,7 @@ #include "math_physics/math/matrix.hpp" #include "math_physics/math/vector.hpp" -namespace planet_rotation { +namespace s2e::planet_rotation { /** * @fn CalcDcmEciToPrincipalAxis @@ -36,6 +36,6 @@ s2e::math::Matrix<3, 3> CalcDcmEciToMeanEarth(const s2e::math::Vector<3> moon_po */ s2e::math::Matrix<3, 3> CalcDcmMeanEarthToPrincipalAxis(); -} // namespace planet_rotation +} // namespace s2e::planet_rotation #endif // S2E_LIBRARY_PLANET_ROTATION_MOON_MEAN_EARTH_PRINCIPAL_AXIS_FRAME_HPP_ From ba23a62cf15a51a934a2e4ca55d757966afc79b5 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 14 Sep 2024 00:25:04 -0700 Subject: [PATCH 348/456] Rename namespaec randomization to s2e::randomization --- src/components/base/sensor.hpp | 2 +- src/components/ideal/attitude_observer.hpp | 4 ++-- src/components/ideal/force_generator.hpp | 4 ++-- src/components/ideal/orbit_observer.hpp | 2 +- src/components/ideal/torque_generator.hpp | 4 ++-- src/components/real/aocs/gnss_receiver.hpp | 4 ++-- src/components/real/aocs/magnetorquer.hpp | 2 +- src/components/real/aocs/star_sensor.hpp | 6 +++--- src/components/real/aocs/sun_sensor.cpp | 2 +- src/components/real/aocs/sun_sensor.hpp | 4 ++-- src/components/real/propulsion/simple_thruster.hpp | 4 ++-- src/disturbances/magnetic_disturbance.cpp | 2 +- src/environment/local/atmosphere.cpp | 2 +- src/environment/local/geomagnetic_field.cpp | 2 +- src/math_physics/randomization/global_randomization.hpp | 2 +- .../minimal_standard_linear_congruential_generator.cpp | 2 +- .../minimal_standard_linear_congruential_generator.hpp | 4 ++-- ..._standard_linear_congruential_generator_with_shuffle.cpp | 2 +- ..._standard_linear_congruential_generator_with_shuffle.hpp | 4 ++-- src/math_physics/randomization/normal_randomization.cpp | 2 +- src/math_physics/randomization/normal_randomization.hpp | 6 +++--- src/math_physics/randomization/random_walk.hpp | 2 +- 22 files changed, 34 insertions(+), 34 deletions(-) diff --git a/src/components/base/sensor.hpp b/src/components/base/sensor.hpp index 398b24263..43fabd0cf 100644 --- a/src/components/base/sensor.hpp +++ b/src/components/base/sensor.hpp @@ -55,7 +55,7 @@ class Sensor { s2e::math::Matrix scale_factor_; //!< Scale factor matrix s2e::math::Vector range_to_const_c_; //!< Output range limit to be constant output value at the component frame s2e::math::Vector range_to_zero_c_; //!< Output range limit to be zero output value at the component frame - randomization::NormalRand normal_random_noise_c_[N]; //!< Normal random + s2e::randomization::NormalRand normal_random_noise_c_[N]; //!< Normal random RandomWalk random_walk_noise_c_; //!< Random Walk /** diff --git a/src/components/ideal/attitude_observer.hpp b/src/components/ideal/attitude_observer.hpp index 1efc18b71..1b80659d0 100644 --- a/src/components/ideal/attitude_observer.hpp +++ b/src/components/ideal/attitude_observer.hpp @@ -62,8 +62,8 @@ class AttitudeObserver : public Component, public ILoggable { protected: s2e::math::Quaternion observed_quaternion_i2b_ = {0.0, 0.0, 0.0, 1.0}; //!< Observed quaternion - randomization::NormalRand angle_noise_; //!< Normal random for magnitude noise - randomization::NormalRand direction_noise_; //!< Normal random for direction noise + s2e::randomization::NormalRand angle_noise_; //!< Normal random for magnitude noise + s2e::randomization::NormalRand direction_noise_; //!< Normal random for direction noise const Attitude& attitude_; //!< Attitude information }; diff --git a/src/components/ideal/force_generator.hpp b/src/components/ideal/force_generator.hpp index 9a07fe269..607e0a6fd 100644 --- a/src/components/ideal/force_generator.hpp +++ b/src/components/ideal/force_generator.hpp @@ -100,8 +100,8 @@ class ForceGenerator : public Component, public ILoggable { s2e::math::Vector<3> generated_force_rtn_N_{0.0}; //!< Generated force in the RTN frame [N] // Noise - randomization::NormalRand magnitude_noise_; //!< Normal random for magnitude noise - randomization::NormalRand direction_noise_; //!< Normal random for direction noise + s2e::randomization::NormalRand magnitude_noise_; //!< Normal random for magnitude noise + s2e::randomization::NormalRand direction_noise_; //!< Normal random for direction noise double direction_error_standard_deviation_rad_; //!< Standard deviation of direction error [rad] /** diff --git a/src/components/ideal/orbit_observer.hpp b/src/components/ideal/orbit_observer.hpp index ab3aa9887..6c1119986 100644 --- a/src/components/ideal/orbit_observer.hpp +++ b/src/components/ideal/orbit_observer.hpp @@ -82,7 +82,7 @@ class OrbitObserver : public Component, public ILoggable { s2e::math::Vector<3> observed_velocity_i_m_s_{0.0}; //!< Observed velocity @ inertial frame [m/s] NoiseFrame noise_frame_; //!< Noise definition frame - randomization::NormalRand normal_random_noise_[6]; //!< Position and Velocity noise [m, m/s] + s2e::randomization::NormalRand normal_random_noise_[6]; //!< Position and Velocity noise [m, m/s] // Observed variables const Orbit& orbit_; //!< Orbit information diff --git a/src/components/ideal/torque_generator.hpp b/src/components/ideal/torque_generator.hpp index c03aa4da1..3b8606464 100644 --- a/src/components/ideal/torque_generator.hpp +++ b/src/components/ideal/torque_generator.hpp @@ -78,8 +78,8 @@ class TorqueGenerator : public Component, public ILoggable { s2e::math::Vector<3> generated_torque_b_Nm_{0.0}; //!< Generated torque in the body fixed frame [Nm] // Noise - randomization::NormalRand magnitude_noise_; //!< Normal random for magnitude noise - randomization::NormalRand direction_noise_; //!< Normal random for direction noise + s2e::randomization::NormalRand magnitude_noise_; //!< Normal random for magnitude noise + s2e::randomization::NormalRand direction_noise_; //!< Normal random for direction noise double direction_error_standard_deviation_rad_; //!< Standard deviation of direction error [rad] /** diff --git a/src/components/real/aocs/gnss_receiver.hpp b/src/components/real/aocs/gnss_receiver.hpp index ad9f38103..14a4dbc86 100644 --- a/src/components/real/aocs/gnss_receiver.hpp +++ b/src/components/real/aocs/gnss_receiver.hpp @@ -137,8 +137,8 @@ class GnssReceiver : public Component, public ILoggable { AntennaModel antenna_model_; //!< Antenna model // Simple position observation - randomization::NormalRand position_random_noise_ecef_m_[3]; //!< Random noise for position at the ECEF frame [m] - randomization::NormalRand velocity_random_noise_ecef_m_s_[3]; //!< Random noise for velocity at the ECEF frame [m] + s2e::randomization::NormalRand position_random_noise_ecef_m_[3]; //!< Random noise for position at the ECEF frame [m] + s2e::randomization::NormalRand velocity_random_noise_ecef_m_s_[3]; //!< Random noise for velocity at the ECEF frame [m] s2e::math::Vector<3> position_ecef_m_{0.0}; //!< Observed position in the ECEF frame [m] s2e::math::Vector<3> velocity_ecef_m_s_{0.0}; //!< Observed velocity in the ECEF frame [m/s] s2e::geodesy::GeodeticPosition geodetic_position_; //!< Observed position in the geodetic frame diff --git a/src/components/real/aocs/magnetorquer.hpp b/src/components/real/aocs/magnetorquer.hpp index 112125eb9..0af9f30e7 100644 --- a/src/components/real/aocs/magnetorquer.hpp +++ b/src/components/real/aocs/magnetorquer.hpp @@ -134,7 +134,7 @@ class Magnetorquer : public Component, public ILoggable { s2e::math::Vector bias_noise_c_Am2_{0.0}; //!< Constant bias noise in the component frame [Am2] RandomWalk random_walk_c_Am2_; //!< Random walk noise - randomization::NormalRand random_noise_c_Am2_[kMtqDimension]; //!< Normal random noise + s2e::randomization::NormalRand random_noise_c_Am2_[kMtqDimension]; //!< Normal random noise const GeomagneticField* geomagnetic_field_; //!< Geomagnetic environment diff --git a/src/components/real/aocs/star_sensor.hpp b/src/components/real/aocs/star_sensor.hpp index 40f7c46a0..1120f9eeb 100644 --- a/src/components/real/aocs/star_sensor.hpp +++ b/src/components/real/aocs/star_sensor.hpp @@ -115,9 +115,9 @@ class StarSensor : public Component, public ILoggable { s2e::math::Vector<3> second_orthogonal_direction_c; //!< The second orthogonal direction of sight at component frame // Noise parameters - randomization::MinimalStandardLcgWithShuffle rotation_noise_; //!< Randomize object for orthogonal direction - randomization::NormalRand orthogonal_direction_noise_; //!< Random noise for orthogonal direction of sight - randomization::NormalRand sight_direction_noise_; //!< Random noise for sight direction + s2e::randomization::MinimalStandardLcgWithShuffle rotation_noise_; //!< Randomize object for orthogonal direction + s2e::randomization::NormalRand orthogonal_direction_noise_; //!< Random noise for orthogonal direction of sight + s2e::randomization::NormalRand sight_direction_noise_; //!< Random noise for sight direction // Delay emulation parameters int max_delay_; //!< Max delay diff --git a/src/components/real/aocs/sun_sensor.cpp b/src/components/real/aocs/sun_sensor.cpp index b9fbd3cae..0b230e787 100644 --- a/src/components/real/aocs/sun_sensor.cpp +++ b/src/components/real/aocs/sun_sensor.cpp @@ -7,7 +7,7 @@ #include #include -using randomization::NormalRand; +using s2e::randomization::NormalRand; #include #include #include diff --git a/src/components/real/aocs/sun_sensor.hpp b/src/components/real/aocs/sun_sensor.hpp index 81625a87c..532dfb18f 100644 --- a/src/components/real/aocs/sun_sensor.hpp +++ b/src/components/real/aocs/sun_sensor.hpp @@ -100,8 +100,8 @@ class SunSensor : public Component, public ILoggable { double detectable_angle_rad_; //!< half angle (>0) [rad] bool sun_detected_flag_ = false; //!< Sun detected flag // Noise parameters - randomization::NormalRand random_noise_alpha_; //!< Normal random for alpha angle - randomization::NormalRand random_noise_beta_; //!< Normal random for beta angle + s2e::randomization::NormalRand random_noise_alpha_; //!< Normal random for alpha angle + s2e::randomization::NormalRand random_noise_beta_; //!< Normal random for beta angle double bias_noise_alpha_rad_ = 0.0; //!< Constant bias for alpha angle (Value is calculated by random number generator) double bias_noise_beta_rad_ = 0.0; //!< Constant bias for beta angle (Value is calculated by random number generator) diff --git a/src/components/real/propulsion/simple_thruster.hpp b/src/components/real/propulsion/simple_thruster.hpp index f2466fcc9..f297b8af2 100644 --- a/src/components/real/propulsion/simple_thruster.hpp +++ b/src/components/real/propulsion/simple_thruster.hpp @@ -114,8 +114,8 @@ class SimpleThruster : public Component, public ILoggable { double duty_ = 0.0; //!< PWM Duty [0.0 : 1.0] double thrust_magnitude_max_N_ = 0.0; //!< Maximum thrust magnitude [N] double direction_noise_standard_deviation_rad_ = 0.0; //!< Standard deviation of thrust direction error [rad] - randomization::NormalRand magnitude_random_noise_; //!< Normal random for thrust magnitude error - randomization::NormalRand direction_random_noise_; //!< Normal random for thrust direction error + s2e::randomization::NormalRand magnitude_random_noise_; //!< Normal random for thrust magnitude error + s2e::randomization::NormalRand direction_random_noise_; //!< Normal random for thrust direction error // outputs Vector<3> output_thrust_b_N_{0.0}; //!< Generated thrust on the body fixed frame [N] Vector<3> output_torque_b_Nm_{0.0}; //!< Generated torque on the body fixed frame [Nm] diff --git a/src/disturbances/magnetic_disturbance.cpp b/src/disturbances/magnetic_disturbance.cpp index 9af45805c..0336b1182 100644 --- a/src/disturbances/magnetic_disturbance.cpp +++ b/src/disturbances/magnetic_disturbance.cpp @@ -34,7 +34,7 @@ void MagneticDisturbance::CalcRMM() { static s2e::math::Vector<3> random_walk_std_dev(residual_magnetic_moment_.GetRandomWalkStandardDeviation_Am2()); static s2e::math::Vector<3> random_walk_limit(residual_magnetic_moment_.GetRandomWalkLimit_Am2()); static RandomWalk<3> random_walk(0.1, random_walk_std_dev, random_walk_limit); // [FIXME] step width is constant - static randomization::NormalRand normal_random(0.0, residual_magnetic_moment_.GetRandomNoiseStandardDeviation_Am2(), + static s2e::randomization::NormalRand normal_random(0.0, residual_magnetic_moment_.GetRandomNoiseStandardDeviation_Am2(), global_randomization.MakeSeed()); rmm_b_Am2_ = residual_magnetic_moment_.GetConstantValue_b_Am2(); diff --git a/src/environment/local/atmosphere.cpp b/src/environment/local/atmosphere.cpp index 1ea0636a6..ceb1a9139 100644 --- a/src/environment/local/atmosphere.cpp +++ b/src/environment/local/atmosphere.cpp @@ -78,7 +78,7 @@ double Atmosphere::CalcAirDensity_kg_m3(const double decimal_year, const Orbit& double Atmosphere::AddNoise(const double rho_kg_m3) { // RandomWalk rw(rho_kg_m3*rw_stepwidth_,rho_kg_m3*rw_stddev_,rho_kg_m3*rw_limit_); - randomization::NormalRand nr(0.0, rho_kg_m3 * gauss_standard_deviation_rate_, global_randomization.MakeSeed()); + s2e::randomization::NormalRand nr(0.0, rho_kg_m3 * gauss_standard_deviation_rate_, global_randomization.MakeSeed()); double nrd = nr; return rho_kg_m3 + nrd; diff --git a/src/environment/local/geomagnetic_field.cpp b/src/environment/local/geomagnetic_field.cpp index 6fcdcc7f9..df45b492c 100644 --- a/src/environment/local/geomagnetic_field.cpp +++ b/src/environment/local/geomagnetic_field.cpp @@ -44,7 +44,7 @@ void GeomagneticField::AddNoise(double* magnetic_field_array_i_nT) { static s2e::math::Vector<3> limit(random_walk_limit_nT_); static RandomWalk<3> random_walk(0.1, standard_deviation, limit); - static randomization::NormalRand white_noise(0.0, white_noise_standard_deviation_nT_, global_randomization.MakeSeed()); + static s2e::randomization::NormalRand white_noise(0.0, white_noise_standard_deviation_nT_, global_randomization.MakeSeed()); for (int i = 0; i < 3; ++i) { magnetic_field_array_i_nT[i] += random_walk[i] + white_noise; diff --git a/src/math_physics/randomization/global_randomization.hpp b/src/math_physics/randomization/global_randomization.hpp index 24c88ec2b..67c52b6f6 100644 --- a/src/math_physics/randomization/global_randomization.hpp +++ b/src/math_physics/randomization/global_randomization.hpp @@ -33,7 +33,7 @@ class GlobalRandomization { private: static const unsigned int kMaxSeed = 0xffffffff; //!< Maximum value of seed - randomization::MinimalStandardLcg base_randomizer_; //!< Base of global randomization + s2e::randomization::MinimalStandardLcg base_randomizer_; //!< Base of global randomization long seed_; //!< Seed of global randomization }; diff --git a/src/math_physics/randomization/minimal_standard_linear_congruential_generator.cpp b/src/math_physics/randomization/minimal_standard_linear_congruential_generator.cpp index ccd179507..c1821e93b 100644 --- a/src/math_physics/randomization/minimal_standard_linear_congruential_generator.cpp +++ b/src/math_physics/randomization/minimal_standard_linear_congruential_generator.cpp @@ -5,7 +5,7 @@ */ #include "minimal_standard_linear_congruential_generator.hpp" -using randomization::MinimalStandardLcg; +using s2e::randomization::MinimalStandardLcg; #include diff --git a/src/math_physics/randomization/minimal_standard_linear_congruential_generator.hpp b/src/math_physics/randomization/minimal_standard_linear_congruential_generator.hpp index 9120faffd..01ff61947 100644 --- a/src/math_physics/randomization/minimal_standard_linear_congruential_generator.hpp +++ b/src/math_physics/randomization/minimal_standard_linear_congruential_generator.hpp @@ -7,7 +7,7 @@ #ifndef S2E_LIBRARY_RANDOMIZATION_MINIMAL_STANDARD_LINEAR_CONGRUENTIAL_GENERATOR_HPP_ #define S2E_LIBRARY_RANDOMIZATION_MINIMAL_STANDARD_LINEAR_CONGRUENTIAL_GENERATOR_HPP_ -namespace randomization { +namespace s2e::randomization { /** * @class MinimalStandardLcg @@ -52,6 +52,6 @@ class MinimalStandardLcg { long seed_; //!< Seed of randomization }; -} // namespace randomization +} // namespace s2e::randomization #endif // S2E_LIBRARY_RANDOMIZATION_MINIMAL_STANDARD_LINEAR_CONGRUENTIAL_GENERATOR_HPP_ diff --git a/src/math_physics/randomization/minimal_standard_linear_congruential_generator_with_shuffle.cpp b/src/math_physics/randomization/minimal_standard_linear_congruential_generator_with_shuffle.cpp index ea0a6bf43..3bdd51de9 100644 --- a/src/math_physics/randomization/minimal_standard_linear_congruential_generator_with_shuffle.cpp +++ b/src/math_physics/randomization/minimal_standard_linear_congruential_generator_with_shuffle.cpp @@ -5,7 +5,7 @@ */ #include "minimal_standard_linear_congruential_generator_with_shuffle.hpp" -using randomization::MinimalStandardLcgWithShuffle; +using s2e::randomization::MinimalStandardLcgWithShuffle; MinimalStandardLcgWithShuffle::MinimalStandardLcgWithShuffle() : table_position_(0) { Initialize(); } diff --git a/src/math_physics/randomization/minimal_standard_linear_congruential_generator_with_shuffle.hpp b/src/math_physics/randomization/minimal_standard_linear_congruential_generator_with_shuffle.hpp index 5c016291f..3d5913bb7 100644 --- a/src/math_physics/randomization/minimal_standard_linear_congruential_generator_with_shuffle.hpp +++ b/src/math_physics/randomization/minimal_standard_linear_congruential_generator_with_shuffle.hpp @@ -11,7 +11,7 @@ #include "minimal_standard_linear_congruential_generator.hpp" -namespace randomization { +namespace s2e::randomization { /** * @class MinimalStandardLcgWithShuffle @@ -58,6 +58,6 @@ class MinimalStandardLcgWithShuffle { double mixing_table_[kTableSize]; //!< Mixing table }; -} // namespace randomization +} // namespace s2e::randomization #endif // S2E_LIBRARY_RANDOMIZATION_MINIMAL_STANDARD_LINEAR_CONGRUENTIAL_GENERATOR_WITH_SHUFFLE_HPP_ diff --git a/src/math_physics/randomization/normal_randomization.cpp b/src/math_physics/randomization/normal_randomization.cpp index 0e5c9e36c..b136700cb 100644 --- a/src/math_physics/randomization/normal_randomization.cpp +++ b/src/math_physics/randomization/normal_randomization.cpp @@ -4,7 +4,7 @@ * @note Ref: NUMERICAL RECIPES in C, p.216-p.217 */ #include "normal_randomization.hpp" -using randomization::NormalRand; +using s2e::randomization::NormalRand; #include //DBL_EPSILON #include //sqrt, log; diff --git a/src/math_physics/randomization/normal_randomization.hpp b/src/math_physics/randomization/normal_randomization.hpp index 81e688091..b230680a3 100644 --- a/src/math_physics/randomization/normal_randomization.hpp +++ b/src/math_physics/randomization/normal_randomization.hpp @@ -8,9 +8,9 @@ #define S2E_LIBRARY_RANDOMIZATION_NORMAL_RANDOMIZATION_HPP_ #include "minimal_standard_linear_congruential_generator_with_shuffle.hpp" -using randomization::MinimalStandardLcgWithShuffle; +using s2e::randomization::MinimalStandardLcgWithShuffle; -namespace randomization { +namespace s2e::randomization { /** * @class NormalRand @@ -106,6 +106,6 @@ class NormalRand { bool is_empty_; //!< Flag to show the holder_ has available value }; -} // namespace randomization +} // namespace s2e::randomization #endif // S2E_LIBRARY_RANDOMIZATION_NORMAL_RANDOMIZATION_HPP_ diff --git a/src/math_physics/randomization/random_walk.hpp b/src/math_physics/randomization/random_walk.hpp index 822d621aa..9f05aff9f 100644 --- a/src/math_physics/randomization/random_walk.hpp +++ b/src/math_physics/randomization/random_walk.hpp @@ -37,7 +37,7 @@ class RandomWalk : public s2e::math::OrdinaryDifferentialEquation { private: s2e::math::Vector limit_; //!< Limit of random walk - randomization::NormalRand normal_randomizer_[N]; //!< Random walk excitation noise + s2e::randomization::NormalRand normal_randomizer_[N]; //!< Random walk excitation noise }; #include "random_walk_template_functions.hpp" // template function definisions. From 2539d242cb326d561ecf6f239dde703ddb966de1 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 14 Sep 2024 00:32:40 -0700 Subject: [PATCH 349/456] Rename namespaec randomization to s2e::randomization --- src/components/base/sensor_template_functions.hpp | 2 +- src/components/ideal/orbit_observer.cpp | 2 +- src/components/real/aocs/gnss_receiver.cpp | 8 ++++---- src/components/real/aocs/star_sensor.cpp | 12 ++++++------ src/components/real/aocs/sun_sensor.cpp | 2 +- src/disturbances/magnetic_disturbance.cpp | 2 +- src/environment/local/atmosphere.cpp | 2 +- src/environment/local/geomagnetic_field.cpp | 2 +- .../randomization/global_randomization.cpp | 6 +++++- .../randomization/global_randomization.hpp | 4 ++++ .../randomization/random_walk_template_functions.hpp | 2 +- 11 files changed, 26 insertions(+), 18 deletions(-) diff --git a/src/components/base/sensor_template_functions.hpp b/src/components/base/sensor_template_functions.hpp index ef6f9a7e5..b0e4f0300 100644 --- a/src/components/base/sensor_template_functions.hpp +++ b/src/components/base/sensor_template_functions.hpp @@ -20,7 +20,7 @@ Sensor::Sensor(const s2e::math::Matrix& scale_factor, const s2e::math:: range_to_zero_c_(range_to_zero_c), random_walk_noise_c_(random_walk_step_width_s, random_walk_standard_deviation_c, random_walk_limit_c) { for (size_t i = 0; i < N; i++) { - normal_random_noise_c_[i].SetParameters(0.0, normal_random_standard_deviation_c[i], global_randomization.MakeSeed()); + normal_random_noise_c_[i].SetParameters(0.0, normal_random_standard_deviation_c[i], s2e::randomization::global_randomization.MakeSeed()); } RangeCheck(); } diff --git a/src/components/ideal/orbit_observer.cpp b/src/components/ideal/orbit_observer.cpp index 48a2157d2..f724d0ce9 100644 --- a/src/components/ideal/orbit_observer.cpp +++ b/src/components/ideal/orbit_observer.cpp @@ -12,7 +12,7 @@ OrbitObserver::OrbitObserver(const int prescaler, ClockGenerator* clock_generato const s2e::math::Vector<6> error_standard_deviation, const Orbit& orbit) : Component(prescaler, clock_generator), noise_frame_(noise_frame), orbit_(orbit) { for (size_t i = 0; i < 6; i++) { - normal_random_noise_[i].SetParameters(0.0, error_standard_deviation[i], global_randomization.MakeSeed()); + normal_random_noise_[i].SetParameters(0.0, error_standard_deviation[i], s2e::randomization::global_randomization.MakeSeed()); } } diff --git a/src/components/real/aocs/gnss_receiver.cpp b/src/components/real/aocs/gnss_receiver.cpp index 87e88abfd..f5c28e8cd 100644 --- a/src/components/real/aocs/gnss_receiver.cpp +++ b/src/components/real/aocs/gnss_receiver.cpp @@ -26,8 +26,8 @@ GnssReceiver::GnssReceiver(const int prescaler, ClockGenerator* clock_generator, gnss_satellites_(gnss_satellites), simulation_time_(simulation_time) { for (size_t i = 0; i < 3; i++) { - position_random_noise_ecef_m_[i].SetParameters(0.0, position_noise_standard_deviation_ecef_m[i], global_randomization.MakeSeed()); - velocity_random_noise_ecef_m_s_[i].SetParameters(0.0, velocity_noise_standard_deviation_ecef_m_s[i], global_randomization.MakeSeed()); + position_random_noise_ecef_m_[i].SetParameters(0.0, position_noise_standard_deviation_ecef_m[i], s2e::randomization::global_randomization.MakeSeed()); + velocity_random_noise_ecef_m_s_[i].SetParameters(0.0, velocity_noise_standard_deviation_ecef_m_s[i], s2e::randomization::global_randomization.MakeSeed()); } } @@ -46,8 +46,8 @@ GnssReceiver::GnssReceiver(const int prescaler, ClockGenerator* clock_generator, gnss_satellites_(gnss_satellites), simulation_time_(simulation_time) { for (size_t i = 0; i < 3; i++) { - position_random_noise_ecef_m_[i].SetParameters(0.0, position_noise_standard_deviation_ecef_m[i], global_randomization.MakeSeed()); - velocity_random_noise_ecef_m_s_[i].SetParameters(0.0, velocity_noise_standard_deviation_ecef_m_s[i], global_randomization.MakeSeed()); + position_random_noise_ecef_m_[i].SetParameters(0.0, position_noise_standard_deviation_ecef_m[i], s2e::randomization::global_randomization.MakeSeed()); + velocity_random_noise_ecef_m_s_[i].SetParameters(0.0, velocity_noise_standard_deviation_ecef_m_s[i], s2e::randomization::global_randomization.MakeSeed()); } } diff --git a/src/components/real/aocs/star_sensor.cpp b/src/components/real/aocs/star_sensor.cpp index c6c0e5384..193805226 100644 --- a/src/components/real/aocs/star_sensor.cpp +++ b/src/components/real/aocs/star_sensor.cpp @@ -24,9 +24,9 @@ StarSensor::StarSensor(const int prescaler, ClockGenerator* clock_generator, con : Component(prescaler, clock_generator), component_id_(component_id), quaternion_b2c_(quaternion_b2c), - rotation_noise_(global_randomization.MakeSeed()), - orthogonal_direction_noise_(0.0, standard_deviation_orthogonal_direction, global_randomization.MakeSeed()), - sight_direction_noise_(0.0, standard_deviation_sight_direction, global_randomization.MakeSeed()), + rotation_noise_(s2e::randomization::global_randomization.MakeSeed()), + orthogonal_direction_noise_(0.0, standard_deviation_orthogonal_direction, s2e::randomization::global_randomization.MakeSeed()), + sight_direction_noise_(0.0, standard_deviation_sight_direction, s2e::randomization::global_randomization.MakeSeed()), buffer_position_(0), step_time_s_(step_time_s), output_delay_(output_delay), @@ -49,9 +49,9 @@ StarSensor::StarSensor(const int prescaler, ClockGenerator* clock_generator, Pow : Component(prescaler, clock_generator, power_port), component_id_(component_id), quaternion_b2c_(quaternion_b2c), - rotation_noise_(global_randomization.MakeSeed()), - orthogonal_direction_noise_(0.0, standard_deviation_orthogonal_direction, global_randomization.MakeSeed()), - sight_direction_noise_(0.0, standard_deviation_sight_direction, global_randomization.MakeSeed()), + rotation_noise_(s2e::randomization::global_randomization.MakeSeed()), + orthogonal_direction_noise_(0.0, standard_deviation_orthogonal_direction, s2e::randomization::global_randomization.MakeSeed()), + sight_direction_noise_(0.0, standard_deviation_sight_direction, s2e::randomization::global_randomization.MakeSeed()), buffer_position_(0), step_time_s_(step_time_s), output_delay_(output_delay), diff --git a/src/components/real/aocs/sun_sensor.cpp b/src/components/real/aocs/sun_sensor.cpp index 0b230e787..3070355e4 100644 --- a/src/components/real/aocs/sun_sensor.cpp +++ b/src/components/real/aocs/sun_sensor.cpp @@ -44,7 +44,7 @@ SunSensor::SunSensor(const int prescaler, ClockGenerator* clock_generator, Power void SunSensor::Initialize(const double random_noise_standard_deviation_rad, const double bias_noise_standard_deviation_rad) { // Bias - NormalRand nr(0.0, bias_noise_standard_deviation_rad, global_randomization.MakeSeed()); + NormalRand nr(0.0, bias_noise_standard_deviation_rad, s2e::randomization::global_randomization.MakeSeed()); bias_noise_alpha_rad_ += nr; bias_noise_beta_rad_ += nr; diff --git a/src/disturbances/magnetic_disturbance.cpp b/src/disturbances/magnetic_disturbance.cpp index 0336b1182..054032b9c 100644 --- a/src/disturbances/magnetic_disturbance.cpp +++ b/src/disturbances/magnetic_disturbance.cpp @@ -35,7 +35,7 @@ void MagneticDisturbance::CalcRMM() { static s2e::math::Vector<3> random_walk_limit(residual_magnetic_moment_.GetRandomWalkLimit_Am2()); static RandomWalk<3> random_walk(0.1, random_walk_std_dev, random_walk_limit); // [FIXME] step width is constant static s2e::randomization::NormalRand normal_random(0.0, residual_magnetic_moment_.GetRandomNoiseStandardDeviation_Am2(), - global_randomization.MakeSeed()); + s2e::randomization::global_randomization.MakeSeed()); rmm_b_Am2_ = residual_magnetic_moment_.GetConstantValue_b_Am2(); for (int i = 0; i < 3; ++i) { diff --git a/src/environment/local/atmosphere.cpp b/src/environment/local/atmosphere.cpp index ceb1a9139..ae789fdb3 100644 --- a/src/environment/local/atmosphere.cpp +++ b/src/environment/local/atmosphere.cpp @@ -78,7 +78,7 @@ double Atmosphere::CalcAirDensity_kg_m3(const double decimal_year, const Orbit& double Atmosphere::AddNoise(const double rho_kg_m3) { // RandomWalk rw(rho_kg_m3*rw_stepwidth_,rho_kg_m3*rw_stddev_,rho_kg_m3*rw_limit_); - s2e::randomization::NormalRand nr(0.0, rho_kg_m3 * gauss_standard_deviation_rate_, global_randomization.MakeSeed()); + s2e::randomization::NormalRand nr(0.0, rho_kg_m3 * gauss_standard_deviation_rate_, s2e::randomization::global_randomization.MakeSeed()); double nrd = nr; return rho_kg_m3 + nrd; diff --git a/src/environment/local/geomagnetic_field.cpp b/src/environment/local/geomagnetic_field.cpp index df45b492c..48cdc57c0 100644 --- a/src/environment/local/geomagnetic_field.cpp +++ b/src/environment/local/geomagnetic_field.cpp @@ -44,7 +44,7 @@ void GeomagneticField::AddNoise(double* magnetic_field_array_i_nT) { static s2e::math::Vector<3> limit(random_walk_limit_nT_); static RandomWalk<3> random_walk(0.1, standard_deviation, limit); - static s2e::randomization::NormalRand white_noise(0.0, white_noise_standard_deviation_nT_, global_randomization.MakeSeed()); + static s2e::randomization::NormalRand white_noise(0.0, white_noise_standard_deviation_nT_, s2e::randomization::global_randomization.MakeSeed()); for (int i = 0; i < 3; ++i) { magnetic_field_array_i_nT[i] += random_walk[i] + white_noise; diff --git a/src/math_physics/randomization/global_randomization.cpp b/src/math_physics/randomization/global_randomization.cpp index 7a7282902..5c1bdef1a 100644 --- a/src/math_physics/randomization/global_randomization.cpp +++ b/src/math_physics/randomization/global_randomization.cpp @@ -5,6 +5,8 @@ #include "global_randomization.hpp" +namespace s2e::randomization { + GlobalRandomization global_randomization; GlobalRandomization::GlobalRandomization() { seed_ = 0xdeadbeef; } @@ -21,4 +23,6 @@ long GlobalRandomization::MakeSeed() { seed = 0xdeadbeef; } return seed; -} \ No newline at end of file +} + +} // namespace s2e::randomization diff --git a/src/math_physics/randomization/global_randomization.hpp b/src/math_physics/randomization/global_randomization.hpp index 67c52b6f6..fd9dac4a0 100644 --- a/src/math_physics/randomization/global_randomization.hpp +++ b/src/math_physics/randomization/global_randomization.hpp @@ -8,6 +8,8 @@ #include "./minimal_standard_linear_congruential_generator.hpp" +namespace s2e::randomization { + /** * @class global_randomization.hpp * @brief Class to manage global randomization @@ -39,4 +41,6 @@ class GlobalRandomization { extern GlobalRandomization global_randomization; //!< Global randomization +} // namespace s2e::randomization + #endif // S2E_LIBRARY_RANDOMIZATION_GLOBAL_RANDOMIZATION_HPP_ diff --git a/src/math_physics/randomization/random_walk_template_functions.hpp b/src/math_physics/randomization/random_walk_template_functions.hpp index ee224018c..4c4a77ca6 100644 --- a/src/math_physics/randomization/random_walk_template_functions.hpp +++ b/src/math_physics/randomization/random_walk_template_functions.hpp @@ -14,7 +14,7 @@ RandomWalk::RandomWalk(double step_width_s, const s2e::math::Vector& stand : s2e::math::OrdinaryDifferentialEquation(step_width_s), limit_(limit) { // Set standard deviation for (size_t i = 0; i < N; ++i) { - normal_randomizer_[i].SetParameters(0.0, standard_deviation[i], global_randomization.MakeSeed()); + normal_randomizer_[i].SetParameters(0.0, standard_deviation[i], s2e::randomization::global_randomization.MakeSeed()); } } From 2c597240f7793993d6d3837eb187a83aebd8bd31 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 14 Sep 2024 00:33:44 -0700 Subject: [PATCH 350/456] Rename namespaec time_system to s2e::time_system --- src/environment/global/gnss_satellites.cpp | 26 +++++++++---------- src/environment/global/gnss_satellites.hpp | 12 ++++----- src/math_physics/gnss/antex_file_reader.cpp | 4 +-- src/math_physics/gnss/antex_file_reader.hpp | 14 +++++----- src/math_physics/gnss/sp3_file_reader.cpp | 18 ++++++------- src/math_physics/gnss/sp3_file_reader.hpp | 14 +++++----- .../time_system/date_time_format.cpp | 4 +-- .../time_system/date_time_format.hpp | 4 +-- src/math_physics/time_system/epoch_time.cpp | 4 +-- src/math_physics/time_system/epoch_time.hpp | 4 +-- src/math_physics/time_system/gps_time.cpp | 4 +-- src/math_physics/time_system/gps_time.hpp | 4 +-- .../time_system/test_date_time_format.cpp | 2 +- .../time_system/test_epoch_time.cpp | 2 +- .../time_system/test_gps_time.cpp | 2 +- 15 files changed, 59 insertions(+), 59 deletions(-) diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index 07962c016..11b551228 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -19,7 +19,7 @@ using namespace s2e::gnss; const size_t kNumberOfInterpolation = 9; -void GnssSatellites::Initialize(const std::vector& sp3_files, const time_system::EpochTime start_time) { +void GnssSatellites::Initialize(const std::vector& sp3_files, const s2e::time_system::EpochTime start_time) { sp3_files_ = sp3_files; current_epoch_time_ = start_time; @@ -37,7 +37,7 @@ void GnssSatellites::Initialize(const std::vector& sp3_files, con if (nearest_epoch_id >= half_interpolation_number) { reference_interpolation_id_ = nearest_epoch_id - half_interpolation_number; } - reference_time_ = time_system::EpochTime(initial_sp3_file.GetEpochData(reference_interpolation_id_)); + reference_time_ = s2e::time_system::EpochTime(initial_sp3_file.GetEpochData(reference_interpolation_id_)); // Initialize orbit orbit_.assign(number_of_calculated_gnss_satellites_, s2e::orbit::InterpolationOrbit(kNumberOfInterpolation)); @@ -60,9 +60,9 @@ void GnssSatellites::Update(const SimulationTime& simulation_time) { // Get time UTC current_utc = simulation_time.GetCurrentUtc(); - time_system::DateTime current_date_time((size_t)current_utc.year, (size_t)current_utc.month, (size_t)current_utc.day, (size_t)current_utc.hour, + s2e::time_system::DateTime current_date_time((size_t)current_utc.year, (size_t)current_utc.month, (size_t)current_utc.day, (size_t)current_utc.hour, (size_t)current_utc.minute, current_utc.second); - current_epoch_time_ = time_system::EpochTime(current_date_time); + current_epoch_time_ = s2e::time_system::EpochTime(current_date_time); // Check interpolation update double diff_s = current_epoch_time_.GetTimeWithFraction_s() - reference_time_.GetTimeWithFraction_s(); @@ -74,10 +74,10 @@ void GnssSatellites::Update(const SimulationTime& simulation_time) { return; } -s2e::math::Vector<3> GnssSatellites::GetPosition_ecef_m(const size_t gnss_satellite_id, const time_system::EpochTime time) const { +s2e::math::Vector<3> GnssSatellites::GetPosition_ecef_m(const size_t gnss_satellite_id, const s2e::time_system::EpochTime time) const { if (gnss_satellite_id > number_of_calculated_gnss_satellites_) return s2e::math::Vector<3>(0.0); - time_system::EpochTime target_time; + s2e::time_system::EpochTime target_time; if (time.GetTime_s() == 0) { target_time = current_epoch_time_; @@ -92,10 +92,10 @@ s2e::math::Vector<3> GnssSatellites::GetPosition_ecef_m(const size_t gnss_satell return orbit_[gnss_satellite_id].CalcPositionWithTrigonometric(diff_s, s2e::math::tau / kOrbitalPeriodCorrection_s); } -double GnssSatellites::GetClock_s(const size_t gnss_satellite_id, const time_system::EpochTime time) const { +double GnssSatellites::GetClock_s(const size_t gnss_satellite_id, const s2e::time_system::EpochTime time) const { if (gnss_satellite_id > number_of_calculated_gnss_satellites_) return 0.0; - time_system::EpochTime target_time; + s2e::time_system::EpochTime target_time; if (time.GetTime_s() == 0) { target_time = current_epoch_time_; @@ -109,9 +109,9 @@ double GnssSatellites::GetClock_s(const size_t gnss_satellite_id, const time_sys return clock_[gnss_satellite_id].CalcPolynomial(diff_s) * 1e-6; } -bool GnssSatellites::GetCurrentSp3File(Sp3FileReader& current_sp3_file, const time_system::EpochTime current_time) { +bool GnssSatellites::GetCurrentSp3File(Sp3FileReader& current_sp3_file, const s2e::time_system::EpochTime current_time) { for (size_t i = 0; i < sp3_files_.size(); i++) { - time_system::EpochTime sp3_start_time(sp3_files_[i].GetStartEpochDateTime()); + s2e::time_system::EpochTime sp3_start_time(sp3_files_[i].GetStartEpochDateTime()); double diff_s = current_time.GetTimeWithFraction_s() - sp3_start_time.GetTimeWithFraction_s(); if (diff_s < 0.0) { // Error @@ -129,7 +129,7 @@ bool GnssSatellites::UpdateInterpolationInformation() { Sp3FileReader sp3_file = sp3_files_[sp3_file_id_]; for (size_t gnss_id = 0; gnss_id < number_of_calculated_gnss_satellites_; gnss_id++) { - time_system::EpochTime sp3_time = time_system::EpochTime(sp3_file.GetEpochData(reference_interpolation_id_)); + s2e::time_system::EpochTime sp3_time = s2e::time_system::EpochTime(sp3_file.GetEpochData(reference_interpolation_id_)); double time_diff_s = sp3_time.GetTimeWithFraction_s() - reference_time_.GetTimeWithFraction_s(); s2e::math::Vector<3> sp3_position_m = 1000.0 * sp3_file.GetSatellitePosition_km(reference_interpolation_id_, gnss_id); @@ -226,10 +226,10 @@ GnssSatellites* InitGnssSatellites(const std::string file_name, const EarthRotat } // - time_system::DateTime start_date_time((size_t)simulation_time.GetStartYear(), (size_t)simulation_time.GetStartMonth(), + s2e::time_system::DateTime start_date_time((size_t)simulation_time.GetStartYear(), (size_t)simulation_time.GetStartMonth(), (size_t)simulation_time.GetStartDay(), (size_t)simulation_time.GetStartHour(), (size_t)simulation_time.GetStartMinute(), simulation_time.GetStartSecond()); - time_system::EpochTime start_epoch_time(start_date_time); + s2e::time_system::EpochTime start_epoch_time(start_date_time); gnss_satellites->Initialize(sp3_file_readers, start_epoch_time); return gnss_satellites; diff --git a/src/environment/global/gnss_satellites.hpp b/src/environment/global/gnss_satellites.hpp index f807d0a75..6051ce4f5 100644 --- a/src/environment/global/gnss_satellites.hpp +++ b/src/environment/global/gnss_satellites.hpp @@ -54,7 +54,7 @@ class GnssSatellites : public ILoggable { * @param [in] sp3_files: List of SP3 files * @param [in] start_time: The simulation start time */ - void Initialize(const std::vector& sp3_files, const time_system::EpochTime start_time); + void Initialize(const std::vector& sp3_files, const s2e::time_system::EpochTime start_time); /** * @fn IsCalcEnabled @@ -87,7 +87,7 @@ class GnssSatellites : public ILoggable { * @param [in] time: Target time to get the GNSS satellite. When the argument is not set, the last updated time is used for the calculation. * @return GNSS satellite position at ECEF frame at the time. Or return zero vector when the arguments are out of range. */ - s2e::math::Vector<3> GetPosition_ecef_m(const size_t gnss_satellite_id, const time_system::EpochTime time = time_system::EpochTime(0, 0.0)) const; + s2e::math::Vector<3> GetPosition_ecef_m(const size_t gnss_satellite_id, const s2e::time_system::EpochTime time = s2e::time_system::EpochTime(0, 0.0)) const; /** * @fn GetGetClock_s @@ -96,7 +96,7 @@ class GnssSatellites : public ILoggable { * @param [in] time: Target time to get the GNSS satellite. When the argument is not set, the last updated time is used for the calculation. * @return GNSS satellite clock offset at the time. Or return zero when the arguments are out of range. */ - double GetClock_s(const size_t gnss_satellite_id, const time_system::EpochTime time = time_system::EpochTime(0, 0.0)) const; + double GetClock_s(const size_t gnss_satellite_id, const s2e::time_system::EpochTime time = s2e::time_system::EpochTime(0, 0.0)) const; // Override ILoggable /** @@ -116,9 +116,9 @@ class GnssSatellites : public ILoggable { std::vector sp3_files_; //!< List of SP3 files size_t number_of_calculated_gnss_satellites_; //!< Number of calculated GNSS satellites size_t sp3_file_id_; //!< Current SP3 file ID - time_system::EpochTime reference_time_; //!< Reference start time of the SP3 handling + s2e::time_system::EpochTime reference_time_; //!< Reference start time of the SP3 handling size_t reference_interpolation_id_ = 0; //!< Reference epoch ID of the interpolation - time_system::EpochTime current_epoch_time_; //!< The last updated time + s2e::time_system::EpochTime current_epoch_time_; //!< The last updated time std::vector orbit_; //!< GNSS satellite orbit with interpolation std::vector clock_; //!< GNSS satellite clock offset with interpolation @@ -133,7 +133,7 @@ class GnssSatellites : public ILoggable { * @param [in] current_time: Target time * @return true means no error, false means the time argument is out of range */ - bool GetCurrentSp3File(s2e::gnss::Sp3FileReader& current_sp3_file, const time_system::EpochTime current_time); + bool GetCurrentSp3File(s2e::gnss::Sp3FileReader& current_sp3_file, const s2e::time_system::EpochTime current_time); /** * @fn UpdateInterpolationInformation diff --git a/src/math_physics/gnss/antex_file_reader.cpp b/src/math_physics/gnss/antex_file_reader.cpp index 2bcd93793..c27c34ff7 100644 --- a/src/math_physics/gnss/antex_file_reader.cpp +++ b/src/math_physics/gnss/antex_file_reader.cpp @@ -192,11 +192,11 @@ AntexPhaseCenterData AntexFileReader::ReadPhaseCenterData(std::ifstream& antex_f return phase_center_data; } -time_system::DateTime AntexFileReader::ReadDateTime(std::string line) { +s2e::time_system::DateTime AntexFileReader::ReadDateTime(std::string line) { size_t year, month, day, hour, minute; double second; sscanf(line.c_str(), "%zu %2zu %2zu %2zu %2zu %10lf", &year, &month, &day, &hour, &minute, &second); - return time_system::DateTime(year, month, day, hour, minute, second); + return s2e::time_system::DateTime(year, month, day, hour, minute, second); } } // namespace s2e::gnss diff --git a/src/math_physics/gnss/antex_file_reader.hpp b/src/math_physics/gnss/antex_file_reader.hpp index c25c49477..179616bb9 100644 --- a/src/math_physics/gnss/antex_file_reader.hpp +++ b/src/math_physics/gnss/antex_file_reader.hpp @@ -203,12 +203,12 @@ class AntexSatelliteData { * @fn SetValidStartTime * @param[in] valid_start_time: Valid start time */ - inline void SetValidStartTime(const time_system::DateTime valid_start_time) { valid_start_time_ = valid_start_time; }; + inline void SetValidStartTime(const s2e::time_system::DateTime valid_start_time) { valid_start_time_ = valid_start_time; }; /** * @fn SetValidEndTime * @param[in] valid_end_time: Valid end time */ - inline void SetValidEndTime(const time_system::DateTime valid_end_time) { valid_end_time_ = valid_end_time; }; + inline void SetValidEndTime(const s2e::time_system::DateTime valid_end_time) { valid_end_time_ = valid_end_time; }; /** * @fn SetNumberOfFrequency * @param[in] number_of_frequency: Number of frequency @@ -235,12 +235,12 @@ class AntexSatelliteData { * @fn GetValidStartTime * @return Valid start time */ - inline time_system::DateTime GetValidStartTime() const { return valid_start_time_; }; + inline s2e::time_system::DateTime GetValidStartTime() const { return valid_start_time_; }; /** * @fn GetValidEndTime * @return Valid end time */ - inline time_system::DateTime GetValidEndTime() const { return valid_end_time_; }; + inline s2e::time_system::DateTime GetValidEndTime() const { return valid_end_time_; }; /** * @fn GetNumberOfFrequency * @return Number of frequency @@ -256,8 +256,8 @@ class AntexSatelliteData { private: std::string antenna_type_; //!< Antenna type std::string serial_number_; //!< Serial number or satellite code - time_system::DateTime valid_start_time_; //!< Valid start time - time_system::DateTime valid_end_time_; //!< Valid end time (The latest data does not have the end time) + s2e::time_system::DateTime valid_start_time_; //!< Valid start time + s2e::time_system::DateTime valid_end_time_; //!< Valid end time (The latest data does not have the end time) size_t number_of_frequency_ = 1; //!< Number of frequency std::vector phase_center_data_; //!< Phase center data for each frequency }; @@ -342,7 +342,7 @@ class AntexFileReader { * @param[in] line: A single line in ANTEX file * @return Read date time */ - time_system::DateTime ReadDateTime(std::string line); + s2e::time_system::DateTime ReadDateTime(std::string line); }; } // namespace s2e::gnss diff --git a/src/math_physics/gnss/sp3_file_reader.cpp b/src/math_physics/gnss/sp3_file_reader.cpp index 70c170116..212661e73 100644 --- a/src/math_physics/gnss/sp3_file_reader.cpp +++ b/src/math_physics/gnss/sp3_file_reader.cpp @@ -15,9 +15,9 @@ namespace s2e::gnss { Sp3FileReader::Sp3FileReader(const std::string file_name) { ReadFile(file_name); } -time_system::DateTime Sp3FileReader::GetEpochData(const size_t epoch_id) const { +s2e::time_system::DateTime Sp3FileReader::GetEpochData(const size_t epoch_id) const { if (epoch_id > epoch_.size()) { - time_system::DateTime zero; + s2e::time_system::DateTime zero; return zero; } return epoch_[epoch_id]; @@ -69,7 +69,7 @@ bool Sp3FileReader::ReadFile(const std::string file_name) { size_t year, month, day, hour, minute; double second; sscanf(line.substr(3, 28).c_str(), "%zu %2zu %2zu %2zu %2zu %12lf", &year, &month, &day, &hour, &minute, &second); - epoch_.push_back(time_system::DateTime(year, month, day, hour, minute, second)); + epoch_.push_back(s2e::time_system::DateTime(year, month, day, hour, minute, second)); // Orbit and Clock information for (size_t satellite_id = 0; satellite_id < header_.number_of_satellites_; satellite_id++) { @@ -117,7 +117,7 @@ bool Sp3FileReader::ReadFile(const std::string file_name) { } // Test - time_system::DateTime test = epoch_[0]; + s2e::time_system::DateTime test = epoch_[0]; test = epoch_[1]; std::vector test_p = position_clock_[0]; test_p = position_clock_[1]; @@ -126,7 +126,7 @@ bool Sp3FileReader::ReadFile(const std::string file_name) { return true; } -size_t Sp3FileReader::SearchNearestEpochId(const time_system::EpochTime time) { +size_t Sp3FileReader::SearchNearestEpochId(const s2e::time_system::EpochTime time) { size_t nearest_epoch_id = 0; // Get header info @@ -134,10 +134,10 @@ size_t Sp3FileReader::SearchNearestEpochId(const time_system::EpochTime time) { const double interval_s = header_.epoch_interval_s_; // Check range - time_system::EpochTime start_epoch(epoch_[0]); + s2e::time_system::EpochTime start_epoch(epoch_[0]); if (start_epoch > time) { nearest_epoch_id = 0; - } else if ((time_system::EpochTime)(epoch_[num_epoch - 1]) < time) { + } else if ((s2e::time_system::EpochTime)(epoch_[num_epoch - 1]) < time) { nearest_epoch_id = num_epoch - 1; } else { // Calc nearest point double diff_s = time.GetTimeWithFraction_s() - start_epoch.GetTimeWithFraction_s(); @@ -171,7 +171,7 @@ size_t Sp3FileReader::ReadHeader(std::ifstream& sp3_file) { size_t year, month, day, hour, minute; double second; sscanf(line.substr(3, 28).c_str(), "%zu %2zu %2zu %2zu %2zu %12lf", &year, &month, &day, &hour, &minute, &second); - header_.start_epoch_ = time_system::DateTime(year, month, day, hour, minute, second); + header_.start_epoch_ = s2e::time_system::DateTime(year, month, day, hour, minute, second); header_.number_of_epoch_ = std::stoi(line.substr(32, 7)); header_.used_data_ = line.substr(40, 5); header_.coordinate_system_ = line.substr(46, 5); @@ -199,7 +199,7 @@ size_t Sp3FileReader::ReadHeader(std::ifstream& sp3_file) { return 0; } // Read contents - header_.start_gps_time_ = time_system::GpsTime(std::stoi(line.substr(3, 4)), std::stod(line.substr(8, 15))); + header_.start_gps_time_ = s2e::time_system::GpsTime(std::stoi(line.substr(3, 4)), std::stod(line.substr(8, 15))); header_.epoch_interval_s_ = std::stod(line.substr(24, 14)); header_.start_time_mjday_ = std::stoi(line.substr(39, 5)); header_.start_time_mjday_fractional_day_ = std::stod(line.substr(45, 15)); diff --git a/src/math_physics/gnss/sp3_file_reader.hpp b/src/math_physics/gnss/sp3_file_reader.hpp index 5068a4e82..076ebd4d4 100644 --- a/src/math_physics/gnss/sp3_file_reader.hpp +++ b/src/math_physics/gnss/sp3_file_reader.hpp @@ -52,7 +52,7 @@ struct Sp3Header { // 1st line information // version -> not implemented yet Sp3Mode mode_; //!< position or velocity - time_system::DateTime start_epoch_; //!< Time of start epoch + s2e::time_system::DateTime start_epoch_; //!< Time of start epoch size_t number_of_epoch_ = 0; //!< Number of epoch in the SP3 file std::string used_data_; //!< Used data to generate the SP3 file std::string coordinate_system_; //!< Coordinate system for the position and velocity data @@ -60,7 +60,7 @@ struct Sp3Header { std::string agency_name_; //!< Agency name who generates the SP3 file // 2nd line information - time_system::GpsTime start_gps_time_; //!< Start time of orbit + s2e::time_system::GpsTime start_gps_time_; //!< Start time of orbit double epoch_interval_s_ = 1.0; //!< Epoch interval (0.0, 100000.0) size_t start_time_mjday_; //!< Start time of the orbit data (44244 = 6th Jan. 1980) [Modified Julian day] double start_time_mjday_fractional_day_ = 0.0; //!< Fractional part of the start time [0.0, 1.0) [day] @@ -172,19 +172,19 @@ class Sp3FileReader { inline Sp3Header GetHeader() const { return header_; } inline size_t GetNumberOfEpoch() const { return header_.number_of_epoch_; } inline size_t GetNumberOfSatellites() const { return header_.number_of_satellites_; } - inline time_system::DateTime GetStartEpochDateTime() const { return header_.start_epoch_; } - inline time_system::GpsTime GetStartEpochGpsTime() const { return header_.start_gps_time_; } + inline s2e::time_system::DateTime GetStartEpochDateTime() const { return header_.start_epoch_; } + inline s2e::time_system::GpsTime GetStartEpochGpsTime() const { return header_.start_gps_time_; } // Data - time_system::DateTime GetEpochData(const size_t epoch_id) const; + s2e::time_system::DateTime GetEpochData(const size_t epoch_id) const; Sp3PositionClock GetPositionClock(const size_t epoch_id, const size_t satellite_id); double GetSatelliteClockOffset(const size_t epoch_id, const size_t satellite_id); s2e::math::Vector<3> GetSatellitePosition_km(const size_t epoch_id, const size_t satellite_id); - size_t SearchNearestEpochId(const time_system::EpochTime time); + size_t SearchNearestEpochId(const s2e::time_system::EpochTime time); private: Sp3Header header_; //!< SP3 header information - std::vector epoch_; //!< Epoch data list + std::vector epoch_; //!< Epoch data list // Orbit and clock data (Use as position_clock_[satellite_id][epoch_id]) std::map> position_clock_; //!< Position and Clock data diff --git a/src/math_physics/time_system/date_time_format.cpp b/src/math_physics/time_system/date_time_format.cpp index 069c7247f..d470bfef5 100644 --- a/src/math_physics/time_system/date_time_format.cpp +++ b/src/math_physics/time_system/date_time_format.cpp @@ -11,7 +11,7 @@ #include #include -namespace time_system { +namespace s2e::time_system { DateTime::DateTime(const std::string date_time) { sscanf(date_time.c_str(), "%zu/%zu/%zu %zu:%zu:%lf", &year_, &month_, &day_, &hour_, &minute_, &second_); @@ -55,4 +55,4 @@ std::string DateTime::GetAsString() const { return output; } -} // namespace time_system +} // namespace s2e::time_system diff --git a/src/math_physics/time_system/date_time_format.hpp b/src/math_physics/time_system/date_time_format.hpp index 25084e979..540c6fefa 100644 --- a/src/math_physics/time_system/date_time_format.hpp +++ b/src/math_physics/time_system/date_time_format.hpp @@ -10,7 +10,7 @@ #include "epoch_time.hpp" -namespace time_system { +namespace s2e::time_system { class EpochTime; @@ -62,6 +62,6 @@ class DateTime { double second_; //!< Second [0.0, 60.0) }; -} // namespace time_system +} // namespace s2e::time_system #endif // S2E_LIBRARY_TIME_SYSTEM_DATE_TIME_FORMAT_HPP_ diff --git a/src/math_physics/time_system/epoch_time.cpp b/src/math_physics/time_system/epoch_time.cpp index b3b6ec730..cee1a4068 100644 --- a/src/math_physics/time_system/epoch_time.cpp +++ b/src/math_physics/time_system/epoch_time.cpp @@ -7,7 +7,7 @@ #include -namespace time_system { +namespace s2e::time_system { EpochTime::EpochTime(const DateTime date_time) { // No leap second calculation @@ -76,4 +76,4 @@ EpochTime EpochTime::operator-(const EpochTime& right_side) const { return result; } -} // namespace time_system +} // namespace s2e::time_system diff --git a/src/math_physics/time_system/epoch_time.hpp b/src/math_physics/time_system/epoch_time.hpp index 7f7dfe871..72723c066 100644 --- a/src/math_physics/time_system/epoch_time.hpp +++ b/src/math_physics/time_system/epoch_time.hpp @@ -10,7 +10,7 @@ #include "date_time_format.hpp" -namespace time_system { +namespace s2e::time_system { class DateTime; @@ -69,6 +69,6 @@ class EpochTime { double fraction_s_; //!< Fraction of second under 1 sec [0, 1) }; -} // namespace time_system +} // namespace s2e::time_system #endif // S2E_LIBRARY_TIME_SYSTEM_EPOCH_TIME_HPP_ diff --git a/src/math_physics/time_system/gps_time.cpp b/src/math_physics/time_system/gps_time.cpp index cb3a5fec9..5bed94290 100644 --- a/src/math_physics/time_system/gps_time.cpp +++ b/src/math_physics/time_system/gps_time.cpp @@ -5,7 +5,7 @@ #include "gps_time.hpp" -namespace time_system { +namespace s2e::time_system { const DateTime GpsTime::kEpochOfGpsTimeInDateTime_ = DateTime("1980/1/6 00:00:00.0"); const EpochTime GpsTime::kEpochOfGpsTimeInEpochTime_ = EpochTime(kEpochOfGpsTimeInDateTime_); @@ -26,4 +26,4 @@ void GpsTime::CalcEpochTime() { epoch_time_ = kEpochOfGpsTimeInEpochTime_ + time_diff; } -} // namespace time_system +} // namespace s2e::time_system diff --git a/src/math_physics/time_system/gps_time.hpp b/src/math_physics/time_system/gps_time.hpp index f86242754..fdc42d5a8 100644 --- a/src/math_physics/time_system/gps_time.hpp +++ b/src/math_physics/time_system/gps_time.hpp @@ -11,7 +11,7 @@ #include "date_time_format.hpp" #include "epoch_time.hpp" -namespace time_system { +namespace s2e::time_system { /** * @class GpsTime @@ -97,6 +97,6 @@ class GpsTime { void CalcEpochTime(); }; -} // namespace time_system +} // namespace s2e::time_system #endif // S2E_LIBRARY_TIME_SYSTEM_GPS_TIME_HPP_ diff --git a/src/math_physics/time_system/test_date_time_format.cpp b/src/math_physics/time_system/test_date_time_format.cpp index 4ac1a3840..935e92776 100644 --- a/src/math_physics/time_system/test_date_time_format.cpp +++ b/src/math_physics/time_system/test_date_time_format.cpp @@ -2,7 +2,7 @@ #include "date_time_format.hpp" -using namespace time_system; +using namespace s2e::time_system; /** * @brief Test Constructor with value diff --git a/src/math_physics/time_system/test_epoch_time.cpp b/src/math_physics/time_system/test_epoch_time.cpp index 6cb5f0c1b..e1281ca11 100644 --- a/src/math_physics/time_system/test_epoch_time.cpp +++ b/src/math_physics/time_system/test_epoch_time.cpp @@ -3,7 +3,7 @@ #include "date_time_format.hpp" #include "epoch_time.hpp" -using namespace time_system; +using namespace s2e::time_system; TEST(EpochTime, ConstructorNominal) { EpochTime time(1000000000, 0.250); diff --git a/src/math_physics/time_system/test_gps_time.cpp b/src/math_physics/time_system/test_gps_time.cpp index 425556774..737d2f7c6 100644 --- a/src/math_physics/time_system/test_gps_time.cpp +++ b/src/math_physics/time_system/test_gps_time.cpp @@ -2,7 +2,7 @@ #include "gps_time.hpp" -using namespace time_system; +using namespace s2e::time_system; /** * @brief Test Constructor From 7709a6c2f11013e45826d2e3174d2a58799a354d Mon Sep 17 00:00:00 2001 From: fukudakazuya Date: Tue, 17 Sep 2024 16:57:41 +0900 Subject: [PATCH 351/456] add orbit calculation with definition file --- ...orbit_calculation_with definition_file.cpp | 303 ++++++++++++++++++ ...orbit_calculation_with_definition_file.hpp | 190 +++++++++++ src/environment/global/global_environment.cpp | 4 + src/environment/global/global_environment.hpp | 2 + .../global/orbit_definition_file_reader.cpp | 119 +++++++ .../global/orbit_definition_file_reader.hpp | 56 ++++ src/simulation/case/simulation_case.cpp | 1 + src/simulation/simulation_configuration.hpp | 1 + 8 files changed, 676 insertions(+) create mode 100644 src/dynamics/orbit/orbit_calculation_with definition_file.cpp create mode 100644 src/dynamics/orbit/orbit_calculation_with_definition_file.hpp create mode 100644 src/environment/global/orbit_definition_file_reader.cpp create mode 100644 src/environment/global/orbit_definition_file_reader.hpp diff --git a/src/dynamics/orbit/orbit_calculation_with definition_file.cpp b/src/dynamics/orbit/orbit_calculation_with definition_file.cpp new file mode 100644 index 000000000..5395986e8 --- /dev/null +++ b/src/dynamics/orbit/orbit_calculation_with definition_file.cpp @@ -0,0 +1,303 @@ +/** + * @file orbit_calculation_with_definition_file.cpp + * @brief Class to calculate satellite orbit using interpolation with orbit time series input + */ + +#include "orbit_calculation_with_definition_file.hpp" + +#include + +#include +#include +#include + +#include "setting_file_reader/initialize_file_access.hpp" +#include "math_physics/time_system/date_time_format.hpp" +#include "math_physics/math/constants.hpp" +#include "logger/log_utility.hpp" + +const size_t kNumberOfInterpolation = 9; + +bool OrbitCalculationWithDefinitionFile::ReadOrbitDefinitionCsv(const std::string& file_name, std::vector& orbit_definition_data, char delimiter) { + std::ifstream ifs(file_name); + if (!ifs.is_open()) { + std::cerr << "File open error: " << file_name << std::endl; + return false; + } + + std::string line; + std::getline(ifs, line); // Skip header + + while (std::getline(ifs, line)) { + std::istringstream streamline(line); + std::string cell; + + int year, day, hour, minute; + double second; + char month_str[4]; + + int month_num; + + OrbitDefinitionData data; + + // Read time (UTC) + std::getline(streamline, cell, delimiter); + data.time_utc = cell; + + sscanf(cell.c_str(), "%d %3s %2d %2d:%2d:%lf", &year, month_str, &day, &hour, &minute, &second); + + if (strcmp(month_str, "JAN") == 0) month_num = 1; + else if (strcmp(month_str, "FEB") == 0) month_num = 2; + else if (strcmp(month_str, "MAR") == 0) month_num = 3; + else if (strcmp(month_str, "APR") == 0) month_num = 4; + else if (strcmp(month_str, "MAY") == 0) month_num = 5; + else if (strcmp(month_str, "JUN") == 0) month_num = 6; + else if (strcmp(month_str, "JUL") == 0) month_num = 7; + else if (strcmp(month_str, "AUG") == 0) month_num = 8; + else if (strcmp(month_str, "SEP") == 0) month_num = 9; + else if (strcmp(month_str, "OCT") == 0) month_num = 10; + else if (strcmp(month_str, "NOV") == 0) month_num = 11; + else if (strcmp(month_str, "DEC") == 0) month_num = 12; + else { + std::cout << "Invalid month abbreviation: " << month_str << std::endl; + return false; + } + epoch_.push_back(time_system::DateTime(year, month_num, day, hour, minute, second)); + + // Read Ephemeris time [s] + std::getline(streamline, cell, delimiter); + data.time_et_s = std::stod(cell); + + // Read EQU X(ECLIPJ2000) [km] + std::getline(streamline, cell, delimiter); + data.equ_x_eclipj2000_km = std::stod(cell); + + // Read EQU Y(ECLIPJ2000) [km] + std::getline(streamline, cell, delimiter); + data.equ_y_eclipj2000_km = std::stod(cell); + + // Read EQU Z(ECLIPJ2000) [km] + std::getline(streamline, cell, delimiter); + data.equ_z_eclipj2000_km = std::stod(cell); + + // Read VX [km/s] + std::getline(streamline, cell, delimiter); + data.vx_eclipj2000_km_s = std::stod(cell); + + // Read VY [km/s] + std::getline(streamline, cell, delimiter); + data.vy_eclipj2000_km_s = std::stod(cell); + + // Read VZ [km/s] + std::getline(streamline, cell, delimiter); + data.vz_eclipj2000_km_s = std::stod(cell); + + // Read Mass [kg] + std::getline(streamline, cell, delimiter); + data.m_kg = std::stod(cell); + + // Read FX [kN] + std::getline(streamline, cell, delimiter); + data.fx_kN = std::stod(cell); + + // Read FY [kN] + std::getline(streamline, cell, delimiter); + data.fy_kN = std::stod(cell); + + // Read FZ [kN] + std::getline(streamline, cell, delimiter); + data.fz_kN = std::stod(cell); + + // Read DV NODE + std::getline(streamline, cell, delimiter); + data.dv_node = (cell == "true"); + + // Read DV_X [km/s] + std::getline(streamline, cell, delimiter); + data.dv_x_eclipj2000_km_s = std::stod(cell); + + // Read DV_Y [km/s] + std::getline(streamline, cell, delimiter); + data.dv_y_eclipj2000_km_s = std::stod(cell); + + // Read DV_Z [km/s] + std::getline(streamline, cell, delimiter); + data.dv_z_eclipj2000_km_s = std::stod(cell); + + // Read SUN X (ECLIPJ2000) [km] + std::getline(streamline, cell, delimiter); + data.sun_x_eclipj2000_km = std::stod(cell); + + // Read SUN Y (ECLIPJ2000) [km] + std::getline(streamline, cell, delimiter); + data.sun_y_eclipj2000_km = std::stod(cell); + + // Read SUN Z (ECLIPJ2000) [km] + std::getline(streamline, cell, delimiter); + data.sun_z_eclipj2000_km = std::stod(cell); + + // Read MOON X (ECLIPJ2000) [km] + std::getline(streamline, cell, delimiter); + data.moon_x_eclipj2000_km = std::stod(cell); + + // Read MOON Y (ECLIPJ2000) [km] + std::getline(streamline, cell, delimiter); + data.moon_y_eclipj2000_km = std::stod(cell); + + // Read MOON Z (ECLIPJ2000) [km] + std::getline(streamline, cell, delimiter); + data.moon_z_eclipj2000_km = std::stod(cell); + + orbit_definition_data.push_back(data); + } + return true; +} + +void OrbitCalculationWithDefinitionFile::Initialize(const std::vector& orbit_definition_data, const time_system::EpochTime start_time, const SimulationTime& simulation_time) { + orbit_definition_data_ = orbit_definition_data; + current_epoch_time_ = start_time; + + // Get the initialize SP3 file + // OrbitDefinitionData initial_orbit_definition_data = orbit_definition_data_[0]; + + // Get general info + // number_of_calculated_gnss_satellites_ = initial_sp3_file.GetNumberOfSatellites(); + const size_t nearest_epoch_id = SearchNearestEpochId(simulation_time); + const size_t half_interpolation_number = kNumberOfInterpolation / 2; + if (nearest_epoch_id >= half_interpolation_number) { + reference_interpolation_id_ = nearest_epoch_id - half_interpolation_number; + } + reference_time_ = time_system::EpochTime(GetEpochData(reference_interpolation_id_)); + + // Initialize orbit + orbit_.assign(1.0, orbit::InterpolationOrbit(kNumberOfInterpolation)); + + // Initialize interpolation + for (size_t i = 0; i < kNumberOfInterpolation; i++) { + UpdateInterpolationInformation(); + } + + return; +} + +void OrbitCalculationWithDefinitionFile::Update(const SimulationTime& simulation_time) { + if (!IsCalcEnabled()) return; + + // Get time + UTC current_utc = simulation_time.GetCurrentUtc(); + time_system::DateTime current_date_time((size_t)current_utc.year, (size_t)current_utc.month, (size_t)current_utc.day, (size_t)current_utc.hour, + (size_t)current_utc.minute, current_utc.second); + current_epoch_time_ = time_system::EpochTime(current_date_time); + + // Check interpolation update + double diff_s = current_epoch_time_.GetTimeWithFraction_s() - reference_time_.GetTimeWithFraction_s(); + double medium_time_s = orbit_[0].GetTimeList()[4]; + if (diff_s > medium_time_s) { + UpdateInterpolationInformation(); + } + + return; +} + +size_t OrbitCalculationWithDefinitionFile::SearchNearestEpochId(const SimulationTime& simulation_time) { + size_t nearest_epoch_id = 0; + + // Get start ephemeris time + SpiceDouble start_et = simulation_time.GetCurrentEphemerisTime(); + + // Get the nearest epoch ID + for (size_t i = 0; i < orbit_definition_data_.size(); i++) { + if (start_et < orbit_definition_data_[i].time_et_s) { + nearest_epoch_id = i; + break; + } + } + return nearest_epoch_id; +} + +time_system::DateTime OrbitCalculationWithDefinitionFile::GetEpochData(const size_t epoch_id) const { + if (epoch_id > epoch_.size()) { + time_system::DateTime zero; + return zero; + } + return epoch_[epoch_id]; +} + + +math::Vector<3> OrbitCalculationWithDefinitionFile::GetPosition_eclipj2000_km(const time_system::EpochTime time) const { + time_system::EpochTime target_time; + + if (time.GetTime_s() == 0) { + target_time = current_epoch_time_; + } else { + target_time = time; + } + + double diff_s = target_time.GetTimeWithFraction_s() - reference_time_.GetTimeWithFraction_s(); + if (diff_s < 0.0 || diff_s > 1e6) return math::Vector<3>(0.0); + + const double kOrbitalPeriodCorrection_s = 24 * 60 * 60 * 1.003; // See http://acc.igs.org/orbits/orbit-interp_gpssoln03.pdf + return orbit_[0].CalcPositionWithTrigonometric(diff_s, math::tau / kOrbitalPeriodCorrection_s); +} + +bool OrbitCalculationWithDefinitionFile::UpdateInterpolationInformation() { + // OrbitDefinitionData orbit_definition_data = orbit_definition_data_; + + time_system::EpochTime orbit_definition_time = time_system::EpochTime(GetEpochData(reference_interpolation_id_)); + double time_diff_s = orbit_definition_time.GetTimeWithFraction_s() - reference_time_.GetTimeWithFraction_s(); + math::Vector<3> orbit_definition_position_eclipj2000_km; + orbit_definition_position_eclipj2000_km(0) = orbit_definition_data_[reference_interpolation_id_].equ_x_eclipj2000_km; + orbit_definition_position_eclipj2000_km(1) = orbit_definition_data_[reference_interpolation_id_].equ_y_eclipj2000_km; + orbit_definition_position_eclipj2000_km(2) = orbit_definition_data_[reference_interpolation_id_].equ_z_eclipj2000_km; + + orbit_[0].PushAndPopData(time_diff_s, orbit_definition_position_eclipj2000_km); + + reference_interpolation_id_++; + + return true; +} + +std::string OrbitCalculationWithDefinitionFile::GetLogHeader() const { + std::string str_tmp = ""; + + str_tmp += WriteVector("satellite_position", "eclipj2000", "km", 3); + + + return str_tmp; +} + +std::string OrbitCalculationWithDefinitionFile::GetLogValue() const { + std::string str_tmp = ""; + + str_tmp += WriteVector(GetPosition_eclipj2000_km(), 16); + + return str_tmp; +} + +OrbitCalculationWithDefinitionFile* InitOrbitCalculationWithDefinitionFile(const std::string file_name, const SimulationTime& simulation_time) { + IniAccess ini_file(file_name); + char section[] = "ORBIT_CALCULATION_WITH_DEFINITION_FILE"; + + const bool is_calc_enable = ini_file.ReadEnable(section, INI_CALC_LABEL); + const bool is_log_enable = ini_file.ReadEnable(section, INI_LOG_LABEL); + + OrbitCalculationWithDefinitionFile* orbit_calculation_with_definition_file = new OrbitCalculationWithDefinitionFile(is_calc_enable, is_log_enable); + if (!orbit_calculation_with_definition_file->IsCalcEnabled()) { + return orbit_calculation_with_definition_file; + } + + const std::string orbit_definition_file_path = ini_file.ReadString(section, "orbit_definition_file_path"); + + std::vector orbit_definition_data; + orbit_calculation_with_definition_file->ReadOrbitDefinitionCsv(orbit_definition_file_path, orbit_definition_data); + + time_system::DateTime start_date_time((size_t)simulation_time.GetStartYear(), (size_t)simulation_time.GetStartMonth(), + (size_t)simulation_time.GetStartDay(), (size_t)simulation_time.GetStartHour(), + (size_t)simulation_time.GetStartMinute(), simulation_time.GetStartSecond()); + time_system::EpochTime start_epoch_time(start_date_time); + orbit_calculation_with_definition_file->Initialize(orbit_definition_data, start_epoch_time, simulation_time); + + + + return orbit_calculation_with_definition_file; +} diff --git a/src/dynamics/orbit/orbit_calculation_with_definition_file.hpp b/src/dynamics/orbit/orbit_calculation_with_definition_file.hpp new file mode 100644 index 000000000..abd480fe8 --- /dev/null +++ b/src/dynamics/orbit/orbit_calculation_with_definition_file.hpp @@ -0,0 +1,190 @@ +/** + * @file orbit_calculation_with_defnition_file.hpp + * @brief Class to calculate satellite orbit using interpolation with orbit time series input + */ + +#ifndef S2E_DYNAMICS_ORBIT_ORBIT_CALCULATION_WITH_DEFINITION_FILE_HPP_ +#define S2E_DYNAMICS_ORBIT_ORBIT_CALCULATION_WITH_DEFINITION_FILE_HPP_ + +#include +#include + + +// #include +// #include +// #include +#include +#include +// #include +// #include + +// #include "earth_rotation.hpp" +// #include "logger/loggable.hpp" +// #include "math_physics/gnss/gnss_satellite_number.hpp" +// #include "math_physics/math/vector.hpp" +#include "simulation_time.hpp" + +/** + *@struct OrbitDefinitionData + *@brief Orbit definition data + */ +struct OrbitDefinitionData { + std::string time_utc; //!< time (UTC) + double time_et_s; //!< Ephemeris time [s] + double equ_x_eclipj2000_km; //!< EQU X(ECLIPJ2000) [km] + double equ_y_eclipj2000_km; //!< EQU Y(ECLIPJ2000) [km] + double equ_z_eclipj2000_km; //!< EQU Z(ECLIPJ2000) [km] + double vx_eclipj2000_km_s; //!< VX [km/s] + double vy_eclipj2000_km_s; //!< VY [km/s] + double vz_eclipj2000_km_s; //!< VZ [km/s] + double m_kg; //!< Mass [kg] + double fx_kN; //!< FX [kN] + double fy_kN; //!< FY [kN] + double fz_kN; //!< FZ [kN] + bool dv_node; //!< DV NODE + double dv_x_eclipj2000_km_s; //!< DV_X [km/s] + double dv_y_eclipj2000_km_s; //!< DV_Y [km/s] + double dv_z_eclipj2000_km_s; //!< DV_Z [km/s] + double sun_x_eclipj2000_km; //!< SUN X (ECLIPJ2000) [km] + double sun_y_eclipj2000_km; //!< SUN Y (ECLIPJ2000) [km] + double sun_z_eclipj2000_km; //!< SUN Z (ECLIPJ2000) [km] + double moon_x_eclipj2000_km; //!< MOON X (ECLIPJ2000) [km] + double moon_y_eclipj2000_km; //!< MOON Y (ECLIPJ2000) [km] + double moon_z_eclipj2000_km; //!< MOON Z (ECLIPJ2000) [km] +}; + +/** + * @class OrbitCalculationWithDefinitionFile + * @brief Class to calculate satellite orbit using interpolation with orbit time series input + */ +class OrbitCalculationWithDefinitionFile : public ILoggable { + public: + /** + *@fn OrbitCalculationWithDefinitionFile + *@brief Constructor + * @param [in] is_calc_enabled: Flag to manage the orbit calculation + * @param [in] is_log_enabled: Flag to generate the log of orbit calculation + */ + OrbitCalculationWithDefinitionFile(const bool is_calc_enabled = false, const bool is_log_enabled = false) + : is_calc_enabled_(is_calc_enabled) { + if (!is_calc_enabled_) { + is_log_enabled_ = false; + } else { + is_log_enabled_ = is_log_enabled; + } + } + + /** + *@fn ~OrbitCalculationWithDefinitionFile + *@brief Destructor + */ + virtual ~OrbitCalculationWithDefinitionFile() {} + + /** + * @fn Initialize + * @brief Initialize function + * @param [in] orbit_definition_data: orbit definition data + * @param [in] start_time: The simulation start time + */ + void Initialize(const std::vector& orbit_definition_data, const time_system::EpochTime start_time, const SimulationTime& simulation_time); + + /** + * @fn IsCalcEnabled + * @brief Return calculated enabled flag + */ + inline bool IsCalcEnabled() const { return is_calc_enabled_; } + + /** + * @fn ReadOrbitDefinitionCsv + * @brief Read orbit definition CSV file. + * @param file_name Path to orbit definition CSV file. + * @param orbit_definition_data List of orbit definition data. + * @param delimiter Delimiter for the orbit definition CSV file (default: ','). + */ + bool ReadOrbitDefinitionCsv(const std::string& file_name, std::vector& orbit_definition_data, char delimiter = ','); + + /** + * @fn GetOrbitDefinitionDataSize + * @brief Return read orbit definition data size. + */ + size_t GetOrbitDefinitionDataSize() const { return orbit_definition_data_.size(); } + + /** + * @fn GetOrbitDefinitionData + * @brief Return orbit definition data for a specific index. + * @param index The index of the orbit definition data to. + */ + OrbitDefinitionData GetOrbitDefinitionData(size_t index) const { return orbit_definition_data_[index]; } + + /** + * @fn GetEpochData + * @brief Return epoch data for a specific epoch ID. + * @param epoch_id The epoch ID of the orbit definition data. + */ + time_system::DateTime GetEpochData(const size_t epoch_id) const; + + /** + * @fn SearchNearestEpochId + * @brief Search the nearest epoch ID from the orbit definition data. + * @param simulation_time The simulation time information. + */ + size_t SearchNearestEpochId(const SimulationTime& simulation_time); + + + /** + * @fn Update + * @brief Updatesatellite information + * @param [in] simulation_time: Simulation time information + */ + void Update(const SimulationTime& simulation_time); + + /** + * @fn GetPosition_eclipj2000_km + * @brief Return satellite position at ECLIPJ2000 frame + * @param [in] time: Target time to get the satellite. When the argument is not set, the last updated time is used for the calculation. + * @return Satellite position at ECLIPJ2000 frame at the time. Or return zero vector when the arguments are out of range. + */ + math::Vector<3> GetPosition_eclipj2000_km(const time_system::EpochTime time = time_system::EpochTime(0, 0.0)) const; + + // Override ILoggable + /** + * @fn GetLogHeader + * @brief Override GetLogHeader function of ILoggable + */ + std::string GetLogHeader() const override; + /** + * @fn GetLogValue + * @brief Override GetLogValue function of ILoggable + */ + std::string GetLogValue() const override; + + private: + bool is_calc_enabled_ = false; //!< Flag to manage the orbit calculation + + std::vector epoch_; //!< Epoch data list + + std::vector orbit_definition_data_; //!< List of orbit definition data + time_system::EpochTime current_epoch_time_; //!< The last updated time + time_system::EpochTime reference_time_; //!< Reference start time of the orbit definition data handling + size_t reference_interpolation_id_ = 0; //!< Reference epoch ID of the interpolation + time_system::EpochTime current_epoch_time_; //!< The last updated time + + std::vector orbit_; //!< Satellite orbit with interpolation + + /** + * @fn UpdateInterpolationInformation + * @brief Update interpolation information by inserting new data + * @return true: No error, false: Orbit definition file out of range error + */ + bool UpdateInterpolationInformation(); +}; + +/** + * @fn InitOrbitCalculationWithDefinitionFile + * @brief Initialize function for OrbitCalculationWithDefinitionFile class + * @param [in] file_name: Path to the initialize file + * @param [in] simulation_time: Simulation time information + * @return Initialized OrbitCalculationWithDefinitionFile class + */ +OrbitCalculationWithDefinitionFile* InitOrbitCalculationWithDefinitionFile(const std::string file_name, const SimulationTime& simulation_time); +#endif // S2E_DYNAMICS_ORBIT_ORBIT_CALCULATION_WITH_DEFINITION_FILE_HPP_ \ No newline at end of file diff --git a/src/environment/global/global_environment.cpp b/src/environment/global/global_environment.cpp index 0e89b2346..b3e0320aa 100644 --- a/src/environment/global/global_environment.cpp +++ b/src/environment/global/global_environment.cpp @@ -14,6 +14,7 @@ GlobalEnvironment::~GlobalEnvironment() { delete celestial_information_; delete hipparcos_catalogue_; delete gnss_satellites_; + delete orbit_calculation_with_definition_file_; } void GlobalEnvironment::Initialize(const SimulationConfiguration* simulation_configuration) { @@ -26,6 +27,7 @@ void GlobalEnvironment::Initialize(const SimulationConfiguration* simulation_con simulation_time_ = InitSimulationTime(simulation_time_ini_path); hipparcos_catalogue_ = InitHipparcosCatalogue(simulation_configuration->initialize_base_file_name_); gnss_satellites_ = InitGnssSatellites(simulation_configuration->gnss_file_, celestial_information_->GetEarthRotation(), *simulation_time_); + orbit_calculation_with_definition_file_ = InitOrbitCalculationWithDefinitionFile(simulation_configuration->orbit_definition_file_, *simulation_time_); // Calc initial value celestial_information_->UpdateAllObjectsInformation(*simulation_time_); @@ -35,12 +37,14 @@ void GlobalEnvironment::Update() { simulation_time_->UpdateTime(); celestial_information_->UpdateAllObjectsInformation(*simulation_time_); gnss_satellites_->Update(*simulation_time_); + orbit_calculation_with_definition_file_->Update(*simulation_time_); } void GlobalEnvironment::LogSetup(Logger& logger) { logger.AddLogList(simulation_time_); logger.AddLogList(celestial_information_); logger.AddLogList(gnss_satellites_); + logger.AddLogList(orbit_calculation_with_definition_file_); } void GlobalEnvironment::Reset(void) { simulation_time_->ResetClock(); } diff --git a/src/environment/global/global_environment.hpp b/src/environment/global/global_environment.hpp index b8bb56890..1c985f2d2 100644 --- a/src/environment/global/global_environment.hpp +++ b/src/environment/global/global_environment.hpp @@ -8,6 +8,7 @@ #include "celestial_information.hpp" #include "gnss_satellites.hpp" +#include "orbit_calculation_with_definition_file.hpp" #include "hipparcos_catalogue.hpp" #include "logger/logger.hpp" #include "simulation/simulation_configuration.hpp" @@ -80,6 +81,7 @@ class GlobalEnvironment { CelestialInformation* celestial_information_; //!< Celestial bodies information HipparcosCatalogue* hipparcos_catalogue_; //!< Hipparcos catalogue GnssSatellites* gnss_satellites_; //!< GNSS satellites + OrbitCalculationWithDefinitionFile* orbit_calculation_with_definition_file_; //!< Orbit calculation with definition file }; #endif // S2E_ENVIRONMENT_GLOBAL_GLOBAL_ENVIRONMENT_HPP_ diff --git a/src/environment/global/orbit_definition_file_reader.cpp b/src/environment/global/orbit_definition_file_reader.cpp new file mode 100644 index 000000000..045614685 --- /dev/null +++ b/src/environment/global/orbit_definition_file_reader.cpp @@ -0,0 +1,119 @@ +/** + * @file orbit_definition_file_reader.cpp + * @brief A class to read the orbit definition file and provide functions to access the data + */ + +#include "orbit_definition_file_reader.hpp" + +#include +#include +#include + +bool OrbitDefinitionFileReader::ReadOrbitDefinitionCsv(const std::string& file_name, char delimiter) { + std::ifstream ifs(file_name); + if (!ifs.is_open()) { + std::cerr << "File open error: " << file_name << std::endl; + return false; + } + + std::string line; + std::getline(ifs, line); // Skip header + + while (std::getline(ifs, line)) { + std::istringstream streamline(line); + std::string cell; + + OrbitDefinitionData data; + + // Read time (UTC) + std::getline(streamline, cell, delimiter); + data.time_utc = cell; + + // Read Ephemeris time [s] + std::getline(streamline, cell, delimiter); + data.time_et_s = std::stod(cell); + + // Read EQU X(ECLIPJ2000) [km] + std::getline(streamline, cell, delimiter); + data.equ_x_eclipj2000_km = std::stod(cell); + + // Read EQU Y(ECLIPJ2000) [km] + std::getline(streamline, cell, delimiter); + data.equ_y_eclipj2000_km = std::stod(cell); + + // Read EQU Z(ECLIPJ2000) [km] + std::getline(streamline, cell, delimiter); + data.equ_z_eclipj2000_km = std::stod(cell); + + // Read VX [km/s] + std::getline(streamline, cell, delimiter); + data.vx_eclipj2000_km_s = std::stod(cell); + + // Read VY [km/s] + std::getline(streamline, cell, delimiter); + data.vy_eclipj2000_km_s = std::stod(cell); + + // Read VZ [km/s] + std::getline(streamline, cell, delimiter); + data.vz_eclipj2000_km_s = std::stod(cell); + + // Read Mass [kg] + std::getline(streamline, cell, delimiter); + data.m_kg = std::stod(cell); + + // Read FX [kN] + std::getline(streamline, cell, delimiter); + data.fx_kN = std::stod(cell); + + // Read FY [kN] + std::getline(streamline, cell, delimiter); + data.fy_kN = std::stod(cell); + + // Read FZ [kN] + std::getline(streamline, cell, delimiter); + data.fz_kN = std::stod(cell); + + // Read DV NODE + std::getline(streamline, cell, delimiter); + data.dv_node = (cell == "true"); + + // Read DV_X [km/s] + std::getline(streamline, cell, delimiter); + data.dv_x_eclipj2000_km_s = std::stod(cell); + + // Read DV_Y [km/s] + std::getline(streamline, cell, delimiter); + data.dv_y_eclipj2000_km_s = std::stod(cell); + + // Read DV_Z [km/s] + std::getline(streamline, cell, delimiter); + data.dv_z_eclipj2000_km_s = std::stod(cell); + + // Read SUN X (ECLIPJ2000) [km] + std::getline(streamline, cell, delimiter); + data.sun_x_eclipj2000_km = std::stod(cell); + + // Read SUN Y (ECLIPJ2000) [km] + std::getline(streamline, cell, delimiter); + data.sun_y_eclipj2000_km = std::stod(cell); + + // Read SUN Z (ECLIPJ2000) [km] + std::getline(streamline, cell, delimiter); + data.sun_z_eclipj2000_km = std::stod(cell); + + // Read MOON X (ECLIPJ2000) [km] + std::getline(streamline, cell, delimiter); + data.moon_x_eclipj2000_km = std::stod(cell); + + // Read MOON Y (ECLIPJ2000) [km] + std::getline(streamline, cell, delimiter); + data.moon_y_eclipj2000_km = std::stod(cell); + + // Read MOON Z (ECLIPJ2000) [km] + std::getline(streamline, cell, delimiter); + data.moon_z_eclipj2000_km = std::stod(cell); + + orbit_definition_data_.push_back(data); + } + return true; +} \ No newline at end of file diff --git a/src/environment/global/orbit_definition_file_reader.hpp b/src/environment/global/orbit_definition_file_reader.hpp new file mode 100644 index 000000000..55a0d0591 --- /dev/null +++ b/src/environment/global/orbit_definition_file_reader.hpp @@ -0,0 +1,56 @@ +/** + * @file orbit_definition_file_reader.hpp + * @brief A class to read the orbit definition file and provide functions to access the data + */ + +#ifndef S2E_ENVIRONMENT_GLOBAL_ORBIT_DEFINITION_FILE_READER_HPP_ +#define S2E_ENVIRONMENT_GLOBAL_ORBIT_DEFINITION_FILE_READER_HPP_ + +#include +#include + +/** + *@struct OrbitDefinitionData + *@brief Orbit definition data + */ +struct OrbitDefinitionData { + std::string time_utc; //!< time (UTC) + double time_et_s; //!< Ephemeris time [s] + double equ_x_eclipj2000_km; //!< EQU X(ECLIPJ2000) [km] + double equ_y_eclipj2000_km; //!< EQU Y(ECLIPJ2000) [km] + double equ_z_eclipj2000_km; //!< EQU Z(ECLIPJ2000) [km] + double vx_eclipj2000_km_s; //!< VX [km/s] + double vy_eclipj2000_km_s; //!< VY [km/s] + double vz_eclipj2000_km_s; //!< VZ [km/s] + double m_kg; //!< Mass [kg] + double fx_kN; //!< FX [kN] + double fy_kN; //!< FY [kN] + double fz_kN; //!< FZ [kN] + bool dv_node; //!< DV NODE + double dv_x_eclipj2000_km_s; //!< DV_X [km/s] + double dv_y_eclipj2000_km_s; //!< DV_Y [km/s] + double dv_z_eclipj2000_km_s; //!< DV_Z [km/s] + double sun_x_eclipj2000_km; //!< SUN X (ECLIPJ2000) [km] + double sun_y_eclipj2000_km; //!< SUN Y (ECLIPJ2000) [km] + double sun_z_eclipj2000_km; //!< SUN Z (ECLIPJ2000) [km] + double moon_x_eclipj2000_km; //!< MOON X (ECLIPJ2000) [km] + double moon_y_eclipj2000_km; //!< MOON Y (ECLIPJ2000) [km] + double moon_z_eclipj2000_km; //!< MOON Z (ECLIPJ2000) [km] +}; + +/** + * @class OrbitDefinitionFileReader + * @brief + */ +class OrbitDefinitionFileReader { + public: + /** + * @fn ReadOrbitDefinitionCsv + * @brief Read orbit definition CSV file. + * @param file_name Path to orbit definition CSV file. + * @param delimiter Delimiter for the orbit definition CSV file (default: ','). + */ + bool ReadOrbitDefinitionCsv(const std::string& file_name, char delimiter = ','); +}; + +#endif // S2E_ENVIRONMENT_GLOBAL_ORBIT_DEFINITION_FILE_READER_HPP_ \ No newline at end of file diff --git a/src/simulation/case/simulation_case.cpp b/src/simulation/case/simulation_case.cpp index 1a19dd003..d4fe870d3 100644 --- a/src/simulation/case/simulation_case.cpp +++ b/src/simulation/case/simulation_case.cpp @@ -100,6 +100,7 @@ void SimulationCase::InitializeSimulationConfiguration(const std::string initial // Others simulation_configuration_.inter_sc_communication_file_ = simulation_base_ini.ReadString(section, "inter_sat_comm_file"); simulation_configuration_.gnss_file_ = simulation_base_ini.ReadString(section, "gnss_file"); + simulation_configuration_.orbit_definition_file_ = simulation_base_ini.ReadString(section, "orbit_definition_file"); // Global Environment global_environment_ = new GlobalEnvironment(&simulation_configuration_); diff --git a/src/simulation/simulation_configuration.hpp b/src/simulation/simulation_configuration.hpp index 28b6f74f0..adf967284 100644 --- a/src/simulation/simulation_configuration.hpp +++ b/src/simulation/simulation_configuration.hpp @@ -27,6 +27,7 @@ struct SimulationConfiguration { std::string inter_sc_communication_file_; //!< File name for inter-satellite communication initialization std::string gnss_file_; //!< File name for GNSS initialization + std::string orbit_definition_file_; //!< File name for orbit calculation initialization /** * @fn ~SimulationConfiguration From ea0b1ebc060bc27370d943685178f7bc916d444b Mon Sep 17 00:00:00 2001 From: fukudakazuya Date: Wed, 18 Sep 2024 14:00:48 +0900 Subject: [PATCH 352/456] modify path --- src/dynamics/orbit/orbit_calculation_with_definition_file.hpp | 3 +-- src/environment/global/global_environment.hpp | 2 +- 2 files changed, 2 insertions(+), 3 deletions(-) diff --git a/src/dynamics/orbit/orbit_calculation_with_definition_file.hpp b/src/dynamics/orbit/orbit_calculation_with_definition_file.hpp index abd480fe8..3c4d9c4ff 100644 --- a/src/dynamics/orbit/orbit_calculation_with_definition_file.hpp +++ b/src/dynamics/orbit/orbit_calculation_with_definition_file.hpp @@ -22,7 +22,7 @@ // #include "logger/loggable.hpp" // #include "math_physics/gnss/gnss_satellite_number.hpp" // #include "math_physics/math/vector.hpp" -#include "simulation_time.hpp" +#include "environment/global/simulation_time.hpp" /** *@struct OrbitDefinitionData @@ -167,7 +167,6 @@ class OrbitCalculationWithDefinitionFile : public ILoggable { time_system::EpochTime current_epoch_time_; //!< The last updated time time_system::EpochTime reference_time_; //!< Reference start time of the orbit definition data handling size_t reference_interpolation_id_ = 0; //!< Reference epoch ID of the interpolation - time_system::EpochTime current_epoch_time_; //!< The last updated time std::vector orbit_; //!< Satellite orbit with interpolation diff --git a/src/environment/global/global_environment.hpp b/src/environment/global/global_environment.hpp index 1c985f2d2..b1be324f0 100644 --- a/src/environment/global/global_environment.hpp +++ b/src/environment/global/global_environment.hpp @@ -8,7 +8,7 @@ #include "celestial_information.hpp" #include "gnss_satellites.hpp" -#include "orbit_calculation_with_definition_file.hpp" +#include "dynamics/orbit/orbit_calculation_with_definition_file.hpp" #include "hipparcos_catalogue.hpp" #include "logger/logger.hpp" #include "simulation/simulation_configuration.hpp" From bb91739ec652eeff87aedb4d1188bdc282c9f606 Mon Sep 17 00:00:00 2001 From: fukudakazuya Date: Thu, 19 Sep 2024 13:12:06 +0900 Subject: [PATCH 353/456] modify file name --- ...orbit_calculation_with definition_file.cpp | 303 ------------------ 1 file changed, 303 deletions(-) delete mode 100644 src/dynamics/orbit/orbit_calculation_with definition_file.cpp diff --git a/src/dynamics/orbit/orbit_calculation_with definition_file.cpp b/src/dynamics/orbit/orbit_calculation_with definition_file.cpp deleted file mode 100644 index 5395986e8..000000000 --- a/src/dynamics/orbit/orbit_calculation_with definition_file.cpp +++ /dev/null @@ -1,303 +0,0 @@ -/** - * @file orbit_calculation_with_definition_file.cpp - * @brief Class to calculate satellite orbit using interpolation with orbit time series input - */ - -#include "orbit_calculation_with_definition_file.hpp" - -#include - -#include -#include -#include - -#include "setting_file_reader/initialize_file_access.hpp" -#include "math_physics/time_system/date_time_format.hpp" -#include "math_physics/math/constants.hpp" -#include "logger/log_utility.hpp" - -const size_t kNumberOfInterpolation = 9; - -bool OrbitCalculationWithDefinitionFile::ReadOrbitDefinitionCsv(const std::string& file_name, std::vector& orbit_definition_data, char delimiter) { - std::ifstream ifs(file_name); - if (!ifs.is_open()) { - std::cerr << "File open error: " << file_name << std::endl; - return false; - } - - std::string line; - std::getline(ifs, line); // Skip header - - while (std::getline(ifs, line)) { - std::istringstream streamline(line); - std::string cell; - - int year, day, hour, minute; - double second; - char month_str[4]; - - int month_num; - - OrbitDefinitionData data; - - // Read time (UTC) - std::getline(streamline, cell, delimiter); - data.time_utc = cell; - - sscanf(cell.c_str(), "%d %3s %2d %2d:%2d:%lf", &year, month_str, &day, &hour, &minute, &second); - - if (strcmp(month_str, "JAN") == 0) month_num = 1; - else if (strcmp(month_str, "FEB") == 0) month_num = 2; - else if (strcmp(month_str, "MAR") == 0) month_num = 3; - else if (strcmp(month_str, "APR") == 0) month_num = 4; - else if (strcmp(month_str, "MAY") == 0) month_num = 5; - else if (strcmp(month_str, "JUN") == 0) month_num = 6; - else if (strcmp(month_str, "JUL") == 0) month_num = 7; - else if (strcmp(month_str, "AUG") == 0) month_num = 8; - else if (strcmp(month_str, "SEP") == 0) month_num = 9; - else if (strcmp(month_str, "OCT") == 0) month_num = 10; - else if (strcmp(month_str, "NOV") == 0) month_num = 11; - else if (strcmp(month_str, "DEC") == 0) month_num = 12; - else { - std::cout << "Invalid month abbreviation: " << month_str << std::endl; - return false; - } - epoch_.push_back(time_system::DateTime(year, month_num, day, hour, minute, second)); - - // Read Ephemeris time [s] - std::getline(streamline, cell, delimiter); - data.time_et_s = std::stod(cell); - - // Read EQU X(ECLIPJ2000) [km] - std::getline(streamline, cell, delimiter); - data.equ_x_eclipj2000_km = std::stod(cell); - - // Read EQU Y(ECLIPJ2000) [km] - std::getline(streamline, cell, delimiter); - data.equ_y_eclipj2000_km = std::stod(cell); - - // Read EQU Z(ECLIPJ2000) [km] - std::getline(streamline, cell, delimiter); - data.equ_z_eclipj2000_km = std::stod(cell); - - // Read VX [km/s] - std::getline(streamline, cell, delimiter); - data.vx_eclipj2000_km_s = std::stod(cell); - - // Read VY [km/s] - std::getline(streamline, cell, delimiter); - data.vy_eclipj2000_km_s = std::stod(cell); - - // Read VZ [km/s] - std::getline(streamline, cell, delimiter); - data.vz_eclipj2000_km_s = std::stod(cell); - - // Read Mass [kg] - std::getline(streamline, cell, delimiter); - data.m_kg = std::stod(cell); - - // Read FX [kN] - std::getline(streamline, cell, delimiter); - data.fx_kN = std::stod(cell); - - // Read FY [kN] - std::getline(streamline, cell, delimiter); - data.fy_kN = std::stod(cell); - - // Read FZ [kN] - std::getline(streamline, cell, delimiter); - data.fz_kN = std::stod(cell); - - // Read DV NODE - std::getline(streamline, cell, delimiter); - data.dv_node = (cell == "true"); - - // Read DV_X [km/s] - std::getline(streamline, cell, delimiter); - data.dv_x_eclipj2000_km_s = std::stod(cell); - - // Read DV_Y [km/s] - std::getline(streamline, cell, delimiter); - data.dv_y_eclipj2000_km_s = std::stod(cell); - - // Read DV_Z [km/s] - std::getline(streamline, cell, delimiter); - data.dv_z_eclipj2000_km_s = std::stod(cell); - - // Read SUN X (ECLIPJ2000) [km] - std::getline(streamline, cell, delimiter); - data.sun_x_eclipj2000_km = std::stod(cell); - - // Read SUN Y (ECLIPJ2000) [km] - std::getline(streamline, cell, delimiter); - data.sun_y_eclipj2000_km = std::stod(cell); - - // Read SUN Z (ECLIPJ2000) [km] - std::getline(streamline, cell, delimiter); - data.sun_z_eclipj2000_km = std::stod(cell); - - // Read MOON X (ECLIPJ2000) [km] - std::getline(streamline, cell, delimiter); - data.moon_x_eclipj2000_km = std::stod(cell); - - // Read MOON Y (ECLIPJ2000) [km] - std::getline(streamline, cell, delimiter); - data.moon_y_eclipj2000_km = std::stod(cell); - - // Read MOON Z (ECLIPJ2000) [km] - std::getline(streamline, cell, delimiter); - data.moon_z_eclipj2000_km = std::stod(cell); - - orbit_definition_data.push_back(data); - } - return true; -} - -void OrbitCalculationWithDefinitionFile::Initialize(const std::vector& orbit_definition_data, const time_system::EpochTime start_time, const SimulationTime& simulation_time) { - orbit_definition_data_ = orbit_definition_data; - current_epoch_time_ = start_time; - - // Get the initialize SP3 file - // OrbitDefinitionData initial_orbit_definition_data = orbit_definition_data_[0]; - - // Get general info - // number_of_calculated_gnss_satellites_ = initial_sp3_file.GetNumberOfSatellites(); - const size_t nearest_epoch_id = SearchNearestEpochId(simulation_time); - const size_t half_interpolation_number = kNumberOfInterpolation / 2; - if (nearest_epoch_id >= half_interpolation_number) { - reference_interpolation_id_ = nearest_epoch_id - half_interpolation_number; - } - reference_time_ = time_system::EpochTime(GetEpochData(reference_interpolation_id_)); - - // Initialize orbit - orbit_.assign(1.0, orbit::InterpolationOrbit(kNumberOfInterpolation)); - - // Initialize interpolation - for (size_t i = 0; i < kNumberOfInterpolation; i++) { - UpdateInterpolationInformation(); - } - - return; -} - -void OrbitCalculationWithDefinitionFile::Update(const SimulationTime& simulation_time) { - if (!IsCalcEnabled()) return; - - // Get time - UTC current_utc = simulation_time.GetCurrentUtc(); - time_system::DateTime current_date_time((size_t)current_utc.year, (size_t)current_utc.month, (size_t)current_utc.day, (size_t)current_utc.hour, - (size_t)current_utc.minute, current_utc.second); - current_epoch_time_ = time_system::EpochTime(current_date_time); - - // Check interpolation update - double diff_s = current_epoch_time_.GetTimeWithFraction_s() - reference_time_.GetTimeWithFraction_s(); - double medium_time_s = orbit_[0].GetTimeList()[4]; - if (diff_s > medium_time_s) { - UpdateInterpolationInformation(); - } - - return; -} - -size_t OrbitCalculationWithDefinitionFile::SearchNearestEpochId(const SimulationTime& simulation_time) { - size_t nearest_epoch_id = 0; - - // Get start ephemeris time - SpiceDouble start_et = simulation_time.GetCurrentEphemerisTime(); - - // Get the nearest epoch ID - for (size_t i = 0; i < orbit_definition_data_.size(); i++) { - if (start_et < orbit_definition_data_[i].time_et_s) { - nearest_epoch_id = i; - break; - } - } - return nearest_epoch_id; -} - -time_system::DateTime OrbitCalculationWithDefinitionFile::GetEpochData(const size_t epoch_id) const { - if (epoch_id > epoch_.size()) { - time_system::DateTime zero; - return zero; - } - return epoch_[epoch_id]; -} - - -math::Vector<3> OrbitCalculationWithDefinitionFile::GetPosition_eclipj2000_km(const time_system::EpochTime time) const { - time_system::EpochTime target_time; - - if (time.GetTime_s() == 0) { - target_time = current_epoch_time_; - } else { - target_time = time; - } - - double diff_s = target_time.GetTimeWithFraction_s() - reference_time_.GetTimeWithFraction_s(); - if (diff_s < 0.0 || diff_s > 1e6) return math::Vector<3>(0.0); - - const double kOrbitalPeriodCorrection_s = 24 * 60 * 60 * 1.003; // See http://acc.igs.org/orbits/orbit-interp_gpssoln03.pdf - return orbit_[0].CalcPositionWithTrigonometric(diff_s, math::tau / kOrbitalPeriodCorrection_s); -} - -bool OrbitCalculationWithDefinitionFile::UpdateInterpolationInformation() { - // OrbitDefinitionData orbit_definition_data = orbit_definition_data_; - - time_system::EpochTime orbit_definition_time = time_system::EpochTime(GetEpochData(reference_interpolation_id_)); - double time_diff_s = orbit_definition_time.GetTimeWithFraction_s() - reference_time_.GetTimeWithFraction_s(); - math::Vector<3> orbit_definition_position_eclipj2000_km; - orbit_definition_position_eclipj2000_km(0) = orbit_definition_data_[reference_interpolation_id_].equ_x_eclipj2000_km; - orbit_definition_position_eclipj2000_km(1) = orbit_definition_data_[reference_interpolation_id_].equ_y_eclipj2000_km; - orbit_definition_position_eclipj2000_km(2) = orbit_definition_data_[reference_interpolation_id_].equ_z_eclipj2000_km; - - orbit_[0].PushAndPopData(time_diff_s, orbit_definition_position_eclipj2000_km); - - reference_interpolation_id_++; - - return true; -} - -std::string OrbitCalculationWithDefinitionFile::GetLogHeader() const { - std::string str_tmp = ""; - - str_tmp += WriteVector("satellite_position", "eclipj2000", "km", 3); - - - return str_tmp; -} - -std::string OrbitCalculationWithDefinitionFile::GetLogValue() const { - std::string str_tmp = ""; - - str_tmp += WriteVector(GetPosition_eclipj2000_km(), 16); - - return str_tmp; -} - -OrbitCalculationWithDefinitionFile* InitOrbitCalculationWithDefinitionFile(const std::string file_name, const SimulationTime& simulation_time) { - IniAccess ini_file(file_name); - char section[] = "ORBIT_CALCULATION_WITH_DEFINITION_FILE"; - - const bool is_calc_enable = ini_file.ReadEnable(section, INI_CALC_LABEL); - const bool is_log_enable = ini_file.ReadEnable(section, INI_LOG_LABEL); - - OrbitCalculationWithDefinitionFile* orbit_calculation_with_definition_file = new OrbitCalculationWithDefinitionFile(is_calc_enable, is_log_enable); - if (!orbit_calculation_with_definition_file->IsCalcEnabled()) { - return orbit_calculation_with_definition_file; - } - - const std::string orbit_definition_file_path = ini_file.ReadString(section, "orbit_definition_file_path"); - - std::vector orbit_definition_data; - orbit_calculation_with_definition_file->ReadOrbitDefinitionCsv(orbit_definition_file_path, orbit_definition_data); - - time_system::DateTime start_date_time((size_t)simulation_time.GetStartYear(), (size_t)simulation_time.GetStartMonth(), - (size_t)simulation_time.GetStartDay(), (size_t)simulation_time.GetStartHour(), - (size_t)simulation_time.GetStartMinute(), simulation_time.GetStartSecond()); - time_system::EpochTime start_epoch_time(start_date_time); - orbit_calculation_with_definition_file->Initialize(orbit_definition_data, start_epoch_time, simulation_time); - - - - return orbit_calculation_with_definition_file; -} From 1c652aeadbe7b37f97f5fc90e3f4e6e394d253ee Mon Sep 17 00:00:00 2001 From: fukudakazuya Date: Thu, 19 Sep 2024 13:12:33 +0900 Subject: [PATCH 354/456] delete orbit_definition_file_reader --- .../global/orbit_definition_file_reader.cpp | 119 ------------------ .../global/orbit_definition_file_reader.hpp | 56 --------- 2 files changed, 175 deletions(-) delete mode 100644 src/environment/global/orbit_definition_file_reader.cpp delete mode 100644 src/environment/global/orbit_definition_file_reader.hpp diff --git a/src/environment/global/orbit_definition_file_reader.cpp b/src/environment/global/orbit_definition_file_reader.cpp deleted file mode 100644 index 045614685..000000000 --- a/src/environment/global/orbit_definition_file_reader.cpp +++ /dev/null @@ -1,119 +0,0 @@ -/** - * @file orbit_definition_file_reader.cpp - * @brief A class to read the orbit definition file and provide functions to access the data - */ - -#include "orbit_definition_file_reader.hpp" - -#include -#include -#include - -bool OrbitDefinitionFileReader::ReadOrbitDefinitionCsv(const std::string& file_name, char delimiter) { - std::ifstream ifs(file_name); - if (!ifs.is_open()) { - std::cerr << "File open error: " << file_name << std::endl; - return false; - } - - std::string line; - std::getline(ifs, line); // Skip header - - while (std::getline(ifs, line)) { - std::istringstream streamline(line); - std::string cell; - - OrbitDefinitionData data; - - // Read time (UTC) - std::getline(streamline, cell, delimiter); - data.time_utc = cell; - - // Read Ephemeris time [s] - std::getline(streamline, cell, delimiter); - data.time_et_s = std::stod(cell); - - // Read EQU X(ECLIPJ2000) [km] - std::getline(streamline, cell, delimiter); - data.equ_x_eclipj2000_km = std::stod(cell); - - // Read EQU Y(ECLIPJ2000) [km] - std::getline(streamline, cell, delimiter); - data.equ_y_eclipj2000_km = std::stod(cell); - - // Read EQU Z(ECLIPJ2000) [km] - std::getline(streamline, cell, delimiter); - data.equ_z_eclipj2000_km = std::stod(cell); - - // Read VX [km/s] - std::getline(streamline, cell, delimiter); - data.vx_eclipj2000_km_s = std::stod(cell); - - // Read VY [km/s] - std::getline(streamline, cell, delimiter); - data.vy_eclipj2000_km_s = std::stod(cell); - - // Read VZ [km/s] - std::getline(streamline, cell, delimiter); - data.vz_eclipj2000_km_s = std::stod(cell); - - // Read Mass [kg] - std::getline(streamline, cell, delimiter); - data.m_kg = std::stod(cell); - - // Read FX [kN] - std::getline(streamline, cell, delimiter); - data.fx_kN = std::stod(cell); - - // Read FY [kN] - std::getline(streamline, cell, delimiter); - data.fy_kN = std::stod(cell); - - // Read FZ [kN] - std::getline(streamline, cell, delimiter); - data.fz_kN = std::stod(cell); - - // Read DV NODE - std::getline(streamline, cell, delimiter); - data.dv_node = (cell == "true"); - - // Read DV_X [km/s] - std::getline(streamline, cell, delimiter); - data.dv_x_eclipj2000_km_s = std::stod(cell); - - // Read DV_Y [km/s] - std::getline(streamline, cell, delimiter); - data.dv_y_eclipj2000_km_s = std::stod(cell); - - // Read DV_Z [km/s] - std::getline(streamline, cell, delimiter); - data.dv_z_eclipj2000_km_s = std::stod(cell); - - // Read SUN X (ECLIPJ2000) [km] - std::getline(streamline, cell, delimiter); - data.sun_x_eclipj2000_km = std::stod(cell); - - // Read SUN Y (ECLIPJ2000) [km] - std::getline(streamline, cell, delimiter); - data.sun_y_eclipj2000_km = std::stod(cell); - - // Read SUN Z (ECLIPJ2000) [km] - std::getline(streamline, cell, delimiter); - data.sun_z_eclipj2000_km = std::stod(cell); - - // Read MOON X (ECLIPJ2000) [km] - std::getline(streamline, cell, delimiter); - data.moon_x_eclipj2000_km = std::stod(cell); - - // Read MOON Y (ECLIPJ2000) [km] - std::getline(streamline, cell, delimiter); - data.moon_y_eclipj2000_km = std::stod(cell); - - // Read MOON Z (ECLIPJ2000) [km] - std::getline(streamline, cell, delimiter); - data.moon_z_eclipj2000_km = std::stod(cell); - - orbit_definition_data_.push_back(data); - } - return true; -} \ No newline at end of file diff --git a/src/environment/global/orbit_definition_file_reader.hpp b/src/environment/global/orbit_definition_file_reader.hpp deleted file mode 100644 index 55a0d0591..000000000 --- a/src/environment/global/orbit_definition_file_reader.hpp +++ /dev/null @@ -1,56 +0,0 @@ -/** - * @file orbit_definition_file_reader.hpp - * @brief A class to read the orbit definition file and provide functions to access the data - */ - -#ifndef S2E_ENVIRONMENT_GLOBAL_ORBIT_DEFINITION_FILE_READER_HPP_ -#define S2E_ENVIRONMENT_GLOBAL_ORBIT_DEFINITION_FILE_READER_HPP_ - -#include -#include - -/** - *@struct OrbitDefinitionData - *@brief Orbit definition data - */ -struct OrbitDefinitionData { - std::string time_utc; //!< time (UTC) - double time_et_s; //!< Ephemeris time [s] - double equ_x_eclipj2000_km; //!< EQU X(ECLIPJ2000) [km] - double equ_y_eclipj2000_km; //!< EQU Y(ECLIPJ2000) [km] - double equ_z_eclipj2000_km; //!< EQU Z(ECLIPJ2000) [km] - double vx_eclipj2000_km_s; //!< VX [km/s] - double vy_eclipj2000_km_s; //!< VY [km/s] - double vz_eclipj2000_km_s; //!< VZ [km/s] - double m_kg; //!< Mass [kg] - double fx_kN; //!< FX [kN] - double fy_kN; //!< FY [kN] - double fz_kN; //!< FZ [kN] - bool dv_node; //!< DV NODE - double dv_x_eclipj2000_km_s; //!< DV_X [km/s] - double dv_y_eclipj2000_km_s; //!< DV_Y [km/s] - double dv_z_eclipj2000_km_s; //!< DV_Z [km/s] - double sun_x_eclipj2000_km; //!< SUN X (ECLIPJ2000) [km] - double sun_y_eclipj2000_km; //!< SUN Y (ECLIPJ2000) [km] - double sun_z_eclipj2000_km; //!< SUN Z (ECLIPJ2000) [km] - double moon_x_eclipj2000_km; //!< MOON X (ECLIPJ2000) [km] - double moon_y_eclipj2000_km; //!< MOON Y (ECLIPJ2000) [km] - double moon_z_eclipj2000_km; //!< MOON Z (ECLIPJ2000) [km] -}; - -/** - * @class OrbitDefinitionFileReader - * @brief - */ -class OrbitDefinitionFileReader { - public: - /** - * @fn ReadOrbitDefinitionCsv - * @brief Read orbit definition CSV file. - * @param file_name Path to orbit definition CSV file. - * @param delimiter Delimiter for the orbit definition CSV file (default: ','). - */ - bool ReadOrbitDefinitionCsv(const std::string& file_name, char delimiter = ','); -}; - -#endif // S2E_ENVIRONMENT_GLOBAL_ORBIT_DEFINITION_FILE_READER_HPP_ \ No newline at end of file From 330467dfd179c0b8ee165e8dc728b34b82a8bb63 Mon Sep 17 00:00:00 2001 From: kai0722 Date: Fri, 20 Sep 2024 13:55:51 +0900 Subject: [PATCH 355/456] Refactor Node class to rename albedo flux to albedo radiation and update related methods --- src/dynamics/thermal/node.cpp | 9 +++++---- src/dynamics/thermal/node.hpp | 12 ++++++------ src/dynamics/thermal/temperature.cpp | 4 ++-- 3 files changed, 13 insertions(+), 12 deletions(-) diff --git a/src/dynamics/thermal/node.cpp b/src/dynamics/thermal/node.cpp index 454d61b62..368624183 100644 --- a/src/dynamics/thermal/node.cpp +++ b/src/dynamics/thermal/node.cpp @@ -25,7 +25,7 @@ Node::Node(const size_t node_id, const string node_name, const NodeType node_typ normal_vector_b_(normal_vector_b) { AssertNodeParams(); solar_radiation_W_ = 0; - albedo_flux_W_ = 0; + albedo_radiation_W_ = 0; } Node::~Node() {} @@ -51,11 +51,12 @@ double Node::CalcAlbedoRadiation_W(libra::Vector<3> earth_direction_b, double so if (cos_theta_albedo > 0) { // 地球からの反射光による放射フラックスを計算 (アルベドの寄与) double albedo_flux_W_m2 = solar_flux_W_m2 * albedo_factor * (earth_radius_m / earth_distance_m) * (earth_radius_m / earth_distance_m); - albedo_flux_W_ = albedo_flux_W_m2 * area_m2_ * alpha_ * cos_theta_albedo; + cout << "#albedo_flux_W_m2: " << albedo_flux_W_m2 << endl; + albedo_radiation_W_ = albedo_flux_W_m2 * area_m2_ * alpha_ * cos_theta_albedo; } else { - albedo_flux_W_ = 0; + albedo_radiation_W_ = 0; } - return albedo_flux_W_; + return albedo_radiation_W_; } void Node::PrintParam(void) { diff --git a/src/dynamics/thermal/node.hpp b/src/dynamics/thermal/node.hpp index 750b423ee..3b1a42797 100644 --- a/src/dynamics/thermal/node.hpp +++ b/src/dynamics/thermal/node.hpp @@ -105,18 +105,18 @@ class Node { * @return double: heat capacity [J/K] */ inline double GetCapacity_J_K(void) const { return capacity_J_K_; } - /** + /**s * @fn GetSolarRadiation_W * @brief Return Solar Radiation [W] * @return double: Solar Radiation [W] */ inline double GetSolarRadiation_W(void) const { return solar_radiation_W_; } /** - * @fn GetAlbedoFlux_W - * @brief Return Albedo Flux [W] - * @return double: Albedo Flux [W] + * @fn GetAlbedoRadiation_W + * @brief Return Albedo Radiation [W] + * @return double: Albedo Radiation [W] */ - inline double GetAlbedoFlux_W(void) const { return albedo_flux_W_; } + inline double GetAlbedoRadiation_W(void) const { return albedo_radiation_W_; } /** * @fn GetNodeType * @brief Return Node Type @@ -149,7 +149,7 @@ class Node { double alpha_; double area_m2_; double solar_radiation_W_; - double albedo_flux_W_; + double albedo_radiation_W_; NodeType node_type_; libra::Vector<3> normal_vector_b_; diff --git a/src/dynamics/thermal/temperature.cpp b/src/dynamics/thermal/temperature.cpp index 53478cd6c..17e782247 100644 --- a/src/dynamics/thermal/temperature.cpp +++ b/src/dynamics/thermal/temperature.cpp @@ -68,9 +68,9 @@ void Temperature::Propagate(const LocalCelestialInformation* local_celestial_inf for (auto itr = nodes_.begin(); itr != nodes_.end(); ++itr) { cout << setprecision(4) << itr->GetSolarRadiation_W() << " "; } - cout << "AlbedoF: "; + cout << "AlbedoR: "; for (auto itr = nodes_.begin(); itr != nodes_.end(); ++itr) { - cout << setprecision(4) << itr->GetAlbedoFlux_W() << " "; + cout << setprecision(4) << itr->GetAlbedoRadiation_W() << " "; } std::string sun_str = "SUN"; char* c_sun = new char[sun_str.size() + 1]; From d6f2b8fa8d25393263a022de10e99bf9bc8bc16e Mon Sep 17 00:00:00 2001 From: kai0722 Date: Fri, 20 Sep 2024 14:15:01 +0900 Subject: [PATCH 356/456] Remove unused albedo flux debug output and simplify string handling for celestial positions --- src/dynamics/thermal/node.cpp | 1 - src/dynamics/thermal/temperature.cpp | 12 ++---------- 2 files changed, 2 insertions(+), 11 deletions(-) diff --git a/src/dynamics/thermal/node.cpp b/src/dynamics/thermal/node.cpp index 368624183..4959b1bbd 100644 --- a/src/dynamics/thermal/node.cpp +++ b/src/dynamics/thermal/node.cpp @@ -51,7 +51,6 @@ double Node::CalcAlbedoRadiation_W(libra::Vector<3> earth_direction_b, double so if (cos_theta_albedo > 0) { // 地球からの反射光による放射フラックスを計算 (アルベドの寄与) double albedo_flux_W_m2 = solar_flux_W_m2 * albedo_factor * (earth_radius_m / earth_distance_m) * (earth_radius_m / earth_distance_m); - cout << "#albedo_flux_W_m2: " << albedo_flux_W_m2 << endl; albedo_radiation_W_ = albedo_flux_W_m2 * area_m2_ * alpha_ * cos_theta_albedo; } else { albedo_radiation_W_ = 0; diff --git a/src/dynamics/thermal/temperature.cpp b/src/dynamics/thermal/temperature.cpp index 17e782247..ac7258e8a 100644 --- a/src/dynamics/thermal/temperature.cpp +++ b/src/dynamics/thermal/temperature.cpp @@ -133,14 +133,8 @@ vector Temperature::CalcTemperatureDifferentials(vector temperat // TODO: consider the following unused arguments are really needed UNUSED(temperatures_K); - std::string sun_str = "SUN"; - char* c_sun = new char[sun_str.size() + 1]; - std::char_traits::copy(c_sun, sun_str.c_str(), sun_str.size() + 1); // string -> char* - std::string earth_str = "EARTH"; - char* c_earth = new char[earth_str.size() + 1]; - std::char_traits::copy(c_earth, earth_str.c_str(), earth_str.size() + 1); // string -> char* - libra::Vector<3> sun_position_b_m = local_celestial_information->GetPositionFromSpacecraft_b_m(c_sun); - libra::Vector<3> earth_position_b_m = local_celestial_information->GetPositionFromSpacecraft_b_m(c_earth); + libra::Vector<3> sun_position_b_m = local_celestial_information->GetPositionFromSpacecraft_b_m("SUN"); + libra::Vector<3> earth_position_b_m = local_celestial_information->GetPositionFromSpacecraft_b_m("EARTH"); double sun_distance_m = sun_position_b_m.CalcNorm(); double earth_distance_m = earth_position_b_m.CalcNorm(); libra::Vector<3> sun_direction_b; @@ -181,8 +175,6 @@ vector Temperature::CalcTemperatureDifferentials(vector temperat differentials_K_s[i] = 0; } } - delete[] c_sun; - delete[] c_earth; return differentials_K_s; } From a1cc0d8a4b14eeaa049947ccc82371c8517f8a1c Mon Sep 17 00:00:00 2001 From: kai0722 Date: Fri, 20 Sep 2024 15:57:38 +0900 Subject: [PATCH 357/456] Refactor CalcAlbedoRadiation_W method to use earth position and eclipsed state --- src/dynamics/thermal/node.cpp | 28 +++++++++++++++++----------- src/dynamics/thermal/node.hpp | 2 +- src/dynamics/thermal/temperature.cpp | 15 +++------------ 3 files changed, 21 insertions(+), 24 deletions(-) diff --git a/src/dynamics/thermal/node.cpp b/src/dynamics/thermal/node.cpp index 4959b1bbd..a51b85e72 100644 --- a/src/dynamics/thermal/node.cpp +++ b/src/dynamics/thermal/node.cpp @@ -41,17 +41,23 @@ double Node::CalcSolarRadiation_W(libra::Vector<3> sun_direction_b, double solar return solar_radiation_W_; } -double Node::CalcAlbedoRadiation_W(libra::Vector<3> earth_direction_b, double solar_flux_W_m2, double albedo_factor, double earth_distance_m) { - double cos_theta_albedo = InnerProduct(earth_direction_b, normal_vector_b_); - - // 地球の半径 - double earth_radius_m = 6371.0e3; - - // アルベドによる入熱の計算 - if (cos_theta_albedo > 0) { - // 地球からの反射光による放射フラックスを計算 (アルベドの寄与) - double albedo_flux_W_m2 = solar_flux_W_m2 * albedo_factor * (earth_radius_m / earth_distance_m) * (earth_radius_m / earth_distance_m); - albedo_radiation_W_ = albedo_flux_W_m2 * area_m2_ * alpha_ * cos_theta_albedo; +double Node::CalcAlbedoRadiation_W(libra::Vector<3> earth_position_b_m, double solar_flux_W_m2, double albedo_factor, bool is_eclipsed) { + libra::Vector<3> earth_direction_b = earth_position_b_m.CalcNormalizedVector(); + double earth_distance_m = earth_position_b_m.CalcNorm(); + + // check if satellite is outside of the earth's shadow + if (!is_eclipsed) { + double cos_theta_albedo = InnerProduct(earth_direction_b, normal_vector_b_); + // earth radius + double earth_radius_m = 6371.0e3; + + // albedo radiation calculation + if (cos_theta_albedo > 0) { + double albedo_flux_W_m2 = solar_flux_W_m2 * albedo_factor * pow((earth_radius_m / earth_distance_m),2) / 4.0; + albedo_radiation_W_ = albedo_flux_W_m2 * area_m2_ * alpha_ * cos_theta_albedo; + } else { + albedo_radiation_W_ = 0; + } } else { albedo_radiation_W_ = 0; } diff --git a/src/dynamics/thermal/node.hpp b/src/dynamics/thermal/node.hpp index 3b1a42797..1800efbdd 100644 --- a/src/dynamics/thermal/node.hpp +++ b/src/dynamics/thermal/node.hpp @@ -66,7 +66,7 @@ class Node { * @param earth_direction_b: Earth direction in body frame * @return double: Albedo Radiation [W] */ - double CalcAlbedoRadiation_W(libra::Vector<3> earth_direction_b, double solar_flux_W_m2, double albedo_factor, double earth_distance_m); + double CalcAlbedoRadiation_W(libra::Vector<3> earth_position_b_m, double solar_flux_W_m2, double albedo_factor, bool is_eclipsed); // Getter /** diff --git a/src/dynamics/thermal/temperature.cpp b/src/dynamics/thermal/temperature.cpp index ac7258e8a..3360d7d6a 100644 --- a/src/dynamics/thermal/temperature.cpp +++ b/src/dynamics/thermal/temperature.cpp @@ -133,26 +133,17 @@ vector Temperature::CalcTemperatureDifferentials(vector temperat // TODO: consider the following unused arguments are really needed UNUSED(temperatures_K); - libra::Vector<3> sun_position_b_m = local_celestial_information->GetPositionFromSpacecraft_b_m("SUN"); + libra::Vector<3> sun_direction_b = local_celestial_information->GetPositionFromSpacecraft_b_m("SUN").CalcNormalizedVector(); libra::Vector<3> earth_position_b_m = local_celestial_information->GetPositionFromSpacecraft_b_m("EARTH"); - double sun_distance_m = sun_position_b_m.CalcNorm(); - double earth_distance_m = earth_position_b_m.CalcNorm(); - libra::Vector<3> sun_direction_b; - for (size_t i = 0; i < 3; i++) { - sun_direction_b[i] = sun_position_b_m[i] / sun_distance_m; - } - libra::Vector<3> earth_direction_b; - for (size_t i = 0; i < 3; i++) { - earth_direction_b[i] = earth_position_b_m[i] / earth_distance_m; - } vector differentials_K_s(node_num); for (size_t i = 0; i < node_num; i++) { heatloads_[i].SetElapsedTime_s(t); if (nodes_[i].GetNodeType() == NodeType::kDiffusive) { double solar_flux_W_m2 = srp_environment_->GetPowerDensity_W_m2(); + bool is_eclipsed = srp_environment_->IsEclipsed(); if (solar_calc_setting_ == SolarCalcSetting::kEnable) { double solar_radiation_W = nodes_[i].CalcSolarRadiation_W(sun_direction_b, solar_flux_W_m2); - double albedo_radiation_W = nodes_[i].CalcAlbedoRadiation_W(earth_direction_b, solar_flux_W_m2, albedo_factor_, earth_distance_m); + double albedo_radiation_W = nodes_[i].CalcAlbedoRadiation_W(earth_position_b_m, solar_flux_W_m2, albedo_factor_, is_eclipsed); heatloads_[i].SetSolarHeatload_W(solar_radiation_W); heatloads_[i].SetAlbedoHeatload_W(albedo_radiation_W); } From d637fa750ad5d15403e8f8472c7bd45c47b95964 Mon Sep 17 00:00:00 2001 From: kai0722 Date: Fri, 20 Sep 2024 15:58:43 +0900 Subject: [PATCH 358/456] Refactor temperature calculation to use GetIsEclipsed method for eclipsed state --- src/dynamics/thermal/temperature.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/dynamics/thermal/temperature.cpp b/src/dynamics/thermal/temperature.cpp index 3360d7d6a..45869b0d0 100644 --- a/src/dynamics/thermal/temperature.cpp +++ b/src/dynamics/thermal/temperature.cpp @@ -140,7 +140,7 @@ vector Temperature::CalcTemperatureDifferentials(vector temperat heatloads_[i].SetElapsedTime_s(t); if (nodes_[i].GetNodeType() == NodeType::kDiffusive) { double solar_flux_W_m2 = srp_environment_->GetPowerDensity_W_m2(); - bool is_eclipsed = srp_environment_->IsEclipsed(); + bool is_eclipsed = srp_environment_->GetIsEclipsed(); if (solar_calc_setting_ == SolarCalcSetting::kEnable) { double solar_radiation_W = nodes_[i].CalcSolarRadiation_W(sun_direction_b, solar_flux_W_m2); double albedo_radiation_W = nodes_[i].CalcAlbedoRadiation_W(earth_position_b_m, solar_flux_W_m2, albedo_factor_, is_eclipsed); From 5605351d527a60677918f66103b9d0ce8dfe07b1 Mon Sep 17 00:00:00 2001 From: kai0722 Date: Fri, 20 Sep 2024 16:21:54 +0900 Subject: [PATCH 359/456] Refactor Temperature class to include calc_albedo flag for albedo radiation calculation --- src/dynamics/thermal/temperature.cpp | 16 +++++++++++----- src/dynamics/thermal/temperature.hpp | 3 ++- 2 files changed, 13 insertions(+), 6 deletions(-) diff --git a/src/dynamics/thermal/temperature.cpp b/src/dynamics/thermal/temperature.cpp index 45869b0d0..63ec51501 100644 --- a/src/dynamics/thermal/temperature.cpp +++ b/src/dynamics/thermal/temperature.cpp @@ -17,7 +17,7 @@ using namespace std; Temperature::Temperature(const vector> conductance_matrix_W_K, const vector> radiation_matrix_m2, vector nodes, vector heatloads, vector heaters, vector heater_controllers, const size_t node_num, const double propagation_step_s, const SolarRadiationPressureEnvironment* srp_environment, const bool is_calc_enabled, - const SolarCalcSetting solar_calc_setting, const double albedo_factor, const bool debug) + const SolarCalcSetting solar_calc_setting, const bool calc_albedo, const double albedo_factor, const bool debug) : conductance_matrix_W_K_(conductance_matrix_W_K), radiation_matrix_m2_(radiation_matrix_m2), nodes_(nodes), @@ -29,6 +29,7 @@ Temperature::Temperature(const vector> conductance_matrix_W_K, co srp_environment_(srp_environment), is_calc_enabled_(is_calc_enabled), solar_calc_setting_(solar_calc_setting), + calc_albedo_(calc_albedo), albedo_factor_(albedo_factor), debug_(debug) { propagation_time_s_ = 0; @@ -43,6 +44,7 @@ Temperature::Temperature() { propagation_time_s_ = 0.0; solar_calc_setting_ = SolarCalcSetting::kDisable; is_calc_enabled_ = false; + calc_albedo_ = false; debug_ = false; } @@ -68,9 +70,11 @@ void Temperature::Propagate(const LocalCelestialInformation* local_celestial_inf for (auto itr = nodes_.begin(); itr != nodes_.end(); ++itr) { cout << setprecision(4) << itr->GetSolarRadiation_W() << " "; } - cout << "AlbedoR: "; - for (auto itr = nodes_.begin(); itr != nodes_.end(); ++itr) { - cout << setprecision(4) << itr->GetAlbedoRadiation_W() << " "; + if (calc_albedo_) { + cout << "AlbedoR: "; + for (auto itr = nodes_.begin(); itr != nodes_.end(); ++itr) { + cout << setprecision(4) << itr->GetAlbedoRadiation_W() << " "; + } } std::string sun_str = "SUN"; char* c_sun = new char[sun_str.size() + 1]; @@ -327,6 +331,8 @@ Temperature* InitTemperature(const std::string file_name, const double rk_prop_s bool debug = mainIni.ReadEnable("THERMAL", "debug"); + bool calc_albedo = mainIni.ReadEnable("THERMAL", "calc_albedo"); + double albedo_factor = mainIni.ReadDouble("THERMAL", "albedo_factor"); // Read Heatloads from CSV File @@ -387,6 +393,6 @@ Temperature* InitTemperature(const std::string file_name, const double rk_prop_s Temperature* temperature; temperature = new Temperature(conductance_matrix, radiation_matrix, node_list, heatload_list, heater_list, heater_controller_list, node_num, - rk_prop_step_s, srp_environment, is_calc_enabled, solar_calc_setting, albedo_factor, debug); + rk_prop_step_s, srp_environment, is_calc_enabled, solar_calc_setting, calc_albedo ,albedo_factor, debug); return temperature; } diff --git a/src/dynamics/thermal/temperature.hpp b/src/dynamics/thermal/temperature.hpp index 9f933a384..86926f9f3 100644 --- a/src/dynamics/thermal/temperature.hpp +++ b/src/dynamics/thermal/temperature.hpp @@ -44,6 +44,7 @@ class Temperature : public ILoggable { bool is_calc_enabled_; // Whether temperature calculation is enabled SolarCalcSetting solar_calc_setting_; // setting for solar calculation bool debug_; // Activate debug output or not + bool calc_albedo_; // Whether to calculate albedo radiation double albedo_factor_; // Albedo factor for calculating albedo radiation /** @@ -89,7 +90,7 @@ class Temperature : public ILoggable { Temperature(const std::vector> conductance_matrix_W_K, const std::vector> radiation_matrix_m2, std::vector nodes, std::vector heatloads, std::vector heaters, std::vector heater_controllers, const size_t node_num, const double propagation_step_s, const SolarRadiationPressureEnvironment* srp_environment, - const bool is_calc_enabled, const SolarCalcSetting solar_calc_setting, const double albedo_factor , const bool debug); + const bool is_calc_enabled, const SolarCalcSetting solar_calc_setting, const bool calc_albedo, const double albedo_factor , const bool debug); /** * @fn Temperature * @brief Construct a new Temperature object, used when thermal calculation is disabled. From ce7a9fa40a9388168911401231be7d2a1e0bd57e Mon Sep 17 00:00:00 2001 From: kai0722 Date: Fri, 20 Sep 2024 16:34:59 +0900 Subject: [PATCH 360/456] Refactor Heatload class to use const double for setter parameters --- src/dynamics/thermal/heatload.hpp | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/src/dynamics/thermal/heatload.hpp b/src/dynamics/thermal/heatload.hpp index d7cce3478..ec094e73d 100644 --- a/src/dynamics/thermal/heatload.hpp +++ b/src/dynamics/thermal/heatload.hpp @@ -73,27 +73,27 @@ class Heatload { * @brief Set the Time object * @param[in] elapsed_time_s */ - void SetElapsedTime_s(double elapsed_time_s); + void SetElapsedTime_s(const double elapsed_time_s); /** * @brief Set Internal Heatload [W] * @param[in] internal_heatload_W */ - inline void SetInternalHeatload_W(double internal_heatload_W) { internal_heatload_W_ = internal_heatload_W; } + inline void SetInternalHeatload_W(const double internal_heatload_W) { internal_heatload_W_ = internal_heatload_W; } /** * @brief Set Solar Heatload [W] * @param[in] solar_heatload_W */ - inline void SetSolarHeatload_W(double solar_heatload_W) { solar_heatload_W_ = solar_heatload_W; } + inline void SetSolarHeatload_W(const double solar_heatload_W) { solar_heatload_W_ = solar_heatload_W; } /** * @brief Set Albedo Heatload [W] * @param[in] albedo_heatload_W */ - inline void SetAlbedoHeatload_W(double albedo_heatload_W) { albedo_heatload_W_ = albedo_heatload_W; } + inline void SetAlbedoHeatload_W(const double albedo_heatload_W) { albedo_heatload_W_ = albedo_heatload_W; } /** * @brief Set Heater Heatload [W] * @param[in] heater_heatload_W */ - inline void SetHeaterHeatload_W(double heater_heatload_W) { heater_heatload_W_ = heater_heatload_W; } + inline void SetHeaterHeatload_W(const double heater_heatload_W) { heater_heatload_W_ = heater_heatload_W; } protected: double elapsed_time_s_; // Elapsed time [s] From 3885db4e8c707b1da15b89584c08f77143c53e22 Mon Sep 17 00:00:00 2001 From: kai0722 Date: Fri, 20 Sep 2024 17:09:07 +0900 Subject: [PATCH 361/456] Refactor albedo radiation calculation to use earth_albedo_factor and update related parameters --- src/dynamics/thermal/node.cpp | 6 ++-- src/dynamics/thermal/node.hpp | 2 +- src/dynamics/thermal/temperature.cpp | 46 +++++++++++++++------------- src/dynamics/thermal/temperature.hpp | 13 +++++--- 4 files changed, 37 insertions(+), 30 deletions(-) diff --git a/src/dynamics/thermal/node.cpp b/src/dynamics/thermal/node.cpp index a51b85e72..64cc3f91b 100644 --- a/src/dynamics/thermal/node.cpp +++ b/src/dynamics/thermal/node.cpp @@ -41,7 +41,7 @@ double Node::CalcSolarRadiation_W(libra::Vector<3> sun_direction_b, double solar return solar_radiation_W_; } -double Node::CalcAlbedoRadiation_W(libra::Vector<3> earth_position_b_m, double solar_flux_W_m2, double albedo_factor, bool is_eclipsed) { +double Node::CalcAlbedoRadiation_W(libra::Vector<3> earth_position_b_m, double solar_flux_W_m2, double earth_albedo_factor, bool is_eclipsed) { libra::Vector<3> earth_direction_b = earth_position_b_m.CalcNormalizedVector(); double earth_distance_m = earth_position_b_m.CalcNorm(); @@ -49,11 +49,11 @@ double Node::CalcAlbedoRadiation_W(libra::Vector<3> earth_position_b_m, double s if (!is_eclipsed) { double cos_theta_albedo = InnerProduct(earth_direction_b, normal_vector_b_); // earth radius - double earth_radius_m = 6371.0e3; + double earth_radius_m = 6371.0e3; // albedo radiation calculation if (cos_theta_albedo > 0) { - double albedo_flux_W_m2 = solar_flux_W_m2 * albedo_factor * pow((earth_radius_m / earth_distance_m),2) / 4.0; + double albedo_flux_W_m2 = solar_flux_W_m2 * earth_albedo_factor * pow((earth_radius_m / earth_distance_m), 2) / 4.0; albedo_radiation_W_ = albedo_flux_W_m2 * area_m2_ * alpha_ * cos_theta_albedo; } else { albedo_radiation_W_ = 0; diff --git a/src/dynamics/thermal/node.hpp b/src/dynamics/thermal/node.hpp index 1800efbdd..3d142b9e0 100644 --- a/src/dynamics/thermal/node.hpp +++ b/src/dynamics/thermal/node.hpp @@ -66,7 +66,7 @@ class Node { * @param earth_direction_b: Earth direction in body frame * @return double: Albedo Radiation [W] */ - double CalcAlbedoRadiation_W(libra::Vector<3> earth_position_b_m, double solar_flux_W_m2, double albedo_factor, bool is_eclipsed); + double CalcAlbedoRadiation_W(libra::Vector<3> earth_position_b_m, double solar_flux_W_m2, double earth_albedo_factor, bool is_eclipsed); // Getter /** diff --git a/src/dynamics/thermal/temperature.cpp b/src/dynamics/thermal/temperature.cpp index 63ec51501..5fa40403d 100644 --- a/src/dynamics/thermal/temperature.cpp +++ b/src/dynamics/thermal/temperature.cpp @@ -17,7 +17,7 @@ using namespace std; Temperature::Temperature(const vector> conductance_matrix_W_K, const vector> radiation_matrix_m2, vector nodes, vector heatloads, vector heaters, vector heater_controllers, const size_t node_num, const double propagation_step_s, const SolarRadiationPressureEnvironment* srp_environment, const bool is_calc_enabled, - const SolarCalcSetting solar_calc_setting, const bool calc_albedo, const double albedo_factor, const bool debug) + const SolarCalcSetting solar_calc_setting, const bool calc_earth_albedo, const double earth_albedo_factor, const bool debug) : conductance_matrix_W_K_(conductance_matrix_W_K), radiation_matrix_m2_(radiation_matrix_m2), nodes_(nodes), @@ -29,8 +29,8 @@ Temperature::Temperature(const vector> conductance_matrix_W_K, co srp_environment_(srp_environment), is_calc_enabled_(is_calc_enabled), solar_calc_setting_(solar_calc_setting), - calc_albedo_(calc_albedo), - albedo_factor_(albedo_factor), + calc_earth_albedo_(calc_earth_albedo), + earth_albedo_factor_(earth_albedo_factor), debug_(debug) { propagation_time_s_ = 0; if (debug_) { @@ -70,26 +70,26 @@ void Temperature::Propagate(const LocalCelestialInformation* local_celestial_inf for (auto itr = nodes_.begin(); itr != nodes_.end(); ++itr) { cout << setprecision(4) << itr->GetSolarRadiation_W() << " "; } - if (calc_albedo_) { + if (calc_earth_albedo_) { cout << "AlbedoR: "; for (auto itr = nodes_.begin(); itr != nodes_.end(); ++itr) { cout << setprecision(4) << itr->GetAlbedoRadiation_W() << " "; } } - std::string sun_str = "SUN"; - char* c_sun = new char[sun_str.size() + 1]; - std::char_traits::copy(c_sun, sun_str.c_str(), sun_str.size() + 1); // string -> char* - libra::Vector<3> sun_position_b_m = local_celestial_information->GetPositionFromSpacecraft_b_m(c_sun); - double sun_distance_m = sun_position_b_m.CalcNorm(); - libra::Vector<3> sun_direction_b; - for (size_t i = 0; i < 3; i++) { - sun_direction_b[i] = sun_position_b_m[i] / sun_distance_m; - } + libra::Vector<3> sun_direction_b = local_celestial_information->GetPositionFromSpacecraft_b_m("SUN").CalcNormalizedVector(); cout << "SunDir: "; for (size_t i = 0; i < 3; i++) { cout << setprecision(3) << sun_direction_b[i] << " "; } - delete[] c_sun; + if (calc_earth_albedo_) { + cout << "IsEclipsed: " << srp_environment_->GetIsEclipsed() << " "; + + libra::Vector<3> earth_direction_b = local_celestial_information->GetPositionFromSpacecraft_b_m("EARTH").CalcNormalizedVector(); + cout << "EarthDir: "; + for (size_t i = 0; i < 3; i++) { + cout << setprecision(3) << earth_direction_b[i] << " "; + } + } cout << "Heatload: "; for (auto itr = heatloads_.begin(); itr != heatloads_.end(); ++itr) { cout << setprecision(3) << itr->GetTotalHeatload_W() << " "; @@ -98,7 +98,8 @@ void Temperature::Propagate(const LocalCelestialInformation* local_celestial_inf } } -void Temperature::CalcRungeOneStep(double time_now_s, double time_step_s, const LocalCelestialInformation* local_celestial_information, size_t node_num) { +void Temperature::CalcRungeOneStep(double time_now_s, double time_step_s, const LocalCelestialInformation* local_celestial_information, + size_t node_num) { vector temperatures_now_K(node_num); for (size_t i = 0; i < node_num; i++) { temperatures_now_K[i] = nodes_[i].GetTemperature_K(); @@ -133,23 +134,26 @@ void Temperature::CalcRungeOneStep(double time_now_s, double time_step_s, const nodes_[i].SetTemperature_K(temperatures_next_K[i]); } } -vector Temperature::CalcTemperatureDifferentials(vector temperatures_K, double t, const LocalCelestialInformation* local_celestial_information, size_t node_num) { +vector Temperature::CalcTemperatureDifferentials(vector temperatures_K, double t, + const LocalCelestialInformation* local_celestial_information, size_t node_num) { // TODO: consider the following unused arguments are really needed UNUSED(temperatures_K); libra::Vector<3> sun_direction_b = local_celestial_information->GetPositionFromSpacecraft_b_m("SUN").CalcNormalizedVector(); - libra::Vector<3> earth_position_b_m = local_celestial_information->GetPositionFromSpacecraft_b_m("EARTH"); vector differentials_K_s(node_num); for (size_t i = 0; i < node_num; i++) { heatloads_[i].SetElapsedTime_s(t); if (nodes_[i].GetNodeType() == NodeType::kDiffusive) { double solar_flux_W_m2 = srp_environment_->GetPowerDensity_W_m2(); - bool is_eclipsed = srp_environment_->GetIsEclipsed(); if (solar_calc_setting_ == SolarCalcSetting::kEnable) { double solar_radiation_W = nodes_[i].CalcSolarRadiation_W(sun_direction_b, solar_flux_W_m2); - double albedo_radiation_W = nodes_[i].CalcAlbedoRadiation_W(earth_position_b_m, solar_flux_W_m2, albedo_factor_, is_eclipsed); + if (calc_earth_albedo_) { + bool is_eclipsed = srp_environment_->GetIsEclipsed(); + libra::Vector<3> earth_position_b_m = local_celestial_information->GetPositionFromSpacecraft_b_m("EARTH"); + double albedo_radiation_W = nodes_[i].CalcAlbedoRadiation_W(earth_position_b_m, solar_flux_W_m2, earth_albedo_factor_, is_eclipsed); + heatloads_[i].SetAlbedoHeatload_W(albedo_radiation_W); + } heatloads_[i].SetSolarHeatload_W(solar_radiation_W); - heatloads_[i].SetAlbedoHeatload_W(albedo_radiation_W); } double heater_power_W = GetHeaterPower_W(i); heatloads_[i].SetHeaterHeatload_W(heater_power_W); @@ -393,6 +397,6 @@ Temperature* InitTemperature(const std::string file_name, const double rk_prop_s Temperature* temperature; temperature = new Temperature(conductance_matrix, radiation_matrix, node_list, heatload_list, heater_list, heater_controller_list, node_num, - rk_prop_step_s, srp_environment, is_calc_enabled, solar_calc_setting, calc_albedo ,albedo_factor, debug); + rk_prop_step_s, srp_environment, is_calc_enabled, solar_calc_setting, calc_albedo, albedo_factor, debug); return temperature; } diff --git a/src/dynamics/thermal/temperature.hpp b/src/dynamics/thermal/temperature.hpp index 86926f9f3..c96b2bbc6 100644 --- a/src/dynamics/thermal/temperature.hpp +++ b/src/dynamics/thermal/temperature.hpp @@ -44,8 +44,8 @@ class Temperature : public ILoggable { bool is_calc_enabled_; // Whether temperature calculation is enabled SolarCalcSetting solar_calc_setting_; // setting for solar calculation bool debug_; // Activate debug output or not - bool calc_albedo_; // Whether to calculate albedo radiation - double albedo_factor_; // Albedo factor for calculating albedo radiation + bool calc_earth_albedo_; // Whether to calculate albedo radiation + double earth_albedo_factor_; // Albedo factor for earth; Percentage of solar radiation energy received by the Earth that is reflected /** * @fn CalcRungeOneStep @@ -67,8 +67,8 @@ class Temperature : public ILoggable { * @param node_num: Number of nodes * @return std::vector: Differential of thermal equilibrium equation at time now */ - std::vector CalcTemperatureDifferentials(std::vector temperatures_K, double time_now_s, const LocalCelestialInformation* local_celestial_information, - size_t node_num); + std::vector CalcTemperatureDifferentials(std::vector temperatures_K, double time_now_s, + const LocalCelestialInformation* local_celestial_information, size_t node_num); public: /** @@ -85,12 +85,15 @@ class Temperature : public ILoggable { * @param propagation_step_s: Propagation time step [s] * @param is_calc_enabled: Whether calculation is enabled * @param solar_calc_setting: Solar calculation settings + * @param calc_earth_albedo: Whether to calculate albedo radiation + * @param earth_albedo_factor: Albedo factor for earth * @param debug: Whether debug is enabled */ Temperature(const std::vector> conductance_matrix_W_K, const std::vector> radiation_matrix_m2, std::vector nodes, std::vector heatloads, std::vector heaters, std::vector heater_controllers, const size_t node_num, const double propagation_step_s, const SolarRadiationPressureEnvironment* srp_environment, - const bool is_calc_enabled, const SolarCalcSetting solar_calc_setting, const bool calc_albedo, const double albedo_factor , const bool debug); + const bool is_calc_enabled, const SolarCalcSetting solar_calc_setting, const bool calc_earth_albedo, const double earth_albedo_factor, + const bool debug); /** * @fn Temperature * @brief Construct a new Temperature object, used when thermal calculation is disabled. From 9f76ed3578cfd91244a8adc5541be2f4f7a5b5bc Mon Sep 17 00:00:00 2001 From: kai0722 Date: Fri, 20 Sep 2024 17:18:22 +0900 Subject: [PATCH 362/456] Refactor Temperature class to rename albedo flags and update initialization parameters --- src/dynamics/thermal/temperature.cpp | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/src/dynamics/thermal/temperature.cpp b/src/dynamics/thermal/temperature.cpp index 5fa40403d..f4d883b0e 100644 --- a/src/dynamics/thermal/temperature.cpp +++ b/src/dynamics/thermal/temperature.cpp @@ -44,7 +44,8 @@ Temperature::Temperature() { propagation_time_s_ = 0.0; solar_calc_setting_ = SolarCalcSetting::kDisable; is_calc_enabled_ = false; - calc_albedo_ = false; + calc_earth_albedo_ = false; + earth_albedo_factor_ = 0.0; debug_ = false; } @@ -335,9 +336,9 @@ Temperature* InitTemperature(const std::string file_name, const double rk_prop_s bool debug = mainIni.ReadEnable("THERMAL", "debug"); - bool calc_albedo = mainIni.ReadEnable("THERMAL", "calc_albedo"); + bool calc_earth_albedo = mainIni.ReadEnable("THERMAL", "calc_earth_albedo"); - double albedo_factor = mainIni.ReadDouble("THERMAL", "albedo_factor"); + double earth_albedo_factor = mainIni.ReadDouble("THERMAL", "earth_albedo_factor"); // Read Heatloads from CSV File string filepath_heatload = file_path + "heatload.csv"; @@ -397,6 +398,6 @@ Temperature* InitTemperature(const std::string file_name, const double rk_prop_s Temperature* temperature; temperature = new Temperature(conductance_matrix, radiation_matrix, node_list, heatload_list, heater_list, heater_controller_list, node_num, - rk_prop_step_s, srp_environment, is_calc_enabled, solar_calc_setting, calc_albedo, albedo_factor, debug); + rk_prop_step_s, srp_environment, is_calc_enabled, solar_calc_setting, calc_earth_albedo, earth_albedo_factor, debug); return temperature; } From ec65e3537e8b2d8d1f6ba1e7c8c1e2d396abc739 Mon Sep 17 00:00:00 2001 From: kai0722 Date: Fri, 20 Sep 2024 22:24:02 +0900 Subject: [PATCH 363/456] Fix typo in documentation comment for GetSolarRadiation_W method --- src/dynamics/thermal/node.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/dynamics/thermal/node.hpp b/src/dynamics/thermal/node.hpp index 3d142b9e0..0ea4528dc 100644 --- a/src/dynamics/thermal/node.hpp +++ b/src/dynamics/thermal/node.hpp @@ -105,7 +105,7 @@ class Node { * @return double: heat capacity [J/K] */ inline double GetCapacity_J_K(void) const { return capacity_J_K_; } - /**s + /** * @fn GetSolarRadiation_W * @brief Return Solar Radiation [W] * @return double: Solar Radiation [W] From c925d85c59a391c21c9051861319b1b166325254 Mon Sep 17 00:00:00 2001 From: kai0722 Date: Fri, 20 Sep 2024 22:25:16 +0900 Subject: [PATCH 364/456] Update parameter names in CalcAlbedoRadiation_W for clarity --- src/dynamics/thermal/node.hpp | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/src/dynamics/thermal/node.hpp b/src/dynamics/thermal/node.hpp index 0ea4528dc..9cecdd47b 100644 --- a/src/dynamics/thermal/node.hpp +++ b/src/dynamics/thermal/node.hpp @@ -63,7 +63,10 @@ class Node { * @fn CalcAlbedoRadiation_W * @brief Calculate albedo radiation [W] from earth direction, albedo factor, area, and normal vector * - * @param earth_direction_b: Earth direction in body frame + * @param earth_position_b_m: Earth position in body frame + * @param solar_flux_W_m2: Solar flux [W/m^2] + * @param earth_albedo_factor: Earth albedo factor + * @param is_eclipsed: Flag if satellite is eclipsed by earth * @return double: Albedo Radiation [W] */ double CalcAlbedoRadiation_W(libra::Vector<3> earth_position_b_m, double solar_flux_W_m2, double earth_albedo_factor, bool is_eclipsed); From f9c37a609dacb794b1073e8d5d2c87dd00cf1ead Mon Sep 17 00:00:00 2001 From: kai0722 Date: Fri, 20 Sep 2024 22:25:45 +0900 Subject: [PATCH 365/456] Add parameter description for solar_flux_W_m2 in CalcSolarRadiation_W method --- src/dynamics/thermal/node.hpp | 1 + 1 file changed, 1 insertion(+) diff --git a/src/dynamics/thermal/node.hpp b/src/dynamics/thermal/node.hpp index 9cecdd47b..1247f73d2 100644 --- a/src/dynamics/thermal/node.hpp +++ b/src/dynamics/thermal/node.hpp @@ -56,6 +56,7 @@ class Node { * @brief Calculate solar radiation [W] from sun direction, alpha, area, and normal vector * * @param sun_direction_b: Sun direction in body frame + * @param solar_flux_W_m2: Solar flux [W/m^2] * @return double: Solar Radiation [W] */ double CalcSolarRadiation_W(libra::Vector<3> sun_direction_b, double solar_flux_W_m2); From a692e9d885a903ca6f2bc04d0f03817569bda766 Mon Sep 17 00:00:00 2001 From: kai0722 Date: Fri, 20 Sep 2024 22:26:55 +0900 Subject: [PATCH 366/456] Add parameter description for srp_environment in InitTemperature method --- src/dynamics/thermal/temperature.hpp | 1 + 1 file changed, 1 insertion(+) diff --git a/src/dynamics/thermal/temperature.hpp b/src/dynamics/thermal/temperature.hpp index c96b2bbc6..3ccace5b1 100644 --- a/src/dynamics/thermal/temperature.hpp +++ b/src/dynamics/thermal/temperature.hpp @@ -160,6 +160,7 @@ class Temperature : public ILoggable { * @brief Initialize Temperature object from csv file * @param[in] file_name: Directory of thermal input files * @param[in] rk_prop_step_s: time step interval for temperature propagation integration + * @param[in] srp_environment: SolarRadiationPressureEnvironment object for calculating solar flux * @return Temperature* */ Temperature* InitTemperature(const std::string file_name, const double rk_prop_step_s, const SolarRadiationPressureEnvironment* srp_environment); From 996f40e0bf9becb3e944c5af8474bcdbfc2d888f Mon Sep 17 00:00:00 2001 From: kai0722 Date: Fri, 20 Sep 2024 22:27:58 +0900 Subject: [PATCH 367/456] Initialize radiation variables to zero as floating-point values for consistency --- src/dynamics/thermal/node.cpp | 22 +++++++++++----------- 1 file changed, 11 insertions(+), 11 deletions(-) diff --git a/src/dynamics/thermal/node.cpp b/src/dynamics/thermal/node.cpp index 64cc3f91b..82e37a281 100644 --- a/src/dynamics/thermal/node.cpp +++ b/src/dynamics/thermal/node.cpp @@ -24,8 +24,8 @@ Node::Node(const size_t node_id, const string node_name, const NodeType node_typ node_type_(node_type), normal_vector_b_(normal_vector_b) { AssertNodeParams(); - solar_radiation_W_ = 0; - albedo_radiation_W_ = 0; + solar_radiation_W_ = 0.0; + albedo_radiation_W_ = 0.0; } Node::~Node() {} @@ -34,10 +34,10 @@ double Node::CalcSolarRadiation_W(libra::Vector<3> sun_direction_b, double solar double cos_theta = InnerProduct(sun_direction_b, normal_vector_b_); // calculate sun_power - if (cos_theta > 0) + if (cos_theta > 0.0) solar_radiation_W_ = solar_flux_W_m2 * area_m2_ * alpha_ * cos_theta; else - solar_radiation_W_ = 0; + solar_radiation_W_ = 0.0; return solar_radiation_W_; } @@ -52,14 +52,14 @@ double Node::CalcAlbedoRadiation_W(libra::Vector<3> earth_position_b_m, double s double earth_radius_m = 6371.0e3; // albedo radiation calculation - if (cos_theta_albedo > 0) { + if (cos_theta_albedo > 0.0) { double albedo_flux_W_m2 = solar_flux_W_m2 * earth_albedo_factor * pow((earth_radius_m / earth_distance_m), 2) / 4.0; albedo_radiation_W_ = albedo_flux_W_m2 * area_m2_ * alpha_ * cos_theta_albedo; } else { - albedo_radiation_W_ = 0; + albedo_radiation_W_ = 0.0; } } else { - albedo_radiation_W_ = 0; + albedo_radiation_W_ = 0.0; } return albedo_radiation_W_; } @@ -148,10 +148,10 @@ Node InitNode(const std::vector& node_str) { std::string node_label = "temp"; // node name size_t node_type_int = 0; // node type size_t heater_id = 0; // heater node index - double temperature_K = 0; // [K] - double capacity_J_K = 0; // [J/K] - double alpha = 0; // [] - double area_m2 = 0; // [m^2] + double temperature_K = 0.0; // [K] + double capacity_J_K = 0.0; // [J/K] + double alpha = 0.0; // [] + double area_m2 = 0.0; // [m^2] // Index to read from node_str for each parameter size_t index_node_id = 0; From c9d05137645b5fe93ef8bc6e8abe56f8d31a2be5 Mon Sep 17 00:00:00 2001 From: kai0722 Date: Fri, 20 Sep 2024 22:28:32 +0900 Subject: [PATCH 368/456] Fix calculation of albedo_flux_W_m2 to use double precision for the exponent --- src/dynamics/thermal/node.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/dynamics/thermal/node.cpp b/src/dynamics/thermal/node.cpp index 82e37a281..6fa80ffca 100644 --- a/src/dynamics/thermal/node.cpp +++ b/src/dynamics/thermal/node.cpp @@ -53,7 +53,7 @@ double Node::CalcAlbedoRadiation_W(libra::Vector<3> earth_position_b_m, double s // albedo radiation calculation if (cos_theta_albedo > 0.0) { - double albedo_flux_W_m2 = solar_flux_W_m2 * earth_albedo_factor * pow((earth_radius_m / earth_distance_m), 2) / 4.0; + double albedo_flux_W_m2 = solar_flux_W_m2 * earth_albedo_factor * pow((earth_radius_m / earth_distance_m), 2.0) / 4.0; albedo_radiation_W_ = albedo_flux_W_m2 * area_m2_ * alpha_ * cos_theta_albedo; } else { albedo_radiation_W_ = 0.0; From fc752081be32a53581f15e7da0c1adc89eb202d5 Mon Sep 17 00:00:00 2001 From: kai0722 Date: Fri, 20 Sep 2024 22:32:41 +0900 Subject: [PATCH 369/456] Rename calc_earth_albedo to is_calc_earth_albedo_enabled for clarity --- src/dynamics/thermal/temperature.cpp | 12 ++++++------ src/dynamics/thermal/temperature.hpp | 4 ++-- 2 files changed, 8 insertions(+), 8 deletions(-) diff --git a/src/dynamics/thermal/temperature.cpp b/src/dynamics/thermal/temperature.cpp index f4d883b0e..9ac86a158 100644 --- a/src/dynamics/thermal/temperature.cpp +++ b/src/dynamics/thermal/temperature.cpp @@ -17,7 +17,7 @@ using namespace std; Temperature::Temperature(const vector> conductance_matrix_W_K, const vector> radiation_matrix_m2, vector nodes, vector heatloads, vector heaters, vector heater_controllers, const size_t node_num, const double propagation_step_s, const SolarRadiationPressureEnvironment* srp_environment, const bool is_calc_enabled, - const SolarCalcSetting solar_calc_setting, const bool calc_earth_albedo, const double earth_albedo_factor, const bool debug) + const SolarCalcSetting solar_calc_setting, const bool is_calc_earth_albedo_enabled, const double earth_albedo_factor, const bool debug) : conductance_matrix_W_K_(conductance_matrix_W_K), radiation_matrix_m2_(radiation_matrix_m2), nodes_(nodes), @@ -29,7 +29,7 @@ Temperature::Temperature(const vector> conductance_matrix_W_K, co srp_environment_(srp_environment), is_calc_enabled_(is_calc_enabled), solar_calc_setting_(solar_calc_setting), - calc_earth_albedo_(calc_earth_albedo), + is_calc_earth_albedo_enabled_(is_calc_earth_albedo_enabled), earth_albedo_factor_(earth_albedo_factor), debug_(debug) { propagation_time_s_ = 0; @@ -44,7 +44,7 @@ Temperature::Temperature() { propagation_time_s_ = 0.0; solar_calc_setting_ = SolarCalcSetting::kDisable; is_calc_enabled_ = false; - calc_earth_albedo_ = false; + is_calc_earth_albedo_enabled_ = false; earth_albedo_factor_ = 0.0; debug_ = false; } @@ -71,7 +71,7 @@ void Temperature::Propagate(const LocalCelestialInformation* local_celestial_inf for (auto itr = nodes_.begin(); itr != nodes_.end(); ++itr) { cout << setprecision(4) << itr->GetSolarRadiation_W() << " "; } - if (calc_earth_albedo_) { + if (is_calc_earth_albedo_enabled_) { cout << "AlbedoR: "; for (auto itr = nodes_.begin(); itr != nodes_.end(); ++itr) { cout << setprecision(4) << itr->GetAlbedoRadiation_W() << " "; @@ -82,7 +82,7 @@ void Temperature::Propagate(const LocalCelestialInformation* local_celestial_inf for (size_t i = 0; i < 3; i++) { cout << setprecision(3) << sun_direction_b[i] << " "; } - if (calc_earth_albedo_) { + if (is_calc_earth_albedo_enabled_) { cout << "IsEclipsed: " << srp_environment_->GetIsEclipsed() << " "; libra::Vector<3> earth_direction_b = local_celestial_information->GetPositionFromSpacecraft_b_m("EARTH").CalcNormalizedVector(); @@ -148,7 +148,7 @@ vector Temperature::CalcTemperatureDifferentials(vector temperat double solar_flux_W_m2 = srp_environment_->GetPowerDensity_W_m2(); if (solar_calc_setting_ == SolarCalcSetting::kEnable) { double solar_radiation_W = nodes_[i].CalcSolarRadiation_W(sun_direction_b, solar_flux_W_m2); - if (calc_earth_albedo_) { + if (is_calc_earth_albedo_enabled_) { bool is_eclipsed = srp_environment_->GetIsEclipsed(); libra::Vector<3> earth_position_b_m = local_celestial_information->GetPositionFromSpacecraft_b_m("EARTH"); double albedo_radiation_W = nodes_[i].CalcAlbedoRadiation_W(earth_position_b_m, solar_flux_W_m2, earth_albedo_factor_, is_eclipsed); diff --git a/src/dynamics/thermal/temperature.hpp b/src/dynamics/thermal/temperature.hpp index 3ccace5b1..5c5966f20 100644 --- a/src/dynamics/thermal/temperature.hpp +++ b/src/dynamics/thermal/temperature.hpp @@ -44,7 +44,7 @@ class Temperature : public ILoggable { bool is_calc_enabled_; // Whether temperature calculation is enabled SolarCalcSetting solar_calc_setting_; // setting for solar calculation bool debug_; // Activate debug output or not - bool calc_earth_albedo_; // Whether to calculate albedo radiation + bool is_calc_earth_albedo_enabled_; // Whether to calculate albedo radiation double earth_albedo_factor_; // Albedo factor for earth; Percentage of solar radiation energy received by the Earth that is reflected /** @@ -92,7 +92,7 @@ class Temperature : public ILoggable { Temperature(const std::vector> conductance_matrix_W_K, const std::vector> radiation_matrix_m2, std::vector nodes, std::vector heatloads, std::vector heaters, std::vector heater_controllers, const size_t node_num, const double propagation_step_s, const SolarRadiationPressureEnvironment* srp_environment, - const bool is_calc_enabled, const SolarCalcSetting solar_calc_setting, const bool calc_earth_albedo, const double earth_albedo_factor, + const bool is_calc_enabled, const SolarCalcSetting solar_calc_setting, const bool is_calc_earth_albedo_enabled, const double earth_albedo_factor, const bool debug); /** * @fn Temperature From 2d42f5479912f9523b4758993c01af8c78d8b360 Mon Sep 17 00:00:00 2001 From: kai0722 Date: Fri, 20 Sep 2024 22:37:21 +0900 Subject: [PATCH 370/456] Fix albedo radiation calculation to use equatorial radius instead of hardcoded value --- src/dynamics/thermal/node.cpp | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/src/dynamics/thermal/node.cpp b/src/dynamics/thermal/node.cpp index 6fa80ffca..accb00b08 100644 --- a/src/dynamics/thermal/node.cpp +++ b/src/dynamics/thermal/node.cpp @@ -48,12 +48,10 @@ double Node::CalcAlbedoRadiation_W(libra::Vector<3> earth_position_b_m, double s // check if satellite is outside of the earth's shadow if (!is_eclipsed) { double cos_theta_albedo = InnerProduct(earth_direction_b, normal_vector_b_); - // earth radius - double earth_radius_m = 6371.0e3; // albedo radiation calculation if (cos_theta_albedo > 0.0) { - double albedo_flux_W_m2 = solar_flux_W_m2 * earth_albedo_factor * pow((earth_radius_m / earth_distance_m), 2.0) / 4.0; + double albedo_flux_W_m2 = solar_flux_W_m2 * earth_albedo_factor * pow((environment::astronomy::earth_equatorial_radius_m / earth_distance_m), 2.0) / 4.0; albedo_radiation_W_ = albedo_flux_W_m2 * area_m2_ * alpha_ * cos_theta_albedo; } else { albedo_radiation_W_ = 0.0; From 12ba8a2312693b2be9a7a86ec22ed2337fd497b3 Mon Sep 17 00:00:00 2001 From: kai0722 Date: Fri, 20 Sep 2024 22:44:37 +0900 Subject: [PATCH 371/456] Add Doxygen comments for clarity in heater and thermal classes --- src/dynamics/thermal/heater.hpp | 8 ++--- src/dynamics/thermal/heater_controller.hpp | 4 +-- src/dynamics/thermal/heatload.hpp | 24 +++++++-------- src/dynamics/thermal/node.hpp | 6 ++-- src/dynamics/thermal/temperature.hpp | 34 +++++++++++----------- 5 files changed, 38 insertions(+), 38 deletions(-) diff --git a/src/dynamics/thermal/heater.hpp b/src/dynamics/thermal/heater.hpp index 9ea964f73..b0b5fdc60 100644 --- a/src/dynamics/thermal/heater.hpp +++ b/src/dynamics/thermal/heater.hpp @@ -78,11 +78,11 @@ class Heater { void PrintParam(void); protected: - size_t heater_id_; // heater id (Use values over 1) - double power_rating_W_; // Power Rating (100% Duty) [W] + size_t heater_id_; //!< heater id (Use values over 1) + double power_rating_W_; /! time_table_s_; // Times that internal heatload values are defined [s] - std::vector internal_heatload_table_W_; // Defined internal heatload values [W] + double elapsed_time_s_; //!< Elapsed time [s] + unsigned int node_id_; //!< Node ID to apply heatload + std::vector time_table_s_; //!< Times that internal heatload values are defined [s] + std::vector internal_heatload_table_W_; //!< Defined internal heatload values [W] - unsigned int elapsed_time_idx_; // index of time_table_s_ that is closest to elapsed_time_s_ - double solar_heatload_W_; // Heatload from solar flux [W] - double albedo_heatload_W_; // Heatload from albedo flux [W] - double internal_heatload_W_; // Heatload from internal dissipation [W] - double heater_heatload_W_; // Heatload from heater [W] - double total_heatload_W_; // Total heatload [W] + unsigned int elapsed_time_idx_; //!< index of time_table_s_ that is closest to elapsed_time_s_ + double solar_heatload_W_; //!< Heatload from solar flux [W] + double albedo_heatload_W_; //!< Heatload from albedo flux [W] + double internal_heatload_W_; //!< Heatload from internal dissipation [W] + double heater_heatload_W_; //!< Heatload from heater [W] + double total_heatload_W_; //!< Total heatload [W] - double time_table_period_s_; // Value of last element of time_table_s_, which represents the period of the heatload table [s] - double residual_elapsed_time_s_; // Residual of dividing elapsed_time_s_ by time_table_period_s_ [s] + double time_table_period_s_; //!< Value of last element of time_table_s_, which represents the period of the heatload table [s] + double residual_elapsed_time_s_; //!< Residual of dividing elapsed_time_s_ by time_table_period_s_ [s] /** * @fn AssertHeatloadParams diff --git a/src/dynamics/thermal/node.hpp b/src/dynamics/thermal/node.hpp index 1247f73d2..f4e697b7d 100644 --- a/src/dynamics/thermal/node.hpp +++ b/src/dynamics/thermal/node.hpp @@ -16,11 +16,11 @@ * @brief Type of node */ enum class NodeType { - //! Diffusive Node: Calculate temperature based on heat flow + //!< Diffusive Node: Calculate temperature based on heat flow kDiffusive, - //! Boundary Node: Fixed temperature + //!< Boundary Node: Fixed temperature kBoundary, - //! Arithmetic Node: Node without heat capacity, calculate temperature after diffusive nodes + //!< Arithmetic Node: Node without heat capacity, calculate temperature after diffusive nodes kArithmetic }; diff --git a/src/dynamics/thermal/temperature.hpp b/src/dynamics/thermal/temperature.hpp index 5c5966f20..1be7237cf 100644 --- a/src/dynamics/thermal/temperature.hpp +++ b/src/dynamics/thermal/temperature.hpp @@ -31,21 +31,21 @@ enum class SolarCalcSetting { */ class Temperature : public ILoggable { protected: - std::vector> conductance_matrix_W_K_; // Coupling of node i and node j by heat conduction [W/K] - std::vector> radiation_matrix_m2_; // Coupling of node i and node j by thermal radiation [m2] - std::vector nodes_; // vector of nodes - std::vector heatloads_; // vector of heatloads - std::vector heaters_; // vector of heaters - std::vector heater_controllers_; // vector of heater controllers - size_t node_num_; // number of nodes - double propagation_step_s_; // propagation step [s] - double propagation_time_s_; // Incremented time inside class Temperature [s], finish propagation when reaching end_time - const SolarRadiationPressureEnvironment* srp_environment_; // SolarRadiationPressureEnvironment for calculating solar flux - bool is_calc_enabled_; // Whether temperature calculation is enabled - SolarCalcSetting solar_calc_setting_; // setting for solar calculation - bool debug_; // Activate debug output or not - bool is_calc_earth_albedo_enabled_; // Whether to calculate albedo radiation - double earth_albedo_factor_; // Albedo factor for earth; Percentage of solar radiation energy received by the Earth that is reflected + std::vector> conductance_matrix_W_K_; //!< Coupling of node i and node j by heat conduction [W/K] + std::vector> radiation_matrix_m2_; //!< Coupling of node i and node j by thermal radiation [m2] + std::vector nodes_; //!< vector of nodes + std::vector heatloads_; //!< vector of heatloads + std::vector heaters_; //!< vector of heaters + std::vector heater_controllers_; //!< vector of heater controllers + size_t node_num_; //!< number of nodes + double propagation_step_s_; //!< propagation step [s] + double propagation_time_s_; //!< Incremented time inside class Temperature [s], finish propagation when reaching end_time + const SolarRadiationPressureEnvironment* srp_environment_; //!< SolarRadiationPressureEnvironment for calculating solar flux + bool is_calc_enabled_; //!< Whether temperature calculation is enabled + SolarCalcSetting solar_calc_setting_; //!< setting for solar calculation + bool debug_; //!< Activate debug output or not + bool is_calc_earth_albedo_enabled_; //!< Whether to calculate albedo radiation + double earth_albedo_factor_; //!< Albedo factor for earth; Percentage of solar radiation energy received by the Earth that is reflected /** * @fn CalcRungeOneStep @@ -92,8 +92,8 @@ class Temperature : public ILoggable { Temperature(const std::vector> conductance_matrix_W_K, const std::vector> radiation_matrix_m2, std::vector nodes, std::vector heatloads, std::vector heaters, std::vector heater_controllers, const size_t node_num, const double propagation_step_s, const SolarRadiationPressureEnvironment* srp_environment, - const bool is_calc_enabled, const SolarCalcSetting solar_calc_setting, const bool is_calc_earth_albedo_enabled, const double earth_albedo_factor, - const bool debug); + const bool is_calc_enabled, const SolarCalcSetting solar_calc_setting, const bool is_calc_earth_albedo_enabled, + const double earth_albedo_factor, const bool debug); /** * @fn Temperature * @brief Construct a new Temperature object, used when thermal calculation is disabled. From c4d2e3f1c6a15ec37fadf00fcaa56d13faf91a20 Mon Sep 17 00:00:00 2001 From: kai0722 Date: Fri, 20 Sep 2024 23:59:56 +0900 Subject: [PATCH 372/456] Fix comment formatting for power rating in Heater class --- src/dynamics/thermal/heater.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/dynamics/thermal/heater.hpp b/src/dynamics/thermal/heater.hpp index b0b5fdc60..c6d3594f5 100644 --- a/src/dynamics/thermal/heater.hpp +++ b/src/dynamics/thermal/heater.hpp @@ -79,7 +79,7 @@ class Heater { protected: size_t heater_id_; //!< heater id (Use values over 1) - double power_rating_W_; /! Date: Sat, 21 Sep 2024 00:10:04 +0900 Subject: [PATCH 373/456] Add earth albedo calculation flag and update thermal propagation logic --- src/dynamics/dynamics.cpp | 12 ++- src/dynamics/dynamics.hpp | 1 + src/dynamics/thermal/temperature.cpp | 109 ++++++++++++++++++++++++++- src/dynamics/thermal/temperature.hpp | 30 ++++++++ 4 files changed, 149 insertions(+), 3 deletions(-) diff --git a/src/dynamics/dynamics.cpp b/src/dynamics/dynamics.cpp index 9487a45c2..9b31cb757 100644 --- a/src/dynamics/dynamics.cpp +++ b/src/dynamics/dynamics.cpp @@ -4,6 +4,8 @@ */ #include "dynamics.hpp" +#include + #include "../simulation/multiple_spacecraft/relative_information.hpp" @@ -11,6 +13,7 @@ Dynamics::Dynamics(const SimulationConfiguration* simulation_configuration, cons const LocalEnvironment* local_environment, const int spacecraft_id, Structure* structure, RelativeInformation* relative_information) : structure_(structure), local_environment_(local_environment) { + is_calc_earth_albedo_enabled_ = false; Initialize(simulation_configuration, simulation_time, spacecraft_id, structure, relative_information); } @@ -34,6 +37,9 @@ void Dynamics::Initialize(const SimulationConfiguration* simulation_configuratio // To get initial value orbit_->UpdateByAttitude(attitude_->GetQuaternion_i2b()); + + auto mainIni = IniAccess(simulation_configuration->spacecraft_file_list_[spacecraft_id]); + is_calc_earth_albedo_enabled_ = mainIni.ReadEnable("THERMAL", "is_calc_earth_albedo_enabled"); } void Dynamics::Update(const SimulationTime* simulation_time, const LocalCelestialInformation* local_celestial_information) { @@ -50,7 +56,11 @@ void Dynamics::Update(const SimulationTime* simulation_time, const LocalCelestia // Thermal if (simulation_time->GetThermalPropagateFlag()) { - temperature_->Propagate(local_celestial_information, simulation_time->GetElapsedTime_s()); + if (!is_calc_earth_albedo_enabled_) { + temperature_->Propagate(local_celestial_information->GetPositionFromSpacecraft_b_m("SUN"), simulation_time->GetElapsedTime_s()); + } else { + temperature_->Propagate(local_celestial_information, simulation_time->GetElapsedTime_s()); + } } } diff --git a/src/dynamics/dynamics.hpp b/src/dynamics/dynamics.hpp index a6b5044f1..7f5a1b349 100644 --- a/src/dynamics/dynamics.hpp +++ b/src/dynamics/dynamics.hpp @@ -112,6 +112,7 @@ class Dynamics { Temperature* temperature_; //!< Thermal dynamics const Structure* structure_; //!< Structure information const LocalEnvironment* local_environment_; //!< Local environment + bool is_calc_earth_albedo_enabled_; //!< Flag to calculate earth albedo /** * @fn Initialize diff --git a/src/dynamics/thermal/temperature.cpp b/src/dynamics/thermal/temperature.cpp index 9ac86a158..b91dabd96 100644 --- a/src/dynamics/thermal/temperature.cpp +++ b/src/dynamics/thermal/temperature.cpp @@ -51,6 +51,39 @@ Temperature::Temperature() { Temperature::~Temperature() {} +void Temperature::Propagate(libra::Vector<3> sun_position_b_m, const double time_end_s) { + if (!is_calc_enabled_) return; + libra::Vector<3> sun_direction_b = sun_position_b_m.CalcNormalizedVector(); + while (time_end_s - propagation_time_s_ - propagation_step_s_ > 1.0e-6) { + CalcRungeOneStep(propagation_time_s_, propagation_step_s_, sun_direction_b, node_num_); + propagation_time_s_ += propagation_step_s_; + } + CalcRungeOneStep(propagation_time_s_, time_end_s - propagation_time_s_, sun_direction_b, node_num_); + propagation_time_s_ = time_end_s; + UpdateHeaterStatus(); + + if (debug_) { + cout << fixed; + cout << "Time: " << time_end_s << " Temp: "; + for (auto itr = nodes_.begin(); itr != nodes_.end(); ++itr) { + cout << setprecision(4) << itr->GetTemperature_degC() << " "; + } + cout << "SolarR: "; + for (auto itr = nodes_.begin(); itr != nodes_.end(); ++itr) { + cout << setprecision(4) << itr->GetSolarRadiation_W() << " "; + } + cout << "SunDir: "; + for (size_t i = 0; i < 3; i++) { + cout << setprecision(3) << sun_direction_b[i] << " "; + } + cout << "Heatload: "; + for (auto itr = heatloads_.begin(); itr != heatloads_.end(); ++itr) { + cout << setprecision(3) << itr->GetTotalHeatload_W() << " "; + } + cout << endl; + } +} + void Temperature::Propagate(const LocalCelestialInformation* local_celestial_information, const double time_end_s) { if (!is_calc_enabled_) return; while (time_end_s - propagation_time_s_ - propagation_step_s_ > 1.0e-6) { @@ -99,6 +132,42 @@ void Temperature::Propagate(const LocalCelestialInformation* local_celestial_inf } } +void Temperature::CalcRungeOneStep(double time_now_s, double time_step_s, libra::Vector<3> sun_direction_b, size_t node_num) { + vector temperatures_now_K(node_num); + for (size_t i = 0; i < node_num; i++) { + temperatures_now_K[i] = nodes_[i].GetTemperature_K(); + } + + vector k1(node_num), k2(node_num), k3(node_num), k4(node_num); + vector xk2(node_num), xk3(node_num), xk4(node_num); + + k1 = CalcTemperatureDifferentials(temperatures_now_K, time_now_s, sun_direction_b, node_num); + for (size_t i = 0; i < node_num; i++) { + xk2[i] = temperatures_now_K[i] + (time_step_s / 2.0) * k1[i]; + } + + k2 = CalcTemperatureDifferentials(xk2, (time_now_s + time_step_s / 2.0), sun_direction_b, node_num); + for (size_t i = 0; i < node_num; i++) { + xk3[i] = temperatures_now_K[i] + (time_step_s / 2.0) * k2[i]; + } + + k3 = CalcTemperatureDifferentials(xk3, (time_now_s + time_step_s / 2.0), sun_direction_b, node_num); + for (size_t i = 0; i < node_num; i++) { + xk4[i] = temperatures_now_K[i] + time_step_s * k3[i]; + } + + k4 = CalcTemperatureDifferentials(xk4, (time_now_s + time_step_s), sun_direction_b, node_num); + + vector temperatures_next_K(node_num); + for (size_t i = 0; i < node_num; i++) { + temperatures_next_K[i] = temperatures_now_K[i] + (time_step_s / 6.0) * (k1[i] + 2.0 * k2[i] + 2.0 * k3[i] + k4[i]); + } + + for (size_t i = 0; i < node_num; i++) { + nodes_[i].SetTemperature_K(temperatures_next_K[i]); + } +} + void Temperature::CalcRungeOneStep(double time_now_s, double time_step_s, const LocalCelestialInformation* local_celestial_information, size_t node_num) { vector temperatures_now_K(node_num); @@ -135,6 +204,42 @@ void Temperature::CalcRungeOneStep(double time_now_s, double time_step_s, const nodes_[i].SetTemperature_K(temperatures_next_K[i]); } } + +vector Temperature::CalcTemperatureDifferentials(vector temperatures_K, double t, libra::Vector<3> sun_direction_b, size_t node_num) { + // TODO: consider the following unused arguments are really needed + UNUSED(temperatures_K); + + vector differentials_K_s(node_num); + for (size_t i = 0; i < node_num; i++) { + heatloads_[i].SetElapsedTime_s(t); + if (nodes_[i].GetNodeType() == NodeType::kDiffusive) { + double solar_flux_W_m2 = srp_environment_->GetPowerDensity_W_m2(); + if (solar_calc_setting_ == SolarCalcSetting::kEnable) { + double solar_radiation_W = nodes_[i].CalcSolarRadiation_W(sun_direction_b, solar_flux_W_m2); + heatloads_[i].SetSolarHeatload_W(solar_radiation_W); + } + double heater_power_W = GetHeaterPower_W(i); + heatloads_[i].SetHeaterHeatload_W(heater_power_W); + heatloads_[i].CalcInternalHeatload(); + heatloads_[i].UpdateTotalHeatload(); + double total_heatload_W = heatloads_[i].GetTotalHeatload_W(); // Total heatload (solar + internal + heater)[W] + + double conductive_heat_input_W = 0; + double radiative_heat_input_W = 0; + for (size_t j = 0; j < node_num; j++) { + conductive_heat_input_W += conductance_matrix_W_K_[i][j] * (nodes_[j].GetTemperature_K() - nodes_[i].GetTemperature_K()); + radiative_heat_input_W += environment::stefan_boltzmann_constant_W_m2K4 * radiation_matrix_m2_[i][j] * + (pow(nodes_[j].GetTemperature_K(), 4) - pow(nodes_[i].GetTemperature_K(), 4)); + } + double total_heat_input_W = conductive_heat_input_W + radiative_heat_input_W + total_heatload_W; + differentials_K_s[i] = total_heat_input_W / nodes_[i].GetCapacity_J_K(); + } else if (nodes_[i].GetNodeType() == NodeType::kBoundary) { + differentials_K_s[i] = 0; + } + } + return differentials_K_s; +} + vector Temperature::CalcTemperatureDifferentials(vector temperatures_K, double t, const LocalCelestialInformation* local_celestial_information, size_t node_num) { // TODO: consider the following unused arguments are really needed @@ -336,7 +441,7 @@ Temperature* InitTemperature(const std::string file_name, const double rk_prop_s bool debug = mainIni.ReadEnable("THERMAL", "debug"); - bool calc_earth_albedo = mainIni.ReadEnable("THERMAL", "calc_earth_albedo"); + bool is_calc_earth_albedo_enabled = mainIni.ReadEnable("THERMAL", "is_calc_earth_albedo_enabled"); double earth_albedo_factor = mainIni.ReadDouble("THERMAL", "earth_albedo_factor"); @@ -398,6 +503,6 @@ Temperature* InitTemperature(const std::string file_name, const double rk_prop_s Temperature* temperature; temperature = new Temperature(conductance_matrix, radiation_matrix, node_list, heatload_list, heater_list, heater_controller_list, node_num, - rk_prop_step_s, srp_environment, is_calc_enabled, solar_calc_setting, calc_earth_albedo, earth_albedo_factor, debug); + rk_prop_step_s, srp_environment, is_calc_enabled, solar_calc_setting, is_calc_earth_albedo_enabled, earth_albedo_factor, debug); return temperature; } diff --git a/src/dynamics/thermal/temperature.hpp b/src/dynamics/thermal/temperature.hpp index 1be7237cf..ca427fa9c 100644 --- a/src/dynamics/thermal/temperature.hpp +++ b/src/dynamics/thermal/temperature.hpp @@ -47,6 +47,28 @@ class Temperature : public ILoggable { bool is_calc_earth_albedo_enabled_; //!< Whether to calculate albedo radiation double earth_albedo_factor_; //!< Albedo factor for earth; Percentage of solar radiation energy received by the Earth that is reflected + /** + * @fn CalcRungeOneStep + * @brief Calculate one step of RK4 for thermal equilibrium equation and update temperatures of nodes + * + * @param[in] time_now_s: Current elapsed time [s] + * @param[in] time_step_s: Time step of RK4 [s] + * @param[in] sun_direction_b: Sun position in body frame [m] + * @param[in] node_num: Number of nodes + */ + void CalcRungeOneStep(double time_now_s, double time_step_s, libra::Vector<3> sun_direction_b, size_t node_num); + /** + * @fn CalcTemperatureDifferentials + * @brief Calculate differential of thermal equilibrium equation + * + * @param temperatures_K: [UNUSED] Temperatures of each node [K] + * @param time_now_s: Current elapsed time [s] + * @param[in] sun_direction_b: Sun direction in body frame + * @param node_num: Number of nodes + * @return std::vector: Differential of thermal equilibrium equation at time now + */ + std::vector CalcTemperatureDifferentials(std::vector temperatures_K, double time_now_s, const libra::Vector<3> sun_direction_b, + size_t node_num); /** * @fn CalcRungeOneStep * @brief Calculate one step of RK4 for thermal equilibrium equation and update temperatures of nodes @@ -106,6 +128,14 @@ class Temperature : public ILoggable { * */ virtual ~Temperature(); + /** + * @fn Propagate + * @brief Propagate thermal calculation until time_end_s + * + * @param[in] sun_position_b_m: Sun position in body frame [m] + * @param time_end_s: Time to finish propagation [s] + */ + void Propagate(libra::Vector<3> sun_position_b_m, const double time_end_s); /** * @fn Propagate * @brief Propagate thermal calculation until time_end_s From 5cb8e4e6138900228dc70d5f01495789bfb20eb6 Mon Sep 17 00:00:00 2001 From: fukudakazuya Date: Sat, 21 Sep 2024 09:52:51 +0900 Subject: [PATCH 374/456] complete calculation --- src/dynamics/CMakeLists.txt | 1 + ...orbit_calculation_with_definition_file.cpp | 259 ++++++++++++++++++ ...orbit_calculation_with_definition_file.hpp | 56 ++-- .../orbit/interpolation_orbit.cpp | 8 + .../orbit/interpolation_orbit.hpp | 8 + 5 files changed, 293 insertions(+), 39 deletions(-) create mode 100644 src/dynamics/orbit/orbit_calculation_with_definition_file.cpp diff --git a/src/dynamics/CMakeLists.txt b/src/dynamics/CMakeLists.txt index eb4de1bca..f75bc09a4 100644 --- a/src/dynamics/CMakeLists.txt +++ b/src/dynamics/CMakeLists.txt @@ -8,6 +8,7 @@ add_library(${PROJECT_NAME} STATIC orbit/relative_orbit.cpp orbit/kepler_orbit_propagation.cpp orbit/encke_orbit_propagation.cpp + orbit/orbit_calculation_with_definition_file.cpp orbit/initialize_orbit.cpp thermal/node.cpp diff --git a/src/dynamics/orbit/orbit_calculation_with_definition_file.cpp b/src/dynamics/orbit/orbit_calculation_with_definition_file.cpp new file mode 100644 index 000000000..b0f8d277a --- /dev/null +++ b/src/dynamics/orbit/orbit_calculation_with_definition_file.cpp @@ -0,0 +1,259 @@ +/** + * @file orbit_calculation_with_definition_file.cpp + * @brief Class to calculate satellite orbit using interpolation with orbit time series input + */ + +#include "orbit_calculation_with_definition_file.hpp" + +#include + +#include +#include +#include + +#include "setting_file_reader/initialize_file_access.hpp" +#include "math_physics/time_system/date_time_format.hpp" +#include "math_physics/math/constants.hpp" +#include "logger/log_utility.hpp" + +void OrbitCalculationWithDefinitionFile::Initialize(const std::string ini_file_name, const std::vector& orbit_definition_data, const time_system::EpochTime start_time, const SimulationTime& simulation_time) { + IniAccess ini_file(ini_file_name); + char section[] = "ORBIT_CALCULATION_WITH_DEFINITION_FILE"; + const size_t number_of_interpolation = ini_file.ReadInt(section, "number_of_interpolation"); + + orbit_definition_data_ = orbit_definition_data; + current_epoch_time_ = start_time; + + // Get general info + const size_t nearest_epoch_id = SearchNearestEpochId(simulation_time); + const size_t half_interpolation_number = number_of_interpolation / 2; + if (nearest_epoch_id >= half_interpolation_number) { + reference_interpolation_id_ = nearest_epoch_id - half_interpolation_number; + } + reference_time_ = time_system::EpochTime(GetEpochData(reference_interpolation_id_)); + + // Initialize orbit + orbit_.assign(1.0, orbit::InterpolationOrbit(number_of_interpolation)); + + // Initialize interpolation + for (size_t i = 0; i < number_of_interpolation; i++) { + UpdateInterpolationInformation(); + } + + return; +} + +std::vector ParseCsvLine(const std::string& line) { + std::vector result; + std::stringstream ss(line); + std::string field; + bool inside_quotes = false; + char current_char; + std::string temp; + + while (ss.get(current_char)) { + if (current_char == '"') { + inside_quotes = !inside_quotes; + temp += '"'; + } else if (current_char == ',' && !inside_quotes) { + result.push_back(temp); + temp.clear(); + } else { + temp += current_char; + } + } + result.push_back(temp); + + return result; +} + +bool OrbitCalculationWithDefinitionFile::ReadOrbitDefinitionCsv(const std::string ini_file_name, const std::string& orbit_definition_file_path, std::vector& orbit_definition_data) { + IniAccess ini_file(ini_file_name); + char section[] = "ORBIT_CALCULATION_WITH_DEFINITION_FILE"; + + std::ifstream file(orbit_definition_file_path); + if (!file.is_open()) { + std::cout << "file open error. filename = " << orbit_definition_file_path << std::endl; + return 1; + } + + std::string line; + + if (std::getline(file, line)) { + std::vector headers = ParseCsvLine(line); + + int index_et = -1; + int index_x = -1; + int index_y = -1; + int index_z = -1; + int index_vx = -1; + int index_vy = -1; + int index_vz = -1; + for (int i = 0; i < headers.size(); ++i) { + if (headers[i] == ini_file.ReadString(section, "header_name_et")) { + index_et = i; + } else if (headers[i] == ini_file.ReadString(section, "header_name_x")) { + index_x = i; + } else if (headers[i] == ini_file.ReadString(section, "header_name_y")) { + index_y = i; + } else if (headers[i] == ini_file.ReadString(section, "header_name_z")) { + index_z = i; + } else if (headers[i] == ini_file.ReadString(section, "header_name_vx")) { + index_vx = i; + } else if (headers[i] == ini_file.ReadString(section, "header_name_vy")) { + index_vy = i; + } else if (headers[i] == ini_file.ReadString(section, "header_name_vz")) { + index_vz = i; + } + } + + if (index_et == -1 || index_x == -1 || index_y == -1 || index_z == -1 || index_vx == -1 || index_vy == -1 || index_vz == -1) { + std::cerr << "header name error." << std::endl; + return false; + } + + int year, month, day, hour, minute; + double second; + + while (std::getline(file, line)) { + std::vector row = ParseCsvLine(line); + if (index_et < row.size() && index_x < row.size() && index_y < row.size() && index_z < row.size() && index_vx < row.size() && index_vy < row.size() && index_vz < row.size()) { + OrbitDefinitionData data; + data.et = std::stod(row[index_et]); + data.x = std::stod(row[index_x]); + data.y = std::stod(row[index_y]); + data.z = std::stod(row[index_z]); + data.vx = std::stod(row[index_vx]); + data.vy = std::stod(row[index_vy]); + data.vz = std::stod(row[index_vz]); + + SpiceChar utc_char[80]; + et2utc_c(data.et, "ISOC", 2, 80, utc_char); + sscanf(utc_char, "%d-%d-%dT%d:%d:%lf", &year, &month, &day, &hour, &minute, &second); + epoch_.push_back(time_system::DateTime(year, month, day, hour, minute, second)); + + orbit_definition_data.push_back(data); + } + } + } + + return true; +} + + +void OrbitCalculationWithDefinitionFile::Update(const SimulationTime& simulation_time) { + if (!IsCalcEnabled()) return; + + // Get time + UTC current_utc = simulation_time.GetCurrentUtc(); + time_system::DateTime current_date_time((size_t)current_utc.year, (size_t)current_utc.month, (size_t)current_utc.day, (size_t)current_utc.hour, + (size_t)current_utc.minute, current_utc.second); + current_epoch_time_ = time_system::EpochTime(current_date_time); + + // Check interpolation update + double diff_s = current_epoch_time_.GetTimeWithFraction_s() - reference_time_.GetTimeWithFraction_s(); + double medium_time_s = orbit_[0].GetTimeList()[4]; + if (diff_s > medium_time_s) { + UpdateInterpolationInformation(); + } + + return; +} + +size_t OrbitCalculationWithDefinitionFile::SearchNearestEpochId(const SimulationTime& simulation_time) { + size_t nearest_epoch_id = 0; + + // Get start ephemeris time + SpiceDouble start_et = simulation_time.GetCurrentEphemerisTime(); + + // Get the nearest epoch ID + for (size_t i = 0; i < orbit_definition_data_.size(); i++) { + if (start_et < orbit_definition_data_[i].et) { + nearest_epoch_id = i; + break; + } + } + return nearest_epoch_id; +} + +time_system::DateTime OrbitCalculationWithDefinitionFile::GetEpochData(const size_t epoch_id) const { + if (epoch_id > epoch_.size()) { + time_system::DateTime zero; + return zero; + } + return epoch_[epoch_id]; +} + + +math::Vector<3> OrbitCalculationWithDefinitionFile::GetPosition_eclipj2000_km(const time_system::EpochTime time) const { + time_system::EpochTime target_time; + + if (time.GetTime_s() == 0) { + target_time = current_epoch_time_; + } else { + target_time = time; + } + + double diff_s = target_time.GetTimeWithFraction_s() - reference_time_.GetTimeWithFraction_s(); + if (diff_s < 0.0 || diff_s > 1e6) return math::Vector<3>(0.0); + + return orbit_[0].CalcPositionWithPolynomial(diff_s); +} + +bool OrbitCalculationWithDefinitionFile::UpdateInterpolationInformation() { + time_system::EpochTime orbit_definition_time = time_system::EpochTime(GetEpochData(reference_interpolation_id_)); + double time_diff_s = orbit_definition_time.GetTimeWithFraction_s() - reference_time_.GetTimeWithFraction_s(); + math::Vector<3> orbit_definition_position_eclipj2000_km; + orbit_definition_position_eclipj2000_km(0) = orbit_definition_data_[reference_interpolation_id_].x; + orbit_definition_position_eclipj2000_km(1) = orbit_definition_data_[reference_interpolation_id_].y; + orbit_definition_position_eclipj2000_km(2) = orbit_definition_data_[reference_interpolation_id_].z; + + orbit_[0].PushAndPopData(time_diff_s, orbit_definition_position_eclipj2000_km); + + reference_interpolation_id_++; + + return true; +} + +std::string OrbitCalculationWithDefinitionFile::GetLogHeader() const { + std::string str_tmp = ""; + + str_tmp += WriteVector("satellite_position", "eclipj2000", "km", 3); + + + return str_tmp; +} + +std::string OrbitCalculationWithDefinitionFile::GetLogValue() const { + std::string str_tmp = ""; + + str_tmp += WriteVector(GetPosition_eclipj2000_km(), 16); + + return str_tmp; +} + +OrbitCalculationWithDefinitionFile* InitOrbitCalculationWithDefinitionFile(const std::string ini_file_name, const SimulationTime& simulation_time) { + IniAccess ini_file(ini_file_name); + char section[] = "ORBIT_CALCULATION_WITH_DEFINITION_FILE"; + + const bool is_calc_enable = ini_file.ReadEnable(section, INI_CALC_LABEL); + const bool is_log_enable = ini_file.ReadEnable(section, INI_LOG_LABEL); + + OrbitCalculationWithDefinitionFile* orbit_calculation_with_definition_file = new OrbitCalculationWithDefinitionFile(is_calc_enable, is_log_enable); + if (!orbit_calculation_with_definition_file->IsCalcEnabled()) { + return orbit_calculation_with_definition_file; + } + + const std::string orbit_definition_file_path = ini_file.ReadString(section, "orbit_definition_file_path"); + + std::vector orbit_definition_data; + orbit_calculation_with_definition_file->ReadOrbitDefinitionCsv(ini_file_name, orbit_definition_file_path, orbit_definition_data); + + time_system::DateTime start_date_time((size_t)simulation_time.GetStartYear(), (size_t)simulation_time.GetStartMonth(), + (size_t)simulation_time.GetStartDay(), (size_t)simulation_time.GetStartHour(), + (size_t)simulation_time.GetStartMinute(), simulation_time.GetStartSecond()); + time_system::EpochTime start_epoch_time(start_date_time); + orbit_calculation_with_definition_file->Initialize(ini_file_name, orbit_definition_data, start_epoch_time, simulation_time); + + return orbit_calculation_with_definition_file; +} diff --git a/src/dynamics/orbit/orbit_calculation_with_definition_file.hpp b/src/dynamics/orbit/orbit_calculation_with_definition_file.hpp index 3c4d9c4ff..cf19bcb81 100644 --- a/src/dynamics/orbit/orbit_calculation_with_definition_file.hpp +++ b/src/dynamics/orbit/orbit_calculation_with_definition_file.hpp @@ -9,48 +9,24 @@ #include #include - -// #include -// #include -// #include #include #include -// #include -// #include -// #include "earth_rotation.hpp" -// #include "logger/loggable.hpp" -// #include "math_physics/gnss/gnss_satellite_number.hpp" -// #include "math_physics/math/vector.hpp" #include "environment/global/simulation_time.hpp" /** *@struct OrbitDefinitionData *@brief Orbit definition data + *@note Coordinate system and units follow the orbit definition file */ struct OrbitDefinitionData { - std::string time_utc; //!< time (UTC) - double time_et_s; //!< Ephemeris time [s] - double equ_x_eclipj2000_km; //!< EQU X(ECLIPJ2000) [km] - double equ_y_eclipj2000_km; //!< EQU Y(ECLIPJ2000) [km] - double equ_z_eclipj2000_km; //!< EQU Z(ECLIPJ2000) [km] - double vx_eclipj2000_km_s; //!< VX [km/s] - double vy_eclipj2000_km_s; //!< VY [km/s] - double vz_eclipj2000_km_s; //!< VZ [km/s] - double m_kg; //!< Mass [kg] - double fx_kN; //!< FX [kN] - double fy_kN; //!< FY [kN] - double fz_kN; //!< FZ [kN] - bool dv_node; //!< DV NODE - double dv_x_eclipj2000_km_s; //!< DV_X [km/s] - double dv_y_eclipj2000_km_s; //!< DV_Y [km/s] - double dv_z_eclipj2000_km_s; //!< DV_Z [km/s] - double sun_x_eclipj2000_km; //!< SUN X (ECLIPJ2000) [km] - double sun_y_eclipj2000_km; //!< SUN Y (ECLIPJ2000) [km] - double sun_z_eclipj2000_km; //!< SUN Z (ECLIPJ2000) [km] - double moon_x_eclipj2000_km; //!< MOON X (ECLIPJ2000) [km] - double moon_y_eclipj2000_km; //!< MOON Y (ECLIPJ2000) [km] - double moon_z_eclipj2000_km; //!< MOON Z (ECLIPJ2000) [km] + double et; //!< Ehemeris time [s] + double x; //!< Position x + double y; //!< Position y + double z; //!< Position z + double vx; //!< Velocity x + double vy; //!< Velocity y + double vz; //!< Velocity z }; /** @@ -83,10 +59,11 @@ class OrbitCalculationWithDefinitionFile : public ILoggable { /** * @fn Initialize * @brief Initialize function + * @param [in] ini_file_name: Path to the initialize file * @param [in] orbit_definition_data: orbit definition data * @param [in] start_time: The simulation start time */ - void Initialize(const std::vector& orbit_definition_data, const time_system::EpochTime start_time, const SimulationTime& simulation_time); + void Initialize(const std::string ini_file_name, const std::vector& orbit_definition_data, const time_system::EpochTime start_time, const SimulationTime& simulation_time); /** * @fn IsCalcEnabled @@ -97,11 +74,12 @@ class OrbitCalculationWithDefinitionFile : public ILoggable { /** * @fn ReadOrbitDefinitionCsv * @brief Read orbit definition CSV file. - * @param file_name Path to orbit definition CSV file. + * @param ini_file_name Path to the initialize file. + * @param orbit_definition_file_path Path to orbit definition CSV file. * @param orbit_definition_data List of orbit definition data. * @param delimiter Delimiter for the orbit definition CSV file (default: ','). */ - bool ReadOrbitDefinitionCsv(const std::string& file_name, std::vector& orbit_definition_data, char delimiter = ','); + bool ReadOrbitDefinitionCsv(const std::string ini_file_name, const std::string& orbit_definition_file_path, std::vector& orbit_definition_data); /** * @fn GetOrbitDefinitionDataSize @@ -130,7 +108,6 @@ class OrbitCalculationWithDefinitionFile : public ILoggable { */ size_t SearchNearestEpochId(const SimulationTime& simulation_time); - /** * @fn Update * @brief Updatesatellite information @@ -144,7 +121,7 @@ class OrbitCalculationWithDefinitionFile : public ILoggable { * @param [in] time: Target time to get the satellite. When the argument is not set, the last updated time is used for the calculation. * @return Satellite position at ECLIPJ2000 frame at the time. Or return zero vector when the arguments are out of range. */ - math::Vector<3> GetPosition_eclipj2000_km(const time_system::EpochTime time = time_system::EpochTime(0, 0.0)) const; + inline math::Vector<3> GetPosition_eclipj2000_km(const time_system::EpochTime time = time_system::EpochTime(0, 0.0)) const; // Override ILoggable /** @@ -181,9 +158,10 @@ class OrbitCalculationWithDefinitionFile : public ILoggable { /** * @fn InitOrbitCalculationWithDefinitionFile * @brief Initialize function for OrbitCalculationWithDefinitionFile class - * @param [in] file_name: Path to the initialize file + * @param [in] ini_file_name: Path to the initialize file * @param [in] simulation_time: Simulation time information * @return Initialized OrbitCalculationWithDefinitionFile class */ -OrbitCalculationWithDefinitionFile* InitOrbitCalculationWithDefinitionFile(const std::string file_name, const SimulationTime& simulation_time); +OrbitCalculationWithDefinitionFile* InitOrbitCalculationWithDefinitionFile(const std::string ini_file_name, const SimulationTime& simulation_time); + #endif // S2E_DYNAMICS_ORBIT_ORBIT_CALCULATION_WITH_DEFINITION_FILE_HPP_ \ No newline at end of file diff --git a/src/math_physics/orbit/interpolation_orbit.cpp b/src/math_physics/orbit/interpolation_orbit.cpp index 33d2843a5..d4fc5fc13 100644 --- a/src/math_physics/orbit/interpolation_orbit.cpp +++ b/src/math_physics/orbit/interpolation_orbit.cpp @@ -37,4 +37,12 @@ math::Vector<3> InterpolationOrbit::CalcPositionWithTrigonometric(const double t return output_position; } +math::Vector<3> InterpolationOrbit::CalcPositionWithPolynomial(const double time) const { + math::Vector<3> output_position; + for (size_t axis = 0; axis < 3; axis++) { + output_position[axis] = interpolation_position_[axis].CalcPolynomial(time); + } + return output_position; +} + } // namespace orbit diff --git a/src/math_physics/orbit/interpolation_orbit.hpp b/src/math_physics/orbit/interpolation_orbit.hpp index cf83660ab..02f30513b 100644 --- a/src/math_physics/orbit/interpolation_orbit.hpp +++ b/src/math_physics/orbit/interpolation_orbit.hpp @@ -43,6 +43,14 @@ class InterpolationOrbit { */ math::Vector<3> CalcPositionWithTrigonometric(const double time, const double period = 0.0) const; + /** + * @fn CalcPositionWithPolynimial + * @brief Calculate interpolated position with polynomial method + * @param [in] time: time + * @return Calculated position + */ + math::Vector<3> CalcPositionWithPolynomial(const double time) const; + // Getters /** * @fn GetDegree From ca863d1852d35f4780ac1849062d8c01ddd16fea Mon Sep 17 00:00:00 2001 From: kai0722 Date: Sat, 21 Sep 2024 11:36:04 +0900 Subject: [PATCH 375/456] Add EarthAlbedo class and integrate into local environment --- src/environment/local/CMakeLists.txt | 1 + src/environment/local/earth_albedo.cpp | 44 +++++++++++++++ src/environment/local/earth_albedo.hpp | 61 +++++++++++++++++++++ src/environment/local/local_environment.cpp | 3 + src/environment/local/local_environment.hpp | 7 +++ 5 files changed, 116 insertions(+) create mode 100644 src/environment/local/earth_albedo.cpp create mode 100644 src/environment/local/earth_albedo.hpp diff --git a/src/environment/local/CMakeLists.txt b/src/environment/local/CMakeLists.txt index e5865f783..b9943f9d0 100644 --- a/src/environment/local/CMakeLists.txt +++ b/src/environment/local/CMakeLists.txt @@ -6,6 +6,7 @@ add_library(${PROJECT_NAME} STATIC local_environment.cpp geomagnetic_field.cpp solar_radiation_pressure_environment.cpp + earth_albedo.cpp local_celestial_information.cpp ) diff --git a/src/environment/local/earth_albedo.cpp b/src/environment/local/earth_albedo.cpp new file mode 100644 index 000000000..8ab18335f --- /dev/null +++ b/src/environment/local/earth_albedo.cpp @@ -0,0 +1,44 @@ +/** + * @file earth_albedo.cpp + * @brief Class to manage earth albedo + */ +#include "earth_albedo.hpp" + +#include +#include +#include + +#include "library/initialize/initialize_file_access.hpp" +#include "library/logger/log_utility.hpp" +#include "library/math/constants.hpp" +#include "library/math/vector.hpp" + + +EarthAlbedo::EarthAlbedo() { earth_albedo_factor_ = 0.0; } + +std::string EarthAlbedo::GetLogHeader() const { + std::string str_tmp = ""; + + str_tmp += WriteScalar("earth_albedo_factor"); + + return str_tmp; +} + +std::string EarthAlbedo::GetLogValue() const { + std::string str_tmp = ""; + + str_tmp += WriteScalar(earth_albedo_factor_); + + return str_tmp; +} + +EarthAlbedo InitEarthAlbedo(std::string initialize_file_path) { + auto conf = IniAccess(initialize_file_path); + const char* section = "EARTH_ALBEDO"; + + EarthAlbedo earth_albedo; + earth_albedo.IsCalcEarthAlbedoEnabled = conf.ReadEnable(section, INI_CALC_LABEL); + earth_albedo.earth_albedo_factor_ = conf.ReadEnable(section, "earth_albedo_factor"); + + return earth_albedo; +} diff --git a/src/environment/local/earth_albedo.hpp b/src/environment/local/earth_albedo.hpp new file mode 100644 index 000000000..7b919e19f --- /dev/null +++ b/src/environment/local/earth_albedo.hpp @@ -0,0 +1,61 @@ +/** + * @file earth_albedo.hpp + * @brief Class to manage earth albedo + */ + +#ifndef S2E_ENVIRONMENT_LOCAL_EARTH_ALBEDO_HPP_ +#define S2E_ENVIRONMENT_LOCAL_EARTH_ALBEDO_HPP_ + +#include "environment/global/physical_constants.hpp" +#include "environment/local/local_celestial_information.hpp" + +/** + * @class EarthAlbedo + * @brief Class to calculate Solar Radiation Pressure + */ +class EarthAlbedo : public ILoggable { + public: + bool IsCalcEarthAlbedoEnabled = false; //!< Calculation flag + double earth_albedo_factor_ = 0.3; //!< Earth albedo factor + + /** + * @fn EarthAlbedo + * @brief Constructor + */ + EarthAlbedo(); + + /** + * @fn ~EarthAlbedo + * @brief Destructor + */ + virtual ~EarthAlbedo() {} + + // Getter + /** + * @fn GetEarthAlbedoFactor + * @brief Return earth albedo factor + */ + inline double GetEarthAlbedoFactor() const { return earth_albedo_factor_; } + + // Override ILoggable + /** + * @fn GetLogHeader + * @brief Override GetLogHeader function of ILoggable + */ + virtual std::string GetLogHeader() const; + /** + * @fn GetLogValue + * @brief Override GetLogValue function of ILoggable + */ + virtual std::string GetLogValue() const; + +}; + +/** + * @fn InitEarthAlbedo + * @brief Initialize solar radiation pressure + * @param [in] initialize_file_path: Path to initialize file + */ +EarthAlbedo InitEarthAlbedo(std::string initialize_file_path); + +#endif // S2E_ENVIRONMENT_LOCAL_EARTH_ALBEDO_HPP_ diff --git a/src/environment/local/local_environment.cpp b/src/environment/local/local_environment.cpp index dba52989c..c4f10b4dc 100644 --- a/src/environment/local/local_environment.cpp +++ b/src/environment/local/local_environment.cpp @@ -16,6 +16,7 @@ LocalEnvironment::LocalEnvironment(const SimulationConfiguration* simulation_con LocalEnvironment::~LocalEnvironment() { delete geomagnetic_field_; delete solar_radiation_pressure_environment_; + delete earth_albedo_; delete atmosphere_; delete celestial_information_; } @@ -35,6 +36,7 @@ void LocalEnvironment::Initialize(const SimulationConfiguration* simulation_conf atmosphere_ = new Atmosphere(InitAtmosphere(ini_fname, celestial_information_, &global_environment->GetSimulationTime())); solar_radiation_pressure_environment_ = new SolarRadiationPressureEnvironment(InitSolarRadiationPressureEnvironment(ini_fname, celestial_information_)); + earth_albedo_ = new EarthAlbedo(InitEarthAlbedo(ini_fname)); // Force to disable when the center body is not the Earth if (global_environment->GetCelestialInformation().GetCenterBodyName() != "EARTH") { @@ -69,6 +71,7 @@ void LocalEnvironment::Update(const Dynamics* dynamics, const SimulationTime* si void LocalEnvironment::LogSetup(Logger& logger) { logger.AddLogList(geomagnetic_field_); logger.AddLogList(solar_radiation_pressure_environment_); + logger.AddLogList(earth_albedo_); logger.AddLogList(atmosphere_); logger.AddLogList(celestial_information_); } diff --git a/src/environment/local/local_environment.hpp b/src/environment/local/local_environment.hpp index 7e2d05a92..a7d0b7cac 100644 --- a/src/environment/local/local_environment.hpp +++ b/src/environment/local/local_environment.hpp @@ -8,6 +8,7 @@ #include "atmosphere.hpp" #include "dynamics/dynamics.hpp" +#include "earth_albedo.hpp" #include "environment/global/global_environment.hpp" #include "geomagnetic_field.hpp" #include "local_celestial_information.hpp" @@ -65,6 +66,11 @@ class LocalEnvironment { * @brief Return SolarRadiationPressureEnvironment class */ inline const SolarRadiationPressureEnvironment& GetSolarRadiationPressure() const { return *solar_radiation_pressure_environment_; } + /** + * @fn GetEarthAlbedo + * @brief Return EarthAlbedo class + */ + inline const EarthAlbedo& GetEarthAlbedo() const { return *earth_albedo_; } /** * @fn GetCelestialInformation * @brief Return LocalCelestialInformation class @@ -75,6 +81,7 @@ class LocalEnvironment { Atmosphere* atmosphere_; //!< Atmospheric density of the earth GeomagneticField* geomagnetic_field_; //!< Magnetic field of the earth SolarRadiationPressureEnvironment* solar_radiation_pressure_environment_; //!< Solar radiation pressure + EarthAlbedo* earth_albedo_; //!< Earth albedo LocalCelestialInformation* celestial_information_; //!< Celestial information /** From 0659e9d05e0835c46f8c1fd28161a09a92f9e83e Mon Sep 17 00:00:00 2001 From: kai0722 Date: Sat, 21 Sep 2024 12:04:27 +0900 Subject: [PATCH 376/456] Update GetEarthAlbedoFactor to return 0.0 when calculation is disabled --- src/environment/local/earth_albedo.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/environment/local/earth_albedo.hpp b/src/environment/local/earth_albedo.hpp index 7b919e19f..6ae6389d5 100644 --- a/src/environment/local/earth_albedo.hpp +++ b/src/environment/local/earth_albedo.hpp @@ -35,7 +35,7 @@ class EarthAlbedo : public ILoggable { * @fn GetEarthAlbedoFactor * @brief Return earth albedo factor */ - inline double GetEarthAlbedoFactor() const { return earth_albedo_factor_; } + inline double GetEarthAlbedoFactor() const { return IsCalcEarthAlbedoEnabled ? earth_albedo_factor_ : 0.0; } // Override ILoggable /** From c09c3e0274b4d772ef452d92af180c122f86033d Mon Sep 17 00:00:00 2001 From: kai0722 Date: Sat, 21 Sep 2024 12:04:41 +0900 Subject: [PATCH 377/456] Refactor temperature and albedo calculations to integrate EarthAlbedo class and simplify parameters --- src/dynamics/dynamics.cpp | 2 +- src/dynamics/thermal/node.cpp | 8 ++---- src/dynamics/thermal/node.hpp | 3 +-- src/dynamics/thermal/temperature.cpp | 37 +++++++++++----------------- src/dynamics/thermal/temperature.hpp | 14 +++++------ 5 files changed, 26 insertions(+), 38 deletions(-) diff --git a/src/dynamics/dynamics.cpp b/src/dynamics/dynamics.cpp index 9b31cb757..478e035bc 100644 --- a/src/dynamics/dynamics.cpp +++ b/src/dynamics/dynamics.cpp @@ -33,7 +33,7 @@ void Dynamics::Initialize(const SimulationConfiguration* simulation_configuratio attitude_ = InitAttitude(simulation_configuration->spacecraft_file_list_[spacecraft_id], orbit_, &local_celestial_information, simulation_time->GetAttitudeRkStepTime_s(), structure->GetKinematicsParameters().GetInertiaTensor_b_kgm2(), spacecraft_id); temperature_ = InitTemperature(simulation_configuration->spacecraft_file_list_[spacecraft_id], simulation_time->GetThermalRkStepTime_s(), - &(local_environment_->GetSolarRadiationPressure())); + &(local_environment_->GetSolarRadiationPressure()), &(local_environment_->GetEarthAlbedo())); // To get initial value orbit_->UpdateByAttitude(attitude_->GetQuaternion_i2b()); diff --git a/src/dynamics/thermal/node.cpp b/src/dynamics/thermal/node.cpp index accb00b08..10727cd4e 100644 --- a/src/dynamics/thermal/node.cpp +++ b/src/dynamics/thermal/node.cpp @@ -41,24 +41,20 @@ double Node::CalcSolarRadiation_W(libra::Vector<3> sun_direction_b, double solar return solar_radiation_W_; } -double Node::CalcAlbedoRadiation_W(libra::Vector<3> earth_position_b_m, double solar_flux_W_m2, double earth_albedo_factor, bool is_eclipsed) { +double Node::CalcAlbedoRadiation_W(libra::Vector<3> earth_position_b_m, double solar_flux_W_m2, double earth_albedo_factor) { libra::Vector<3> earth_direction_b = earth_position_b_m.CalcNormalizedVector(); double earth_distance_m = earth_position_b_m.CalcNorm(); // check if satellite is outside of the earth's shadow - if (!is_eclipsed) { double cos_theta_albedo = InnerProduct(earth_direction_b, normal_vector_b_); - // albedo radiation calculation + // albedo radiation calculation; solar_flux_W_m2 reflects the shadow coefficient. if earth albedo calculation is disabled, earth_albedo_factor is 0.0 if (cos_theta_albedo > 0.0) { double albedo_flux_W_m2 = solar_flux_W_m2 * earth_albedo_factor * pow((environment::astronomy::earth_equatorial_radius_m / earth_distance_m), 2.0) / 4.0; albedo_radiation_W_ = albedo_flux_W_m2 * area_m2_ * alpha_ * cos_theta_albedo; } else { albedo_radiation_W_ = 0.0; } - } else { - albedo_radiation_W_ = 0.0; - } return albedo_radiation_W_; } diff --git a/src/dynamics/thermal/node.hpp b/src/dynamics/thermal/node.hpp index f4e697b7d..16f9e81f1 100644 --- a/src/dynamics/thermal/node.hpp +++ b/src/dynamics/thermal/node.hpp @@ -67,10 +67,9 @@ class Node { * @param earth_position_b_m: Earth position in body frame * @param solar_flux_W_m2: Solar flux [W/m^2] * @param earth_albedo_factor: Earth albedo factor - * @param is_eclipsed: Flag if satellite is eclipsed by earth * @return double: Albedo Radiation [W] */ - double CalcAlbedoRadiation_W(libra::Vector<3> earth_position_b_m, double solar_flux_W_m2, double earth_albedo_factor, bool is_eclipsed); + double CalcAlbedoRadiation_W(libra::Vector<3> earth_position_b_m, double solar_flux_W_m2, double earth_albedo_factor); // Getter /** diff --git a/src/dynamics/thermal/temperature.cpp b/src/dynamics/thermal/temperature.cpp index b91dabd96..285d87c11 100644 --- a/src/dynamics/thermal/temperature.cpp +++ b/src/dynamics/thermal/temperature.cpp @@ -16,8 +16,8 @@ using namespace std; Temperature::Temperature(const vector> conductance_matrix_W_K, const vector> radiation_matrix_m2, vector nodes, vector heatloads, vector heaters, vector heater_controllers, const size_t node_num, - const double propagation_step_s, const SolarRadiationPressureEnvironment* srp_environment, const bool is_calc_enabled, - const SolarCalcSetting solar_calc_setting, const bool is_calc_earth_albedo_enabled, const double earth_albedo_factor, const bool debug) + const double propagation_step_s, const SolarRadiationPressureEnvironment* srp_environment, const EarthAlbedo* earth_albedo, + const bool is_calc_enabled, const SolarCalcSetting solar_calc_setting, const bool debug) : conductance_matrix_W_K_(conductance_matrix_W_K), radiation_matrix_m2_(radiation_matrix_m2), nodes_(nodes), @@ -27,10 +27,9 @@ Temperature::Temperature(const vector> conductance_matrix_W_K, co node_num_(node_num), propagation_step_s_(propagation_step_s), srp_environment_(srp_environment), + earth_albedo_(earth_albedo), is_calc_enabled_(is_calc_enabled), solar_calc_setting_(solar_calc_setting), - is_calc_earth_albedo_enabled_(is_calc_earth_albedo_enabled), - earth_albedo_factor_(earth_albedo_factor), debug_(debug) { propagation_time_s_ = 0; if (debug_) { @@ -44,8 +43,6 @@ Temperature::Temperature() { propagation_time_s_ = 0.0; solar_calc_setting_ = SolarCalcSetting::kDisable; is_calc_enabled_ = false; - is_calc_earth_albedo_enabled_ = false; - earth_albedo_factor_ = 0.0; debug_ = false; } @@ -104,25 +101,20 @@ void Temperature::Propagate(const LocalCelestialInformation* local_celestial_inf for (auto itr = nodes_.begin(); itr != nodes_.end(); ++itr) { cout << setprecision(4) << itr->GetSolarRadiation_W() << " "; } - if (is_calc_earth_albedo_enabled_) { - cout << "AlbedoR: "; - for (auto itr = nodes_.begin(); itr != nodes_.end(); ++itr) { - cout << setprecision(4) << itr->GetAlbedoRadiation_W() << " "; - } + cout << "AlbedoR: "; + for (auto itr = nodes_.begin(); itr != nodes_.end(); ++itr) { + cout << setprecision(4) << itr->GetAlbedoRadiation_W() << " "; } libra::Vector<3> sun_direction_b = local_celestial_information->GetPositionFromSpacecraft_b_m("SUN").CalcNormalizedVector(); cout << "SunDir: "; for (size_t i = 0; i < 3; i++) { cout << setprecision(3) << sun_direction_b[i] << " "; } - if (is_calc_earth_albedo_enabled_) { - cout << "IsEclipsed: " << srp_environment_->GetIsEclipsed() << " "; - - libra::Vector<3> earth_direction_b = local_celestial_information->GetPositionFromSpacecraft_b_m("EARTH").CalcNormalizedVector(); - cout << "EarthDir: "; - for (size_t i = 0; i < 3; i++) { - cout << setprecision(3) << earth_direction_b[i] << " "; - } + cout << "ShadowCoefficient: " << setprecision(4) << srp_environment_->GetShadowCoefficient() << " "; + libra::Vector<3> earth_direction_b = local_celestial_information->GetPositionFromSpacecraft_b_m("EARTH").CalcNormalizedVector(); + cout << "EarthDir: "; + for (size_t i = 0; i < 3; i++) { + cout << setprecision(3) << earth_direction_b[i] << " "; } cout << "Heatload: "; for (auto itr = heatloads_.begin(); itr != heatloads_.end(); ++itr) { @@ -256,7 +248,7 @@ vector Temperature::CalcTemperatureDifferentials(vector temperat if (is_calc_earth_albedo_enabled_) { bool is_eclipsed = srp_environment_->GetIsEclipsed(); libra::Vector<3> earth_position_b_m = local_celestial_information->GetPositionFromSpacecraft_b_m("EARTH"); - double albedo_radiation_W = nodes_[i].CalcAlbedoRadiation_W(earth_position_b_m, solar_flux_W_m2, earth_albedo_factor_, is_eclipsed); + double albedo_radiation_W = nodes_[i].CalcAlbedoRadiation_W(earth_position_b_m, solar_flux_W_m2, earth_albedo_->GetEarthAlbedoFactor()); heatloads_[i].SetAlbedoHeatload_W(albedo_radiation_W); } heatloads_[i].SetSolarHeatload_W(solar_radiation_W); @@ -404,7 +396,8 @@ First row is time data using std::string; using std::vector; -Temperature* InitTemperature(const std::string file_name, const double rk_prop_step_s, const SolarRadiationPressureEnvironment* srp_environment) { +Temperature* InitTemperature(const std::string file_name, const double rk_prop_step_s, const SolarRadiationPressureEnvironment* srp_environment, + const EarthAlbedo* earth_albedo) { auto mainIni = IniAccess(file_name); vector node_list; @@ -503,6 +496,6 @@ Temperature* InitTemperature(const std::string file_name, const double rk_prop_s Temperature* temperature; temperature = new Temperature(conductance_matrix, radiation_matrix, node_list, heatload_list, heater_list, heater_controller_list, node_num, - rk_prop_step_s, srp_environment, is_calc_enabled, solar_calc_setting, is_calc_earth_albedo_enabled, earth_albedo_factor, debug); + rk_prop_step_s, srp_environment, earth_albedo, is_calc_enabled, solar_calc_setting, debug); return temperature; } diff --git a/src/dynamics/thermal/temperature.hpp b/src/dynamics/thermal/temperature.hpp index ca427fa9c..a494b5102 100644 --- a/src/dynamics/thermal/temperature.hpp +++ b/src/dynamics/thermal/temperature.hpp @@ -6,6 +6,7 @@ #ifndef S2E_DYNAMICS_THERMAL_TEMPERATURE_HPP_ #define S2E_DYNAMICS_THERMAL_TEMPERATURE_HPP_ +#include #include #include #include @@ -41,11 +42,10 @@ class Temperature : public ILoggable { double propagation_step_s_; //!< propagation step [s] double propagation_time_s_; //!< Incremented time inside class Temperature [s], finish propagation when reaching end_time const SolarRadiationPressureEnvironment* srp_environment_; //!< SolarRadiationPressureEnvironment for calculating solar flux + const EarthAlbedo* earth_albedo_; //!< EarthAlbedo object for calculating earth albedo bool is_calc_enabled_; //!< Whether temperature calculation is enabled SolarCalcSetting solar_calc_setting_; //!< setting for solar calculation bool debug_; //!< Activate debug output or not - bool is_calc_earth_albedo_enabled_; //!< Whether to calculate albedo radiation - double earth_albedo_factor_; //!< Albedo factor for earth; Percentage of solar radiation energy received by the Earth that is reflected /** * @fn CalcRungeOneStep @@ -105,17 +105,16 @@ class Temperature : public ILoggable { * @param heater_controllers: Vector of all heater controllers included in calculation * @param node_num: Number of nodes * @param propagation_step_s: Propagation time step [s] + * @param srp_environment: SolarRadiationPressureEnvironment object for calculating solar flux + * @param earth_albedo: EarthAlbedo object for calculating earth albedo * @param is_calc_enabled: Whether calculation is enabled * @param solar_calc_setting: Solar calculation settings - * @param calc_earth_albedo: Whether to calculate albedo radiation - * @param earth_albedo_factor: Albedo factor for earth * @param debug: Whether debug is enabled */ Temperature(const std::vector> conductance_matrix_W_K, const std::vector> radiation_matrix_m2, std::vector nodes, std::vector heatloads, std::vector heaters, std::vector heater_controllers, const size_t node_num, const double propagation_step_s, const SolarRadiationPressureEnvironment* srp_environment, - const bool is_calc_enabled, const SolarCalcSetting solar_calc_setting, const bool is_calc_earth_albedo_enabled, - const double earth_albedo_factor, const bool debug); + const EarthAlbedo* earth_albedo, const bool is_calc_enabled, const SolarCalcSetting solar_calc_setting, const bool debug); /** * @fn Temperature * @brief Construct a new Temperature object, used when thermal calculation is disabled. @@ -193,6 +192,7 @@ class Temperature : public ILoggable { * @param[in] srp_environment: SolarRadiationPressureEnvironment object for calculating solar flux * @return Temperature* */ -Temperature* InitTemperature(const std::string file_name, const double rk_prop_step_s, const SolarRadiationPressureEnvironment* srp_environment); +Temperature* InitTemperature(const std::string file_name, const double rk_prop_step_s, const SolarRadiationPressureEnvironment* srp_environment, + const EarthAlbedo* earth_albedo); #endif // S2E_DYNAMICS_THERMAL_TEMPERATURE_HPP_ From ff128e4e350a549d59ce1139a59ca9cc0a4c5a87 Mon Sep 17 00:00:00 2001 From: kai0722 Date: Sat, 21 Sep 2024 12:21:10 +0900 Subject: [PATCH 378/456] Refactor Dynamics and Temperature classes to remove redundant earth albedo flag and update initialization logic --- src/dynamics/dynamics.cpp | 8 ++------ src/dynamics/dynamics.hpp | 1 - src/dynamics/thermal/temperature.cpp | 21 +++++++-------------- src/environment/local/earth_albedo.cpp | 5 ++--- src/environment/local/earth_albedo.hpp | 2 +- 5 files changed, 12 insertions(+), 25 deletions(-) diff --git a/src/dynamics/dynamics.cpp b/src/dynamics/dynamics.cpp index 478e035bc..93ca2ae66 100644 --- a/src/dynamics/dynamics.cpp +++ b/src/dynamics/dynamics.cpp @@ -4,8 +4,8 @@ */ #include "dynamics.hpp" -#include +#include #include "../simulation/multiple_spacecraft/relative_information.hpp" @@ -13,7 +13,6 @@ Dynamics::Dynamics(const SimulationConfiguration* simulation_configuration, cons const LocalEnvironment* local_environment, const int spacecraft_id, Structure* structure, RelativeInformation* relative_information) : structure_(structure), local_environment_(local_environment) { - is_calc_earth_albedo_enabled_ = false; Initialize(simulation_configuration, simulation_time, spacecraft_id, structure, relative_information); } @@ -37,9 +36,6 @@ void Dynamics::Initialize(const SimulationConfiguration* simulation_configuratio // To get initial value orbit_->UpdateByAttitude(attitude_->GetQuaternion_i2b()); - - auto mainIni = IniAccess(simulation_configuration->spacecraft_file_list_[spacecraft_id]); - is_calc_earth_albedo_enabled_ = mainIni.ReadEnable("THERMAL", "is_calc_earth_albedo_enabled"); } void Dynamics::Update(const SimulationTime* simulation_time, const LocalCelestialInformation* local_celestial_information) { @@ -56,7 +52,7 @@ void Dynamics::Update(const SimulationTime* simulation_time, const LocalCelestia // Thermal if (simulation_time->GetThermalPropagateFlag()) { - if (!is_calc_earth_albedo_enabled_) { + if (!local_environment_->GetEarthAlbedo().IsCalcEarthAlbedoEnabled) { temperature_->Propagate(local_celestial_information->GetPositionFromSpacecraft_b_m("SUN"), simulation_time->GetElapsedTime_s()); } else { temperature_->Propagate(local_celestial_information, simulation_time->GetElapsedTime_s()); diff --git a/src/dynamics/dynamics.hpp b/src/dynamics/dynamics.hpp index 7f5a1b349..a6b5044f1 100644 --- a/src/dynamics/dynamics.hpp +++ b/src/dynamics/dynamics.hpp @@ -112,7 +112,6 @@ class Dynamics { Temperature* temperature_; //!< Thermal dynamics const Structure* structure_; //!< Structure information const LocalEnvironment* local_environment_; //!< Local environment - bool is_calc_earth_albedo_enabled_; //!< Flag to calculate earth albedo /** * @fn Initialize diff --git a/src/dynamics/thermal/temperature.cpp b/src/dynamics/thermal/temperature.cpp index 285d87c11..8abe5b182 100644 --- a/src/dynamics/thermal/temperature.cpp +++ b/src/dynamics/thermal/temperature.cpp @@ -101,16 +101,16 @@ void Temperature::Propagate(const LocalCelestialInformation* local_celestial_inf for (auto itr = nodes_.begin(); itr != nodes_.end(); ++itr) { cout << setprecision(4) << itr->GetSolarRadiation_W() << " "; } - cout << "AlbedoR: "; - for (auto itr = nodes_.begin(); itr != nodes_.end(); ++itr) { - cout << setprecision(4) << itr->GetAlbedoRadiation_W() << " "; - } libra::Vector<3> sun_direction_b = local_celestial_information->GetPositionFromSpacecraft_b_m("SUN").CalcNormalizedVector(); cout << "SunDir: "; for (size_t i = 0; i < 3; i++) { cout << setprecision(3) << sun_direction_b[i] << " "; } cout << "ShadowCoefficient: " << setprecision(4) << srp_environment_->GetShadowCoefficient() << " "; + cout << "EarthAlbedoR: "; + for (auto itr = nodes_.begin(); itr != nodes_.end(); ++itr) { + cout << setprecision(4) << itr->GetAlbedoRadiation_W() << " "; + } libra::Vector<3> earth_direction_b = local_celestial_information->GetPositionFromSpacecraft_b_m("EARTH").CalcNormalizedVector(); cout << "EarthDir: "; for (size_t i = 0; i < 3; i++) { @@ -245,12 +245,9 @@ vector Temperature::CalcTemperatureDifferentials(vector temperat double solar_flux_W_m2 = srp_environment_->GetPowerDensity_W_m2(); if (solar_calc_setting_ == SolarCalcSetting::kEnable) { double solar_radiation_W = nodes_[i].CalcSolarRadiation_W(sun_direction_b, solar_flux_W_m2); - if (is_calc_earth_albedo_enabled_) { - bool is_eclipsed = srp_environment_->GetIsEclipsed(); - libra::Vector<3> earth_position_b_m = local_celestial_information->GetPositionFromSpacecraft_b_m("EARTH"); - double albedo_radiation_W = nodes_[i].CalcAlbedoRadiation_W(earth_position_b_m, solar_flux_W_m2, earth_albedo_->GetEarthAlbedoFactor()); - heatloads_[i].SetAlbedoHeatload_W(albedo_radiation_W); - } + libra::Vector<3> earth_position_b_m = local_celestial_information->GetPositionFromSpacecraft_b_m("EARTH"); + double albedo_radiation_W = nodes_[i].CalcAlbedoRadiation_W(earth_position_b_m, solar_flux_W_m2, earth_albedo_->GetEarthAlbedoFactor()); + heatloads_[i].SetAlbedoHeatload_W(albedo_radiation_W); heatloads_[i].SetSolarHeatload_W(solar_radiation_W); } double heater_power_W = GetHeaterPower_W(i); @@ -434,10 +431,6 @@ Temperature* InitTemperature(const std::string file_name, const double rk_prop_s bool debug = mainIni.ReadEnable("THERMAL", "debug"); - bool is_calc_earth_albedo_enabled = mainIni.ReadEnable("THERMAL", "is_calc_earth_albedo_enabled"); - - double earth_albedo_factor = mainIni.ReadDouble("THERMAL", "earth_albedo_factor"); - // Read Heatloads from CSV File string filepath_heatload = file_path + "heatload.csv"; IniAccess conf_heatload(filepath_heatload); diff --git a/src/environment/local/earth_albedo.cpp b/src/environment/local/earth_albedo.cpp index 8ab18335f..cd5aa88c3 100644 --- a/src/environment/local/earth_albedo.cpp +++ b/src/environment/local/earth_albedo.cpp @@ -13,8 +13,7 @@ #include "library/math/constants.hpp" #include "library/math/vector.hpp" - -EarthAlbedo::EarthAlbedo() { earth_albedo_factor_ = 0.0; } +EarthAlbedo::EarthAlbedo() {} std::string EarthAlbedo::GetLogHeader() const { std::string str_tmp = ""; @@ -38,7 +37,7 @@ EarthAlbedo InitEarthAlbedo(std::string initialize_file_path) { EarthAlbedo earth_albedo; earth_albedo.IsCalcEarthAlbedoEnabled = conf.ReadEnable(section, INI_CALC_LABEL); - earth_albedo.earth_albedo_factor_ = conf.ReadEnable(section, "earth_albedo_factor"); + earth_albedo.earth_albedo_factor_ = conf.ReadDouble(section, "earth_albedo_factor"); return earth_albedo; } diff --git a/src/environment/local/earth_albedo.hpp b/src/environment/local/earth_albedo.hpp index 6ae6389d5..4dd9b57df 100644 --- a/src/environment/local/earth_albedo.hpp +++ b/src/environment/local/earth_albedo.hpp @@ -15,7 +15,7 @@ */ class EarthAlbedo : public ILoggable { public: - bool IsCalcEarthAlbedoEnabled = false; //!< Calculation flag + bool IsCalcEarthAlbedoEnabled = true; //!< Calculation flag double earth_albedo_factor_ = 0.3; //!< Earth albedo factor /** From ec6481076cf7062ef4ca1c045e680b7924dfcd3c Mon Sep 17 00:00:00 2001 From: fukudakazuya Date: Sat, 21 Sep 2024 16:16:20 +0900 Subject: [PATCH 379/456] modify function and variable names --- src/environment/global/gnss_satellites.cpp | 2 +- .../orbit/interpolation_orbit.cpp | 28 +++++++------- .../orbit/interpolation_orbit.hpp | 38 +++++++++---------- 3 files changed, 34 insertions(+), 34 deletions(-) diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index 21749c9aa..6f41f2520 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -89,7 +89,7 @@ math::Vector<3> GnssSatellites::GetPosition_ecef_m(const size_t gnss_satellite_i if (diff_s < 0.0 || diff_s > 1e6) return math::Vector<3>(0.0); const double kOrbitalPeriodCorrection_s = 24 * 60 * 60 * 1.003; // See http://acc.igs.org/orbits/orbit-interp_gpssoln03.pdf - return orbit_[gnss_satellite_id].CalcPositionWithTrigonometric(diff_s, math::tau / kOrbitalPeriodCorrection_s); + return orbit_[gnss_satellite_id].CalcPositionOrVelocityWithTrigonometric(diff_s, math::tau / kOrbitalPeriodCorrection_s); } double GnssSatellites::GetClock_s(const size_t gnss_satellite_id, const time_system::EpochTime time) const { diff --git a/src/math_physics/orbit/interpolation_orbit.cpp b/src/math_physics/orbit/interpolation_orbit.cpp index d4fc5fc13..818029a93 100644 --- a/src/math_physics/orbit/interpolation_orbit.cpp +++ b/src/math_physics/orbit/interpolation_orbit.cpp @@ -10,18 +10,18 @@ namespace orbit { InterpolationOrbit::InterpolationOrbit(const size_t degree) { std::vector time; time.assign(degree, -1.0); - std::vector position; - position.assign(degree, 0.0); - math::Interpolation temp(time, position); + std::vector position_or_velocity; + position_or_velocity.assign(degree, 0.0); + math::Interpolation temp(time, position_or_velocity); for (size_t axis = 0; axis < 3; axis++) { - interpolation_position_.push_back(temp); + interpolation_position_or_velocity.push_back(temp); } } -bool InterpolationOrbit::PushAndPopData(const double time, const math::Vector<3> position) { +bool InterpolationOrbit::PushAndPopData(const double time, const math::Vector<3> position_or_velocity) { bool result; for (size_t axis = 0; axis < 3; axis++) { - result = interpolation_position_[axis].PushAndPopData(time, position[axis]); + result = interpolation_position_or_velocity[axis].PushAndPopData(time, position_or_velocity[axis]); if (result == false) { return false; } @@ -29,20 +29,20 @@ bool InterpolationOrbit::PushAndPopData(const double time, const math::Vector<3> return true; } -math::Vector<3> InterpolationOrbit::CalcPositionWithTrigonometric(const double time, const double period) const { - math::Vector<3> output_position; +math::Vector<3> InterpolationOrbit::CalcPositionOrVelocityWithTrigonometric(const double time, const double period) const { + math::Vector<3> output_position_or_velocity; for (size_t axis = 0; axis < 3; axis++) { - output_position[axis] = interpolation_position_[axis].CalcTrigonometric(time, period); + output_position_or_velocity[axis] = interpolation_position_or_velocity[axis].CalcTrigonometric(time, period); } - return output_position; + return output_position_or_velocity; } -math::Vector<3> InterpolationOrbit::CalcPositionWithPolynomial(const double time) const { - math::Vector<3> output_position; +math::Vector<3> InterpolationOrbit::CalcPositionOrVelocityWithPolynomial(const double time) const { + math::Vector<3> output_position_or_velocity; for (size_t axis = 0; axis < 3; axis++) { - output_position[axis] = interpolation_position_[axis].CalcPolynomial(time); + output_position_or_velocity[axis] = interpolation_position_or_velocity[axis].CalcPolynomial(time); } - return output_position; + return output_position_or_velocity; } } // namespace orbit diff --git a/src/math_physics/orbit/interpolation_orbit.hpp b/src/math_physics/orbit/interpolation_orbit.hpp index 02f30513b..17d9acd05 100644 --- a/src/math_physics/orbit/interpolation_orbit.hpp +++ b/src/math_physics/orbit/interpolation_orbit.hpp @@ -15,7 +15,7 @@ namespace orbit { /** * @class InterpolationOrbit * @brief Orbit calculation with mathematical interpolation - * @note Coordinate and unit of position is defined by users of this function + * @note Coordinate and unit of position or velocityis defined by users of this function */ class InterpolationOrbit { public: @@ -30,53 +30,53 @@ class InterpolationOrbit { * @fn PushAndPopData * @brief Add new data to the tail of the list and erase the head data * @param [in] time: time of the new data - * @param [in] position: Satellite position of the new data + * @param [in] position: Satellite position or velocity of the new data */ - bool PushAndPopData(const double time, const math::Vector<3> position); + bool PushAndPopData(const double time, const math::Vector<3> position_or_velocity); /** - * @fn CalcPositionWithTrigonometric - * @brief Calculate interpolated position with trigonometric method + * @fn CalcPositionOrVelocityWithTrigonometric + * @brief Calculate interpolated position position or velocity with trigonometric method * @param [in] time: time * @param [in] period: Characteristic period - * @return Calculated position + * @return Calculated position or velocity */ - math::Vector<3> CalcPositionWithTrigonometric(const double time, const double period = 0.0) const; + math::Vector<3> CalcPositionOrVelocityWithTrigonometric(const double time, const double period = 0.0) const; /** - * @fn CalcPositionWithPolynimial - * @brief Calculate interpolated position with polynomial method + * @fn CalcPositionOrVelocityWithPolynomial + * @brief Calculate interpolated position or velocity with polynomial method * @param [in] time: time - * @return Calculated position + * @return Calculated position or velocity */ - math::Vector<3> CalcPositionWithPolynomial(const double time) const; + math::Vector<3> CalcPositionOrVelocityWithPolynomial(const double time) const; // Getters /** * @fn GetDegree * @return Degree of interpolation */ - inline size_t GetDegree() const { return interpolation_position_[0].GetDegree(); } + inline size_t GetDegree() const { return interpolation_position_or_velocity[0].GetDegree(); } /** * @fn GetTimeList * @return Time list registered for the interpolation */ - inline std::vector GetTimeList() const { return interpolation_position_[0].GetIndependentVariables(); } + inline std::vector GetTimeList() const { return interpolation_position_or_velocity[0].GetIndependentVariables(); } /** * @fn GetTimeList - * @param[in] axis: Axis of position [0, 2] - * @return Position list registered for the interpolation + * @param[in] axis: Axis of position or velocity[0, 2] + * @return Position or velocity list registered for the interpolation * @note return id=2 data when the input axis is over 3. */ - inline std::vector GetPositionDataList(const size_t axis) const { + inline std::vector GetPositionOrVelocityDataList(const size_t axis) const { if (axis > 3) { - return interpolation_position_[2].GetDependentVariables(); + return interpolation_position_or_velocity[2].GetDependentVariables(); } - return interpolation_position_[axis].GetDependentVariables(); + return interpolation_position_or_velocity[axis].GetDependentVariables(); } private: - std::vector interpolation_position_; // 3D vector of interpolation + std::vector interpolation_position_or_velocity; // 3D vector of interpolation }; } // namespace orbit From d4e8250ae36121f7c16686503b1424c551df18c4 Mon Sep 17 00:00:00 2001 From: fukudakazuya Date: Sat, 21 Sep 2024 16:16:53 +0900 Subject: [PATCH 380/456] modify function name --- src/math_physics/orbit/test_interpolation_orbit.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/math_physics/orbit/test_interpolation_orbit.cpp b/src/math_physics/orbit/test_interpolation_orbit.cpp index d7fe51c67..acc050298 100644 --- a/src/math_physics/orbit/test_interpolation_orbit.cpp +++ b/src/math_physics/orbit/test_interpolation_orbit.cpp @@ -40,7 +40,7 @@ TEST(InterpolationOrbit, PushAndPop) { for (size_t i = 0; i < degree; i++) { EXPECT_DOUBLE_EQ((double)i, interpolation_orbit.GetTimeList()[i]); for (size_t axis = 0; axis < 3; axis++) { - EXPECT_DOUBLE_EQ(2.0 * i, interpolation_orbit.GetPositionDataList(axis)[i]); + EXPECT_DOUBLE_EQ(2.0 * i, interpolation_orbit.GetPositionOrVelocityDataList(axis)[i]); } } From 8010768c0b17c7252ea0f784eef141c925018433 Mon Sep 17 00:00:00 2001 From: fukudakazuya Date: Sat, 21 Sep 2024 16:17:22 +0900 Subject: [PATCH 381/456] add ini file --- ..._orbit_calculation_with_definition_file.ini | 18 ++++++++++++++++++ 1 file changed, 18 insertions(+) create mode 100644 settings/environment/sample_orbit_calculation_with_definition_file.ini diff --git a/settings/environment/sample_orbit_calculation_with_definition_file.ini b/settings/environment/sample_orbit_calculation_with_definition_file.ini new file mode 100644 index 000000000..f4f7f1da8 --- /dev/null +++ b/settings/environment/sample_orbit_calculation_with_definition_file.ini @@ -0,0 +1,18 @@ +[ORBIT_CALCULATION_WITH_DEFINITION_FILE] +orbit_definition_file_path = SETTINGS_DIR_FROM_EXE/environment/orbit_definition/sample_traj_ECLIPJ2000.csv +header_name_et = t(ET) +header_name_x = "EQU X(km, ECLIPJ2000)" +header_name_y = "EQU Y(km, ECLIPJ2000)" +header_name_z = "EQU Z(km, ECLIPJ2000)" +header_name_vx = VX(km/s) +header_name_vy = VY(km/s) +header_name_vz = VZ(km/s) +coordinate_system = eclipj2000 +unit = km + +calculation = DISABLE +logging = DISABLE + +number_of_interpolation = 5 +orbital_period_correction = 86659.2 // Only used for trigonometric method. This sample value is used for the gnss satellits (24 * 60 * 60 * 1.003). +interpolation_method = POLYNOMIAL // or TRIGONOMETRIC \ No newline at end of file From cb91a176ac97d0a81155c2cf5946ac642ee4c1d9 Mon Sep 17 00:00:00 2001 From: fukudakazuya Date: Sat, 21 Sep 2024 16:17:44 +0900 Subject: [PATCH 382/456] modify error message --- ...orbit_calculation_with_definition_file.cpp | 102 ++++++++++++++---- ...orbit_calculation_with_definition_file.hpp | 29 +++-- 2 files changed, 100 insertions(+), 31 deletions(-) diff --git a/src/dynamics/orbit/orbit_calculation_with_definition_file.cpp b/src/dynamics/orbit/orbit_calculation_with_definition_file.cpp index b0f8d277a..ca0351751 100644 --- a/src/dynamics/orbit/orbit_calculation_with_definition_file.cpp +++ b/src/dynamics/orbit/orbit_calculation_with_definition_file.cpp @@ -16,11 +16,20 @@ #include "math_physics/math/constants.hpp" #include "logger/log_utility.hpp" -void OrbitCalculationWithDefinitionFile::Initialize(const std::string ini_file_name, const std::vector& orbit_definition_data, const time_system::EpochTime start_time, const SimulationTime& simulation_time) { - IniAccess ini_file(ini_file_name); +void OrbitCalculationWithDefinitionFile::Initialize(const std::vector& orbit_definition_data, const time_system::EpochTime start_time, const SimulationTime& simulation_time) { + IniAccess ini_file(ini_file_name_); char section[] = "ORBIT_CALCULATION_WITH_DEFINITION_FILE"; const size_t number_of_interpolation = ini_file.ReadInt(section, "number_of_interpolation"); + if (!(ini_file.ReadString(section, "interpolation_method") == "POLYNOMIAL" || + ini_file.ReadString(section, "interpolation_method") == "TRIGONOMETRIC")) { + std::cout << "Interpolation method error." << std::endl; + is_calc_enabled_ = false; + is_log_enabled_ = false; + return; + } + + orbit_definition_data_ = orbit_definition_data; current_epoch_time_ = start_time; @@ -33,7 +42,8 @@ void OrbitCalculationWithDefinitionFile::Initialize(const std::string ini_file_n reference_time_ = time_system::EpochTime(GetEpochData(reference_interpolation_id_)); // Initialize orbit - orbit_.assign(1.0, orbit::InterpolationOrbit(number_of_interpolation)); + orbit_position_.assign(1.0, orbit::InterpolationOrbit(number_of_interpolation)); + orbit_velocity_.assign(1.0, orbit::InterpolationOrbit(number_of_interpolation)); // Initialize interpolation for (size_t i = 0; i < number_of_interpolation; i++) { @@ -68,13 +78,16 @@ std::vector ParseCsvLine(const std::string& line) { } bool OrbitCalculationWithDefinitionFile::ReadOrbitDefinitionCsv(const std::string ini_file_name, const std::string& orbit_definition_file_path, std::vector& orbit_definition_data) { - IniAccess ini_file(ini_file_name); + ini_file_name_ = ini_file_name; + IniAccess ini_file(ini_file_name_); char section[] = "ORBIT_CALCULATION_WITH_DEFINITION_FILE"; std::ifstream file(orbit_definition_file_path); if (!file.is_open()) { - std::cout << "file open error. filename = " << orbit_definition_file_path << std::endl; - return 1; + std::cout << "File open error. filename = " << orbit_definition_file_path << std::endl; + is_calc_enabled_ = false; + is_log_enabled_ = false; + return false; } std::string line; @@ -108,7 +121,9 @@ bool OrbitCalculationWithDefinitionFile::ReadOrbitDefinitionCsv(const std::strin } if (index_et == -1 || index_x == -1 || index_y == -1 || index_z == -1 || index_vx == -1 || index_vy == -1 || index_vz == -1) { - std::cerr << "header name error." << std::endl; + std::cout << "Header name error." << std::endl; + is_calc_enabled_ = false; + is_log_enabled_ = false; return false; } @@ -136,7 +151,6 @@ bool OrbitCalculationWithDefinitionFile::ReadOrbitDefinitionCsv(const std::strin } } } - return true; } @@ -152,7 +166,7 @@ void OrbitCalculationWithDefinitionFile::Update(const SimulationTime& simulation // Check interpolation update double diff_s = current_epoch_time_.GetTimeWithFraction_s() - reference_time_.GetTimeWithFraction_s(); - double medium_time_s = orbit_[0].GetTimeList()[4]; + double medium_time_s = orbit_position_[0].GetTimeList()[4]; if (diff_s > medium_time_s) { UpdateInterpolationInformation(); } @@ -185,7 +199,10 @@ time_system::DateTime OrbitCalculationWithDefinitionFile::GetEpochData(const siz } -math::Vector<3> OrbitCalculationWithDefinitionFile::GetPosition_eclipj2000_km(const time_system::EpochTime time) const { +math::Vector<3> OrbitCalculationWithDefinitionFile::GetPosition(const time_system::EpochTime time) const { + IniAccess ini_file(ini_file_name_); + char section[] = "ORBIT_CALCULATION_WITH_DEFINITION_FILE"; + time_system::EpochTime target_time; if (time.GetTime_s() == 0) { @@ -197,18 +214,53 @@ math::Vector<3> OrbitCalculationWithDefinitionFile::GetPosition_eclipj2000_km(co double diff_s = target_time.GetTimeWithFraction_s() - reference_time_.GetTimeWithFraction_s(); if (diff_s < 0.0 || diff_s > 1e6) return math::Vector<3>(0.0); - return orbit_[0].CalcPositionWithPolynomial(diff_s); + if (ini_file.ReadString(section, "interpolation_method") == "POLYNOMIAL") { + return orbit_position_[0].CalcPositionOrVelocityWithPolynomial(diff_s); + } else if (ini_file.ReadString(section, "interpolation_method") == "TRIGONOMETRIC") { + return orbit_position_[0].CalcPositionOrVelocityWithTrigonometric(diff_s, math::tau / ini_file.ReadDouble(section, "orbital_period_correction")); + } else { + return math::Vector<3>(0.0); + } +} + +math::Vector<3> OrbitCalculationWithDefinitionFile::GetVelocity(const time_system::EpochTime time) const { + IniAccess ini_file(ini_file_name_); + char section[] = "ORBIT_CALCULATION_WITH_DEFINITION_FILE"; + + time_system::EpochTime target_time; + + if (time.GetTime_s() == 0) { + target_time = current_epoch_time_; + } else { + target_time = time; + } + + double diff_s = target_time.GetTimeWithFraction_s() - reference_time_.GetTimeWithFraction_s(); + if (diff_s < 0.0 || diff_s > 1e6) return math::Vector<3>(0.0); + + if (ini_file.ReadString(section, "interpolation_method") == "POLYNOMIAL") { + return orbit_velocity_[0].CalcPositionOrVelocityWithPolynomial(diff_s); + } else if (ini_file.ReadString(section, "interpolation_method") == "TRIGONOMETRIC") { + return orbit_velocity_[0].CalcPositionOrVelocityWithTrigonometric(diff_s, math::tau / ini_file.ReadDouble(section, "orbital_period_correction")); + } else { + return math::Vector<3>(0.0); + } } bool OrbitCalculationWithDefinitionFile::UpdateInterpolationInformation() { time_system::EpochTime orbit_definition_time = time_system::EpochTime(GetEpochData(reference_interpolation_id_)); double time_diff_s = orbit_definition_time.GetTimeWithFraction_s() - reference_time_.GetTimeWithFraction_s(); - math::Vector<3> orbit_definition_position_eclipj2000_km; - orbit_definition_position_eclipj2000_km(0) = orbit_definition_data_[reference_interpolation_id_].x; - orbit_definition_position_eclipj2000_km(1) = orbit_definition_data_[reference_interpolation_id_].y; - orbit_definition_position_eclipj2000_km(2) = orbit_definition_data_[reference_interpolation_id_].z; - - orbit_[0].PushAndPopData(time_diff_s, orbit_definition_position_eclipj2000_km); + math::Vector<3> orbit_definition_position; + math::Vector<3> orbit_definition_velocity; + orbit_definition_position(0) = orbit_definition_data_[reference_interpolation_id_].x; + orbit_definition_position(1) = orbit_definition_data_[reference_interpolation_id_].y; + orbit_definition_position(2) = orbit_definition_data_[reference_interpolation_id_].z; + orbit_definition_velocity(0) = orbit_definition_data_[reference_interpolation_id_].vx; + orbit_definition_velocity(1) = orbit_definition_data_[reference_interpolation_id_].vy; + orbit_definition_velocity(2) = orbit_definition_data_[reference_interpolation_id_].vz; + + orbit_position_[0].PushAndPopData(time_diff_s, orbit_definition_position); + orbit_velocity_[0].PushAndPopData(time_diff_s, orbit_definition_velocity); reference_interpolation_id_++; @@ -216,10 +268,13 @@ bool OrbitCalculationWithDefinitionFile::UpdateInterpolationInformation() { } std::string OrbitCalculationWithDefinitionFile::GetLogHeader() const { - std::string str_tmp = ""; + IniAccess ini_file(ini_file_name_); + char section[] = "ORBIT_CALCULATION_WITH_DEFINITION_FILE"; - str_tmp += WriteVector("satellite_position", "eclipj2000", "km", 3); + std::string str_tmp = ""; + str_tmp += WriteVector("spacecraft_position_with_definition_file", ini_file.ReadString(section, "coordinate_system"), ini_file.ReadString(section, "unit"), 3); + str_tmp += WriteVector("spacecraft_velocity_with_definition_file", ini_file.ReadString(section, "coordinate_system"), ini_file.ReadString(section, "unit"), 3); return str_tmp; } @@ -227,7 +282,8 @@ std::string OrbitCalculationWithDefinitionFile::GetLogHeader() const { std::string OrbitCalculationWithDefinitionFile::GetLogValue() const { std::string str_tmp = ""; - str_tmp += WriteVector(GetPosition_eclipj2000_km(), 16); + str_tmp += WriteVector(GetPosition(), 16); + str_tmp += WriteVector(GetVelocity(), 16); return str_tmp; } @@ -247,13 +303,15 @@ OrbitCalculationWithDefinitionFile* InitOrbitCalculationWithDefinitionFile(const const std::string orbit_definition_file_path = ini_file.ReadString(section, "orbit_definition_file_path"); std::vector orbit_definition_data; - orbit_calculation_with_definition_file->ReadOrbitDefinitionCsv(ini_file_name, orbit_definition_file_path, orbit_definition_data); + if (!orbit_calculation_with_definition_file->ReadOrbitDefinitionCsv(ini_file_name, orbit_definition_file_path, orbit_definition_data)) { + return orbit_calculation_with_definition_file; + } time_system::DateTime start_date_time((size_t)simulation_time.GetStartYear(), (size_t)simulation_time.GetStartMonth(), (size_t)simulation_time.GetStartDay(), (size_t)simulation_time.GetStartHour(), (size_t)simulation_time.GetStartMinute(), simulation_time.GetStartSecond()); time_system::EpochTime start_epoch_time(start_date_time); - orbit_calculation_with_definition_file->Initialize(ini_file_name, orbit_definition_data, start_epoch_time, simulation_time); + orbit_calculation_with_definition_file->Initialize(orbit_definition_data, start_epoch_time, simulation_time); return orbit_calculation_with_definition_file; } diff --git a/src/dynamics/orbit/orbit_calculation_with_definition_file.hpp b/src/dynamics/orbit/orbit_calculation_with_definition_file.hpp index cf19bcb81..3f357bb29 100644 --- a/src/dynamics/orbit/orbit_calculation_with_definition_file.hpp +++ b/src/dynamics/orbit/orbit_calculation_with_definition_file.hpp @@ -59,11 +59,11 @@ class OrbitCalculationWithDefinitionFile : public ILoggable { /** * @fn Initialize * @brief Initialize function - * @param [in] ini_file_name: Path to the initialize file * @param [in] orbit_definition_data: orbit definition data * @param [in] start_time: The simulation start time + * @param [in] simulation_time: Simulation time information */ - void Initialize(const std::string ini_file_name, const std::vector& orbit_definition_data, const time_system::EpochTime start_time, const SimulationTime& simulation_time); + void Initialize(const std::vector& orbit_definition_data, const time_system::EpochTime start_time, const SimulationTime& simulation_time); /** * @fn IsCalcEnabled @@ -77,7 +77,6 @@ class OrbitCalculationWithDefinitionFile : public ILoggable { * @param ini_file_name Path to the initialize file. * @param orbit_definition_file_path Path to orbit definition CSV file. * @param orbit_definition_data List of orbit definition data. - * @param delimiter Delimiter for the orbit definition CSV file (default: ','). */ bool ReadOrbitDefinitionCsv(const std::string ini_file_name, const std::string& orbit_definition_file_path, std::vector& orbit_definition_data); @@ -116,12 +115,22 @@ class OrbitCalculationWithDefinitionFile : public ILoggable { void Update(const SimulationTime& simulation_time); /** - * @fn GetPosition_eclipj2000_km - * @brief Return satellite position at ECLIPJ2000 frame + * @fn GetPosition + * @brief Return satellite position + * @param [in] time: Target time to get the satellite. When the argument is not set, the last updated time is used for the calculation. + * @return Satellite position at the time. Or return zero vector when the arguments are out of range. + * @note Coordinate system and units follow the orbit definition file. + */ + inline math::Vector<3> GetPosition(const time_system::EpochTime time = time_system::EpochTime(0, 0.0)) const; + + /** + * @fn GetVelocity + * @brief Return satellite velocity * @param [in] time: Target time to get the satellite. When the argument is not set, the last updated time is used for the calculation. - * @return Satellite position at ECLIPJ2000 frame at the time. Or return zero vector when the arguments are out of range. + * @return Satellite velocity at the time. Or return zero vector when the arguments are out of range. + * @note Coordinate system and units follow the orbit definition file. */ - inline math::Vector<3> GetPosition_eclipj2000_km(const time_system::EpochTime time = time_system::EpochTime(0, 0.0)) const; + inline math::Vector<3> GetVelocity(const time_system::EpochTime time = time_system::EpochTime(0, 0.0)) const; // Override ILoggable /** @@ -137,15 +146,17 @@ class OrbitCalculationWithDefinitionFile : public ILoggable { private: bool is_calc_enabled_ = false; //!< Flag to manage the orbit calculation + bool is_interpolation_method_error_message_displayed_ = false; //!< Flag to manage the interpolation method error message std::vector epoch_; //!< Epoch data list - + std::string ini_file_name_; //!< Path to the initialize file std::vector orbit_definition_data_; //!< List of orbit definition data time_system::EpochTime current_epoch_time_; //!< The last updated time time_system::EpochTime reference_time_; //!< Reference start time of the orbit definition data handling size_t reference_interpolation_id_ = 0; //!< Reference epoch ID of the interpolation - std::vector orbit_; //!< Satellite orbit with interpolation + std::vector orbit_position_; //!< Position with interpolation + std::vector orbit_velocity_; //!< Velocity with interpolation /** * @fn UpdateInterpolationInformation From 646d037a03cfb2187956deb67a3931e3a8ba7906 Mon Sep 17 00:00:00 2001 From: kai0722 Date: Sat, 21 Sep 2024 16:43:47 +0900 Subject: [PATCH 383/456] Remove unused include for initialize_file_access in Dynamics class --- src/dynamics/dynamics.cpp | 2 -- 1 file changed, 2 deletions(-) diff --git a/src/dynamics/dynamics.cpp b/src/dynamics/dynamics.cpp index 93ca2ae66..864181e77 100644 --- a/src/dynamics/dynamics.cpp +++ b/src/dynamics/dynamics.cpp @@ -5,8 +5,6 @@ #include "dynamics.hpp" -#include - #include "../simulation/multiple_spacecraft/relative_information.hpp" Dynamics::Dynamics(const SimulationConfiguration* simulation_configuration, const SimulationTime* simulation_time, From e1ce92bc482d84c6a3f062ef59e586653999ae99 Mon Sep 17 00:00:00 2001 From: kai0722 Date: Sat, 21 Sep 2024 16:49:00 +0900 Subject: [PATCH 384/456] Refactor albedo radiation calculation for improved readability and maintainability --- src/dynamics/thermal/node.cpp | 28 +++++++++++++++------------- 1 file changed, 15 insertions(+), 13 deletions(-) diff --git a/src/dynamics/thermal/node.cpp b/src/dynamics/thermal/node.cpp index 10727cd4e..b45c5d95c 100644 --- a/src/dynamics/thermal/node.cpp +++ b/src/dynamics/thermal/node.cpp @@ -46,15 +46,17 @@ double Node::CalcAlbedoRadiation_W(libra::Vector<3> earth_position_b_m, double s double earth_distance_m = earth_position_b_m.CalcNorm(); // check if satellite is outside of the earth's shadow - double cos_theta_albedo = InnerProduct(earth_direction_b, normal_vector_b_); - - // albedo radiation calculation; solar_flux_W_m2 reflects the shadow coefficient. if earth albedo calculation is disabled, earth_albedo_factor is 0.0 - if (cos_theta_albedo > 0.0) { - double albedo_flux_W_m2 = solar_flux_W_m2 * earth_albedo_factor * pow((environment::astronomy::earth_equatorial_radius_m / earth_distance_m), 2.0) / 4.0; - albedo_radiation_W_ = albedo_flux_W_m2 * area_m2_ * alpha_ * cos_theta_albedo; - } else { - albedo_radiation_W_ = 0.0; - } + double cos_theta_albedo = InnerProduct(earth_direction_b, normal_vector_b_); + + // albedo radiation calculation; solar_flux_W_m2 reflects the shadow coefficient. if earth albedo calculation is disabled, earth_albedo_factor is + // 0.0 + if (cos_theta_albedo > 0.0) { + double albedo_flux_W_m2 = + solar_flux_W_m2 * earth_albedo_factor * pow((environment::astronomy::earth_equatorial_radius_m / earth_distance_m), 2.0) / 4.0; + albedo_radiation_W_ = albedo_flux_W_m2 * area_m2_ * alpha_ * cos_theta_albedo; + } else { + albedo_radiation_W_ = 0.0; + } return albedo_radiation_W_; } @@ -142,10 +144,10 @@ Node InitNode(const std::vector& node_str) { std::string node_label = "temp"; // node name size_t node_type_int = 0; // node type size_t heater_id = 0; // heater node index - double temperature_K = 0.0; // [K] - double capacity_J_K = 0.0; // [J/K] - double alpha = 0.0; // [] - double area_m2 = 0.0; // [m^2] + double temperature_K = 0.0; // [K] + double capacity_J_K = 0.0; // [J/K] + double alpha = 0.0; // [] + double area_m2 = 0.0; // [m^2] // Index to read from node_str for each parameter size_t index_node_id = 0; From 62c27e32ca8c4b02f26258cacd0049f85515f0ec Mon Sep 17 00:00:00 2001 From: kai0722 Date: Sat, 21 Sep 2024 18:15:45 +0900 Subject: [PATCH 385/456] Refactor EarthAlbedo and Dynamics classes to improve albedo radiation calculations and update method signatures --- src/dynamics/dynamics.cpp | 2 +- src/dynamics/thermal/node.cpp | 9 ++-- src/dynamics/thermal/node.hpp | 5 +- src/dynamics/thermal/temperature.cpp | 2 +- src/environment/local/earth_albedo.cpp | 25 +++++++-- src/environment/local/earth_albedo.hpp | 56 ++++++++++++++++++--- src/environment/local/local_environment.cpp | 12 ++--- src/environment/local/local_environment.hpp | 4 +- 8 files changed, 85 insertions(+), 30 deletions(-) diff --git a/src/dynamics/dynamics.cpp b/src/dynamics/dynamics.cpp index 864181e77..8ea006464 100644 --- a/src/dynamics/dynamics.cpp +++ b/src/dynamics/dynamics.cpp @@ -50,7 +50,7 @@ void Dynamics::Update(const SimulationTime* simulation_time, const LocalCelestia // Thermal if (simulation_time->GetThermalPropagateFlag()) { - if (!local_environment_->GetEarthAlbedo().IsCalcEarthAlbedoEnabled) { + if (!local_environment_->GetEarthAlbedo().GetIsCalcEarthAlbedoEnabled()) { temperature_->Propagate(local_celestial_information->GetPositionFromSpacecraft_b_m("SUN"), simulation_time->GetElapsedTime_s()); } else { temperature_->Propagate(local_celestial_information, simulation_time->GetElapsedTime_s()); diff --git a/src/dynamics/thermal/node.cpp b/src/dynamics/thermal/node.cpp index b45c5d95c..97e506beb 100644 --- a/src/dynamics/thermal/node.cpp +++ b/src/dynamics/thermal/node.cpp @@ -41,19 +41,16 @@ double Node::CalcSolarRadiation_W(libra::Vector<3> sun_direction_b, double solar return solar_radiation_W_; } -double Node::CalcAlbedoRadiation_W(libra::Vector<3> earth_position_b_m, double solar_flux_W_m2, double earth_albedo_factor) { +double Node::CalcAlbedoRadiation_W(libra::Vector<3> earth_position_b_m, double earth_albedo_W_m2) { libra::Vector<3> earth_direction_b = earth_position_b_m.CalcNormalizedVector(); double earth_distance_m = earth_position_b_m.CalcNorm(); // check if satellite is outside of the earth's shadow double cos_theta_albedo = InnerProduct(earth_direction_b, normal_vector_b_); - // albedo radiation calculation; solar_flux_W_m2 reflects the shadow coefficient. if earth albedo calculation is disabled, earth_albedo_factor is - // 0.0 + // albedo radiation calculation; earth_albedo_W_m2 reflects the shadow coefficient. if (cos_theta_albedo > 0.0) { - double albedo_flux_W_m2 = - solar_flux_W_m2 * earth_albedo_factor * pow((environment::astronomy::earth_equatorial_radius_m / earth_distance_m), 2.0) / 4.0; - albedo_radiation_W_ = albedo_flux_W_m2 * area_m2_ * alpha_ * cos_theta_albedo; + albedo_radiation_W_ = earth_albedo_W_m2 * area_m2_ * alpha_ * cos_theta_albedo; } else { albedo_radiation_W_ = 0.0; } diff --git a/src/dynamics/thermal/node.hpp b/src/dynamics/thermal/node.hpp index 16f9e81f1..f44f5133a 100644 --- a/src/dynamics/thermal/node.hpp +++ b/src/dynamics/thermal/node.hpp @@ -65,11 +65,10 @@ class Node { * @brief Calculate albedo radiation [W] from earth direction, albedo factor, area, and normal vector * * @param earth_position_b_m: Earth position in body frame - * @param solar_flux_W_m2: Solar flux [W/m^2] - * @param earth_albedo_factor: Earth albedo factor + * @param earth_albedo_W_m2: Earth albedo [W/m^2] * @return double: Albedo Radiation [W] */ - double CalcAlbedoRadiation_W(libra::Vector<3> earth_position_b_m, double solar_flux_W_m2, double earth_albedo_factor); + double CalcAlbedoRadiation_W(libra::Vector<3> earth_position_b_m, double earth_albedo_W_m2); // Getter /** diff --git a/src/dynamics/thermal/temperature.cpp b/src/dynamics/thermal/temperature.cpp index 8abe5b182..731f4fef3 100644 --- a/src/dynamics/thermal/temperature.cpp +++ b/src/dynamics/thermal/temperature.cpp @@ -246,7 +246,7 @@ vector Temperature::CalcTemperatureDifferentials(vector temperat if (solar_calc_setting_ == SolarCalcSetting::kEnable) { double solar_radiation_W = nodes_[i].CalcSolarRadiation_W(sun_direction_b, solar_flux_W_m2); libra::Vector<3> earth_position_b_m = local_celestial_information->GetPositionFromSpacecraft_b_m("EARTH"); - double albedo_radiation_W = nodes_[i].CalcAlbedoRadiation_W(earth_position_b_m, solar_flux_W_m2, earth_albedo_->GetEarthAlbedoFactor()); + double albedo_radiation_W = nodes_[i].CalcAlbedoRadiation_W(earth_position_b_m, earth_albedo_->GetEarthAlbedoRadiationPower_W_m2()); heatloads_[i].SetAlbedoHeatload_W(albedo_radiation_W); heatloads_[i].SetSolarHeatload_W(solar_radiation_W); } diff --git a/src/environment/local/earth_albedo.cpp b/src/environment/local/earth_albedo.cpp index cd5aa88c3..2ec126d78 100644 --- a/src/environment/local/earth_albedo.cpp +++ b/src/environment/local/earth_albedo.cpp @@ -13,7 +13,13 @@ #include "library/math/constants.hpp" #include "library/math/vector.hpp" -EarthAlbedo::EarthAlbedo() {} +EarthAlbedo::EarthAlbedo(LocalCelestialInformation* local_celestial_information, SolarRadiationPressureEnvironment* srp_environment) + : local_celestial_information_(local_celestial_information), srp_environment_(srp_environment) {} + +void EarthAlbedo::UpdateAllStates() { + if (!GetIsCalcEarthAlbedoEnabled()) return; + CalcEarthAlbedo(local_celestial_information_); +} std::string EarthAlbedo::GetLogHeader() const { std::string str_tmp = ""; @@ -31,13 +37,22 @@ std::string EarthAlbedo::GetLogValue() const { return str_tmp; } -EarthAlbedo InitEarthAlbedo(std::string initialize_file_path) { +void EarthAlbedo::CalcEarthAlbedo(const LocalCelestialInformation* local_celestial_information) { + libra::Vector<3> earth_position_b_m = local_celestial_information->GetPositionFromSpacecraft_b_m("EARTH"); + double earth_distance_m = earth_position_b_m.CalcNorm(); + earth_albedo_W_m2_ = srp_environment_->GetPowerDensity_W_m2() * GetEarthAlbedoFactor() * + pow((environment::astronomy::earth_equatorial_radius_m / earth_distance_m), 2.0) / 4.0; + std::cout << "##Earth albedo: " << earth_albedo_W_m2_ << std::endl; +} + +EarthAlbedo InitEarthAlbedo(std::string initialize_file_path, LocalCelestialInformation* local_celestial_information, + SolarRadiationPressureEnvironment* srp_environment) { auto conf = IniAccess(initialize_file_path); const char* section = "EARTH_ALBEDO"; - EarthAlbedo earth_albedo; - earth_albedo.IsCalcEarthAlbedoEnabled = conf.ReadEnable(section, INI_CALC_LABEL); - earth_albedo.earth_albedo_factor_ = conf.ReadDouble(section, "earth_albedo_factor"); + EarthAlbedo earth_albedo(local_celestial_information, srp_environment); + earth_albedo.SetIsCalcEarthAlbedoEnabled(conf.ReadEnable(section, INI_CALC_LABEL)); + earth_albedo.SetEarthAlbedoFactor(conf.ReadDouble(section, "earth_albedo_factor")); return earth_albedo; } diff --git a/src/environment/local/earth_albedo.hpp b/src/environment/local/earth_albedo.hpp index 4dd9b57df..528fa5053 100644 --- a/src/environment/local/earth_albedo.hpp +++ b/src/environment/local/earth_albedo.hpp @@ -8,6 +8,7 @@ #include "environment/global/physical_constants.hpp" #include "environment/local/local_celestial_information.hpp" +#include "solar_radiation_pressure_environment.hpp" /** * @class EarthAlbedo @@ -15,14 +16,12 @@ */ class EarthAlbedo : public ILoggable { public: - bool IsCalcEarthAlbedoEnabled = true; //!< Calculation flag - double earth_albedo_factor_ = 0.3; //!< Earth albedo factor - /** * @fn EarthAlbedo * @brief Constructor + * @param [in] local_celestial_information: Local celestial information */ - EarthAlbedo(); + EarthAlbedo(LocalCelestialInformation* local_celestial_information, SolarRadiationPressureEnvironment* srp_environment); /** * @fn ~EarthAlbedo @@ -30,12 +29,50 @@ class EarthAlbedo : public ILoggable { */ virtual ~EarthAlbedo() {} + /** + * @fn UpdateAllStates + * @brief Update earth albedo + */ + void UpdateAllStates(); + // Getter /** * @fn GetEarthAlbedoFactor * @brief Return earth albedo factor */ - inline double GetEarthAlbedoFactor() const { return IsCalcEarthAlbedoEnabled ? earth_albedo_factor_ : 0.0; } + inline double GetEarthAlbedoFactor() const { return earth_albedo_factor_; } + /** + * @fn GetPowerDensity_W_m2 + * @brief Calculate and return earth albedo [W/m^2] + */ + inline double GetEarthAlbedoRadiationPower_W_m2() const { return earth_albedo_W_m2_; } + /** + * @fn GetIsEclipsed + * @brief Returns true if the shadow function is less than 1 + */ + inline bool GetIsCalcEarthAlbedoEnabled() const { return is_calc_earth_albedo_enabled_; } + + // Setter + /** + * @fn SetEarthAlbedoFactor + * @brief Set earth albedo factor + * @param [in] earth_albedo_factor: Earth albedo factor + */ + inline void SetEarthAlbedoFactor(double earth_albedo_factor) { earth_albedo_factor_ = earth_albedo_factor; } + /** + * @fn SetIsCalcEarthAlbedoEnabled + * @brief Set calculation flag + * @param [in] is_calc_earth_albedo_enabled: Calculation flag + */ + inline void SetIsCalcEarthAlbedoEnabled(bool is_calc_earth_albedo_enabled) { is_calc_earth_albedo_enabled_ = is_calc_earth_albedo_enabled; } + + private: + double earth_albedo_W_m2_; //!< Earth albedo [W/m^2] + bool is_calc_earth_albedo_enabled_ = true; //!< Calculation flag + double earth_albedo_factor_ = 0.3; //!< Earth albedo factor + + LocalCelestialInformation* local_celestial_information_; //!< Local celestial information + SolarRadiationPressureEnvironment* srp_environment_; //!< Solar radiation pressure environment // Override ILoggable /** @@ -49,6 +86,12 @@ class EarthAlbedo : public ILoggable { */ virtual std::string GetLogValue() const; + /** + * @fn CalcEarthAlbedo + * @brief Calculate earth albedo + * @param [in] local_celestial_information: Local celestial information + */ + void CalcEarthAlbedo(const LocalCelestialInformation* local_celestial_information); }; /** @@ -56,6 +99,7 @@ class EarthAlbedo : public ILoggable { * @brief Initialize solar radiation pressure * @param [in] initialize_file_path: Path to initialize file */ -EarthAlbedo InitEarthAlbedo(std::string initialize_file_path); +EarthAlbedo InitEarthAlbedo(std::string initialize_file_path, LocalCelestialInformation* local_celestial_information, + SolarRadiationPressureEnvironment* srp_environment); #endif // S2E_ENVIRONMENT_LOCAL_EARTH_ALBEDO_HPP_ diff --git a/src/environment/local/local_environment.cpp b/src/environment/local/local_environment.cpp index c4f10b4dc..68ae43880 100644 --- a/src/environment/local/local_environment.cpp +++ b/src/environment/local/local_environment.cpp @@ -15,7 +15,7 @@ LocalEnvironment::LocalEnvironment(const SimulationConfiguration* simulation_con LocalEnvironment::~LocalEnvironment() { delete geomagnetic_field_; - delete solar_radiation_pressure_environment_; + delete srp_environment_; delete earth_albedo_; delete atmosphere_; delete celestial_information_; @@ -34,9 +34,8 @@ void LocalEnvironment::Initialize(const SimulationConfiguration* simulation_conf geomagnetic_field_ = new GeomagneticField(InitGeomagneticField(ini_fname)); celestial_information_ = new LocalCelestialInformation(&(global_environment->GetCelestialInformation())); atmosphere_ = new Atmosphere(InitAtmosphere(ini_fname, celestial_information_, &global_environment->GetSimulationTime())); - solar_radiation_pressure_environment_ = - new SolarRadiationPressureEnvironment(InitSolarRadiationPressureEnvironment(ini_fname, celestial_information_)); - earth_albedo_ = new EarthAlbedo(InitEarthAlbedo(ini_fname)); + srp_environment_ = new SolarRadiationPressureEnvironment(InitSolarRadiationPressureEnvironment(ini_fname, celestial_information_)); + earth_albedo_ = new EarthAlbedo(InitEarthAlbedo(ini_fname, celestial_information_, srp_environment_)); // Force to disable when the center body is not the Earth if (global_environment->GetCelestialInformation().GetCenterBodyName() != "EARTH") { @@ -63,14 +62,15 @@ void LocalEnvironment::Update(const Dynamics* dynamics, const SimulationTime* si // Update local environments that depend only on the position if (simulation_time->GetOrbitPropagateFlag()) { - solar_radiation_pressure_environment_->UpdateAllStates(); + srp_environment_->UpdateAllStates(); + earth_albedo_->UpdateAllStates(); atmosphere_->CalcAirDensity_kg_m3(simulation_time->GetCurrentDecimalYear(), orbit); } } void LocalEnvironment::LogSetup(Logger& logger) { logger.AddLogList(geomagnetic_field_); - logger.AddLogList(solar_radiation_pressure_environment_); + logger.AddLogList(srp_environment_); logger.AddLogList(earth_albedo_); logger.AddLogList(atmosphere_); logger.AddLogList(celestial_information_); diff --git a/src/environment/local/local_environment.hpp b/src/environment/local/local_environment.hpp index a7d0b7cac..05278f38e 100644 --- a/src/environment/local/local_environment.hpp +++ b/src/environment/local/local_environment.hpp @@ -65,7 +65,7 @@ class LocalEnvironment { * @fn GetSolarRadiationPressure * @brief Return SolarRadiationPressureEnvironment class */ - inline const SolarRadiationPressureEnvironment& GetSolarRadiationPressure() const { return *solar_radiation_pressure_environment_; } + inline const SolarRadiationPressureEnvironment& GetSolarRadiationPressure() const { return *srp_environment_; } /** * @fn GetEarthAlbedo * @brief Return EarthAlbedo class @@ -80,7 +80,7 @@ class LocalEnvironment { private: Atmosphere* atmosphere_; //!< Atmospheric density of the earth GeomagneticField* geomagnetic_field_; //!< Magnetic field of the earth - SolarRadiationPressureEnvironment* solar_radiation_pressure_environment_; //!< Solar radiation pressure + SolarRadiationPressureEnvironment* srp_environment_; //!< Solar radiation pressure EarthAlbedo* earth_albedo_; //!< Earth albedo LocalCelestialInformation* celestial_information_; //!< Celestial information From 6c80e78fd4ab757a49299096ac86db9d090227bc Mon Sep 17 00:00:00 2001 From: kai0722 Date: Sat, 21 Sep 2024 18:23:06 +0900 Subject: [PATCH 386/456] Add EarthAlbedo configuration to sample_local_environment.ini --- data/sample/initialize_files/sample_local_environment.ini | 3 +++ 1 file changed, 3 insertions(+) diff --git a/data/sample/initialize_files/sample_local_environment.ini b/data/sample/initialize_files/sample_local_environment.ini index fce7453c5..c41871ce5 100644 --- a/data/sample/initialize_files/sample_local_environment.ini +++ b/data/sample/initialize_files/sample_local_environment.ini @@ -16,6 +16,9 @@ number_of_third_shadow_source_ = 1 // All these bodies must be included in the "selected_body_name" of "[CelestialInformation]" third_shadow_source_name(0) = MOON +[EARTH_ALBEDO] +calculation = DISABLE +earth_albedo_factor = 0.3 [ATMOSPHERE] calculation = ENABLE From 500f300171c66b636249046b4b19203b64011a45 Mon Sep 17 00:00:00 2001 From: kai0722 Date: Sat, 21 Sep 2024 18:25:00 +0900 Subject: [PATCH 387/456] Update sample_local_environment.ini to enable atmosphere logging and adjust Earth albedo settings --- data/sample/initialize_files/sample_local_environment.ini | 2 ++ 1 file changed, 2 insertions(+) diff --git a/data/sample/initialize_files/sample_local_environment.ini b/data/sample/initialize_files/sample_local_environment.ini index c41871ce5..6ac59e225 100644 --- a/data/sample/initialize_files/sample_local_environment.ini +++ b/data/sample/initialize_files/sample_local_environment.ini @@ -16,10 +16,12 @@ number_of_third_shadow_source_ = 1 // All these bodies must be included in the "selected_body_name" of "[CelestialInformation]" third_shadow_source_name(0) = MOON + [EARTH_ALBEDO] calculation = DISABLE earth_albedo_factor = 0.3 + [ATMOSPHERE] calculation = ENABLE logging = ENABLE From 2485df370446e33f1dbccc7a0e98107513c6d8e1 Mon Sep 17 00:00:00 2001 From: fukudakazuya Date: Wed, 25 Sep 2024 15:14:36 +0900 Subject: [PATCH 388/456] modify file name --- ...=> time_series_file_orbit_propagation.cpp} | 52 +++++++++---------- ...=> time_series_file_orbit_propagation.hpp} | 42 +++++++-------- 2 files changed, 47 insertions(+), 47 deletions(-) rename src/dynamics/orbit/{orbit_calculation_with_definition_file.cpp => time_series_file_orbit_propagation.cpp} (81%) rename src/dynamics/orbit/{orbit_calculation_with_definition_file.hpp => time_series_file_orbit_propagation.hpp} (81%) diff --git a/src/dynamics/orbit/orbit_calculation_with_definition_file.cpp b/src/dynamics/orbit/time_series_file_orbit_propagation.cpp similarity index 81% rename from src/dynamics/orbit/orbit_calculation_with_definition_file.cpp rename to src/dynamics/orbit/time_series_file_orbit_propagation.cpp index ca0351751..b0849ef99 100644 --- a/src/dynamics/orbit/orbit_calculation_with_definition_file.cpp +++ b/src/dynamics/orbit/time_series_file_orbit_propagation.cpp @@ -1,9 +1,9 @@ /** - * @file orbit_calculation_with_definition_file.cpp + * @file time_series_file_orbit_propagation.cpp * @brief Class to calculate satellite orbit using interpolation with orbit time series input */ -#include "orbit_calculation_with_definition_file.hpp" +#include "time_series_file_orbit_propagation.hpp" #include @@ -16,9 +16,9 @@ #include "math_physics/math/constants.hpp" #include "logger/log_utility.hpp" -void OrbitCalculationWithDefinitionFile::Initialize(const std::vector& orbit_definition_data, const time_system::EpochTime start_time, const SimulationTime& simulation_time) { +void TimeSeriesFileOrbitPropagation::Initialize(const std::vector& orbit_definition_data, const time_system::EpochTime start_time, const SimulationTime& simulation_time) { IniAccess ini_file(ini_file_name_); - char section[] = "ORBIT_CALCULATION_WITH_DEFINITION_FILE"; + char section[] = "TIME_SERIES_FILE_ORBIT_PROPAGATION"; const size_t number_of_interpolation = ini_file.ReadInt(section, "number_of_interpolation"); if (!(ini_file.ReadString(section, "interpolation_method") == "POLYNOMIAL" || @@ -77,10 +77,10 @@ std::vector ParseCsvLine(const std::string& line) { return result; } -bool OrbitCalculationWithDefinitionFile::ReadOrbitDefinitionCsv(const std::string ini_file_name, const std::string& orbit_definition_file_path, std::vector& orbit_definition_data) { +bool TimeSeriesFileOrbitPropagation::ReadOrbitDefinitionCsv(const std::string ini_file_name, const std::string& orbit_definition_file_path, std::vector& orbit_definition_data) { ini_file_name_ = ini_file_name; IniAccess ini_file(ini_file_name_); - char section[] = "ORBIT_CALCULATION_WITH_DEFINITION_FILE"; + char section[] = "TIME_SERIES_FILE_ORBIT_PROPAGATION"; std::ifstream file(orbit_definition_file_path); if (!file.is_open()) { @@ -155,7 +155,7 @@ bool OrbitCalculationWithDefinitionFile::ReadOrbitDefinitionCsv(const std::strin } -void OrbitCalculationWithDefinitionFile::Update(const SimulationTime& simulation_time) { +void TimeSeriesFileOrbitPropagation::Update(const SimulationTime& simulation_time) { if (!IsCalcEnabled()) return; // Get time @@ -174,7 +174,7 @@ void OrbitCalculationWithDefinitionFile::Update(const SimulationTime& simulation return; } -size_t OrbitCalculationWithDefinitionFile::SearchNearestEpochId(const SimulationTime& simulation_time) { +size_t TimeSeriesFileOrbitPropagation::SearchNearestEpochId(const SimulationTime& simulation_time) { size_t nearest_epoch_id = 0; // Get start ephemeris time @@ -190,7 +190,7 @@ size_t OrbitCalculationWithDefinitionFile::SearchNearestEpochId(const Simulation return nearest_epoch_id; } -time_system::DateTime OrbitCalculationWithDefinitionFile::GetEpochData(const size_t epoch_id) const { +time_system::DateTime TimeSeriesFileOrbitPropagation::GetEpochData(const size_t epoch_id) const { if (epoch_id > epoch_.size()) { time_system::DateTime zero; return zero; @@ -199,9 +199,9 @@ time_system::DateTime OrbitCalculationWithDefinitionFile::GetEpochData(const siz } -math::Vector<3> OrbitCalculationWithDefinitionFile::GetPosition(const time_system::EpochTime time) const { +math::Vector<3> TimeSeriesFileOrbitPropagation::GetPosition(const time_system::EpochTime time) const { IniAccess ini_file(ini_file_name_); - char section[] = "ORBIT_CALCULATION_WITH_DEFINITION_FILE"; + char section[] = "TIME_SERIES_FILE_ORBIT_PROPAGATION"; time_system::EpochTime target_time; @@ -223,9 +223,9 @@ math::Vector<3> OrbitCalculationWithDefinitionFile::GetPosition(const time_syste } } -math::Vector<3> OrbitCalculationWithDefinitionFile::GetVelocity(const time_system::EpochTime time) const { +math::Vector<3> TimeSeriesFileOrbitPropagation::GetVelocity(const time_system::EpochTime time) const { IniAccess ini_file(ini_file_name_); - char section[] = "ORBIT_CALCULATION_WITH_DEFINITION_FILE"; + char section[] = "TIME_SERIES_FILE_ORBIT_PROPAGATION"; time_system::EpochTime target_time; @@ -247,7 +247,7 @@ math::Vector<3> OrbitCalculationWithDefinitionFile::GetVelocity(const time_syste } } -bool OrbitCalculationWithDefinitionFile::UpdateInterpolationInformation() { +bool TimeSeriesFileOrbitPropagation::UpdateInterpolationInformation() { time_system::EpochTime orbit_definition_time = time_system::EpochTime(GetEpochData(reference_interpolation_id_)); double time_diff_s = orbit_definition_time.GetTimeWithFraction_s() - reference_time_.GetTimeWithFraction_s(); math::Vector<3> orbit_definition_position; @@ -267,9 +267,9 @@ bool OrbitCalculationWithDefinitionFile::UpdateInterpolationInformation() { return true; } -std::string OrbitCalculationWithDefinitionFile::GetLogHeader() const { +std::string TimeSeriesFileOrbitPropagation::GetLogHeader() const { IniAccess ini_file(ini_file_name_); - char section[] = "ORBIT_CALCULATION_WITH_DEFINITION_FILE"; + char section[] = "TIME_SERIES_FILE_ORBIT_PROPAGATION"; std::string str_tmp = ""; @@ -279,7 +279,7 @@ std::string OrbitCalculationWithDefinitionFile::GetLogHeader() const { return str_tmp; } -std::string OrbitCalculationWithDefinitionFile::GetLogValue() const { +std::string TimeSeriesFileOrbitPropagation::GetLogValue() const { std::string str_tmp = ""; str_tmp += WriteVector(GetPosition(), 16); @@ -288,30 +288,30 @@ std::string OrbitCalculationWithDefinitionFile::GetLogValue() const { return str_tmp; } -OrbitCalculationWithDefinitionFile* InitOrbitCalculationWithDefinitionFile(const std::string ini_file_name, const SimulationTime& simulation_time) { +TimeSeriesFileOrbitPropagation* InitTimeSeriesFileOrbitPropagation(const std::string ini_file_name, const SimulationTime& simulation_time) { IniAccess ini_file(ini_file_name); - char section[] = "ORBIT_CALCULATION_WITH_DEFINITION_FILE"; + char section[] = "TIME_SERIES_FILE_ORBIT_PROPAGATION"; const bool is_calc_enable = ini_file.ReadEnable(section, INI_CALC_LABEL); const bool is_log_enable = ini_file.ReadEnable(section, INI_LOG_LABEL); - OrbitCalculationWithDefinitionFile* orbit_calculation_with_definition_file = new OrbitCalculationWithDefinitionFile(is_calc_enable, is_log_enable); - if (!orbit_calculation_with_definition_file->IsCalcEnabled()) { - return orbit_calculation_with_definition_file; + TimeSeriesFileOrbitPropagation* time_series_file_orbit_propagation = new TimeSeriesFileOrbitPropagation(is_calc_enable, is_log_enable); + if (!time_series_file_orbit_propagation->IsCalcEnabled()) { + return time_series_file_orbit_propagation; } const std::string orbit_definition_file_path = ini_file.ReadString(section, "orbit_definition_file_path"); std::vector orbit_definition_data; - if (!orbit_calculation_with_definition_file->ReadOrbitDefinitionCsv(ini_file_name, orbit_definition_file_path, orbit_definition_data)) { - return orbit_calculation_with_definition_file; + if (!time_series_file_orbit_propagation->ReadOrbitDefinitionCsv(ini_file_name, orbit_definition_file_path, orbit_definition_data)) { + return time_series_file_orbit_propagation; } time_system::DateTime start_date_time((size_t)simulation_time.GetStartYear(), (size_t)simulation_time.GetStartMonth(), (size_t)simulation_time.GetStartDay(), (size_t)simulation_time.GetStartHour(), (size_t)simulation_time.GetStartMinute(), simulation_time.GetStartSecond()); time_system::EpochTime start_epoch_time(start_date_time); - orbit_calculation_with_definition_file->Initialize(orbit_definition_data, start_epoch_time, simulation_time); + time_series_file_orbit_propagation->Initialize(orbit_definition_data, start_epoch_time, simulation_time); - return orbit_calculation_with_definition_file; + return time_series_file_orbit_propagation; } diff --git a/src/dynamics/orbit/orbit_calculation_with_definition_file.hpp b/src/dynamics/orbit/time_series_file_orbit_propagation.hpp similarity index 81% rename from src/dynamics/orbit/orbit_calculation_with_definition_file.hpp rename to src/dynamics/orbit/time_series_file_orbit_propagation.hpp index 3f357bb29..7f39852be 100644 --- a/src/dynamics/orbit/orbit_calculation_with_definition_file.hpp +++ b/src/dynamics/orbit/time_series_file_orbit_propagation.hpp @@ -1,10 +1,10 @@ /** - * @file orbit_calculation_with_defnition_file.hpp + * @file time_series_file_orbit_propagation.hpp * @brief Class to calculate satellite orbit using interpolation with orbit time series input */ -#ifndef S2E_DYNAMICS_ORBIT_ORBIT_CALCULATION_WITH_DEFINITION_FILE_HPP_ -#define S2E_DYNAMICS_ORBIT_ORBIT_CALCULATION_WITH_DEFINITION_FILE_HPP_ +#ifndef S2E_DYNAMICS_ORBIT_TIME_SERIES_FILE_ORBIT_PROPAGATION_HPP_ +#define S2E_DYNAMICS_ORBIT_TIME_SERIES_FILE_ORBIT_PROPAGATION_HPP_ #include #include @@ -15,12 +15,12 @@ #include "environment/global/simulation_time.hpp" /** - *@struct OrbitDefinitionData - *@brief Orbit definition data - *@note Coordinate system and units follow the orbit definition file + *@struct TimeSeriesData + *@brief Time series data of orbit + *@note Coordinate system and units follow the time series file */ -struct OrbitDefinitionData { - double et; //!< Ehemeris time [s] +struct TimeSeriesData { + double et; //!< Ephemeris time [s] double x; //!< Position x double y; //!< Position y double z; //!< Position z @@ -30,18 +30,18 @@ struct OrbitDefinitionData { }; /** - * @class OrbitCalculationWithDefinitionFile + * @class TimeSeriesFileOrbitPropagation * @brief Class to calculate satellite orbit using interpolation with orbit time series input */ -class OrbitCalculationWithDefinitionFile : public ILoggable { +class TimeSeriesFileOrbitPropagation : public ILoggable { public: /** - *@fn OrbitCalculationWithDefinitionFile + *@fn TimeSeriesFileOrbitPropagation *@brief Constructor * @param [in] is_calc_enabled: Flag to manage the orbit calculation * @param [in] is_log_enabled: Flag to generate the log of orbit calculation */ - OrbitCalculationWithDefinitionFile(const bool is_calc_enabled = false, const bool is_log_enabled = false) + TimeSeriesFileOrbitPropagation(const bool is_calc_enabled = false, const bool is_log_enabled = false) : is_calc_enabled_(is_calc_enabled) { if (!is_calc_enabled_) { is_log_enabled_ = false; @@ -51,10 +51,10 @@ class OrbitCalculationWithDefinitionFile : public ILoggable { } /** - *@fn ~OrbitCalculationWithDefinitionFile + *@fn ~TimeSeriesFileOrbitPropagation *@brief Destructor */ - virtual ~OrbitCalculationWithDefinitionFile() {} + virtual ~TimeSeriesFileOrbitPropagation() {} /** * @fn Initialize @@ -89,7 +89,7 @@ class OrbitCalculationWithDefinitionFile : public ILoggable { /** * @fn GetOrbitDefinitionData * @brief Return orbit definition data for a specific index. - * @param index The index of the orbit definition data to. + * @param index The index of the orbit definition data. */ OrbitDefinitionData GetOrbitDefinitionData(size_t index) const { return orbit_definition_data_[index]; } @@ -109,7 +109,7 @@ class OrbitCalculationWithDefinitionFile : public ILoggable { /** * @fn Update - * @brief Updatesatellite information + * @brief Update satellite information * @param [in] simulation_time: Simulation time information */ void Update(const SimulationTime& simulation_time); @@ -167,12 +167,12 @@ class OrbitCalculationWithDefinitionFile : public ILoggable { }; /** - * @fn InitOrbitCalculationWithDefinitionFile - * @brief Initialize function for OrbitCalculationWithDefinitionFile class + * @fn InitTimeSeriesFileOrbitPropagation + * @brief Initialize function for TimeSeriesFileOrbitPropagation class * @param [in] ini_file_name: Path to the initialize file * @param [in] simulation_time: Simulation time information - * @return Initialized OrbitCalculationWithDefinitionFile class + * @return Initialized TimeSeriesFileOrbitPropagation class */ -OrbitCalculationWithDefinitionFile* InitOrbitCalculationWithDefinitionFile(const std::string ini_file_name, const SimulationTime& simulation_time); +TimeSeriesFileOrbitPropagation* InitTimeSeriesFileOrbitPropagation(const std::string ini_file_name, const SimulationTime& simulation_time); -#endif // S2E_DYNAMICS_ORBIT_ORBIT_CALCULATION_WITH_DEFINITION_FILE_HPP_ \ No newline at end of file +#endif // S2E_DYNAMICS_ORBIT_TIME_SERIES_FILE_ORBIT_PROPAGATION_HPP_ From bda7a4323c40f689f1b7f0a6e66ddbcbc28e3c45 Mon Sep 17 00:00:00 2001 From: fukudakazuya Date: Thu, 26 Sep 2024 10:25:14 +0900 Subject: [PATCH 389/456] modify function and variable names --- ...=> time_series_file_orbit_propagation.ini} | 10 +- src/dynamics/CMakeLists.txt | 2 +- .../time_series_file_orbit_propagation.cpp | 147 ++++-------------- .../time_series_file_orbit_propagation.hpp | 41 +++-- src/environment/global/global_environment.cpp | 8 +- src/environment/global/global_environment.hpp | 4 +- src/simulation/case/simulation_case.cpp | 2 +- src/simulation/simulation_configuration.hpp | 2 +- 8 files changed, 67 insertions(+), 149 deletions(-) rename settings/environment/{sample_orbit_calculation_with_definition_file.ini => time_series_file_orbit_propagation.ini} (64%) diff --git a/settings/environment/sample_orbit_calculation_with_definition_file.ini b/settings/environment/time_series_file_orbit_propagation.ini similarity index 64% rename from settings/environment/sample_orbit_calculation_with_definition_file.ini rename to settings/environment/time_series_file_orbit_propagation.ini index f4f7f1da8..3939f7a58 100644 --- a/settings/environment/sample_orbit_calculation_with_definition_file.ini +++ b/settings/environment/time_series_file_orbit_propagation.ini @@ -1,5 +1,5 @@ -[ORBIT_CALCULATION_WITH_DEFINITION_FILE] -orbit_definition_file_path = SETTINGS_DIR_FROM_EXE/environment/orbit_definition/sample_traj_ECLIPJ2000.csv +[TIME_SERIES_FILE_ORBIT_PROPAGATION] +time_series_file_path = SETTINGS_DIR_FROM_EXE/environment/time_series/output.csv header_name_et = t(ET) header_name_x = "EQU X(km, ECLIPJ2000)" header_name_y = "EQU Y(km, ECLIPJ2000)" @@ -10,9 +10,9 @@ header_name_vz = VZ(km/s) coordinate_system = eclipj2000 unit = km -calculation = DISABLE -logging = DISABLE +calculation = ENABLE +logging = ENABLE number_of_interpolation = 5 orbital_period_correction = 86659.2 // Only used for trigonometric method. This sample value is used for the gnss satellits (24 * 60 * 60 * 1.003). -interpolation_method = POLYNOMIAL // or TRIGONOMETRIC \ No newline at end of file +interpolation_method = POLYNOMIAL // POLYNOMIALor TRIGONOMETRIC \ No newline at end of file diff --git a/src/dynamics/CMakeLists.txt b/src/dynamics/CMakeLists.txt index f75bc09a4..72f038590 100644 --- a/src/dynamics/CMakeLists.txt +++ b/src/dynamics/CMakeLists.txt @@ -8,7 +8,7 @@ add_library(${PROJECT_NAME} STATIC orbit/relative_orbit.cpp orbit/kepler_orbit_propagation.cpp orbit/encke_orbit_propagation.cpp - orbit/orbit_calculation_with_definition_file.cpp + orbit/time_series_file_orbit_propagation.cpp orbit/initialize_orbit.cpp thermal/node.cpp diff --git a/src/dynamics/orbit/time_series_file_orbit_propagation.cpp b/src/dynamics/orbit/time_series_file_orbit_propagation.cpp index b0849ef99..c41742ce2 100644 --- a/src/dynamics/orbit/time_series_file_orbit_propagation.cpp +++ b/src/dynamics/orbit/time_series_file_orbit_propagation.cpp @@ -16,7 +16,8 @@ #include "math_physics/math/constants.hpp" #include "logger/log_utility.hpp" -void TimeSeriesFileOrbitPropagation::Initialize(const std::vector& orbit_definition_data, const time_system::EpochTime start_time, const SimulationTime& simulation_time) { +void TimeSeriesFileOrbitPropagation::Initialize(const std::string ini_file_name, const std::vector>& time_series_data, const time_system::EpochTime start_time, const SimulationTime& simulation_time) { + ini_file_name_ = ini_file_name; IniAccess ini_file(ini_file_name_); char section[] = "TIME_SERIES_FILE_ORBIT_PROPAGATION"; const size_t number_of_interpolation = ini_file.ReadInt(section, "number_of_interpolation"); @@ -30,7 +31,7 @@ void TimeSeriesFileOrbitPropagation::Initialize(const std::vector ParseCsvLine(const std::string& line) { - std::vector result; - std::stringstream ss(line); - std::string field; - bool inside_quotes = false; - char current_char; - std::string temp; - - while (ss.get(current_char)) { - if (current_char == '"') { - inside_quotes = !inside_quotes; - temp += '"'; - } else if (current_char == ',' && !inside_quotes) { - result.push_back(temp); - temp.clear(); - } else { - temp += current_char; - } - } - result.push_back(temp); +bool TimeSeriesFileOrbitPropagation::ReadTimeSeriesCsv(const std::string& time_series_file_path, std::vector>& time_series_data) { + IniAccess time_series_file(time_series_file_path); - return result; -} -bool TimeSeriesFileOrbitPropagation::ReadOrbitDefinitionCsv(const std::string ini_file_name, const std::string& orbit_definition_file_path, std::vector& orbit_definition_data) { - ini_file_name_ = ini_file_name; - IniAccess ini_file(ini_file_name_); - char section[] = "TIME_SERIES_FILE_ORBIT_PROPAGATION"; + time_series_file.ReadCsvDoubleWithHeader(time_series_data, 7, 1, 0); - std::ifstream file(orbit_definition_file_path); - if (!file.is_open()) { - std::cout << "File open error. filename = " << orbit_definition_file_path << std::endl; - is_calc_enabled_ = false; - is_log_enabled_ = false; - return false; - } - - std::string line; - - if (std::getline(file, line)) { - std::vector headers = ParseCsvLine(line); - - int index_et = -1; - int index_x = -1; - int index_y = -1; - int index_z = -1; - int index_vx = -1; - int index_vy = -1; - int index_vz = -1; - for (int i = 0; i < headers.size(); ++i) { - if (headers[i] == ini_file.ReadString(section, "header_name_et")) { - index_et = i; - } else if (headers[i] == ini_file.ReadString(section, "header_name_x")) { - index_x = i; - } else if (headers[i] == ini_file.ReadString(section, "header_name_y")) { - index_y = i; - } else if (headers[i] == ini_file.ReadString(section, "header_name_z")) { - index_z = i; - } else if (headers[i] == ini_file.ReadString(section, "header_name_vx")) { - index_vx = i; - } else if (headers[i] == ini_file.ReadString(section, "header_name_vy")) { - index_vy = i; - } else if (headers[i] == ini_file.ReadString(section, "header_name_vz")) { - index_vz = i; - } - } - - if (index_et == -1 || index_x == -1 || index_y == -1 || index_z == -1 || index_vx == -1 || index_vy == -1 || index_vz == -1) { - std::cout << "Header name error." << std::endl; - is_calc_enabled_ = false; - is_log_enabled_ = false; - return false; - } + int year, month, day, hour, minute; + double second; - int year, month, day, hour, minute; - double second; - - while (std::getline(file, line)) { - std::vector row = ParseCsvLine(line); - if (index_et < row.size() && index_x < row.size() && index_y < row.size() && index_z < row.size() && index_vx < row.size() && index_vy < row.size() && index_vz < row.size()) { - OrbitDefinitionData data; - data.et = std::stod(row[index_et]); - data.x = std::stod(row[index_x]); - data.y = std::stod(row[index_y]); - data.z = std::stod(row[index_z]); - data.vx = std::stod(row[index_vx]); - data.vy = std::stod(row[index_vy]); - data.vz = std::stod(row[index_vz]); - - SpiceChar utc_char[80]; - et2utc_c(data.et, "ISOC", 2, 80, utc_char); - sscanf(utc_char, "%d-%d-%dT%d:%d:%lf", &year, &month, &day, &hour, &minute, &second); - epoch_.push_back(time_system::DateTime(year, month, day, hour, minute, second)); - - orbit_definition_data.push_back(data); - } + for (size_t i = 0; i < time_series_data.size(); ++i) { + if (!time_series_data[i].empty()) { + SpiceChar utc_char[80]; + et2utc_c(time_series_data[i][0], "ISOC", 2, 80, utc_char); + sscanf(utc_char, "%d-%d-%dT%d:%d:%lf", &year, &month, &day, &hour, &minute, &second); + epoch_.push_back(time_system::DateTime(year, month, day, hour, minute, second)); } } return true; @@ -181,8 +100,8 @@ size_t TimeSeriesFileOrbitPropagation::SearchNearestEpochId(const SimulationTime SpiceDouble start_et = simulation_time.GetCurrentEphemerisTime(); // Get the nearest epoch ID - for (size_t i = 0; i < orbit_definition_data_.size(); i++) { - if (start_et < orbit_definition_data_[i].et) { + for (size_t i = 0; i < time_series_data_.size(); i++) { + if (start_et < time_series_data_[i][0]) { nearest_epoch_id = i; break; } @@ -248,19 +167,19 @@ math::Vector<3> TimeSeriesFileOrbitPropagation::GetVelocity(const time_system::E } bool TimeSeriesFileOrbitPropagation::UpdateInterpolationInformation() { - time_system::EpochTime orbit_definition_time = time_system::EpochTime(GetEpochData(reference_interpolation_id_)); - double time_diff_s = orbit_definition_time.GetTimeWithFraction_s() - reference_time_.GetTimeWithFraction_s(); - math::Vector<3> orbit_definition_position; - math::Vector<3> orbit_definition_velocity; - orbit_definition_position(0) = orbit_definition_data_[reference_interpolation_id_].x; - orbit_definition_position(1) = orbit_definition_data_[reference_interpolation_id_].y; - orbit_definition_position(2) = orbit_definition_data_[reference_interpolation_id_].z; - orbit_definition_velocity(0) = orbit_definition_data_[reference_interpolation_id_].vx; - orbit_definition_velocity(1) = orbit_definition_data_[reference_interpolation_id_].vy; - orbit_definition_velocity(2) = orbit_definition_data_[reference_interpolation_id_].vz; - - orbit_position_[0].PushAndPopData(time_diff_s, orbit_definition_position); - orbit_velocity_[0].PushAndPopData(time_diff_s, orbit_definition_velocity); + time_system::EpochTime time_series_time = time_system::EpochTime(GetEpochData(reference_interpolation_id_)); + double time_diff_s = time_series_time.GetTimeWithFraction_s() - reference_time_.GetTimeWithFraction_s(); + math::Vector<3> time_series_position; + math::Vector<3> time_series_velocity; + time_series_position[0] = time_series_data_[reference_interpolation_id_][1]; + time_series_position[1] = time_series_data_[reference_interpolation_id_][2]; + time_series_position[2] = time_series_data_[reference_interpolation_id_][3]; + time_series_velocity[0] = time_series_data_[reference_interpolation_id_][4]; + time_series_velocity[1] = time_series_data_[reference_interpolation_id_][5]; + time_series_velocity[2] = time_series_data_[reference_interpolation_id_][6]; + + orbit_position_[0].PushAndPopData(time_diff_s, time_series_position); + orbit_velocity_[0].PushAndPopData(time_diff_s, time_series_velocity); reference_interpolation_id_++; @@ -300,10 +219,10 @@ TimeSeriesFileOrbitPropagation* InitTimeSeriesFileOrbitPropagation(const std::st return time_series_file_orbit_propagation; } - const std::string orbit_definition_file_path = ini_file.ReadString(section, "orbit_definition_file_path"); + const std::string time_series_file_path = ini_file.ReadString(section, "time_series_file_path"); - std::vector orbit_definition_data; - if (!time_series_file_orbit_propagation->ReadOrbitDefinitionCsv(ini_file_name, orbit_definition_file_path, orbit_definition_data)) { + std::vector> time_series_data; + if (!time_series_file_orbit_propagation->ReadTimeSeriesCsv(time_series_file_path, time_series_data)) { return time_series_file_orbit_propagation; } @@ -311,7 +230,7 @@ TimeSeriesFileOrbitPropagation* InitTimeSeriesFileOrbitPropagation(const std::st (size_t)simulation_time.GetStartDay(), (size_t)simulation_time.GetStartHour(), (size_t)simulation_time.GetStartMinute(), simulation_time.GetStartSecond()); time_system::EpochTime start_epoch_time(start_date_time); - time_series_file_orbit_propagation->Initialize(orbit_definition_data, start_epoch_time, simulation_time); + time_series_file_orbit_propagation->Initialize(ini_file_name, time_series_data, start_epoch_time, simulation_time); return time_series_file_orbit_propagation; } diff --git a/src/dynamics/orbit/time_series_file_orbit_propagation.hpp b/src/dynamics/orbit/time_series_file_orbit_propagation.hpp index 7f39852be..9dac7a833 100644 --- a/src/dynamics/orbit/time_series_file_orbit_propagation.hpp +++ b/src/dynamics/orbit/time_series_file_orbit_propagation.hpp @@ -19,15 +19,15 @@ *@brief Time series data of orbit *@note Coordinate system and units follow the time series file */ -struct TimeSeriesData { - double et; //!< Ephemeris time [s] - double x; //!< Position x - double y; //!< Position y - double z; //!< Position z - double vx; //!< Velocity x - double vy; //!< Velocity y - double vz; //!< Velocity z -}; +// struct TimeSeriesData { +// double et; //!< Ephemeris time [s] +// double x; //!< Position x +// double y; //!< Position y +// double z; //!< Position z +// double vx; //!< Velocity x +// double vy; //!< Velocity y +// double vz; //!< Velocity z +// }; /** * @class TimeSeriesFileOrbitPropagation @@ -59,11 +59,11 @@ class TimeSeriesFileOrbitPropagation : public ILoggable { /** * @fn Initialize * @brief Initialize function - * @param [in] orbit_definition_data: orbit definition data + * @param [in] time_series_data: orbit definition data * @param [in] start_time: The simulation start time * @param [in] simulation_time: Simulation time information */ - void Initialize(const std::vector& orbit_definition_data, const time_system::EpochTime start_time, const SimulationTime& simulation_time); + void Initialize(const std::string ini_file_name, const std::vector>& time_series_data, const time_system::EpochTime start_time, const SimulationTime& simulation_time); /** * @fn IsCalcEnabled @@ -72,26 +72,26 @@ class TimeSeriesFileOrbitPropagation : public ILoggable { inline bool IsCalcEnabled() const { return is_calc_enabled_; } /** - * @fn ReadOrbitDefinitionCsv + * @fn ReadTimeSeriesCsv * @brief Read orbit definition CSV file. * @param ini_file_name Path to the initialize file. - * @param orbit_definition_file_path Path to orbit definition CSV file. - * @param orbit_definition_data List of orbit definition data. + * @param time_series_file_path Path to orbit definition CSV file. + * @param time_series_data List of orbit definition data. */ - bool ReadOrbitDefinitionCsv(const std::string ini_file_name, const std::string& orbit_definition_file_path, std::vector& orbit_definition_data); + bool ReadTimeSeriesCsv(const std::string& time_series_file_path, std::vector>& time_series_data); /** - * @fn GetOrbitDefinitionDataSize + * @fn GetTimeSeriesDataSize * @brief Return read orbit definition data size. */ - size_t GetOrbitDefinitionDataSize() const { return orbit_definition_data_.size(); } + size_t GetTimeSeriesDataSize() const { return time_series_data_.size(); } /** - * @fn GetOrbitDefinitionData + * @fn GetTimeSeriesData * @brief Return orbit definition data for a specific index. * @param index The index of the orbit definition data. */ - OrbitDefinitionData GetOrbitDefinitionData(size_t index) const { return orbit_definition_data_[index]; } + std::vector GetTimeSeriesData(size_t index) const { return time_series_data_[index]; } /** * @fn GetEpochData @@ -146,11 +146,10 @@ class TimeSeriesFileOrbitPropagation : public ILoggable { private: bool is_calc_enabled_ = false; //!< Flag to manage the orbit calculation - bool is_interpolation_method_error_message_displayed_ = false; //!< Flag to manage the interpolation method error message std::vector epoch_; //!< Epoch data list std::string ini_file_name_; //!< Path to the initialize file - std::vector orbit_definition_data_; //!< List of orbit definition data + std::vector> time_series_data_; //!< List of orbit definition data time_system::EpochTime current_epoch_time_; //!< The last updated time time_system::EpochTime reference_time_; //!< Reference start time of the orbit definition data handling size_t reference_interpolation_id_ = 0; //!< Reference epoch ID of the interpolation diff --git a/src/environment/global/global_environment.cpp b/src/environment/global/global_environment.cpp index b3e0320aa..ae46c34ac 100644 --- a/src/environment/global/global_environment.cpp +++ b/src/environment/global/global_environment.cpp @@ -14,7 +14,7 @@ GlobalEnvironment::~GlobalEnvironment() { delete celestial_information_; delete hipparcos_catalogue_; delete gnss_satellites_; - delete orbit_calculation_with_definition_file_; + delete time_series_file_orbit_propagation_; } void GlobalEnvironment::Initialize(const SimulationConfiguration* simulation_configuration) { @@ -27,7 +27,7 @@ void GlobalEnvironment::Initialize(const SimulationConfiguration* simulation_con simulation_time_ = InitSimulationTime(simulation_time_ini_path); hipparcos_catalogue_ = InitHipparcosCatalogue(simulation_configuration->initialize_base_file_name_); gnss_satellites_ = InitGnssSatellites(simulation_configuration->gnss_file_, celestial_information_->GetEarthRotation(), *simulation_time_); - orbit_calculation_with_definition_file_ = InitOrbitCalculationWithDefinitionFile(simulation_configuration->orbit_definition_file_, *simulation_time_); + time_series_file_orbit_propagation_ = InitTimeSeriesFileOrbitPropagation(simulation_configuration->time_series_file_, *simulation_time_); // Calc initial value celestial_information_->UpdateAllObjectsInformation(*simulation_time_); @@ -37,14 +37,14 @@ void GlobalEnvironment::Update() { simulation_time_->UpdateTime(); celestial_information_->UpdateAllObjectsInformation(*simulation_time_); gnss_satellites_->Update(*simulation_time_); - orbit_calculation_with_definition_file_->Update(*simulation_time_); + time_series_file_orbit_propagation_->Update(*simulation_time_); } void GlobalEnvironment::LogSetup(Logger& logger) { logger.AddLogList(simulation_time_); logger.AddLogList(celestial_information_); logger.AddLogList(gnss_satellites_); - logger.AddLogList(orbit_calculation_with_definition_file_); + logger.AddLogList(time_series_file_orbit_propagation_); } void GlobalEnvironment::Reset(void) { simulation_time_->ResetClock(); } diff --git a/src/environment/global/global_environment.hpp b/src/environment/global/global_environment.hpp index b1be324f0..0978897ac 100644 --- a/src/environment/global/global_environment.hpp +++ b/src/environment/global/global_environment.hpp @@ -8,7 +8,7 @@ #include "celestial_information.hpp" #include "gnss_satellites.hpp" -#include "dynamics/orbit/orbit_calculation_with_definition_file.hpp" +#include "dynamics/orbit/time_series_file_orbit_propagation.hpp" #include "hipparcos_catalogue.hpp" #include "logger/logger.hpp" #include "simulation/simulation_configuration.hpp" @@ -81,7 +81,7 @@ class GlobalEnvironment { CelestialInformation* celestial_information_; //!< Celestial bodies information HipparcosCatalogue* hipparcos_catalogue_; //!< Hipparcos catalogue GnssSatellites* gnss_satellites_; //!< GNSS satellites - OrbitCalculationWithDefinitionFile* orbit_calculation_with_definition_file_; //!< Orbit calculation with definition file + TimeSeriesFileOrbitPropagation* time_series_file_orbit_propagation_; //!< Orbit calculation with definition file }; #endif // S2E_ENVIRONMENT_GLOBAL_GLOBAL_ENVIRONMENT_HPP_ diff --git a/src/simulation/case/simulation_case.cpp b/src/simulation/case/simulation_case.cpp index d4fe870d3..a2fa849b7 100644 --- a/src/simulation/case/simulation_case.cpp +++ b/src/simulation/case/simulation_case.cpp @@ -100,7 +100,7 @@ void SimulationCase::InitializeSimulationConfiguration(const std::string initial // Others simulation_configuration_.inter_sc_communication_file_ = simulation_base_ini.ReadString(section, "inter_sat_comm_file"); simulation_configuration_.gnss_file_ = simulation_base_ini.ReadString(section, "gnss_file"); - simulation_configuration_.orbit_definition_file_ = simulation_base_ini.ReadString(section, "orbit_definition_file"); + simulation_configuration_.time_series_file_ = simulation_base_ini.ReadString(section, "time_series_file"); // Global Environment global_environment_ = new GlobalEnvironment(&simulation_configuration_); diff --git a/src/simulation/simulation_configuration.hpp b/src/simulation/simulation_configuration.hpp index adf967284..7bc63b669 100644 --- a/src/simulation/simulation_configuration.hpp +++ b/src/simulation/simulation_configuration.hpp @@ -27,7 +27,7 @@ struct SimulationConfiguration { std::string inter_sc_communication_file_; //!< File name for inter-satellite communication initialization std::string gnss_file_; //!< File name for GNSS initialization - std::string orbit_definition_file_; //!< File name for orbit calculation initialization + std::string time_series_file_; //!< File name for orbit calculation initialization /** * @fn ~SimulationConfiguration From 14824c66023611296e68d64e42af134576d0de7b Mon Sep 17 00:00:00 2001 From: kai0722 Date: Thu, 26 Sep 2024 14:05:52 +0900 Subject: [PATCH 390/456] Add comment to clarify earth_albedo_factor in sample_local_environment.ini --- data/sample/initialize_files/sample_local_environment.ini | 1 + 1 file changed, 1 insertion(+) diff --git a/data/sample/initialize_files/sample_local_environment.ini b/data/sample/initialize_files/sample_local_environment.ini index 6ac59e225..96e340a2c 100644 --- a/data/sample/initialize_files/sample_local_environment.ini +++ b/data/sample/initialize_files/sample_local_environment.ini @@ -19,6 +19,7 @@ third_shadow_source_name(0) = MOON [EARTH_ALBEDO] calculation = DISABLE +// Earth albedo factor: Percentage of sunlight reflected off the Earth surface. Value between 0.0 and 1.0 earth_albedo_factor = 0.3 From 81a5a959bbb4289eccf6c69daeda5113d480c0e0 Mon Sep 17 00:00:00 2001 From: kai0722 Date: Thu, 26 Sep 2024 14:31:44 +0900 Subject: [PATCH 391/456] Initialize earth_albedo_W_m2 to 0.0 and set is_calc_earth_albedo_enabled to false in EarthAlbedo class --- src/environment/local/earth_albedo.hpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/environment/local/earth_albedo.hpp b/src/environment/local/earth_albedo.hpp index 528fa5053..f0704346e 100644 --- a/src/environment/local/earth_albedo.hpp +++ b/src/environment/local/earth_albedo.hpp @@ -67,9 +67,9 @@ class EarthAlbedo : public ILoggable { inline void SetIsCalcEarthAlbedoEnabled(bool is_calc_earth_albedo_enabled) { is_calc_earth_albedo_enabled_ = is_calc_earth_albedo_enabled; } private: - double earth_albedo_W_m2_; //!< Earth albedo [W/m^2] - bool is_calc_earth_albedo_enabled_ = true; //!< Calculation flag - double earth_albedo_factor_ = 0.3; //!< Earth albedo factor + double earth_albedo_W_m2_ = 0.0; //!< Earth albedo [W/m^2] + bool is_calc_earth_albedo_enabled_ = false; //!< Calculation flag + double earth_albedo_factor_ = 0.3; //!< Earth albedo factor LocalCelestialInformation* local_celestial_information_; //!< Local celestial information SolarRadiationPressureEnvironment* srp_environment_; //!< Solar radiation pressure environment From 4768f16a028cc76d135bf0c7f6e90833c5daf872 Mon Sep 17 00:00:00 2001 From: kai0722 Date: Thu, 26 Sep 2024 14:31:49 +0900 Subject: [PATCH 392/456] Remove debug output for Earth albedo calculation in CalcEarthAlbedo method --- src/environment/local/earth_albedo.cpp | 1 - 1 file changed, 1 deletion(-) diff --git a/src/environment/local/earth_albedo.cpp b/src/environment/local/earth_albedo.cpp index 2ec126d78..1d7eadf6b 100644 --- a/src/environment/local/earth_albedo.cpp +++ b/src/environment/local/earth_albedo.cpp @@ -42,7 +42,6 @@ void EarthAlbedo::CalcEarthAlbedo(const LocalCelestialInformation* local_celesti double earth_distance_m = earth_position_b_m.CalcNorm(); earth_albedo_W_m2_ = srp_environment_->GetPowerDensity_W_m2() * GetEarthAlbedoFactor() * pow((environment::astronomy::earth_equatorial_radius_m / earth_distance_m), 2.0) / 4.0; - std::cout << "##Earth albedo: " << earth_albedo_W_m2_ << std::endl; } EarthAlbedo InitEarthAlbedo(std::string initialize_file_path, LocalCelestialInformation* local_celestial_information, From 975534ab98633728e9e0deaf01172cac01de8029 Mon Sep 17 00:00:00 2001 From: kai0722 Date: Thu, 26 Sep 2024 14:54:49 +0900 Subject: [PATCH 393/456] Add const qualifier to parameters in SetEarthAlbedoFactor and SetIsCalcEarthAlbedoEnabled methods --- src/environment/local/earth_albedo.hpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/environment/local/earth_albedo.hpp b/src/environment/local/earth_albedo.hpp index f0704346e..e07ad7b46 100644 --- a/src/environment/local/earth_albedo.hpp +++ b/src/environment/local/earth_albedo.hpp @@ -58,13 +58,13 @@ class EarthAlbedo : public ILoggable { * @brief Set earth albedo factor * @param [in] earth_albedo_factor: Earth albedo factor */ - inline void SetEarthAlbedoFactor(double earth_albedo_factor) { earth_albedo_factor_ = earth_albedo_factor; } + inline void SetEarthAlbedoFactor(const double earth_albedo_factor) { earth_albedo_factor_ = earth_albedo_factor; } /** * @fn SetIsCalcEarthAlbedoEnabled * @brief Set calculation flag * @param [in] is_calc_earth_albedo_enabled: Calculation flag */ - inline void SetIsCalcEarthAlbedoEnabled(bool is_calc_earth_albedo_enabled) { is_calc_earth_albedo_enabled_ = is_calc_earth_albedo_enabled; } + inline void SetIsCalcEarthAlbedoEnabled(const bool is_calc_earth_albedo_enabled) { is_calc_earth_albedo_enabled_ = is_calc_earth_albedo_enabled; } private: double earth_albedo_W_m2_ = 0.0; //!< Earth albedo [W/m^2] From 75480ec9108ae36509d15aed4306a41e2425da87 Mon Sep 17 00:00:00 2001 From: kai0722 Date: Thu, 26 Sep 2024 14:56:47 +0900 Subject: [PATCH 394/456] Add logging for earth_albedo_W_m2 in GetLogHeader and GetLogValue methods --- src/environment/local/earth_albedo.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/environment/local/earth_albedo.cpp b/src/environment/local/earth_albedo.cpp index 1d7eadf6b..751729f61 100644 --- a/src/environment/local/earth_albedo.cpp +++ b/src/environment/local/earth_albedo.cpp @@ -25,6 +25,7 @@ std::string EarthAlbedo::GetLogHeader() const { std::string str_tmp = ""; str_tmp += WriteScalar("earth_albedo_factor"); + str_tmp += WriteScalar("earth_albedo_W_m2"); return str_tmp; } @@ -33,6 +34,7 @@ std::string EarthAlbedo::GetLogValue() const { std::string str_tmp = ""; str_tmp += WriteScalar(earth_albedo_factor_); + str_tmp += WriteScalar(earth_albedo_W_m2_); return str_tmp; } From d0d142aef2609d60f03f737f49c8da019955aaec Mon Sep 17 00:00:00 2001 From: kai0722 Date: Thu, 26 Sep 2024 16:16:57 +0900 Subject: [PATCH 395/456] Refactor LocalEnvironment class member variable formatting --- src/environment/local/local_environment.hpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/environment/local/local_environment.hpp b/src/environment/local/local_environment.hpp index 05278f38e..ea26f695f 100644 --- a/src/environment/local/local_environment.hpp +++ b/src/environment/local/local_environment.hpp @@ -78,11 +78,11 @@ class LocalEnvironment { inline const LocalCelestialInformation& GetCelestialInformation() const { return *celestial_information_; } private: - Atmosphere* atmosphere_; //!< Atmospheric density of the earth - GeomagneticField* geomagnetic_field_; //!< Magnetic field of the earth + Atmosphere* atmosphere_; //!< Atmospheric density of the earth + GeomagneticField* geomagnetic_field_; //!< Magnetic field of the earth SolarRadiationPressureEnvironment* srp_environment_; //!< Solar radiation pressure - EarthAlbedo* earth_albedo_; //!< Earth albedo - LocalCelestialInformation* celestial_information_; //!< Celestial information + EarthAlbedo* earth_albedo_; //!< Earth albedo + LocalCelestialInformation* celestial_information_; //!< Celestial information /** * @fn Initialize From 63f4bfee46555aa281d4f24fb736e2788ceea1b4 Mon Sep 17 00:00:00 2001 From: kai0722 Date: Thu, 26 Sep 2024 17:12:47 +0900 Subject: [PATCH 396/456] Refactor LocalEnvironment class member variable names --- src/environment/local/local_environment.cpp | 11 ++++++----- src/environment/local/local_environment.hpp | 12 ++++++------ 2 files changed, 12 insertions(+), 11 deletions(-) diff --git a/src/environment/local/local_environment.cpp b/src/environment/local/local_environment.cpp index 7c950b6db..7cd898db9 100644 --- a/src/environment/local/local_environment.cpp +++ b/src/environment/local/local_environment.cpp @@ -15,7 +15,7 @@ LocalEnvironment::LocalEnvironment(const SimulationConfiguration* simulation_con LocalEnvironment::~LocalEnvironment() { delete geomagnetic_field_; - delete srp_environment_; + delete solar_radiation_pressure_environment_; delete earth_albedo_; delete atmosphere_; delete celestial_information_; @@ -34,8 +34,9 @@ void LocalEnvironment::Initialize(const SimulationConfiguration* simulation_conf geomagnetic_field_ = new GeomagneticField(InitGeomagneticField(ini_fname)); celestial_information_ = new LocalCelestialInformation(&(global_environment->GetCelestialInformation())); atmosphere_ = new Atmosphere(InitAtmosphere(ini_fname, celestial_information_, &global_environment->GetSimulationTime())); - srp_environment_ = new SolarRadiationPressureEnvironment(InitSolarRadiationPressureEnvironment(ini_fname, celestial_information_)); - earth_albedo_ = new EarthAlbedo(InitEarthAlbedo(ini_fname, celestial_information_, srp_environment_)); + solar_radiation_pressure_environment_ = + new SolarRadiationPressureEnvironment(InitSolarRadiationPressureEnvironment(ini_fname, celestial_information_)); + earth_albedo_ = new EarthAlbedo(InitEarthAlbedo(ini_fname, celestial_information_, solar_radiation_pressure_environment_)); // Force to disable when the center body is not the Earth if (global_environment->GetCelestialInformation().GetCenterBodyName() != "EARTH") { @@ -62,7 +63,7 @@ void LocalEnvironment::Update(const Dynamics* dynamics, const SimulationTime* si // Update local environments that depend only on the position if (simulation_time->GetOrbitPropagateFlag()) { - srp_environment_->UpdateAllStates(); + solar_radiation_pressure_environment_->UpdateAllStates(); earth_albedo_->UpdateAllStates(); atmosphere_->CalcAirDensity_kg_m3(simulation_time->GetCurrentDecimalYear(), orbit); } @@ -70,7 +71,7 @@ void LocalEnvironment::Update(const Dynamics* dynamics, const SimulationTime* si void LocalEnvironment::LogSetup(Logger& logger) { logger.AddLogList(geomagnetic_field_); - logger.AddLogList(srp_environment_); + logger.AddLogList(solar_radiation_pressure_environment_); logger.AddLogList(earth_albedo_); logger.AddLogList(atmosphere_); logger.AddLogList(celestial_information_); diff --git a/src/environment/local/local_environment.hpp b/src/environment/local/local_environment.hpp index ea26f695f..a7d0b7cac 100644 --- a/src/environment/local/local_environment.hpp +++ b/src/environment/local/local_environment.hpp @@ -65,7 +65,7 @@ class LocalEnvironment { * @fn GetSolarRadiationPressure * @brief Return SolarRadiationPressureEnvironment class */ - inline const SolarRadiationPressureEnvironment& GetSolarRadiationPressure() const { return *srp_environment_; } + inline const SolarRadiationPressureEnvironment& GetSolarRadiationPressure() const { return *solar_radiation_pressure_environment_; } /** * @fn GetEarthAlbedo * @brief Return EarthAlbedo class @@ -78,11 +78,11 @@ class LocalEnvironment { inline const LocalCelestialInformation& GetCelestialInformation() const { return *celestial_information_; } private: - Atmosphere* atmosphere_; //!< Atmospheric density of the earth - GeomagneticField* geomagnetic_field_; //!< Magnetic field of the earth - SolarRadiationPressureEnvironment* srp_environment_; //!< Solar radiation pressure - EarthAlbedo* earth_albedo_; //!< Earth albedo - LocalCelestialInformation* celestial_information_; //!< Celestial information + Atmosphere* atmosphere_; //!< Atmospheric density of the earth + GeomagneticField* geomagnetic_field_; //!< Magnetic field of the earth + SolarRadiationPressureEnvironment* solar_radiation_pressure_environment_; //!< Solar radiation pressure + EarthAlbedo* earth_albedo_; //!< Earth albedo + LocalCelestialInformation* celestial_information_; //!< Celestial information /** * @fn Initialize From e043d619b315fb7ab2e92c33ca87e80f90a840e1 Mon Sep 17 00:00:00 2001 From: kai0722 Date: Thu, 26 Sep 2024 17:13:06 +0900 Subject: [PATCH 397/456] Refactor variable types in Node class and EarthAlbedo class --- src/dynamics/thermal/node.cpp | 4 ++-- src/environment/local/earth_albedo.cpp | 10 +++++----- 2 files changed, 7 insertions(+), 7 deletions(-) diff --git a/src/dynamics/thermal/node.cpp b/src/dynamics/thermal/node.cpp index d8587a69e..bc101e498 100644 --- a/src/dynamics/thermal/node.cpp +++ b/src/dynamics/thermal/node.cpp @@ -41,8 +41,8 @@ double Node::CalcSolarRadiation_W(math::Vector<3> sun_direction_b, double solar_ return solar_radiation_W_; } -double Node::CalcAlbedoRadiation_W(libra::Vector<3> earth_position_b_m, double earth_albedo_W_m2) { - libra::Vector<3> earth_direction_b = earth_position_b_m.CalcNormalizedVector(); +double Node::CalcAlbedoRadiation_W(math::Vector<3> earth_position_b_m, double earth_albedo_W_m2) { + math::Vector<3> earth_direction_b = earth_position_b_m.CalcNormalizedVector(); double earth_distance_m = earth_position_b_m.CalcNorm(); // check if satellite is outside of the earth's shadow diff --git a/src/environment/local/earth_albedo.cpp b/src/environment/local/earth_albedo.cpp index 751729f61..eabb04083 100644 --- a/src/environment/local/earth_albedo.cpp +++ b/src/environment/local/earth_albedo.cpp @@ -8,10 +8,10 @@ #include #include -#include "library/initialize/initialize_file_access.hpp" -#include "library/logger/log_utility.hpp" -#include "library/math/constants.hpp" -#include "library/math/vector.hpp" +#include "logger/log_utility.hpp" +#include "math_physics/math/constants.hpp" +#include "math_physics/math/vector.hpp" +#include "setting_file_reader/initialize_file_access.hpp" EarthAlbedo::EarthAlbedo(LocalCelestialInformation* local_celestial_information, SolarRadiationPressureEnvironment* srp_environment) : local_celestial_information_(local_celestial_information), srp_environment_(srp_environment) {} @@ -40,7 +40,7 @@ std::string EarthAlbedo::GetLogValue() const { } void EarthAlbedo::CalcEarthAlbedo(const LocalCelestialInformation* local_celestial_information) { - libra::Vector<3> earth_position_b_m = local_celestial_information->GetPositionFromSpacecraft_b_m("EARTH"); + math::Vector<3> earth_position_b_m = local_celestial_information->GetPositionFromSpacecraft_b_m("EARTH"); double earth_distance_m = earth_position_b_m.CalcNorm(); earth_albedo_W_m2_ = srp_environment_->GetPowerDensity_W_m2() * GetEarthAlbedoFactor() * pow((environment::astronomy::earth_equatorial_radius_m / earth_distance_m), 2.0) / 4.0; From b9a3e1b8947be6ed97123e7840628a0e027b2dd4 Mon Sep 17 00:00:00 2001 From: kai0722 Date: Thu, 26 Sep 2024 17:23:16 +0900 Subject: [PATCH 398/456] Refactor thermal propagation in Dynamics::Update method --- src/dynamics/dynamics.cpp | 6 +- src/dynamics/thermal/temperature.cpp | 104 --------------------------- src/dynamics/thermal/temperature.hpp | 30 -------- 3 files changed, 1 insertion(+), 139 deletions(-) diff --git a/src/dynamics/dynamics.cpp b/src/dynamics/dynamics.cpp index dc96d495d..8f6f54198 100644 --- a/src/dynamics/dynamics.cpp +++ b/src/dynamics/dynamics.cpp @@ -50,11 +50,7 @@ void Dynamics::Update(const SimulationTime* simulation_time, const LocalCelestia // Thermal if (simulation_time->GetThermalPropagateFlag()) { - if (!local_environment_->GetEarthAlbedo().GetIsCalcEarthAlbedoEnabled()) { - temperature_->Propagate(local_celestial_information->GetPositionFromSpacecraft_b_m("SUN"), simulation_time->GetElapsedTime_s()); - } else { - temperature_->Propagate(local_celestial_information, simulation_time->GetElapsedTime_s()); - } + temperature_->Propagate(local_celestial_information, simulation_time->GetElapsedTime_s()); } } diff --git a/src/dynamics/thermal/temperature.cpp b/src/dynamics/thermal/temperature.cpp index 9db4e0907..8436db0ac 100644 --- a/src/dynamics/thermal/temperature.cpp +++ b/src/dynamics/thermal/temperature.cpp @@ -48,39 +48,6 @@ Temperature::Temperature() { Temperature::~Temperature() {} -void Temperature::Propagate(math::Vector<3> sun_position_b_m, const double time_end_s) { - if (!is_calc_enabled_) return; - math::Vector<3> sun_direction_b = sun_position_b_m.CalcNormalizedVector(); - while (time_end_s - propagation_time_s_ - propagation_step_s_ > 1.0e-6) { - CalcRungeOneStep(propagation_time_s_, propagation_step_s_, sun_direction_b, node_num_); - propagation_time_s_ += propagation_step_s_; - } - CalcRungeOneStep(propagation_time_s_, time_end_s - propagation_time_s_, sun_direction_b, node_num_); - propagation_time_s_ = time_end_s; - UpdateHeaterStatus(); - - if (debug_) { - cout << fixed; - cout << "Time: " << time_end_s << " Temp: "; - for (auto itr = nodes_.begin(); itr != nodes_.end(); ++itr) { - cout << setprecision(4) << itr->GetTemperature_degC() << " "; - } - cout << "SolarR: "; - for (auto itr = nodes_.begin(); itr != nodes_.end(); ++itr) { - cout << setprecision(4) << itr->GetSolarRadiation_W() << " "; - } - cout << "SunDir: "; - for (size_t i = 0; i < 3; i++) { - cout << setprecision(3) << sun_direction_b[i] << " "; - } - cout << "Heatload: "; - for (auto itr = heatloads_.begin(); itr != heatloads_.end(); ++itr) { - cout << setprecision(3) << itr->GetTotalHeatload_W() << " "; - } - cout << endl; - } -} - void Temperature::Propagate(const LocalCelestialInformation* local_celestial_information, const double time_end_s) { if (!is_calc_enabled_) return; while (time_end_s - propagation_time_s_ - propagation_step_s_ > 1.0e-6) { @@ -124,42 +91,6 @@ void Temperature::Propagate(const LocalCelestialInformation* local_celestial_inf } } -void Temperature::CalcRungeOneStep(double time_now_s, double time_step_s, math::Vector<3> sun_direction_b, size_t node_num) { - vector temperatures_now_K(node_num); - for (size_t i = 0; i < node_num; i++) { - temperatures_now_K[i] = nodes_[i].GetTemperature_K(); - } - - vector k1(node_num), k2(node_num), k3(node_num), k4(node_num); - vector xk2(node_num), xk3(node_num), xk4(node_num); - - k1 = CalcTemperatureDifferentials(temperatures_now_K, time_now_s, sun_direction_b, node_num); - for (size_t i = 0; i < node_num; i++) { - xk2[i] = temperatures_now_K[i] + (time_step_s / 2.0) * k1[i]; - } - - k2 = CalcTemperatureDifferentials(xk2, (time_now_s + time_step_s / 2.0), sun_direction_b, node_num); - for (size_t i = 0; i < node_num; i++) { - xk3[i] = temperatures_now_K[i] + (time_step_s / 2.0) * k2[i]; - } - - k3 = CalcTemperatureDifferentials(xk3, (time_now_s + time_step_s / 2.0), sun_direction_b, node_num); - for (size_t i = 0; i < node_num; i++) { - xk4[i] = temperatures_now_K[i] + time_step_s * k3[i]; - } - - k4 = CalcTemperatureDifferentials(xk4, (time_now_s + time_step_s), sun_direction_b, node_num); - - vector temperatures_next_K(node_num); - for (size_t i = 0; i < node_num; i++) { - temperatures_next_K[i] = temperatures_now_K[i] + (time_step_s / 6.0) * (k1[i] + 2.0 * k2[i] + 2.0 * k3[i] + k4[i]); - } - - for (size_t i = 0; i < node_num; i++) { - nodes_[i].SetTemperature_K(temperatures_next_K[i]); - } -} - void Temperature::CalcRungeOneStep(double time_now_s, double time_step_s, const LocalCelestialInformation* local_celestial_information, size_t node_num) { vector temperatures_now_K(node_num); @@ -197,41 +128,6 @@ void Temperature::CalcRungeOneStep(double time_now_s, double time_step_s, const } } -vector Temperature::CalcTemperatureDifferentials(vector temperatures_K, double t, math::Vector<3> sun_direction_b, size_t node_num) { - // TODO: consider the following unused arguments are really needed - UNUSED(temperatures_K); - - vector differentials_K_s(node_num); - for (size_t i = 0; i < node_num; i++) { - heatloads_[i].SetElapsedTime_s(t); - if (nodes_[i].GetNodeType() == NodeType::kDiffusive) { - double solar_flux_W_m2 = srp_environment_->GetPowerDensity_W_m2(); - if (solar_calc_setting_ == SolarCalcSetting::kEnable) { - double solar_radiation_W = nodes_[i].CalcSolarRadiation_W(sun_direction_b, solar_flux_W_m2); - heatloads_[i].SetSolarHeatload_W(solar_radiation_W); - } - double heater_power_W = GetHeaterPower_W(i); - heatloads_[i].SetHeaterHeatload_W(heater_power_W); - heatloads_[i].CalcInternalHeatload(); - heatloads_[i].UpdateTotalHeatload(); - double total_heatload_W = heatloads_[i].GetTotalHeatload_W(); // Total heatload (solar + internal + heater)[W] - - double conductive_heat_input_W = 0; - double radiative_heat_input_W = 0; - for (size_t j = 0; j < node_num; j++) { - conductive_heat_input_W += conductance_matrix_W_K_[i][j] * (nodes_[j].GetTemperature_K() - nodes_[i].GetTemperature_K()); - radiative_heat_input_W += environment::stefan_boltzmann_constant_W_m2K4 * radiation_matrix_m2_[i][j] * - (pow(nodes_[j].GetTemperature_K(), 4) - pow(nodes_[i].GetTemperature_K(), 4)); - } - double total_heat_input_W = conductive_heat_input_W + radiative_heat_input_W + total_heatload_W; - differentials_K_s[i] = total_heat_input_W / nodes_[i].GetCapacity_J_K(); - } else if (nodes_[i].GetNodeType() == NodeType::kBoundary) { - differentials_K_s[i] = 0; - } - } - return differentials_K_s; -} - vector Temperature::CalcTemperatureDifferentials(vector temperatures_K, double t, const LocalCelestialInformation* local_celestial_information, size_t node_num) { // TODO: consider the following unused arguments are really needed diff --git a/src/dynamics/thermal/temperature.hpp b/src/dynamics/thermal/temperature.hpp index f144c3d5b..d286a7e91 100644 --- a/src/dynamics/thermal/temperature.hpp +++ b/src/dynamics/thermal/temperature.hpp @@ -47,28 +47,6 @@ class Temperature : public ILoggable { SolarCalcSetting solar_calc_setting_; //!< setting for solar calculation bool debug_; //!< Activate debug output or not - /** - * @fn CalcRungeOneStep - * @brief Calculate one step of RK4 for thermal equilibrium equation and update temperatures of nodes - * - * @param[in] time_now_s: Current elapsed time [s] - * @param[in] time_step_s: Time step of RK4 [s] - * @param[in] sun_direction_b: Sun position in body frame [m] - * @param[in] node_num: Number of nodes - */ - void CalcRungeOneStep(double time_now_s, double time_step_s, math::Vector<3> sun_direction_b, size_t node_num); - /** - * @fn CalcTemperatureDifferentials - * @brief Calculate differential of thermal equilibrium equation - * - * @param temperatures_K: [UNUSED] Temperatures of each node [K] - * @param time_now_s: Current elapsed time [s] - * @param[in] sun_direction_b: Sun direction in body frame - * @param node_num: Number of nodes - * @return std::vector: Differential of thermal equilibrium equation at time now - */ - std::vector CalcTemperatureDifferentials(std::vector temperatures_K, double time_now_s, const math::Vector<3> sun_direction_b, - size_t node_num); /** * @fn CalcRungeOneStep * @brief Calculate one step of RK4 for thermal equilibrium equation and update temperatures of nodes @@ -127,14 +105,6 @@ class Temperature : public ILoggable { * */ virtual ~Temperature(); - /** - * @fn Propagate - * @brief Propagate thermal calculation until time_end_s - * - * @param[in] sun_position_b_m: Sun position in body frame [m] - * @param time_end_s: Time to finish propagation [s] - */ - void Propagate(math::Vector<3> sun_position_b_m, const double time_end_s); /** * @fn Propagate * @brief Propagate thermal calculation until time_end_s From 6ab9525341051324482f805b28b753b208b40c23 Mon Sep 17 00:00:00 2001 From: fukudakazuya Date: Fri, 27 Sep 2024 00:44:26 +0900 Subject: [PATCH 399/456] modyfy propagate --- src/dynamics/orbit/initialize_orbit.cpp | 12 + src/dynamics/orbit/orbit.hpp | 3 +- .../time_series_file_orbit_propagation.cpp | 242 +++++++----------- .../time_series_file_orbit_propagation.hpp | 41 ++- src/environment/global/global_environment.cpp | 4 - src/environment/global/global_environment.hpp | 1 - src/simulation/case/simulation_case.cpp | 1 - src/simulation/simulation_configuration.hpp | 1 - 8 files changed, 130 insertions(+), 175 deletions(-) diff --git a/src/dynamics/orbit/initialize_orbit.cpp b/src/dynamics/orbit/initialize_orbit.cpp index 8ce7ab313..7dd7a3ff3 100644 --- a/src/dynamics/orbit/initialize_orbit.cpp +++ b/src/dynamics/orbit/initialize_orbit.cpp @@ -11,6 +11,9 @@ #include "relative_orbit.hpp" #include "rk4_orbit_propagation.hpp" #include "sgp4_orbit_propagation.hpp" +#include "time_series_file_orbit_propagation.hpp" + +#include Orbit* InitOrbit(const CelestialInformation* celestial_information, std::string initialize_file, double step_width_s, double current_time_jd, double gravity_constant_m3_s2, std::string section, RelativeInformation* relative_information) { @@ -96,6 +99,15 @@ Orbit* InitOrbit(const CelestialInformation* celestial_information, std::string double error_tolerance = conf.ReadDouble(section_, "error_tolerance"); orbit = new EnckeOrbitPropagation(celestial_information, gravity_constant_m3_s2, step_width_s, current_time_jd, position_i_m, velocity_i_m_s, error_tolerance); + } else if (propagate_mode == "TIME_SERIES_FILE") { + // initialize orbit for propagation with time series file + const std::string time_series_file_path = conf.ReadString(section_, "time_series_file_path"); + const int number_of_interpolation = conf.ReadInt(section_, "number_of_interpolation"); + const int interpolation_method = conf.ReadInt(section_, "interpolation_method"); + const double orbital_period_correction = conf.ReadDouble(section_, "orbital_period_correction"); + + orbit = new TimeSeriesFileOrbitPropagation(celestial_information, time_series_file_path, number_of_interpolation, interpolation_method, orbital_period_correction, current_time_jd); + } else { std::cerr << "ERROR: orbit propagation mode: " << propagate_mode << " is not defined!" << std::endl; std::cerr << "The orbit mode is automatically set as RK4" << std::endl; diff --git a/src/dynamics/orbit/orbit.hpp b/src/dynamics/orbit/orbit.hpp index d3df8fb4a..caf4ddf25 100644 --- a/src/dynamics/orbit/orbit.hpp +++ b/src/dynamics/orbit/orbit.hpp @@ -25,7 +25,8 @@ enum class OrbitPropagateMode { kSgp4, //!< SGP4 propagation using TLE without thruster maneuver kRelativeOrbit, //!< Relative dynamics (for formation flying simulation) kKepler, //!< Kepler orbit propagation without disturbances and thruster maneuver - kEncke //!< Encke orbit propagation with disturbances and thruster maneuver + kEncke, //!< Encke orbit propagation with disturbances and thruster maneuver + kTimeSeriesFile //!< Orbit propagation using time series file }; /** diff --git a/src/dynamics/orbit/time_series_file_orbit_propagation.cpp b/src/dynamics/orbit/time_series_file_orbit_propagation.cpp index c41742ce2..51efea309 100644 --- a/src/dynamics/orbit/time_series_file_orbit_propagation.cpp +++ b/src/dynamics/orbit/time_series_file_orbit_propagation.cpp @@ -11,35 +11,44 @@ #include #include +#include + #include "setting_file_reader/initialize_file_access.hpp" #include "math_physics/time_system/date_time_format.hpp" #include "math_physics/math/constants.hpp" #include "logger/log_utility.hpp" -void TimeSeriesFileOrbitPropagation::Initialize(const std::string ini_file_name, const std::vector>& time_series_data, const time_system::EpochTime start_time, const SimulationTime& simulation_time) { - ini_file_name_ = ini_file_name; - IniAccess ini_file(ini_file_name_); - char section[] = "TIME_SERIES_FILE_ORBIT_PROPAGATION"; - const size_t number_of_interpolation = ini_file.ReadInt(section, "number_of_interpolation"); - - if (!(ini_file.ReadString(section, "interpolation_method") == "POLYNOMIAL" || - ini_file.ReadString(section, "interpolation_method") == "TRIGONOMETRIC")) { - std::cout << "Interpolation method error." << std::endl; - is_calc_enabled_ = false; - is_log_enabled_ = false; - return; - } +TimeSeriesFileOrbitPropagation::TimeSeriesFileOrbitPropagation(const CelestialInformation* celestial_information, std::string time_series_file_path, int number_of_interpolation, int interpolation_method, double orbital_period_correction, const double current_time_jd) + : Orbit(celestial_information) { + propagate_mode_ = OrbitPropagateMode::kTimeSeriesFile; - time_series_data_ = time_series_data; - current_epoch_time_ = start_time; + number_of_interpolation_ = number_of_interpolation; + interpolation_method_ = interpolation_method; + orbital_period_correction_ = orbital_period_correction; + + // Read time series file + IniAccess time_series_file(time_series_file_path); + time_series_file.ReadCsvDoubleWithHeader(time_series_data_, 7, 1, 0); + int year, month, day, hour, minute; + double second; + for (size_t i = 0; i < time_series_data_.size(); ++i) { + if (!time_series_data_[i].empty()) { + SpiceChar utc_char[80]; + et2utc_c(time_series_data_[i][0], "ISOC", 2, 80, utc_char); + sscanf(utc_char, "%d-%d-%dT%d:%d:%lf", &year, &month, &day, &hour, &minute, &second); + epoch_.push_back(time_system::DateTime(year, month, day, hour, minute, second)); + } + } // Get general info - const size_t nearest_epoch_id = SearchNearestEpochId(simulation_time); + size_t nearest_epoch_id = SearchNearestEpochId(current_time_jd); + const size_t half_interpolation_number = number_of_interpolation / 2; if (nearest_epoch_id >= half_interpolation_number) { reference_interpolation_id_ = nearest_epoch_id - half_interpolation_number; } + reference_time_ = time_system::EpochTime(GetEpochData(reference_interpolation_id_)); // Initialize orbit @@ -47,33 +56,17 @@ void TimeSeriesFileOrbitPropagation::Initialize(const std::string ini_file_name, orbit_velocity_.assign(1.0, orbit::InterpolationOrbit(number_of_interpolation)); // Initialize interpolation - for (size_t i = 0; i < number_of_interpolation; i++) { + for (int i = 0; i < number_of_interpolation; i++) { UpdateInterpolationInformation(); } - return; -} - -bool TimeSeriesFileOrbitPropagation::ReadTimeSeriesCsv(const std::string& time_series_file_path, std::vector>& time_series_data) { - IniAccess time_series_file(time_series_file_path); - - - time_series_file.ReadCsvDoubleWithHeader(time_series_data, 7, 1, 0); + spacecraft_acceleration_i_m_s2_ *= 0.0; - int year, month, day, hour, minute; - double second; - - for (size_t i = 0; i < time_series_data.size(); ++i) { - if (!time_series_data[i].empty()) { - SpiceChar utc_char[80]; - et2utc_c(time_series_data[i][0], "ISOC", 2, 80, utc_char); - sscanf(utc_char, "%d-%d-%dT%d:%d:%lf", &year, &month, &day, &hour, &minute, &second); - epoch_.push_back(time_system::DateTime(year, month, day, hour, minute, second)); - } - } - return true; + // To calculate initial position and velocity + is_calc_enabled_ = true; + Propagate(0.0, current_time_jd); + is_calc_enabled_ = false; } - void TimeSeriesFileOrbitPropagation::Update(const SimulationTime& simulation_time) { if (!IsCalcEnabled()) return; @@ -85,7 +78,7 @@ void TimeSeriesFileOrbitPropagation::Update(const SimulationTime& simulation_tim // Check interpolation update double diff_s = current_epoch_time_.GetTimeWithFraction_s() - reference_time_.GetTimeWithFraction_s(); - double medium_time_s = orbit_position_[0].GetTimeList()[4]; + double medium_time_s = orbit_position_[0].GetTimeList()[std::round(number_of_interpolation_ / 2.0)]; if (diff_s > medium_time_s) { UpdateInterpolationInformation(); } @@ -93,15 +86,15 @@ void TimeSeriesFileOrbitPropagation::Update(const SimulationTime& simulation_tim return; } -size_t TimeSeriesFileOrbitPropagation::SearchNearestEpochId(const SimulationTime& simulation_time) { +size_t TimeSeriesFileOrbitPropagation::SearchNearestEpochId(const double current_time_jd) { size_t nearest_epoch_id = 0; // Get start ephemeris time - SpiceDouble start_et = simulation_time.GetCurrentEphemerisTime(); + double start_ephemris_time = (current_time_jd - 2451545.0) * 86400.0; // Get the nearest epoch ID for (size_t i = 0; i < time_series_data_.size(); i++) { - if (start_et < time_series_data_[i][0]) { + if (start_ephemris_time < time_series_data_[i][0]) { nearest_epoch_id = i; break; } @@ -117,120 +110,83 @@ time_system::DateTime TimeSeriesFileOrbitPropagation::GetEpochData(const size_t return epoch_[epoch_id]; } +void TimeSeriesFileOrbitPropagation::Propagate(const double end_time_s, const double current_time_jd) { + UNUSED(end_time_s); -math::Vector<3> TimeSeriesFileOrbitPropagation::GetPosition(const time_system::EpochTime time) const { - IniAccess ini_file(ini_file_name_); - char section[] = "TIME_SERIES_FILE_ORBIT_PROPAGATION"; + if (!is_calc_enabled_) return; - time_system::EpochTime target_time; + // Get time + int year, month, day, hour, minute; + double second; + SpiceChar current_utc_char[80]; + double current_ephemris_time = (current_time_jd - 2451545.0) * 86400.0; + et2utc_c(current_ephemris_time, "ISOC", 2, 80, current_utc_char); + sscanf(current_utc_char, "%d-%d-%dT%d:%d:%lf", &year, &month, &day, &hour, &minute, &second); + time_system::DateTime current_date_time(year, month, day, hour,minute, second); + current_epoch_time_ = time_system::EpochTime(current_date_time); - if (time.GetTime_s() == 0) { - target_time = current_epoch_time_; - } else { - target_time = time; + // Check interpolation update + double diff_s = current_epoch_time_.GetTimeWithFraction_s() - reference_time_.GetTimeWithFraction_s(); + double medium_time_s = orbit_position_[0].GetTimeList()[std::round(number_of_interpolation_ / 2.0)]; + if (diff_s > medium_time_s) { + UpdateInterpolationInformation(); } - - double diff_s = target_time.GetTimeWithFraction_s() - reference_time_.GetTimeWithFraction_s(); - if (diff_s < 0.0 || diff_s > 1e6) return math::Vector<3>(0.0); - - if (ini_file.ReadString(section, "interpolation_method") == "POLYNOMIAL") { - return orbit_position_[0].CalcPositionOrVelocityWithPolynomial(diff_s); - } else if (ini_file.ReadString(section, "interpolation_method") == "TRIGONOMETRIC") { - return orbit_position_[0].CalcPositionOrVelocityWithTrigonometric(diff_s, math::tau / ini_file.ReadDouble(section, "orbital_period_correction")); + if (diff_s < 0.0) { + std::cout << "[ERROR] Time is out of range of time serise file." << std::endl; + for (size_t i = 0; i < 3; i++) { + spacecraft_position_i_m_[i] = time_series_data_[0][i + 1]; + spacecraft_velocity_i_m_s_[i] = time_series_data_[0][i + 4]; + } + } else if (diff_s > 1e6 || reference_interpolation_id_ >= time_series_data_.size()) { + std::cout << "[ERROR] Time is out of range of time serise file." << std::endl; + for (size_t i = 0; i < 3; i++) { + spacecraft_position_i_m_[i] = time_series_data_[time_series_data_.size() - 1][i + 1]; + spacecraft_velocity_i_m_s_[i] = time_series_data_[time_series_data_.size() - 1][i + 4]; + } } else { - return math::Vector<3>(0.0); - } -} - -math::Vector<3> TimeSeriesFileOrbitPropagation::GetVelocity(const time_system::EpochTime time) const { - IniAccess ini_file(ini_file_name_); - char section[] = "TIME_SERIES_FILE_ORBIT_PROPAGATION"; - - time_system::EpochTime target_time; - - if (time.GetTime_s() == 0) { - target_time = current_epoch_time_; + math::Vector<3> orbit_position; + math::Vector<3> orbit_velocity; + if (interpolation_method_ == 0) { + orbit_position = orbit_position_[0].CalcPositionOrVelocityWithPolynomial(diff_s); + orbit_velocity = orbit_velocity_[0].CalcPositionOrVelocityWithPolynomial(diff_s); + } else if (interpolation_method_ == 1) { + orbit_position = orbit_position_[0].CalcPositionOrVelocityWithTrigonometric(diff_s, math::tau / orbital_period_correction_); + orbit_velocity = orbit_velocity_[0].CalcPositionOrVelocityWithTrigonometric(diff_s, math::tau / orbital_period_correction_); } else { - target_time = time; + std::cerr << "[ERROR] Interpolation method: " << interpolation_method_ << " is not defined!" << std::endl; + std::cerr << "The orbit mode is automatically set as Polynomial" << std::endl; + orbit_position = orbit_position_[0].CalcPositionOrVelocityWithPolynomial(diff_s); + orbit_velocity = orbit_velocity_[0].CalcPositionOrVelocityWithPolynomial(diff_s); + } + for (size_t i = 0; i < 3; i++) { + spacecraft_position_i_m_[i] = orbit_position[i]; + spacecraft_velocity_i_m_s_[i] = orbit_velocity[i]; } - - double diff_s = target_time.GetTimeWithFraction_s() - reference_time_.GetTimeWithFraction_s(); - if (diff_s < 0.0 || diff_s > 1e6) return math::Vector<3>(0.0); - - if (ini_file.ReadString(section, "interpolation_method") == "POLYNOMIAL") { - return orbit_velocity_[0].CalcPositionOrVelocityWithPolynomial(diff_s); - } else if (ini_file.ReadString(section, "interpolation_method") == "TRIGONOMETRIC") { - return orbit_velocity_[0].CalcPositionOrVelocityWithTrigonometric(diff_s, math::tau / ini_file.ReadDouble(section, "orbital_period_correction")); - } else { - return math::Vector<3>(0.0); } + TransformEciToEcef(); + TransformEcefToGeodetic(); } bool TimeSeriesFileOrbitPropagation::UpdateInterpolationInformation() { - time_system::EpochTime time_series_time = time_system::EpochTime(GetEpochData(reference_interpolation_id_)); - double time_diff_s = time_series_time.GetTimeWithFraction_s() - reference_time_.GetTimeWithFraction_s(); - math::Vector<3> time_series_position; - math::Vector<3> time_series_velocity; - time_series_position[0] = time_series_data_[reference_interpolation_id_][1]; - time_series_position[1] = time_series_data_[reference_interpolation_id_][2]; - time_series_position[2] = time_series_data_[reference_interpolation_id_][3]; - time_series_velocity[0] = time_series_data_[reference_interpolation_id_][4]; - time_series_velocity[1] = time_series_data_[reference_interpolation_id_][5]; - time_series_velocity[2] = time_series_data_[reference_interpolation_id_][6]; - - orbit_position_[0].PushAndPopData(time_diff_s, time_series_position); - orbit_velocity_[0].PushAndPopData(time_diff_s, time_series_velocity); + time_system::EpochTime time_series_time = time_system::EpochTime(GetEpochData(reference_interpolation_id_)); + double time_diff_s = time_series_time.GetTimeWithFraction_s() - reference_time_.GetTimeWithFraction_s(); + if (reference_interpolation_id_ >= time_series_data_.size()) { + std::cout << "[ERROR] Time is out of range." << std::endl; + for (size_t i = 0; i < 3; i++) { + spacecraft_position_i_m_[i] = time_series_data_[time_series_data_.size() - 1][i + 1]; + spacecraft_velocity_i_m_s_[i] = time_series_data_[time_series_data_.size() - 1][i + 4]; + } + } else { + for (size_t i = 0; i < 3; i++) { + spacecraft_position_i_m_[i] = time_series_data_[reference_interpolation_id_][i + 1]; + spacecraft_velocity_i_m_s_[i] = time_series_data_[reference_interpolation_id_][i + 4]; + } + } + + orbit_position_[0].PushAndPopData(time_diff_s, spacecraft_position_i_m_); + orbit_velocity_[0].PushAndPopData(time_diff_s, spacecraft_velocity_i_m_s_); reference_interpolation_id_++; return true; } - -std::string TimeSeriesFileOrbitPropagation::GetLogHeader() const { - IniAccess ini_file(ini_file_name_); - char section[] = "TIME_SERIES_FILE_ORBIT_PROPAGATION"; - - std::string str_tmp = ""; - - str_tmp += WriteVector("spacecraft_position_with_definition_file", ini_file.ReadString(section, "coordinate_system"), ini_file.ReadString(section, "unit"), 3); - str_tmp += WriteVector("spacecraft_velocity_with_definition_file", ini_file.ReadString(section, "coordinate_system"), ini_file.ReadString(section, "unit"), 3); - - return str_tmp; -} - -std::string TimeSeriesFileOrbitPropagation::GetLogValue() const { - std::string str_tmp = ""; - - str_tmp += WriteVector(GetPosition(), 16); - str_tmp += WriteVector(GetVelocity(), 16); - - return str_tmp; -} - -TimeSeriesFileOrbitPropagation* InitTimeSeriesFileOrbitPropagation(const std::string ini_file_name, const SimulationTime& simulation_time) { - IniAccess ini_file(ini_file_name); - char section[] = "TIME_SERIES_FILE_ORBIT_PROPAGATION"; - - const bool is_calc_enable = ini_file.ReadEnable(section, INI_CALC_LABEL); - const bool is_log_enable = ini_file.ReadEnable(section, INI_LOG_LABEL); - - TimeSeriesFileOrbitPropagation* time_series_file_orbit_propagation = new TimeSeriesFileOrbitPropagation(is_calc_enable, is_log_enable); - if (!time_series_file_orbit_propagation->IsCalcEnabled()) { - return time_series_file_orbit_propagation; - } - - const std::string time_series_file_path = ini_file.ReadString(section, "time_series_file_path"); - - std::vector> time_series_data; - if (!time_series_file_orbit_propagation->ReadTimeSeriesCsv(time_series_file_path, time_series_data)) { - return time_series_file_orbit_propagation; - } - - time_system::DateTime start_date_time((size_t)simulation_time.GetStartYear(), (size_t)simulation_time.GetStartMonth(), - (size_t)simulation_time.GetStartDay(), (size_t)simulation_time.GetStartHour(), - (size_t)simulation_time.GetStartMinute(), simulation_time.GetStartSecond()); - time_system::EpochTime start_epoch_time(start_date_time); - time_series_file_orbit_propagation->Initialize(ini_file_name, time_series_data, start_epoch_time, simulation_time); - - return time_series_file_orbit_propagation; -} diff --git a/src/dynamics/orbit/time_series_file_orbit_propagation.hpp b/src/dynamics/orbit/time_series_file_orbit_propagation.hpp index 9dac7a833..006327c3c 100644 --- a/src/dynamics/orbit/time_series_file_orbit_propagation.hpp +++ b/src/dynamics/orbit/time_series_file_orbit_propagation.hpp @@ -14,6 +14,8 @@ #include "environment/global/simulation_time.hpp" +#include "orbit.hpp" + /** *@struct TimeSeriesData *@brief Time series data of orbit @@ -33,22 +35,15 @@ * @class TimeSeriesFileOrbitPropagation * @brief Class to calculate satellite orbit using interpolation with orbit time series input */ -class TimeSeriesFileOrbitPropagation : public ILoggable { +class TimeSeriesFileOrbitPropagation : public Orbit { public: /** *@fn TimeSeriesFileOrbitPropagation *@brief Constructor - * @param [in] is_calc_enabled: Flag to manage the orbit calculation - * @param [in] is_log_enabled: Flag to generate the log of orbit calculation + * @param [in] celestial_information: Celestial information + * @param [in] current_time_jd: Current Julian day [day] */ - TimeSeriesFileOrbitPropagation(const bool is_calc_enabled = false, const bool is_log_enabled = false) - : is_calc_enabled_(is_calc_enabled) { - if (!is_calc_enabled_) { - is_log_enabled_ = false; - } else { - is_log_enabled_ = is_log_enabled; - } - } + TimeSeriesFileOrbitPropagation(const CelestialInformation* celestial_information, std::string time_series_file_path, int number_of_interpolation, int interpolation_method, double orbital_period_correction, const double current_time_jd); /** *@fn ~TimeSeriesFileOrbitPropagation @@ -103,9 +98,9 @@ class TimeSeriesFileOrbitPropagation : public ILoggable { /** * @fn SearchNearestEpochId * @brief Search the nearest epoch ID from the orbit definition data. - * @param simulation_time The simulation time information. + * @param current_time_jd: Current Julian day [day] */ - size_t SearchNearestEpochId(const SimulationTime& simulation_time); + size_t SearchNearestEpochId(const double current_time_jd); /** * @fn Update @@ -132,23 +127,21 @@ class TimeSeriesFileOrbitPropagation : public ILoggable { */ inline math::Vector<3> GetVelocity(const time_system::EpochTime time = time_system::EpochTime(0, 0.0)) const; - // Override ILoggable - /** - * @fn GetLogHeader - * @brief Override GetLogHeader function of ILoggable - */ - std::string GetLogHeader() const override; + // Override Orbit /** - * @fn GetLogValue - * @brief Override GetLogValue function of ILoggable + * @fn Propagate + * @brief Propagate orbit + * @param [in] end_time_s: End time of simulation [sec] + * @param [in] current_time_jd: Current Julian day [day] */ - std::string GetLogValue() const override; + virtual void Propagate(const double end_time_s, const double current_time_jd); private: - bool is_calc_enabled_ = false; //!< Flag to manage the orbit calculation + int number_of_interpolation_; //!< Number of interpolation + int interpolation_method_; //!< Interpolation method + double orbital_period_correction_; //!< Orbital period correction std::vector epoch_; //!< Epoch data list - std::string ini_file_name_; //!< Path to the initialize file std::vector> time_series_data_; //!< List of orbit definition data time_system::EpochTime current_epoch_time_; //!< The last updated time time_system::EpochTime reference_time_; //!< Reference start time of the orbit definition data handling diff --git a/src/environment/global/global_environment.cpp b/src/environment/global/global_environment.cpp index ae46c34ac..0e89b2346 100644 --- a/src/environment/global/global_environment.cpp +++ b/src/environment/global/global_environment.cpp @@ -14,7 +14,6 @@ GlobalEnvironment::~GlobalEnvironment() { delete celestial_information_; delete hipparcos_catalogue_; delete gnss_satellites_; - delete time_series_file_orbit_propagation_; } void GlobalEnvironment::Initialize(const SimulationConfiguration* simulation_configuration) { @@ -27,7 +26,6 @@ void GlobalEnvironment::Initialize(const SimulationConfiguration* simulation_con simulation_time_ = InitSimulationTime(simulation_time_ini_path); hipparcos_catalogue_ = InitHipparcosCatalogue(simulation_configuration->initialize_base_file_name_); gnss_satellites_ = InitGnssSatellites(simulation_configuration->gnss_file_, celestial_information_->GetEarthRotation(), *simulation_time_); - time_series_file_orbit_propagation_ = InitTimeSeriesFileOrbitPropagation(simulation_configuration->time_series_file_, *simulation_time_); // Calc initial value celestial_information_->UpdateAllObjectsInformation(*simulation_time_); @@ -37,14 +35,12 @@ void GlobalEnvironment::Update() { simulation_time_->UpdateTime(); celestial_information_->UpdateAllObjectsInformation(*simulation_time_); gnss_satellites_->Update(*simulation_time_); - time_series_file_orbit_propagation_->Update(*simulation_time_); } void GlobalEnvironment::LogSetup(Logger& logger) { logger.AddLogList(simulation_time_); logger.AddLogList(celestial_information_); logger.AddLogList(gnss_satellites_); - logger.AddLogList(time_series_file_orbit_propagation_); } void GlobalEnvironment::Reset(void) { simulation_time_->ResetClock(); } diff --git a/src/environment/global/global_environment.hpp b/src/environment/global/global_environment.hpp index 0978897ac..b5af66a6e 100644 --- a/src/environment/global/global_environment.hpp +++ b/src/environment/global/global_environment.hpp @@ -81,7 +81,6 @@ class GlobalEnvironment { CelestialInformation* celestial_information_; //!< Celestial bodies information HipparcosCatalogue* hipparcos_catalogue_; //!< Hipparcos catalogue GnssSatellites* gnss_satellites_; //!< GNSS satellites - TimeSeriesFileOrbitPropagation* time_series_file_orbit_propagation_; //!< Orbit calculation with definition file }; #endif // S2E_ENVIRONMENT_GLOBAL_GLOBAL_ENVIRONMENT_HPP_ diff --git a/src/simulation/case/simulation_case.cpp b/src/simulation/case/simulation_case.cpp index a2fa849b7..1a19dd003 100644 --- a/src/simulation/case/simulation_case.cpp +++ b/src/simulation/case/simulation_case.cpp @@ -100,7 +100,6 @@ void SimulationCase::InitializeSimulationConfiguration(const std::string initial // Others simulation_configuration_.inter_sc_communication_file_ = simulation_base_ini.ReadString(section, "inter_sat_comm_file"); simulation_configuration_.gnss_file_ = simulation_base_ini.ReadString(section, "gnss_file"); - simulation_configuration_.time_series_file_ = simulation_base_ini.ReadString(section, "time_series_file"); // Global Environment global_environment_ = new GlobalEnvironment(&simulation_configuration_); diff --git a/src/simulation/simulation_configuration.hpp b/src/simulation/simulation_configuration.hpp index 7bc63b669..28b6f74f0 100644 --- a/src/simulation/simulation_configuration.hpp +++ b/src/simulation/simulation_configuration.hpp @@ -27,7 +27,6 @@ struct SimulationConfiguration { std::string inter_sc_communication_file_; //!< File name for inter-satellite communication initialization std::string gnss_file_; //!< File name for GNSS initialization - std::string time_series_file_; //!< File name for orbit calculation initialization /** * @fn ~SimulationConfiguration From 4e2a7f18ddd0c1496ac65263c010062f19d53753 Mon Sep 17 00:00:00 2001 From: kai0722 Date: Fri, 27 Sep 2024 01:40:27 +0900 Subject: [PATCH 400/456] Refactor shadow check in Node::CalcAlbedoRadiation_W method --- src/dynamics/thermal/node.cpp | 1 - 1 file changed, 1 deletion(-) diff --git a/src/dynamics/thermal/node.cpp b/src/dynamics/thermal/node.cpp index bc101e498..8660507c4 100644 --- a/src/dynamics/thermal/node.cpp +++ b/src/dynamics/thermal/node.cpp @@ -45,7 +45,6 @@ double Node::CalcAlbedoRadiation_W(math::Vector<3> earth_position_b_m, double ea math::Vector<3> earth_direction_b = earth_position_b_m.CalcNormalizedVector(); double earth_distance_m = earth_position_b_m.CalcNorm(); - // check if satellite is outside of the earth's shadow double cos_theta_albedo = InnerProduct(earth_direction_b, normal_vector_b_); // albedo radiation calculation; earth_albedo_W_m2 reflects the shadow coefficient. From 72d328c8b29c10c792eb073c5ce3908dbbeb7b15 Mon Sep 17 00:00:00 2001 From: kai0722 Date: Fri, 27 Sep 2024 01:42:08 +0900 Subject: [PATCH 401/456] Refactor shadow check in Node::CalcAlbedoRadiation_W method --- src/dynamics/thermal/node.cpp | 1 - 1 file changed, 1 deletion(-) diff --git a/src/dynamics/thermal/node.cpp b/src/dynamics/thermal/node.cpp index 8660507c4..48f6d9232 100644 --- a/src/dynamics/thermal/node.cpp +++ b/src/dynamics/thermal/node.cpp @@ -43,7 +43,6 @@ double Node::CalcSolarRadiation_W(math::Vector<3> sun_direction_b, double solar_ double Node::CalcAlbedoRadiation_W(math::Vector<3> earth_position_b_m, double earth_albedo_W_m2) { math::Vector<3> earth_direction_b = earth_position_b_m.CalcNormalizedVector(); - double earth_distance_m = earth_position_b_m.CalcNorm(); double cos_theta_albedo = InnerProduct(earth_direction_b, normal_vector_b_); From 9cb46ca72d69c2eab6a2924b0e260db8f9769fa6 Mon Sep 17 00:00:00 2001 From: fukudakazuya Date: Fri, 27 Sep 2024 13:07:15 +0900 Subject: [PATCH 402/456] modify function and variable names --- src/environment/global/gnss_satellites.cpp | 2 +- .../orbit/interpolation_orbit.cpp | 31 +++++++------- .../orbit/interpolation_orbit.hpp | 40 +++++++++---------- .../orbit/test_interpolation_orbit.cpp | 2 +- 4 files changed, 37 insertions(+), 38 deletions(-) diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index 6f41f2520..21749c9aa 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -89,7 +89,7 @@ math::Vector<3> GnssSatellites::GetPosition_ecef_m(const size_t gnss_satellite_i if (diff_s < 0.0 || diff_s > 1e6) return math::Vector<3>(0.0); const double kOrbitalPeriodCorrection_s = 24 * 60 * 60 * 1.003; // See http://acc.igs.org/orbits/orbit-interp_gpssoln03.pdf - return orbit_[gnss_satellite_id].CalcPositionOrVelocityWithTrigonometric(diff_s, math::tau / kOrbitalPeriodCorrection_s); + return orbit_[gnss_satellite_id].CalcPositionWithTrigonometric(diff_s, math::tau / kOrbitalPeriodCorrection_s); } double GnssSatellites::GetClock_s(const size_t gnss_satellite_id, const time_system::EpochTime time) const { diff --git a/src/math_physics/orbit/interpolation_orbit.cpp b/src/math_physics/orbit/interpolation_orbit.cpp index 818029a93..9b3a50e31 100644 --- a/src/math_physics/orbit/interpolation_orbit.cpp +++ b/src/math_physics/orbit/interpolation_orbit.cpp @@ -10,18 +10,18 @@ namespace orbit { InterpolationOrbit::InterpolationOrbit(const size_t degree) { std::vector time; time.assign(degree, -1.0); - std::vector position_or_velocity; - position_or_velocity.assign(degree, 0.0); - math::Interpolation temp(time, position_or_velocity); + std::vector position; + position.assign(degree, 0.0); + math::Interpolation temp(time, position); for (size_t axis = 0; axis < 3; axis++) { - interpolation_position_or_velocity.push_back(temp); + interpolation_position_.push_back(temp); } } -bool InterpolationOrbit::PushAndPopData(const double time, const math::Vector<3> position_or_velocity) { +bool InterpolationOrbit::PushAndPopData(const double time, const math::Vector<3> position) { bool result; for (size_t axis = 0; axis < 3; axis++) { - result = interpolation_position_or_velocity[axis].PushAndPopData(time, position_or_velocity[axis]); + result = interpolation_position_[axis].PushAndPopData(time, position[axis]); if (result == false) { return false; } @@ -29,20 +29,19 @@ bool InterpolationOrbit::PushAndPopData(const double time, const math::Vector<3> return true; } -math::Vector<3> InterpolationOrbit::CalcPositionOrVelocityWithTrigonometric(const double time, const double period) const { - math::Vector<3> output_position_or_velocity; +math::Vector<3> InterpolationOrbit::CalcPositionWithTrigonometric(const double time, const double period) const { + math::Vector<3> output_position; for (size_t axis = 0; axis < 3; axis++) { - output_position_or_velocity[axis] = interpolation_position_or_velocity[axis].CalcTrigonometric(time, period); + output_position[axis] = interpolation_position_[axis].CalcTrigonometric(time, period); } - return output_position_or_velocity; + return output_position; } -math::Vector<3> InterpolationOrbit::CalcPositionOrVelocityWithPolynomial(const double time) const { - math::Vector<3> output_position_or_velocity; +math::Vector<3> InterpolationOrbit::CalcPositionWithPolynomial(const double time) const { + math::Vector<3> output_position; for (size_t axis = 0; axis < 3; axis++) { - output_position_or_velocity[axis] = interpolation_position_or_velocity[axis].CalcPolynomial(time); + output_position[axis] = interpolation_position_[axis].CalcPolynomial(time); } - return output_position_or_velocity; + return output_position; } - -} // namespace orbit +} // namespace orbit \ No newline at end of file diff --git a/src/math_physics/orbit/interpolation_orbit.hpp b/src/math_physics/orbit/interpolation_orbit.hpp index 17d9acd05..f99a3d152 100644 --- a/src/math_physics/orbit/interpolation_orbit.hpp +++ b/src/math_physics/orbit/interpolation_orbit.hpp @@ -15,7 +15,7 @@ namespace orbit { /** * @class InterpolationOrbit * @brief Orbit calculation with mathematical interpolation - * @note Coordinate and unit of position or velocityis defined by users of this function + * @note Coordinate and unit of position is defined by users of this function */ class InterpolationOrbit { public: @@ -30,55 +30,55 @@ class InterpolationOrbit { * @fn PushAndPopData * @brief Add new data to the tail of the list and erase the head data * @param [in] time: time of the new data - * @param [in] position: Satellite position or velocity of the new data + * @param [in] position: Satellite position of the new data */ - bool PushAndPopData(const double time, const math::Vector<3> position_or_velocity); + bool PushAndPopData(const double time, const math::Vector<3> position); /** - * @fn CalcPositionOrVelocityWithTrigonometric - * @brief Calculate interpolated position position or velocity with trigonometric method + * @fn CalcPositionWithTrigonometric + * @brief Calculate interpolated position with trigonometric method * @param [in] time: time * @param [in] period: Characteristic period - * @return Calculated position or velocity + * @return Calculated position */ - math::Vector<3> CalcPositionOrVelocityWithTrigonometric(const double time, const double period = 0.0) const; + math::Vector<3> CalcPositionWithTrigonometric(const double time, const double period = 0.0) const; /** - * @fn CalcPositionOrVelocityWithPolynomial - * @brief Calculate interpolated position or velocity with polynomial method + * @fn CalcPositionWithPolynomial + * @brief Calculate interpolated position with polynomial method * @param [in] time: time - * @return Calculated position or velocity + * @return Calculated position */ - math::Vector<3> CalcPositionOrVelocityWithPolynomial(const double time) const; + math::Vector<3> CalcPositionWithPolynomial(const double time) const; // Getters /** * @fn GetDegree * @return Degree of interpolation */ - inline size_t GetDegree() const { return interpolation_position_or_velocity[0].GetDegree(); } + inline size_t GetDegree() const { return interpolation_position_[0].GetDegree(); } /** * @fn GetTimeList * @return Time list registered for the interpolation */ - inline std::vector GetTimeList() const { return interpolation_position_or_velocity[0].GetIndependentVariables(); } + inline std::vector GetTimeList() const { return interpolation_position_[0].GetIndependentVariables(); } /** * @fn GetTimeList - * @param[in] axis: Axis of position or velocity[0, 2] - * @return Position or velocity list registered for the interpolation + * @param[in] axis: Axis of position [0, 2] + * @return Position list registered for the interpolation * @note return id=2 data when the input axis is over 3. */ - inline std::vector GetPositionOrVelocityDataList(const size_t axis) const { + inline std::vector GetPositionDataList(const size_t axis) const { if (axis > 3) { - return interpolation_position_or_velocity[2].GetDependentVariables(); + return interpolation_position_[2].GetDependentVariables(); } - return interpolation_position_or_velocity[axis].GetDependentVariables(); + return interpolation_position_[axis].GetDependentVariables(); } private: - std::vector interpolation_position_or_velocity; // 3D vector of interpolation + std::vector interpolation_position_; // 3D vector of interpolation }; } // namespace orbit -#endif // S2E_LIBRARY_ORBIT_INTERPOLATION_ORBIT_HPP_ +#endif // S2E_LIBRARY_ORBIT_INTERPOLATION_ORBIT_HPP_ \ No newline at end of file diff --git a/src/math_physics/orbit/test_interpolation_orbit.cpp b/src/math_physics/orbit/test_interpolation_orbit.cpp index acc050298..d7fe51c67 100644 --- a/src/math_physics/orbit/test_interpolation_orbit.cpp +++ b/src/math_physics/orbit/test_interpolation_orbit.cpp @@ -40,7 +40,7 @@ TEST(InterpolationOrbit, PushAndPop) { for (size_t i = 0; i < degree; i++) { EXPECT_DOUBLE_EQ((double)i, interpolation_orbit.GetTimeList()[i]); for (size_t axis = 0; axis < 3; axis++) { - EXPECT_DOUBLE_EQ(2.0 * i, interpolation_orbit.GetPositionOrVelocityDataList(axis)[i]); + EXPECT_DOUBLE_EQ(2.0 * i, interpolation_orbit.GetPositionDataList(axis)[i]); } } From 6a437ec9155b6abd2d3ddf345bcf2d3d0975d9a8 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Fri, 27 Sep 2024 13:55:03 +0900 Subject: [PATCH 403/456] Add s2e::components namespace for base --- src/components/base/component.cpp | 4 ++++ src/components/base/component.hpp | 4 ++++ src/components/base/gpio_connection_with_obc.cpp | 4 ++++ src/components/base/gpio_connection_with_obc.hpp | 4 ++++ src/components/base/i2c_controller.cpp | 5 +++++ src/components/base/i2c_controller.hpp | 4 ++++ src/components/base/i2c_target_communication_with_obc.cpp | 4 ++++ src/components/base/i2c_target_communication_with_obc.hpp | 4 ++++ src/components/base/interface_gpio_component.hpp | 4 ++++ src/components/base/interface_tickable.hpp | 4 ++++ src/components/base/sensor.hpp | 4 ++++ src/components/base/sensor_template_functions.hpp | 4 ++++ src/components/base/uart_communication_with_obc.cpp | 4 ++++ src/components/base/uart_communication_with_obc.hpp | 4 ++++ 14 files changed, 57 insertions(+) diff --git a/src/components/base/component.cpp b/src/components/base/component.cpp index 82fdf14c9..df61cb1ce 100644 --- a/src/components/base/component.cpp +++ b/src/components/base/component.cpp @@ -5,6 +5,8 @@ #include "component.hpp" +namespace s2e::components { + Component::Component(const unsigned int prescaler, ClockGenerator* clock_generator, const unsigned int fast_prescaler) : clock_generator_(clock_generator) { power_port_ = new PowerPort(); @@ -48,3 +50,5 @@ void Component::FastTick(const unsigned int fast_count) { PowerOffRoutine(); } } + +} // namespace s2e::components diff --git a/src/components/base/component.hpp b/src/components/base/component.hpp index 91432e1f3..72dbf6c6c 100644 --- a/src/components/base/component.hpp +++ b/src/components/base/component.hpp @@ -12,6 +12,8 @@ #include "interface_tickable.hpp" +namespace s2e::components { + /** * @class Component * @brief Base class for component emulation. All components have to inherit this. @@ -88,4 +90,6 @@ class Component : public ITickable { PowerPort* power_port_; //!< Power port }; +} // namespace s2e::components + #endif // S2E_COMPONENTS_BASE_COMPONENT_HPP_ diff --git a/src/components/base/gpio_connection_with_obc.cpp b/src/components/base/gpio_connection_with_obc.cpp index 7a3024a66..7b87659b0 100644 --- a/src/components/base/gpio_connection_with_obc.cpp +++ b/src/components/base/gpio_connection_with_obc.cpp @@ -6,6 +6,8 @@ #include "gpio_connection_with_obc.hpp" +namespace s2e::components { + GpioConnectionWithObc::GpioConnectionWithObc(const std::vector port_id, OnBoardComputer* obc) : port_id_(port_id), obc_(obc) { for (size_t i = 0; i < port_id_.size(); i++) { obc_->GpioConnectPort(port_id_[i]); @@ -17,3 +19,5 @@ GpioConnectionWithObc::~GpioConnectionWithObc() {} bool GpioConnectionWithObc::Read(const int index) { return obc_->GpioComponentRead(port_id_[index]); } void GpioConnectionWithObc::Write(const int index, const bool is_high) { obc_->GpioComponentWrite(port_id_[index], is_high); } + +} // namespace s2e::components diff --git a/src/components/base/gpio_connection_with_obc.hpp b/src/components/base/gpio_connection_with_obc.hpp index 397456674..b066b1f38 100644 --- a/src/components/base/gpio_connection_with_obc.hpp +++ b/src/components/base/gpio_connection_with_obc.hpp @@ -9,6 +9,8 @@ #include "../real/cdh/on_board_computer.hpp" +namespace s2e::components { + /** * @class GpioConnectionWithObc * @brief Base class for GPIO communication with OBC flight software @@ -50,4 +52,6 @@ class GpioConnectionWithObc { OnBoardComputer* obc_; //!< The communication target OBC }; +} // namespace s2e::components + #endif // S2E_COMPONENTS_BASE_GPIO_CONNECTION_WITH_OBC_HPP_ diff --git a/src/components/base/i2c_controller.cpp b/src/components/base/i2c_controller.cpp index 64e1429ba..6cc80c056 100644 --- a/src/components/base/i2c_controller.cpp +++ b/src/components/base/i2c_controller.cpp @@ -7,6 +7,9 @@ #include #include + +namespace s2e::components { + I2cController::I2cController(const unsigned int hils_port_id, const unsigned int baud_rate, const unsigned int tx_buffer_size, const unsigned int rx_buffer_size, HilsPortManager* hils_port_manager) : hils_port_id_(hils_port_id), @@ -48,3 +51,5 @@ int I2cController::SendCommand(const unsigned char length) { if (simulation_mode_ != SimulationMode::kHils) return -1; return hils_port_manager_->I2cControllerSend(hils_port_id_, &tx_buffer_.front(), 0, length); } + +} // namespace s2e::components diff --git a/src/components/base/i2c_controller.hpp b/src/components/base/i2c_controller.hpp index 62f59e480..bd1e5e2d2 100644 --- a/src/components/base/i2c_controller.hpp +++ b/src/components/base/i2c_controller.hpp @@ -9,6 +9,8 @@ #include "../../simulation/hils/hils_port_manager.hpp" #include "uart_communication_with_obc.hpp" +namespace s2e::components { + /** * @class I2cController * @brief This class simulates the I2C Controller communication with the I2C Target. @@ -64,4 +66,6 @@ class I2cController { HilsPortManager* hils_port_manager_; //!< HILS port manager }; +} // namespace s2e::components + #endif // S2E_COMPONENTS_BASE_I2C_CONTROLLER_HPP_ diff --git a/src/components/base/i2c_target_communication_with_obc.cpp b/src/components/base/i2c_target_communication_with_obc.cpp index a4b7cc4fe..a916b0df7 100644 --- a/src/components/base/i2c_target_communication_with_obc.cpp +++ b/src/components/base/i2c_target_communication_with_obc.cpp @@ -6,6 +6,8 @@ #include +namespace s2e::components { + I2cTargetCommunicationWithObc::I2cTargetCommunicationWithObc(const unsigned int sils_port_id, const unsigned char i2c_address, OnBoardComputer* obc) : sils_port_id_(sils_port_id), i2c_address_(i2c_address), obc_(obc) { #ifdef USE_HILS @@ -163,3 +165,5 @@ int I2cTargetCommunicationWithObc::StoreTelemetry(const unsigned int stored_fram } return 0; } + +} // namespace s2e::components diff --git a/src/components/base/i2c_target_communication_with_obc.hpp b/src/components/base/i2c_target_communication_with_obc.hpp index 12ff9a4ac..4d017aafe 100644 --- a/src/components/base/i2c_target_communication_with_obc.hpp +++ b/src/components/base/i2c_target_communication_with_obc.hpp @@ -10,6 +10,8 @@ #include "../real/cdh/on_board_computer.hpp" #include "uart_communication_with_obc.hpp" +namespace s2e::components { + /** * @class I2cTargetCommunicationWithObc * @brief Base class for I2C communication as target side with OBC flight software @@ -121,4 +123,6 @@ class I2cTargetCommunicationWithObc { HilsPortManager* hils_port_manager_; //!< HILS port manager }; +} // namespace s2e::components + #endif // S2E_COMPONENTS_BASE_I2C_TARGET_COMMUNICATION_WITH_OBC_HPP_ diff --git a/src/components/base/interface_gpio_component.hpp b/src/components/base/interface_gpio_component.hpp index 7ed129e7b..9df3db260 100644 --- a/src/components/base/interface_gpio_component.hpp +++ b/src/components/base/interface_gpio_component.hpp @@ -6,6 +6,8 @@ #ifndef S2E_COMPONENTS_BASE_CLASSES_INTERFACE_GPIO_COMPONENT_HPP_ #define S2E_COMPONENTS_BASE_CLASSES_INTERFACE_GPIO_COMPONENT_HPP_ +namespace s2e::components { + /** * @class IGPIOCompo * @brief Interface class for components which have GPIO port @@ -27,4 +29,6 @@ class IGPIOCompo { virtual void GpioStateChanged(const int port_id, const bool is_positive_edge) = 0; }; +} // namespace s2e::components + #endif // S2E_COMPONENTS_BASE_CLASSES_INTERFACE_GPIO_COMPONENT_HPP_ diff --git a/src/components/base/interface_tickable.hpp b/src/components/base/interface_tickable.hpp index 3d7171aeb..401c5d87b 100644 --- a/src/components/base/interface_tickable.hpp +++ b/src/components/base/interface_tickable.hpp @@ -6,6 +6,8 @@ #ifndef S2E_COMPONENTS_BASE_CLASSES_INTERFACE_TICKABLE_HPP_ #define S2E_COMPONENTS_BASE_CLASSES_INTERFACE_TICKABLE_HPP_ +namespace s2e::components { + /** * @class ITickable * @brief Interface class for time update of components @@ -40,4 +42,6 @@ class ITickable { bool needs_fast_update_ = false; //!< Whether or not high-frequency disturbances need to be calculated }; +} // namespace s2e::components + #endif // S2E_COMPONENTS_BASE_CLASSES_INTERFACE_TICKABLE_HPP_ diff --git a/src/components/base/sensor.hpp b/src/components/base/sensor.hpp index 43fabd0cf..38f2a9075 100644 --- a/src/components/base/sensor.hpp +++ b/src/components/base/sensor.hpp @@ -11,6 +11,8 @@ #include #include +namespace s2e::components { + /** * @class Sensor * @brief Base class for sensor emulation to add noises @@ -85,6 +87,8 @@ template Sensor ReadSensorInformation(const std::string file_name, const double step_width_s, const std::string component_name, const std::string unit = ""); +} // namespace s2e::components + #include "./sensor_template_functions.hpp" #endif // S2E_COMPONENTS_BASE_SENSOR_HPP_ diff --git a/src/components/base/sensor_template_functions.hpp b/src/components/base/sensor_template_functions.hpp index b0e4f0300..31c761393 100644 --- a/src/components/base/sensor_template_functions.hpp +++ b/src/components/base/sensor_template_functions.hpp @@ -9,6 +9,8 @@ #include #include +namespace s2e::components { + template Sensor::Sensor(const s2e::math::Matrix& scale_factor, const s2e::math::Vector& range_to_const_c, const s2e::math::Vector& range_to_zero_c, const s2e::math::Vector& bias_noise_c, const s2e::math::Vector& normal_random_standard_deviation_c, @@ -121,4 +123,6 @@ Sensor ReadSensorInformation(const std::string file_name, const double step_w return sensor_base; } +} // namespace s2e::components + #endif // S2E_COMPONENTS_BASE_SENSOR_TEMPLATE_FUNCTIONS_HPP_ diff --git a/src/components/base/uart_communication_with_obc.cpp b/src/components/base/uart_communication_with_obc.cpp index 47df421d4..41bb777fd 100644 --- a/src/components/base/uart_communication_with_obc.cpp +++ b/src/components/base/uart_communication_with_obc.cpp @@ -7,6 +7,8 @@ #include +namespace s2e::components { + UartCommunicationWithObc::UartCommunicationWithObc(const unsigned int sils_port_id, OnBoardComputer* obc) : sils_port_id_(sils_port_id), obc_(obc) { #ifdef USE_HILS simulation_mode_ = SimulationMode::kError; @@ -173,3 +175,5 @@ int UartCommunicationWithObc::SendTelemetry(const unsigned int offset) { return -1; } } + +} // namespace s2e::components diff --git a/src/components/base/uart_communication_with_obc.hpp b/src/components/base/uart_communication_with_obc.hpp index 0db74815b..6cb45c5df 100644 --- a/src/components/base/uart_communication_with_obc.hpp +++ b/src/components/base/uart_communication_with_obc.hpp @@ -10,6 +10,8 @@ #include "../real/cdh/on_board_computer.hpp" +namespace s2e::components { + /** * @enum SimulationMode * @brief Simulation mode (SILS or HILS) @@ -129,4 +131,6 @@ class UartCommunicationWithObc { virtual int GenerateTelemetry() = 0; }; +} // namespace s2e::components + #endif // S2E_COMPONENTS_BASE_UART_COMMUNICATION_WITH_OBC_HPP_ From 684d0d602592daa5accd22f07d963ccd8f75379d Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Fri, 27 Sep 2024 13:56:55 +0900 Subject: [PATCH 404/456] Add s2e::components namespace for examples --- src/components/examples/example_change_structure.cpp | 4 ++++ src/components/examples/example_change_structure.hpp | 4 ++++ src/components/examples/example_i2c_controller_for_hils.cpp | 4 ++++ src/components/examples/example_i2c_controller_for_hils.hpp | 4 ++++ src/components/examples/example_i2c_target_for_hils.cpp | 4 ++++ src/components/examples/example_i2c_target_for_hils.hpp | 4 ++++ .../examples/example_serial_communication_for_hils.cpp | 4 ++++ .../examples/example_serial_communication_for_hils.hpp | 4 ++++ .../examples/example_serial_communication_with_obc.cpp | 4 ++++ .../examples/example_serial_communication_with_obc.hpp | 4 ++++ 10 files changed, 40 insertions(+) diff --git a/src/components/examples/example_change_structure.cpp b/src/components/examples/example_change_structure.cpp index bc28f4547..9f1d6d051 100644 --- a/src/components/examples/example_change_structure.cpp +++ b/src/components/examples/example_change_structure.cpp @@ -7,6 +7,8 @@ #include +namespace s2e::components { + ExampleChangeStructure::ExampleChangeStructure(ClockGenerator* clock_generator, Structure* structure) : Component(1, clock_generator), structure_(structure) {} @@ -54,3 +56,5 @@ std::string ExampleChangeStructure::GetLogValue() const { return str_tmp; } + +} // namespace s2e::components diff --git a/src/components/examples/example_change_structure.hpp b/src/components/examples/example_change_structure.hpp index 31d656c92..93d749b61 100644 --- a/src/components/examples/example_change_structure.hpp +++ b/src/components/examples/example_change_structure.hpp @@ -11,6 +11,8 @@ #include "../base/component.hpp" +namespace s2e::components { + /** * @class ExampleChangeStructure * @brief Class to show an example to change satellite structure information @@ -53,4 +55,6 @@ class ExampleChangeStructure : public Component, public ILoggable { Structure* structure_; //!< Structure information }; +} // namespace s2e::components + #endif // S2E_COMPONENTS_EXAMPLES_EXAMPLE_CHANGE_STRUCTURE_HPP_ diff --git a/src/components/examples/example_i2c_controller_for_hils.cpp b/src/components/examples/example_i2c_controller_for_hils.cpp index 1924ec1c8..b4f2bace1 100644 --- a/src/components/examples/example_i2c_controller_for_hils.cpp +++ b/src/components/examples/example_i2c_controller_for_hils.cpp @@ -4,6 +4,8 @@ */ #include "example_i2c_controller_for_hils.hpp" +namespace s2e::components { + ExampleI2cControllerForHils::ExampleI2cControllerForHils(const int prescaler, ClockGenerator* clock_generator, const unsigned int hils_port_id, const unsigned int baud_rate, const unsigned int tx_buffer_size, const unsigned int rx_buffer_size, HilsPortManager* hils_port_manager) @@ -54,3 +56,5 @@ void ExampleI2cControllerForHils::Receive() { std::cout << std::endl; return; } + +} // namespace s2e::components diff --git a/src/components/examples/example_i2c_controller_for_hils.hpp b/src/components/examples/example_i2c_controller_for_hils.hpp index 51b948708..1e5796c39 100644 --- a/src/components/examples/example_i2c_controller_for_hils.hpp +++ b/src/components/examples/example_i2c_controller_for_hils.hpp @@ -11,6 +11,8 @@ #include "../base/component.hpp" #include "../base/i2c_controller.hpp" +namespace s2e::components { + /** * @class ExampleI2cControllerForHils * @brief Example of component emulation for I2C controller side communication in HILS environment @@ -65,4 +67,6 @@ class ExampleI2cControllerForHils : public Component, public I2cController { static const uint8_t kCmdFooter_ = 0x50; //!< 'P' Footer for SC18IM700 }; +} // namespace s2e::components + #endif // S2E_COMPONENTS_EXAMPLES_EXAMPLE_I2C_CONTROLLER_FOR_HILS_HPP_ diff --git a/src/components/examples/example_i2c_target_for_hils.cpp b/src/components/examples/example_i2c_target_for_hils.cpp index 3ec63ed3e..0fc2a2380 100644 --- a/src/components/examples/example_i2c_target_for_hils.cpp +++ b/src/components/examples/example_i2c_target_for_hils.cpp @@ -5,6 +5,8 @@ #include "example_i2c_target_for_hils.hpp" +namespace s2e::components { + ExampleI2cTargetForHils::ExampleI2cTargetForHils(const int prescaler, ClockGenerator* clock_generator, const int sils_port_id, unsigned char i2c_address, OnBoardComputer* obc, const unsigned int hils_port_id, HilsPortManager* hils_port_manager) @@ -39,3 +41,5 @@ void ExampleI2cTargetForHils::MainRoutine(const int time_count) { return; } + +} // namespace s2e::components diff --git a/src/components/examples/example_i2c_target_for_hils.hpp b/src/components/examples/example_i2c_target_for_hils.hpp index 9c486995f..ca03d3690 100644 --- a/src/components/examples/example_i2c_target_for_hils.hpp +++ b/src/components/examples/example_i2c_target_for_hils.hpp @@ -11,6 +11,8 @@ #include "../base/component.hpp" #include "../base/i2c_target_communication_with_obc.hpp" +namespace s2e::components { + /** * @class ExampleI2cTargetForHils * @brief Example of component emulation for I2C target side communication in HILS environment @@ -54,4 +56,6 @@ class ExampleI2cTargetForHils : public Component, public I2cTargetCommunicationW const unsigned char kNumAlphabet = 26; //!< Number of alphabet }; +} // namespace s2e::components + #endif // S2E_COMPONENTS_EXAMPLES_EXAMPLE_I2C_TARGET_FOR_HILS_HPP_ diff --git a/src/components/examples/example_serial_communication_for_hils.cpp b/src/components/examples/example_serial_communication_for_hils.cpp index fe0b9b3d8..d4890360d 100644 --- a/src/components/examples/example_serial_communication_for_hils.cpp +++ b/src/components/examples/example_serial_communication_for_hils.cpp @@ -6,6 +6,8 @@ #include +namespace s2e::components { + ExampleSerialCommunicationForHils::ExampleSerialCommunicationForHils(ClockGenerator* clock_generator, const int sils_port_id, OnBoardComputer* obc, const unsigned int hils_port_id, const unsigned int baud_rate, HilsPortManager* hils_port_manager, const int mode_id) @@ -59,3 +61,5 @@ void ExampleSerialCommunicationForHils::MainRoutine(const int time_count) { ReceiveCommand(0, kMemorySize); SendTelemetry(0); } + +} // namespace s2e::components diff --git a/src/components/examples/example_serial_communication_for_hils.hpp b/src/components/examples/example_serial_communication_for_hils.hpp index 682d4afe0..2393fa2c5 100644 --- a/src/components/examples/example_serial_communication_for_hils.hpp +++ b/src/components/examples/example_serial_communication_for_hils.hpp @@ -11,6 +11,8 @@ #include "../base/component.hpp" #include "../base/uart_communication_with_obc.hpp" +namespace s2e::components { + /** * @class ExampleSerialCommunicationForHils * @brief Example of component emulation for communication in HILS environment @@ -71,4 +73,6 @@ class ExampleSerialCommunicationForHils : public Component, public UartCommunica int GenerateTelemetry() override; }; +} // namespace s2e::components + #endif // S2E_COMPONENTS_EXAMPLES_EXAMPLE_SERIAL_COMMUNICATION_FOR_HILS_HPP_ diff --git a/src/components/examples/example_serial_communication_with_obc.cpp b/src/components/examples/example_serial_communication_with_obc.cpp index 4042fbcb1..b44138520 100644 --- a/src/components/examples/example_serial_communication_with_obc.cpp +++ b/src/components/examples/example_serial_communication_with_obc.cpp @@ -7,6 +7,8 @@ #include +namespace s2e::components { + ExampleSerialCommunicationWithObc::ExampleSerialCommunicationWithObc(ClockGenerator* clock_generator, int port_id, OnBoardComputer* obc) : Component(1000, clock_generator), UartCommunicationWithObc(port_id, obc) { Initialize(); @@ -54,3 +56,5 @@ void ExampleSerialCommunicationWithObc::MainRoutine(const int time_count) { void ExampleSerialCommunicationWithObc::GpioStateChanged(const int port_id, const bool is_positive_edge) { printf("interrupted. port id = %d, is positive edge = %d./n", port_id, is_positive_edge); } + +} // namespace s2e::components diff --git a/src/components/examples/example_serial_communication_with_obc.hpp b/src/components/examples/example_serial_communication_with_obc.hpp index a83eb4bcf..9a61c1ed0 100644 --- a/src/components/examples/example_serial_communication_with_obc.hpp +++ b/src/components/examples/example_serial_communication_with_obc.hpp @@ -12,6 +12,8 @@ #include "../base/interface_gpio_component.hpp" #include "../base/uart_communication_with_obc.hpp" +namespace s2e::components { + /** * @class ExampleSerialCommunicationWithObc * @brief Example of component emulation with communication between OBC flight software @@ -89,4 +91,6 @@ class ExampleSerialCommunicationWithObc : public Component, public UartCommunica int Initialize(); }; +} // namespace s2e::components + #endif // S2E_COMPONENTS_EXAMPLES_EXAMPLE_SERIAL_COMMUNICATION_WITH_OBC_HPP_P_ From 085a95f9666efe6321bb4c7b0312b5e50c43d537 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Fri, 27 Sep 2024 13:58:37 +0900 Subject: [PATCH 405/456] Add s2e::components namespace for ideal --- src/components/ideal/angular_velocity_observer.cpp | 4 ++++ src/components/ideal/angular_velocity_observer.hpp | 4 ++++ src/components/ideal/attitude_observer.cpp | 4 ++++ src/components/ideal/attitude_observer.hpp | 4 ++++ src/components/ideal/force_generator.cpp | 4 ++++ src/components/ideal/force_generator.hpp | 4 ++++ src/components/ideal/orbit_observer.cpp | 4 ++++ src/components/ideal/orbit_observer.hpp | 4 ++++ src/components/ideal/torque_generator.cpp | 4 ++++ src/components/ideal/torque_generator.hpp | 4 ++++ 10 files changed, 40 insertions(+) diff --git a/src/components/ideal/angular_velocity_observer.cpp b/src/components/ideal/angular_velocity_observer.cpp index 6ff33272f..d6a2bbcf3 100644 --- a/src/components/ideal/angular_velocity_observer.cpp +++ b/src/components/ideal/angular_velocity_observer.cpp @@ -7,6 +7,8 @@ #include +namespace s2e::components { + AngularVelocityObserver::AngularVelocityObserver(const int prescaler, ClockGenerator* clock_generator, Sensor& sensor_base, const Attitude& attitude) : Component(prescaler, clock_generator), Sensor(sensor_base), attitude_(attitude) {} @@ -46,3 +48,5 @@ AngularVelocityObserver InitializeAngularVelocityObserver(ClockGenerator* clock_ return observer; } + +} // namespace s2e::components diff --git a/src/components/ideal/angular_velocity_observer.hpp b/src/components/ideal/angular_velocity_observer.hpp index bf22777ac..47bb4a404 100644 --- a/src/components/ideal/angular_velocity_observer.hpp +++ b/src/components/ideal/angular_velocity_observer.hpp @@ -12,6 +12,8 @@ #include "../base/component.hpp" #include "../base/sensor.hpp" +namespace s2e::components { + /* * @class AngularVelocityObserver * @brief Ideal component which can observe angular velocity @@ -75,4 +77,6 @@ class AngularVelocityObserver : public Component, public Sensor<3>, public ILogg AngularVelocityObserver InitializeAngularVelocityObserver(ClockGenerator* clock_generator, const std::string file_name, double component_step_time_s, const Attitude& attitude); +} // namespace s2e::components + #endif // S2E_COMPONENTS_IDEAL_ANGULAR_VELOCITY_OBSERVER_HPP_ diff --git a/src/components/ideal/attitude_observer.cpp b/src/components/ideal/attitude_observer.cpp index 26ffee05b..533a636c8 100644 --- a/src/components/ideal/attitude_observer.cpp +++ b/src/components/ideal/attitude_observer.cpp @@ -8,6 +8,8 @@ #include #include +namespace s2e::components { + AttitudeObserver::AttitudeObserver(const int prescaler, ClockGenerator* clock_generator, const double standard_deviation_rad, const Attitude& attitude) : Component(prescaler, clock_generator), angle_noise_(0.0, standard_deviation_rad), attitude_(attitude) { @@ -62,3 +64,5 @@ AttitudeObserver InitializeAttitudeObserver(ClockGenerator* clock_generator, con return attitude_observer; } + +} // namespace s2e::components diff --git a/src/components/ideal/attitude_observer.hpp b/src/components/ideal/attitude_observer.hpp index 1b80659d0..0bf1e973f 100644 --- a/src/components/ideal/attitude_observer.hpp +++ b/src/components/ideal/attitude_observer.hpp @@ -13,6 +13,8 @@ #include "../base/component.hpp" +namespace s2e::components { + /* * @class AttitudeObserver * @brief Ideal component which can observe attitude @@ -77,4 +79,6 @@ class AttitudeObserver : public Component, public ILoggable { */ AttitudeObserver InitializeAttitudeObserver(ClockGenerator* clock_generator, const std::string file_name, const Attitude& attitude); +} // namespace s2e::components + #endif // S2E_COMPONENTS_IDEAL_ATTITUDE_OBSERVER_HPP_ diff --git a/src/components/ideal/force_generator.cpp b/src/components/ideal/force_generator.cpp index 79a062ede..59e788ba3 100644 --- a/src/components/ideal/force_generator.cpp +++ b/src/components/ideal/force_generator.cpp @@ -8,6 +8,8 @@ #include #include +namespace s2e::components { + // Constructor ForceGenerator::ForceGenerator(const int prescaler, ClockGenerator* clock_generator, const double magnitude_error_standard_deviation_N, const double direction_error_standard_deviation_rad, const Dynamics* dynamics) @@ -122,3 +124,5 @@ ForceGenerator InitializeForceGenerator(ClockGenerator* clock_generator, const s return force_generator; } + +} // namespace s2e::components diff --git a/src/components/ideal/force_generator.hpp b/src/components/ideal/force_generator.hpp index 607e0a6fd..46724d9f4 100644 --- a/src/components/ideal/force_generator.hpp +++ b/src/components/ideal/force_generator.hpp @@ -12,6 +12,8 @@ #include #include +namespace s2e::components { + /* * @class ForceGenerator * @brief Ideal component which can generate for control algorithm test @@ -124,4 +126,6 @@ class ForceGenerator : public Component, public ILoggable { */ ForceGenerator InitializeForceGenerator(ClockGenerator* clock_generator, const std::string file_name, const Dynamics* dynamics); +} // namespace s2e::components + #endif // S2E_COMPONENTS_IDEAL_FORCE_GENERATOR_HPP_ diff --git a/src/components/ideal/orbit_observer.cpp b/src/components/ideal/orbit_observer.cpp index f724d0ce9..881610793 100644 --- a/src/components/ideal/orbit_observer.cpp +++ b/src/components/ideal/orbit_observer.cpp @@ -8,6 +8,8 @@ #include #include +namespace s2e::components { + OrbitObserver::OrbitObserver(const int prescaler, ClockGenerator* clock_generator, const NoiseFrame noise_frame, const s2e::math::Vector<6> error_standard_deviation, const Orbit& orbit) : Component(prescaler, clock_generator), noise_frame_(noise_frame), orbit_(orbit) { @@ -100,3 +102,5 @@ OrbitObserver InitializeOrbitObserver(ClockGenerator* clock_generator, const std return orbit_observer; } + +} // namespace s2e::components diff --git a/src/components/ideal/orbit_observer.hpp b/src/components/ideal/orbit_observer.hpp index 6c1119986..36ef2a447 100644 --- a/src/components/ideal/orbit_observer.hpp +++ b/src/components/ideal/orbit_observer.hpp @@ -13,6 +13,8 @@ #include "../base/component.hpp" +namespace s2e::components { + /** * @enum NoiseFrame * @brief Noise definition frame @@ -105,4 +107,6 @@ NoiseFrame SetNoiseFrame(const std::string noise_frame); */ OrbitObserver InitializeOrbitObserver(ClockGenerator* clock_generator, const std::string file_name, const Orbit& orbit); +} // namespace s2e::components + #endif // S2E_COMPONENTS_IDEAL_ORBIT_OBSERVER_HPP_ diff --git a/src/components/ideal/torque_generator.cpp b/src/components/ideal/torque_generator.cpp index efcf0392d..600f65e5a 100644 --- a/src/components/ideal/torque_generator.cpp +++ b/src/components/ideal/torque_generator.cpp @@ -8,6 +8,8 @@ #include #include +namespace s2e::components { + // Constructor TorqueGenerator::TorqueGenerator(const int prescaler, ClockGenerator* clock_generator, const double magnitude_error_standard_deviation_Nm, const double direction_error_standard_deviation_rad, const Dynamics* dynamics) @@ -96,3 +98,5 @@ TorqueGenerator InitializeTorqueGenerator(ClockGenerator* clock_generator, const return torque_generator; } + +} // namespace s2e::components diff --git a/src/components/ideal/torque_generator.hpp b/src/components/ideal/torque_generator.hpp index 3b8606464..51cbe39ee 100644 --- a/src/components/ideal/torque_generator.hpp +++ b/src/components/ideal/torque_generator.hpp @@ -12,6 +12,8 @@ #include #include +namespace s2e::components { + /* * @class TorqueGenerator * @brief Ideal component which can generate for control algorithm test @@ -102,4 +104,6 @@ class TorqueGenerator : public Component, public ILoggable { */ TorqueGenerator InitializeTorqueGenerator(ClockGenerator* clock_generator, const std::string file_name, const Dynamics* dynamics); +} // namespace s2e::components + #endif // S2E_COMPONENTS_IDEAL_TORQUE_GENERATOR_HPP_ From 61aa36f0df027adcf2176056dd684358558ff25e Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Fri, 27 Sep 2024 14:02:00 +0900 Subject: [PATCH 406/456] Add s2e::components namespace for ports --- src/components/ports/gpio_port.cpp | 4 ++++ src/components/ports/gpio_port.hpp | 4 ++++ src/components/ports/hils_i2c_target_port.cpp | 4 ++++ src/components/ports/hils_i2c_target_port.hpp | 4 ++++ src/components/ports/hils_uart_port.cpp | 4 ++++ src/components/ports/hils_uart_port.hpp | 4 ++++ src/components/ports/i2c_port.cpp | 4 ++++ src/components/ports/i2c_port.hpp | 4 ++++ src/components/ports/power_port.cpp | 4 ++++ src/components/ports/power_port.hpp | 4 ++++ src/components/ports/uart_port.cpp | 4 ++++ src/components/ports/uart_port.hpp | 4 ++++ 12 files changed, 48 insertions(+) diff --git a/src/components/ports/gpio_port.cpp b/src/components/ports/gpio_port.cpp index 4a155cc57..bf91c2f8c 100644 --- a/src/components/ports/gpio_port.cpp +++ b/src/components/ports/gpio_port.cpp @@ -5,6 +5,8 @@ #include "gpio_port.hpp" +namespace s2e::components { + GpioPort::GpioPort(const unsigned int port_id, IGPIOCompo* component) : kPortId(port_id) { high_low_state_ = GPIO_LOW; component_ = component; @@ -24,3 +26,5 @@ int GpioPort::DigitalWrite(const bool is_high) { } bool GpioPort::DigitalRead() { return high_low_state_; } + +} // namespace s2e::components diff --git a/src/components/ports/gpio_port.hpp b/src/components/ports/gpio_port.hpp index b1c38bb2a..3feb8af86 100644 --- a/src/components/ports/gpio_port.hpp +++ b/src/components/ports/gpio_port.hpp @@ -8,6 +8,8 @@ #include +namespace s2e::components { + #define GPIO_HIGH true #define GPIO_LOW false @@ -51,4 +53,6 @@ class GpioPort { bool high_low_state_; //!< GPIO High/Low state }; +} // namespace s2e::components + #endif // S2E_COMPONENTS_PORTS_GPIO_PORT_HPP_ diff --git a/src/components/ports/hils_i2c_target_port.cpp b/src/components/ports/hils_i2c_target_port.cpp index c4797e31e..6d4cd71cb 100644 --- a/src/components/ports/hils_i2c_target_port.cpp +++ b/src/components/ports/hils_i2c_target_port.cpp @@ -5,6 +5,8 @@ #include "hils_i2c_target_port.hpp" +namespace s2e::components { + // #define HILS_I2C_TARGET_PORT_SHOW_DEBUG_DATA //!< Remove comment when you want to show the debug message // FIXME: The magic number. This is depending on the converter. @@ -105,3 +107,5 @@ int HilsI2cTargetPort::Send(const unsigned char data_length) // to I2C-USB Targ } int HilsI2cTargetPort::GetStoredFrameCounter() { return stored_frame_counter_; } + +} // namespace s2e::components diff --git a/src/components/ports/hils_i2c_target_port.hpp b/src/components/ports/hils_i2c_target_port.hpp index 16bee3cd4..54cb76531 100644 --- a/src/components/ports/hils_i2c_target_port.hpp +++ b/src/components/ports/hils_i2c_target_port.hpp @@ -10,6 +10,8 @@ #include "hils_uart_port.hpp" +namespace s2e::components { + const unsigned int kDefaultCommandSize = 0xff; //!< Default command size const unsigned int kDefaultTxSize = 0xff; //!< Default TX size @@ -107,4 +109,6 @@ class HilsI2cTargetPort : public HilsUartPort { std::map command_buffer_; }; +} // namespace s2e::components + #endif // S2E_COMPONENTS_PORTS_HILS_I2C_TARGET_PORT_HPP_ diff --git a/src/components/ports/hils_uart_port.cpp b/src/components/ports/hils_uart_port.cpp index be3d1e16c..bc811269b 100644 --- a/src/components/ports/hils_uart_port.cpp +++ b/src/components/ports/hils_uart_port.cpp @@ -8,6 +8,8 @@ #include "hils_uart_port.hpp" +namespace s2e::components { + // # define HILS_UART_PORT_SHOW_DEBUG_DATA HilsUartPort::HilsUartPort(const unsigned int port_id, const unsigned int baud_rate, const unsigned int tx_buffer_size, @@ -186,3 +188,5 @@ int HilsUartPort::DiscardOutBuffer() { } return 0; } + +} // namespace s2e::components diff --git a/src/components/ports/hils_uart_port.hpp b/src/components/ports/hils_uart_port.hpp index 1be6a9b8f..be2fc9bbd 100644 --- a/src/components/ports/hils_uart_port.hpp +++ b/src/components/ports/hils_uart_port.hpp @@ -14,6 +14,8 @@ #include +namespace s2e::components { + typedef cli::array bytearray; //!< System::Byte: an 8-bit unsigned integer /** @@ -111,4 +113,6 @@ class HilsUartPort { int DiscardOutBuffer(); }; +} // namespace s2e::components + #endif // S2E_COMPONENTS_PORTS_HILS_UART_PORT_HPP_ diff --git a/src/components/ports/i2c_port.cpp b/src/components/ports/i2c_port.cpp index 715fd9538..8b4e1cfa1 100644 --- a/src/components/ports/i2c_port.cpp +++ b/src/components/ports/i2c_port.cpp @@ -7,6 +7,8 @@ #include +namespace s2e::components { + I2cPort::I2cPort(void) {} I2cPort::I2cPort(const unsigned char max_register_number) : max_register_number_(max_register_number) {} @@ -93,3 +95,5 @@ unsigned char I2cPort::ReadCommand(const unsigned char i2c_address, unsigned cha } return length; } + +} // namespace s2e::components \ No newline at end of file diff --git a/src/components/ports/i2c_port.hpp b/src/components/ports/i2c_port.hpp index 57143b992..044431c0e 100644 --- a/src/components/ports/i2c_port.hpp +++ b/src/components/ports/i2c_port.hpp @@ -8,6 +8,8 @@ #include +namespace s2e::components { + /** * @class I2cPort * @brief Class to emulate I2C(Inter-Integrated Circuit) communication port @@ -108,4 +110,6 @@ class I2cPort { std::map, unsigned char> command_buffer_; }; +} // namespace s2e::components + #endif // S2E_COMPONENTS_PORTS_I2C_PORT_HPP_ diff --git a/src/components/ports/power_port.cpp b/src/components/ports/power_port.cpp index 1a3393ec3..ac763115e 100644 --- a/src/components/ports/power_port.cpp +++ b/src/components/ports/power_port.cpp @@ -9,6 +9,8 @@ #include #include +namespace s2e::components { + PowerPort::PowerPort() : kPortId(-1), current_limit_A_(10.0), minimum_voltage_V_(3.3), assumed_power_consumption_W_(0.0) { is_on_ = true; // power on to work the component Initialize(); @@ -74,3 +76,5 @@ void PowerPort::InitializeWithInitializeFile(const std::string file_name) { double assumed_power_consumption_W = initialize_file.ReadDouble(section_name.c_str(), "assumed_power_consumption_W"); this->SetAssumedPowerConsumption_W(assumed_power_consumption_W); } + +} // namespace s2e::components diff --git a/src/components/ports/power_port.hpp b/src/components/ports/power_port.hpp index e890d25b5..98d0a74d6 100644 --- a/src/components/ports/power_port.hpp +++ b/src/components/ports/power_port.hpp @@ -8,6 +8,8 @@ #include +namespace s2e::components { + /** * @class PowerPort * @brief Class to emulate electrical power port @@ -133,4 +135,6 @@ class PowerPort { void Initialize(void); }; +} // namespace s2e::components + #endif // S2E_COMPONENTS_PORTS_POWER_PORT_HPP_ diff --git a/src/components/ports/uart_port.cpp b/src/components/ports/uart_port.cpp index a2ad5303a..a88f98699 100644 --- a/src/components/ports/uart_port.cpp +++ b/src/components/ports/uart_port.cpp @@ -5,6 +5,8 @@ #include "uart_port.hpp" +namespace s2e::components { + UartPort::UartPort() : UartPort(kDefaultBufferSize, kDefaultBufferSize) {} UartPort::UartPort(const unsigned int rx_buffer_size, const unsigned int tx_buffer_size) { @@ -36,3 +38,5 @@ int UartPort::ReadTx(unsigned char* buffer, const unsigned int offset, const uns int UartPort::ReadRx(unsigned char* buffer, const unsigned int offset, const unsigned int data_length) { return rx_buffer_->Read(buffer, offset, data_length); } + +} // namespace s2e::components diff --git a/src/components/ports/uart_port.hpp b/src/components/ports/uart_port.hpp index b50f90c28..eb5e6683c 100644 --- a/src/components/ports/uart_port.hpp +++ b/src/components/ports/uart_port.hpp @@ -8,6 +8,8 @@ #include +namespace s2e::components { + /** * @class UartPort * @brief Class to emulate UART communication port @@ -78,4 +80,6 @@ class UartPort { RingBuffer* tx_buffer_; //!< Transmit buffer (OBC-> Component) }; +} // namespace s2e::components + #endif // S2E_COMPONENTS_PORTS_UART_PORT_HPP_ From 50aa0554eee2482e997041aff87a73f943c8204d Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Fri, 27 Sep 2024 14:16:16 +0900 Subject: [PATCH 407/456] Add s2e::components namespace for real --- src/components/real/aocs/gnss_receiver.cpp | 4 ++++ src/components/real/aocs/gnss_receiver.hpp | 4 ++++ src/components/real/aocs/gyro_sensor.cpp | 4 ++++ src/components/real/aocs/gyro_sensor.hpp | 4 ++++ src/components/real/aocs/magnetometer.cpp | 4 ++++ src/components/real/aocs/magnetometer.hpp | 4 ++++ src/components/real/aocs/magnetorquer.cpp | 4 ++++ src/components/real/aocs/magnetorquer.hpp | 4 ++++ src/components/real/aocs/mtq_magnetometer_interference.cpp | 4 ++++ src/components/real/aocs/mtq_magnetometer_interference.hpp | 4 ++++ src/components/real/aocs/reaction_wheel.cpp | 4 ++++ src/components/real/aocs/reaction_wheel.hpp | 4 ++++ src/components/real/aocs/reaction_wheel_jitter.cpp | 4 ++++ src/components/real/aocs/reaction_wheel_jitter.hpp | 4 ++++ src/components/real/aocs/reaction_wheel_ode.cpp | 4 ++++ src/components/real/aocs/reaction_wheel_ode.hpp | 4 ++++ src/components/real/aocs/star_sensor.cpp | 4 ++++ src/components/real/aocs/star_sensor.hpp | 4 ++++ src/components/real/aocs/sun_sensor.cpp | 4 ++++ src/components/real/aocs/sun_sensor.hpp | 4 ++++ src/components/real/cdh/c2a_communication.hpp | 4 ++++ src/components/real/cdh/on_board_computer.cpp | 4 ++++ src/components/real/cdh/on_board_computer.hpp | 4 ++++ src/components/real/cdh/on_board_computer_with_c2a.cpp | 6 +++++- src/components/real/cdh/on_board_computer_with_c2a.hpp | 4 ++++ src/components/real/communication/antenna.cpp | 4 ++++ src/components/real/communication/antenna.hpp | 4 ++++ .../real/communication/antenna_radiation_pattern.cpp | 4 ++++ .../real/communication/antenna_radiation_pattern.hpp | 4 ++++ .../real/communication/ground_station_calculator.cpp | 4 ++++ .../real/communication/ground_station_calculator.hpp | 4 ++++ .../real/communication/wings_command_sender_to_c2a.cpp | 4 ++++ .../real/communication/wings_command_sender_to_c2a.hpp | 4 ++++ src/components/real/mission/telescope.cpp | 4 ++++ src/components/real/mission/telescope.hpp | 4 ++++ src/components/real/power/battery.cpp | 4 ++++ src/components/real/power/battery.hpp | 4 ++++ src/components/real/power/csv_scenario_interface.cpp | 4 ++++ src/components/real/power/csv_scenario_interface.hpp | 4 ++++ src/components/real/power/pcu_initial_study.cpp | 4 ++++ src/components/real/power/pcu_initial_study.hpp | 4 ++++ src/components/real/power/power_control_unit.cpp | 4 ++++ src/components/real/power/power_control_unit.hpp | 4 ++++ src/components/real/power/solar_array_panel.cpp | 4 ++++ src/components/real/power/solar_array_panel.hpp | 4 ++++ src/components/real/propulsion/simple_thruster.cpp | 4 ++++ src/components/real/propulsion/simple_thruster.hpp | 4 ++++ 47 files changed, 189 insertions(+), 1 deletion(-) diff --git a/src/components/real/aocs/gnss_receiver.cpp b/src/components/real/aocs/gnss_receiver.cpp index f5c28e8cd..0d899b9e8 100644 --- a/src/components/real/aocs/gnss_receiver.cpp +++ b/src/components/real/aocs/gnss_receiver.cpp @@ -11,6 +11,8 @@ #include #include +namespace s2e::components { + GnssReceiver::GnssReceiver(const int prescaler, ClockGenerator* clock_generator, const size_t component_id, const AntennaModel antenna_model, const s2e::math::Vector<3> antenna_position_b_m, const s2e::math::Quaternion quaternion_b2c, const double half_width_deg, const s2e::math::Vector<3> position_noise_standard_deviation_ecef_m, @@ -311,3 +313,5 @@ GnssReceiver InitGnssReceiver(ClockGenerator* clock_generator, PowerPort* power_ gr_param.velocity_noise_standard_deviation_ecef_m_s, dynamics, gnss_satellites, simulation_time); return gnss_r; } + +} // namespace s2e::components diff --git a/src/components/real/aocs/gnss_receiver.hpp b/src/components/real/aocs/gnss_receiver.hpp index 14a4dbc86..1ea260d0f 100644 --- a/src/components/real/aocs/gnss_receiver.hpp +++ b/src/components/real/aocs/gnss_receiver.hpp @@ -16,6 +16,8 @@ #include "../../base/component.hpp" +namespace s2e::components { + /** * @enum AntennaModel * @brief Antenna pattern model to emulate GNSS antenna @@ -240,4 +242,6 @@ GnssReceiver InitGnssReceiver(ClockGenerator* clock_generator, const size_t comp GnssReceiver InitGnssReceiver(ClockGenerator* clock_generator, PowerPort* power_port, const size_t component_id, const std::string file_name, const Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time); +} // namespace s2e::components + #endif // S2E_COMPONENTS_REAL_AOCS_GNSS_RECEIVER_HPP_ diff --git a/src/components/real/aocs/gyro_sensor.cpp b/src/components/real/aocs/gyro_sensor.cpp index 244127fb1..7af914f24 100644 --- a/src/components/real/aocs/gyro_sensor.cpp +++ b/src/components/real/aocs/gyro_sensor.cpp @@ -7,6 +7,8 @@ #include +namespace s2e::components { + GyroSensor::GyroSensor(const int prescaler, ClockGenerator* clock_generator, Sensor& sensor_base, const unsigned int sensor_id, const s2e::math::Quaternion& quaternion_b2c, const Dynamics* dynamics) : Component(prescaler, clock_generator), Sensor(sensor_base), sensor_id_(sensor_id), quaternion_b2c_(quaternion_b2c), dynamics_(dynamics) {} @@ -88,3 +90,5 @@ GyroSensor InitGyroSensor(ClockGenerator* clock_generator, PowerPort* power_port GyroSensor gyro(prescaler, clock_generator, power_port, sensor_base, sensor_id, quaternion_b2c, dynamics); return gyro; } + +} // namespace s2e::components diff --git a/src/components/real/aocs/gyro_sensor.hpp b/src/components/real/aocs/gyro_sensor.hpp index cd0ec6d34..fd6ede443 100644 --- a/src/components/real/aocs/gyro_sensor.hpp +++ b/src/components/real/aocs/gyro_sensor.hpp @@ -13,6 +13,8 @@ #include "../../base/component.hpp" #include "../../base/sensor.hpp" +namespace s2e::components { + const size_t kGyroDimension = 3; //!< Dimension of gyro sensor /** @@ -110,4 +112,6 @@ GyroSensor InitGyroSensor(ClockGenerator* clock_generator, int sensor_id, const GyroSensor InitGyroSensor(ClockGenerator* clock_generator, PowerPort* power_port, int sensor_id, const std::string file_name, double component_step_time_s, const Dynamics* dynamics); +} //namespace s2e::components + #endif // S2E_COMPONENTS_REAL_AOCS_GYRO_SENSOR_HPP_ diff --git a/src/components/real/aocs/magnetometer.cpp b/src/components/real/aocs/magnetometer.cpp index 91236b2e4..1326a7ba4 100644 --- a/src/components/real/aocs/magnetometer.cpp +++ b/src/components/real/aocs/magnetometer.cpp @@ -7,6 +7,8 @@ #include #include +namespace s2e::components { + Magnetometer::Magnetometer(int prescaler, ClockGenerator* clock_generator, Sensor& sensor_base, const unsigned int sensor_id, const s2e::math::Quaternion& quaternion_b2c, const GeomagneticField* geomagnetic_field) : Component(prescaler, clock_generator), @@ -91,3 +93,5 @@ Magnetometer InitMagnetometer(ClockGenerator* clock_generator, PowerPort* power_ Magnetometer magsensor(prescaler, clock_generator, power_port, sensor_base, sensor_id, quaternion_b2c, geomagnetic_field); return magsensor; } + +} // namespace s2e::components diff --git a/src/components/real/aocs/magnetometer.hpp b/src/components/real/aocs/magnetometer.hpp index d4d7502e6..34dce8647 100644 --- a/src/components/real/aocs/magnetometer.hpp +++ b/src/components/real/aocs/magnetometer.hpp @@ -13,6 +13,8 @@ #include "../../base/component.hpp" #include "../../base/sensor.hpp" +namespace s2e::components { + const size_t kMagnetometerDimension = 3; //!< Dimension of magnetometer /** @@ -129,4 +131,6 @@ Magnetometer InitMagnetometer(ClockGenerator* clock_generator, int sensor_id, co Magnetometer InitMagnetometer(ClockGenerator* clock_generator, PowerPort* power_port, int sensor_id, const std::string file_name, double component_step_time_s, const GeomagneticField* geomagnetic_field); +} // namespace s2e::components + #endif // S2E_COMPONENTS_REAL_AOCS_MAGNETOMETER_HPP_ diff --git a/src/components/real/aocs/magnetorquer.cpp b/src/components/real/aocs/magnetorquer.cpp index 909996b84..a213539a7 100644 --- a/src/components/real/aocs/magnetorquer.cpp +++ b/src/components/real/aocs/magnetorquer.cpp @@ -11,6 +11,8 @@ #include #include +namespace s2e::components { + Magnetorquer::Magnetorquer(const int prescaler, ClockGenerator* clock_generator, const int component_id, const s2e::math::Quaternion& quaternion_b2c, const s2e::math::Matrix& scale_factor, const s2e::math::Vector& max_magnetic_moment_c_Am2, const s2e::math::Vector& min_magnetic_moment_c_Am2, @@ -203,3 +205,5 @@ Magnetorquer InitMagnetorquer(ClockGenerator* clock_generator, PowerPort* power_ random_walk_limit_c_Am2, normal_random_standard_deviation_c_Am2, geomagnetic_field); return magtorquer; } + +} // namespace s2e::components diff --git a/src/components/real/aocs/magnetorquer.hpp b/src/components/real/aocs/magnetorquer.hpp index 0af9f30e7..fb7ad153e 100644 --- a/src/components/real/aocs/magnetorquer.hpp +++ b/src/components/real/aocs/magnetorquer.hpp @@ -16,6 +16,8 @@ #include "../../base/component.hpp" +namespace s2e::components { + const size_t kMtqDimension = 3; //!< Dimension of magnetorquer /** @@ -170,4 +172,6 @@ Magnetorquer InitMagnetorquer(ClockGenerator* clock_generator, int actuator_id, Magnetorquer InitMagnetorquer(ClockGenerator* clock_generator, PowerPort* power_port, int actuator_id, const std::string file_name, double component_step_time_s, const GeomagneticField* geomagnetic_field); +} // namespace s2e::components + #endif // S2E_COMPONENTS_REAL_AOCS_MAGNETORQUER_HPP_ diff --git a/src/components/real/aocs/mtq_magnetometer_interference.cpp b/src/components/real/aocs/mtq_magnetometer_interference.cpp index 7b603abbc..b2f23f474 100644 --- a/src/components/real/aocs/mtq_magnetometer_interference.cpp +++ b/src/components/real/aocs/mtq_magnetometer_interference.cpp @@ -7,6 +7,8 @@ #include "setting_file_reader/initialize_file_access.hpp" +namespace s2e::components { + MtqMagnetometerInterference::MtqMagnetometerInterference(const std::string file_name, Magnetometer& magnetometer, const Magnetorquer& magnetorquer, const size_t initialize_id) : magnetometer_(magnetometer), magnetorquer_(magnetorquer) { @@ -49,3 +51,5 @@ void MtqMagnetometerInterference::UpdateInterference(void) { magnetometer_.AddConstantBiasNoise_c_nT(additional_bias_c_nT); previous_added_bias_c_nT_ = additional_bias_c_nT; } + +} // namespace s2e::components diff --git a/src/components/real/aocs/mtq_magnetometer_interference.hpp b/src/components/real/aocs/mtq_magnetometer_interference.hpp index 2c2c4c0d8..715cbce47 100644 --- a/src/components/real/aocs/mtq_magnetometer_interference.hpp +++ b/src/components/real/aocs/mtq_magnetometer_interference.hpp @@ -9,6 +9,8 @@ #include "magnetometer.hpp" #include "magnetorquer.hpp" +namespace s2e::components { + /** * @class MtqMagnetometerInterference * @brief Class for MTQ Magnetometer interference @@ -38,4 +40,6 @@ class MtqMagnetometerInterference { const Magnetorquer& magnetorquer_; //!< Magnetorquer }; +} // namespace s2e::components + #endif // S2E_COMPONENTS_REAL_AOCS_MTQ_MAGNETOMETER_INTERFERENCE_HPP_ diff --git a/src/components/real/aocs/reaction_wheel.cpp b/src/components/real/aocs/reaction_wheel.cpp index e0e2a1c13..918ed9578 100644 --- a/src/components/real/aocs/reaction_wheel.cpp +++ b/src/components/real/aocs/reaction_wheel.cpp @@ -11,6 +11,8 @@ #include #include +namespace s2e::components { + ReactionWheel::ReactionWheel(const int prescaler, ClockGenerator* clock_generator, const int component_id, const double step_width_s, const double rotor_inertia_kgm2, const double max_torque_Nm, const double max_velocity_rpm, const s2e::math::Quaternion quaternion_b2c, const s2e::math::Vector<3> position_b_m, const double dead_time_s, @@ -353,3 +355,5 @@ ReactionWheel InitReactionWheel(ClockGenerator* clock_generator, PowerPort* powe return rw; } + +} // namespace s2e::components diff --git a/src/components/real/aocs/reaction_wheel.hpp b/src/components/real/aocs/reaction_wheel.hpp index 14c66a33e..4735f6193 100644 --- a/src/components/real/aocs/reaction_wheel.hpp +++ b/src/components/real/aocs/reaction_wheel.hpp @@ -17,6 +17,8 @@ #include "reaction_wheel_jitter.hpp" #include "reaction_wheel_ode.hpp" +namespace s2e::components { + /* * @class ReactionWheel * @brief Class to emulate Reaction Wheel @@ -246,4 +248,6 @@ ReactionWheel InitReactionWheel(ClockGenerator* clock_generator, int actuator_id ReactionWheel InitReactionWheel(ClockGenerator* clock_generator, PowerPort* power_port, int actuator_id, std::string file_name, double compo_update_step_s); +} // namespace s2e::components + #endif // S2E_COMPONENTS_REAL_AOCS_REACTION_WHEEL_HPP_ diff --git a/src/components/real/aocs/reaction_wheel_jitter.cpp b/src/components/real/aocs/reaction_wheel_jitter.cpp index 5e4a2930b..d0b1408fe 100644 --- a/src/components/real/aocs/reaction_wheel_jitter.cpp +++ b/src/components/real/aocs/reaction_wheel_jitter.cpp @@ -9,6 +9,8 @@ #include #include +namespace s2e::components { + ReactionWheelJitter::ReactionWheelJitter(std::vector> radial_force_harmonics_coefficients, std::vector> radial_torque_harmonics_coefficients, const double update_interval_s, const s2e::math::Quaternion quaternion_b2c, const double structural_resonance_frequency_Hz, @@ -126,3 +128,5 @@ void ReactionWheelJitter::CalcCoefficients() { coefficients_[5] = 4.0 - 4.0 * damping_factor_ * update_interval_s_ * structural_resonance_angular_frequency_Hz_ + pow(update_interval_s_, 2.0) * pow(structural_resonance_angular_frequency_Hz_, 2.0); } + +} // namespace s2e::components diff --git a/src/components/real/aocs/reaction_wheel_jitter.hpp b/src/components/real/aocs/reaction_wheel_jitter.hpp index a6da8a503..ea2fcec93 100644 --- a/src/components/real/aocs/reaction_wheel_jitter.hpp +++ b/src/components/real/aocs/reaction_wheel_jitter.hpp @@ -11,6 +11,8 @@ #include #include +namespace s2e::components { + /* * @class ReactionWheelJitter * @brief Class to calculate RW high-frequency jitter effect @@ -128,4 +130,6 @@ class ReactionWheelJitter { void CalcCoefficients(); }; +} // namespace s2e::components + #endif // S2E_COMPONENTS_REAL_AOCS_REACTION_WHEEL_JITTER_HPP_ diff --git a/src/components/real/aocs/reaction_wheel_ode.cpp b/src/components/real/aocs/reaction_wheel_ode.cpp index 263e24460..d8b34ee86 100644 --- a/src/components/real/aocs/reaction_wheel_ode.cpp +++ b/src/components/real/aocs/reaction_wheel_ode.cpp @@ -6,6 +6,8 @@ #include +namespace s2e::components { + ReactionWheelOde::ReactionWheelOde(const double step_width_s, const double velocity_limit_rad_s, const double initial_angular_velocity_rad_s) : OrdinaryDifferentialEquation<1>(step_width_s), velocity_limit_rad_s_(velocity_limit_rad_s) { this->Setup(0.0, s2e::math::Vector<1>(initial_angular_velocity_rad_s)); @@ -28,3 +30,5 @@ void ReactionWheelOde::DerivativeFunction(double x, const s2e::math::Vector<1> & rhs[0] = angular_acceleration_rad_s2_; } + +} // namespace s2e::components diff --git a/src/components/real/aocs/reaction_wheel_ode.hpp b/src/components/real/aocs/reaction_wheel_ode.hpp index 5553ed389..552c2cc04 100644 --- a/src/components/real/aocs/reaction_wheel_ode.hpp +++ b/src/components/real/aocs/reaction_wheel_ode.hpp @@ -8,6 +8,8 @@ #include +namespace s2e::components { + /* * @file ReactionWheelOde * @brief Ordinary differential equation of angular velocity of reaction wheel with first-order lag @@ -59,4 +61,6 @@ class ReactionWheelOde : public s2e::math::OrdinaryDifferentialEquation<1> { double angular_acceleration_rad_s2_ = 0.0; //!< Angular acceleration [rad/s2] }; +} // namespace s2e::components + #endif // S2E_COMPONENTS_REAL_AOCS_REACTION_WHEEL_ODE_HPP_ diff --git a/src/components/real/aocs/star_sensor.cpp b/src/components/real/aocs/star_sensor.cpp index 193805226..83b105096 100644 --- a/src/components/real/aocs/star_sensor.cpp +++ b/src/components/real/aocs/star_sensor.cpp @@ -16,6 +16,8 @@ using namespace std; using namespace s2e::math; +namespace s2e::components { + StarSensor::StarSensor(const int prescaler, ClockGenerator* clock_generator, const int component_id, const s2e::math::Quaternion& quaternion_b2c, const double standard_deviation_orthogonal_direction, const double standard_deviation_sight_direction, const double step_time_s, const unsigned int output_delay, const unsigned int output_interval, @@ -281,3 +283,5 @@ StarSensor InitStarSensor(ClockGenerator* clock_generator, PowerPort* power_port moon_forbidden_angle_rad, capture_rate_rad_s, dynamics, local_environment); return stt; } + +} // namespace s2e::components diff --git a/src/components/real/aocs/star_sensor.hpp b/src/components/real/aocs/star_sensor.hpp index 1120f9eeb..888f91b18 100644 --- a/src/components/real/aocs/star_sensor.hpp +++ b/src/components/real/aocs/star_sensor.hpp @@ -18,6 +18,8 @@ #include "../../base/component.hpp" #include "dynamics/dynamics.hpp" +namespace s2e::components { + /* * @class StarSensor * @brief Class to emulate star tracker @@ -232,4 +234,6 @@ StarSensor InitStarSensor(ClockGenerator* clock_generator, int sensor_id, const StarSensor InitStarSensor(ClockGenerator* clock_generator, PowerPort* power_port, int sensor_id, const std::string file_name, double component_step_time_s, const Dynamics* dynamics, const LocalEnvironment* local_environment); +} // namespace s2e::components + #endif // S2E_COMPONENTS_REAL_AOCS_STAR_SENSOR_HPP_ diff --git a/src/components/real/aocs/sun_sensor.cpp b/src/components/real/aocs/sun_sensor.cpp index 3070355e4..773aba273 100644 --- a/src/components/real/aocs/sun_sensor.cpp +++ b/src/components/real/aocs/sun_sensor.cpp @@ -14,6 +14,8 @@ using s2e::randomization::NormalRand; using namespace std; +namespace s2e::components { + SunSensor::SunSensor(const int prescaler, ClockGenerator* clock_generator, const int component_id, const s2e::math::Quaternion& quaternion_b2c, const double detectable_angle_rad, const double random_noise_standard_deviation_rad, const double bias_noise_standard_deviation_rad, const double intensity_lower_threshold_percent, @@ -218,3 +220,5 @@ SunSensor InitSunSensor(ClockGenerator* clock_generator, PowerPort* power_port, intensity_lower_threshold_percent, srp_environment, local_celestial_information); return ss; } + +} // namespace s2e::components diff --git a/src/components/real/aocs/sun_sensor.hpp b/src/components/real/aocs/sun_sensor.hpp index 532dfb18f..08c8982d2 100644 --- a/src/components/real/aocs/sun_sensor.hpp +++ b/src/components/real/aocs/sun_sensor.hpp @@ -15,6 +15,8 @@ #include "../../base/component.hpp" +namespace s2e::components { + /* * @class SunSensor * @brief Class to emulate sun sensor @@ -165,4 +167,6 @@ SunSensor InitSunSensor(ClockGenerator* clock_generator, int sensor_id, const st SunSensor InitSunSensor(ClockGenerator* clock_generator, PowerPort* power_port, int sensor_id, const std::string file_name, const SolarRadiationPressureEnvironment* srp_environment, const LocalCelestialInformation* local_celestial_information); +} // namespace s2e::components + #endif // S2E_COMPONENTS_REAL_AOCS_SUN_SENSOR_HPP_ diff --git a/src/components/real/cdh/c2a_communication.hpp b/src/components/real/cdh/c2a_communication.hpp index c749d90e3..4517a3355 100644 --- a/src/components/real/cdh/c2a_communication.hpp +++ b/src/components/real/cdh/c2a_communication.hpp @@ -6,6 +6,8 @@ #ifndef C2A_COMMUNICATION_H_ #define C2A_COMMUNICATION_H_ +namespace s2e::components { + // If the character encoding of C2A is UTF-8, the following functions are not necessary, // and users can directory use SendFromObc_C2A and ReceivedByObc_C2A UART // TODO: Delete these functions since C2A is changed to use UTF-8 @@ -23,4 +25,6 @@ int OBC_C2A_I2cReadRegister(int port_id, const unsigned char i2c_address, unsign int OBC_C2A_GpioWrite(int port_id, const bool is_high); bool OBC_C2A_GpioRead(int port_id); // return false when the port_id is not used +} // namespace s2e::components + #endif // C2A_COMMUNICATION_H_ diff --git a/src/components/real/cdh/on_board_computer.cpp b/src/components/real/cdh/on_board_computer.cpp index ad23fadf4..33a75efd9 100644 --- a/src/components/real/cdh/on_board_computer.cpp +++ b/src/components/real/cdh/on_board_computer.cpp @@ -4,6 +4,8 @@ */ #include "on_board_computer.hpp" +namespace s2e::components { + OnBoardComputer::OnBoardComputer(ClockGenerator* clock_generator) : Component(1, clock_generator) { Initialize(); } OnBoardComputer::OnBoardComputer(int prescaler, ClockGenerator* clock_generator, PowerPort* power_port) @@ -132,3 +134,5 @@ bool OnBoardComputer::GpioComponentRead(int port_id) { if (port == nullptr) return false; return port->DigitalRead(); } + +} // namespace s2e::components diff --git a/src/components/real/cdh/on_board_computer.hpp b/src/components/real/cdh/on_board_computer.hpp index 641f1566c..1943de045 100644 --- a/src/components/real/cdh/on_board_computer.hpp +++ b/src/components/real/cdh/on_board_computer.hpp @@ -13,6 +13,8 @@ #include "../../base/component.hpp" +namespace s2e::components { + /* * @class OnBoardComputer * @brief Class to emulate on board computer @@ -207,4 +209,6 @@ class OnBoardComputer : public Component { std::map gpio_ports_; //!< GPIO ports }; +} // namespace s2e::components + #endif // S2E_COMPONENTS_REAL_CDH_OBC_HPP_ diff --git a/src/components/real/cdh/on_board_computer_with_c2a.cpp b/src/components/real/cdh/on_board_computer_with_c2a.cpp index 8deb53bec..c0514d03f 100644 --- a/src/components/real/cdh/on_board_computer_with_c2a.cpp +++ b/src/components/real/cdh/on_board_computer_with_c2a.cpp @@ -26,6 +26,8 @@ #endif // c2a-core version header #endif // USE_C2A +namespace s2e::components { + std::map ObcWithC2a::com_ports_c2a_; std::map ObcWithC2a::i2c_com_ports_c2a_; std::map ObcWithC2a::gpio_ports_c2a_; @@ -255,4 +257,6 @@ bool ObcWithC2a::GpioRead_C2A(int port_id) { int OBC_C2A_GpioWrite(int port_id, const bool is_high) { return ObcWithC2a::GpioWrite_C2A(port_id, is_high); } -bool OBC_C2A_GpioRead(int port_id) { return ObcWithC2a::GpioRead_C2A(port_id); } \ No newline at end of file +bool OBC_C2A_GpioRead(int port_id) { return ObcWithC2a::GpioRead_C2A(port_id); } + +} // namespace s2e::components diff --git a/src/components/real/cdh/on_board_computer_with_c2a.hpp b/src/components/real/cdh/on_board_computer_with_c2a.hpp index bc9cc22e8..c7b5fe968 100644 --- a/src/components/real/cdh/on_board_computer_with_c2a.hpp +++ b/src/components/real/cdh/on_board_computer_with_c2a.hpp @@ -11,6 +11,8 @@ #include "c2a_communication.hpp" #include "on_board_computer.hpp" +namespace s2e::components { + /* * @class ObcWithC2a * @brief Class to emulate on board computer with C2A flight software @@ -271,4 +273,6 @@ class ObcWithC2a : public OnBoardComputer { static std::map gpio_ports_c2a_; //!< GPIO ports }; +} // namespace s2e::components + #endif // S2E_COMPONENTS_REAL_CDH_OBC_C2A_HPP_ diff --git a/src/components/real/communication/antenna.cpp b/src/components/real/communication/antenna.cpp index db044cb5d..fb22a00b8 100644 --- a/src/components/real/communication/antenna.cpp +++ b/src/components/real/communication/antenna.cpp @@ -11,6 +11,8 @@ #include #include +namespace s2e::components { + Antenna::Antenna(const int component_id, const s2e::math::Quaternion& quaternion_b2c, const bool is_transmitter, const bool is_receiver, const double frequency_MHz, const Vector<5> tx_parameters, const Vector<4> rx_parameters) : component_id_(component_id), is_transmitter_(is_transmitter), is_receiver_(is_receiver), frequency_MHz_(frequency_MHz) { @@ -164,3 +166,5 @@ Antenna InitAntenna(const int antenna_id, const std::string file_name) { rx_system_noise_temperature_K, rx_parameters); return antenna; } + +} // namespace s2e::components diff --git a/src/components/real/communication/antenna.hpp b/src/components/real/communication/antenna.hpp index 78d8f48df..28023cff6 100644 --- a/src/components/real/communication/antenna.hpp +++ b/src/components/real/communication/antenna.hpp @@ -14,6 +14,8 @@ using s2e::math::Vector; #include "./antenna_radiation_pattern.hpp" +namespace s2e::components { + /* * @enum AntennaGainModel * @brief Antenna gain model definition @@ -166,4 +168,6 @@ AntennaGainModel SetAntennaGainModel(const std::string gain_model_name); */ Antenna InitAntenna(const int antenna_id, const std::string file_name); +} // namespace s2e::components + #endif // S2E_COMPONENTS_REAL_COMMUNICATION_ANTENNA_HPP_ diff --git a/src/components/real/communication/antenna_radiation_pattern.cpp b/src/components/real/communication/antenna_radiation_pattern.cpp index a82929c11..71566f080 100644 --- a/src/components/real/communication/antenna_radiation_pattern.cpp +++ b/src/components/real/communication/antenna_radiation_pattern.cpp @@ -9,6 +9,8 @@ #include #include +namespace s2e::components { + AntennaRadiationPattern::AntennaRadiationPattern() { gain_dBi_.assign(length_theta_, std::vector(length_phi_, 0.0)); } AntennaRadiationPattern::AntennaRadiationPattern(const std::string file_path, const size_t length_theta, const size_t length_phi, @@ -37,3 +39,5 @@ double AntennaRadiationPattern::GetGain_dBi(const double theta_rad, const double return gain_dBi_[theta_idx][phi_idx]; } + +} // namespace s2e::components diff --git a/src/components/real/communication/antenna_radiation_pattern.hpp b/src/components/real/communication/antenna_radiation_pattern.hpp index 93aff7df9..3d2382862 100644 --- a/src/components/real/communication/antenna_radiation_pattern.hpp +++ b/src/components/real/communication/antenna_radiation_pattern.hpp @@ -10,6 +10,8 @@ #include #include +namespace s2e::components { + /* * @class AntennaRadiationPattern * @brief Antenna radiation pattern @@ -62,4 +64,6 @@ class AntennaRadiationPattern { std::vector> gain_dBi_; //!< Antenna gain table [dBi] }; +} // namespace s2e::components + #endif // S2E_COMPONENTS_REAL_COMMUNICATION_ANTENNA_RADIATION_PATTERN_HPP_ diff --git a/src/components/real/communication/ground_station_calculator.cpp b/src/components/real/communication/ground_station_calculator.cpp index 2f4d1f19a..f53afc30a 100644 --- a/src/components/real/communication/ground_station_calculator.cpp +++ b/src/components/real/communication/ground_station_calculator.cpp @@ -9,6 +9,8 @@ #include #include +namespace s2e::components { + GroundStationCalculator::GroundStationCalculator(const double loss_polarization_dB, const double loss_atmosphere_dB, const double loss_rainfall_dB, const double loss_others_dB, const double ebn0_dB, const double hardware_deterioration_dB, const double coding_gain_dB, const double margin_requirement_dB, const double downlink_bitrate_bps) @@ -136,3 +138,5 @@ GroundStationCalculator InitGsCalculator(const std::string file_name) { hardware_deterioration_dB, coding_gain_dB, margin_requirement_dB, downlink_bitrate_bps); return gs_calculator; } + +} // namespace s2e::components diff --git a/src/components/real/communication/ground_station_calculator.hpp b/src/components/real/communication/ground_station_calculator.hpp index a2d5eb75a..3d20f5a0b 100644 --- a/src/components/real/communication/ground_station_calculator.hpp +++ b/src/components/real/communication/ground_station_calculator.hpp @@ -13,6 +13,8 @@ #include #include +namespace s2e::components { + /* * @class GroundStationCalculator * @brief Emulation of analysis and calculation for Ground Stations @@ -144,4 +146,6 @@ class GroundStationCalculator : public ILoggable { GroundStationCalculator InitGsCalculator(const std::string file_name); +} // namespace s2e::components + #endif // S2E_COMPONENTS_REAL_COMMUNICATION_GROUND_STATION_CALCULATOR_HPP_ diff --git a/src/components/real/communication/wings_command_sender_to_c2a.cpp b/src/components/real/communication/wings_command_sender_to_c2a.cpp index 4d04ee911..f2ce172e0 100644 --- a/src/components/real/communication/wings_command_sender_to_c2a.cpp +++ b/src/components/real/communication/wings_command_sender_to_c2a.cpp @@ -26,6 +26,8 @@ #endif // c2a-core version header #endif // USE_C2A +namespace s2e::components { + void WingsCommandSenderToC2a::MainRoutine(const int time_count) { UNUSED(time_count); if (is_enabled_ == false) return; @@ -148,3 +150,5 @@ WingsCommandSenderToC2a InitWingsCommandSenderToC2a(ClockGenerator* clock_genera return WingsCommandSenderToC2a(prescaler, clock_generator, step_width_s, c2a_command_data_base_file, wings_operation_file, is_enabled); } + +} // namespace s2e::components diff --git a/src/components/real/communication/wings_command_sender_to_c2a.hpp b/src/components/real/communication/wings_command_sender_to_c2a.hpp index 1ae74b1c1..14e1eda9f 100644 --- a/src/components/real/communication/wings_command_sender_to_c2a.hpp +++ b/src/components/real/communication/wings_command_sender_to_c2a.hpp @@ -11,6 +11,8 @@ #include "../../base/component.hpp" +namespace s2e::components { + /* * @class C2aCommandSender * @brief A component to send C2A command using WINGS operation file @@ -76,4 +78,6 @@ class WingsCommandSenderToC2a : public Component { WingsCommandSenderToC2a InitWingsCommandSenderToC2a(ClockGenerator* clock_generator, const double compo_update_step_s, const std::string initialize_file); +} // namespace s2e::components + #endif // S2E_COMPONENTS_REAL_COMMUNICATION_C2A_COMMAND_SENDER_HPP_ diff --git a/src/components/real/mission/telescope.cpp b/src/components/real/mission/telescope.cpp index 0e5a01c91..7d76de5c1 100644 --- a/src/components/real/mission/telescope.cpp +++ b/src/components/real/mission/telescope.cpp @@ -13,6 +13,8 @@ using namespace std; using namespace s2e::math; +namespace s2e::components { + Telescope::Telescope(ClockGenerator* clock_generator, const s2e::math::Quaternion& quaternion_b2c, const double sun_forbidden_angle_rad, const double earth_forbidden_angle_rad, const double moon_forbidden_angle_rad, const int x_number_of_pix, const int y_number_of_pix, const double x_fov_per_pix, const double y_fov_per_pix, size_t number_of_logged_stars, @@ -285,3 +287,5 @@ Telescope InitTelescope(ClockGenerator* clock_generator, int sensor_id, const st orbit); return telescope; } + +} // namespace s2e::components diff --git a/src/components/real/mission/telescope.hpp b/src/components/real/mission/telescope.hpp index 737a49c98..e2d75c397 100644 --- a/src/components/real/mission/telescope.hpp +++ b/src/components/real/mission/telescope.hpp @@ -17,6 +17,8 @@ #include "../../base/component.hpp" +namespace s2e::components { + /* * @struct Star * @brief Information of stars in the telescope's field of view @@ -170,4 +172,6 @@ Telescope InitTelescope(ClockGenerator* clock_generator, int sensor_id, const st const HipparcosCatalogue* hipparcos, const LocalCelestialInformation* local_celestial_information, const Orbit* orbit = nullptr); +} // namespace s2e::components + #endif // S2E_COMPONENTS_REAL_MISSION_TELESCOPE_HPP_P_ diff --git a/src/components/real/power/battery.cpp b/src/components/real/power/battery.cpp index f647fb940..a8f1bc4d0 100644 --- a/src/components/real/power/battery.cpp +++ b/src/components/real/power/battery.cpp @@ -8,6 +8,8 @@ #include #include +namespace s2e::components { + Battery::Battery(const int prescaler, ClockGenerator* clock_generator, int number_of_series, int number_of_parallel, double cell_capacity_Ah, const std::vector cell_discharge_curve_coefficients, double initial_dod, double cc_charge_c_rate, double cv_charge_voltage_V, double battery_resistance_Ohm, double component_step_time_s) @@ -130,3 +132,5 @@ Battery InitBAT(ClockGenerator* clock_generator, int bat_id, const std::string f return battery; } + +} // namespace s2e::components diff --git a/src/components/real/power/battery.hpp b/src/components/real/power/battery.hpp index 39ee34c44..24f43c464 100644 --- a/src/components/real/power/battery.hpp +++ b/src/components/real/power/battery.hpp @@ -11,6 +11,8 @@ #include "../../base/component.hpp" +namespace s2e::components { + /* * @class Battery * @brief Component emulation of battery @@ -144,4 +146,6 @@ class Battery : public Component, public ILoggable { */ Battery InitBAT(ClockGenerator* clock_generator, int bat_id, const std::string file_name, double component_step_time_s); +} // namespace s2e::components + #endif // S2E_COMPONENTS_REAL_POWER_BATTERY_HPP_P_ diff --git a/src/components/real/power/csv_scenario_interface.cpp b/src/components/real/power/csv_scenario_interface.cpp index 7978d510c..f0efc14fb 100644 --- a/src/components/real/power/csv_scenario_interface.cpp +++ b/src/components/real/power/csv_scenario_interface.cpp @@ -7,6 +7,8 @@ #include +namespace s2e::components { + bool CsvScenarioInterface::is_csv_scenario_enabled_; std::map CsvScenarioInterface::buffer_line_id_; std::map CsvScenarioInterface::buffers_; @@ -92,3 +94,5 @@ double CsvScenarioInterface::GetValueFromBuffer(const std::string buffer_name, c output = itr->second; return output; } + +} // namespace s2e::components diff --git a/src/components/real/power/csv_scenario_interface.hpp b/src/components/real/power/csv_scenario_interface.hpp index e8177ca5f..f105dd773 100644 --- a/src/components/real/power/csv_scenario_interface.hpp +++ b/src/components/real/power/csv_scenario_interface.hpp @@ -11,6 +11,8 @@ #include #include +namespace s2e::components { + typedef std::map DoubleBuffer; /* @@ -78,4 +80,6 @@ class CsvScenarioInterface { static std::map buffers_; //!< Buffer }; +} // namespace s2e::components + #endif // S2E_COMPONENTS_REAL_POWER_CSV_SCENARIO_INTERFACE_HPP_ diff --git a/src/components/real/power/pcu_initial_study.cpp b/src/components/real/power/pcu_initial_study.cpp index 77f6fda37..df8527352 100644 --- a/src/components/real/power/pcu_initial_study.cpp +++ b/src/components/real/power/pcu_initial_study.cpp @@ -10,6 +10,8 @@ #include #include +namespace s2e::components { + PcuInitialStudy::PcuInitialStudy(const int prescaler, ClockGenerator* clock_generator, const std::vector saps, Battery* battery, double component_step_time_s) : Component(prescaler, clock_generator), @@ -124,3 +126,5 @@ PcuInitialStudy InitPCU_InitialStudy(ClockGenerator* clock_generator, int pcu_id return pcu; } + +} // namespace s2e::components diff --git a/src/components/real/power/pcu_initial_study.hpp b/src/components/real/power/pcu_initial_study.hpp index f59966774..f9dd8ccf8 100644 --- a/src/components/real/power/pcu_initial_study.hpp +++ b/src/components/real/power/pcu_initial_study.hpp @@ -13,6 +13,8 @@ #include "battery.hpp" #include "solar_array_panel.hpp" +namespace s2e::components { + class PcuInitialStudy : public Component, public ILoggable { public: /** @@ -95,4 +97,6 @@ class PcuInitialStudy : public Component, public ILoggable { PcuInitialStudy InitPCU_InitialStudy(ClockGenerator* clock_generator, int pcu_id, const std::string file_name, const std::vector saps, Battery* battery, double component_step_time_s); +} // namespace s2e::components + #endif // S2E_COMPONENTS_REAL_POWER_PCU_INITIAL_STUDY_HPP_ diff --git a/src/components/real/power/power_control_unit.cpp b/src/components/real/power/power_control_unit.cpp index 055300e2c..8e908c2af 100644 --- a/src/components/real/power/power_control_unit.cpp +++ b/src/components/real/power/power_control_unit.cpp @@ -4,6 +4,8 @@ */ #include "power_control_unit.hpp" +namespace s2e::components { + PowerControlUnit::PowerControlUnit(ClockGenerator* clock_generator) : Component(1, clock_generator) {} PowerControlUnit::PowerControlUnit(int prescaler, ClockGenerator* clock_generator) : Component(prescaler, clock_generator) {} @@ -52,3 +54,5 @@ std::string PowerControlUnit::GetLogValue() const { std::string str_tmp = ""; return str_tmp; } + +} // namespace s2e::components diff --git a/src/components/real/power/power_control_unit.hpp b/src/components/real/power/power_control_unit.hpp index 3e77101c2..f4765e74f 100644 --- a/src/components/real/power/power_control_unit.hpp +++ b/src/components/real/power/power_control_unit.hpp @@ -12,6 +12,8 @@ #include "../../base/component.hpp" +namespace s2e::components { + /* * @class PowerControlUnit * @brief Component emulation of Power Control Unit @@ -95,4 +97,6 @@ class PowerControlUnit : public Component, public ILoggable { std::map power_ports_; //!< Power port list }; +} // namespace s2e::components + #endif // S2E_COMPONENTS_REAL_POWER_POWER_CONTROL_UNIT_HPP_ diff --git a/src/components/real/power/solar_array_panel.cpp b/src/components/real/power/solar_array_panel.cpp index 126f66da7..67e459f6e 100644 --- a/src/components/real/power/solar_array_panel.cpp +++ b/src/components/real/power/solar_array_panel.cpp @@ -9,6 +9,8 @@ #include #include +namespace s2e::components { + SolarArrayPanel::SolarArrayPanel(const int prescaler, ClockGenerator* clock_generator, int component_id, int number_of_series, int number_of_parallel, double cell_area_m2, s2e::math::Vector<3> normal_vector, double cell_efficiency, double transmission_efficiency, const SolarRadiationPressureEnvironment* srp_environment, @@ -180,3 +182,5 @@ SolarArrayPanel InitSAP(ClockGenerator* clock_generator, int sap_id, const std:: return sap; } + +} // namespace s2e::components diff --git a/src/components/real/power/solar_array_panel.hpp b/src/components/real/power/solar_array_panel.hpp index db114a081..6fb7aacac 100644 --- a/src/components/real/power/solar_array_panel.hpp +++ b/src/components/real/power/solar_array_panel.hpp @@ -13,6 +13,8 @@ #include "../../base/component.hpp" +namespace s2e::components { + class SolarArrayPanel : public Component, public ILoggable { public: /** @@ -157,4 +159,6 @@ SolarArrayPanel InitSAP(ClockGenerator* clock_generator, int sap_id, const std:: SolarArrayPanel InitSAP(ClockGenerator* clock_generator, int sap_id, const std::string file_name, const SolarRadiationPressureEnvironment* srp_environment, double component_step_time_s); +} // namespace s2e::components + #endif // S2E_COMPONENTS_REAL_POWER_SOLAR_ARRAY_PANEL_HPP_ diff --git a/src/components/real/propulsion/simple_thruster.cpp b/src/components/real/propulsion/simple_thruster.cpp index 7917b5fb1..3cfdc6da7 100644 --- a/src/components/real/propulsion/simple_thruster.cpp +++ b/src/components/real/propulsion/simple_thruster.cpp @@ -9,6 +9,8 @@ #include #include +namespace s2e::components { + // Constructor SimpleThruster::SimpleThruster(const int prescaler, ClockGenerator* clock_generator, const int component_id, const s2e::math::Vector<3> thruster_position_b_m, const s2e::math::Vector<3> thrust_direction_b, const double max_magnitude_N, @@ -177,3 +179,5 @@ SimpleThruster InitSimpleThruster(ClockGenerator* clock_generator, PowerPort* po magnitude_standard_deviation_N, deg_err, structure, dynamics); return thruster; } + +} // namespace s2e::components diff --git a/src/components/real/propulsion/simple_thruster.hpp b/src/components/real/propulsion/simple_thruster.hpp index f297b8af2..ab1e0734a 100644 --- a/src/components/real/propulsion/simple_thruster.hpp +++ b/src/components/real/propulsion/simple_thruster.hpp @@ -15,6 +15,8 @@ #include "../../base/component.hpp" +namespace s2e::components { + /* * @class SimpleThruster * @brief Component emulation of simple thruster @@ -179,4 +181,6 @@ SimpleThruster InitSimpleThruster(ClockGenerator* clock_generator, int thruster_ SimpleThruster InitSimpleThruster(ClockGenerator* clock_generator, PowerPort* power_port, int thruster_id, const std::string file_name, const Structure* structure, const Dynamics* dynamics); +} // namespace s2e::components + #endif // S2E_COMPONENTS_REAL_PROPULSION_SIMPLE_THRUSTER_HPP_ From 9f6593b0fd9bbb55cd445dbfdd0cda51b2d9fbf5 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Fri, 27 Sep 2024 14:20:01 +0900 Subject: [PATCH 408/456] Add s2e::disturbances namespace --- src/disturbances/air_drag.cpp | 4 ++++ src/disturbances/air_drag.hpp | 4 ++++ src/disturbances/disturbance.hpp | 4 ++++ src/disturbances/disturbances.cpp | 4 ++++ src/disturbances/disturbances.hpp | 4 ++++ src/disturbances/geopotential.cpp | 6 +++++- src/disturbances/geopotential.hpp | 5 +++++ src/disturbances/gravity_gradient.cpp | 4 ++++ src/disturbances/gravity_gradient.hpp | 4 ++++ src/disturbances/lunar_gravity_field.cpp | 4 ++++ src/disturbances/lunar_gravity_field.hpp | 5 +++++ src/disturbances/magnetic_disturbance.cpp | 4 ++++ src/disturbances/magnetic_disturbance.hpp | 4 ++++ src/disturbances/solar_radiation_pressure_disturbance.cpp | 4 ++++ src/disturbances/solar_radiation_pressure_disturbance.hpp | 4 ++++ src/disturbances/surface_force.cpp | 4 ++++ src/disturbances/surface_force.hpp | 4 ++++ src/disturbances/third_body_gravity.cpp | 4 ++++ src/disturbances/third_body_gravity.hpp | 4 ++++ 19 files changed, 79 insertions(+), 1 deletion(-) diff --git a/src/disturbances/air_drag.cpp b/src/disturbances/air_drag.cpp index e64593201..87884ba9b 100644 --- a/src/disturbances/air_drag.cpp +++ b/src/disturbances/air_drag.cpp @@ -12,6 +12,8 @@ #include "../logger/log_utility.hpp" +namespace s2e::disturbances { + AirDrag::AirDrag(const std::vector& surfaces, const s2e::math::Vector<3>& center_of_gravity_b_m, const double wall_temperature_K, const double molecular_temperature_K, const double molecular_weight_g_mol, const bool is_calculation_enabled) : SurfaceForce(surfaces, center_of_gravity_b_m, is_calculation_enabled), @@ -109,3 +111,5 @@ AirDrag InitAirDrag(const std::string initialize_file_path, const std::vector& surfaces, const Vector<3>& center_of_gravity_b_m); +} // namespace s2e::disturbances + #endif // S2E_DISTURBANCES_AIR_DRAG_HPP_ diff --git a/src/disturbances/disturbance.hpp b/src/disturbances/disturbance.hpp index 427c67fc5..58966c35a 100644 --- a/src/disturbances/disturbance.hpp +++ b/src/disturbances/disturbance.hpp @@ -9,6 +9,8 @@ #include "../environment/local/local_environment.hpp" #include "../math_physics/math/vector.hpp" +namespace s2e::disturbances { + /** * @class Disturbance * @brief Base class for a disturbance @@ -91,4 +93,6 @@ class Disturbance : public ILoggable { s2e::math::Vector<3> acceleration_i_m_s2_; //!< Disturbance acceleration in the inertial frame [m/s2] }; +} // namespace s2e::disturbances + #endif // S2E_DISTURBANCES_DISTURBANCE_HPP_ diff --git a/src/disturbances/disturbances.cpp b/src/disturbances/disturbances.cpp index 682790896..84380248b 100644 --- a/src/disturbances/disturbances.cpp +++ b/src/disturbances/disturbances.cpp @@ -15,6 +15,8 @@ #include "solar_radiation_pressure_disturbance.hpp" #include "third_body_gravity.hpp" +namespace s2e::disturbances { + Disturbances::Disturbances(const SimulationConfiguration* simulation_configuration, const int spacecraft_id, const Structure* structure, const GlobalEnvironment* global_environment) { InitializeInstances(simulation_configuration, spacecraft_id, structure, global_environment); @@ -96,3 +98,5 @@ void Disturbances::InitializeForceAndTorque() { } void Disturbances::InitializeAcceleration() { total_acceleration_i_m_s2_ = Vector<3>(0.0); } + +} // namespace s2e::disturbances diff --git a/src/disturbances/disturbances.hpp b/src/disturbances/disturbances.hpp index 948cabe47..ab1d488fe 100644 --- a/src/disturbances/disturbances.hpp +++ b/src/disturbances/disturbances.hpp @@ -14,6 +14,8 @@ class Logger; +namespace s2e::disturbances { + /** * @class Disturbances * @brief Class to manage all disturbances @@ -99,4 +101,6 @@ class Disturbances { void InitializeAcceleration(); }; +} // namespace s2e::disturbances + #endif // S2E_DISTURBANCES_DISTURBANCES_HPP_ diff --git a/src/disturbances/geopotential.cpp b/src/disturbances/geopotential.cpp index b36df94d4..16123cf5d 100644 --- a/src/disturbances/geopotential.cpp +++ b/src/disturbances/geopotential.cpp @@ -15,6 +15,8 @@ #include "../logger/log_utility.hpp" #include "../utilities/macros.hpp" +namespace s2e::disturbances { + // #define DEBUG_GEOPOTENTIAL Geopotential::Geopotential(const int degree, const std::string file_path, const bool is_calculation_enabled) @@ -125,4 +127,6 @@ Geopotential InitGeopotential(const std::string initialize_file_path) { geopotential_disturbance.is_log_enabled_ = conf.ReadEnable(section, INI_LOG_LABEL); return geopotential_disturbance; -} \ No newline at end of file +} + +} // namespace s2e::disturbances diff --git a/src/disturbances/geopotential.hpp b/src/disturbances/geopotential.hpp index 0d350caae..95ec16968 100644 --- a/src/disturbances/geopotential.hpp +++ b/src/disturbances/geopotential.hpp @@ -11,6 +11,9 @@ #include "../math_physics/gravity/gravity_potential.hpp" #include "../math_physics/math/vector.hpp" #include "disturbance.hpp" + +namespace s2e::disturbances { + /** * @class Geopotential * @brief Class to calculate the high-order earth gravity acceleration @@ -85,4 +88,6 @@ class Geopotential : public Disturbance { */ Geopotential InitGeopotential(const std::string initialize_file_path); +} // namespace s2e::disturbances + #endif // S2E_DISTURBANCES_GEOPOTENTIAL_HPP_ diff --git a/src/disturbances/gravity_gradient.cpp b/src/disturbances/gravity_gradient.cpp index 5eff2c05a..b04b2c8d7 100644 --- a/src/disturbances/gravity_gradient.cpp +++ b/src/disturbances/gravity_gradient.cpp @@ -11,6 +11,8 @@ #include "../logger/log_utility.hpp" +namespace s2e::disturbances { + GravityGradient::GravityGradient(const bool is_calculation_enabled) : GravityGradient(environment::earth_gravitational_constant_m3_s2, is_calculation_enabled) {} @@ -70,3 +72,5 @@ GravityGradient InitGravityGradient(const std::string initialize_file_path, cons return gg_disturbance; } + +} // namespace s2e::disturbances diff --git a/src/disturbances/gravity_gradient.hpp b/src/disturbances/gravity_gradient.hpp index 9ca8ff37f..c54e502dd 100644 --- a/src/disturbances/gravity_gradient.hpp +++ b/src/disturbances/gravity_gradient.hpp @@ -14,6 +14,8 @@ #include "../math_physics/math/vector.hpp" #include "disturbance.hpp" +namespace s2e::disturbances { + /** * @class GravityGradient * @brief Class to calculate the gravity gradient torque @@ -83,4 +85,6 @@ GravityGradient InitGravityGradient(const std::string initialize_file_path); */ GravityGradient InitGravityGradient(const std::string initialize_file_path, const double gravity_constant_m3_s2); +} // namespace s2e::disturbances + #endif // S2E_DISTURBANCES_GRAVITY_GRADIENT_HPP_ diff --git a/src/disturbances/lunar_gravity_field.cpp b/src/disturbances/lunar_gravity_field.cpp index 781ede97d..747a0e065 100644 --- a/src/disturbances/lunar_gravity_field.cpp +++ b/src/disturbances/lunar_gravity_field.cpp @@ -15,6 +15,8 @@ #include "../logger/log_utility.hpp" #include "../utilities/macros.hpp" +namespace s2e::disturbances { + // #define DEBUG_LUNAR_GRAVITY_FIELD LunarGravityField::LunarGravityField(const int degree, const std::string file_path, const bool is_calculation_enabled) @@ -150,3 +152,5 @@ LunarGravityField InitLunarGravityField(const std::string initialize_file_path) return lunar_gravity_field; } + +} // namespace s2e::disturbances diff --git a/src/disturbances/lunar_gravity_field.hpp b/src/disturbances/lunar_gravity_field.hpp index dd5f049af..c809bc4fb 100644 --- a/src/disturbances/lunar_gravity_field.hpp +++ b/src/disturbances/lunar_gravity_field.hpp @@ -11,6 +11,9 @@ #include "../math_physics/gravity/gravity_potential.hpp" #include "../math_physics/math/vector.hpp" #include "disturbance.hpp" + +namespace s2e::disturbances { + /** * @class LunarGravityField * @brief Class to calculate the high-order earth gravity acceleration @@ -89,4 +92,6 @@ class LunarGravityField : public Disturbance { */ LunarGravityField InitLunarGravityField(const std::string initialize_file_path); +} // namespace s2e::disturbances + #endif // S2E_DISTURBANCES_LUNAR_GRAVITY_FIELD_HPP_ diff --git a/src/disturbances/magnetic_disturbance.cpp b/src/disturbances/magnetic_disturbance.cpp index 054032b9c..fec275450 100644 --- a/src/disturbances/magnetic_disturbance.cpp +++ b/src/disturbances/magnetic_disturbance.cpp @@ -13,6 +13,8 @@ #include "../math_physics/randomization/normal_randomization.hpp" #include "../math_physics/randomization/random_walk.hpp" +namespace s2e::disturbances { + MagneticDisturbance::MagneticDisturbance(const ResidualMagneticMoment& rmm_params, const bool is_calculation_enabled) : Disturbance(is_calculation_enabled, true), residual_magnetic_moment_(rmm_params) { rmm_b_Am2_ = residual_magnetic_moment_.GetConstantValue_b_Am2(); @@ -72,3 +74,5 @@ MagneticDisturbance InitMagneticDisturbance(const std::string initialize_file_pa return mag_disturbance; } + +} // namespace s2e::disturbances diff --git a/src/disturbances/magnetic_disturbance.hpp b/src/disturbances/magnetic_disturbance.hpp index e3be84928..ab3bb7375 100644 --- a/src/disturbances/magnetic_disturbance.hpp +++ b/src/disturbances/magnetic_disturbance.hpp @@ -13,6 +13,8 @@ #include "../simulation/spacecraft/structure/residual_magnetic_moment.hpp" #include "disturbance.hpp" +namespace s2e::disturbances { + /** * @class MagneticDisturbance * @brief Class to calculate the magnetic disturbance torque @@ -75,4 +77,6 @@ class MagneticDisturbance : public Disturbance { */ MagneticDisturbance InitMagneticDisturbance(const std::string initialize_file_path, const ResidualMagneticMoment& rmm_params); +} // namespace s2e::disturbances + #endif // S2E_DISTURBANCES_MAGNETIC_DISTURBANCE_HPP_ diff --git a/src/disturbances/solar_radiation_pressure_disturbance.cpp b/src/disturbances/solar_radiation_pressure_disturbance.cpp index ed6386234..490938542 100644 --- a/src/disturbances/solar_radiation_pressure_disturbance.cpp +++ b/src/disturbances/solar_radiation_pressure_disturbance.cpp @@ -10,6 +10,8 @@ #include "../logger/log_utility.hpp" +namespace s2e::disturbances { + SolarRadiationPressureDisturbance::SolarRadiationPressureDisturbance(const std::vector& surfaces, const s2e::math::Vector<3>& center_of_gravity_b_m, const bool is_calculation_enabled) : SurfaceForce(surfaces, center_of_gravity_b_m, is_calculation_enabled) {} @@ -65,3 +67,5 @@ SolarRadiationPressureDisturbance InitSolarRadiationPressureDisturbance(const st return srp_disturbance; } + +} // namespace s2e::disturbances diff --git a/src/disturbances/solar_radiation_pressure_disturbance.hpp b/src/disturbances/solar_radiation_pressure_disturbance.hpp index dc4f08419..e427e6dc3 100644 --- a/src/disturbances/solar_radiation_pressure_disturbance.hpp +++ b/src/disturbances/solar_radiation_pressure_disturbance.hpp @@ -12,6 +12,8 @@ #include "../math_physics/math/vector.hpp" #include "surface_force.hpp" +namespace s2e::disturbances { + /** * @class SolarRadiationPressureDisturbance * @brief Class to calculate the solar radiation pressure disturbance force and torque @@ -68,4 +70,6 @@ class SolarRadiationPressureDisturbance : public SurfaceForce { SolarRadiationPressureDisturbance InitSolarRadiationPressureDisturbance(const std::string initialize_file_path, const std::vector& surfaces, const Vector<3>& center_of_gravity_b_m); +} // namespace s2e::disturbances + #endif // S2E_DISTURBANCES_SOLAR_RADIATION_PRESSURE_DISTURBANCE_HPP_ diff --git a/src/disturbances/surface_force.cpp b/src/disturbances/surface_force.cpp index 158e2a695..1bf0b1dfe 100644 --- a/src/disturbances/surface_force.cpp +++ b/src/disturbances/surface_force.cpp @@ -7,6 +7,8 @@ #include "../math_physics/math/vector.hpp" +namespace s2e::disturbances { + SurfaceForce::SurfaceForce(const std::vector& surfaces, const s2e::math::Vector<3>& center_of_gravity_b_m, const bool is_calculation_enabled) : Disturbance(is_calculation_enabled, true), surfaces_(surfaces), center_of_gravity_b_m_(center_of_gravity_b_m) { // Initialize vectors @@ -52,3 +54,5 @@ void SurfaceForce::CalcTheta(s2e::math::Vector<3>& input_direction_b) { sin_theta_[i] = sqrt(1.0 - cos_theta_[i] * cos_theta_[i]); } } + +} // namespace s2e::disturbances diff --git a/src/disturbances/surface_force.hpp b/src/disturbances/surface_force.hpp index 2fa6fa7d3..943daa9e6 100644 --- a/src/disturbances/surface_force.hpp +++ b/src/disturbances/surface_force.hpp @@ -15,6 +15,8 @@ #include "../simulation/spacecraft/structure/surface.hpp" #include "disturbance.hpp" +namespace s2e::disturbances { + /** * @class ThirdBodyGravity * @brief Class to calculate third body gravity disturbance @@ -71,4 +73,6 @@ class SurfaceForce : public Disturbance { virtual void CalcCoefficients(const s2e::math::Vector<3>& input_direction_b, const double item) = 0; }; +} // namespace s2e::disturbances + #endif // S2E_DISTURBANCES_SURFACE_FORCE_HPP_ diff --git a/src/disturbances/third_body_gravity.cpp b/src/disturbances/third_body_gravity.cpp index 075415ecf..eebb2ec05 100644 --- a/src/disturbances/third_body_gravity.cpp +++ b/src/disturbances/third_body_gravity.cpp @@ -7,6 +7,8 @@ #include +namespace s2e::disturbances { + ThirdBodyGravity::ThirdBodyGravity(std::set third_body_list, const bool is_calculation_enabled) : Disturbance(is_calculation_enabled, false), third_body_list_(third_body_list) { acceleration_i_m_s2_ = s2e::math::Vector<3>(0.0); @@ -99,3 +101,5 @@ ThirdBodyGravity InitThirdBodyGravity(const std::string initialize_file_path, co return third_body_disturbance; } + +} // namespace s2e::disturbances diff --git a/src/disturbances/third_body_gravity.hpp b/src/disturbances/third_body_gravity.hpp index 36fded28d..cf45a8593 100644 --- a/src/disturbances/third_body_gravity.hpp +++ b/src/disturbances/third_body_gravity.hpp @@ -14,6 +14,8 @@ #include "../math_physics/math/vector.hpp" #include "disturbance.hpp" +namespace s2e::disturbances { + /** * @class ThirdBodyGravity * @brief Class to calculate third body gravity disturbance @@ -76,4 +78,6 @@ class ThirdBodyGravity : public Disturbance { */ ThirdBodyGravity InitThirdBodyGravity(const std::string initialize_file_path, const std::string ini_path_celes); +} // namespace s2e::disturbances + #endif // S2E_DISTURBANCES_THIRD_BODY_GRAVITY_HPP_ From 54c007e65b22be19bb2f8079ece56cf9b1564256 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Fri, 27 Sep 2024 14:23:56 +0900 Subject: [PATCH 409/456] Add s2e::dynamics::attitude namespace --- src/dynamics/attitude/attitude.cpp | 4 ++++ src/dynamics/attitude/attitude.hpp | 4 ++++ src/dynamics/attitude/attitude_rk4.cpp | 4 ++++ src/dynamics/attitude/attitude_rk4.hpp | 4 ++++ .../attitude/attitude_with_cantilever_vibration.cpp | 4 ++++ .../attitude/attitude_with_cantilever_vibration.hpp | 4 ++++ src/dynamics/attitude/controlled_attitude.cpp | 4 ++++ src/dynamics/attitude/controlled_attitude.hpp | 4 ++++ src/dynamics/attitude/initialize_attitude.cpp | 4 ++++ src/dynamics/attitude/initialize_attitude.hpp | 4 ++++ .../attitude/ode_attitude_with_cantilever_vibration.hpp | 7 +++++-- 11 files changed, 45 insertions(+), 2 deletions(-) diff --git a/src/dynamics/attitude/attitude.cpp b/src/dynamics/attitude/attitude.cpp index 35cc6b237..4777184de 100644 --- a/src/dynamics/attitude/attitude.cpp +++ b/src/dynamics/attitude/attitude.cpp @@ -6,6 +6,8 @@ #include +namespace s2e::dynamics::attitude { + Attitude::Attitude(const s2e::math::Matrix<3, 3>& inertia_tensor_kgm2, const std::string& simulation_object_name) : SimulationObject(simulation_object_name), inertia_tensor_kgm2_(inertia_tensor_kgm2) { angular_velocity_b_rad_s_ = s2e::math::Vector<3>(0.0); @@ -79,3 +81,5 @@ s2e::math::Matrix<4, 4> CalcAngularVelocityMatrix(s2e::math::Vector<3> angular_v return angular_velocity_matrix; } + +} // namespace s2e::dynamics::attitude diff --git a/src/dynamics/attitude/attitude.hpp b/src/dynamics/attitude/attitude.hpp index 3485444d9..1dbcfa809 100644 --- a/src/dynamics/attitude/attitude.hpp +++ b/src/dynamics/attitude/attitude.hpp @@ -12,6 +12,8 @@ #include #include +namespace s2e::dynamics::attitude { + /** * @class Attitude * @brief Base class for attitude of spacecraft @@ -142,4 +144,6 @@ class Attitude : public ILoggable, public SimulationObject { */ s2e::math::Matrix<4, 4> CalcAngularVelocityMatrix(s2e::math::Vector<3> angular_velocity_b_rad_s); +} // namespace s2e::dynamics::attitude + #endif // S2E_DYNAMICS_ATTITUDE_ATTITUDE_HPP_ diff --git a/src/dynamics/attitude/attitude_rk4.cpp b/src/dynamics/attitude/attitude_rk4.cpp index 29e130fef..bac023c33 100644 --- a/src/dynamics/attitude/attitude_rk4.cpp +++ b/src/dynamics/attitude/attitude_rk4.cpp @@ -9,6 +9,8 @@ #include #include +namespace s2e::dynamics::attitude { + AttitudeRk4::AttitudeRk4(const s2e::math::Vector<3>& angular_velocity_b_rad_s, const s2e::math::Quaternion& quaternion_i2b, const s2e::math::Matrix<3, 3>& inertia_tensor_kgm2, const s2e::math::Vector<3>& torque_b_Nm, const double propagation_step_s, const std::string& simulation_object_name) @@ -119,3 +121,5 @@ void AttitudeRk4::RungeKuttaOneStep(double t, double dt) { } quaternion_i2b_.Normalize(); } + +} // namespace s2e::dynamics::attitude diff --git a/src/dynamics/attitude/attitude_rk4.hpp b/src/dynamics/attitude/attitude_rk4.hpp index 003989937..1e71fca19 100644 --- a/src/dynamics/attitude/attitude_rk4.hpp +++ b/src/dynamics/attitude/attitude_rk4.hpp @@ -8,6 +8,8 @@ #include "attitude.hpp" +namespace s2e::dynamics::attitude { + /** * @class AttitudeRk4 * @brief Class to calculate spacecraft attitude with Runge-Kutta method @@ -68,4 +70,6 @@ class AttitudeRk4 : public Attitude { void RungeKuttaOneStep(double t, double dt); }; +} // namespace s2e::dynamics::attitude + #endif // S2E_DYNAMICS_ATTITUDE_ATTITUDE_RK4_HPP_ diff --git a/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp b/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp index fe58833da..2b2ff73e3 100644 --- a/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp +++ b/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp @@ -8,6 +8,8 @@ #include #include +namespace s2e::dynamics::attitude { + AttitudeWithCantileverVibration::AttitudeWithCantileverVibration( const s2e::math::Vector<3>& angular_velocity_b_rad_s, const s2e::math::Quaternion& quaternion_i2b, const s2e::math::Matrix<3, 3>& inertia_tensor_kgm2, const s2e::math::Matrix<3, 3>& inertia_tensor_cantilever_kgm2, const double damping_ratio_cantilever, @@ -99,3 +101,5 @@ void AttitudeWithCantileverVibration::Propagate(const double end_time_s) { attitude_ode_.SetPreviousInertiaTensor_kgm2(inertia_tensor_kgm2_); CalcAngularMomentum(); } + +} // namespace s2e::dynamics::attitude diff --git a/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp b/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp index 76a8f974f..dbc96391d 100644 --- a/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp +++ b/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp @@ -12,6 +12,8 @@ #include "attitude.hpp" #include "ode_attitude_with_cantilever_vibration.hpp" +namespace s2e::dynamics::attitude { + /** * @class AttitudeWithCantileverVibration * @brief Class to calculate spacecraft attitude with cantilever vibration @@ -77,4 +79,6 @@ class AttitudeWithCantileverVibration : public Attitude { s2e::numerical_integration::NumericalIntegratorManager<13> numerical_integrator_; }; +} // namespace s2e::dynamics::attitude + #endif // S2E_DYNAMICS_ATTITUDE_ATTITUDE_WITH_CANTILEVER_VIBRATION_HPP_ diff --git a/src/dynamics/attitude/controlled_attitude.cpp b/src/dynamics/attitude/controlled_attitude.cpp index 982b1b446..04937978c 100644 --- a/src/dynamics/attitude/controlled_attitude.cpp +++ b/src/dynamics/attitude/controlled_attitude.cpp @@ -7,6 +7,8 @@ #include #include +namespace s2e::dynamics::attitude { + ControlledAttitude::ControlledAttitude(const AttitudeControlMode main_mode, const AttitudeControlMode sub_mode, const s2e::math::Quaternion quaternion_i2b, const s2e::math::Vector<3> main_target_direction_b, const s2e::math::Vector<3> sub_target_direction_b, const s2e::math::Matrix<3, 3>& inertia_tensor_kgm2, const LocalCelestialInformation* local_celestial_information, @@ -178,3 +180,5 @@ void ControlledAttitude::CalcAngularVelocity(const double current_time_s) { previous_quaternion_i2b_ = quaternion_i2b_; previous_omega_b_rad_s_ = angular_velocity_b_rad_s_; } + +} // namespace s2e::dynamics::attitude diff --git a/src/dynamics/attitude/controlled_attitude.hpp b/src/dynamics/attitude/controlled_attitude.hpp index 88204270b..97154f376 100644 --- a/src/dynamics/attitude/controlled_attitude.hpp +++ b/src/dynamics/attitude/controlled_attitude.hpp @@ -13,6 +13,8 @@ #include "../orbit/orbit.hpp" #include "attitude.hpp" +namespace s2e::dynamics::attitude { + /** * @enum AttitudeControlMode * @brief Attitude control mode @@ -149,4 +151,6 @@ class ControlledAttitude : public Attitude { s2e::math::Matrix<3, 3> CalcDcm(const s2e::math::Vector<3> main_direction, const s2e::math::Vector<3> sub_direction); }; +} // namespace s2e::dynamics::attitude + #endif // S2E_DYNAMICS_ATTITUDE_CONTROLLED_ATTITUDE_HPP_ diff --git a/src/dynamics/attitude/initialize_attitude.cpp b/src/dynamics/attitude/initialize_attitude.cpp index 640cf98c6..02e19ad09 100644 --- a/src/dynamics/attitude/initialize_attitude.cpp +++ b/src/dynamics/attitude/initialize_attitude.cpp @@ -6,6 +6,8 @@ #include +namespace s2e::dynamics::attitude { + Attitude* InitAttitude(std::string file_name, const Orbit* orbit, const LocalCelestialInformation* local_celestial_information, const double step_width_s, const s2e::math::Matrix<3, 3>& inertia_tensor_kgm2, const int spacecraft_id) { IniAccess ini_file(file_name); @@ -93,3 +95,5 @@ Attitude* InitAttitude(std::string file_name, const Orbit* orbit, const LocalCel return attitude; } + +} // namespace s2e::dynamics::attitude diff --git a/src/dynamics/attitude/initialize_attitude.hpp b/src/dynamics/attitude/initialize_attitude.hpp index 0e3899c02..fae3b99ab 100644 --- a/src/dynamics/attitude/initialize_attitude.hpp +++ b/src/dynamics/attitude/initialize_attitude.hpp @@ -11,6 +11,8 @@ #include "attitude_with_cantilever_vibration.hpp" #include "controlled_attitude.hpp" +namespace s2e::dynamics::attitude { + /** * @fn InitAttitude * @brief Initialize function for Attitude @@ -24,4 +26,6 @@ Attitude* InitAttitude(std::string file_name, const Orbit* orbit, const LocalCelestialInformation* local_celestial_information, const double step_width_s, const s2e::math::Matrix<3, 3>& inertia_tensor_kgm2, const int spacecraft_id); +} // namespace s2e::dynamics::attitude + #endif // S2E_DYNAMICS_ATTITUDE_INITIALIZE_ATTITUDE_HPP_ diff --git a/src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp b/src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp index f91e2be95..b0cc7711c 100644 --- a/src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp +++ b/src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp @@ -11,7 +11,10 @@ #include "attitude.hpp" -namespace s2e::numerical_integration { +namespace s2e::dynamics::attitude { + +using s2e::numerical_integration + /** * @class AttitudeWithCantileverVibrationOde * @brief Class to implement Ordinary Differential Equations for Attitude with Cantilever Vibration @@ -221,6 +224,6 @@ class AttitudeWithCantileverVibrationOde : public InterfaceOde<13> { s2e::math::Matrix<3, 3> inverse_equivalent_inertia_tensor_cantilever_{0.0}; //!< Inverse of inertia tensor of the cantilever }; -} // namespace s2e::numerical_integration +} // namespace s2e::dynamics::attitude #endif // S2E_DYNAMICS_ATTITUDE_ODE_ATTITUDE_WITH_CANTILEVER_VIBRATION_HPP_ From 4e9a3049265a29feae41f0333cdb9c599251bc95 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Fri, 27 Sep 2024 14:26:15 +0900 Subject: [PATCH 410/456] Add s2e::dynamics::orbit namespace --- src/dynamics/orbit/encke_orbit_propagation.cpp | 4 ++++ src/dynamics/orbit/encke_orbit_propagation.hpp | 4 ++++ src/dynamics/orbit/initialize_orbit.cpp | 4 ++++ src/dynamics/orbit/initialize_orbit.hpp | 4 ++++ src/dynamics/orbit/kepler_orbit_propagation.cpp | 4 ++++ src/dynamics/orbit/kepler_orbit_propagation.hpp | 4 ++++ src/dynamics/orbit/orbit.cpp | 4 ++++ src/dynamics/orbit/orbit.hpp | 4 ++++ src/dynamics/orbit/relative_orbit.cpp | 4 ++++ src/dynamics/orbit/relative_orbit.hpp | 4 ++++ src/dynamics/orbit/rk4_orbit_propagation.cpp | 4 ++++ src/dynamics/orbit/rk4_orbit_propagation.hpp | 4 ++++ src/dynamics/orbit/sgp4_orbit_propagation.cpp | 4 ++++ src/dynamics/orbit/sgp4_orbit_propagation.hpp | 4 ++++ 14 files changed, 56 insertions(+) diff --git a/src/dynamics/orbit/encke_orbit_propagation.cpp b/src/dynamics/orbit/encke_orbit_propagation.cpp index e25abbde4..b846fa37c 100644 --- a/src/dynamics/orbit/encke_orbit_propagation.cpp +++ b/src/dynamics/orbit/encke_orbit_propagation.cpp @@ -9,6 +9,8 @@ #include "../../math_physics/orbit/orbital_elements.hpp" +namespace s2e::dynamics::orbit { + EnckeOrbitPropagation::EnckeOrbitPropagation(const CelestialInformation* celestial_information, const double gravity_constant_m3_s2, const double propagation_step_s, const double current_time_jd, const s2e::math::Vector<3> position_i_m, const s2e::math::Vector<3> velocity_i_m_s, const double error_tolerance) @@ -124,3 +126,5 @@ double EnckeOrbitPropagation::CalcQFunction(s2e::math::Vector<3> difference_posi return q_func; } + +} // namespace s2e::dynamics::orbit diff --git a/src/dynamics/orbit/encke_orbit_propagation.hpp b/src/dynamics/orbit/encke_orbit_propagation.hpp index a43db4e93..a06a207f1 100644 --- a/src/dynamics/orbit/encke_orbit_propagation.hpp +++ b/src/dynamics/orbit/encke_orbit_propagation.hpp @@ -10,6 +10,8 @@ #include "../../math_physics/orbit/kepler_orbit.hpp" #include "orbit.hpp" +namespace s2e::dynamics::orbit { + /** * @class EnckeOrbitPropagation * @brief Class to propagate spacecraft orbit with Encke's method @@ -93,4 +95,6 @@ class EnckeOrbitPropagation : public Orbit, public s2e::math::OrdinaryDifferenti double CalcQFunction(const s2e::math::Vector<3> difference_position_i_m); }; +} // namespace s2e::dynamics::orbit + #endif // S2E_DYNAMICS_ORBIT_ENCKE_ORBIT_PROPAGATION_HPP_ diff --git a/src/dynamics/orbit/initialize_orbit.cpp b/src/dynamics/orbit/initialize_orbit.cpp index 9d071761f..5b8329708 100644 --- a/src/dynamics/orbit/initialize_orbit.cpp +++ b/src/dynamics/orbit/initialize_orbit.cpp @@ -12,6 +12,8 @@ #include "rk4_orbit_propagation.hpp" #include "sgp4_orbit_propagation.hpp" +namespace s2e::dynamics::orbit { + Orbit* InitOrbit(const CelestialInformation* celestial_information, std::string initialize_file, double step_width_s, double current_time_jd, double gravity_constant_m3_s2, std::string section, RelativeInformation* relative_information) { auto conf = IniAccess(initialize_file); @@ -148,3 +150,5 @@ s2e::math::Vector<6> InitializePosVel(std::string initialize_file, double curren return pos_vel; } + +} // namespace s2e::dynamics::orbit diff --git a/src/dynamics/orbit/initialize_orbit.hpp b/src/dynamics/orbit/initialize_orbit.hpp index 1bdbe44cd..59a03d8a0 100644 --- a/src/dynamics/orbit/initialize_orbit.hpp +++ b/src/dynamics/orbit/initialize_orbit.hpp @@ -12,6 +12,8 @@ class RelativeInformation; +namespace s2e::dynamics::orbit { + /** * @fn InitOrbit * @brief Initialize function for Orbit class @@ -37,4 +39,6 @@ Orbit* InitOrbit(const CelestialInformation* celestial_information, std::string */ s2e::math::Vector<6> InitializePosVel(std::string initialize_file, double current_time_jd, double gravity_constant_m3_s2, std::string section = "ORBIT"); +} // namespace s2e::dynamics::orbit + #endif // S2E_DYNAMICS_ORBIT_INITIALIZE_ORBIT_HPP_ diff --git a/src/dynamics/orbit/kepler_orbit_propagation.cpp b/src/dynamics/orbit/kepler_orbit_propagation.cpp index 905c56e39..d745a2c3a 100644 --- a/src/dynamics/orbit/kepler_orbit_propagation.cpp +++ b/src/dynamics/orbit/kepler_orbit_propagation.cpp @@ -8,6 +8,8 @@ #include "../../math_physics/math/s2e_math.hpp" +namespace s2e::dynamics::orbit { + KeplerOrbitPropagation::KeplerOrbitPropagation(const CelestialInformation* celestial_information, const double current_time_jd, KeplerOrbit kepler_orbit) : Orbit(celestial_information), KeplerOrbit(kepler_orbit) { @@ -32,3 +34,5 @@ void KeplerOrbitPropagation::UpdateState(const double current_time_jd) { TransformEciToEcef(); TransformEcefToGeodetic(); } + +} // namespace s2e::dynamics::orbit diff --git a/src/dynamics/orbit/kepler_orbit_propagation.hpp b/src/dynamics/orbit/kepler_orbit_propagation.hpp index 9604c4bc1..117f8edc1 100644 --- a/src/dynamics/orbit/kepler_orbit_propagation.hpp +++ b/src/dynamics/orbit/kepler_orbit_propagation.hpp @@ -9,6 +9,8 @@ #include "../../math_physics/orbit/kepler_orbit.hpp" #include "orbit.hpp" +namespace s2e::dynamics::orbit { + /** * @class KeplerOrbitPropagation * @brief Class to propagate spacecraft orbit with Kepler equation @@ -48,4 +50,6 @@ class KeplerOrbitPropagation : public Orbit, public s2e::orbit::KeplerOrbit { void UpdateState(const double current_time_jd); }; +} // namespace s2e::dynamics::orbit + #endif // S2E_DYNAMICS_ORBIT_KEPLER_ORBIT_PROPAGATION_HPP_ diff --git a/src/dynamics/orbit/orbit.cpp b/src/dynamics/orbit/orbit.cpp index d3058f5fd..c2b94493d 100644 --- a/src/dynamics/orbit/orbit.cpp +++ b/src/dynamics/orbit/orbit.cpp @@ -4,6 +4,8 @@ */ #include "orbit.hpp" +namespace s2e::dynamics::orbit { + s2e::math::Quaternion Orbit::CalcQuaternion_i2lvlh() const { s2e::math::Vector<3> lvlh_x = spacecraft_position_i_m_; // x-axis in LVLH frame is position vector direction from geocenter to satellite s2e::math::Vector<3> lvlh_ex = lvlh_x.CalcNormalizedVector(); @@ -93,3 +95,5 @@ std::string Orbit::GetLogValue() const { return str_tmp; } + +} // namespace s2e::dynamics::orbit diff --git a/src/dynamics/orbit/orbit.hpp b/src/dynamics/orbit/orbit.hpp index 79a016b81..dabd75f59 100644 --- a/src/dynamics/orbit/orbit.hpp +++ b/src/dynamics/orbit/orbit.hpp @@ -16,6 +16,8 @@ #include #include +namespace s2e::dynamics::orbit { + /** * @enum OrbitPropagateMode * @brief Propagation mode of orbit @@ -217,4 +219,6 @@ class Orbit : public ILoggable { OrbitInitializeMode SetOrbitInitializeMode(const std::string initialize_mode); +} // namespace s2e::dynamics::orbit + #endif // S2E_DYNAMICS_ORBIT_ORBIT_HPP_ diff --git a/src/dynamics/orbit/relative_orbit.cpp b/src/dynamics/orbit/relative_orbit.cpp index 5e6065776..4dbb9838a 100644 --- a/src/dynamics/orbit/relative_orbit.cpp +++ b/src/dynamics/orbit/relative_orbit.cpp @@ -8,6 +8,8 @@ #include "rk4_orbit_propagation.hpp" +namespace s2e::dynamics::orbit { + RelativeOrbit::RelativeOrbit(const CelestialInformation* celestial_information, double gravity_constant_m3_s2, double time_step_s, int reference_spacecraft_id, s2e::math::Vector<3> relative_position_lvlh_m, s2e::math::Vector<3> relative_velocity_lvlh_m_s, RelativeOrbitUpdateMethod update_method, s2e::orbit::RelativeOrbitModel relative_dynamics_model_type, @@ -157,3 +159,5 @@ void RelativeOrbit::DerivativeFunction(double t, const s2e::math::Vector<6>& sta rhs = system_matrix_ * state; (void)t; } + +} // namespace s2e::dynamics::orbit diff --git a/src/dynamics/orbit/relative_orbit.hpp b/src/dynamics/orbit/relative_orbit.hpp index 3a98c1249..609994168 100644 --- a/src/dynamics/orbit/relative_orbit.hpp +++ b/src/dynamics/orbit/relative_orbit.hpp @@ -13,6 +13,8 @@ #include "orbit.hpp" +namespace s2e::dynamics::orbit { + /** * @class RelativeOrbit * @brief Class to propagate relative orbit @@ -126,4 +128,6 @@ class RelativeOrbit : public Orbit, public s2e::math::OrdinaryDifferentialEquati void PropagateStm(double elapsed_sec); }; +} // namespace s2e::dynamics::orbit + #endif // S2E_DYNAMICS_ORBIT_RELATIVE_ORBIT_HPP_ diff --git a/src/dynamics/orbit/rk4_orbit_propagation.cpp b/src/dynamics/orbit/rk4_orbit_propagation.cpp index dd2c5abfa..b73971d46 100644 --- a/src/dynamics/orbit/rk4_orbit_propagation.cpp +++ b/src/dynamics/orbit/rk4_orbit_propagation.cpp @@ -8,6 +8,8 @@ #include #include +namespace s2e::dynamics::orbit { + Rk4OrbitPropagation::Rk4OrbitPropagation(const CelestialInformation* celestial_information, double gravity_constant_m3_s2, double time_step_s, s2e::math::Vector<3> position_i_m, s2e::math::Vector<3> velocity_i_m_s, double initial_time_s) : Orbit(celestial_information), OrdinaryDifferentialEquation<6>(time_step_s), gravity_constant_m3_s2_(gravity_constant_m3_s2) { @@ -86,3 +88,5 @@ void Rk4OrbitPropagation::Propagate(const double end_time_s, const double curren TransformEciToEcef(); TransformEcefToGeodetic(); } + +} // namespace s2e::dynamics::orbit diff --git a/src/dynamics/orbit/rk4_orbit_propagation.hpp b/src/dynamics/orbit/rk4_orbit_propagation.hpp index 83fc56bbe..dbdc33b0d 100644 --- a/src/dynamics/orbit/rk4_orbit_propagation.hpp +++ b/src/dynamics/orbit/rk4_orbit_propagation.hpp @@ -11,6 +11,8 @@ #include "orbit.hpp" +namespace s2e::dynamics::orbit { + /** * @class Rk4OrbitPropagation * @brief Class to propagate spacecraft orbit with Runge-Kutta-4 method @@ -69,4 +71,6 @@ class Rk4OrbitPropagation : public Orbit, public s2e::math::OrdinaryDifferential void Initialize(s2e::math::Vector<3> position_i_m, s2e::math::Vector<3> velocity_i_m_s, double initial_time_s = 0); }; +} // namespace s2e::dynamics::orbit + #endif // S2E_DYNAMICS_ORBIT_RK4_ORBIT_PROPAGATION_HPP_ diff --git a/src/dynamics/orbit/sgp4_orbit_propagation.cpp b/src/dynamics/orbit/sgp4_orbit_propagation.cpp index 30451f568..f15c8b56c 100644 --- a/src/dynamics/orbit/sgp4_orbit_propagation.cpp +++ b/src/dynamics/orbit/sgp4_orbit_propagation.cpp @@ -9,6 +9,8 @@ #include #include +namespace s2e::dynamics::orbit { + Sgp4OrbitPropagation::Sgp4OrbitPropagation(const CelestialInformation* celestial_information, char* tle1, char* tle2, const int wgs_setting, const double current_time_jd) : Orbit(celestial_information) { @@ -66,3 +68,5 @@ void Sgp4OrbitPropagation::Propagate(const double end_time_s, const double curre TransformEciToEcef(); TransformEcefToGeodetic(); } + +} // namespace s2e::dynamics::orbit diff --git a/src/dynamics/orbit/sgp4_orbit_propagation.hpp b/src/dynamics/orbit/sgp4_orbit_propagation.hpp index 42b69681c..a31be3690 100644 --- a/src/dynamics/orbit/sgp4_orbit_propagation.hpp +++ b/src/dynamics/orbit/sgp4_orbit_propagation.hpp @@ -13,6 +13,8 @@ #include "orbit.hpp" +namespace s2e::dynamics::orbit { + /** * @class Sgp4OrbitPropagation * @brief Class to propagate spacecraft orbit with SGP4 method with TLE @@ -45,4 +47,6 @@ class Sgp4OrbitPropagation : public Orbit { elsetrec sgp4_data_; //!< Structure data for SGP4 library }; +} // namespace s2e::dynamics::orbit + #endif // S2E_DYNAMICS_ORBIT_SGP4_ORBIT_PROPAGATION_HPP_ From 70ec6612d7a1990b54692585db9506fbb21f5634 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Fri, 27 Sep 2024 14:29:37 +0900 Subject: [PATCH 411/456] Add s2e::dynamics::thermal namespace --- src/dynamics/thermal/heater.cpp | 4 ++++ src/dynamics/thermal/heater.hpp | 4 ++++ src/dynamics/thermal/heater_controller.cpp | 4 ++++ src/dynamics/thermal/heater_controller.hpp | 4 ++++ src/dynamics/thermal/heatload.cpp | 4 ++++ src/dynamics/thermal/heatload.hpp | 4 ++++ src/dynamics/thermal/node.cpp | 4 ++++ src/dynamics/thermal/node.hpp | 4 ++++ src/dynamics/thermal/temperature.cpp | 4 ++++ src/dynamics/thermal/temperature.hpp | 4 ++++ 10 files changed, 40 insertions(+) diff --git a/src/dynamics/thermal/heater.cpp b/src/dynamics/thermal/heater.cpp index d47ce224a..6444ae329 100644 --- a/src/dynamics/thermal/heater.cpp +++ b/src/dynamics/thermal/heater.cpp @@ -5,6 +5,8 @@ using namespace std; +namespace s2e::dynamics::thermal { + Heater::Heater(const size_t heater_id, const double power_rating_W) : heater_id_(heater_id), power_rating_W_(power_rating_W) { AssertHeaterParams(); heater_status_ = HeaterStatus::kOff; @@ -75,3 +77,5 @@ Heater InitHeater(const std::vector& heater_str) { Heater heater(heater_id, power_rating_W); return heater; } + +} // namespace s2e::dynamics::thermal diff --git a/src/dynamics/thermal/heater.hpp b/src/dynamics/thermal/heater.hpp index 42ea9774f..ac1f47c30 100644 --- a/src/dynamics/thermal/heater.hpp +++ b/src/dynamics/thermal/heater.hpp @@ -11,6 +11,8 @@ #include #include +namespace s2e::dynamics::thermal { + /** * @enum HeaterStatus * @brief Status of heater (On/Off) @@ -99,4 +101,6 @@ class Heater { */ Heater InitHeater(const std::vector& heater_str); +} // namespace s2e::dynamics::thermal + #endif // S2E_DYNAMICS_THERMAL_HEATER_HPP_ diff --git a/src/dynamics/thermal/heater_controller.cpp b/src/dynamics/thermal/heater_controller.cpp index 93c0fc811..6c346041e 100644 --- a/src/dynamics/thermal/heater_controller.cpp +++ b/src/dynamics/thermal/heater_controller.cpp @@ -4,6 +4,8 @@ #include using namespace std; +namespace s2e::dynamics::thermal { + HeaterController::HeaterController(const double lower_threshold_degC, const double upper_threshold_degC) : lower_threshold_degC_(lower_threshold_degC), upper_threshold_degC_(upper_threshold_degC) { AssertHeaterControllerParams(); @@ -52,3 +54,5 @@ HeaterController InitHeaterController(const std::vector& heater_str HeaterController heater_controller(lower_threshold_degC, upper_threshold_degC); return heater_controller; } + +} // namespace s2e::dynamics::thermal diff --git a/src/dynamics/thermal/heater_controller.hpp b/src/dynamics/thermal/heater_controller.hpp index 4c2353fb0..638e8d9e2 100644 --- a/src/dynamics/thermal/heater_controller.hpp +++ b/src/dynamics/thermal/heater_controller.hpp @@ -13,6 +13,8 @@ #include "heater.hpp" +namespace s2e::dynamics::thermal { + class HeaterController { public: /** @@ -89,4 +91,6 @@ class HeaterController { */ HeaterController InitHeaterController(const std::vector& heater_str); +} // namespace s2e::dynamics::thermal + #endif // S2E_DYNAMICS_THERMAL_HEATER_CONTROLLER_HPP_ diff --git a/src/dynamics/thermal/heatload.cpp b/src/dynamics/thermal/heatload.cpp index f8e5d98a6..949bfa361 100644 --- a/src/dynamics/thermal/heatload.cpp +++ b/src/dynamics/thermal/heatload.cpp @@ -7,6 +7,8 @@ using namespace std; using namespace s2e::math; +namespace s2e::dynamics::thermal { + Heatload::Heatload(int node_id, std::vector time_table_s, std::vector internal_heatload_table_W) : node_id_(node_id), time_table_s_(time_table_s), internal_heatload_table_W_(internal_heatload_table_W) { elapsed_time_s_ = 0; @@ -100,3 +102,5 @@ Heatload InitHeatload(const std::vector& time_str, const std::vecto return Heatload(node_id, time_table_s, internal_heatload_table_W); } + +} // namespace s2e::dynamics::thermal diff --git a/src/dynamics/thermal/heatload.hpp b/src/dynamics/thermal/heatload.hpp index ef17d51e4..0a3106a25 100644 --- a/src/dynamics/thermal/heatload.hpp +++ b/src/dynamics/thermal/heatload.hpp @@ -10,6 +10,8 @@ #include #include +namespace s2e::dynamics::thermal { + /** * @class Heatload * @brief Class for calculating heatload value for Node class object at elapsed time @@ -127,4 +129,6 @@ class Heatload { */ Heatload InitHeatload(const std::vector& time_str, const std::vector& internal_heatload_str); +} // namespace s2e::dynamics::thermal + #endif // S2E_DYNAMICS_THERMAL_HEATLOAD_HPP_ diff --git a/src/dynamics/thermal/node.cpp b/src/dynamics/thermal/node.cpp index 8ec1a5849..992fe489d 100644 --- a/src/dynamics/thermal/node.cpp +++ b/src/dynamics/thermal/node.cpp @@ -12,6 +12,8 @@ using namespace std; using namespace s2e::math; +namespace s2e::dynamics::thermal { + Node::Node(const size_t node_id, const string node_name, const NodeType node_type, const size_t heater_id, const double temperature_ini_K, const double capacity_J_K, const double alpha, const double area_m2, s2e::math::Vector<3> normal_vector_b) : node_id_(node_id), @@ -186,3 +188,5 @@ Node InitNode(const std::vector& node_str) { Node node(node_id, node_label, node_type, heater_id, temperature_K, capacity_J_K, alpha, area_m2, normal_v_b); return node; } + +} // namespace s2e::dynamics::thermal diff --git a/src/dynamics/thermal/node.hpp b/src/dynamics/thermal/node.hpp index e6267f79d..b75e6ad72 100644 --- a/src/dynamics/thermal/node.hpp +++ b/src/dynamics/thermal/node.hpp @@ -11,6 +11,8 @@ #include #include +namespace s2e::dynamics::thermal { + /** * @enum NodeType * @brief Type of node @@ -170,4 +172,6 @@ class Node { */ Node InitNode(const std::vector& node_str); +}namespace s2e::dynamics::thermal + #endif // S2E_DYNAMICS_THERMAL_NODE_HPP_ diff --git a/src/dynamics/thermal/temperature.cpp b/src/dynamics/thermal/temperature.cpp index 0025e27f0..aec2acc7a 100644 --- a/src/dynamics/thermal/temperature.cpp +++ b/src/dynamics/thermal/temperature.cpp @@ -14,6 +14,8 @@ using namespace std; +namespace s2e::dynamics::thermal { + Temperature::Temperature(const vector> conductance_matrix_W_K, const vector> radiation_matrix_m2, vector nodes, vector heatloads, vector heaters, vector heater_controllers, const size_t node_num, const double propagation_step_s, const SolarRadiationPressureEnvironment* srp_environment, const EarthAlbedo* earth_albedo, @@ -388,3 +390,5 @@ Temperature* InitTemperature(const std::string file_name, const double rk_prop_s rk_prop_step_s, srp_environment, earth_albedo, is_calc_enabled, solar_calc_setting, debug); return temperature; } + +} // namespace s2e::dynamics::thermal diff --git a/src/dynamics/thermal/temperature.hpp b/src/dynamics/thermal/temperature.hpp index 4958cc06b..c0aaec67c 100644 --- a/src/dynamics/thermal/temperature.hpp +++ b/src/dynamics/thermal/temperature.hpp @@ -17,6 +17,8 @@ #include "heatload.hpp" #include "node.hpp" +namespace s2e::dynamics::thermal { + /** * @enum SolarCalcSetting * @brief Whether to calculate solar radiation inside simulation @@ -166,4 +168,6 @@ class Temperature : public ILoggable { Temperature* InitTemperature(const std::string file_name, const double rk_prop_step_s, const SolarRadiationPressureEnvironment* srp_environment, const EarthAlbedo* earth_albedo); +} // namespace s2e::dynamics::thermal + #endif // S2E_DYNAMICS_THERMAL_TEMPERATURE_HPP_ From 21675ce3e4e2536f375fcb52114c5c1eccd5fc4c Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Fri, 27 Sep 2024 14:31:40 +0900 Subject: [PATCH 412/456] Add s2e::dynamics namespace --- src/dynamics/dynamics.cpp | 4 ++++ src/dynamics/dynamics.hpp | 4 ++++ 2 files changed, 8 insertions(+) diff --git a/src/dynamics/dynamics.cpp b/src/dynamics/dynamics.cpp index 8cf774ad8..98276524c 100644 --- a/src/dynamics/dynamics.cpp +++ b/src/dynamics/dynamics.cpp @@ -7,6 +7,8 @@ #include "../simulation/multiple_spacecraft/relative_information.hpp" +namespace s2e::dynamics { + Dynamics::Dynamics(const SimulationConfiguration* simulation_configuration, const SimulationTime* simulation_time, const LocalEnvironment* local_environment, const int spacecraft_id, Structure* structure, RelativeInformation* relative_information) @@ -65,3 +67,5 @@ void Dynamics::LogSetup(Logger& logger) { logger.AddLogList(orbit_); logger.AddLogList(temperature_); } + +} // namespace s2e::dynamics diff --git a/src/dynamics/dynamics.hpp b/src/dynamics/dynamics.hpp index 2db4bfbbd..27797a506 100644 --- a/src/dynamics/dynamics.hpp +++ b/src/dynamics/dynamics.hpp @@ -20,6 +20,8 @@ class RelativeInformation; class LocalEnvironment; +namespace s2e::dynamics { + /** * @class Dynamics * @brief Class to manage dynamics of spacecraft @@ -127,4 +129,6 @@ class Dynamics { Structure* structure, RelativeInformation* relative_information = (RelativeInformation*)nullptr); }; +} // namespace s2e::dynamics + #endif // S2E_DYNAMICS_DYNAMICS_HPP_ From 62f53388925437d6f4579846f0b3f66e3ead632f Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Fri, 27 Sep 2024 14:36:59 +0900 Subject: [PATCH 413/456] Add s2e::environment namespace --- src/environment/global/celestial_information.cpp | 4 ++++ src/environment/global/celestial_information.hpp | 4 ++++ src/environment/global/clock_generator.cpp | 4 ++++ src/environment/global/clock_generator.hpp | 4 ++++ src/environment/global/earth_rotation.cpp | 4 ++++ src/environment/global/earth_rotation.hpp | 4 ++++ src/environment/global/global_environment.cpp | 4 ++++ src/environment/global/global_environment.hpp | 4 ++++ src/environment/global/gnss_satellites.cpp | 4 ++++ src/environment/global/gnss_satellites.hpp | 4 ++++ src/environment/global/hipparcos_catalogue.cpp | 4 ++++ src/environment/global/hipparcos_catalogue.hpp | 4 ++++ src/environment/global/moon_rotation.cpp | 6 +++++- src/environment/global/moon_rotation.hpp | 4 ++++ src/environment/global/physical_constants.hpp | 4 ++-- src/environment/global/simulation_time.cpp | 4 ++++ src/environment/global/simulation_time.hpp | 4 ++++ src/environment/local/atmosphere.cpp | 4 ++++ src/environment/local/atmosphere.hpp | 4 ++++ src/environment/local/earth_albedo.cpp | 4 ++++ src/environment/local/earth_albedo.hpp | 4 ++++ src/environment/local/geomagnetic_field.cpp | 4 ++++ src/environment/local/geomagnetic_field.hpp | 4 ++++ src/environment/local/local_celestial_information.cpp | 4 ++++ src/environment/local/local_celestial_information.hpp | 4 ++++ src/environment/local/local_environment.cpp | 4 ++++ src/environment/local/local_environment.hpp | 4 ++++ .../local/solar_radiation_pressure_environment.cpp | 4 ++++ .../local/solar_radiation_pressure_environment.hpp | 4 ++++ 29 files changed, 115 insertions(+), 3 deletions(-) diff --git a/src/environment/global/celestial_information.cpp b/src/environment/global/celestial_information.cpp index c51461e92..4eb09cf05 100644 --- a/src/environment/global/celestial_information.cpp +++ b/src/environment/global/celestial_information.cpp @@ -18,6 +18,8 @@ #include "logger/log_utility.hpp" #include "setting_file_reader/initialize_file_access.hpp" +namespace s2e::environment { + CelestialInformation::CelestialInformation(const std::string inertial_frame_name, const std::string aberration_correction_setting, const std::string center_body_name, const unsigned int number_of_selected_body, int* selected_body_ids, const std::vector rotation_mode_list) @@ -244,3 +246,5 @@ CelestialInformation* InitCelestialInformation(std::string file_name) { return celestial_info; } + +} // namespace s2e::environment diff --git a/src/environment/global/celestial_information.hpp b/src/environment/global/celestial_information.hpp index 6ffe57fbf..eeb9ff5f2 100644 --- a/src/environment/global/celestial_information.hpp +++ b/src/environment/global/celestial_information.hpp @@ -17,6 +17,8 @@ class MoonRotation; +namespace s2e::environment { + /** * @class CelestialInformation * @brief Class to manage the information related with the celestial bodies @@ -281,4 +283,6 @@ class CelestialInformation : public ILoggable { */ CelestialInformation* InitCelestialInformation(std::string file_name); +} // namespace s2e::environment + #endif // S2E_ENVIRONMENT_GLOBAL_CELESTIAL_INFORMATION_HPP_ diff --git a/src/environment/global/clock_generator.cpp b/src/environment/global/clock_generator.cpp index a196efac0..f2a1b7c8f 100644 --- a/src/environment/global/clock_generator.cpp +++ b/src/environment/global/clock_generator.cpp @@ -5,6 +5,8 @@ #include "clock_generator.hpp" +namespace s2e::environment { + ClockGenerator::~ClockGenerator() {} void ClockGenerator::RegisterComponent(ITickable* tickable) { components_.push_back(tickable); } @@ -38,3 +40,5 @@ void ClockGenerator::UpdateComponents(const SimulationTime* simulation_time) { TickToComponents(); } } + +} // namespace s2e::environment diff --git a/src/environment/global/clock_generator.hpp b/src/environment/global/clock_generator.hpp index b09b80c4a..91ef4c383 100644 --- a/src/environment/global/clock_generator.hpp +++ b/src/environment/global/clock_generator.hpp @@ -11,6 +11,8 @@ #include "simulation_time.hpp" +namespace s2e::environment { + /** * @class ClockGenerator * @brief Class to generate clock for classes which have ITickable @@ -57,4 +59,6 @@ class ClockGenerator { unsigned int timer_count_; //!< Timer count TODO: change to long? }; +} // namespace s2e::environment + #endif // S2E_ENVIRONMENT_GLOBAL_CLOCK_GENERATOR_HPP_ diff --git a/src/environment/global/earth_rotation.cpp b/src/environment/global/earth_rotation.cpp index 8950fd904..fd62d7b10 100644 --- a/src/environment/global/earth_rotation.cpp +++ b/src/environment/global/earth_rotation.cpp @@ -15,6 +15,8 @@ #include "math_physics/orbit/sgp4/sgp4ext.h" // for jday() #include "math_physics/orbit/sgp4/sgp4unit.h" // for gstime() +namespace s2e::environment { + // Default constructor EarthRotation::EarthRotation(const EarthRotationMode rotation_mode) : rotation_mode_(rotation_mode) { dcm_j2000_to_ecef_ = s2e::math::MakeIdentityMatrix<3>(); @@ -275,3 +277,5 @@ EarthRotationMode ConvertEarthRotationMode(const std::string mode) { return rotation_mode; } + +} // namespace s2e::environment diff --git a/src/environment/global/earth_rotation.hpp b/src/environment/global/earth_rotation.hpp index f4c7f7df7..b9680e478 100644 --- a/src/environment/global/earth_rotation.hpp +++ b/src/environment/global/earth_rotation.hpp @@ -11,6 +11,8 @@ #include "math_physics/math/matrix.hpp" +namespace s2e::environment { + /** * @enum EarthRotationMode * @brief Definition of calculation mode of earth rotation @@ -122,4 +124,6 @@ class EarthRotation { EarthRotationMode ConvertEarthRotationMode(const std::string mode); +} // namespace s2e::environment + #endif // S2E_ENVIRONMENT_GLOBAL_EARTH_ROTATION_HPP_ diff --git a/src/environment/global/global_environment.cpp b/src/environment/global/global_environment.cpp index 0e89b2346..b97b78da7 100644 --- a/src/environment/global/global_environment.cpp +++ b/src/environment/global/global_environment.cpp @@ -7,6 +7,8 @@ #include "setting_file_reader/initialize_file_access.hpp" +namespace s2e::environment { + GlobalEnvironment::GlobalEnvironment(const SimulationConfiguration* simulation_configuration) { Initialize(simulation_configuration); } GlobalEnvironment::~GlobalEnvironment() { @@ -43,4 +45,6 @@ void GlobalEnvironment::LogSetup(Logger& logger) { logger.AddLogList(gnss_satellites_); } +} // namespace s2e::environment + void GlobalEnvironment::Reset(void) { simulation_time_->ResetClock(); } diff --git a/src/environment/global/global_environment.hpp b/src/environment/global/global_environment.hpp index b8bb56890..37c51cbfb 100644 --- a/src/environment/global/global_environment.hpp +++ b/src/environment/global/global_environment.hpp @@ -13,6 +13,8 @@ #include "simulation/simulation_configuration.hpp" #include "simulation_time.hpp" +namespace s2e::environment { + /** * @class GlobalEnvironment * @brief Class to manage the global environment @@ -82,4 +84,6 @@ class GlobalEnvironment { GnssSatellites* gnss_satellites_; //!< GNSS satellites }; +} // namespace s2e::environment + #endif // S2E_ENVIRONMENT_GLOBAL_GLOBAL_ENVIRONMENT_HPP_ diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index 11b551228..d16fefc26 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -17,6 +17,8 @@ using namespace s2e::gnss; +namespace s2e::environment { + const size_t kNumberOfInterpolation = 9; void GnssSatellites::Initialize(const std::vector& sp3_files, const s2e::time_system::EpochTime start_time) { @@ -234,3 +236,5 @@ GnssSatellites* InitGnssSatellites(const std::string file_name, const EarthRotat return gnss_satellites; } + +} // namespace s2e::environment diff --git a/src/environment/global/gnss_satellites.hpp b/src/environment/global/gnss_satellites.hpp index 6051ce4f5..88994a500 100644 --- a/src/environment/global/gnss_satellites.hpp +++ b/src/environment/global/gnss_satellites.hpp @@ -21,6 +21,8 @@ #include "math_physics/math/vector.hpp" #include "simulation_time.hpp" +namespace s2e::environment { + /** * @class GnssSatellites * @brief Class to calculate GNSS satellite position and clock @@ -153,4 +155,6 @@ class GnssSatellites : public ILoggable { */ GnssSatellites* InitGnssSatellites(const std::string file_name, const EarthRotation& earth_rotation, const SimulationTime& simulation_time); +} // namespace s2e::environment + #endif // S2E_ENVIRONMENT_GLOBAL_GNSS_SATELLITES_HPP_ diff --git a/src/environment/global/hipparcos_catalogue.cpp b/src/environment/global/hipparcos_catalogue.cpp index 70e9fca25..72ad7dfdf 100644 --- a/src/environment/global/hipparcos_catalogue.cpp +++ b/src/environment/global/hipparcos_catalogue.cpp @@ -14,6 +14,8 @@ #include "math_physics/math/constants.hpp" #include "setting_file_reader/initialize_file_access.hpp" +namespace s2e::environment { + HipparcosCatalogue::HipparcosCatalogue(double max_magnitude, std::string catalogue_path) : max_magnitude_(max_magnitude), catalogue_path_(catalogue_path) {} @@ -99,3 +101,5 @@ HipparcosCatalogue* InitHipparcosCatalogue(std::string file_name) { return hipparcos_catalogue_; } + +} // namespace s2e::environment diff --git a/src/environment/global/hipparcos_catalogue.hpp b/src/environment/global/hipparcos_catalogue.hpp index 3114fdb3a..dd20fee9d 100644 --- a/src/environment/global/hipparcos_catalogue.hpp +++ b/src/environment/global/hipparcos_catalogue.hpp @@ -12,6 +12,8 @@ #include "math_physics/math/quaternion.hpp" #include "math_physics/math/vector.hpp" +namespace s2e::environment { + /** *@struct HipparcosData *@brief Hipparcos catalogue data @@ -118,4 +120,6 @@ class HipparcosCatalogue : public ILoggable { */ HipparcosCatalogue* InitHipparcosCatalogue(std::string file_name); +} // namespace s2e::environment + #endif // S2E_ENVIRONMENT_GLOBAL_HIPPARCOS_CATALOGUE_HPP_ diff --git a/src/environment/global/moon_rotation.cpp b/src/environment/global/moon_rotation.cpp index a49e236ec..c8843e3a0 100644 --- a/src/environment/global/moon_rotation.cpp +++ b/src/environment/global/moon_rotation.cpp @@ -10,6 +10,8 @@ #include #include +namespace s2e::environment { + MoonRotation::MoonRotation(const CelestialInformation& celestial_information, MoonRotationMode mode) : mode_(mode), celestial_information_(celestial_information) { dcm_j2000_to_mcmf_ = s2e::math::MakeIdentityMatrix<3>(); @@ -50,4 +52,6 @@ MoonRotationMode ConvertMoonRotationMode(const std::string mode) { } return rotation_mode; -} \ No newline at end of file +} + +} // namespace s2e::environment diff --git a/src/environment/global/moon_rotation.hpp b/src/environment/global/moon_rotation.hpp index 5df9f247a..ebdc7c4a3 100644 --- a/src/environment/global/moon_rotation.hpp +++ b/src/environment/global/moon_rotation.hpp @@ -13,6 +13,8 @@ class CelestialInformation; +namespace s2e::environment { + /** * @enum MoonRotationMode * @brief Definition of calculation mode of moon rotation @@ -62,4 +64,6 @@ class MoonRotation { const CelestialInformation &celestial_information_; //!< Celestial Information to get moon orbit }; +} // namespace s2e::environment + #endif // S2E_ENVIRONMENT_GLOBAL_MOON_ROTATION_HPP_ diff --git a/src/environment/global/physical_constants.hpp b/src/environment/global/physical_constants.hpp index c2acd7de0..2c279b389 100644 --- a/src/environment/global/physical_constants.hpp +++ b/src/environment/global/physical_constants.hpp @@ -8,7 +8,7 @@ #include // std::is_floating_point_v -namespace environment { +namespace s2e::environment { template using enable_if_float = std::enable_if_t, T>; @@ -39,7 +39,7 @@ DEFINE_PHYSICAL_CONSTANT(earth_flattening, 3.352797e-3L) / #undef DEFINE_PHYSICAL_CONSTANT -} // namespace environment +} // namespace s2e::environment inline double degC2K(double degC) { return (degC - environment::absolute_zero_degC); } inline double K2degC(double K) { return (K + environment::absolute_zero_degC); } diff --git a/src/environment/global/simulation_time.cpp b/src/environment/global/simulation_time.cpp index 149b88f42..e44d5a416 100644 --- a/src/environment/global/simulation_time.cpp +++ b/src/environment/global/simulation_time.cpp @@ -21,6 +21,8 @@ using namespace std; +namespace s2e::environment { + SimulationTime::SimulationTime(const double end_sec, const double step_sec, const double attitude_update_interval_sec, const double attitude_rk_step_sec, const double orbit_update_interval_sec, const double orbit_rk_step_sec, const double thermal_update_interval_sec, const double thermal_rk_step_sec, const double compo_propagate_step_sec, @@ -275,3 +277,5 @@ SimulationTime* InitSimulationTime(std::string file_name) { return simTime; } + +} // namespace s2e::environment diff --git a/src/environment/global/simulation_time.hpp b/src/environment/global/simulation_time.hpp index f993b5ec8..27892afdf 100644 --- a/src/environment/global/simulation_time.hpp +++ b/src/environment/global/simulation_time.hpp @@ -19,6 +19,8 @@ #include "math_physics/orbit/sgp4/sgp4io.h" #include "math_physics/orbit/sgp4/sgp4unit.h" +namespace s2e::environment { + /** *@struct TimeState *@brief State of timing controller @@ -334,4 +336,6 @@ class SimulationTime : public ILoggable { */ SimulationTime* InitSimulationTime(std::string file_name); +} // namespace s2e::environment + #endif // S2E_ENVIRONMENT_GLOBAL_SIMULATION_TIME_HPP_ diff --git a/src/environment/local/atmosphere.cpp b/src/environment/local/atmosphere.cpp index ae789fdb3..cfada183c 100644 --- a/src/environment/local/atmosphere.cpp +++ b/src/environment/local/atmosphere.cpp @@ -14,6 +14,8 @@ #include "math_physics/randomization/random_walk.hpp" #include "setting_file_reader/initialize_file_access.hpp" +namespace s2e::environment { + Atmosphere::Atmosphere(const std::string model, const std::string space_weather_file_name, const double gauss_standard_deviation_rate, const bool is_manual_param, const double manual_f107, const double manual_f107a, const double manual_ap, const LocalCelestialInformation* local_celestial_information, const SimulationTime* simulation_time) @@ -133,3 +135,5 @@ Atmosphere InitAtmosphere(const std::string initialize_file_path, const LocalCel return atmosphere; } + +} // namespace s2e::environment diff --git a/src/environment/local/atmosphere.hpp b/src/environment/local/atmosphere.hpp index 8489891d8..2c383b78c 100644 --- a/src/environment/local/atmosphere.hpp +++ b/src/environment/local/atmosphere.hpp @@ -15,6 +15,8 @@ #include "math_physics/atmosphere/wrapper_nrlmsise00.hpp" #include "math_physics/math/vector.hpp" +namespace s2e::environment { + /** * @class Atmosphere * @brief Class to calculate earth's atmospheric density @@ -116,4 +118,6 @@ class Atmosphere : public ILoggable { Atmosphere InitAtmosphere(const std::string initialize_file_path, const LocalCelestialInformation* local_celestial_information, const SimulationTime* simulation_time); +} // namespace s2e::environment + #endif // S2E_ENVIRONMENT_LOCAL_ATMOSPHERE_HPP_ diff --git a/src/environment/local/earth_albedo.cpp b/src/environment/local/earth_albedo.cpp index 5aca6b575..fb3672a8e 100644 --- a/src/environment/local/earth_albedo.cpp +++ b/src/environment/local/earth_albedo.cpp @@ -13,6 +13,8 @@ #include "math_physics/math/vector.hpp" #include "setting_file_reader/initialize_file_access.hpp" +namespace s2e::environment { + EarthAlbedo::EarthAlbedo(LocalCelestialInformation* local_celestial_information, SolarRadiationPressureEnvironment* srp_environment) : local_celestial_information_(local_celestial_information), srp_environment_(srp_environment) {} @@ -57,3 +59,5 @@ EarthAlbedo InitEarthAlbedo(std::string initialize_file_path, LocalCelestialInfo return earth_albedo; } + +} // namespace s2e::environment diff --git a/src/environment/local/earth_albedo.hpp b/src/environment/local/earth_albedo.hpp index e07ad7b46..724cba2a7 100644 --- a/src/environment/local/earth_albedo.hpp +++ b/src/environment/local/earth_albedo.hpp @@ -10,6 +10,8 @@ #include "environment/local/local_celestial_information.hpp" #include "solar_radiation_pressure_environment.hpp" +namespace s2e::environment { + /** * @class EarthAlbedo * @brief Class to calculate Solar Radiation Pressure @@ -102,4 +104,6 @@ class EarthAlbedo : public ILoggable { EarthAlbedo InitEarthAlbedo(std::string initialize_file_path, LocalCelestialInformation* local_celestial_information, SolarRadiationPressureEnvironment* srp_environment); +} // namespace s2e::environment + #endif // S2E_ENVIRONMENT_LOCAL_EARTH_ALBEDO_HPP_ diff --git a/src/environment/local/geomagnetic_field.cpp b/src/environment/local/geomagnetic_field.cpp index 48cdc57c0..008f3277c 100644 --- a/src/environment/local/geomagnetic_field.cpp +++ b/src/environment/local/geomagnetic_field.cpp @@ -11,6 +11,8 @@ #include "math_physics/randomization/random_walk.hpp" #include "setting_file_reader/initialize_file_access.hpp" +namespace s2e::environment { + GeomagneticField::GeomagneticField(const std::string igrf_file_name, const double random_walk_srandard_deviation_nT, const double random_walk_limit_nT, const double white_noise_standard_deviation_nT) : magnetic_field_i_nT_(0.0), @@ -85,3 +87,5 @@ GeomagneticField InitGeomagneticField(std::string initialize_file_path) { return geomagnetic_field; } + +} // namespace s2e::environment diff --git a/src/environment/local/geomagnetic_field.hpp b/src/environment/local/geomagnetic_field.hpp index 3f2adf741..100baf480 100644 --- a/src/environment/local/geomagnetic_field.hpp +++ b/src/environment/local/geomagnetic_field.hpp @@ -11,6 +11,8 @@ #include "math_physics/math/quaternion.hpp" #include "math_physics/math/vector.hpp" +namespace s2e::environment { + /** * @class GeomagneticField * @brief Class to calculate magnetic field of the earth @@ -92,4 +94,6 @@ class GeomagneticField : public ILoggable { */ GeomagneticField InitGeomagneticField(std::string initialize_file_path); +} // namespace s2e::environment + #endif // S2E_ENVIRONMENT_LOCAL_GEOMAGNETIC_FIELD_HPP_ diff --git a/src/environment/local/local_celestial_information.cpp b/src/environment/local/local_celestial_information.cpp index b34fcc6ed..fde483b84 100644 --- a/src/environment/local/local_celestial_information.cpp +++ b/src/environment/local/local_celestial_information.cpp @@ -14,6 +14,8 @@ #include "logger/log_utility.hpp" +namespace s2e::environment { + LocalCelestialInformation::LocalCelestialInformation(const CelestialInformation* global_celestial_information) : global_celestial_information_(global_celestial_information) { int num_of_state = global_celestial_information_->GetNumberOfSelectedBodies() * 3; @@ -197,3 +199,5 @@ std::string LocalCelestialInformation::GetLogValue() const { } return str_tmp; } + +} // namespace s2e::environment diff --git a/src/environment/local/local_celestial_information.hpp b/src/environment/local/local_celestial_information.hpp index ec3a6cbb3..26e1c354b 100644 --- a/src/environment/local/local_celestial_information.hpp +++ b/src/environment/local/local_celestial_information.hpp @@ -8,6 +8,8 @@ #include "../global/celestial_information.hpp" +namespace s2e::environment { + /** * @class LocalCelestialInformation * @brief Class to manage celestial body information in the spacecraft body frame @@ -120,4 +122,6 @@ class LocalCelestialInformation : public ILoggable { const s2e::math::Vector<3> angular_velocity_b); }; +} // namespace s2e::environment + #endif // S2E_ENVIRONMENT_LOCAL_LOCAL_CELESTIAL_INFORMATION_HPP_ diff --git a/src/environment/local/local_environment.cpp b/src/environment/local/local_environment.cpp index 7cd898db9..d12f5e882 100644 --- a/src/environment/local/local_environment.cpp +++ b/src/environment/local/local_environment.cpp @@ -8,6 +8,8 @@ #include "dynamics/orbit/orbit.hpp" #include "setting_file_reader/initialize_file_access.hpp" +namespace s2e::environment + LocalEnvironment::LocalEnvironment(const SimulationConfiguration* simulation_configuration, const GlobalEnvironment* global_environment, const int spacecraft_id) { Initialize(simulation_configuration, global_environment, spacecraft_id); @@ -76,3 +78,5 @@ void LocalEnvironment::LogSetup(Logger& logger) { logger.AddLogList(atmosphere_); logger.AddLogList(celestial_information_); } + +} // namespace s2e::environment diff --git a/src/environment/local/local_environment.hpp b/src/environment/local/local_environment.hpp index a7d0b7cac..807ffa100 100644 --- a/src/environment/local/local_environment.hpp +++ b/src/environment/local/local_environment.hpp @@ -17,6 +17,8 @@ class Dynamics; +namespace s2e::environment { + /** * @class LocalEnvironment * @brief Class to manage local environments @@ -94,4 +96,6 @@ class LocalEnvironment { void Initialize(const SimulationConfiguration* simulation_configuration, const GlobalEnvironment* global_environment, const int spacecraft_id); }; +} // namespace s2e::environment + #endif // S2E_ENVIRONMENT_LOCAL_LOCAL_ENVIRONMENT_HPP_ diff --git a/src/environment/local/solar_radiation_pressure_environment.cpp b/src/environment/local/solar_radiation_pressure_environment.cpp index abda33801..1ab74ebdc 100644 --- a/src/environment/local/solar_radiation_pressure_environment.cpp +++ b/src/environment/local/solar_radiation_pressure_environment.cpp @@ -13,6 +13,8 @@ #include "math_physics/math/vector.hpp" #include "setting_file_reader/initialize_file_access.hpp" +namespace s2e::environment { + SolarRadiationPressureEnvironment::SolarRadiationPressureEnvironment(LocalCelestialInformation* local_celestial_information) : local_celestial_information_(local_celestial_information) { solar_radiation_pressure_N_m2_ = solar_constant_W_m2_ / environment::speed_of_light_m_s; @@ -119,3 +121,5 @@ SolarRadiationPressureEnvironment InitSolarRadiationPressureEnvironment(std::str return srp_env; } + +} // namespace s2e::environment diff --git a/src/environment/local/solar_radiation_pressure_environment.hpp b/src/environment/local/solar_radiation_pressure_environment.hpp index 8fbc73250..a768ce136 100644 --- a/src/environment/local/solar_radiation_pressure_environment.hpp +++ b/src/environment/local/solar_radiation_pressure_environment.hpp @@ -9,6 +9,8 @@ #include "environment/global/physical_constants.hpp" #include "environment/local/local_celestial_information.hpp" +namespace s2e::environment { + /** * @class SolarRadiationPressureEnvironment * @brief Class to calculate Solar Radiation Pressure @@ -122,4 +124,6 @@ class SolarRadiationPressureEnvironment : public ILoggable { SolarRadiationPressureEnvironment InitSolarRadiationPressureEnvironment(std::string initialize_file_path, LocalCelestialInformation* local_celestial_information); +} // namespace s2e::environment + #endif // S2E_ENVIRONMENT_LOCAL_SOLAR_RADIATION_PRESSURE_ENVIRONMENT_HPP_ From 1f847517244b106c3a48244b72d3969eedf8b5c6 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Fri, 27 Sep 2024 14:38:17 +0900 Subject: [PATCH 414/456] Add s2e::logger namespace --- src/logger/initialize_log.cpp | 4 ++++ src/logger/initialize_log.hpp | 4 ++++ src/logger/log_utility.hpp | 4 ++++ src/logger/loggable.hpp | 4 ++++ src/logger/logger.cpp | 4 ++++ src/logger/logger.hpp | 4 ++++ 6 files changed, 24 insertions(+) diff --git a/src/logger/initialize_log.cpp b/src/logger/initialize_log.cpp index 239cfe3d4..3dec812af 100644 --- a/src/logger/initialize_log.cpp +++ b/src/logger/initialize_log.cpp @@ -7,6 +7,8 @@ #include "../setting_file_reader/initialize_file_access.hpp" +namespace s2e::logger { + Logger* InitLog(std::string file_name) { IniAccess ini_file(file_name); @@ -28,3 +30,5 @@ Logger* InitMonteCarloLog(std::string file_name, bool enable) { return log; } + +} // namespace s2e::logger diff --git a/src/logger/initialize_log.hpp b/src/logger/initialize_log.hpp index 0d70fc1e8..630425134 100644 --- a/src/logger/initialize_log.hpp +++ b/src/logger/initialize_log.hpp @@ -8,6 +8,8 @@ #include +namespace s2e::logger { + /** * @fn InitLog * @brief Initialize normal logger (default.csv) @@ -23,4 +25,6 @@ Logger* InitLog(std::string file_name); */ Logger* InitMonteCarloLog(std::string file_name, bool enable); +} // namespace s2e::logger + #endif // S2E_LIBRARY_LOGGER_INITIALIZE_LOG_HPP_ diff --git a/src/logger/log_utility.hpp b/src/logger/log_utility.hpp index 96ccf3c31..54599ee07 100644 --- a/src/logger/log_utility.hpp +++ b/src/logger/log_utility.hpp @@ -12,6 +12,8 @@ #include #include +namespace s2e::logger { + /** * @fn WriteScalar * @brief Write scalar value @@ -156,4 +158,6 @@ std::string WriteQuaternion(const std::string name, const std::string frame) { return str_tmp.str(); } +} // namespace s2e::logger + #endif // S2E_LIBRARY_LOGGER_LOG_UTILITY_HPP_ diff --git a/src/logger/loggable.hpp b/src/logger/loggable.hpp index ab1b22a8b..064bbf952 100644 --- a/src/logger/loggable.hpp +++ b/src/logger/loggable.hpp @@ -10,6 +10,8 @@ #include "log_utility.hpp" // This is not necessary but include here for convenience +namespace s2e::logger { + /** * @class ILoggable * @brief Abstract class to manage logging @@ -34,4 +36,6 @@ class ILoggable { bool is_log_enabled_ = true; //!< Log enable flag }; +} // namespace s2e::logger + #endif // S2E_LIBRARY_LOGGER_LOGGABLE_HPP_ diff --git a/src/logger/logger.cpp b/src/logger/logger.cpp index f4795d537..0469f38e9 100644 --- a/src/logger/logger.cpp +++ b/src/logger/logger.cpp @@ -13,6 +13,8 @@ bool Logger::is_directory_created_ = false; namespace fs = std::filesystem; +namespace s2e::logger { + Logger::Logger(const std::string &file_name, const fs::path &data_path, const fs::path &ini_file_name, const bool is_ini_save_enabled, const bool is_enabled) : is_enabled_(is_enabled), is_ini_save_enabled_(is_ini_save_enabled) { @@ -103,3 +105,5 @@ void Logger::CopyFileToLogDirectory(const fs::path &ini_file_name) { fs::copy_file(ini_file_name, to_file_name); return; } + +} // namespace s2e::logger diff --git a/src/logger/logger.hpp b/src/logger/logger.hpp index e9ac5b1f0..fa85e21ed 100644 --- a/src/logger/logger.hpp +++ b/src/logger/logger.hpp @@ -15,6 +15,8 @@ #include "loggable.hpp" +namespace s2e::logger { + /** * @class Logger * @brief Class to manage log output file @@ -121,4 +123,6 @@ class Logger { std::filesystem::path CreateDirectory(const std::filesystem::path &data_path, const std::string &time); }; +} // namespace s2e::logger + #endif // S2E_LIBRARY_LOGGER_LOGGER_HPP_ From fdf93e2c24e0b62aea51907637aabb3ffdb31c14 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Fri, 27 Sep 2024 14:41:07 +0900 Subject: [PATCH 415/456] Add s2e::setting_file_reader namespace --- src/setting_file_reader/c2a_command_database.cpp | 4 ++++ src/setting_file_reader/c2a_command_database.hpp | 4 ++++ src/setting_file_reader/initialize_file_access.cpp | 4 ++++ src/setting_file_reader/initialize_file_access.hpp | 4 ++++ src/setting_file_reader/wings_operation_file.cpp | 4 ++++ src/setting_file_reader/wings_operation_file.hpp | 4 ++++ 6 files changed, 24 insertions(+) diff --git a/src/setting_file_reader/c2a_command_database.cpp b/src/setting_file_reader/c2a_command_database.cpp index 650c11cf5..72e8bdf18 100644 --- a/src/setting_file_reader/c2a_command_database.cpp +++ b/src/setting_file_reader/c2a_command_database.cpp @@ -11,6 +11,8 @@ #include #include +namespace s2e::setting_file_reader { + C2aCommandInformation::C2aCommandInformation(const std::string cmd_db_line) { if (cmd_db_line.find("*") == 0) return; if (cmd_db_line.find(",") != 0) return; @@ -158,3 +160,5 @@ void DecodeC2aCommandArgument(const C2aArgumentType type, const std::string argu break; } } + +} // namespace s2e::setting_file_reader diff --git a/src/setting_file_reader/c2a_command_database.hpp b/src/setting_file_reader/c2a_command_database.hpp index 9fd2e9125..fce12028f 100644 --- a/src/setting_file_reader/c2a_command_database.hpp +++ b/src/setting_file_reader/c2a_command_database.hpp @@ -12,6 +12,8 @@ #include #include +namespace s2e::setting_file_reader { + /** * @enum C2aArgumentType * @brief Argument type used in C2A command @@ -115,4 +117,6 @@ class C2aCommandDatabase { */ void DecodeC2aCommandArgument(const C2aArgumentType type, const std::string argument_string, uint8_t* param, size_t& size_param); +} // namespace s2e::setting_file_reader + #endif // S2E_LIBRARY_INITIALIZE_C2A_COMMAND_DATABASE_HPP_ diff --git a/src/setting_file_reader/initialize_file_access.cpp b/src/setting_file_reader/initialize_file_access.cpp index 565a66f98..9397057ad 100644 --- a/src/setting_file_reader/initialize_file_access.cpp +++ b/src/setting_file_reader/initialize_file_access.cpp @@ -14,6 +14,8 @@ #include "../utilities/macros.hpp" +namespace s2e::setting_file_reader { + #ifdef WIN32 IniAccess::IniAccess(const std::string file_path) : file_path_(file_path) { // strcpy_s(file_path_char_, (size_t)_countof(file_path_char_), file_path_.c_str()); @@ -283,3 +285,5 @@ void IniAccess::ReadCsvString(std::vector>& output_valu output_value.push_back(temp); } } + +} // namespace s2e::setting_file_reader diff --git a/src/setting_file_reader/initialize_file_access.hpp b/src/setting_file_reader/initialize_file_access.hpp index 06bbc2866..48ff1acd1 100644 --- a/src/setting_file_reader/initialize_file_access.hpp +++ b/src/setting_file_reader/initialize_file_access.hpp @@ -27,6 +27,8 @@ #include #include +namespace s2e::setting_file_reader { + /** * @class IniAccess * @brief Class to read and get parameters for the `ini` format file @@ -216,4 +218,6 @@ void IniAccess::ReadVector(const char* section_name, const char* key_name, s2e:: } } +} // namespace s2e::setting_file_reader + #endif // S2E_LIBRARY_INITIALIZE_INITIALIZE_FILE_ACCESS_HPP_ diff --git a/src/setting_file_reader/wings_operation_file.cpp b/src/setting_file_reader/wings_operation_file.cpp index 628c22fcf..4b9b56d0a 100644 --- a/src/setting_file_reader/wings_operation_file.cpp +++ b/src/setting_file_reader/wings_operation_file.cpp @@ -7,6 +7,8 @@ #include +namespace s2e::setting_file_reader { + WingsOperationFile::WingsOperationFile(const std::string file_path) { // File open std::ifstream file(file_path); @@ -45,3 +47,5 @@ std::string WingsOperationFile::GetLatestLine() { return line; } + +} // namespace s2e::setting_file_reader diff --git a/src/setting_file_reader/wings_operation_file.hpp b/src/setting_file_reader/wings_operation_file.hpp index 11cb2a9b0..848010aac 100644 --- a/src/setting_file_reader/wings_operation_file.hpp +++ b/src/setting_file_reader/wings_operation_file.hpp @@ -11,6 +11,8 @@ #include "c2a_command_database.hpp" +namespace s2e::setting_file_reader { + /** * @class WingsOperationFile * @brief A class to handle WINGS operation file @@ -35,4 +37,6 @@ class WingsOperationFile { size_t line_pointer_ = 0; //!< Line pointer }; +} // namespace s2e::setting_file_reader + #endif // S2E_LIBRARY_INITIALIZE_WINGS_OPERATION_FILE_HPP_ From a4adecd467c03114842db80489ad53474d5becbc Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Fri, 27 Sep 2024 14:49:04 +0900 Subject: [PATCH 416/456] Add s2e::simulation namespace --- src/simulation/case/simulation_case.cpp | 6 +++++- src/simulation/case/simulation_case.hpp | 4 ++++ src/simulation/ground_station/ground_station.cpp | 4 ++++ src/simulation/ground_station/ground_station.hpp | 4 ++++ src/simulation/hils/hils_port_manager.cpp | 4 ++++ src/simulation/hils/hils_port_manager.hpp | 4 ++++ .../initialize_monte_carlo_parameters.cpp | 4 ++++ .../initialize_monte_carlo_parameters.hpp | 4 ++++ .../initialize_monte_carlo_simulation.cpp | 4 ++++ .../initialize_monte_carlo_simulation.hpp | 4 ++++ .../monte_carlo_simulation_executor.cpp | 4 ++++ .../monte_carlo_simulation_executor.hpp | 4 ++++ src/simulation/monte_carlo_simulation/simulation_object.cpp | 4 ++++ src/simulation/monte_carlo_simulation/simulation_object.hpp | 4 ++++ .../multiple_spacecraft/inter_spacecraft_communication.cpp | 4 ++++ .../multiple_spacecraft/inter_spacecraft_communication.hpp | 4 ++++ src/simulation/multiple_spacecraft/relative_information.cpp | 4 ++++ src/simulation/multiple_spacecraft/relative_information.hpp | 4 ++++ src/simulation/simulation_configuration.hpp | 4 ++++ src/simulation/spacecraft/installed_components.cpp | 4 ++++ src/simulation/spacecraft/installed_components.hpp | 4 ++++ src/simulation/spacecraft/spacecraft.cpp | 4 ++++ src/simulation/spacecraft/spacecraft.hpp | 4 ++++ .../spacecraft/structure/initialize_structure.cpp | 4 ++++ .../spacecraft/structure/initialize_structure.hpp | 4 ++++ .../spacecraft/structure/kinematics_parameters.cpp | 6 +++++- .../spacecraft/structure/kinematics_parameters.hpp | 4 ++++ .../spacecraft/structure/residual_magnetic_moment.cpp | 4 ++++ .../spacecraft/structure/residual_magnetic_moment.hpp | 4 ++++ src/simulation/spacecraft/structure/structure.cpp | 4 ++++ src/simulation/spacecraft/structure/structure.hpp | 4 ++++ src/simulation/spacecraft/structure/surface.cpp | 4 ++++ src/simulation/spacecraft/structure/surface.hpp | 4 ++++ 33 files changed, 134 insertions(+), 2 deletions(-) diff --git a/src/simulation/case/simulation_case.cpp b/src/simulation/case/simulation_case.cpp index 1a19dd003..f9e869937 100644 --- a/src/simulation/case/simulation_case.cpp +++ b/src/simulation/case/simulation_case.cpp @@ -9,6 +9,8 @@ #include #include +namespace s2e::simulation { + SimulationCase::SimulationCase(const std::string initialize_base_file) { // Initialize Log simulation_configuration_.main_logger_ = InitLog(initialize_base_file); @@ -104,4 +106,6 @@ void SimulationCase::InitializeSimulationConfiguration(const std::string initial // Global Environment global_environment_ = new GlobalEnvironment(&simulation_configuration_); global_environment_->LogSetup(*(simulation_configuration_.main_logger_)); -} \ No newline at end of file +} + +} // namespace s2e::simulation diff --git a/src/simulation/case/simulation_case.hpp b/src/simulation/case/simulation_case.hpp index 68f73f66c..53d37f8a9 100644 --- a/src/simulation/case/simulation_case.hpp +++ b/src/simulation/case/simulation_case.hpp @@ -13,6 +13,8 @@ #include "../simulation_configuration.hpp" class Logger; +namespace s2e::simulation { + /** * @class SimulationCase * @brief Base class to define simulation scenario @@ -98,4 +100,6 @@ class SimulationCase : public ILoggable { virtual void UpdateTargetObjects() = 0; }; +} // namespace s2e::simulation + #endif // S2E_SIMULATION_CASE_SIMULATION_CASE_HPP_ diff --git a/src/simulation/ground_station/ground_station.cpp b/src/simulation/ground_station/ground_station.cpp index 4a0110fc4..12ee9ae4a 100644 --- a/src/simulation/ground_station/ground_station.cpp +++ b/src/simulation/ground_station/ground_station.cpp @@ -13,6 +13,8 @@ #include #include +namespace s2e::simulation { + GroundStation::GroundStation(const SimulationConfiguration* configuration, const unsigned int ground_station_id) : ground_station_id_(ground_station_id) { Initialize(configuration, ground_station_id_); @@ -90,3 +92,5 @@ std::string GroundStation::GetLogValue() const { str_tmp += WriteVector(position_i_m_); return str_tmp; } + +} // namespace s2e::simulation diff --git a/src/simulation/ground_station/ground_station.hpp b/src/simulation/ground_station/ground_station.hpp index bdb320af9..42a3b8cac 100644 --- a/src/simulation/ground_station/ground_station.hpp +++ b/src/simulation/ground_station/ground_station.hpp @@ -12,6 +12,8 @@ #include "../simulation_configuration.hpp" +namespace s2e::simulation { + /** * @class GroundStation * @brief Base class of ground station @@ -109,4 +111,6 @@ class GroundStation : public ILoggable { bool CalcIsVisible(const Vector<3> spacecraft_position_ecef_m); }; +} // namespace s2e::simulation + #endif // S2E_SIMULATION_GROUND_STATION_GROUND_STATION_HPP_ diff --git a/src/simulation/hils/hils_port_manager.cpp b/src/simulation/hils/hils_port_manager.cpp index 40e4d36fe..4eda6559f 100644 --- a/src/simulation/hils/hils_port_manager.cpp +++ b/src/simulation/hils/hils_port_manager.cpp @@ -7,6 +7,8 @@ #include +namespace s2e::simulation { + // #define HILS_PORT_MANAGER_SHOW_DEBUG_DATA HilsPortManager::HilsPortManager() {} @@ -258,3 +260,5 @@ int HilsPortManager::I2cControllerReceive(unsigned int port_id, unsigned char* b int HilsPortManager::I2cControllerSend(unsigned int port_id, const unsigned char* buffer, int offset, int length) { return UartSend(port_id, buffer, offset, length); } + +} // namespace s2e::simulation diff --git a/src/simulation/hils/hils_port_manager.hpp b/src/simulation/hils/hils_port_manager.hpp index 9fbeaf2c7..06d00b2f7 100644 --- a/src/simulation/hils/hils_port_manager.hpp +++ b/src/simulation/hils/hils_port_manager.hpp @@ -12,6 +12,8 @@ #endif #include +namespace s2e::simulation { + /** * @class HilsPortManager * @brief Class to manage COM ports for HILS test @@ -168,4 +170,6 @@ class HilsPortManager { #endif }; +} // namespace s2e::simulation + #endif // S2E_SIMULATION_HILS_HILS_PORT_MANAGER_HPP_ diff --git a/src/simulation/monte_carlo_simulation/initialize_monte_carlo_parameters.cpp b/src/simulation/monte_carlo_simulation/initialize_monte_carlo_parameters.cpp index 8ffaa5ad7..0020cffc5 100644 --- a/src/simulation/monte_carlo_simulation/initialize_monte_carlo_parameters.cpp +++ b/src/simulation/monte_carlo_simulation/initialize_monte_carlo_parameters.cpp @@ -9,6 +9,8 @@ using namespace std; +namespace s2e::simulation { + random_device InitializedMonteCarloParameters::randomizer_; mt19937 InitializedMonteCarloParameters::mt_; uniform_real_distribution<>* InitializedMonteCarloParameters::uniform_distribution_; @@ -315,3 +317,5 @@ void InitializedMonteCarloParameters::GenerateQuaternionNormal() { randomized_value_.push_back(temp_q[i]); } } + +} // namespace s2e::simulation diff --git a/src/simulation/monte_carlo_simulation/initialize_monte_carlo_parameters.hpp b/src/simulation/monte_carlo_simulation/initialize_monte_carlo_parameters.hpp index 28159c98c..1570aaa1a 100644 --- a/src/simulation/monte_carlo_simulation/initialize_monte_carlo_parameters.hpp +++ b/src/simulation/monte_carlo_simulation/initialize_monte_carlo_parameters.hpp @@ -13,6 +13,8 @@ #include #include +namespace s2e::simulation { + /** * @class InitializedMonteCarloParameters * @brief Initialized parameters for Monte-Carlo simulation @@ -232,4 +234,6 @@ void InitializedMonteCarloParameters::GetRandomizedVector(s2e::math::Vector #include +namespace s2e::simulation { + #define MAX_CHAR_NUM 256 MonteCarloSimulationExecutor* InitMonteCarloSimulation(std::string file_name) { @@ -93,3 +95,5 @@ MonteCarloSimulationExecutor* InitMonteCarloSimulation(std::string file_name) { return monte_carlo_simulator; } + +} // namespace s2e::simulation diff --git a/src/simulation/monte_carlo_simulation/initialize_monte_carlo_simulation.hpp b/src/simulation/monte_carlo_simulation/initialize_monte_carlo_simulation.hpp index e4dcd60a2..fd7678cd4 100644 --- a/src/simulation/monte_carlo_simulation/initialize_monte_carlo_simulation.hpp +++ b/src/simulation/monte_carlo_simulation/initialize_monte_carlo_simulation.hpp @@ -9,10 +9,14 @@ #include "initialize_monte_carlo_parameters.hpp" #include "monte_carlo_simulation_executor.hpp" +namespace s2e::simulation { + /** * @fn InitMonteCarloSimulation * @brief Initialize function for Monte-Carlo Simulator */ MonteCarloSimulationExecutor* InitMonteCarloSimulation(std::string file_name); +} // namespace s2e::simulation + #endif // S2E_SIMULATION_MONTE_CARLO_SIMULATION_INITIALIZE_MONTE_CARLO_SIMULATION_HPP_ diff --git a/src/simulation/monte_carlo_simulation/monte_carlo_simulation_executor.cpp b/src/simulation/monte_carlo_simulation/monte_carlo_simulation_executor.cpp index 1661c6e3a..dda7abfd0 100644 --- a/src/simulation/monte_carlo_simulation/monte_carlo_simulation_executor.cpp +++ b/src/simulation/monte_carlo_simulation/monte_carlo_simulation_executor.cpp @@ -7,6 +7,8 @@ using std::string; +namespace s2e::simulation { + MonteCarloSimulationExecutor::MonteCarloSimulationExecutor(unsigned long long total_num_of_executions) : total_number_of_executions_(total_num_of_executions) { number_of_executions_done_ = 0; @@ -69,3 +71,5 @@ void MonteCarloSimulationExecutor::RandomizeAllParameters() { void MonteCarloSimulationExecutor::SetSeed(unsigned long seed, bool is_deterministic) { InitializedMonteCarloParameters::SetSeed(seed, is_deterministic); } + +} // namespace s2e::simulation diff --git a/src/simulation/monte_carlo_simulation/monte_carlo_simulation_executor.hpp b/src/simulation/monte_carlo_simulation/monte_carlo_simulation_executor.hpp index 7209b38a0..97626e47e 100644 --- a/src/simulation/monte_carlo_simulation/monte_carlo_simulation_executor.hpp +++ b/src/simulation/monte_carlo_simulation/monte_carlo_simulation_executor.hpp @@ -12,6 +12,8 @@ // #include "simulation_object.hpp" #include "initialize_monte_carlo_parameters.hpp" +namespace s2e::simulation { + /** * @class MonteCarloSimulationExecutor * @brief Monte-Carlo Simulation Executor class @@ -166,4 +168,6 @@ void MonteCarloSimulationExecutor::AddInitializedMonteCarloParameter(std::string } } +} // namespace s2e::simulation + #endif // S2E_SIMULATION_MONTE_CARLO_SIMULATION_MONTE_CARLO_SIMULATION_EXECUTOR_HPP_ diff --git a/src/simulation/monte_carlo_simulation/simulation_object.cpp b/src/simulation/monte_carlo_simulation/simulation_object.cpp index a5b1e7b51..0f41bf32d 100644 --- a/src/simulation/monte_carlo_simulation/simulation_object.cpp +++ b/src/simulation/monte_carlo_simulation/simulation_object.cpp @@ -5,6 +5,8 @@ #include "simulation_object.hpp" +namespace s2e::simulation { + std::map SimulationObject::object_list_; SimulationObject::SimulationObject(std::string name) : name_(name) { @@ -41,3 +43,5 @@ void SimulationObject::GetInitializedMonteCarloParameterQuaternion(const MonteCa std::string init_monte_carlo_parameter_name, s2e::math::Quaternion& destination) const { monte_carlo_simulator.GetInitializedMonteCarloParameterQuaternion(name_, init_monte_carlo_parameter_name, destination); } + +} // namespace s2e::simulation diff --git a/src/simulation/monte_carlo_simulation/simulation_object.hpp b/src/simulation/monte_carlo_simulation/simulation_object.hpp index 5a16163ea..cb1c2df09 100644 --- a/src/simulation/monte_carlo_simulation/simulation_object.hpp +++ b/src/simulation/monte_carlo_simulation/simulation_object.hpp @@ -16,6 +16,8 @@ #include "initialize_monte_carlo_parameters.hpp" #include "monte_carlo_simulation_executor.hpp" +namespace s2e::simulation { + /** * @class SimulationObject * @brief Class to manage randomization of variables for Monte-Carlo simulation @@ -84,4 +86,6 @@ void SimulationObject::GetInitializedMonteCarloParameterVector(const MonteCarloS monte_carlo_simulator.GetInitializedMonteCarloParameterVector(name_, init_monte_carlo_parameter_name, destination); } +} // namespace s2e::simulation + #endif // S2E_SIMULATION_MONTE_CARLO_SIMULATION_SIMULATION_OBJECT_HPP_ diff --git a/src/simulation/multiple_spacecraft/inter_spacecraft_communication.cpp b/src/simulation/multiple_spacecraft/inter_spacecraft_communication.cpp index 0324d2e2e..1fd56c363 100644 --- a/src/simulation/multiple_spacecraft/inter_spacecraft_communication.cpp +++ b/src/simulation/multiple_spacecraft/inter_spacecraft_communication.cpp @@ -7,8 +7,12 @@ #include +namespace s2e::simulation { + InterSpacecraftCommunication::InterSpacecraftCommunication(const SimulationConfiguration* simulation_configuration) { UNUSED(simulation_configuration); } InterSpacecraftCommunication::~InterSpacecraftCommunication() {} + +} // namespace s2e::simulation diff --git a/src/simulation/multiple_spacecraft/inter_spacecraft_communication.hpp b/src/simulation/multiple_spacecraft/inter_spacecraft_communication.hpp index 11b32008e..f667d60c9 100644 --- a/src/simulation/multiple_spacecraft/inter_spacecraft_communication.hpp +++ b/src/simulation/multiple_spacecraft/inter_spacecraft_communication.hpp @@ -8,6 +8,8 @@ #include "../simulation_configuration.hpp" +namespace s2e::simulation { + /** * @class InterSpacecraftCommunication * @brief Base class of inter satellite communication @@ -28,4 +30,6 @@ class InterSpacecraftCommunication { private: }; +} // namespace s2e::simulation + #endif // S2E_SIMULATION_MULTIPLE_SPACECRAFT_INTER_SPACECRAFT_COMMUNICATION_HPP_ diff --git a/src/simulation/multiple_spacecraft/relative_information.cpp b/src/simulation/multiple_spacecraft/relative_information.cpp index 236a9ff19..b5c85d32d 100644 --- a/src/simulation/multiple_spacecraft/relative_information.cpp +++ b/src/simulation/multiple_spacecraft/relative_information.cpp @@ -5,6 +5,8 @@ #include "relative_information.hpp" +namespace s2e::simulation { + RelativeInformation::RelativeInformation() {} RelativeInformation::~RelativeInformation() {} @@ -163,3 +165,5 @@ void RelativeInformation::ResizeLists() { relative_velocity_list_rtn_m_s_.assign(size, std::vector>(size, s2e::math::Vector<3>(0))); relative_attitude_quaternion_list_.assign(size, std::vector(size, s2e::math::Quaternion(0, 0, 0, 1))); } + +} // namespace s2e::simulation diff --git a/src/simulation/multiple_spacecraft/relative_information.hpp b/src/simulation/multiple_spacecraft/relative_information.hpp index 2eb7e7789..a5cbe1630 100644 --- a/src/simulation/multiple_spacecraft/relative_information.hpp +++ b/src/simulation/multiple_spacecraft/relative_information.hpp @@ -12,6 +12,8 @@ #include "../../logger/loggable.hpp" #include "../../logger/logger.hpp" +namespace s2e::simulation { + /** * @class RelativeInformation * @brief Base class to manage relative information between spacecraft @@ -170,4 +172,6 @@ class RelativeInformation : public ILoggable { void ResizeLists(); }; +} // namespace s2e::simulation + #endif // S2E_MULTIPLE_SPACECRAFT_RELATIVE_INFORMATION_HPP_ diff --git a/src/simulation/simulation_configuration.hpp b/src/simulation/simulation_configuration.hpp index 28b6f74f0..599b6ec4e 100644 --- a/src/simulation/simulation_configuration.hpp +++ b/src/simulation/simulation_configuration.hpp @@ -11,6 +11,8 @@ #include "../logger/logger.hpp" +namespace s2e::simulation { + /** * @struct SimulationConfiguration * @brief Simulation setting information @@ -35,4 +37,6 @@ struct SimulationConfiguration { ~SimulationConfiguration() { delete main_logger_; } }; +} // namespace s2e::simulation + #endif // S2E_SIMULATION_SIMULATION_CONFIGURATION_HPP_ diff --git a/src/simulation/spacecraft/installed_components.cpp b/src/simulation/spacecraft/installed_components.cpp index 6dcb6ee8c..ff7ce9b5c 100644 --- a/src/simulation/spacecraft/installed_components.cpp +++ b/src/simulation/spacecraft/installed_components.cpp @@ -7,6 +7,8 @@ #include +namespace s2e::simulation { + s2e::math::Vector<3> InstalledComponents::GenerateForce_b_N() { s2e::math::Vector<3> force_b_N_(0.0); return force_b_N_; @@ -18,3 +20,5 @@ s2e::math::Vector<3> InstalledComponents::GenerateTorque_b_Nm() { } void InstalledComponents::LogSetup(Logger& logger) { UNUSED(logger); } + +} // namespace s2e::simulation diff --git a/src/simulation/spacecraft/installed_components.hpp b/src/simulation/spacecraft/installed_components.hpp index daf41a7a8..6e5a3c61c 100644 --- a/src/simulation/spacecraft/installed_components.hpp +++ b/src/simulation/spacecraft/installed_components.hpp @@ -9,6 +9,8 @@ #include #include +namespace s2e::simulation { + /** * @class InstalledComponents * @brief Base class to express components list installed on a spacecraft @@ -49,4 +51,6 @@ class InstalledComponents { virtual void LogSetup(Logger& logger); }; +} // namespace s2e::simulation + #endif // S2E_SIMULATION_SPACECRAFT_INSTALLED_COMPONENTS_HPP_ diff --git a/src/simulation/spacecraft/spacecraft.cpp b/src/simulation/spacecraft/spacecraft.cpp index 61a7762d4..c80950dd5 100644 --- a/src/simulation/spacecraft/spacecraft.cpp +++ b/src/simulation/spacecraft/spacecraft.cpp @@ -8,6 +8,8 @@ #include #include +namespace s2e::simulation { + Spacecraft::Spacecraft(const SimulationConfiguration* simulation_configuration, const GlobalEnvironment* global_environment, const int spacecraft_id, RelativeInformation* relative_information) : spacecraft_id_(spacecraft_id) { @@ -74,3 +76,5 @@ void Spacecraft::Update(const SimulationTime* simulation_time) { } void Spacecraft::Clear(void) { dynamics_->ClearForceTorque(); } + +} // namespace s2e::simulation diff --git a/src/simulation/spacecraft/spacecraft.hpp b/src/simulation/spacecraft/spacecraft.hpp index 2d9552f24..a59ea4eaa 100644 --- a/src/simulation/spacecraft/spacecraft.hpp +++ b/src/simulation/spacecraft/spacecraft.hpp @@ -15,6 +15,8 @@ #include "installed_components.hpp" #include "structure/structure.hpp" +namespace s2e::simulation { + /** * @class Spacecraft * @brief Base class to express Spacecraft @@ -107,4 +109,6 @@ class Spacecraft { const unsigned int spacecraft_id_; //!< ID of the spacecraft }; +} // namespace s2e::simulation + #endif // S2E_SIMULATION_SPACECRAFT_SPACECRAFT_HPP_ diff --git a/src/simulation/spacecraft/structure/initialize_structure.cpp b/src/simulation/spacecraft/structure/initialize_structure.cpp index b8e578398..543203f75 100644 --- a/src/simulation/spacecraft/structure/initialize_structure.cpp +++ b/src/simulation/spacecraft/structure/initialize_structure.cpp @@ -8,6 +8,8 @@ #include #include +namespace s2e::simulation { + #define MIN_VAL 1e-6 KinematicsParameters InitKinematicsParameters(std::string file_name) { auto conf = IniAccess(file_name); @@ -119,3 +121,5 @@ ResidualMagneticMoment InitResidualMagneticMoment(std::string file_name) { ResidualMagneticMoment rmm_params(rmm_const_b, rmm_rwdev, random_walk_limit_Am2, random_noise_standard_deviation_Am2); return rmm_params; } + +} // namespace s2e::simulation diff --git a/src/simulation/spacecraft/structure/initialize_structure.hpp b/src/simulation/spacecraft/structure/initialize_structure.hpp index 59311219a..53065ff2e 100644 --- a/src/simulation/spacecraft/structure/initialize_structure.hpp +++ b/src/simulation/spacecraft/structure/initialize_structure.hpp @@ -10,6 +10,8 @@ #include +namespace s2e::simulation { + /** * @fn InitKinematicsParameters * @brief Initialize the kinematics parameters with an ini file @@ -26,4 +28,6 @@ std::vector InitSurfaces(std::string file_name); */ ResidualMagneticMoment InitResidualMagneticMoment(std::string file_name); +} // namespace s2e::simulation + #endif // S2E_SIMULATION_SPACECRAFT_STRUCTURE_INITIALIZE_STRUCTURE_HPP_ diff --git a/src/simulation/spacecraft/structure/kinematics_parameters.cpp b/src/simulation/spacecraft/structure/kinematics_parameters.cpp index 289c62cc7..9318c92e7 100644 --- a/src/simulation/spacecraft/structure/kinematics_parameters.cpp +++ b/src/simulation/spacecraft/structure/kinematics_parameters.cpp @@ -5,5 +5,9 @@ #include "kinematics_parameters.hpp" +namespace s2e::simulation { + KinematicsParameters::KinematicsParameters(s2e::math::Vector<3> center_of_gravity_b_m, double mass_kg, s2e::math::Matrix<3, 3> inertia_tensor_b_kgm2) - : center_of_gravity_b_m_(center_of_gravity_b_m), mass_kg_(mass_kg), inertia_tensor_b_kgm2_(inertia_tensor_b_kgm2) {} \ No newline at end of file + : center_of_gravity_b_m_(center_of_gravity_b_m), mass_kg_(mass_kg), inertia_tensor_b_kgm2_(inertia_tensor_b_kgm2) {} + +} // namespace s2e::simulation diff --git a/src/simulation/spacecraft/structure/kinematics_parameters.hpp b/src/simulation/spacecraft/structure/kinematics_parameters.hpp index 6cea84b20..c7d3db504 100644 --- a/src/simulation/spacecraft/structure/kinematics_parameters.hpp +++ b/src/simulation/spacecraft/structure/kinematics_parameters.hpp @@ -9,6 +9,8 @@ #include #include +namespace s2e::simulation { + /** * @class KinematicsParameters * @brief Class for spacecraft Kinematics information @@ -86,4 +88,6 @@ class KinematicsParameters { s2e::math::Matrix<3, 3> inertia_tensor_b_kgm2_; //!< Inertia tensor at body frame [kgm2] }; +} // namespace s2e::simulation + #endif // S2E_SIMULATION_SPACECRAFT_STRUCTURE_KINEMATICS_PARAMETERS_HPP_ diff --git a/src/simulation/spacecraft/structure/residual_magnetic_moment.cpp b/src/simulation/spacecraft/structure/residual_magnetic_moment.cpp index 0fe90e09f..f88ef8b39 100644 --- a/src/simulation/spacecraft/structure/residual_magnetic_moment.cpp +++ b/src/simulation/spacecraft/structure/residual_magnetic_moment.cpp @@ -5,9 +5,13 @@ #include "residual_magnetic_moment.hpp" +namespace s2e::simulation { + ResidualMagneticMoment::ResidualMagneticMoment(const Vector<3> constant_value_b_Am2_, const double random_walk_standard_deviation_Am2, const double random_walk_limit_Am2, const double random_noise_standard_deviation_Am2) : constant_value_b_Am2_(constant_value_b_Am2_), random_walk_standard_deviation_Am2_(random_walk_standard_deviation_Am2), random_walk_limit_Am2_(random_walk_limit_Am2), random_noise_standard_deviation_Am2_(random_noise_standard_deviation_Am2) {} + +} // namespace s2e::simulation diff --git a/src/simulation/spacecraft/structure/residual_magnetic_moment.hpp b/src/simulation/spacecraft/structure/residual_magnetic_moment.hpp index 93d5e44ab..750db9a55 100644 --- a/src/simulation/spacecraft/structure/residual_magnetic_moment.hpp +++ b/src/simulation/spacecraft/structure/residual_magnetic_moment.hpp @@ -9,6 +9,8 @@ #include using s2e::math::Vector; +namespace s2e::simulation { + /** * @class ResidualMagneticMoment * @brief Class for spacecraft RMM (Residual Magnetic Moment) @@ -70,4 +72,6 @@ class ResidualMagneticMoment { double random_noise_standard_deviation_Am2_; //!< Standard deviation of white noise of RMM [Am2] }; +} // namespace s2e::simulation + #endif // S2E_SIMULATION_SPACECRAFT_STRUCTURE_RESIDUAL_MAGNETIC_MOMENT_HPP_ \ No newline at end of file diff --git a/src/simulation/spacecraft/structure/structure.cpp b/src/simulation/spacecraft/structure/structure.cpp index bf4510005..2958437de 100644 --- a/src/simulation/spacecraft/structure/structure.cpp +++ b/src/simulation/spacecraft/structure/structure.cpp @@ -8,6 +8,8 @@ #include #include +namespace s2e::simulation { + Structure::Structure(const SimulationConfiguration* simulation_configuration, const int spacecraft_id) { Initialize(simulation_configuration, spacecraft_id); } @@ -28,3 +30,5 @@ void Structure::Initialize(const SimulationConfiguration* simulation_configurati surfaces_ = InitSurfaces(ini_fname); residual_magnetic_moment_ = new ResidualMagneticMoment(InitResidualMagneticMoment(ini_fname)); } + +} // namespace s2e::simulation diff --git a/src/simulation/spacecraft/structure/structure.hpp b/src/simulation/spacecraft/structure/structure.hpp index acc0b5d36..c56943f58 100644 --- a/src/simulation/spacecraft/structure/structure.hpp +++ b/src/simulation/spacecraft/structure/structure.hpp @@ -13,6 +13,8 @@ #include "residual_magnetic_moment.hpp" #include "surface.hpp" +namespace s2e::simulation { + /** * @class Structure * @brief Class for spacecraft structure information @@ -74,4 +76,6 @@ class Structure { ResidualMagneticMoment* residual_magnetic_moment_; //!< Residual Magnetic Moment }; +} // namespace s2e::simulation + #endif // S2E_SIMULATION_SPACECRAFT_STRUCTURE_STRUCTURE_HPP_ diff --git a/src/simulation/spacecraft/structure/surface.cpp b/src/simulation/spacecraft/structure/surface.cpp index 58b0b4cbd..9c6c1326c 100644 --- a/src/simulation/spacecraft/structure/surface.cpp +++ b/src/simulation/spacecraft/structure/surface.cpp @@ -5,6 +5,8 @@ #include "surface.hpp" +namespace s2e::simulation { + Surface::Surface(const s2e::math::Vector<3> position_b_m, const s2e::math::Vector<3> normal_b, const double area_m2, const double reflectivity, const double specularity, const double air_specularity) : position_b_m_(position_b_m), @@ -13,3 +15,5 @@ Surface::Surface(const s2e::math::Vector<3> position_b_m, const s2e::math::Vecto reflectivity_(reflectivity), specularity_(specularity), air_specularity_(air_specularity) {} + +} // namespace s2e::simulation diff --git a/src/simulation/spacecraft/structure/surface.hpp b/src/simulation/spacecraft/structure/surface.hpp index 2b4b9439f..01367ee95 100644 --- a/src/simulation/spacecraft/structure/surface.hpp +++ b/src/simulation/spacecraft/structure/surface.hpp @@ -8,6 +8,8 @@ #include +namespace s2e::simulation { + /** * @class Surface * @brief Class for spacecraft surface @@ -113,4 +115,6 @@ class Surface { double air_specularity_; //!< Specularity for air drag }; +} // namespace s2e::simulation + #endif // S2E_SIMULATION_SPACECRAFT_STRUCTURE_SURFACE_HPP_ From 2091a7070f053e0fe8a5580b3bcd123cb50ce1c9 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Fri, 27 Sep 2024 14:52:05 +0900 Subject: [PATCH 417/456] Add s2e::utilities namespace --- src/s2e.cpp | 4 ++++ src/utilities/com_port_interface.cpp | 4 ++++ src/utilities/com_port_interface.hpp | 5 +++++ src/utilities/endian.cpp | 6 +++++- src/utilities/endian.hpp | 4 ++++ src/utilities/macros.hpp | 4 ++++ src/utilities/quantization.cpp | 4 ++++ src/utilities/quantization.hpp | 4 ++++ src/utilities/ring_buffer.cpp | 4 ++++ src/utilities/ring_buffer.hpp | 4 ++++ src/utilities/slip.cpp | 4 ++++ src/utilities/slip.hpp | 4 ++++ 12 files changed, 50 insertions(+), 1 deletion(-) diff --git a/src/s2e.cpp b/src/s2e.cpp index 960452763..cc1585976 100644 --- a/src/s2e.cpp +++ b/src/s2e.cpp @@ -23,6 +23,8 @@ // #include "interface/hils/COSMOSWrapper.h" // #include "interface/hils/HardwareMessage.h" +namespace s2e { + void print_path(std::string path) { #ifdef WIN32 std::cout << path << std::endl; @@ -79,3 +81,5 @@ int main(int argc, char *argv[]) return EXIT_SUCCESS; } + +} // namaspace s2e diff --git a/src/utilities/com_port_interface.cpp b/src/utilities/com_port_interface.cpp index ab15eb3ab..70209cde8 100644 --- a/src/utilities/com_port_interface.cpp +++ b/src/utilities/com_port_interface.cpp @@ -7,6 +7,8 @@ #include "com_port_interface.hpp" +namespace s2e::utilities { + ComPortInterface::ComPortInterface(int port_id, int baudrate, unsigned int tx_buffer_size, unsigned int rx_buffer_size) : kPortId(port_id), kPortName(PortName(port_id)), kBaudRate(baudrate), kTxBufferSize(tx_buffer_size), kRxBufferSize(rx_buffer_size) { // Allocate managed memory @@ -114,3 +116,5 @@ int ComPortInterface::DiscardInBuffer() { } return 0; } + +} // namespace s2e::utilities diff --git a/src/utilities/com_port_interface.hpp b/src/utilities/com_port_interface.hpp index 03ccd568b..aca6d663d 100644 --- a/src/utilities/com_port_interface.hpp +++ b/src/utilities/com_port_interface.hpp @@ -17,6 +17,9 @@ using namespace System; using namespace System::Runtime::InteropServices; + +namespace s2e::utilities { + typedef cli::array bytearray; /** @@ -105,4 +108,6 @@ class ComPortInterface { msclr::gcroot rx_buf_; //!< RX Buffer }; +} // namespace s2e::utilities + #endif // S2E_LIBRARY_COMMUNICATION_COM_PORT_INTERFACE_HPP_ diff --git a/src/utilities/endian.cpp b/src/utilities/endian.cpp index a20149b0c..8286204ea 100644 --- a/src/utilities/endian.cpp +++ b/src/utilities/endian.cpp @@ -7,6 +7,8 @@ #include +namespace s2e::utilities { + void *endian_memcpy(void *dst, const void *src, size_t size) { #ifdef IS_LITTLE_ENDIAN uint8_t *src_ = (uint8_t *)src; @@ -25,4 +27,6 @@ void *endian_memcpy(void *dst, const void *src, size_t size) { #else return memcpy(dst, src, size); #endif // IS_LITTLE_ENDIAN -} \ No newline at end of file +} + +} // namespace s2e::utilities diff --git a/src/utilities/endian.hpp b/src/utilities/endian.hpp index 27195efd1..966800f36 100644 --- a/src/utilities/endian.hpp +++ b/src/utilities/endian.hpp @@ -11,6 +11,8 @@ #include "endian_define.hpp" // for IS_LITTLE_ENDIAN +namespace s2e::utilities { + /** * @fn endian_memcpy * @brief Memory copy considering endian @@ -20,4 +22,6 @@ */ void *endian_memcpy(void *dst, const void *src, size_t count); +} // namespace s2e::utilities + #endif // S2E_LIBRARY_UTILITIES_ENDIAN_HPP_ diff --git a/src/utilities/macros.hpp b/src/utilities/macros.hpp index 308db3cd8..f78b16fe0 100644 --- a/src/utilities/macros.hpp +++ b/src/utilities/macros.hpp @@ -6,6 +6,10 @@ #ifndef S2E_LIBRARY_UTILITIES_MACROS_HPP_ #define S2E_LIBRARY_UTILITIES_MACROS_HPP_ +namespace s2e::utilities { + #define UNUSED(x) (void)(x) //!< Macro to avoid unused warnings +} // namespace s2e::utilities + #endif // S2E_LIBRARY_UTILITIES_MACROS_HPP_ diff --git a/src/utilities/quantization.cpp b/src/utilities/quantization.cpp index 114c0e2fe..9b8aa00d5 100644 --- a/src/utilities/quantization.cpp +++ b/src/utilities/quantization.cpp @@ -5,9 +5,13 @@ #include "quantization.hpp" +namespace s2e::utilities { + double quantization(const double continuous_number, const double resolution) { int bin_num = (int)((double)continuous_number / resolution); return (double)bin_num * resolution; } float quantization_float(const double continuous_number, const double resolution) { return (float)quantization(continuous_number, resolution); } + +} // namespace s2e::utilities diff --git a/src/utilities/quantization.hpp b/src/utilities/quantization.hpp index f23eebdeb..47bdd4f71 100644 --- a/src/utilities/quantization.hpp +++ b/src/utilities/quantization.hpp @@ -6,6 +6,8 @@ #ifndef S2E_LIBRARY_UTILITIES_QUANTIZATION_HPP_ #define S2E_LIBRARY_UTILITIES_QUANTIZATION_HPP_ +namespace s2e::utilities { + /** * @fn quantization * @brief Default constructor without any initialization @@ -24,4 +26,6 @@ double quantization(const double continuous_number, const double resolution); */ float quantization_float(const double continuous_number, const double resolution); +} // namespace s2e::utilities + #endif // S2E_LIBRARY_UTILITIES_QUANTIZATION_HPP_ diff --git a/src/utilities/ring_buffer.cpp b/src/utilities/ring_buffer.cpp index d89f10204..feb9ec73e 100644 --- a/src/utilities/ring_buffer.cpp +++ b/src/utilities/ring_buffer.cpp @@ -10,6 +10,8 @@ #include #include +namespace s2e::utilities { + RingBuffer::RingBuffer(int buffer_size) : buffer_size_(buffer_size) { buffer_ = new byte[buffer_size]; write_pointer_ = 0; @@ -44,3 +46,5 @@ int RingBuffer::Read(byte* buffer, const unsigned int offset, const unsigned int return read_count; } + +} // namespace s2e::utilities diff --git a/src/utilities/ring_buffer.hpp b/src/utilities/ring_buffer.hpp index 3e133de26..95a45d60f 100644 --- a/src/utilities/ring_buffer.hpp +++ b/src/utilities/ring_buffer.hpp @@ -6,6 +6,8 @@ #ifndef S2E_LIBRARY_UTILITIES_RING_BUFFER_HPP_ #define S2E_LIBRARY_UTILITIES_RING_BUFFER_HPP_ +namespace s2e::utilities { + typedef unsigned char byte; /** @@ -52,4 +54,6 @@ class RingBuffer { unsigned int write_pointer_; //!< Write pointer }; +} // namespace s2e::utilities + #endif // S2E_LIBRARY_UTILITIES_RING_BUFFER_HPP_ diff --git a/src/utilities/slip.cpp b/src/utilities/slip.cpp index 6f2192409..beeef8e53 100644 --- a/src/utilities/slip.cpp +++ b/src/utilities/slip.cpp @@ -8,6 +8,8 @@ #include #include +namespace s2e::utilities { + static uint8_t kSlipFend_ = 0xc0; //!< FEND: Frame End static uint8_t kSlipFesc_ = 0xdb; //!< FESC: Frame Escape static uint8_t kSlipTfend_ = 0xdc; //!< TFEND: Transposed Frame End @@ -77,3 +79,5 @@ std::vector encode_slip_with_header(const std::vector in) { out.insert(out.begin(), kSlipFend_); return out; } + +} // namespace s2e::utilities diff --git a/src/utilities/slip.hpp b/src/utilities/slip.hpp index b5355bb5d..e001295b3 100644 --- a/src/utilities/slip.hpp +++ b/src/utilities/slip.hpp @@ -10,6 +10,8 @@ #include +namespace s2e::utilities { + /** * @fn decode_slip * @brief Decode SLIP data @@ -40,4 +42,6 @@ std::vector encode_slip(std::vector in); */ std::vector encode_slip_with_header(std::vector in); +} // namespace s2e::utilities + #endif // S2E_LIBRARY_UTILITIES_SLIP_HPP_ From 27bbb1a9b1fb7c0f6cfe9435b494435e14057b0f Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Fri, 27 Sep 2024 14:52:21 +0900 Subject: [PATCH 418/456] Fix typo --- src/s2e.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/s2e.cpp b/src/s2e.cpp index cc1585976..7861f38af 100644 --- a/src/s2e.cpp +++ b/src/s2e.cpp @@ -82,4 +82,4 @@ int main(int argc, char *argv[]) return EXIT_SUCCESS; } -} // namaspace s2e +} // namespace s2e From ad7eb1cda6fabb4de133041d5a49ef9c1b01b829 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Fri, 27 Sep 2024 14:59:12 +0900 Subject: [PATCH 419/456] Add s2e::sample namespace --- src/simulation_sample/case/sample_case.cpp | 6 +++++- src/simulation_sample/case/sample_case.hpp | 6 +++++- .../ground_station/sample_ground_station.cpp | 4 ++++ .../ground_station/sample_ground_station.hpp | 4 ++++ .../ground_station/sample_ground_station_components.cpp | 4 ++++ .../ground_station/sample_ground_station_components.hpp | 4 ++++ src/simulation_sample/spacecraft/sample_components.cpp | 4 ++++ src/simulation_sample/spacecraft/sample_components.hpp | 4 ++++ .../spacecraft/sample_port_configuration.hpp | 4 ++++ src/simulation_sample/spacecraft/sample_spacecraft.cpp | 4 ++++ src/simulation_sample/spacecraft/sample_spacecraft.hpp | 4 ++++ 11 files changed, 46 insertions(+), 2 deletions(-) diff --git a/src/simulation_sample/case/sample_case.cpp b/src/simulation_sample/case/sample_case.cpp index ce6376ebe..259b677b5 100644 --- a/src/simulation_sample/case/sample_case.cpp +++ b/src/simulation_sample/case/sample_case.cpp @@ -5,7 +5,9 @@ #include "sample_case.hpp" -SampleCase::SampleCase(std::string initialise_base_file) : SimulationCase(initialise_base_file) {} +namespace s2e::sample { + +SampleCase::SampleCase(std::string initialise_base_file) : s2e::simulation::SimulationCase(initialise_base_file) {} SampleCase::~SampleCase() { delete sample_spacecraft_; @@ -47,3 +49,5 @@ std::string SampleCase::GetLogValue() const { return str_tmp; } + +} // namespace s2e::sample diff --git a/src/simulation_sample/case/sample_case.hpp b/src/simulation_sample/case/sample_case.hpp index a4664a190..bbc86be45 100644 --- a/src/simulation_sample/case/sample_case.hpp +++ b/src/simulation_sample/case/sample_case.hpp @@ -11,11 +11,13 @@ #include "../ground_station/sample_ground_station.hpp" #include "../spacecraft/sample_spacecraft.hpp" +namespace s2e::sample { + /** * @class SampleCase * @brief An example of user defined simulation class */ -class SampleCase : public SimulationCase { +class SampleCase : public s2e::simulation::SimulationCase { public: /** * @fn SampleCase @@ -57,4 +59,6 @@ class SampleCase : public SimulationCase { void UpdateTargetObjects(); }; +} // namespace s2e::sample + #endif // S2E_SIMULATION_SAMPLE_CASE_SAMPLE_CASE_HPP_ diff --git a/src/simulation_sample/ground_station/sample_ground_station.cpp b/src/simulation_sample/ground_station/sample_ground_station.cpp index 1aa881352..7760419e9 100644 --- a/src/simulation_sample/ground_station/sample_ground_station.cpp +++ b/src/simulation_sample/ground_station/sample_ground_station.cpp @@ -7,6 +7,8 @@ #include "sample_ground_station_components.hpp" +namespace s2e::sample { + SampleGroundStation::SampleGroundStation(const SimulationConfiguration* configuration, const unsigned int ground_station_id) : GroundStation(configuration, ground_station_id) { components_ = new SampleGsComponents(configuration); @@ -23,3 +25,5 @@ void SampleGroundStation::Update(const EarthRotation& celestial_rotation, const GroundStation::Update(celestial_rotation, spacecraft); components_->GetGsCalculator()->Update(spacecraft, spacecraft.GetInstalledComponents().GetAntenna(), *this, *(components_->GetAntenna())); } + +} // namespace s2e::sample diff --git a/src/simulation_sample/ground_station/sample_ground_station.hpp b/src/simulation_sample/ground_station/sample_ground_station.hpp index 8fe089bba..b392c1b66 100644 --- a/src/simulation_sample/ground_station/sample_ground_station.hpp +++ b/src/simulation_sample/ground_station/sample_ground_station.hpp @@ -16,6 +16,8 @@ class SampleGsComponents; +namespace s2e::sample { + /** * @class SampleGroundStation * @brief An example of user defined ground station class @@ -49,4 +51,6 @@ class SampleGroundStation : public GroundStation { SampleGsComponents* components_; //!< Ground station related components }; +} // namespace s2e::sample + #endif // S2E_SIMULATION_SAMPLE_GROUND_STATION_SAMPLE_GROUND_STATION_HPP_ diff --git a/src/simulation_sample/ground_station/sample_ground_station_components.cpp b/src/simulation_sample/ground_station/sample_ground_station_components.cpp index bf7fbdbb6..f799b9bc6 100644 --- a/src/simulation_sample/ground_station/sample_ground_station_components.cpp +++ b/src/simulation_sample/ground_station/sample_ground_station_components.cpp @@ -6,6 +6,8 @@ #include +namespace s2e::sample { + SampleGsComponents::SampleGsComponents(const SimulationConfiguration* configuration) : configuration_(configuration) { IniAccess iniAccess = IniAccess(configuration_->ground_station_file_list_[0]); @@ -26,3 +28,5 @@ void SampleGsComponents::CompoLogSetUp(Logger& logger) { // logger.AddLogList(ant_); logger.AddLogList(gs_calculator_); } + +} // namespace s2e::sample diff --git a/src/simulation_sample/ground_station/sample_ground_station_components.hpp b/src/simulation_sample/ground_station/sample_ground_station_components.hpp index 15f1632bb..dbf87cd42 100644 --- a/src/simulation_sample/ground_station/sample_ground_station_components.hpp +++ b/src/simulation_sample/ground_station/sample_ground_station_components.hpp @@ -9,6 +9,8 @@ #include #include +namespace s2e::sample { + /** * @class SampleGsComponents * @brief An example of ground station related components list class @@ -49,4 +51,6 @@ class SampleGsComponents { const SimulationConfiguration* configuration_; //!< Simulation setting }; +} // namespace s2e::sample + #endif // S2E_SIMULATION_SAMPLE_GROUND_STATION_SAMPLE_GROUND_STATION_COMPONENTS_HPP_ diff --git a/src/simulation_sample/spacecraft/sample_components.cpp b/src/simulation_sample/spacecraft/sample_components.cpp index 5de0f8984..956b0408c 100644 --- a/src/simulation_sample/spacecraft/sample_components.cpp +++ b/src/simulation_sample/spacecraft/sample_components.cpp @@ -9,6 +9,8 @@ #include "sample_port_configuration.hpp" +namespace s2e::sample { + SampleComponents::SampleComponents(const Dynamics* dynamics, Structure* structure, const LocalEnvironment* local_environment, const GlobalEnvironment* global_environment, const SimulationConfiguration* configuration, ClockGenerator* clock_generator, const unsigned int spacecraft_id) @@ -222,3 +224,5 @@ void SampleComponents::LogSetup(Logger& logger) { logger.AddLogList(attitude_observer_); logger.AddLogList(orbit_observer_); } + +} // namespace s2e::sample diff --git a/src/simulation_sample/spacecraft/sample_components.hpp b/src/simulation_sample/spacecraft/sample_components.hpp index c8c3603d5..619043697 100644 --- a/src/simulation_sample/spacecraft/sample_components.hpp +++ b/src/simulation_sample/spacecraft/sample_components.hpp @@ -50,6 +50,8 @@ class AngularVelocityObserver; class AttitudeObserver; class Telescope; +namespace s2e::sample { + /** * @class SampleComponents * @brief An example of user side components management class @@ -143,4 +145,6 @@ class SampleComponents : public InstalledComponents { const GlobalEnvironment* global_environment_; //!< Global environment information }; +} // namespace s2e::sample + #endif // S2E_SIMULATION_SAMPLE_SPACECRAFT_SAMPLE_COMPONENTS_HPP_ diff --git a/src/simulation_sample/spacecraft/sample_port_configuration.hpp b/src/simulation_sample/spacecraft/sample_port_configuration.hpp index 413e22fce..bfa1a57db 100644 --- a/src/simulation_sample/spacecraft/sample_port_configuration.hpp +++ b/src/simulation_sample/spacecraft/sample_port_configuration.hpp @@ -6,6 +6,8 @@ #ifndef S2E_SIMULATION_SAMPLE_SPACECRAFT_SAMPLE_PORT_CONFIGURATION_HPP_ #define S2E_SIMULATION_SAMPLE_SPACECRAFT_SAMPLE_PORT_CONFIGURATION_HPP_ +namespace s2e::sample { + /** * @enum PowerPortConfig * @brief ID list of electrical power switch ports @@ -27,4 +29,6 @@ enum class UARTPortConfig { kUartComponentMax //!< Maximum port number. Do not remove. Place on the bottom. }; +} // namespace s2e::sample + #endif // S2E_SIMULATION_SAMPLE_SPACECRAFT_SAMPLE_PORT_CONFIGURATION_HPP_ diff --git a/src/simulation_sample/spacecraft/sample_spacecraft.cpp b/src/simulation_sample/spacecraft/sample_spacecraft.cpp index 09c7df86c..3b46777ec 100644 --- a/src/simulation_sample/spacecraft/sample_spacecraft.cpp +++ b/src/simulation_sample/spacecraft/sample_spacecraft.cpp @@ -10,6 +10,8 @@ #include "sample_components.hpp" +namespace s2e::sample { + SampleSpacecraft::SampleSpacecraft(const SimulationConfiguration* simulation_configuration, const GlobalEnvironment* global_environment, const unsigned int spacecraft_id) : Spacecraft(simulation_configuration, global_environment, spacecraft_id) { @@ -17,3 +19,5 @@ SampleSpacecraft::SampleSpacecraft(const SimulationConfiguration* simulation_con new SampleComponents(dynamics_, structure_, local_environment_, global_environment, simulation_configuration, &clock_generator_, spacecraft_id); components_ = sample_components_; } + +} // namespace s2e::sample diff --git a/src/simulation_sample/spacecraft/sample_spacecraft.hpp b/src/simulation_sample/spacecraft/sample_spacecraft.hpp index 1436dbfe1..27b09addf 100644 --- a/src/simulation_sample/spacecraft/sample_spacecraft.hpp +++ b/src/simulation_sample/spacecraft/sample_spacecraft.hpp @@ -12,6 +12,8 @@ class SampleComponents; +namespace s2e::sample { + /** * @class SampleSpacecraft * @brief An example of user side spacecraft class @@ -35,4 +37,6 @@ class SampleSpacecraft : public Spacecraft { SampleComponents* sample_components_; }; +} // namespace s2e::sample + #endif // S2E_SIMULATION_SAMPLE_SPACECRAFT_SAMPLE_SPACECRAFT_HPP_ From ccaf910d1bd65187dc71fbaa6f92af96d426f081 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Fri, 27 Sep 2024 15:21:32 +0900 Subject: [PATCH 420/456] Update namespace info in simulation sample --- src/simulation_sample/case/sample_case.cpp | 6 +- src/simulation_sample/case/sample_case.hpp | 2 +- .../ground_station/sample_ground_station.cpp | 10 +- .../ground_station/sample_ground_station.hpp | 10 +- .../sample_ground_station_components.cpp | 10 +- .../sample_ground_station_components.hpp | 12 +-- .../spacecraft/sample_components.cpp | 22 +++-- .../spacecraft/sample_components.hpp | 94 +++++++++---------- .../spacecraft/sample_spacecraft.cpp | 4 +- .../spacecraft/sample_spacecraft.hpp | 4 +- 10 files changed, 88 insertions(+), 86 deletions(-) diff --git a/src/simulation_sample/case/sample_case.cpp b/src/simulation_sample/case/sample_case.cpp index 259b677b5..5487e0e08 100644 --- a/src/simulation_sample/case/sample_case.cpp +++ b/src/simulation_sample/case/sample_case.cpp @@ -7,7 +7,7 @@ namespace s2e::sample { -SampleCase::SampleCase(std::string initialise_base_file) : s2e::simulation::SimulationCase(initialise_base_file) {} +SampleCase::SampleCase(std::string initialise_base_file) : simulation::SimulationCase(initialise_base_file) {} SampleCase::~SampleCase() { delete sample_spacecraft_; @@ -37,7 +37,7 @@ void SampleCase::UpdateTargetObjects() { std::string SampleCase::GetLogHeader() const { std::string str_tmp = ""; - str_tmp += WriteScalar("time", "s"); + str_tmp += logger::WriteScalar("time", "s"); return str_tmp; } @@ -45,7 +45,7 @@ std::string SampleCase::GetLogHeader() const { std::string SampleCase::GetLogValue() const { std::string str_tmp = ""; - str_tmp += WriteScalar(global_environment_->GetSimulationTime().GetElapsedTime_s()); + str_tmp += logger::WriteScalar(global_environment_->GetSimulationTime().GetElapsedTime_s()); return str_tmp; } diff --git a/src/simulation_sample/case/sample_case.hpp b/src/simulation_sample/case/sample_case.hpp index bbc86be45..66302d589 100644 --- a/src/simulation_sample/case/sample_case.hpp +++ b/src/simulation_sample/case/sample_case.hpp @@ -17,7 +17,7 @@ namespace s2e::sample { * @class SampleCase * @brief An example of user defined simulation class */ -class SampleCase : public s2e::simulation::SimulationCase { +class SampleCase : public simulation::SimulationCase { public: /** * @fn SampleCase diff --git a/src/simulation_sample/ground_station/sample_ground_station.cpp b/src/simulation_sample/ground_station/sample_ground_station.cpp index 7760419e9..5489d4423 100644 --- a/src/simulation_sample/ground_station/sample_ground_station.cpp +++ b/src/simulation_sample/ground_station/sample_ground_station.cpp @@ -9,20 +9,20 @@ namespace s2e::sample { -SampleGroundStation::SampleGroundStation(const SimulationConfiguration* configuration, const unsigned int ground_station_id) - : GroundStation(configuration, ground_station_id) { +SampleGroundStation::SampleGroundStation(const simulation::SimulationConfiguration* configuration, const unsigned int ground_station_id) + : simulation::GroundStation(configuration, ground_station_id) { components_ = new SampleGsComponents(configuration); } SampleGroundStation::~SampleGroundStation() { delete components_; } void SampleGroundStation::LogSetup(Logger& logger) { - GroundStation::LogSetup(logger); + simulation::GroundStation::LogSetup(logger); components_->CompoLogSetUp(logger); } -void SampleGroundStation::Update(const EarthRotation& celestial_rotation, const SampleSpacecraft& spacecraft) { - GroundStation::Update(celestial_rotation, spacecraft); +void SampleGroundStation::Update(const environment::EarthRotation& celestial_rotation, const SampleSpacecraft& spacecraft) { + simulation::GroundStation::Update(celestial_rotation, spacecraft); components_->GetGsCalculator()->Update(spacecraft, spacecraft.GetInstalledComponents().GetAntenna(), *this, *(components_->GetAntenna())); } diff --git a/src/simulation_sample/ground_station/sample_ground_station.hpp b/src/simulation_sample/ground_station/sample_ground_station.hpp index b392c1b66..9acc8d613 100644 --- a/src/simulation_sample/ground_station/sample_ground_station.hpp +++ b/src/simulation_sample/ground_station/sample_ground_station.hpp @@ -14,21 +14,21 @@ #include "../spacecraft/sample_spacecraft.hpp" -class SampleGsComponents; - namespace s2e::sample { +class SampleGsComponents; + /** * @class SampleGroundStation * @brief An example of user defined ground station class */ -class SampleGroundStation : public GroundStation { +class SampleGroundStation : public simulation::GroundStation { public: /** * @fn SampleGroundStation * @brief Constructor */ - SampleGroundStation(const SimulationConfiguration* configuration, const unsigned int ground_station_id); + SampleGroundStation(const simulation::SimulationConfiguration* configuration, const unsigned int ground_station_id); /** * @fn ~SampleGroundStation * @brief Destructor @@ -44,7 +44,7 @@ class SampleGroundStation : public GroundStation { * @fn Update * @brief Override function of Update in GroundStation class */ - virtual void Update(const EarthRotation& celestial_rotation, const SampleSpacecraft& spacecraft); + virtual void Update(const environment::EarthRotation& celestial_rotation, const SampleSpacecraft& spacecraft); private: using GroundStation::Update; diff --git a/src/simulation_sample/ground_station/sample_ground_station_components.cpp b/src/simulation_sample/ground_station/sample_ground_station_components.cpp index f799b9bc6..c18528bb2 100644 --- a/src/simulation_sample/ground_station/sample_ground_station_components.cpp +++ b/src/simulation_sample/ground_station/sample_ground_station_components.cpp @@ -8,15 +8,15 @@ namespace s2e::sample { -SampleGsComponents::SampleGsComponents(const SimulationConfiguration* configuration) : configuration_(configuration) { - IniAccess iniAccess = IniAccess(configuration_->ground_station_file_list_[0]); +SampleGsComponents::SampleGsComponents(const simulation::SimulationConfiguration* configuration) : configuration_(configuration) { + setting_file_reader::IniAccess iniAccess = setting_file_reader::IniAccess(configuration_->ground_station_file_list_[0]); std::string ant_ini_path = iniAccess.ReadString("COMPONENT_FILES", "ground_station_antenna_file"); configuration_->main_logger_->CopyFileToLogDirectory(ant_ini_path); - antenna_ = new Antenna(InitAntenna(1, ant_ini_path)); + antenna_ = new components::Antenna(components::InitAntenna(1, ant_ini_path)); std::string gs_calculator_ini_path = iniAccess.ReadString("COMPONENT_FILES", "ground_station_calculator_file"); configuration_->main_logger_->CopyFileToLogDirectory(gs_calculator_ini_path); - gs_calculator_ = new GroundStationCalculator(InitGsCalculator(gs_calculator_ini_path)); + gs_calculator_ = new components::GroundStationCalculator(components::InitGsCalculator(gs_calculator_ini_path)); } SampleGsComponents::~SampleGsComponents() { @@ -24,7 +24,7 @@ SampleGsComponents::~SampleGsComponents() { delete gs_calculator_; } -void SampleGsComponents::CompoLogSetUp(Logger& logger) { +void SampleGsComponents::CompoLogSetUp(logger::Logger& logger) { // logger.AddLogList(ant_); logger.AddLogList(gs_calculator_); } diff --git a/src/simulation_sample/ground_station/sample_ground_station_components.hpp b/src/simulation_sample/ground_station/sample_ground_station_components.hpp index dbf87cd42..1de5eec24 100644 --- a/src/simulation_sample/ground_station/sample_ground_station_components.hpp +++ b/src/simulation_sample/ground_station/sample_ground_station_components.hpp @@ -21,7 +21,7 @@ class SampleGsComponents { * @fn SampleGsComponents * @brief Constructor */ - SampleGsComponents(const SimulationConfiguration* configuration); + SampleGsComponents(const simulation::SimulationConfiguration* configuration); /** * @fn ~SampleGsComponents * @brief Destructor @@ -38,17 +38,17 @@ class SampleGsComponents { * @fn GetAntenna * @brief Return antenna */ - inline Antenna* GetAntenna() const { return antenna_; } + inline components::Antenna* GetAntenna() const { return antenna_; } /** * @fn GetGsCalculator * @brief Return ground station calculator */ - inline GroundStationCalculator* GetGsCalculator() const { return gs_calculator_; } + inline components::GroundStationCalculator* GetGsCalculator() const { return gs_calculator_; } private: - Antenna* antenna_; //!< Antenna on ground station - GroundStationCalculator* gs_calculator_; //!< Ground station calculation algorithm - const SimulationConfiguration* configuration_; //!< Simulation setting + components::Antenna* antenna_; //!< Antenna on ground station + components::GroundStationCalculator* gs_calculator_; //!< Ground station calculation algorithm + const simulation::SimulationConfiguration* configuration_; //!< Simulation setting }; } // namespace s2e::sample diff --git a/src/simulation_sample/spacecraft/sample_components.cpp b/src/simulation_sample/spacecraft/sample_components.cpp index 956b0408c..38debc042 100644 --- a/src/simulation_sample/spacecraft/sample_components.cpp +++ b/src/simulation_sample/spacecraft/sample_components.cpp @@ -11,15 +11,17 @@ namespace s2e::sample { -SampleComponents::SampleComponents(const Dynamics* dynamics, Structure* structure, const LocalEnvironment* local_environment, - const GlobalEnvironment* global_environment, const SimulationConfiguration* configuration, - ClockGenerator* clock_generator, const unsigned int spacecraft_id) +using namespace components; + +SampleComponents::SampleComponents(const dynamics::Dynamics* dynamics, simulation::Structure* structure, const environment::LocalEnvironment* local_environment, + const environment::GlobalEnvironment* global_environment, const simulation::SimulationConfiguration* configuration, environment::ClockGenerator* clock_generator, + const unsigned int spacecraft_id) : configuration_(configuration), dynamics_(dynamics), structure_(structure), local_environment_(local_environment), global_environment_(global_environment) { - IniAccess iniAccess = IniAccess(configuration_->spacecraft_file_list_[spacecraft_id]); + setting_file_reader::IniAccess iniAccess = setting_file_reader::IniAccess(configuration_->spacecraft_file_list_[spacecraft_id]); // PCU power port connection pcu_ = new PowerControlUnit(clock_generator); @@ -29,7 +31,7 @@ SampleComponents::SampleComponents(const Dynamics* dynamics, Structure* structur // Components obc_ = new OnBoardComputer(1, clock_generator, pcu_->GetPowerPort(0)); - hils_port_manager_ = new HilsPortManager(); + hils_port_manager_ = new simulation::HilsPortManager(); // GyroSensor std::string file_name = iniAccess.ReadString("COMPONENT_FILES", "gyro_file"); @@ -190,15 +192,15 @@ SampleComponents::~SampleComponents() { delete hils_port_manager_; // delete after exp_hils } -s2e::math::Vector<3> SampleComponents::GenerateForce_b_N() { - s2e::math::Vector<3> force_b_N_(0.0); +math::Vector<3> SampleComponents::GenerateForce_b_N() { + math::Vector<3> force_b_N_(0.0); force_b_N_ += thruster_->GetOutputThrust_b_N(); force_b_N_ += force_generator_->GetGeneratedForce_b_N(); return force_b_N_; } -s2e::math::Vector<3> SampleComponents::GenerateTorque_b_Nm() { - s2e::math::Vector<3> torque_b_Nm_(0.0); +math::Vector<3> SampleComponents::GenerateTorque_b_Nm() { + math::Vector<3> torque_b_Nm_(0.0); torque_b_Nm_ += magnetorquer_->GetOutputTorque_b_Nm(); torque_b_Nm_ += reaction_wheel_->GetOutputTorque_b_Nm(); torque_b_Nm_ += thruster_->GetOutputTorque_b_Nm(); @@ -208,7 +210,7 @@ s2e::math::Vector<3> SampleComponents::GenerateTorque_b_Nm() { void SampleComponents::ComponentInterference() { mtq_magnetometer_interference_->UpdateInterference(); } -void SampleComponents::LogSetup(Logger& logger) { +void SampleComponents::LogSetup(logger::Logger& logger) { logger.AddLogList(gyro_sensor_); logger.AddLogList(magnetometer_); logger.AddLogList(star_sensor_); diff --git a/src/simulation_sample/spacecraft/sample_components.hpp b/src/simulation_sample/spacecraft/sample_components.hpp index 619043697..756e3fc9b 100644 --- a/src/simulation_sample/spacecraft/sample_components.hpp +++ b/src/simulation_sample/spacecraft/sample_components.hpp @@ -34,36 +34,36 @@ #include #include -class OnBoardComputer; -class PowerControlUnit; -class GyroSensor; -class Magnetometer; -class StarSensor; -class SunSensor; -class GnssReceiver; -class Magnetorquer; -class ReactionWheel; -class SimpleThruster; -class ForceGenerator; -class TorqueGenerator; -class AngularVelocityObserver; -class AttitudeObserver; -class Telescope; - namespace s2e::sample { +class components::OnBoardComputer; +class components::PowerControlUnit; +class components::GyroSensor; +class components::Magnetometer; +class components::StarSensor; +class components::SunSensor; +class components::GnssReceiver; +class components::Magnetorquer; +class components::ReactionWheel; +class components::SimpleThruster; +class components::ForceGenerator; +class components::TorqueGenerator; +class components::AngularVelocityObserver; +class components::AttitudeObserver; +class components::Telescope; + /** * @class SampleComponents * @brief An example of user side components management class */ -class SampleComponents : public InstalledComponents { +class SampleComponents : public simulation::InstalledComponents { public: /** * @fn SampleComponents * @brief Constructor */ - SampleComponents(const Dynamics* dynamics, Structure* structure, const LocalEnvironment* local_environment, - const GlobalEnvironment* global_environment, const SimulationConfiguration* configuration, ClockGenerator* clock_generator, + SampleComponents(const dynamics::Dynamics* dynamics, simulation::Structure* structure, const environment::LocalEnvironment* local_environment, + const environment::GlobalEnvironment* global_environment, const simulation::SimulationConfiguration* configuration, environment::ClockGenerator* clock_generator, const unsigned int spacecraft_id); /** * @fn ~SampleComponents @@ -76,12 +76,12 @@ class SampleComponents : public InstalledComponents { * @fn GenerateForce_b_N * @brief Return force generated by components in unit Newton in body fixed frame */ - s2e::math::Vector<3> GenerateForce_b_N() override; + math::Vector<3> GenerateForce_b_N() override; /** * @fn GenerateTorque_b_Nm * @brief Return torque generated by components in unit Newton-meter in body fixed frame */ - s2e::math::Vector<3> GenerateTorque_b_Nm() override; + math::Vector<3> GenerateTorque_b_Nm() override; /** * @fn ComponentInterference * @brief Handle component interference effect @@ -92,41 +92,41 @@ class SampleComponents : public InstalledComponents { * @fn LogSetup * @brief Setup the logger for components */ - void LogSetup(Logger& logger) override; + void LogSetup(logger::Logger& logger) override; // Getter - inline Antenna& GetAntenna() const { return *antenna_; } + inline components::Antenna& GetAntenna() const { return *antenna_; } private: - PowerControlUnit* pcu_; //!< Power Control Unit - OnBoardComputer* obc_; //!< Onboard Computer - HilsPortManager* hils_port_manager_; //!< Port manager for HILS test + components::PowerControlUnit* pcu_; //!< Power Control Unit + components::OnBoardComputer* obc_; //!< Onboard Computer + simulation::HilsPortManager* hils_port_manager_; //!< Port manager for HILS test // AOCS - GyroSensor* gyro_sensor_; //!< GyroSensor sensor - Magnetometer* magnetometer_; //!< Magnetometer - StarSensor* star_sensor_; //!< Star sensor - SunSensor* sun_sensor_; //!< Sun sensor - GnssReceiver* gnss_receiver_; //!< GNSS receiver - Magnetorquer* magnetorquer_; //!< Magnetorquer - ReactionWheel* reaction_wheel_; //!< Reaction Wheel - SimpleThruster* thruster_; //!< Thruster + components::GyroSensor* gyro_sensor_; //!< GyroSensor sensor + components::Magnetometer* magnetometer_; //!< Magnetometer + components::StarSensor* star_sensor_; //!< Star sensor + components::SunSensor* sun_sensor_; //!< Sun sensor + components::GnssReceiver* gnss_receiver_; //!< GNSS receiver + components::Magnetorquer* magnetorquer_; //!< Magnetorquer + components::ReactionWheel* reaction_wheel_; //!< Reaction Wheel + components::SimpleThruster* thruster_; //!< Thruster // Ideal component - ForceGenerator* force_generator_; //!< Ideal Force Generator - TorqueGenerator* torque_generator_; //!< Ideal Torque Generator - AngularVelocityObserver* angular_velocity_observer_; //!< Ideal Angular velocity observer - AttitudeObserver* attitude_observer_; //!< Ideal Attitude observer - OrbitObserver* orbit_observer_; //!< Ideal Orbit observer + components::ForceGenerator* force_generator_; //!< Ideal Force Generator + components::TorqueGenerator* torque_generator_; //!< Ideal Torque Generator + components::AngularVelocityObserver* angular_velocity_observer_; //!< Ideal Angular velocity observer + components::AttitudeObserver* attitude_observer_; //!< Ideal Attitude observer + components::OrbitObserver* orbit_observer_; //!< Ideal Orbit observer // Mission - Telescope* telescope_; //!< Telescope + components::Telescope* telescope_; //!< Telescope // CommGs - Antenna* antenna_; //!< Antenna + components::Antenna* antenna_; //!< Antenna // Component Interference - MtqMagnetometerInterference* mtq_magnetometer_interference_; //!< Additional Bias noise by MTQ-Magnetometer interference + components::MtqMagnetometerInterference* mtq_magnetometer_interference_; //!< Additional Bias noise by MTQ-Magnetometer interference // Examples // ExampleChangeStructure* change_structure_; //!< Change structure @@ -138,11 +138,11 @@ class SampleComponents : public InstalledComponents { */ // States - const SimulationConfiguration* configuration_; //!< Simulation settings - const Dynamics* dynamics_; //!< Dynamics information of the spacecraft - Structure* structure_; //!< Structure information of the spacecraft - const LocalEnvironment* local_environment_; //!< Local environment information around the spacecraft - const GlobalEnvironment* global_environment_; //!< Global environment information + const simulation::SimulationConfiguration* configuration_; //!< Simulation settings + const dynamics::Dynamics* dynamics_; //!< Dynamics information of the spacecraft + simulation::Structure* structure_; //!< Structure information of the spacecraft + const environment::LocalEnvironment* local_environment_; //!< Local environment information around the spacecraft + const environment::GlobalEnvironment* global_environment_; //!< Global environment information }; } // namespace s2e::sample diff --git a/src/simulation_sample/spacecraft/sample_spacecraft.cpp b/src/simulation_sample/spacecraft/sample_spacecraft.cpp index 3b46777ec..bfc1bdcc9 100644 --- a/src/simulation_sample/spacecraft/sample_spacecraft.cpp +++ b/src/simulation_sample/spacecraft/sample_spacecraft.cpp @@ -12,9 +12,9 @@ namespace s2e::sample { -SampleSpacecraft::SampleSpacecraft(const SimulationConfiguration* simulation_configuration, const GlobalEnvironment* global_environment, +SampleSpacecraft::SampleSpacecraft(const simulation::SimulationConfiguration* simulation_configuration, const environment::GlobalEnvironment* global_environment, const unsigned int spacecraft_id) - : Spacecraft(simulation_configuration, global_environment, spacecraft_id) { + : simulation::Spacecraft(simulation_configuration, global_environment, spacecraft_id) { sample_components_ = new SampleComponents(dynamics_, structure_, local_environment_, global_environment, simulation_configuration, &clock_generator_, spacecraft_id); components_ = sample_components_; diff --git a/src/simulation_sample/spacecraft/sample_spacecraft.hpp b/src/simulation_sample/spacecraft/sample_spacecraft.hpp index 27b09addf..43f9ff564 100644 --- a/src/simulation_sample/spacecraft/sample_spacecraft.hpp +++ b/src/simulation_sample/spacecraft/sample_spacecraft.hpp @@ -18,13 +18,13 @@ namespace s2e::sample { * @class SampleSpacecraft * @brief An example of user side spacecraft class */ -class SampleSpacecraft : public Spacecraft { +class SampleSpacecraft : public simulation::Spacecraft { public: /** * @fn SampleSpacecraft * @brief Constructor */ - SampleSpacecraft(const SimulationConfiguration* simulation_configuration, const GlobalEnvironment* global_environment, + SampleSpacecraft(const simulation::SimulationConfiguration* simulation_configuration, const environment::GlobalEnvironment* global_environment, const unsigned int spacecraft_id); /** From e8b37f531f04446a85a5f18ee6511abc91f3dcf8 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Fri, 27 Sep 2024 15:37:04 +0900 Subject: [PATCH 421/456] Update namespace info in simulation --- src/simulation/case/simulation_case.cpp | 12 +++++----- src/simulation/case/simulation_case.hpp | 6 ++--- .../ground_station/ground_station.cpp | 14 +++++------ .../ground_station/ground_station.hpp | 20 ++++++++-------- src/simulation/hils/hils_port_manager.cpp | 20 ++++++++-------- src/simulation/hils/hils_port_manager.hpp | 4 ++-- .../initialize_monte_carlo_parameters.hpp | 24 +++++++++---------- .../initialize_monte_carlo_simulation.cpp | 2 +- .../relative_information.cpp | 18 +++++++------- .../relative_information.hpp | 10 ++++---- src/simulation/simulation_configuration.hpp | 2 +- .../spacecraft/installed_components.cpp | 2 +- .../spacecraft/installed_components.hpp | 2 +- src/simulation/spacecraft/spacecraft.cpp | 14 +++++------ src/simulation/spacecraft/spacecraft.hpp | 22 ++++++++--------- .../structure/initialize_structure.cpp | 6 ++--- .../structure/residual_magnetic_moment.hpp | 7 +++--- .../spacecraft/structure/structure.cpp | 2 +- 18 files changed, 93 insertions(+), 94 deletions(-) diff --git a/src/simulation/case/simulation_case.cpp b/src/simulation/case/simulation_case.cpp index f9e869937..cda5c0786 100644 --- a/src/simulation/case/simulation_case.cpp +++ b/src/simulation/case/simulation_case.cpp @@ -13,7 +13,7 @@ namespace s2e::simulation { SimulationCase::SimulationCase(const std::string initialize_base_file) { // Initialize Log - simulation_configuration_.main_logger_ = InitLog(initialize_base_file); + simulation_configuration_.main_logger_ = logger::InitLog(initialize_base_file); // Initialize Simulation Configuration InitializeSimulationConfiguration(initialize_base_file); @@ -23,16 +23,16 @@ SimulationCase::SimulationCase(const std::string initialize_base_file, const Mon const std::string log_path) { if (monte_carlo_simulator.IsEnabled() == false) { // Monte Carlo simulation is disabled - simulation_configuration_.main_logger_ = InitLog(initialize_base_file); + simulation_configuration_.main_logger_ = logger::InitLog(initialize_base_file); } else { // Monte Carlo Simulation is enabled std::string log_file_name = "default" + std::to_string(monte_carlo_simulator.GetNumberOfExecutionsDone()) + ".csv"; - IniAccess ini_file(initialize_base_file); + setting_file_reader::IniAccess ini_file(initialize_base_file); bool save_ini_files = ini_file.ReadEnable("SIMULATION_SETTINGS", "save_initialize_files"); simulation_configuration_.main_logger_ = - new Logger(log_file_name, log_path, initialize_base_file, save_ini_files, monte_carlo_simulator.GetSaveLogHistoryFlag()); + new logger::Logger(log_file_name, log_path, initialize_base_file, save_ini_files, monte_carlo_simulator.GetSaveLogHistoryFlag()); } // Initialize Simulation Configuration InitializeSimulationConfiguration(initialize_base_file); @@ -87,7 +87,7 @@ std::string SimulationCase::GetLogValue() const { void SimulationCase::InitializeSimulationConfiguration(const std::string initialize_base_file) { // Initialize - IniAccess simulation_base_ini = IniAccess(initialize_base_file); + setting_file_reader::IniAccess simulation_base_ini = setting_file_reader::IniAccess(initialize_base_file); const char* section = "SIMULATION_SETTINGS"; simulation_configuration_.initialize_base_file_name_ = initialize_base_file; @@ -104,7 +104,7 @@ void SimulationCase::InitializeSimulationConfiguration(const std::string initial simulation_configuration_.gnss_file_ = simulation_base_ini.ReadString(section, "gnss_file"); // Global Environment - global_environment_ = new GlobalEnvironment(&simulation_configuration_); + global_environment_ = new environment::GlobalEnvironment(&simulation_configuration_); global_environment_->LogSetup(*(simulation_configuration_.main_logger_)); } diff --git a/src/simulation/case/simulation_case.hpp b/src/simulation/case/simulation_case.hpp index 53d37f8a9..47800dee7 100644 --- a/src/simulation/case/simulation_case.hpp +++ b/src/simulation/case/simulation_case.hpp @@ -19,7 +19,7 @@ namespace s2e::simulation { * @class SimulationCase * @brief Base class to define simulation scenario */ -class SimulationCase : public ILoggable { +class SimulationCase : public logger::ILoggable { public: /** * @fn SimulationCase @@ -74,11 +74,11 @@ class SimulationCase : public ILoggable { * @fn GetGlobalEnvironment * @brief Return global environment */ - inline const GlobalEnvironment& GetGlobalEnvironment() const { return *global_environment_; } + inline const environment::GlobalEnvironment& GetGlobalEnvironment() const { return *global_environment_; } protected: SimulationConfiguration simulation_configuration_; //!< Simulation setting - GlobalEnvironment* global_environment_; //!< Global Environment + environment::GlobalEnvironment* global_environment_; //!< Global Environment /** * @fn InitializeSimulationConfiguration diff --git a/src/simulation/ground_station/ground_station.cpp b/src/simulation/ground_station/ground_station.cpp index 12ee9ae4a..5340c30dc 100644 --- a/src/simulation/ground_station/ground_station.cpp +++ b/src/simulation/ground_station/ground_station.cpp @@ -28,7 +28,7 @@ GroundStation::~GroundStation() {} void GroundStation::Initialize(const SimulationConfiguration* configuration, const unsigned int ground_station_id) { std::string gs_ini_path = configuration->ground_station_file_list_[0]; - auto conf = IniAccess(gs_ini_path); + auto conf = setting_file_reader::IniAccess(gs_ini_path); const char* section_base = "GROUND_STATION_"; const std::string section_tmp = section_base + std::to_string(static_cast(ground_station_id)); @@ -45,9 +45,9 @@ void GroundStation::Initialize(const SimulationConfiguration* configuration, con configuration->main_logger_->CopyFileToLogDirectory(gs_ini_path); } -void GroundStation::LogSetup(Logger& logger) { logger.AddLogList(this); } +void GroundStation::LogSetup(logger::Logger& logger) { logger.AddLogList(this); } -void GroundStation::Update(const EarthRotation& celestial_rotation, const Spacecraft& spacecraft) { +void GroundStation::Update(const environment::EarthRotation& celestial_rotation, const Spacecraft& spacecraft) { s2e::math::Matrix<3, 3> dcm_ecef2eci = celestial_rotation.GetDcmJ2000ToEcef().Transpose(); position_i_m_ = dcm_ecef2eci * position_ecef_m_; @@ -77,9 +77,9 @@ std::string GroundStation::GetLogHeader() const { std::string head = "ground_station" + std::to_string(ground_station_id_) + "_"; for (unsigned int i = 0; i < number_of_spacecraft_; i++) { std::string legend = head + "sc" + std::to_string(i) + "_visible_flag"; - str_tmp += WriteScalar(legend); + str_tmp += logger::WriteScalar(legend); } - str_tmp += WriteVector("ground_station_position", "eci", "m", 3); + str_tmp += logger::WriteVector("ground_station_position", "eci", "m", 3); return str_tmp; } @@ -87,9 +87,9 @@ std::string GroundStation::GetLogValue() const { std::string str_tmp = ""; for (unsigned int i = 0; i < number_of_spacecraft_; i++) { - str_tmp += WriteScalar(is_visible_.at(i)); + str_tmp += logger::WriteScalar(is_visible_.at(i)); } - str_tmp += WriteVector(position_i_m_); + str_tmp += logger::WriteVector(position_i_m_); return str_tmp; } diff --git a/src/simulation/ground_station/ground_station.hpp b/src/simulation/ground_station/ground_station.hpp index 42a3b8cac..12ca04fec 100644 --- a/src/simulation/ground_station/ground_station.hpp +++ b/src/simulation/ground_station/ground_station.hpp @@ -18,7 +18,7 @@ namespace s2e::simulation { * @class GroundStation * @brief Base class of ground station */ -class GroundStation : public ILoggable { +class GroundStation : public logger::ILoggable { public: /** * @fn GroundStation @@ -40,12 +40,12 @@ class GroundStation : public ILoggable { * @fn LogSetup * @brief Virtual function to log output setting for ground station related components */ - virtual void LogSetup(Logger& logger); + virtual void LogSetup(logger::Logger& logger); /** * @fn Update * @brief Virtual function of main routine */ - virtual void Update(const EarthRotation& celestial_rotation, const Spacecraft& spacecraft); + virtual void Update(const environment::EarthRotation& celestial_rotation, const Spacecraft& spacecraft); // Override functions for ILoggable /** @@ -69,17 +69,17 @@ class GroundStation : public ILoggable { * @fn GetGeodeticPosition * @brief Return ground station position in the geodetic frame */ - s2e::geodesy::GeodeticPosition GetGeodeticPosition() const { return geodetic_position_; } + geodesy::GeodeticPosition GetGeodeticPosition() const { return geodetic_position_; } /** * @fn GetPosition_ecef_m * @brief Return ground station position in the ECEF frame [m] */ - Vector<3> GetPosition_ecef_m() const { return position_ecef_m_; } + math::Vector<3> GetPosition_ecef_m() const { return position_ecef_m_; } /** * @fn GetPosition_i_m * @brief Return ground station position in the inertial frame [m] */ - Vector<3> GetPosition_i_m() const { return position_i_m_; } + math::Vector<3> GetPosition_i_m() const { return position_i_m_; } /** * @fn GetElevationLimitAngle_deg * @brief Return ground station elevation limit angle [deg] @@ -94,9 +94,9 @@ class GroundStation : public ILoggable { protected: unsigned int ground_station_id_; //!< Ground station ID - s2e::geodesy::GeodeticPosition geodetic_position_; //!< Ground Station Position in the geodetic frame - Vector<3> position_ecef_m_{0.0}; //!< Ground Station Position in the ECEF frame [m] - Vector<3> position_i_m_{0.0}; //!< Ground Station Position in the inertial frame [m] + geodesy::GeodeticPosition geodetic_position_; //!< Ground Station Position in the geodetic frame + math::Vector<3> position_ecef_m_{0.0}; //!< Ground Station Position in the ECEF frame [m] + math::Vector<3> position_i_m_{0.0}; //!< Ground Station Position in the inertial frame [m] double elevation_limit_angle_deg_; //!< Minimum elevation angle to work the ground station [deg] std::map is_visible_; //!< Visible flag for each spacecraft ID (not care antenna) @@ -108,7 +108,7 @@ class GroundStation : public ILoggable { * @param [in] spacecraft_position_ecef_m: spacecraft position in ECEF frame [m] * @return True when the satellite is visible from the ground station */ - bool CalcIsVisible(const Vector<3> spacecraft_position_ecef_m); + bool CalcIsVisible(const math::Vector<3> spacecraft_position_ecef_m); }; } // namespace s2e::simulation diff --git a/src/simulation/hils/hils_port_manager.cpp b/src/simulation/hils/hils_port_manager.cpp index 4eda6559f..ee0e7f1e1 100644 --- a/src/simulation/hils/hils_port_manager.cpp +++ b/src/simulation/hils/hils_port_manager.cpp @@ -47,7 +47,7 @@ int HilsPortManager::UartCloseComPort(unsigned int port_id) { } uart_ports_[port_id]->ClosePort(); - HilsUartPort* port = uart_ports_.at(port_id); + components::HilsUartPort* port = uart_ports_.at(port_id); delete port; uart_ports_.erase(port_id); return 0; @@ -60,7 +60,7 @@ int HilsPortManager::UartCloseComPort(unsigned int port_id) { int HilsPortManager::UartReceive(unsigned int port_id, unsigned char* buffer, int offset, int length) { #ifdef USE_HILS - HilsUartPort* port = uart_ports_[port_id]; + components::HilsUartPort* port = uart_ports_[port_id]; if (port == nullptr) return -1; int ret = port->ReadRx(buffer, offset, length); #ifdef HILS_PORT_MANAGER_SHOW_DEBUG_DATA @@ -85,7 +85,7 @@ int HilsPortManager::UartReceive(unsigned int port_id, unsigned char* buffer, in int HilsPortManager::UartSend(unsigned int port_id, const unsigned char* buffer, int offset, int length) { #ifdef USE_HILS - HilsUartPort* port = uart_ports_[port_id]; + components::HilsUartPort* port = uart_ports_[port_id]; if (port == nullptr) return -1; int ret = port->WriteTx(buffer, offset, length); #ifdef HILS_PORT_MANAGER_SHOW_DEBUG_DATA @@ -132,7 +132,7 @@ int HilsPortManager::I2cTargetCloseComPort(unsigned int port_id) { return -1; } i2c_ports_[port_id]->ClosePort(); - HilsI2cTargetPort* port = i2c_ports_.at(port_id); + components::HilsI2cTargetPort* port = i2c_ports_.at(port_id); delete port; i2c_ports_.erase(port_id); return 0; @@ -146,7 +146,7 @@ int HilsPortManager::I2cTargetCloseComPort(unsigned int port_id) { int HilsPortManager::I2cTargetWriteRegister(unsigned int port_id, const unsigned char register_address, const unsigned char* data, const unsigned char length) { #ifdef USE_HILS - HilsI2cTargetPort* port = i2c_ports_[port_id]; + components::HilsI2cTargetPort* port = i2c_ports_[port_id]; if (port == nullptr) return -1; for (unsigned char i = 0; i < length; i++) { port->WriteRegister(register_address + i, data[i]); @@ -165,7 +165,7 @@ int HilsPortManager::I2cTargetWriteRegister(unsigned int port_id, const unsigned int HilsPortManager::I2cTargetReadRegister(unsigned int port_id, const unsigned char register_address, unsigned char* data, const unsigned char length) { #ifdef USE_HILS - HilsI2cTargetPort* port = i2c_ports_[port_id]; + components::HilsI2cTargetPort* port = i2c_ports_[port_id]; if (port == nullptr) return -1; for (unsigned char i = 0; i < length; i++) { data[i] = port->ReadRegister(register_address + i); @@ -183,7 +183,7 @@ int HilsPortManager::I2cTargetReadRegister(unsigned int port_id, const unsigned int HilsPortManager::I2cTargetReadCommand(unsigned int port_id, unsigned char* data, const unsigned char length) { #ifdef USE_HILS - HilsI2cTargetPort* port = i2c_ports_[port_id]; + components::HilsI2cTargetPort* port = i2c_ports_[port_id]; if (port == nullptr) return -1; port->ReadCommand(data, length); return 0; @@ -198,7 +198,7 @@ int HilsPortManager::I2cTargetReadCommand(unsigned int port_id, unsigned char* d int HilsPortManager::I2cTargetReceive(unsigned int port_id) { #ifdef USE_HILS - HilsI2cTargetPort* port = i2c_ports_[port_id]; + components::HilsI2cTargetPort* port = i2c_ports_[port_id]; if (port == nullptr) return -1; int ret = port->Receive(); #ifdef HILS_PORT_MANAGER_SHOW_DEBUG_DATA @@ -216,7 +216,7 @@ int HilsPortManager::I2cTargetReceive(unsigned int port_id) { int HilsPortManager::I2cTargetSend(unsigned int port_id, const unsigned char length) { #ifdef USE_HILS - HilsI2cTargetPort* port = i2c_ports_[port_id]; + components::HilsI2cTargetPort* port = i2c_ports_[port_id]; if (port == nullptr) return -1; int ret = port->Send(length); #ifdef HILS_PORT_MANAGER_SHOW_DEBUG_DATA @@ -235,7 +235,7 @@ int HilsPortManager::I2cTargetSend(unsigned int port_id, const unsigned char len int HilsPortManager::I2cTargetGetStoredFrameCounter(unsigned int port_id) { #ifdef USE_HILS - HilsI2cTargetPort* port = i2c_ports_[port_id]; + components::HilsI2cTargetPort* port = i2c_ports_[port_id]; if (port == nullptr) return -1; return port->GetStoredFrameCounter(); #else diff --git a/src/simulation/hils/hils_port_manager.hpp b/src/simulation/hils/hils_port_manager.hpp index 06d00b2f7..8753429e6 100644 --- a/src/simulation/hils/hils_port_manager.hpp +++ b/src/simulation/hils/hils_port_manager.hpp @@ -165,8 +165,8 @@ class HilsPortManager { private: #ifdef USE_HILS - std::map uart_ports_; //!< UART ports - std::map i2c_ports_; //!< I2C ports + std::map uart_ports_; //!< UART ports + std::map i2c_ports_; //!< I2C ports #endif }; diff --git a/src/simulation/monte_carlo_simulation/initialize_monte_carlo_parameters.hpp b/src/simulation/monte_carlo_simulation/initialize_monte_carlo_parameters.hpp index 1570aaa1a..6b7493ee4 100644 --- a/src/simulation/monte_carlo_simulation/initialize_monte_carlo_parameters.hpp +++ b/src/simulation/monte_carlo_simulation/initialize_monte_carlo_parameters.hpp @@ -54,7 +54,7 @@ class InitializedMonteCarloParameters { * @brief Set randomization parameters */ template - void SetRandomConfiguration(const s2e::math::Vector& mean_or_min, const s2e::math::Vector& sigma_or_max, + void SetRandomConfiguration(const math::Vector& mean_or_min, const math::Vector& sigma_or_max, RandomizationType random_type); // Getter @@ -63,12 +63,12 @@ class InitializedMonteCarloParameters { * @brief Get randomized vector value results */ template - void GetRandomizedVector(s2e::math::Vector& destination) const; + void GetRandomizedVector(math::Vector& destination) const; /** * @fn GetRandomizedQuaternion * @brief Get randomized quaternion results */ - void GetRandomizedQuaternion(s2e::math::Quaternion& destination) const; + void GetRandomizedQuaternion(math::Quaternion& destination) const; /** * @fn GetRandomizedScalar * @brief Get randomized value results @@ -177,38 +177,38 @@ class InitializedMonteCarloParameters { * @fn CalcCircularNormalUniform * @brief Calculate randomized value with CircularNormalUniform mode */ - void CalcCircularNormalUniform(s2e::math::Vector<2>& destination, double r_mean, double r_sigma, double theta_min, double theta_max); + void CalcCircularNormalUniform(math::Vector<2>& destination, double r_mean, double r_sigma, double theta_min, double theta_max); /** * @fn CalcCircularNormalNormal * @brief Calculate randomized value with CircularNormalNormal mode */ - void CalcCircularNormalNormal(s2e::math::Vector<2>& destination, double r_mean, double r_sigma, double theta_mean, double theta_sigma); + void CalcCircularNormalNormal(math::Vector<2>& destination, double r_mean, double r_sigma, double theta_mean, double theta_sigma); /** * @fn CalcSphericalNormalUniformUniform * @brief Calculate randomized value with SphericalNormalUniformUniform mode */ - void CalcSphericalNormalUniformUniform(s2e::math::Vector<3>& destination, double r_mean, double r_sigma, double theta_min, double theta_max, + void CalcSphericalNormalUniformUniform(math::Vector<3>& destination, double r_mean, double r_sigma, double theta_min, double theta_max, double phi_min, double phi_max); /** * @fn CalcSphericalNormalNormal * @brief Calculate randomized value with SphericalNormalNormal mode */ - void CalcSphericalNormalNormal(s2e::math::Vector<3>& destination, const s2e::math::Vector<3>& mean_vec); + void CalcSphericalNormalNormal(math::Vector<3>& destination, const math::Vector<3>& mean_vec); /** * @fn CalcQuaternionUniform * @brief Calculate randomized value with QuaternionUniform mode */ - void CalcQuaternionUniform(s2e::math::Quaternion& destination); + void CalcQuaternionUniform(math::Quaternion& destination); /** * @fn CalcQuaternionNormal * @brief Calculate randomized value with QuaternionNormal mode */ - void CalcQuaternionNormal(s2e::math::Quaternion& destination, double theta_sigma); + void CalcQuaternionNormal(math::Quaternion& destination, double theta_sigma); }; template -void InitializedMonteCarloParameters::SetRandomConfiguration(const s2e::math::Vector& mean_or_min, - const s2e::math::Vector& sigma_or_max, +void InitializedMonteCarloParameters::SetRandomConfiguration(const math::Vector& mean_or_min, + const math::Vector& sigma_or_max, InitializedMonteCarloParameters::RandomizationType random_type) { randomization_type_ = random_type; mean_or_min_.clear(); @@ -222,7 +222,7 @@ void InitializedMonteCarloParameters::SetRandomConfiguration(const s2e::math::Ve } template -void InitializedMonteCarloParameters::GetRandomizedVector(s2e::math::Vector& destination) const { +void InitializedMonteCarloParameters::GetRandomizedVector(math::Vector& destination) const { if (randomization_type_ == kNoRandomization) { ; } else if (NumElement > randomized_value_.size()) { diff --git a/src/simulation/monte_carlo_simulation/initialize_monte_carlo_simulation.cpp b/src/simulation/monte_carlo_simulation/initialize_monte_carlo_simulation.cpp index 91560ea1b..720d678eb 100644 --- a/src/simulation/monte_carlo_simulation/initialize_monte_carlo_simulation.cpp +++ b/src/simulation/monte_carlo_simulation/initialize_monte_carlo_simulation.cpp @@ -13,7 +13,7 @@ namespace s2e::simulation { #define MAX_CHAR_NUM 256 MonteCarloSimulationExecutor* InitMonteCarloSimulation(std::string file_name) { - IniAccess ini_file(file_name); + setting_file_reader::IniAccess ini_file(file_name); const char* section = "MONTE_CARLO_EXECUTION"; unsigned long long total_num_of_executions = ini_file.ReadInt(section, "number_of_executions"); diff --git a/src/simulation/multiple_spacecraft/relative_information.cpp b/src/simulation/multiple_spacecraft/relative_information.cpp index b5c85d32d..782b50295 100644 --- a/src/simulation/multiple_spacecraft/relative_information.cpp +++ b/src/simulation/multiple_spacecraft/relative_information.cpp @@ -53,28 +53,28 @@ std::string RelativeInformation::GetLogHeader() const { std::string str_tmp = ""; for (size_t target_spacecraft_id = 0; target_spacecraft_id < dynamics_database_.size(); target_spacecraft_id++) { for (size_t reference_spacecraft_id = 0; reference_spacecraft_id < target_spacecraft_id; reference_spacecraft_id++) { - str_tmp += WriteVector( + str_tmp += logger::WriteVector( "satellite" + std::to_string(target_spacecraft_id) + "_position_from_satellite" + std::to_string(reference_spacecraft_id), "i", "m", 3); } } for (size_t target_spacecraft_id = 0; target_spacecraft_id < dynamics_database_.size(); target_spacecraft_id++) { for (size_t reference_spacecraft_id = 0; reference_spacecraft_id < target_spacecraft_id; reference_spacecraft_id++) { - str_tmp += WriteVector( + str_tmp += logger::WriteVector( "satellite" + std::to_string(target_spacecraft_id) + "_velocity_from_satellite" + std::to_string(reference_spacecraft_id), "i", "m/s", 3); } } for (size_t target_spacecraft_id = 0; target_spacecraft_id < dynamics_database_.size(); target_spacecraft_id++) { for (size_t reference_spacecraft_id = 0; reference_spacecraft_id < target_spacecraft_id; reference_spacecraft_id++) { - str_tmp += WriteVector( + str_tmp += logger::WriteVector( "satellite" + std::to_string(target_spacecraft_id) + "_position_from_satellite" + std::to_string(reference_spacecraft_id), "rtn", "m", 3); } } for (size_t target_spacecraft_id = 0; target_spacecraft_id < dynamics_database_.size(); target_spacecraft_id++) { for (size_t reference_spacecraft_id = 0; reference_spacecraft_id < target_spacecraft_id; reference_spacecraft_id++) { - str_tmp += WriteVector( + str_tmp += logger::WriteVector( "satellite" + std::to_string(target_spacecraft_id) + "_velocity_from_satellite" + std::to_string(reference_spacecraft_id), "rtn", "m/s", 3); } } @@ -86,32 +86,32 @@ std::string RelativeInformation::GetLogValue() const { std::string str_tmp = ""; for (size_t target_spacecraft_id = 0; target_spacecraft_id < dynamics_database_.size(); target_spacecraft_id++) { for (size_t reference_spacecraft_id = 0; reference_spacecraft_id < target_spacecraft_id; reference_spacecraft_id++) { - str_tmp += WriteVector(GetRelativePosition_i_m(target_spacecraft_id, reference_spacecraft_id)); + str_tmp += logger::WriteVector(GetRelativePosition_i_m(target_spacecraft_id, reference_spacecraft_id)); } } for (size_t target_spacecraft_id = 0; target_spacecraft_id < dynamics_database_.size(); target_spacecraft_id++) { for (size_t reference_spacecraft_id = 0; reference_spacecraft_id < target_spacecraft_id; reference_spacecraft_id++) { - str_tmp += WriteVector(GetRelativeVelocity_i_m_s(target_spacecraft_id, reference_spacecraft_id)); + str_tmp += logger::WriteVector(GetRelativeVelocity_i_m_s(target_spacecraft_id, reference_spacecraft_id)); } } for (size_t target_spacecraft_id = 0; target_spacecraft_id < dynamics_database_.size(); target_spacecraft_id++) { for (size_t reference_spacecraft_id = 0; reference_spacecraft_id < target_spacecraft_id; reference_spacecraft_id++) { - str_tmp += WriteVector(GetRelativePosition_rtn_m(target_spacecraft_id, reference_spacecraft_id)); + str_tmp += logger::WriteVector(GetRelativePosition_rtn_m(target_spacecraft_id, reference_spacecraft_id)); } } for (size_t target_spacecraft_id = 0; target_spacecraft_id < dynamics_database_.size(); target_spacecraft_id++) { for (size_t reference_spacecraft_id = 0; reference_spacecraft_id < target_spacecraft_id; reference_spacecraft_id++) { - str_tmp += WriteVector(GetRelativeVelocity_rtn_m_s(target_spacecraft_id, reference_spacecraft_id)); + str_tmp += logger::WriteVector(GetRelativeVelocity_rtn_m_s(target_spacecraft_id, reference_spacecraft_id)); } } return str_tmp; } -void RelativeInformation::LogSetup(Logger& logger) { logger.AddLogList(this); } +void RelativeInformation::LogSetup(logger::Logger& logger) { logger.AddLogList(this); } s2e::math::Quaternion RelativeInformation::CalcRelativeAttitudeQuaternion(const size_t target_spacecraft_id, const size_t reference_spacecraft_id) { // Observer SC Body frame(obs_sat) -> ECI frame(i) diff --git a/src/simulation/multiple_spacecraft/relative_information.hpp b/src/simulation/multiple_spacecraft/relative_information.hpp index a5cbe1630..b68cab097 100644 --- a/src/simulation/multiple_spacecraft/relative_information.hpp +++ b/src/simulation/multiple_spacecraft/relative_information.hpp @@ -18,7 +18,7 @@ namespace s2e::simulation { * @class RelativeInformation * @brief Base class to manage relative information between spacecraft */ -class RelativeInformation : public ILoggable { +class RelativeInformation : public logger::ILoggable { public: /** * @fn RelativeInformation @@ -42,7 +42,7 @@ class RelativeInformation : public ILoggable { * @param [in] spacecraft_id: ID of target spacecraft * @param [in] dynamics: Dynamics information of the target spacecraft */ - void RegisterDynamicsInfo(const size_t spacecraft_id, const Dynamics* dynamics); + void RegisterDynamicsInfo(const size_t spacecraft_id, const dynamics::Dynamics* dynamics); /** * @fn RegisterDynamicsInfo * @brief Remove dynamics information of target spacecraft @@ -66,7 +66,7 @@ class RelativeInformation : public ILoggable { * @fn LogSetup * @brief Logging setup for relative information */ - void LogSetup(Logger& logger); + void LogSetup(logger::Logger& logger); // Getter /** @@ -129,12 +129,12 @@ class RelativeInformation : public ILoggable { * @brief Return the dynamics information of a spacecraft * @param [in] target_spacecraft_id: ID of the spacecraft */ - inline const Dynamics* GetReferenceSatDynamics(const size_t reference_spacecraft_id) const { + inline const dynamics::Dynamics* GetReferenceSatDynamics(const size_t reference_spacecraft_id) const { return dynamics_database_.at(reference_spacecraft_id); }; private: - std::map dynamics_database_; //!< Dynamics database of all spacecraft + std::map dynamics_database_; //!< Dynamics database of all spacecraft std::vector>> relative_position_list_i_m_; //!< Relative position list in the inertial frame in unit [m] std::vector>> relative_velocity_list_i_m_s_; //!< Relative velocity list in the inertial frame in unit [m/s] diff --git a/src/simulation/simulation_configuration.hpp b/src/simulation/simulation_configuration.hpp index 599b6ec4e..d8ca3078f 100644 --- a/src/simulation/simulation_configuration.hpp +++ b/src/simulation/simulation_configuration.hpp @@ -19,7 +19,7 @@ namespace s2e::simulation { */ struct SimulationConfiguration { std::string initialize_base_file_name_; //!< Base file name for initialization - Logger* main_logger_; //!< Main logger + logger::Logger* main_logger_; //!< Main logger unsigned int number_of_simulated_spacecraft_; //!< Number of simulated spacecraft std::vector spacecraft_file_list_; //!< File name list for spacecraft initialization diff --git a/src/simulation/spacecraft/installed_components.cpp b/src/simulation/spacecraft/installed_components.cpp index ff7ce9b5c..ebee0e571 100644 --- a/src/simulation/spacecraft/installed_components.cpp +++ b/src/simulation/spacecraft/installed_components.cpp @@ -19,6 +19,6 @@ s2e::math::Vector<3> InstalledComponents::GenerateTorque_b_Nm() { return torque_b_Nm_; } -void InstalledComponents::LogSetup(Logger& logger) { UNUSED(logger); } +void InstalledComponents::LogSetup(logger::Logger& logger) { UNUSED(logger); } } // namespace s2e::simulation diff --git a/src/simulation/spacecraft/installed_components.hpp b/src/simulation/spacecraft/installed_components.hpp index 6e5a3c61c..f357daca3 100644 --- a/src/simulation/spacecraft/installed_components.hpp +++ b/src/simulation/spacecraft/installed_components.hpp @@ -48,7 +48,7 @@ class InstalledComponents { * @brief Setup the logger for components * @details Users need to override this function to add logger for components */ - virtual void LogSetup(Logger& logger); + virtual void LogSetup(logger::Logger& logger); }; } // namespace s2e::simulation diff --git a/src/simulation/spacecraft/spacecraft.cpp b/src/simulation/spacecraft/spacecraft.cpp index c80950dd5..d99b1a1a5 100644 --- a/src/simulation/spacecraft/spacecraft.cpp +++ b/src/simulation/spacecraft/spacecraft.cpp @@ -10,7 +10,7 @@ namespace s2e::simulation { -Spacecraft::Spacecraft(const SimulationConfiguration* simulation_configuration, const GlobalEnvironment* global_environment, const int spacecraft_id, +Spacecraft::Spacecraft(const SimulationConfiguration* simulation_configuration, const environment::GlobalEnvironment* global_environment, const int spacecraft_id, RelativeInformation* relative_information) : spacecraft_id_(spacecraft_id) { Initialize(simulation_configuration, global_environment, spacecraft_id, relative_information); @@ -27,14 +27,14 @@ Spacecraft::~Spacecraft() { delete components_; } -void Spacecraft::Initialize(const SimulationConfiguration* simulation_configuration, const GlobalEnvironment* global_environment, +void Spacecraft::Initialize(const SimulationConfiguration* simulation_configuration, const environment::GlobalEnvironment* global_environment, const int spacecraft_id, RelativeInformation* relative_information) { clock_generator_.ClearTimerCount(); structure_ = new Structure(simulation_configuration, spacecraft_id); - local_environment_ = new LocalEnvironment(simulation_configuration, global_environment, spacecraft_id); - dynamics_ = new Dynamics(simulation_configuration, &(global_environment->GetSimulationTime()), local_environment_, spacecraft_id, structure_, + local_environment_ = new environment::LocalEnvironment(simulation_configuration, global_environment, spacecraft_id); + dynamics_ = new dynamics::Dynamics(simulation_configuration, &(global_environment->GetSimulationTime()), local_environment_, spacecraft_id, structure_, relative_information); - disturbances_ = new Disturbances(simulation_configuration, spacecraft_id, structure_, global_environment); + disturbances_ = new disturbances::Disturbances(simulation_configuration, spacecraft_id, structure_, global_environment); simulation_configuration->main_logger_->CopyFileToLogDirectory(simulation_configuration->spacecraft_file_list_[spacecraft_id]); @@ -44,14 +44,14 @@ void Spacecraft::Initialize(const SimulationConfiguration* simulation_configurat } } -void Spacecraft::LogSetup(Logger& logger) { +void Spacecraft::LogSetup(logger::Logger& logger) { dynamics_->LogSetup(logger); local_environment_->LogSetup(logger); disturbances_->LogSetup(logger); components_->LogSetup(logger); } -void Spacecraft::Update(const SimulationTime* simulation_time) { +void Spacecraft::Update(const environment::SimulationTime* simulation_time) { dynamics_->ClearForceTorque(); // Update local environment and disturbance diff --git a/src/simulation/spacecraft/spacecraft.hpp b/src/simulation/spacecraft/spacecraft.hpp index a59ea4eaa..88f612246 100644 --- a/src/simulation/spacecraft/spacecraft.hpp +++ b/src/simulation/spacecraft/spacecraft.hpp @@ -27,7 +27,7 @@ class Spacecraft { * @fn Spacecraft * @brief Constructor for single satellite simulation */ - Spacecraft(const SimulationConfiguration* simulation_configuration, const GlobalEnvironment* global_environment, const int spacecraft_id, + Spacecraft(const SimulationConfiguration* simulation_configuration, const environment::GlobalEnvironment* global_environment, const int spacecraft_id, RelativeInformation* relative_information = nullptr); /** @@ -45,14 +45,14 @@ class Spacecraft { * @fn Initialize * @brief Initialize function for multiple spacecraft simulation */ - virtual void Initialize(const SimulationConfiguration* simulation_configuration, const GlobalEnvironment* global_environment, + virtual void Initialize(const SimulationConfiguration* simulation_configuration, const environment::GlobalEnvironment* global_environment, const int spacecraft_id, RelativeInformation* relative_information = nullptr); /** * @fn Update * @brief Update all states related with the spacecraft */ - virtual void Update(const SimulationTime* simulation_time); + virtual void Update(const environment::SimulationTime* simulation_time); /** * @fn Clear @@ -64,24 +64,24 @@ class Spacecraft { * @fn LogSetup * @brief Logger setting for the spacecraft specific information */ - virtual void LogSetup(Logger& logger); + virtual void LogSetup(logger::Logger& logger); // Getters /** * @fn GetDynamics * @brief Get dynamics of the spacecraft */ - inline const Dynamics& GetDynamics() const { return *dynamics_; } + inline const dynamics::Dynamics& GetDynamics() const { return *dynamics_; } /** * @fn GetLocalEnvironment * @brief Get local environment around the spacecraft */ - inline const LocalEnvironment& GetLocalEnvironment() const { return *local_environment_; } + inline const environment::LocalEnvironment& GetLocalEnvironment() const { return *local_environment_; } /** * @fn GetDisturbances * @brief Get disturbance acting of the spacecraft */ - inline const Disturbances& GetDisturbances() const { return *disturbances_; } + inline const disturbances::Disturbances& GetDisturbances() const { return *disturbances_; } /** * @fn GetStructure * @brief Get structure of the spacecraft @@ -99,11 +99,11 @@ class Spacecraft { inline unsigned int GetSpacecraftId() const { return spacecraft_id_; } protected: - ClockGenerator clock_generator_; //!< Origin of clock for the spacecraft - Dynamics* dynamics_; //!< Dynamics information of the spacecraft + environment::ClockGenerator clock_generator_; //!< Origin of clock for the spacecraft + dynamics::Dynamics* dynamics_; //!< Dynamics information of the spacecraft RelativeInformation* relative_information_; //!< Relative information with respect to the other spacecraft - LocalEnvironment* local_environment_; //!< Local environment information around the spacecraft - Disturbances* disturbances_; //!< Disturbance information acting on the spacecraft + environment::LocalEnvironment* local_environment_; //!< Local environment information around the spacecraft + disturbances::Disturbances* disturbances_; //!< Disturbance information acting on the spacecraft Structure* structure_; //!< Structure information of the spacecraft InstalledComponents* components_; //!< Components information installed on the spacecraft const unsigned int spacecraft_id_; //!< ID of the spacecraft diff --git a/src/simulation/spacecraft/structure/initialize_structure.cpp b/src/simulation/spacecraft/structure/initialize_structure.cpp index 543203f75..5eaa7c863 100644 --- a/src/simulation/spacecraft/structure/initialize_structure.cpp +++ b/src/simulation/spacecraft/structure/initialize_structure.cpp @@ -12,7 +12,7 @@ namespace s2e::simulation { #define MIN_VAL 1e-6 KinematicsParameters InitKinematicsParameters(std::string file_name) { - auto conf = IniAccess(file_name); + auto conf = setting_file_reader::IniAccess(file_name); const char* section = "KINEMATIC_PARAMETERS"; s2e::math::Vector<3> center_of_gravity_b_m; @@ -34,7 +34,7 @@ KinematicsParameters InitKinematicsParameters(std::string file_name) { std::vector InitSurfaces(std::string file_name) { using std::cout; - auto conf = IniAccess(file_name); + auto conf = setting_file_reader::IniAccess(file_name); const char* section = "SURFACES"; const int num_surface = conf.ReadInt(section, "number_of_surfaces"); @@ -109,7 +109,7 @@ std::vector InitSurfaces(std::string file_name) { } ResidualMagneticMoment InitResidualMagneticMoment(std::string file_name) { - auto conf = IniAccess(file_name); + auto conf = setting_file_reader::IniAccess(file_name); const char* section = "RESIDUAL_MAGNETIC_MOMENT"; s2e::math::Vector<3> rmm_const_b; diff --git a/src/simulation/spacecraft/structure/residual_magnetic_moment.hpp b/src/simulation/spacecraft/structure/residual_magnetic_moment.hpp index 750db9a55..b66d7c90d 100644 --- a/src/simulation/spacecraft/structure/residual_magnetic_moment.hpp +++ b/src/simulation/spacecraft/structure/residual_magnetic_moment.hpp @@ -7,7 +7,6 @@ #define S2E_SIMULATION_SPACECRAFT_STRUCTURE_RESIDUAL_MAGNETIC_MOMENT_HPP_ #include -using s2e::math::Vector; namespace s2e::simulation { @@ -57,16 +56,16 @@ class ResidualMagneticMoment { * @brief Set Constant value of RMM at body frame [Am2] * @param [in] rmm_const_b_Am2: Constant value of RMM at the body frame [Am2] */ - inline void SetRmmConstant_b_Am2(const Vector<3> rmm_const_b_Am2) { constant_value_b_Am2_ = rmm_const_b_Am2; } + inline void SetRmmConstant_b_Am2(const math::Vector<3> rmm_const_b_Am2) { constant_value_b_Am2_ = rmm_const_b_Am2; } /** * @fn AddRMMConst_b_Am2 * @brief Add Constant value of RMM at body frame [Am2] * @param [in] rmm_const_b_Am2: Constant value of RMM at the body frame [Am2] */ - inline void AddRmmConstant_b_Am2(const Vector<3> rmm_const_b_Am2) { constant_value_b_Am2_ += rmm_const_b_Am2; } + inline void AddRmmConstant_b_Am2(const math::Vector<3> rmm_const_b_Am2) { constant_value_b_Am2_ += rmm_const_b_Am2; } private: - Vector<3> constant_value_b_Am2_; //!< Constant value of RMM at body frame [Am2] + math::Vector<3> constant_value_b_Am2_; //!< Constant value of RMM at body frame [Am2] double random_walk_standard_deviation_Am2_; //!< Random walk standard deviation of RMM [Am2] double random_walk_limit_Am2_; //!< Random walk limit of RMM [Am2] double random_noise_standard_deviation_Am2_; //!< Standard deviation of white noise of RMM [Am2] diff --git a/src/simulation/spacecraft/structure/structure.cpp b/src/simulation/spacecraft/structure/structure.cpp index 2958437de..ffbe55e05 100644 --- a/src/simulation/spacecraft/structure/structure.cpp +++ b/src/simulation/spacecraft/structure/structure.cpp @@ -21,7 +21,7 @@ Structure::~Structure() { void Structure::Initialize(const SimulationConfiguration* simulation_configuration, const int spacecraft_id) { // Read file name - IniAccess conf = IniAccess(simulation_configuration->spacecraft_file_list_[spacecraft_id]); + setting_file_reader::IniAccess conf = setting_file_reader::IniAccess(simulation_configuration->spacecraft_file_list_[spacecraft_id]); std::string ini_fname = conf.ReadString("SETTING_FILES", "structure_file"); // Save ini file simulation_configuration->main_logger_->CopyFileToLogDirectory(ini_fname); From 09970898af93b8e4ee7de0e5d3945559d4eec002 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Fri, 27 Sep 2024 15:37:50 +0900 Subject: [PATCH 422/456] Update namespace info in s2e --- src/s2e.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/s2e.cpp b/src/s2e.cpp index 7861f38af..853b04bee 100644 --- a/src/s2e.cpp +++ b/src/s2e.cpp @@ -71,7 +71,7 @@ int main(int argc, char *argv[]) std::cout << "\tIni file: "; print_path(ini_file); - auto simulation_case = SampleCase(ini_file); + auto simulation_case = sample::SampleCase(ini_file); simulation_case.Initialize(); simulation_case.Main(); From 10c18e1236b69248968b39167e180dfaf0f86540 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Fri, 27 Sep 2024 15:44:10 +0900 Subject: [PATCH 423/456] Update namespace info in components/base --- src/components/base/component.cpp | 4 ++-- src/components/base/component.hpp | 6 +++--- src/components/base/i2c_controller.cpp | 2 +- src/components/base/i2c_controller.hpp | 4 ++-- src/components/base/i2c_target_communication_with_obc.cpp | 4 ++-- src/components/base/i2c_target_communication_with_obc.hpp | 6 +++--- src/components/base/uart_communication_with_obc.cpp | 6 +++--- src/components/base/uart_communication_with_obc.hpp | 8 ++++---- src/components/examples/example_change_structure.cpp | 6 +++--- src/components/examples/example_change_structure.hpp | 6 +++--- .../examples/example_i2c_controller_for_hils.cpp | 4 ++-- .../examples/example_i2c_controller_for_hils.hpp | 4 ++-- src/components/examples/example_i2c_target_for_hils.cpp | 4 ++-- src/components/examples/example_i2c_target_for_hils.hpp | 4 ++-- .../examples/example_serial_communication_for_hils.cpp | 4 ++-- .../examples/example_serial_communication_for_hils.hpp | 4 ++-- .../examples/example_serial_communication_with_obc.cpp | 4 ++-- .../examples/example_serial_communication_with_obc.hpp | 4 ++-- 18 files changed, 42 insertions(+), 42 deletions(-) diff --git a/src/components/base/component.cpp b/src/components/base/component.cpp index df61cb1ce..65f9f88ae 100644 --- a/src/components/base/component.cpp +++ b/src/components/base/component.cpp @@ -7,7 +7,7 @@ namespace s2e::components { -Component::Component(const unsigned int prescaler, ClockGenerator* clock_generator, const unsigned int fast_prescaler) +Component::Component(const unsigned int prescaler, environment::ClockGenerator* clock_generator, const unsigned int fast_prescaler) : clock_generator_(clock_generator) { power_port_ = new PowerPort(); clock_generator_->RegisterComponent(this); @@ -15,7 +15,7 @@ Component::Component(const unsigned int prescaler, ClockGenerator* clock_generat fast_prescaler_ = (fast_prescaler > 0) ? fast_prescaler : 1; } -Component::Component(const unsigned int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, const unsigned int fast_prescaler) +Component::Component(const unsigned int prescaler, environment::ClockGenerator* clock_generator, PowerPort* power_port, const unsigned int fast_prescaler) : clock_generator_(clock_generator), power_port_(power_port) { clock_generator_->RegisterComponent(this); prescaler_ = (prescaler > 0) ? prescaler : 1; diff --git a/src/components/base/component.hpp b/src/components/base/component.hpp index 72dbf6c6c..25c035415 100644 --- a/src/components/base/component.hpp +++ b/src/components/base/component.hpp @@ -29,7 +29,7 @@ class Component : public ITickable { * @param [in] clock_generator: Clock generator * @param [in] fast_prescaler: Frequency scale factor for fast update (used only for component faster than component update period) */ - Component(const unsigned int prescaler, ClockGenerator* clock_generator, const unsigned int fast_prescaler = 1); + Component(const unsigned int prescaler, environment::ClockGenerator* clock_generator, const unsigned int fast_prescaler = 1); /** * @fn Component * @brief Constructor with power port @@ -38,7 +38,7 @@ class Component : public ITickable { * @param [in] power_port: Power port * @param [in] fast_prescaler: Frequency scale factor for fast update (used only for component faster than component update period) */ - Component(const unsigned int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, const unsigned int fast_prescaler = 1); + Component(const unsigned int prescaler, environment::ClockGenerator* clock_generator, PowerPort* power_port, const unsigned int fast_prescaler = 1); /** * @fn Component * @brief Copy constructor @@ -86,7 +86,7 @@ class Component : public ITickable { */ virtual void PowerOffRoutine(){}; - ClockGenerator* clock_generator_; //!< Clock generator + environment::ClockGenerator* clock_generator_; //!< Clock generator PowerPort* power_port_; //!< Power port }; diff --git a/src/components/base/i2c_controller.cpp b/src/components/base/i2c_controller.cpp index 6cc80c056..400c88ae3 100644 --- a/src/components/base/i2c_controller.cpp +++ b/src/components/base/i2c_controller.cpp @@ -11,7 +11,7 @@ namespace s2e::components { I2cController::I2cController(const unsigned int hils_port_id, const unsigned int baud_rate, const unsigned int tx_buffer_size, - const unsigned int rx_buffer_size, HilsPortManager* hils_port_manager) + const unsigned int rx_buffer_size, simulation::HilsPortManager* hils_port_manager) : hils_port_id_(hils_port_id), baud_rate_(baud_rate), tx_buffer_size_(tx_buffer_size), diff --git a/src/components/base/i2c_controller.hpp b/src/components/base/i2c_controller.hpp index bd1e5e2d2..f300a9710 100644 --- a/src/components/base/i2c_controller.hpp +++ b/src/components/base/i2c_controller.hpp @@ -30,7 +30,7 @@ class I2cController { * @param [in] hils_port_manager: HILS port manager */ I2cController(const unsigned int hils_port_id, const unsigned int baud_rate, const unsigned int tx_buffer_size, const unsigned int rx_buffer_size, - HilsPortManager* hils_port_manager); + simulation::HilsPortManager* hils_port_manager); /** * @fn ~I2cController * @brief Destructor @@ -63,7 +63,7 @@ class I2cController { unsigned int rx_buffer_size_; //!< RX (Target to Controller) buffer size SimulationMode simulation_mode_ = SimulationMode::kError; //!< Simulation mode (SILS or HILS) - HilsPortManager* hils_port_manager_; //!< HILS port manager + simulation::HilsPortManager* hils_port_manager_; //!< HILS port manager }; } // namespace s2e::components diff --git a/src/components/base/i2c_target_communication_with_obc.cpp b/src/components/base/i2c_target_communication_with_obc.cpp index a916b0df7..7aefe1704 100644 --- a/src/components/base/i2c_target_communication_with_obc.cpp +++ b/src/components/base/i2c_target_communication_with_obc.cpp @@ -20,7 +20,7 @@ I2cTargetCommunicationWithObc::I2cTargetCommunicationWithObc(const unsigned int } I2cTargetCommunicationWithObc::I2cTargetCommunicationWithObc(const unsigned int hils_port_id, const unsigned char i2c_address, - HilsPortManager* hils_port_manager) + simulation::HilsPortManager* hils_port_manager) : hils_port_id_(hils_port_id), i2c_address_(i2c_address), hils_port_manager_(hils_port_manager) { #ifdef USE_HILS simulation_mode_ = SimulationMode::kHils; @@ -36,7 +36,7 @@ I2cTargetCommunicationWithObc::I2cTargetCommunicationWithObc(const unsigned int I2cTargetCommunicationWithObc::I2cTargetCommunicationWithObc(const unsigned int sils_port_id, const unsigned int hils_port_id, const unsigned char i2c_address, OnBoardComputer* obc, - HilsPortManager* hils_port_manager) + simulation::HilsPortManager* hils_port_manager) : sils_port_id_(sils_port_id), hils_port_id_(hils_port_id), i2c_address_(i2c_address), obc_(obc), hils_port_manager_(hils_port_manager) { #ifdef USE_HILS simulation_mode_ = SimulationMode::kHils; diff --git a/src/components/base/i2c_target_communication_with_obc.hpp b/src/components/base/i2c_target_communication_with_obc.hpp index 4d017aafe..61a1b3e34 100644 --- a/src/components/base/i2c_target_communication_with_obc.hpp +++ b/src/components/base/i2c_target_communication_with_obc.hpp @@ -34,7 +34,7 @@ class I2cTargetCommunicationWithObc { * @param [in] i2c_address: I2C address for the target * @param [in] hils_port_manager: HILS port manager */ - I2cTargetCommunicationWithObc(const unsigned int hils_port_id, const unsigned char i2c_address, HilsPortManager* hils_port_manager); + I2cTargetCommunicationWithObc(const unsigned int hils_port_id, const unsigned char i2c_address, simulation::HilsPortManager* hils_port_manager); /** * @fn I2cTargetCommunicationWithObc * @brief Constructor for both SILS and HILS mode @@ -45,7 +45,7 @@ class I2cTargetCommunicationWithObc { * @param [in] hils_port_manager: HILS port manager */ I2cTargetCommunicationWithObc(const unsigned int sils_port_id, const unsigned int hils_port_id, const unsigned char i2c_address, - OnBoardComputer* obc, HilsPortManager* hils_port_manager); + OnBoardComputer* obc, simulation::HilsPortManager* hils_port_manager); /** * @fn I2cTargetCommunicationWithObc * @brief Prevent double freeing of memory when this class is copied @@ -120,7 +120,7 @@ class I2cTargetCommunicationWithObc { SimulationMode simulation_mode_ = SimulationMode::kError; //!< Simulation mode OnBoardComputer* obc_; //!< Communication target OBC - HilsPortManager* hils_port_manager_; //!< HILS port manager + simulation::HilsPortManager* hils_port_manager_; //!< HILS port manager }; } // namespace s2e::components diff --git a/src/components/base/uart_communication_with_obc.cpp b/src/components/base/uart_communication_with_obc.cpp index 41bb777fd..075b67944 100644 --- a/src/components/base/uart_communication_with_obc.cpp +++ b/src/components/base/uart_communication_with_obc.cpp @@ -35,7 +35,7 @@ UartCommunicationWithObc::UartCommunicationWithObc(const unsigned int sils_port_ InitializeObcComBase(); } -UartCommunicationWithObc::UartCommunicationWithObc(const unsigned int hils_port_id, const unsigned int baud_rate, HilsPortManager* hils_port_manager) +UartCommunicationWithObc::UartCommunicationWithObc(const unsigned int hils_port_id, const unsigned int baud_rate, simulation::HilsPortManager* hils_port_manager) : hils_port_id_(hils_port_id), baud_rate_(baud_rate), hils_port_manager_(hils_port_manager) { #ifdef USE_HILS simulation_mode_ = SimulationMode::kHils; @@ -49,7 +49,7 @@ UartCommunicationWithObc::UartCommunicationWithObc(const unsigned int hils_port_ } UartCommunicationWithObc::UartCommunicationWithObc(const unsigned int hils_port_id, const unsigned int baud_rate, const unsigned int tx_buffer_size, - const unsigned int rx_buffer_size, HilsPortManager* hils_port_manager) + const unsigned int rx_buffer_size, simulation::HilsPortManager* hils_port_manager) : hils_port_id_(hils_port_id), baud_rate_(baud_rate), tx_buffer_size_(tx_buffer_size), @@ -67,7 +67,7 @@ UartCommunicationWithObc::UartCommunicationWithObc(const unsigned int hils_port_ } UartCommunicationWithObc::UartCommunicationWithObc(const int sils_port_id, OnBoardComputer* obc, const unsigned int hils_port_id, - const unsigned int baud_rate, HilsPortManager* hils_port_manager) + const unsigned int baud_rate, simulation::HilsPortManager* hils_port_manager) : sils_port_id_(sils_port_id), hils_port_id_(hils_port_id), baud_rate_(baud_rate), obc_(obc), hils_port_manager_(hils_port_manager) { #ifdef USE_HILS simulation_mode_ = SimulationMode::kHils; diff --git a/src/components/base/uart_communication_with_obc.hpp b/src/components/base/uart_communication_with_obc.hpp index 6cb45c5df..caad9f1c9 100644 --- a/src/components/base/uart_communication_with_obc.hpp +++ b/src/components/base/uart_communication_with_obc.hpp @@ -56,7 +56,7 @@ class UartCommunicationWithObc { * @param [in] baud_rate: Baud rate of HILS communication port * @param [in] hils_port_manager: HILS port manager */ - UartCommunicationWithObc(const unsigned int hils_port_id, const unsigned int baud_rate, HilsPortManager* hils_port_manager); + UartCommunicationWithObc(const unsigned int hils_port_id, const unsigned int baud_rate, simulation::HilsPortManager* hils_port_manager); /** * @fn UartCommunicationWithObc * @brief Constructor for HILS mode @@ -67,7 +67,7 @@ class UartCommunicationWithObc { * @param [in] hils_port_manager: HILS port manager */ UartCommunicationWithObc(const unsigned int hils_port_id, const unsigned int baud_rate, const unsigned int tx_buffer_size, - const unsigned int rx_buffer_size, HilsPortManager* hils_port_manager); + const unsigned int rx_buffer_size, simulation::HilsPortManager* hils_port_manager); /** * @fn UartCommunicationWithObc * @brief Constructor for both SILS and HILS mode @@ -79,7 +79,7 @@ class UartCommunicationWithObc { * @param [in] hils_port_manager: HILS port manager */ UartCommunicationWithObc(const int sils_port_id, OnBoardComputer* obc, const unsigned int hils_port_id, const unsigned int baud_rate, - HilsPortManager* hils_port_manager); + simulation::HilsPortManager* hils_port_manager); /** * @fn ~UartCommunicationWithObc * @brief Destructor @@ -110,7 +110,7 @@ class UartCommunicationWithObc { SimulationMode simulation_mode_ = SimulationMode::kError; //!< Simulation mode OnBoardComputer* obc_; //!< Communication target OBC - HilsPortManager* hils_port_manager_; //!< HILS port manager + simulation::HilsPortManager* hils_port_manager_; //!< HILS port manager /** * @fn InitializeObcComBase diff --git a/src/components/examples/example_change_structure.cpp b/src/components/examples/example_change_structure.cpp index 9f1d6d051..0ee982771 100644 --- a/src/components/examples/example_change_structure.cpp +++ b/src/components/examples/example_change_structure.cpp @@ -9,7 +9,7 @@ namespace s2e::components { -ExampleChangeStructure::ExampleChangeStructure(ClockGenerator* clock_generator, Structure* structure) +ExampleChangeStructure::ExampleChangeStructure(environment::ClockGenerator* clock_generator, simulation::Structure* structure) : Component(1, clock_generator), structure_(structure) {} ExampleChangeStructure::~ExampleChangeStructure() {} @@ -20,14 +20,14 @@ void ExampleChangeStructure::MainRoutine(const int time_count) { structure_->GetToSetKinematicsParameters().SetMass_kg(100.0); // Center of gravity - Vector<3> cg(0.0); + math::Vector<3> cg(0.0); cg[0] = 0.01; cg[1] = -0.01; cg[2] = 0.02; structure_->GetToSetKinematicsParameters().SetCenterOfGravityVector_b_m(cg); // RMM - Vector<3> rmm(0.0); + math::Vector<3> rmm(0.0); rmm[0] = 0.1; rmm[1] = -0.1; rmm[2] = 0.2; diff --git a/src/components/examples/example_change_structure.hpp b/src/components/examples/example_change_structure.hpp index 93d749b61..bdc4f74c5 100644 --- a/src/components/examples/example_change_structure.hpp +++ b/src/components/examples/example_change_structure.hpp @@ -17,7 +17,7 @@ namespace s2e::components { * @class ExampleChangeStructure * @brief Class to show an example to change satellite structure information */ -class ExampleChangeStructure : public Component, public ILoggable { +class ExampleChangeStructure : public Component, public logger::ILoggable { public: /** * @fn ExampleChangeStructure @@ -25,7 +25,7 @@ class ExampleChangeStructure : public Component, public ILoggable { * @param [in] clock_generator: Clock generator * @param [in] structure: Structure information */ - ExampleChangeStructure(ClockGenerator* clock_generator, Structure* structure); + ExampleChangeStructure(environment::ClockGenerator* clock_generator, simulation::Structure* structure); /** * @fn ~ChangeStructure * @brief Destructor @@ -52,7 +52,7 @@ class ExampleChangeStructure : public Component, public ILoggable { virtual std::string GetLogValue() const override; protected: - Structure* structure_; //!< Structure information + simulation::Structure* structure_; //!< Structure information }; } // namespace s2e::components diff --git a/src/components/examples/example_i2c_controller_for_hils.cpp b/src/components/examples/example_i2c_controller_for_hils.cpp index b4f2bace1..c67f5fe8e 100644 --- a/src/components/examples/example_i2c_controller_for_hils.cpp +++ b/src/components/examples/example_i2c_controller_for_hils.cpp @@ -6,9 +6,9 @@ namespace s2e::components { -ExampleI2cControllerForHils::ExampleI2cControllerForHils(const int prescaler, ClockGenerator* clock_generator, const unsigned int hils_port_id, +ExampleI2cControllerForHils::ExampleI2cControllerForHils(const int prescaler, environment::ClockGenerator* clock_generator, const unsigned int hils_port_id, const unsigned int baud_rate, const unsigned int tx_buffer_size, - const unsigned int rx_buffer_size, HilsPortManager* hils_port_manager) + const unsigned int rx_buffer_size, simulation::HilsPortManager* hils_port_manager) : Component(prescaler, clock_generator), I2cController(hils_port_id, baud_rate, tx_buffer_size, rx_buffer_size, hils_port_manager) {} ExampleI2cControllerForHils::~ExampleI2cControllerForHils() {} diff --git a/src/components/examples/example_i2c_controller_for_hils.hpp b/src/components/examples/example_i2c_controller_for_hils.hpp index 1e5796c39..84537cf6a 100644 --- a/src/components/examples/example_i2c_controller_for_hils.hpp +++ b/src/components/examples/example_i2c_controller_for_hils.hpp @@ -33,8 +33,8 @@ class ExampleI2cControllerForHils : public Component, public I2cController { * @param [in] rx_buffer_size: RX (Target to Controller) buffer size * @param [in] hils_port_manager: HILS port manager */ - ExampleI2cControllerForHils(const int prescaler, ClockGenerator* clock_generator, const unsigned int hils_port_id, const unsigned int baud_rate, - const unsigned int tx_buffer_size, const unsigned int rx_buffer_size, HilsPortManager* hils_port_manager); + ExampleI2cControllerForHils(const int prescaler, environment::ClockGenerator* clock_generator, const unsigned int hils_port_id, const unsigned int baud_rate, + const unsigned int tx_buffer_size, const unsigned int rx_buffer_size, simulation::HilsPortManager* hils_port_manager); /** * @fn ~ExampleI2cControllerForHils * @brief Destructor diff --git a/src/components/examples/example_i2c_target_for_hils.cpp b/src/components/examples/example_i2c_target_for_hils.cpp index 0fc2a2380..b278d7313 100644 --- a/src/components/examples/example_i2c_target_for_hils.cpp +++ b/src/components/examples/example_i2c_target_for_hils.cpp @@ -7,9 +7,9 @@ namespace s2e::components { -ExampleI2cTargetForHils::ExampleI2cTargetForHils(const int prescaler, ClockGenerator* clock_generator, const int sils_port_id, +ExampleI2cTargetForHils::ExampleI2cTargetForHils(const int prescaler, environment::ClockGenerator* clock_generator, const int sils_port_id, unsigned char i2c_address, OnBoardComputer* obc, const unsigned int hils_port_id, - HilsPortManager* hils_port_manager) + simulation::HilsPortManager* hils_port_manager) : Component(prescaler, clock_generator), I2cTargetCommunicationWithObc(sils_port_id, hils_port_id, i2c_address, obc, hils_port_manager) {} ExampleI2cTargetForHils::~ExampleI2cTargetForHils() {} diff --git a/src/components/examples/example_i2c_target_for_hils.hpp b/src/components/examples/example_i2c_target_for_hils.hpp index ca03d3690..0e6faf2bd 100644 --- a/src/components/examples/example_i2c_target_for_hils.hpp +++ b/src/components/examples/example_i2c_target_for_hils.hpp @@ -34,8 +34,8 @@ class ExampleI2cTargetForHils : public Component, public I2cTargetCommunicationW * @param [in] hils_port_id: ID of HILS communication port * @param [in] hils_port_manager: HILS port manager */ - ExampleI2cTargetForHils(const int prescaler, ClockGenerator* clock_generator, const int sils_port_id, unsigned char i2c_address, - OnBoardComputer* obc, const unsigned int hils_port_id, HilsPortManager* hils_port_manager); + ExampleI2cTargetForHils(const int prescaler, environment::ClockGenerator* clock_generator, const int sils_port_id, unsigned char i2c_address, + OnBoardComputer* obc, const unsigned int hils_port_id, simulation::HilsPortManager* hils_port_manager); /** * @fn ~ExampleI2cTargetForHils * @brief Destructor diff --git a/src/components/examples/example_serial_communication_for_hils.cpp b/src/components/examples/example_serial_communication_for_hils.cpp index d4890360d..3c84e0b2b 100644 --- a/src/components/examples/example_serial_communication_for_hils.cpp +++ b/src/components/examples/example_serial_communication_for_hils.cpp @@ -8,9 +8,9 @@ namespace s2e::components { -ExampleSerialCommunicationForHils::ExampleSerialCommunicationForHils(ClockGenerator* clock_generator, const int sils_port_id, OnBoardComputer* obc, +ExampleSerialCommunicationForHils::ExampleSerialCommunicationForHils(environment::ClockGenerator* clock_generator, const int sils_port_id, OnBoardComputer* obc, const unsigned int hils_port_id, const unsigned int baud_rate, - HilsPortManager* hils_port_manager, const int mode_id) + simulation::HilsPortManager* hils_port_manager, const int mode_id) : Component(300, clock_generator), UartCommunicationWithObc(sils_port_id, obc, hils_port_id, baud_rate, hils_port_manager), mode_id_(mode_id) {} ExampleSerialCommunicationForHils::~ExampleSerialCommunicationForHils() {} diff --git a/src/components/examples/example_serial_communication_for_hils.hpp b/src/components/examples/example_serial_communication_for_hils.hpp index 2393fa2c5..aeac14f2e 100644 --- a/src/components/examples/example_serial_communication_for_hils.hpp +++ b/src/components/examples/example_serial_communication_for_hils.hpp @@ -36,8 +36,8 @@ class ExampleSerialCommunicationForHils : public Component, public UartCommunica * @param [in] hils_port_manager: HILS port manager * @param [in] mode_id: Mode ID to select sender(0) or responder(1) */ - ExampleSerialCommunicationForHils(ClockGenerator* clock_generator, const int sils_port_id, OnBoardComputer* obc, const unsigned int hils_port_id, - const unsigned int baud_rate, HilsPortManager* hils_port_manager, const int mode_id); + ExampleSerialCommunicationForHils(environment::ClockGenerator* clock_generator, const int sils_port_id, OnBoardComputer* obc, const unsigned int hils_port_id, + const unsigned int baud_rate, simulation::HilsPortManager* hils_port_manager, const int mode_id); /** * @fn ~ExampleSerialCommunicationForHils * @brief Destructor diff --git a/src/components/examples/example_serial_communication_with_obc.cpp b/src/components/examples/example_serial_communication_with_obc.cpp index b44138520..3017ea96d 100644 --- a/src/components/examples/example_serial_communication_with_obc.cpp +++ b/src/components/examples/example_serial_communication_with_obc.cpp @@ -9,11 +9,11 @@ namespace s2e::components { -ExampleSerialCommunicationWithObc::ExampleSerialCommunicationWithObc(ClockGenerator* clock_generator, int port_id, OnBoardComputer* obc) +ExampleSerialCommunicationWithObc::ExampleSerialCommunicationWithObc(environment::ClockGenerator* clock_generator, int port_id, OnBoardComputer* obc) : Component(1000, clock_generator), UartCommunicationWithObc(port_id, obc) { Initialize(); } -ExampleSerialCommunicationWithObc::ExampleSerialCommunicationWithObc(ClockGenerator* clock_generator, int port_id, int prescaler, +ExampleSerialCommunicationWithObc::ExampleSerialCommunicationWithObc(environment::ClockGenerator* clock_generator, int port_id, int prescaler, OnBoardComputer* obc) : Component(prescaler, clock_generator), UartCommunicationWithObc(port_id, obc) { Initialize(); diff --git a/src/components/examples/example_serial_communication_with_obc.hpp b/src/components/examples/example_serial_communication_with_obc.hpp index 9a61c1ed0..d202fbc15 100644 --- a/src/components/examples/example_serial_communication_with_obc.hpp +++ b/src/components/examples/example_serial_communication_with_obc.hpp @@ -37,7 +37,7 @@ class ExampleSerialCommunicationWithObc : public Component, public UartCommunica * @param [in] port_id: Port ID for communication line b/w OnBoardComputer * @param [in] obc: The communication target OBC */ - ExampleSerialCommunicationWithObc(ClockGenerator* clock_generator, int port_id, OnBoardComputer* obc); + ExampleSerialCommunicationWithObc(environment::ClockGenerator* clock_generator, int port_id, OnBoardComputer* obc); /** * @fn ExampleSerialCommunicationWithObc * @brief Constructor @@ -46,7 +46,7 @@ class ExampleSerialCommunicationWithObc : public Component, public UartCommunica * @param [in] prescaler: Frequency scale factor for update * @param [in] obc: The communication target OBC */ - ExampleSerialCommunicationWithObc(ClockGenerator* clock_generator, int port_id, int prescaler, OnBoardComputer* obc); + ExampleSerialCommunicationWithObc(environment::ClockGenerator* clock_generator, int port_id, int prescaler, OnBoardComputer* obc); /** * @fn ~SerialCommunicationWithObc * @brief Destructor From 922b4abb296fbbc1cc5b395802e765522f476d58 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Fri, 27 Sep 2024 15:47:14 +0900 Subject: [PATCH 424/456] Update namespace info in components --- .../ideal/angular_velocity_observer.cpp | 4 ++-- .../ideal/angular_velocity_observer.hpp | 12 ++++++------ src/components/ideal/attitude_observer.cpp | 4 ++-- src/components/ideal/attitude_observer.hpp | 12 ++++++------ src/components/ideal/force_generator.cpp | 4 ++-- src/components/ideal/force_generator.hpp | 12 ++++++------ src/components/ideal/orbit_observer.cpp | 4 ++-- src/components/ideal/orbit_observer.hpp | 12 ++++++------ src/components/ideal/torque_generator.cpp | 4 ++-- src/components/ideal/torque_generator.hpp | 12 ++++++------ src/components/real/aocs/gnss_receiver.cpp | 8 ++++---- src/components/real/aocs/gnss_receiver.hpp | 16 ++++++++-------- src/components/real/aocs/gyro_sensor.cpp | 8 ++++---- src/components/real/aocs/gyro_sensor.hpp | 16 ++++++++-------- src/components/real/aocs/magnetometer.cpp | 8 ++++---- src/components/real/aocs/magnetometer.hpp | 16 ++++++++-------- src/components/real/aocs/magnetorquer.cpp | 8 ++++---- src/components/real/aocs/magnetorquer.hpp | 16 ++++++++-------- src/components/real/aocs/reaction_wheel.cpp | 8 ++++---- src/components/real/aocs/reaction_wheel.hpp | 16 ++++++++-------- src/components/real/aocs/star_sensor.cpp | 8 ++++---- src/components/real/aocs/star_sensor.hpp | 16 ++++++++-------- src/components/real/aocs/sun_sensor.cpp | 8 ++++---- src/components/real/aocs/sun_sensor.hpp | 16 ++++++++-------- src/components/real/cdh/on_board_computer.cpp | 6 +++--- src/components/real/cdh/on_board_computer.hpp | 6 +++--- .../real/cdh/on_board_computer_with_c2a.cpp | 6 +++--- .../real/cdh/on_board_computer_with_c2a.hpp | 6 +++--- .../ground_station_calculator.hpp | 8 ++++---- .../wings_command_sender_to_c2a.cpp | 2 +- .../wings_command_sender_to_c2a.hpp | 4 ++-- src/components/real/mission/telescope.cpp | 4 ++-- src/components/real/mission/telescope.hpp | 12 ++++++------ src/components/real/power/battery.cpp | 6 +++--- src/components/real/power/battery.hpp | 14 +++++++------- .../real/power/pcu_initial_study.cpp | 6 +++--- .../real/power/pcu_initial_study.hpp | 14 +++++++------- .../real/power/power_control_unit.cpp | 4 ++-- .../real/power/power_control_unit.hpp | 12 ++++++------ .../real/power/solar_array_panel.cpp | 10 +++++----- .../real/power/solar_array_panel.hpp | 18 +++++++++--------- .../real/propulsion/simple_thruster.cpp | 8 ++++---- .../real/propulsion/simple_thruster.hpp | 16 ++++++++-------- src/disturbances/air_drag.hpp | 6 +++--- src/disturbances/disturbance.hpp | 2 +- src/disturbances/geopotential.hpp | 6 +++--- src/disturbances/gravity_gradient.hpp | 6 +++--- src/disturbances/lunar_gravity_field.hpp | 6 +++--- src/disturbances/magnetic_disturbance.hpp | 6 +++--- .../solar_radiation_pressure_disturbance.hpp | 6 +++--- src/disturbances/third_body_gravity.hpp | 2 +- src/dynamics/attitude/attitude.hpp | 8 ++++---- .../attitude_with_cantilever_vibration.hpp | 6 +++--- src/dynamics/orbit/orbit.hpp | 8 ++++---- src/dynamics/thermal/temperature.hpp | 2 +- .../global/celestial_information.hpp | 8 ++++---- src/environment/global/gnss_satellites.hpp | 8 ++++---- src/environment/global/hipparcos_catalogue.hpp | 8 ++++---- src/environment/global/simulation_time.hpp | 8 ++++---- src/environment/local/atmosphere.hpp | 8 ++++---- src/environment/local/earth_albedo.hpp | 8 ++++---- src/environment/local/geomagnetic_field.hpp | 8 ++++---- .../local/local_celestial_information.hpp | 8 ++++---- .../solar_radiation_pressure_environment.hpp | 8 ++++---- 64 files changed, 273 insertions(+), 273 deletions(-) diff --git a/src/components/ideal/angular_velocity_observer.cpp b/src/components/ideal/angular_velocity_observer.cpp index d6a2bbcf3..7e3bea5d9 100644 --- a/src/components/ideal/angular_velocity_observer.cpp +++ b/src/components/ideal/angular_velocity_observer.cpp @@ -9,7 +9,7 @@ namespace s2e::components { -AngularVelocityObserver::AngularVelocityObserver(const int prescaler, ClockGenerator* clock_generator, Sensor& sensor_base, const Attitude& attitude) +AngularVelocityObserver::AngularVelocityObserver(const int prescaler, environment::ClockGenerator* clock_generator, Sensor& sensor_base, const Attitude& attitude) : Component(prescaler, clock_generator), Sensor(sensor_base), attitude_(attitude) {} void AngularVelocityObserver::MainRoutine(const int time_count) { @@ -34,7 +34,7 @@ std::string AngularVelocityObserver::GetLogValue() const { return str_tmp; } -AngularVelocityObserver InitializeAngularVelocityObserver(ClockGenerator* clock_generator, const std::string file_name, double component_step_time_s, +AngularVelocityObserver InitializeAngularVelocityObserver(environment::ClockGenerator* clock_generator, const std::string file_name, double component_step_time_s, const Attitude& attitude) { IniAccess ini_file(file_name); diff --git a/src/components/ideal/angular_velocity_observer.hpp b/src/components/ideal/angular_velocity_observer.hpp index 47bb4a404..67d421f9b 100644 --- a/src/components/ideal/angular_velocity_observer.hpp +++ b/src/components/ideal/angular_velocity_observer.hpp @@ -18,7 +18,7 @@ namespace s2e::components { * @class AngularVelocityObserver * @brief Ideal component which can observe angular velocity */ -class AngularVelocityObserver : public Component, public Sensor<3>, public ILoggable { +class AngularVelocityObserver : public Component, public Sensor<3>, public logger::ILoggable { public: /** * @fn AngularVelocityObserver @@ -28,7 +28,7 @@ class AngularVelocityObserver : public Component, public Sensor<3>, public ILogg * @param [in] sensor_base: Sensor base information * @param [in] dynamics: Dynamics information */ - AngularVelocityObserver(const int prescaler, ClockGenerator* clock_generator, Sensor& sensor_base, const Attitude& attitude); + AngularVelocityObserver(const int prescaler, environment::ClockGenerator* clock_generator, Sensor& sensor_base, const Attitude& attitude); /** * @fn ~AngularVelocityObserver * @brief Destructor @@ -42,15 +42,15 @@ class AngularVelocityObserver : public Component, public Sensor<3>, public ILogg */ void MainRoutine(const int time_count) override; - // Override ILoggable + // Override logger::ILoggable /** * @fn GetLogHeader - * @brief Override GetLogHeader function of ILoggable + * @brief Override GetLogHeader function of logger::ILoggable */ virtual std::string GetLogHeader() const override; /** * @fn GetLogValue - * @brief Override GetLogValue function of ILoggable + * @brief Override GetLogValue function of logger::ILoggable */ virtual std::string GetLogValue() const override; @@ -74,7 +74,7 @@ class AngularVelocityObserver : public Component, public Sensor<3>, public ILogg * @param [in] component_step_time_s: Component step time [sec] * @param [in] dynamics: Dynamics information */ -AngularVelocityObserver InitializeAngularVelocityObserver(ClockGenerator* clock_generator, const std::string file_name, double component_step_time_s, +AngularVelocityObserver InitializeAngularVelocityObserver(environment::ClockGenerator* clock_generator, const std::string file_name, double component_step_time_s, const Attitude& attitude); } // namespace s2e::components diff --git a/src/components/ideal/attitude_observer.cpp b/src/components/ideal/attitude_observer.cpp index 533a636c8..1cb6e6126 100644 --- a/src/components/ideal/attitude_observer.cpp +++ b/src/components/ideal/attitude_observer.cpp @@ -10,7 +10,7 @@ namespace s2e::components { -AttitudeObserver::AttitudeObserver(const int prescaler, ClockGenerator* clock_generator, const double standard_deviation_rad, +AttitudeObserver::AttitudeObserver(const int prescaler, environment::ClockGenerator* clock_generator, const double standard_deviation_rad, const Attitude& attitude) : Component(prescaler, clock_generator), angle_noise_(0.0, standard_deviation_rad), attitude_(attitude) { direction_noise_.SetParameters(0.0, 1.0); @@ -49,7 +49,7 @@ std::string AttitudeObserver::GetLogValue() const { return str_tmp; } -AttitudeObserver InitializeAttitudeObserver(ClockGenerator* clock_generator, const std::string file_name, const Attitude& attitude) { +AttitudeObserver InitializeAttitudeObserver(environment::ClockGenerator* clock_generator, const std::string file_name, const Attitude& attitude) { // General IniAccess ini_file(file_name); diff --git a/src/components/ideal/attitude_observer.hpp b/src/components/ideal/attitude_observer.hpp index 0bf1e973f..8ce9697e5 100644 --- a/src/components/ideal/attitude_observer.hpp +++ b/src/components/ideal/attitude_observer.hpp @@ -19,7 +19,7 @@ namespace s2e::components { * @class AttitudeObserver * @brief Ideal component which can observe attitude */ -class AttitudeObserver : public Component, public ILoggable { +class AttitudeObserver : public Component, public logger::ILoggable { public: /** * @fn AttitudeObserver @@ -28,7 +28,7 @@ class AttitudeObserver : public Component, public ILoggable { * @param [in] clock_generator: Clock generator * @param [in] attitude: Attitude information */ - AttitudeObserver(const int prescaler, ClockGenerator* clock_generator, const double standard_deviation_rad, const Attitude& attitude); + AttitudeObserver(const int prescaler, environment::ClockGenerator* clock_generator, const double standard_deviation_rad, const Attitude& attitude); /** * @fn ~AttitudeObserver @@ -43,15 +43,15 @@ class AttitudeObserver : public Component, public ILoggable { */ void MainRoutine(const int time_count) override; - // Override ILoggable + // Override logger::ILoggable /** * @fn GetLogHeader - * @brief Override GetLogHeader function of ILoggable + * @brief Override GetLogHeader function of logger::ILoggable */ virtual std::string GetLogHeader() const override; /** * @fn GetLogValue - * @brief Override GetLogValue function of ILoggable + * @brief Override GetLogValue function of logger::ILoggable */ virtual std::string GetLogValue() const override; @@ -77,7 +77,7 @@ class AttitudeObserver : public Component, public ILoggable { * @param [in] file_name: Path to the initialize file * @param [in] attitude: Attitude information */ -AttitudeObserver InitializeAttitudeObserver(ClockGenerator* clock_generator, const std::string file_name, const Attitude& attitude); +AttitudeObserver InitializeAttitudeObserver(environment::ClockGenerator* clock_generator, const std::string file_name, const Attitude& attitude); } // namespace s2e::components diff --git a/src/components/ideal/force_generator.cpp b/src/components/ideal/force_generator.cpp index 59e788ba3..f458160d7 100644 --- a/src/components/ideal/force_generator.cpp +++ b/src/components/ideal/force_generator.cpp @@ -11,7 +11,7 @@ namespace s2e::components { // Constructor -ForceGenerator::ForceGenerator(const int prescaler, ClockGenerator* clock_generator, const double magnitude_error_standard_deviation_N, +ForceGenerator::ForceGenerator(const int prescaler, environment::ClockGenerator* clock_generator, const double magnitude_error_standard_deviation_N, const double direction_error_standard_deviation_rad, const Dynamics* dynamics) : Component(prescaler, clock_generator), magnitude_noise_(0.0, magnitude_error_standard_deviation_N), @@ -107,7 +107,7 @@ s2e::math::Quaternion ForceGenerator::GenerateDirectionNoiseQuaternion(s2e::math return error_quaternion; } -ForceGenerator InitializeForceGenerator(ClockGenerator* clock_generator, const std::string file_name, const Dynamics* dynamics) { +ForceGenerator InitializeForceGenerator(environment::ClockGenerator* clock_generator, const std::string file_name, const Dynamics* dynamics) { // General IniAccess ini_file(file_name); diff --git a/src/components/ideal/force_generator.hpp b/src/components/ideal/force_generator.hpp index 46724d9f4..03c4bd09b 100644 --- a/src/components/ideal/force_generator.hpp +++ b/src/components/ideal/force_generator.hpp @@ -18,7 +18,7 @@ namespace s2e::components { * @class ForceGenerator * @brief Ideal component which can generate for control algorithm test */ -class ForceGenerator : public Component, public ILoggable { +class ForceGenerator : public Component, public logger::ILoggable { public: /** * @fn ForceGenerator @@ -29,7 +29,7 @@ class ForceGenerator : public Component, public ILoggable { * @param [in] direction_error_standard_deviation_rad: Standard deviation of direction error [rad] * @param [in] dynamics: Dynamics information */ - ForceGenerator(const int prescaler, ClockGenerator* clock_generator, const double magnitude_error_standard_deviation_N, + ForceGenerator(const int prescaler, environment::ClockGenerator* clock_generator, const double magnitude_error_standard_deviation_N, const double direction_error_standard_deviation_rad, const Dynamics* dynamics); /** * @fn ~ForceGenerator @@ -49,15 +49,15 @@ class ForceGenerator : public Component, public ILoggable { */ void PowerOffRoutine(); - // Override ILoggable + // Override logger::ILoggable /** * @fn GetLogHeader - * @brief Override GetLogHeader function of ILoggable + * @brief Override GetLogHeader function of logger::ILoggable */ virtual std::string GetLogHeader() const; /** * @fn GetLogValue - * @brief Override GetLogValue function of ILoggable + * @brief Override GetLogValue function of logger::ILoggable */ virtual std::string GetLogValue() const; @@ -124,7 +124,7 @@ class ForceGenerator : public Component, public ILoggable { * @param [in] file_name: Path to initialize file * @param [in] dynamics: Dynamics information */ -ForceGenerator InitializeForceGenerator(ClockGenerator* clock_generator, const std::string file_name, const Dynamics* dynamics); +ForceGenerator InitializeForceGenerator(environment::ClockGenerator* clock_generator, const std::string file_name, const Dynamics* dynamics); } // namespace s2e::components diff --git a/src/components/ideal/orbit_observer.cpp b/src/components/ideal/orbit_observer.cpp index 881610793..0851de4d8 100644 --- a/src/components/ideal/orbit_observer.cpp +++ b/src/components/ideal/orbit_observer.cpp @@ -10,7 +10,7 @@ namespace s2e::components { -OrbitObserver::OrbitObserver(const int prescaler, ClockGenerator* clock_generator, const NoiseFrame noise_frame, +OrbitObserver::OrbitObserver(const int prescaler, environment::ClockGenerator* clock_generator, const NoiseFrame noise_frame, const s2e::math::Vector<6> error_standard_deviation, const Orbit& orbit) : Component(prescaler, clock_generator), noise_frame_(noise_frame), orbit_(orbit) { for (size_t i = 0; i < 6; i++) { @@ -85,7 +85,7 @@ NoiseFrame SetNoiseFrame(const std::string noise_frame) { } } -OrbitObserver InitializeOrbitObserver(ClockGenerator* clock_generator, const std::string file_name, const Orbit& orbit) { +OrbitObserver InitializeOrbitObserver(environment::ClockGenerator* clock_generator, const std::string file_name, const Orbit& orbit) { // General IniAccess ini_file(file_name); diff --git a/src/components/ideal/orbit_observer.hpp b/src/components/ideal/orbit_observer.hpp index 36ef2a447..58a2cf3c9 100644 --- a/src/components/ideal/orbit_observer.hpp +++ b/src/components/ideal/orbit_observer.hpp @@ -28,7 +28,7 @@ enum class NoiseFrame { * @class OrbitObserver * @brief Ideal component which can observe orbit */ -class OrbitObserver : public Component, public ILoggable { +class OrbitObserver : public Component, public logger::ILoggable { public: /** * @fn OrbitObserver @@ -39,7 +39,7 @@ class OrbitObserver : public Component, public ILoggable { * @param [in] error_standard_deviation: Position and Velocity standard deviation noise [m, m/s] * @param [in] orbit: Orbit information */ - OrbitObserver(const int prescaler, ClockGenerator* clock_generator, const NoiseFrame noise_frame, const s2e::math::Vector<6> error_standard_deviation, + OrbitObserver(const int prescaler, environment::ClockGenerator* clock_generator, const NoiseFrame noise_frame, const s2e::math::Vector<6> error_standard_deviation, const Orbit& orbit); /** @@ -55,15 +55,15 @@ class OrbitObserver : public Component, public ILoggable { */ void MainRoutine(const int time_count) override; - // Override ILoggable + // Override logger::ILoggable /** * @fn GetLogHeader - * @brief Override GetLogHeader function of ILoggable + * @brief Override GetLogHeader function of logger::ILoggable */ virtual std::string GetLogHeader() const override; /** * @fn GetLogValue - * @brief Override GetLogValue function of ILoggable + * @brief Override GetLogValue function of logger::ILoggable */ virtual std::string GetLogValue() const override; @@ -105,7 +105,7 @@ NoiseFrame SetNoiseFrame(const std::string noise_frame); * @param [in] file_name: Path to the initialize file * @param [in] orbit: Orbit information */ -OrbitObserver InitializeOrbitObserver(ClockGenerator* clock_generator, const std::string file_name, const Orbit& orbit); +OrbitObserver InitializeOrbitObserver(environment::ClockGenerator* clock_generator, const std::string file_name, const Orbit& orbit); } // namespace s2e::components diff --git a/src/components/ideal/torque_generator.cpp b/src/components/ideal/torque_generator.cpp index 600f65e5a..a47ede7c9 100644 --- a/src/components/ideal/torque_generator.cpp +++ b/src/components/ideal/torque_generator.cpp @@ -11,7 +11,7 @@ namespace s2e::components { // Constructor -TorqueGenerator::TorqueGenerator(const int prescaler, ClockGenerator* clock_generator, const double magnitude_error_standard_deviation_Nm, +TorqueGenerator::TorqueGenerator(const int prescaler, environment::ClockGenerator* clock_generator, const double magnitude_error_standard_deviation_Nm, const double direction_error_standard_deviation_rad, const Dynamics* dynamics) : Component(prescaler, clock_generator), magnitude_noise_(0.0, magnitude_error_standard_deviation_Nm), @@ -80,7 +80,7 @@ s2e::math::Quaternion TorqueGenerator::GenerateDirectionNoiseQuaternion(s2e::mat return error_quaternion; } -TorqueGenerator InitializeTorqueGenerator(ClockGenerator* clock_generator, const std::string file_name, const Dynamics* dynamics) { +TorqueGenerator InitializeTorqueGenerator(environment::ClockGenerator* clock_generator, const std::string file_name, const Dynamics* dynamics) { // General IniAccess ini_file(file_name); diff --git a/src/components/ideal/torque_generator.hpp b/src/components/ideal/torque_generator.hpp index 51cbe39ee..357f7b22c 100644 --- a/src/components/ideal/torque_generator.hpp +++ b/src/components/ideal/torque_generator.hpp @@ -18,7 +18,7 @@ namespace s2e::components { * @class TorqueGenerator * @brief Ideal component which can generate for control algorithm test */ -class TorqueGenerator : public Component, public ILoggable { +class TorqueGenerator : public Component, public logger::ILoggable { public: /** * @fn TorqueGenerator @@ -29,7 +29,7 @@ class TorqueGenerator : public Component, public ILoggable { * @param [in] direction_error_standard_deviation_rad: Standard deviation of direction error [rad] * @param [in] dynamics: Dynamics information */ - TorqueGenerator(const int prescaler, ClockGenerator* clock_generator, const double magnitude_error_standard_deviation_Nm, + TorqueGenerator(const int prescaler, environment::ClockGenerator* clock_generator, const double magnitude_error_standard_deviation_Nm, const double direction_error_standard_deviation_rad, const Dynamics* dynamics); /** * @fn ~TorqueGenerator @@ -49,15 +49,15 @@ class TorqueGenerator : public Component, public ILoggable { */ void PowerOffRoutine(); - // Override ILoggable + // Override logger::ILoggable /** * @fn GetLogHeader - * @brief Override GetLogHeader function of ILoggable + * @brief Override GetLogHeader function of logger::ILoggable */ virtual std::string GetLogHeader() const; /** * @fn GetLogValue - * @brief Override GetLogValue function of ILoggable + * @brief Override GetLogValue function of logger::ILoggable */ virtual std::string GetLogValue() const; @@ -102,7 +102,7 @@ class TorqueGenerator : public Component, public ILoggable { * @param [in] file_name: Path to initialize file * @param [in] dynamics: Dynamics information */ -TorqueGenerator InitializeTorqueGenerator(ClockGenerator* clock_generator, const std::string file_name, const Dynamics* dynamics); +TorqueGenerator InitializeTorqueGenerator(environment::ClockGenerator* clock_generator, const std::string file_name, const Dynamics* dynamics); } // namespace s2e::components diff --git a/src/components/real/aocs/gnss_receiver.cpp b/src/components/real/aocs/gnss_receiver.cpp index 0d899b9e8..9b6a80cc8 100644 --- a/src/components/real/aocs/gnss_receiver.cpp +++ b/src/components/real/aocs/gnss_receiver.cpp @@ -13,7 +13,7 @@ namespace s2e::components { -GnssReceiver::GnssReceiver(const int prescaler, ClockGenerator* clock_generator, const size_t component_id, const AntennaModel antenna_model, +GnssReceiver::GnssReceiver(const int prescaler, environment::ClockGenerator* clock_generator, const size_t component_id, const AntennaModel antenna_model, const s2e::math::Vector<3> antenna_position_b_m, const s2e::math::Quaternion quaternion_b2c, const double half_width_deg, const s2e::math::Vector<3> position_noise_standard_deviation_ecef_m, const s2e::math::Vector<3> velocity_noise_standard_deviation_ecef_m_s, const Dynamics* dynamics, @@ -33,7 +33,7 @@ GnssReceiver::GnssReceiver(const int prescaler, ClockGenerator* clock_generator, } } -GnssReceiver::GnssReceiver(const int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, const size_t component_id, +GnssReceiver::GnssReceiver(const int prescaler, environment::ClockGenerator* clock_generator, PowerPort* power_port, const size_t component_id, const AntennaModel antenna_model, const s2e::math::Vector<3> antenna_position_b_m, const s2e::math::Quaternion quaternion_b2c, const double half_width_deg, const s2e::math::Vector<3> position_noise_standard_deviation_ecef_m, const s2e::math::Vector<3> velocity_noise_standard_deviation_ecef_m_s, const Dynamics* dynamics, @@ -291,7 +291,7 @@ GnssReceiverParam ReadGnssReceiverIni(const std::string file_name, const GnssSat return gnss_receiver_param; } -GnssReceiver InitGnssReceiver(ClockGenerator* clock_generator, const size_t component_id, const std::string file_name, const Dynamics* dynamics, +GnssReceiver InitGnssReceiver(environment::ClockGenerator* clock_generator, const size_t component_id, const std::string file_name, const Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time) { GnssReceiverParam gr_param = ReadGnssReceiverIni(file_name, gnss_satellites, component_id); @@ -301,7 +301,7 @@ GnssReceiver InitGnssReceiver(ClockGenerator* clock_generator, const size_t comp return gnss_r; } -GnssReceiver InitGnssReceiver(ClockGenerator* clock_generator, PowerPort* power_port, const size_t component_id, const std::string file_name, +GnssReceiver InitGnssReceiver(environment::ClockGenerator* clock_generator, PowerPort* power_port, const size_t component_id, const std::string file_name, const Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time) { GnssReceiverParam gr_param = ReadGnssReceiverIni(file_name, gnss_satellites, component_id); diff --git a/src/components/real/aocs/gnss_receiver.hpp b/src/components/real/aocs/gnss_receiver.hpp index 1ea260d0f..3714cc772 100644 --- a/src/components/real/aocs/gnss_receiver.hpp +++ b/src/components/real/aocs/gnss_receiver.hpp @@ -42,7 +42,7 @@ typedef struct _gnss_info { * @class GnssReceiver * @brief Class to emulate GNSS receiver */ -class GnssReceiver : public Component, public ILoggable { +class GnssReceiver : public Component, public logger::ILoggable { public: /** * @fn GnssReceiver @@ -60,7 +60,7 @@ class GnssReceiver : public Component, public ILoggable { * @param [in] gnss_satellites: GNSS Satellites information * @param [in] simulation_time: Simulation time information */ - GnssReceiver(const int prescaler, ClockGenerator* clock_generator, const size_t component_id, const AntennaModel antenna_model, + GnssReceiver(const int prescaler, environment::ClockGenerator* clock_generator, const size_t component_id, const AntennaModel antenna_model, const s2e::math::Vector<3> antenna_position_b_m, const s2e::math::Quaternion quaternion_b2c, const double half_width_deg, const s2e::math::Vector<3> position_noise_standard_deviation_ecef_m, const s2e::math::Vector<3> velocity_noise_standard_deviation_ecef_m_s, const Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time); @@ -80,7 +80,7 @@ class GnssReceiver : public Component, public ILoggable { * @param [in] gnss_satellites: GNSS Satellites information * @param [in] simulation_time: Simulation time information */ - GnssReceiver(const int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, const size_t component_id, + GnssReceiver(const int prescaler, environment::ClockGenerator* clock_generator, PowerPort* power_port, const size_t component_id, const AntennaModel antenna_model, const s2e::math::Vector<3> antenna_position_b_m, const s2e::math::Quaternion quaternion_b2c, const double half_width_deg, const s2e::math::Vector<3> position_noise_standard_deviation_ecef_m, const s2e::math::Vector<3> velocity_noise_standard_deviation_ecef_m_s, const Dynamics* dynamics, const GnssSatellites* gnss_satellites, @@ -116,15 +116,15 @@ class GnssReceiver : public Component, public ILoggable { */ inline const s2e::math::Vector<3> GetMeasuredVelocity_ecef_m_s(void) const { return velocity_ecef_m_s_; } - // Override ILoggable + // Override logger::ILoggable /** * @fn GetLogHeader - * @brief Override GetLogHeader function of ILoggable + * @brief Override GetLogHeader function of logger::ILoggable */ virtual std::string GetLogHeader() const; /** * @fn GetLogValue - * @brief Override GetLogValue function of ILoggable + * @brief Override GetLogValue function of logger::ILoggable */ virtual std::string GetLogValue() const; @@ -226,7 +226,7 @@ AntennaModel SetAntennaModel(const std::string antenna_model); * @param [in] gnss_satellites: GNSS satellites information * @param [in] simulation_time: Simulation time information */ -GnssReceiver InitGnssReceiver(ClockGenerator* clock_generator, const size_t component_id, const std::string file_name, const Dynamics* dynamics, +GnssReceiver InitGnssReceiver(environment::ClockGenerator* clock_generator, const size_t component_id, const std::string file_name, const Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time); /** * @fn InitGnssReceiver @@ -239,7 +239,7 @@ GnssReceiver InitGnssReceiver(ClockGenerator* clock_generator, const size_t comp * @param [in] gnss_satellites: GNSS satellites information * @param [in] simulation_time: Simulation time information */ -GnssReceiver InitGnssReceiver(ClockGenerator* clock_generator, PowerPort* power_port, const size_t component_id, const std::string file_name, +GnssReceiver InitGnssReceiver(environment::ClockGenerator* clock_generator, PowerPort* power_port, const size_t component_id, const std::string file_name, const Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time); } // namespace s2e::components diff --git a/src/components/real/aocs/gyro_sensor.cpp b/src/components/real/aocs/gyro_sensor.cpp index 7af914f24..f967195fa 100644 --- a/src/components/real/aocs/gyro_sensor.cpp +++ b/src/components/real/aocs/gyro_sensor.cpp @@ -9,11 +9,11 @@ namespace s2e::components { -GyroSensor::GyroSensor(const int prescaler, ClockGenerator* clock_generator, Sensor& sensor_base, const unsigned int sensor_id, +GyroSensor::GyroSensor(const int prescaler, environment::ClockGenerator* clock_generator, Sensor& sensor_base, const unsigned int sensor_id, const s2e::math::Quaternion& quaternion_b2c, const Dynamics* dynamics) : Component(prescaler, clock_generator), Sensor(sensor_base), sensor_id_(sensor_id), quaternion_b2c_(quaternion_b2c), dynamics_(dynamics) {} -GyroSensor::GyroSensor(const int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, Sensor& sensor_base, const unsigned int sensor_id, +GyroSensor::GyroSensor(const int prescaler, environment::ClockGenerator* clock_generator, PowerPort* power_port, Sensor& sensor_base, const unsigned int sensor_id, const s2e::math::Quaternion& quaternion_b2c, const Dynamics* dynamics) : Component(prescaler, clock_generator, power_port), Sensor(sensor_base), @@ -47,7 +47,7 @@ std::string GyroSensor::GetLogValue() const { return str_tmp; } -GyroSensor InitGyroSensor(ClockGenerator* clock_generator, int sensor_id, const std::string file_name, double component_step_time_s, +GyroSensor InitGyroSensor(environment::ClockGenerator* clock_generator, int sensor_id, const std::string file_name, double component_step_time_s, const Dynamics* dynamics) { IniAccess gyro_conf(file_name); const char* sensor_name = "GYRO_SENSOR_"; @@ -68,7 +68,7 @@ GyroSensor InitGyroSensor(ClockGenerator* clock_generator, int sensor_id, const return gyro; } -GyroSensor InitGyroSensor(ClockGenerator* clock_generator, PowerPort* power_port, int sensor_id, const std::string file_name, +GyroSensor InitGyroSensor(environment::ClockGenerator* clock_generator, PowerPort* power_port, int sensor_id, const std::string file_name, double component_step_time_s, const Dynamics* dynamics) { IniAccess gyro_conf(file_name); const char* sensor_name = "GYRO_SENSOR_"; diff --git a/src/components/real/aocs/gyro_sensor.hpp b/src/components/real/aocs/gyro_sensor.hpp index fd6ede443..c99759722 100644 --- a/src/components/real/aocs/gyro_sensor.hpp +++ b/src/components/real/aocs/gyro_sensor.hpp @@ -21,7 +21,7 @@ const size_t kGyroDimension = 3; //!< Dimension of gyro sensor * @class GyroSensor * @brief Class to emulate gyro sensor */ -class GyroSensor : public Component, public Sensor, public ILoggable { +class GyroSensor : public Component, public Sensor, public logger::ILoggable { public: /** * @fn GyroSensor @@ -33,7 +33,7 @@ class GyroSensor : public Component, public Sensor, public ILogg * @param [in] quaternion_b2c: Quaternion from body frame to component frame * @param [in] dynamics: Dynamics information */ - GyroSensor(const int prescaler, ClockGenerator* clock_generator, Sensor& sensor_base, const unsigned int sensor_id, + GyroSensor(const int prescaler, environment::ClockGenerator* clock_generator, Sensor& sensor_base, const unsigned int sensor_id, const s2e::math::Quaternion& quaternion_b2c, const Dynamics* dynamics); /** * @fn GyroSensor @@ -46,7 +46,7 @@ class GyroSensor : public Component, public Sensor, public ILogg * @param [in] quaternion_b2c: Quaternion from body frame to component frame * @param [in] dynamics: Dynamics information */ - GyroSensor(const int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, Sensor& sensor_base, const unsigned int sensor_id, + GyroSensor(const int prescaler, environment::ClockGenerator* clock_generator, PowerPort* power_port, Sensor& sensor_base, const unsigned int sensor_id, const s2e::math::Quaternion& quaternion_b2c, const Dynamics* dynamics); /** * @fn ~GyroSensor @@ -61,15 +61,15 @@ class GyroSensor : public Component, public Sensor, public ILogg */ void MainRoutine(const int time_count) override; - // Override ILoggable + // Override logger::ILoggable /** * @fn GetLogHeader - * @brief Override GetLogHeader function of ILoggable + * @brief Override GetLogHeader function of logger::ILoggable */ virtual std::string GetLogHeader() const override; /** * @fn GetLogValue - * @brief Override GetLogValue function of ILoggable + * @brief Override GetLogValue function of logger::ILoggable */ virtual std::string GetLogValue() const override; @@ -97,7 +97,7 @@ class GyroSensor : public Component, public Sensor, public ILogg * @param [in] file_name: Path to the initialize file * @param [in] dynamics: Dynamics information */ -GyroSensor InitGyroSensor(ClockGenerator* clock_generator, int sensor_id, const std::string file_name, double component_step_time_s, +GyroSensor InitGyroSensor(environment::ClockGenerator* clock_generator, int sensor_id, const std::string file_name, double component_step_time_s, const Dynamics* dynamics); /** * @fn InitGyroSensor @@ -109,7 +109,7 @@ GyroSensor InitGyroSensor(ClockGenerator* clock_generator, int sensor_id, const * @param [in] file_name: Path to the initialize file * @param [in] dynamics: Dynamics information */ -GyroSensor InitGyroSensor(ClockGenerator* clock_generator, PowerPort* power_port, int sensor_id, const std::string file_name, +GyroSensor InitGyroSensor(environment::ClockGenerator* clock_generator, PowerPort* power_port, int sensor_id, const std::string file_name, double component_step_time_s, const Dynamics* dynamics); } //namespace s2e::components diff --git a/src/components/real/aocs/magnetometer.cpp b/src/components/real/aocs/magnetometer.cpp index 1326a7ba4..c12e7b37f 100644 --- a/src/components/real/aocs/magnetometer.cpp +++ b/src/components/real/aocs/magnetometer.cpp @@ -9,14 +9,14 @@ namespace s2e::components { -Magnetometer::Magnetometer(int prescaler, ClockGenerator* clock_generator, Sensor& sensor_base, const unsigned int sensor_id, +Magnetometer::Magnetometer(int prescaler, environment::ClockGenerator* clock_generator, Sensor& sensor_base, const unsigned int sensor_id, const s2e::math::Quaternion& quaternion_b2c, const GeomagneticField* geomagnetic_field) : Component(prescaler, clock_generator), Sensor(sensor_base), sensor_id_(sensor_id), quaternion_b2c_(quaternion_b2c), geomagnetic_field_(geomagnetic_field) {} -Magnetometer::Magnetometer(int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, Sensor& sensor_base, const unsigned int sensor_id, +Magnetometer::Magnetometer(int prescaler, environment::ClockGenerator* clock_generator, PowerPort* power_port, Sensor& sensor_base, const unsigned int sensor_id, const s2e::math::Quaternion& quaternion_b2c, const GeomagneticField* geomagnetic_field) : Component(prescaler, clock_generator, power_port), Sensor(sensor_base), @@ -49,7 +49,7 @@ std::string Magnetometer::GetLogValue() const { return str_tmp; } -Magnetometer InitMagnetometer(ClockGenerator* clock_generator, int sensor_id, const std::string file_name, double component_step_time_s, +Magnetometer InitMagnetometer(environment::ClockGenerator* clock_generator, int sensor_id, const std::string file_name, double component_step_time_s, const GeomagneticField* geomagnetic_field) { IniAccess magsensor_conf(file_name); const char* sensor_name = "MAGNETOMETER_"; @@ -70,7 +70,7 @@ Magnetometer InitMagnetometer(ClockGenerator* clock_generator, int sensor_id, co return magsensor; } -Magnetometer InitMagnetometer(ClockGenerator* clock_generator, PowerPort* power_port, int sensor_id, const std::string file_name, +Magnetometer InitMagnetometer(environment::ClockGenerator* clock_generator, PowerPort* power_port, int sensor_id, const std::string file_name, double component_step_time_s, const GeomagneticField* geomagnetic_field) { IniAccess magsensor_conf(file_name); const char* sensor_name = "MAGNETOMETER_"; diff --git a/src/components/real/aocs/magnetometer.hpp b/src/components/real/aocs/magnetometer.hpp index 34dce8647..ab3c5cf85 100644 --- a/src/components/real/aocs/magnetometer.hpp +++ b/src/components/real/aocs/magnetometer.hpp @@ -21,7 +21,7 @@ const size_t kMagnetometerDimension = 3; //!< Dimension of magnetometer * @class Magnetometer * @brief Class to emulate magnetometer */ -class Magnetometer : public Component, public Sensor, public ILoggable { +class Magnetometer : public Component, public Sensor, public logger::ILoggable { public: /** * @fn Magnetometer @@ -33,7 +33,7 @@ class Magnetometer : public Component, public Sensor, pu * @param [in] quaternion_b2c: Quaternion from body frame to component frame * @param [in] geomagnetic_field: Geomagnetic environment */ - Magnetometer(const int prescaler, ClockGenerator* clock_generator, Sensor& sensor_base, const unsigned int sensor_id, + Magnetometer(const int prescaler, environment::ClockGenerator* clock_generator, Sensor& sensor_base, const unsigned int sensor_id, const s2e::math::Quaternion& quaternion_b2c, const GeomagneticField* geomagnetic_field); /** * @fn Magnetometer @@ -46,7 +46,7 @@ class Magnetometer : public Component, public Sensor, pu * @param [in] quaternion_b2c: Quaternion from body frame to component frame * @param [in] geomagnetic_field: Geomagnetic environment */ - Magnetometer(const int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, Sensor& sensor_base, const unsigned int sensor_id, + Magnetometer(const int prescaler, environment::ClockGenerator* clock_generator, PowerPort* power_port, Sensor& sensor_base, const unsigned int sensor_id, const s2e::math::Quaternion& quaternion_b2c, const GeomagneticField* geomagnetic_field); /** * @fn ~Magnetometer @@ -61,15 +61,15 @@ class Magnetometer : public Component, public Sensor, pu */ void MainRoutine(const int time_count) override; - // Override ILoggable + // Override logger::ILoggable /** * @fn GetLogHeader - * @brief Override GetLogHeader function of ILoggable + * @brief Override GetLogHeader function of logger::ILoggable */ virtual std::string GetLogHeader() const override; /** * @fn GetLogValue - * @brief Override GetLogValue function of ILoggable + * @brief Override GetLogValue function of logger::ILoggable */ virtual std::string GetLogValue() const override; @@ -116,7 +116,7 @@ class Magnetometer : public Component, public Sensor, pu * @param [in] component_step_time_s: Component step time [sec] * @param [in] geomagnetic_field: Geomegnetic environment */ -Magnetometer InitMagnetometer(ClockGenerator* clock_generator, int sensor_id, const std::string file_name, double component_step_time_s, +Magnetometer InitMagnetometer(environment::ClockGenerator* clock_generator, int sensor_id, const std::string file_name, double component_step_time_s, const GeomagneticField* geomagnetic_field); /** * @fn InitMagnetometer @@ -128,7 +128,7 @@ Magnetometer InitMagnetometer(ClockGenerator* clock_generator, int sensor_id, co * @param [in] component_step_time_s: Component step time [sec] * @param [in] geomagnetic_field: Geomegnetic environment */ -Magnetometer InitMagnetometer(ClockGenerator* clock_generator, PowerPort* power_port, int sensor_id, const std::string file_name, +Magnetometer InitMagnetometer(environment::ClockGenerator* clock_generator, PowerPort* power_port, int sensor_id, const std::string file_name, double component_step_time_s, const GeomagneticField* geomagnetic_field); } // namespace s2e::components diff --git a/src/components/real/aocs/magnetorquer.cpp b/src/components/real/aocs/magnetorquer.cpp index a213539a7..cab226ac7 100644 --- a/src/components/real/aocs/magnetorquer.cpp +++ b/src/components/real/aocs/magnetorquer.cpp @@ -13,7 +13,7 @@ namespace s2e::components { -Magnetorquer::Magnetorquer(const int prescaler, ClockGenerator* clock_generator, const int component_id, const s2e::math::Quaternion& quaternion_b2c, +Magnetorquer::Magnetorquer(const int prescaler, environment::ClockGenerator* clock_generator, const int component_id, const s2e::math::Quaternion& quaternion_b2c, const s2e::math::Matrix& scale_factor, const s2e::math::Vector& max_magnetic_moment_c_Am2, const s2e::math::Vector& min_magnetic_moment_c_Am2, const s2e::math::Vector& bias_noise_c_Am2_, double random_walk_step_width_s, @@ -35,7 +35,7 @@ Magnetorquer::Magnetorquer(const int prescaler, ClockGenerator* clock_generator, } } -Magnetorquer::Magnetorquer(const int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, const int component_id, +Magnetorquer::Magnetorquer(const int prescaler, environment::ClockGenerator* clock_generator, PowerPort* power_port, const int component_id, const s2e::math::Quaternion& quaternion_b2c, const s2e::math::Matrix& scale_factor, const s2e::math::Vector& max_magnetic_moment_c_Am2, const s2e::math::Vector& min_magnetic_moment_c_Am2, const s2e::math::Vector& bias_noise_c_Am2_, double random_walk_step_width_s, @@ -113,7 +113,7 @@ std::string Magnetorquer::GetLogValue() const { return str_tmp; } -Magnetorquer InitMagnetorquer(ClockGenerator* clock_generator, int actuator_id, const std::string file_name, double component_step_time_s, +Magnetorquer InitMagnetorquer(environment::ClockGenerator* clock_generator, int actuator_id, const std::string file_name, double component_step_time_s, const GeomagneticField* geomagnetic_field) { IniAccess magtorquer_conf(file_name); const char* sensor_name = "MAGNETORQUER_"; @@ -158,7 +158,7 @@ Magnetorquer InitMagnetorquer(ClockGenerator* clock_generator, int actuator_id, return magtorquer; } -Magnetorquer InitMagnetorquer(ClockGenerator* clock_generator, PowerPort* power_port, int actuator_id, const std::string file_name, +Magnetorquer InitMagnetorquer(environment::ClockGenerator* clock_generator, PowerPort* power_port, int actuator_id, const std::string file_name, double component_step_time_s, const GeomagneticField* geomagnetic_field) { IniAccess magtorquer_conf(file_name); const char* sensor_name = "MAGNETORQUER_"; diff --git a/src/components/real/aocs/magnetorquer.hpp b/src/components/real/aocs/magnetorquer.hpp index fb7ad153e..c5c1688bf 100644 --- a/src/components/real/aocs/magnetorquer.hpp +++ b/src/components/real/aocs/magnetorquer.hpp @@ -24,7 +24,7 @@ const size_t kMtqDimension = 3; //!< Dimension of magnetorquer * @class Magnetorquer * @brief Class to emulate magnetorquer */ -class Magnetorquer : public Component, public ILoggable { +class Magnetorquer : public Component, public logger::ILoggable { public: /** * @fn Magnetorquer @@ -43,7 +43,7 @@ class Magnetorquer : public Component, public ILoggable { * @param [in] normal_random_standard_deviation_c_Am2: Standard deviation for the normal random noise in the component frame [Am2] * @param [in] geomagnetic_field: Geomagnetic environment */ - Magnetorquer(const int prescaler, ClockGenerator* clock_generator, const int component_id, const s2e::math::Quaternion& quaternion_b2c, + Magnetorquer(const int prescaler, environment::ClockGenerator* clock_generator, const int component_id, const s2e::math::Quaternion& quaternion_b2c, const s2e::math::Matrix& scale_factor, const s2e::math::Vector& max_magnetic_moment_c_Am2, const s2e::math::Vector& min_magnetic_moment_c_Am2, const s2e::math::Vector& bias_noise_c_Am2_, double random_walk_step_width_s, const s2e::math::Vector& random_walk_standard_deviation_c_Am2, @@ -67,7 +67,7 @@ class Magnetorquer : public Component, public ILoggable { * @param [in] normal_random_standard_deviation_c_Am2: Standard deviation for the normal random noise in the component frame [Am2] * @param [in] geomagnetic_field: Geomagnetic environment */ - Magnetorquer(const int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, const int component_id, + Magnetorquer(const int prescaler, environment::ClockGenerator* clock_generator, PowerPort* power_port, const int component_id, const s2e::math::Quaternion& quaternion_b2c, const s2e::math::Matrix& scale_factor, const s2e::math::Vector& max_magnetic_moment_c_Am2, const s2e::math::Vector& min_magnetic_moment_c_Am2, const s2e::math::Vector& bias_noise_c_Am2_, double random_walk_step_width_s, @@ -86,15 +86,15 @@ class Magnetorquer : public Component, public ILoggable { */ void PowerOffRoutine() override; - // Override ILoggable + // Override logger::ILoggable /** * @fn GetLogHeader - * @brief Override GetLogHeader function of ILoggable + * @brief Override GetLogHeader function of logger::ILoggable */ virtual std::string GetLogHeader() const override; /** * @fn GetLogValue - * @brief Override GetLogValue function of ILoggable + * @brief Override GetLogValue function of logger::ILoggable */ virtual std::string GetLogValue() const override; @@ -157,7 +157,7 @@ class Magnetorquer : public Component, public ILoggable { * @param [in] component_step_time_s: Component step time [sec] * @param [in] geomagnetic_field: Geomegnetic environment */ -Magnetorquer InitMagnetorquer(ClockGenerator* clock_generator, int actuator_id, const std::string file_name, double component_step_time_s, +Magnetorquer InitMagnetorquer(environment::ClockGenerator* clock_generator, int actuator_id, const std::string file_name, double component_step_time_s, const GeomagneticField* geomagnetic_field); /** * @fn InitMagnetorquer @@ -169,7 +169,7 @@ Magnetorquer InitMagnetorquer(ClockGenerator* clock_generator, int actuator_id, * @param [in] component_step_time_s: Component step time [sec] * @param [in] geomagnetic_field: Geomegnetic environment */ -Magnetorquer InitMagnetorquer(ClockGenerator* clock_generator, PowerPort* power_port, int actuator_id, const std::string file_name, +Magnetorquer InitMagnetorquer(environment::ClockGenerator* clock_generator, PowerPort* power_port, int actuator_id, const std::string file_name, double component_step_time_s, const GeomagneticField* geomagnetic_field); } // namespace s2e::components diff --git a/src/components/real/aocs/reaction_wheel.cpp b/src/components/real/aocs/reaction_wheel.cpp index 918ed9578..9fe963c84 100644 --- a/src/components/real/aocs/reaction_wheel.cpp +++ b/src/components/real/aocs/reaction_wheel.cpp @@ -13,7 +13,7 @@ namespace s2e::components { -ReactionWheel::ReactionWheel(const int prescaler, ClockGenerator* clock_generator, const int component_id, const double step_width_s, +ReactionWheel::ReactionWheel(const int prescaler, environment::ClockGenerator* clock_generator, const int component_id, const double step_width_s, const double rotor_inertia_kgm2, const double max_torque_Nm, const double max_velocity_rpm, const s2e::math::Quaternion quaternion_b2c, const s2e::math::Vector<3> position_b_m, const double dead_time_s, const double time_constant_s, const std::vector friction_coefficients, @@ -40,7 +40,7 @@ ReactionWheel::ReactionWheel(const int prescaler, ClockGenerator* clock_generato Initialize(); } -ReactionWheel::ReactionWheel(const int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, const int component_id, +ReactionWheel::ReactionWheel(const int prescaler, environment::ClockGenerator* clock_generator, PowerPort* power_port, const int component_id, const double step_width_s, const double rotor_inertia_kgm2, const double max_torque_Nm, const double max_velocity_rpm, const s2e::math::Quaternion quaternion_b2c, const s2e::math::Vector<3> position_b_m, const double dead_time_s, const double time_constant_s, const std::vector friction_coefficients, @@ -333,7 +333,7 @@ void InitParams(int actuator_id, std::string file_name, double compo_update_step } } // namespace -ReactionWheel InitReactionWheel(ClockGenerator* clock_generator, int actuator_id, std::string file_name, double compo_update_step_s) { +ReactionWheel InitReactionWheel(environment::ClockGenerator* clock_generator, int actuator_id, std::string file_name, double compo_update_step_s) { InitParams(actuator_id, file_name, compo_update_step_s); ReactionWheel rw(prescaler, clock_generator, actuator_id, step_width_s, rotor_inertia_kgm2, max_torque_Nm, max_velocity_rpm, quaternion_b2c, @@ -343,7 +343,7 @@ ReactionWheel InitReactionWheel(ClockGenerator* clock_generator, int actuator_id return rw; } -ReactionWheel InitReactionWheel(ClockGenerator* clock_generator, PowerPort* power_port, int actuator_id, std::string file_name, +ReactionWheel InitReactionWheel(environment::ClockGenerator* clock_generator, PowerPort* power_port, int actuator_id, std::string file_name, double compo_update_step_s) { InitParams(actuator_id, file_name, compo_update_step_s); diff --git a/src/components/real/aocs/reaction_wheel.hpp b/src/components/real/aocs/reaction_wheel.hpp index 4735f6193..fc013dc11 100644 --- a/src/components/real/aocs/reaction_wheel.hpp +++ b/src/components/real/aocs/reaction_wheel.hpp @@ -24,7 +24,7 @@ namespace s2e::components { * @brief Class to emulate Reaction Wheel * @note For one reaction wheel */ -class ReactionWheel : public Component, public ILoggable { +class ReactionWheel : public Component, public logger::ILoggable { public: /** * @fn ReactionWheel @@ -50,7 +50,7 @@ class ReactionWheel : public Component, public ILoggable { * @param [in] drive_flag: RW drive flag * @param [in] init_velocity_rad_s: Initial value of angular velocity of RW */ - ReactionWheel(const int prescaler, ClockGenerator* clock_generator, const int component_id, const double step_width_s, + ReactionWheel(const int prescaler, environment::ClockGenerator* clock_generator, const int component_id, const double step_width_s, const double rotor_inertia_kgm2, const double max_torque_Nm, const double max_velocity_rpm, const s2e::math::Quaternion quaternion_b2c, const s2e::math::Vector<3> position_b_m, const double dead_time_s, const double time_constant_s, const std::vector friction_coefficients, const double stop_limit_angular_velocity_rad_s, const bool is_calc_jitter_enabled, @@ -80,7 +80,7 @@ class ReactionWheel : public Component, public ILoggable { * @param [in] drive_flag: RW drive flag * @param [in] init_velocity_rad_s: Initial value of angular velocity of RW [rad/s] */ - ReactionWheel(const int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, const int component_id, const double step_width_s, + ReactionWheel(const int prescaler, environment::ClockGenerator* clock_generator, PowerPort* power_port, const int component_id, const double step_width_s, const double rotor_inertia_kgm2, const double max_torque_Nm, const double max_velocity_rpm, const s2e::math::Quaternion quaternion_b2c, const s2e::math::Vector<3> position_b_m, const double dead_time_s, const double time_constant_s, const std::vector friction_coefficients, const double stop_limit_angular_velocity_rad_s, const bool is_calc_jitter_enabled, @@ -104,15 +104,15 @@ class ReactionWheel : public Component, public ILoggable { */ void FastUpdate() override; - // Override ILoggable + // Override logger::ILoggable /** * @fn GetLogHeader - * @brief Override GetLogHeader function of ILoggable + * @brief Override GetLogHeader function of logger::ILoggable */ virtual std::string GetLogHeader() const override; /** * @fn GetLogValue - * @brief Override GetLogValue function of ILoggable + * @brief Override GetLogValue function of logger::ILoggable */ virtual std::string GetLogValue() const override; @@ -234,7 +234,7 @@ class ReactionWheel : public Component, public ILoggable { * @param [in] file_name: Path to the initialize file * @param [in] compo_update_step_s: Component step time [sec] */ -ReactionWheel InitReactionWheel(ClockGenerator* clock_generator, int actuator_id, std::string file_name, double compo_update_step_s); +ReactionWheel InitReactionWheel(environment::ClockGenerator* clock_generator, int actuator_id, std::string file_name, double compo_update_step_s); /** * @fn InitReactionWheel * @brief Initialize functions for reaction wheel with power port @@ -245,7 +245,7 @@ ReactionWheel InitReactionWheel(ClockGenerator* clock_generator, int actuator_id * @param [in] prop_step: Propagation step for RW dynamics [sec] * @param [in] compo_update_step_s: Component step time [sec] */ -ReactionWheel InitReactionWheel(ClockGenerator* clock_generator, PowerPort* power_port, int actuator_id, std::string file_name, +ReactionWheel InitReactionWheel(environment::ClockGenerator* clock_generator, PowerPort* power_port, int actuator_id, std::string file_name, double compo_update_step_s); } // namespace s2e::components diff --git a/src/components/real/aocs/star_sensor.cpp b/src/components/real/aocs/star_sensor.cpp index 83b105096..6466a60e8 100644 --- a/src/components/real/aocs/star_sensor.cpp +++ b/src/components/real/aocs/star_sensor.cpp @@ -18,7 +18,7 @@ using namespace s2e::math; namespace s2e::components { -StarSensor::StarSensor(const int prescaler, ClockGenerator* clock_generator, const int component_id, const s2e::math::Quaternion& quaternion_b2c, +StarSensor::StarSensor(const int prescaler, environment::ClockGenerator* clock_generator, const int component_id, const s2e::math::Quaternion& quaternion_b2c, const double standard_deviation_orthogonal_direction, const double standard_deviation_sight_direction, const double step_time_s, const unsigned int output_delay, const unsigned int output_interval, const double sun_forbidden_angle_rad, const double earth_forbidden_angle_rad, const double moon_forbidden_angle_rad, @@ -42,7 +42,7 @@ StarSensor::StarSensor(const int prescaler, ClockGenerator* clock_generator, con local_environment_(local_environment) { Initialize(); } -StarSensor::StarSensor(const int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, const int component_id, +StarSensor::StarSensor(const int prescaler, environment::ClockGenerator* clock_generator, PowerPort* power_port, const int component_id, const s2e::math::Quaternion& quaternion_b2c, const double standard_deviation_orthogonal_direction, const double standard_deviation_sight_direction, const double step_time_s, const unsigned int output_delay, const unsigned int output_interval, const double sun_forbidden_angle_rad, const double earth_forbidden_angle_rad, @@ -215,7 +215,7 @@ void StarSensor::MainRoutine(const int time_count) { Measure(&(local_environment_->GetCelestialInformation()), &(dynamics_->GetAttitude())); } -StarSensor InitStarSensor(ClockGenerator* clock_generator, int sensor_id, const string file_name, double component_step_time_s, +StarSensor InitStarSensor(environment::ClockGenerator* clock_generator, int sensor_id, const string file_name, double component_step_time_s, const Dynamics* dynamics, const LocalEnvironment* local_environment) { IniAccess STT_conf(file_name); const char* sensor_name = "STAR_SENSOR_"; @@ -248,7 +248,7 @@ StarSensor InitStarSensor(ClockGenerator* clock_generator, int sensor_id, const return stt; } -StarSensor InitStarSensor(ClockGenerator* clock_generator, PowerPort* power_port, int sensor_id, const string file_name, double component_step_time_s, +StarSensor InitStarSensor(environment::ClockGenerator* clock_generator, PowerPort* power_port, int sensor_id, const string file_name, double component_step_time_s, const Dynamics* dynamics, const LocalEnvironment* local_environment) { IniAccess STT_conf(file_name); const char* sensor_name = "STAR_SENSOR_"; diff --git a/src/components/real/aocs/star_sensor.hpp b/src/components/real/aocs/star_sensor.hpp index 888f91b18..9a7ebf842 100644 --- a/src/components/real/aocs/star_sensor.hpp +++ b/src/components/real/aocs/star_sensor.hpp @@ -24,7 +24,7 @@ namespace s2e::components { * @class StarSensor * @brief Class to emulate star tracker */ -class StarSensor : public Component, public ILoggable { +class StarSensor : public Component, public logger::ILoggable { public: /** * @fn StarSensor @@ -45,7 +45,7 @@ class StarSensor : public Component, public ILoggable { * @param [in] dynamics: Dynamics information * @param [in] local_environment: Local environment information */ - StarSensor(const int prescaler, ClockGenerator* clock_generator, const int component_id, const s2e::math::Quaternion& quaternion_b2c, + StarSensor(const int prescaler, environment::ClockGenerator* clock_generator, const int component_id, const s2e::math::Quaternion& quaternion_b2c, const double standard_deviation_orthogonal_direction, const double standard_deviation_sight_direction, const double step_time_s, const unsigned int output_delay, const unsigned int output_interval, const double sun_forbidden_angle_rad, const double earth_forbidden_angle_rad, const double moon_forbidden_angle_rad, const double capture_rate_limit_rad_s, @@ -70,7 +70,7 @@ class StarSensor : public Component, public ILoggable { * @param [in] dynamics: Dynamics information * @param [in] local_environment: Local environment information */ - StarSensor(const int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, const int component_id, + StarSensor(const int prescaler, environment::ClockGenerator* clock_generator, PowerPort* power_port, const int component_id, const s2e::math::Quaternion& quaternion_b2c, const double standard_deviation_orthogonal_direction, const double standard_deviation_sight_direction, const double step_time_s, const unsigned int output_delay, const unsigned int output_interval, const double sun_forbidden_angle_rad, const double earth_forbidden_angle_rad, @@ -84,15 +84,15 @@ class StarSensor : public Component, public ILoggable { */ void MainRoutine(const int time_count) override; - // Override ILoggable + // Override logger::ILoggable /** * @fn GetLogHeader - * @brief Override GetLogHeader function of ILoggable + * @brief Override GetLogHeader function of logger::ILoggable */ virtual std::string GetLogHeader() const override; /** * @fn GetLogValue - * @brief Override GetLogValue function of ILoggable + * @brief Override GetLogValue function of logger::ILoggable */ virtual std::string GetLogValue() const override; @@ -218,7 +218,7 @@ class StarSensor : public Component, public ILoggable { * @param [in] dynamics: Dynamics information * @param [in] local_environment: Local environment information */ -StarSensor InitStarSensor(ClockGenerator* clock_generator, int sensor_id, const std::string file_name, double component_step_time_s, +StarSensor InitStarSensor(environment::ClockGenerator* clock_generator, int sensor_id, const std::string file_name, double component_step_time_s, const Dynamics* dynamics, const LocalEnvironment* local_environment); /** * @fn InitStarSensor @@ -231,7 +231,7 @@ StarSensor InitStarSensor(ClockGenerator* clock_generator, int sensor_id, const * @param [in] dynamics: Dynamics information * @param [in] local_environment: Local environment information */ -StarSensor InitStarSensor(ClockGenerator* clock_generator, PowerPort* power_port, int sensor_id, const std::string file_name, +StarSensor InitStarSensor(environment::ClockGenerator* clock_generator, PowerPort* power_port, int sensor_id, const std::string file_name, double component_step_time_s, const Dynamics* dynamics, const LocalEnvironment* local_environment); } // namespace s2e::components diff --git a/src/components/real/aocs/sun_sensor.cpp b/src/components/real/aocs/sun_sensor.cpp index 773aba273..1e0b8142a 100644 --- a/src/components/real/aocs/sun_sensor.cpp +++ b/src/components/real/aocs/sun_sensor.cpp @@ -16,7 +16,7 @@ using namespace std; namespace s2e::components { -SunSensor::SunSensor(const int prescaler, ClockGenerator* clock_generator, const int component_id, const s2e::math::Quaternion& quaternion_b2c, +SunSensor::SunSensor(const int prescaler, environment::ClockGenerator* clock_generator, const int component_id, const s2e::math::Quaternion& quaternion_b2c, const double detectable_angle_rad, const double random_noise_standard_deviation_rad, const double bias_noise_standard_deviation_rad, const double intensity_lower_threshold_percent, const SolarRadiationPressureEnvironment* srp_environment, const LocalCelestialInformation* local_celestial_information) @@ -30,7 +30,7 @@ SunSensor::SunSensor(const int prescaler, ClockGenerator* clock_generator, const Initialize(random_noise_standard_deviation_rad, bias_noise_standard_deviation_rad); } -SunSensor::SunSensor(const int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, const int component_id, +SunSensor::SunSensor(const int prescaler, environment::ClockGenerator* clock_generator, PowerPort* power_port, const int component_id, const s2e::math::Quaternion& quaternion_b2c, const double detectable_angle_rad, const double random_noise_standard_deviation_rad, const double bias_noise_standard_deviation_rad, const double intensity_lower_threshold_percent, const SolarRadiationPressureEnvironment* srp_environment, const LocalCelestialInformation* local_celestial_information) @@ -153,7 +153,7 @@ string SunSensor::GetLogValue() const { return str_tmp; } -SunSensor InitSunSensor(ClockGenerator* clock_generator, int ss_id, std::string file_name, const SolarRadiationPressureEnvironment* srp_environment, +SunSensor InitSunSensor(environment::ClockGenerator* clock_generator, int ss_id, std::string file_name, const SolarRadiationPressureEnvironment* srp_environment, const LocalCelestialInformation* local_celestial_information) { IniAccess ss_conf(file_name); const char* sensor_name = "SUN_SENSOR_"; @@ -186,7 +186,7 @@ SunSensor InitSunSensor(ClockGenerator* clock_generator, int ss_id, std::string return ss; } -SunSensor InitSunSensor(ClockGenerator* clock_generator, PowerPort* power_port, int ss_id, std::string file_name, +SunSensor InitSunSensor(environment::ClockGenerator* clock_generator, PowerPort* power_port, int ss_id, std::string file_name, const SolarRadiationPressureEnvironment* srp_environment, const LocalCelestialInformation* local_celestial_information) { IniAccess ss_conf(file_name); const char* sensor_name = "SUN_SENSOR_"; diff --git a/src/components/real/aocs/sun_sensor.hpp b/src/components/real/aocs/sun_sensor.hpp index 08c8982d2..f8aba0d41 100644 --- a/src/components/real/aocs/sun_sensor.hpp +++ b/src/components/real/aocs/sun_sensor.hpp @@ -21,7 +21,7 @@ namespace s2e::components { * @class SunSensor * @brief Class to emulate sun sensor */ -class SunSensor : public Component, public ILoggable { +class SunSensor : public Component, public logger::ILoggable { public: /** * @fn SunSensor @@ -37,7 +37,7 @@ class SunSensor : public Component, public ILoggable { * @param [in] srp_environment: Solar Radiation Pressure environment * @param [in] local_celestial_information: Local celestial information */ - SunSensor(const int prescaler, ClockGenerator* clock_generator, const int component_id, const s2e::math::Quaternion& quaternion_b2c, + SunSensor(const int prescaler, environment::ClockGenerator* clock_generator, const int component_id, const s2e::math::Quaternion& quaternion_b2c, const double detectable_angle_rad, const double random_noise_standard_deviation_rad, const double bias_noise_standard_deviation_rad, const double intensity_lower_threshold_percent, const SolarRadiationPressureEnvironment* srp_environment, const LocalCelestialInformation* local_celestial_information); @@ -56,7 +56,7 @@ class SunSensor : public Component, public ILoggable { * @param [in] srp_environment: Solar Radiation Pressure environment * @param [in] local_celestial_information: Local celestial information */ - SunSensor(const int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, const int component_id, + SunSensor(const int prescaler, environment::ClockGenerator* clock_generator, PowerPort* power_port, const int component_id, const s2e::math::Quaternion& quaternion_b2c, const double detectable_angle_rad, const double random_noise_standard_deviation_rad, const double bias_noise_standard_deviation_rad, const double intensity_lower_threshold_percent, const SolarRadiationPressureEnvironment* srp_environment, const LocalCelestialInformation* local_celestial_information); @@ -68,15 +68,15 @@ class SunSensor : public Component, public ILoggable { */ void MainRoutine(const int time_count) override; - // Override ILoggable + // Override logger::ILoggable /** * @fn GetLogHeader - * @brief Override GetLogHeader function of ILoggable + * @brief Override GetLogHeader function of logger::ILoggable */ virtual std::string GetLogHeader() const override; /** * @fn GetLogValue - * @brief Override GetLogValue function of ILoggable + * @brief Override GetLogValue function of logger::ILoggable */ virtual std::string GetLogValue() const override; @@ -152,7 +152,7 @@ class SunSensor : public Component, public ILoggable { * @param [in] srp_environment: Solar radiation pressure environment * @param [in] local_environment: Local environment information */ -SunSensor InitSunSensor(ClockGenerator* clock_generator, int sensor_id, const std::string file_name, +SunSensor InitSunSensor(environment::ClockGenerator* clock_generator, int sensor_id, const std::string file_name, const SolarRadiationPressureEnvironment* srp_environment, const LocalCelestialInformation* local_celestial_information); /** * @fn InitSunSensor @@ -164,7 +164,7 @@ SunSensor InitSunSensor(ClockGenerator* clock_generator, int sensor_id, const st * @param [in] srp_environment: Solar radiation pressure environment * @param [in] local_environment: Local environment information */ -SunSensor InitSunSensor(ClockGenerator* clock_generator, PowerPort* power_port, int sensor_id, const std::string file_name, +SunSensor InitSunSensor(environment::ClockGenerator* clock_generator, PowerPort* power_port, int sensor_id, const std::string file_name, const SolarRadiationPressureEnvironment* srp_environment, const LocalCelestialInformation* local_celestial_information); } // namespace s2e::components diff --git a/src/components/real/cdh/on_board_computer.cpp b/src/components/real/cdh/on_board_computer.cpp index 33a75efd9..ce38a4196 100644 --- a/src/components/real/cdh/on_board_computer.cpp +++ b/src/components/real/cdh/on_board_computer.cpp @@ -6,14 +6,14 @@ namespace s2e::components { -OnBoardComputer::OnBoardComputer(ClockGenerator* clock_generator) : Component(1, clock_generator) { Initialize(); } +OnBoardComputer::OnBoardComputer(environment::ClockGenerator* clock_generator) : Component(1, clock_generator) { Initialize(); } -OnBoardComputer::OnBoardComputer(int prescaler, ClockGenerator* clock_generator, PowerPort* power_port) +OnBoardComputer::OnBoardComputer(int prescaler, environment::ClockGenerator* clock_generator, PowerPort* power_port) : Component(prescaler, clock_generator, power_port) { Initialize(); } -OnBoardComputer::OnBoardComputer(int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, const double minimum_voltage_V, +OnBoardComputer::OnBoardComputer(int prescaler, environment::ClockGenerator* clock_generator, PowerPort* power_port, const double minimum_voltage_V, const double assumed_power_consumption_W) : Component(prescaler, clock_generator, power_port) { power_port_->SetMinimumVoltage_V(minimum_voltage_V); diff --git a/src/components/real/cdh/on_board_computer.hpp b/src/components/real/cdh/on_board_computer.hpp index 1943de045..91aeff65b 100644 --- a/src/components/real/cdh/on_board_computer.hpp +++ b/src/components/real/cdh/on_board_computer.hpp @@ -27,7 +27,7 @@ class OnBoardComputer : public Component { * @brief Constructor * @param [in] clock_generator: Clock generator */ - OnBoardComputer(ClockGenerator* clock_generator); + OnBoardComputer(environment::ClockGenerator* clock_generator); /** * @fn OnBoardComputer * @brief Constructor @@ -35,7 +35,7 @@ class OnBoardComputer : public Component { * @param [in] clock_generator: Clock generator * @param [in] power_port: Power port */ - OnBoardComputer(int prescaler, ClockGenerator* clock_generator, PowerPort* power_port); + OnBoardComputer(int prescaler, environment::ClockGenerator* clock_generator, PowerPort* power_port); /** * @fn OnBoardComputer * @brief Constructor @@ -45,7 +45,7 @@ class OnBoardComputer : public Component { * @param [in] minimum_voltage_V: Minimum voltage [V] * @param [in] assumed_power_consumption_W: Assumed power consumption [W] */ - OnBoardComputer(int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, const double minimum_voltage_V, + OnBoardComputer(int prescaler, environment::ClockGenerator* clock_generator, PowerPort* power_port, const double minimum_voltage_V, const double assumed_power_consumption_W); /** * @fn ~OnBoardComputer diff --git a/src/components/real/cdh/on_board_computer_with_c2a.cpp b/src/components/real/cdh/on_board_computer_with_c2a.cpp index c0514d03f..3c6f58d1d 100644 --- a/src/components/real/cdh/on_board_computer_with_c2a.cpp +++ b/src/components/real/cdh/on_board_computer_with_c2a.cpp @@ -32,16 +32,16 @@ std::map ObcWithC2a::com_ports_c2a_; std::map ObcWithC2a::i2c_com_ports_c2a_; std::map ObcWithC2a::gpio_ports_c2a_; -ObcWithC2a::ObcWithC2a(ClockGenerator* clock_generator) : OnBoardComputer(clock_generator), timing_regulator_(1) { +ObcWithC2a::ObcWithC2a(environment::ClockGenerator* clock_generator) : OnBoardComputer(clock_generator), timing_regulator_(1) { // Initialize(); } -ObcWithC2a::ObcWithC2a(ClockGenerator* clock_generator, int timing_regulator) +ObcWithC2a::ObcWithC2a(environment::ClockGenerator* clock_generator, int timing_regulator) : OnBoardComputer(clock_generator), timing_regulator_(timing_regulator) { // Initialize(); } -ObcWithC2a::ObcWithC2a(int prescaler, ClockGenerator* clock_generator, int timing_regulator, PowerPort* power_port) +ObcWithC2a::ObcWithC2a(int prescaler, environment::ClockGenerator* clock_generator, int timing_regulator, PowerPort* power_port) : OnBoardComputer(prescaler, clock_generator, power_port), timing_regulator_(timing_regulator) { // Initialize(); } diff --git a/src/components/real/cdh/on_board_computer_with_c2a.hpp b/src/components/real/cdh/on_board_computer_with_c2a.hpp index c7b5fe968..05685df17 100644 --- a/src/components/real/cdh/on_board_computer_with_c2a.hpp +++ b/src/components/real/cdh/on_board_computer_with_c2a.hpp @@ -24,14 +24,14 @@ class ObcWithC2a : public OnBoardComputer { * @brief Constructor * @param [in] clock_generator: Clock generator */ - ObcWithC2a(ClockGenerator* clock_generator); + ObcWithC2a(environment::ClockGenerator* clock_generator); /** * @fn ObcWithC2a * @brief Constructor * @param [in] clock_generator: Clock generator * @param [in] timing_regulator: Timing regulator to update flight software faster than the component update */ - ObcWithC2a(ClockGenerator* clock_generator, int timing_regulator); + ObcWithC2a(environment::ClockGenerator* clock_generator, int timing_regulator); /** * @fn ObcWithC2a * @brief Constructor @@ -40,7 +40,7 @@ class ObcWithC2a : public OnBoardComputer { * @param [in] timing_regulator: Timing regulator to update flight software faster than the component update * @param [in] power_port: Power port */ - ObcWithC2a(int prescaler, ClockGenerator* clock_generator, int timing_regulator, PowerPort* power_port); + ObcWithC2a(int prescaler, environment::ClockGenerator* clock_generator, int timing_regulator, PowerPort* power_port); /** * @fn ~ObcWithC2a * @brief Destructor diff --git a/src/components/real/communication/ground_station_calculator.hpp b/src/components/real/communication/ground_station_calculator.hpp index 3d20f5a0b..c78cc41a4 100644 --- a/src/components/real/communication/ground_station_calculator.hpp +++ b/src/components/real/communication/ground_station_calculator.hpp @@ -19,7 +19,7 @@ namespace s2e::components { * @class GroundStationCalculator * @brief Emulation of analysis and calculation for Ground Stations */ -class GroundStationCalculator : public ILoggable { +class GroundStationCalculator : public logger::ILoggable { public: /** * @fn GroundStationCalculator @@ -54,15 +54,15 @@ class GroundStationCalculator : public ILoggable { void Update(const Spacecraft& spacecraft, const Antenna& spacecraft_tx_antenna, const GroundStation& ground_station, const Antenna& ground_station_rx_antenna); - // Override ILoggable TODO: Maybe we don't need logabble, and this class should be used as library. + // Override logger::ILoggable TODO: Maybe we don't need logabble, and this class should be used as library. /** * @fn GetLogHeader - * @brief Override GetLogHeader function of ILoggable + * @brief Override GetLogHeader function of logger::ILoggable */ virtual std::string GetLogHeader() const; /** * @fn GetLogValue - * @brief Override GetLogValue function of ILoggable + * @brief Override GetLogValue function of logger::ILoggable */ virtual std::string GetLogValue() const; diff --git a/src/components/real/communication/wings_command_sender_to_c2a.cpp b/src/components/real/communication/wings_command_sender_to_c2a.cpp index f2ce172e0..899241372 100644 --- a/src/components/real/communication/wings_command_sender_to_c2a.cpp +++ b/src/components/real/communication/wings_command_sender_to_c2a.cpp @@ -133,7 +133,7 @@ void WingsCommandSenderToC2a::AnalyzeC2aCommand(const std::vector t #endif } -WingsCommandSenderToC2a InitWingsCommandSenderToC2a(ClockGenerator* clock_generator, const double compo_update_step_s, +WingsCommandSenderToC2a InitWingsCommandSenderToC2a(environment::ClockGenerator* clock_generator, const double compo_update_step_s, const std::string initialize_file) { IniAccess ini_access(initialize_file); std::string section = "WINGS_COMMAND_SENDER_TO_C2A"; diff --git a/src/components/real/communication/wings_command_sender_to_c2a.hpp b/src/components/real/communication/wings_command_sender_to_c2a.hpp index 14e1eda9f..accc49546 100644 --- a/src/components/real/communication/wings_command_sender_to_c2a.hpp +++ b/src/components/real/communication/wings_command_sender_to_c2a.hpp @@ -24,7 +24,7 @@ class WingsCommandSenderToC2a : public Component { * @brief Constructor * @param [in] */ - WingsCommandSenderToC2a(int prescaler, ClockGenerator* clock_generator, const double step_width_s, const std::string command_database_file, + WingsCommandSenderToC2a(int prescaler, environment::ClockGenerator* clock_generator, const double step_width_s, const std::string command_database_file, const std::string operation_file, const bool is_enabled) : Component(prescaler, clock_generator), c2a_command_database_(command_database_file), @@ -75,7 +75,7 @@ class WingsCommandSenderToC2a : public Component { * @param[in] compo_update_step_s: Component update step time [s] * @param[in] initialize_file: Initialize file name */ -WingsCommandSenderToC2a InitWingsCommandSenderToC2a(ClockGenerator* clock_generator, const double compo_update_step_s, +WingsCommandSenderToC2a InitWingsCommandSenderToC2a(environment::ClockGenerator* clock_generator, const double compo_update_step_s, const std::string initialize_file); } // namespace s2e::components diff --git a/src/components/real/mission/telescope.cpp b/src/components/real/mission/telescope.cpp index 7d76de5c1..5e6e3c8da 100644 --- a/src/components/real/mission/telescope.cpp +++ b/src/components/real/mission/telescope.cpp @@ -15,7 +15,7 @@ using namespace s2e::math; namespace s2e::components { -Telescope::Telescope(ClockGenerator* clock_generator, const s2e::math::Quaternion& quaternion_b2c, const double sun_forbidden_angle_rad, +Telescope::Telescope(environment::ClockGenerator* clock_generator, const s2e::math::Quaternion& quaternion_b2c, const double sun_forbidden_angle_rad, const double earth_forbidden_angle_rad, const double moon_forbidden_angle_rad, const int x_number_of_pix, const int y_number_of_pix, const double x_fov_per_pix, const double y_fov_per_pix, size_t number_of_logged_stars, const Attitude* attitude, const HipparcosCatalogue* hipparcos, const LocalCelestialInformation* local_celestial_information, @@ -247,7 +247,7 @@ string Telescope::GetLogValue() const { return str_tmp; } -Telescope InitTelescope(ClockGenerator* clock_generator, int sensor_id, const string file_name, const Attitude* attitude, +Telescope InitTelescope(environment::ClockGenerator* clock_generator, int sensor_id, const string file_name, const Attitude* attitude, const HipparcosCatalogue* hipparcos, const LocalCelestialInformation* local_celestial_information, const Orbit* orbit) { using s2e::math::pi; diff --git a/src/components/real/mission/telescope.hpp b/src/components/real/mission/telescope.hpp index e2d75c397..452639e56 100644 --- a/src/components/real/mission/telescope.hpp +++ b/src/components/real/mission/telescope.hpp @@ -32,7 +32,7 @@ struct Star { * @class Telescope * @brief Component emulation: Telescope */ -class Telescope : public Component, public ILoggable { +class Telescope : public Component, public logger::ILoggable { public: /** * @fn Telescope @@ -52,7 +52,7 @@ class Telescope : public Component, public ILoggable { * @param [in] local_celestial_information: Local celestial information * @param [in] orbit: Orbit information */ - Telescope(ClockGenerator* clock_generator, const s2e::math::Quaternion& quaternion_b2c, const double sun_forbidden_angle_rad, + Telescope(environment::ClockGenerator* clock_generator, const s2e::math::Quaternion& quaternion_b2c, const double sun_forbidden_angle_rad, const double earth_forbidden_angle_rad, const double moon_forbidden_angle_rad, const int x_number_of_pix, const int y_number_of_pix, const double x_fov_per_pix, const double y_fov_per_pix, size_t number_of_logged_stars, const Attitude* attitude, const HipparcosCatalogue* hipparcos, const LocalCelestialInformation* local_celestial_information, const Orbit* orbit = nullptr); @@ -136,15 +136,15 @@ class Telescope : public Component, public ILoggable { void ObserveGroundPositionDeviation(); const Orbit* orbit_; //!< Orbit information - // Override ILoggable + // Override logger::ILoggable /** * @fn GetLogHeader - * @brief Override GetLogHeader function of ILoggable + * @brief Override GetLogHeader function of logger::ILoggable */ virtual std::string GetLogHeader() const; /** * @fn GetLogValue - * @brief Override GetLogValue function of ILoggable + * @brief Override GetLogValue function of logger::ILoggable */ virtual std::string GetLogValue() const; @@ -168,7 +168,7 @@ class Telescope : public Component, public ILoggable { * @param [in] hipparcos: Star information by Hipparcos catalogue * @param [in] local_celestial_information: Local celestial information */ -Telescope InitTelescope(ClockGenerator* clock_generator, int sensor_id, const std::string file_name, const Attitude* attitude, +Telescope InitTelescope(environment::ClockGenerator* clock_generator, int sensor_id, const std::string file_name, const Attitude* attitude, const HipparcosCatalogue* hipparcos, const LocalCelestialInformation* local_celestial_information, const Orbit* orbit = nullptr); diff --git a/src/components/real/power/battery.cpp b/src/components/real/power/battery.cpp index a8f1bc4d0..a050e35b8 100644 --- a/src/components/real/power/battery.cpp +++ b/src/components/real/power/battery.cpp @@ -10,7 +10,7 @@ namespace s2e::components { -Battery::Battery(const int prescaler, ClockGenerator* clock_generator, int number_of_series, int number_of_parallel, double cell_capacity_Ah, +Battery::Battery(const int prescaler, environment::ClockGenerator* clock_generator, int number_of_series, int number_of_parallel, double cell_capacity_Ah, const std::vector cell_discharge_curve_coefficients, double initial_dod, double cc_charge_c_rate, double cv_charge_voltage_V, double battery_resistance_Ohm, double component_step_time_s) : Component(prescaler, clock_generator), @@ -24,7 +24,7 @@ Battery::Battery(const int prescaler, ClockGenerator* clock_generator, int numbe battery_resistance_Ohm_(battery_resistance_Ohm), compo_step_time_s_(component_step_time_s) {} -Battery::Battery(ClockGenerator* clock_generator, int number_of_series, int number_of_parallel, double cell_capacity_Ah, +Battery::Battery(environment::ClockGenerator* clock_generator, int number_of_series, int number_of_parallel, double cell_capacity_Ah, const std::vector cell_discharge_curve_coefficients, double initial_dod, double cc_charge_c_rate, double cv_charge_voltage_V, double battery_resistance_Ohm) : Component(10, clock_generator), @@ -89,7 +89,7 @@ void Battery::UpdateBatVoltage() { battery_voltage_V_ = temp * number_of_series_; } -Battery InitBAT(ClockGenerator* clock_generator, int bat_id, const std::string file_name, double component_step_time_s) { +Battery InitBAT(environment::ClockGenerator* clock_generator, int bat_id, const std::string file_name, double component_step_time_s) { IniAccess bat_conf(file_name); const std::string section_name = "BATTERY_" + std::to_string(static_cast(bat_id)); diff --git a/src/components/real/power/battery.hpp b/src/components/real/power/battery.hpp index 24f43c464..c1adf5d49 100644 --- a/src/components/real/power/battery.hpp +++ b/src/components/real/power/battery.hpp @@ -17,7 +17,7 @@ namespace s2e::components { * @class Battery * @brief Component emulation of battery */ -class Battery : public Component, public ILoggable { +class Battery : public Component, public logger::ILoggable { public: /** * @fn Battery @@ -34,7 +34,7 @@ class Battery : public Component, public ILoggable { * @param [in] battery_resistance_Ohm: Battery internal resistance [Ohm] * @param [in] component_step_time_s: Component step time [sec] */ - Battery(const int prescaler, ClockGenerator* clock_generator, int number_of_series, int number_of_parallel, double cell_capacity_Ah, + Battery(const int prescaler, environment::ClockGenerator* clock_generator, int number_of_series, int number_of_parallel, double cell_capacity_Ah, const std::vector cell_discharge_curve_coefficients, double initial_dod, double cc_charge_c_rate, double cv_charge_voltage_V, double battery_resistance_Ohm, double component_step_time_s); /** @@ -51,7 +51,7 @@ class Battery : public Component, public ILoggable { * @param [in] cv_charge_voltage_V: Constant charge voltage [V] * @param [in] battery_resistance_Ohm: Battery internal resistance [Ohm] */ - Battery(ClockGenerator* clock_generator, int number_of_series, int number_of_parallel, double cell_capacity_Ah, + Battery(environment::ClockGenerator* clock_generator, int number_of_series, int number_of_parallel, double cell_capacity_Ah, const std::vector cell_discharge_curve_coefficients, double initial_dod, double cc_charge_c_rate, double cv_charge_voltage_V, double battery_resistance_Ohm); /** @@ -97,15 +97,15 @@ class Battery : public Component, public ILoggable { */ inline double GetCvChargeVoltage_V() const { return cv_charge_voltage_V_; } - // Override ILoggable + // Override logger::ILoggable /** * @fn GetLogHeader - * @brief Override GetLogHeader function of ILoggable + * @brief Override GetLogHeader function of logger::ILoggable */ std::string GetLogHeader() const override; /** * @fn GetLogValue - * @brief Override GetLogValue function of ILoggable + * @brief Override GetLogValue function of logger::ILoggable */ std::string GetLogValue() const override; @@ -144,7 +144,7 @@ class Battery : public Component, public ILoggable { * @param [in] file_name: Path to initialize file * @param [in] component_step_time_s: Component step time [sec] */ -Battery InitBAT(ClockGenerator* clock_generator, int bat_id, const std::string file_name, double component_step_time_s); +Battery InitBAT(environment::ClockGenerator* clock_generator, int bat_id, const std::string file_name, double component_step_time_s); } // namespace s2e::components diff --git a/src/components/real/power/pcu_initial_study.cpp b/src/components/real/power/pcu_initial_study.cpp index df8527352..c79873dea 100644 --- a/src/components/real/power/pcu_initial_study.cpp +++ b/src/components/real/power/pcu_initial_study.cpp @@ -12,7 +12,7 @@ namespace s2e::components { -PcuInitialStudy::PcuInitialStudy(const int prescaler, ClockGenerator* clock_generator, const std::vector saps, Battery* battery, +PcuInitialStudy::PcuInitialStudy(const int prescaler, environment::ClockGenerator* clock_generator, const std::vector saps, Battery* battery, double component_step_time_s) : Component(prescaler, clock_generator), saps_(saps), @@ -24,7 +24,7 @@ PcuInitialStudy::PcuInitialStudy(const int prescaler, ClockGenerator* clock_gene power_consumption_W_ = 0.0; } -PcuInitialStudy::PcuInitialStudy(ClockGenerator* clock_generator, const std::vector saps, Battery* battery) +PcuInitialStudy::PcuInitialStudy(environment::ClockGenerator* clock_generator, const std::vector saps, Battery* battery) : Component(10, clock_generator), saps_(saps), battery_(battery), @@ -113,7 +113,7 @@ void PcuInitialStudy::UpdateChargeCurrentAndBusVoltage() { } } -PcuInitialStudy InitPCU_InitialStudy(ClockGenerator* clock_generator, int pcu_id, const std::string file_name, +PcuInitialStudy InitPCU_InitialStudy(environment::ClockGenerator* clock_generator, int pcu_id, const std::string file_name, const std::vector saps, Battery* battery, double component_step_time_s) { IniAccess pcu_conf(file_name); diff --git a/src/components/real/power/pcu_initial_study.hpp b/src/components/real/power/pcu_initial_study.hpp index f9dd8ccf8..5a8bd074b 100644 --- a/src/components/real/power/pcu_initial_study.hpp +++ b/src/components/real/power/pcu_initial_study.hpp @@ -15,7 +15,7 @@ namespace s2e::components { -class PcuInitialStudy : public Component, public ILoggable { +class PcuInitialStudy : public Component, public logger::ILoggable { public: /** * @fn PcuInitialStudy @@ -26,7 +26,7 @@ class PcuInitialStudy : public Component, public ILoggable { * @param [in] battery: Battery * @param [in] component_step_time_s: Component step time [sec] */ - PcuInitialStudy(const int prescaler, ClockGenerator* clock_generator, const std::vector saps, Battery* battery, + PcuInitialStudy(const int prescaler, environment::ClockGenerator* clock_generator, const std::vector saps, Battery* battery, double component_step_time_s); /** * @fn PcuInitialStudy @@ -35,22 +35,22 @@ class PcuInitialStudy : public Component, public ILoggable { * @param [in] saps: Solar Array Panels * @param [in] battery: Battery */ - PcuInitialStudy(ClockGenerator* clock_generator, const std::vector saps, Battery* battery); + PcuInitialStudy(environment::ClockGenerator* clock_generator, const std::vector saps, Battery* battery); /** * @fn ~PcuInitialStudy * @brief Destructor */ ~PcuInitialStudy(); - // Override ILoggable + // Override logger::ILoggable /** * @fn GetLogHeader - * @brief Override GetLogHeader function of ILoggable + * @brief Override GetLogHeader function of logger::ILoggable */ std::string GetLogHeader() const override; /** * @fn GetLogValue - * @brief Override GetLogValue function of ILoggable + * @brief Override GetLogValue function of logger::ILoggable */ std::string GetLogValue() const override; @@ -94,7 +94,7 @@ class PcuInitialStudy : public Component, public ILoggable { * @param [in] battery: Battery information * @param [in] component_step_time_s: Component step time [sec] */ -PcuInitialStudy InitPCU_InitialStudy(ClockGenerator* clock_generator, int pcu_id, const std::string file_name, +PcuInitialStudy InitPCU_InitialStudy(environment::ClockGenerator* clock_generator, int pcu_id, const std::string file_name, const std::vector saps, Battery* battery, double component_step_time_s); } // namespace s2e::components diff --git a/src/components/real/power/power_control_unit.cpp b/src/components/real/power/power_control_unit.cpp index 8e908c2af..ce820b1c3 100644 --- a/src/components/real/power/power_control_unit.cpp +++ b/src/components/real/power/power_control_unit.cpp @@ -6,9 +6,9 @@ namespace s2e::components { -PowerControlUnit::PowerControlUnit(ClockGenerator* clock_generator) : Component(1, clock_generator) {} +PowerControlUnit::PowerControlUnit(environment::ClockGenerator* clock_generator) : Component(1, clock_generator) {} -PowerControlUnit::PowerControlUnit(int prescaler, ClockGenerator* clock_generator) : Component(prescaler, clock_generator) {} +PowerControlUnit::PowerControlUnit(int prescaler, environment::ClockGenerator* clock_generator) : Component(prescaler, clock_generator) {} PowerControlUnit::~PowerControlUnit() {} diff --git a/src/components/real/power/power_control_unit.hpp b/src/components/real/power/power_control_unit.hpp index f4765e74f..d61bc397b 100644 --- a/src/components/real/power/power_control_unit.hpp +++ b/src/components/real/power/power_control_unit.hpp @@ -18,21 +18,21 @@ namespace s2e::components { * @class PowerControlUnit * @brief Component emulation of Power Control Unit */ -class PowerControlUnit : public Component, public ILoggable { +class PowerControlUnit : public Component, public logger::ILoggable { public: /** * @fn PowerControlUnit * @brief Constructor * @param [in] clock_generator: Clock generator */ - PowerControlUnit(ClockGenerator* clock_generator); + PowerControlUnit(environment::ClockGenerator* clock_generator); /** * @fn PowerControlUnit * @brief Constructor * @param [in] prescaler: Frequency scale factor for update * @param [in] clock_generator: Clock generator */ - PowerControlUnit(int prescaler, ClockGenerator* clock_generator); + PowerControlUnit(int prescaler, environment::ClockGenerator* clock_generator); /** * @fn ~PowerControlUnit * @brief Destructor @@ -46,15 +46,15 @@ class PowerControlUnit : public Component, public ILoggable { */ void MainRoutine(const int time_count) override; - // Override ILoggable + // Override logger::ILoggable /** * @fn GetLogHeader - * @brief Override GetLogHeader function of ILoggable + * @brief Override GetLogHeader function of logger::ILoggable */ std::string GetLogHeader() const override; /** * @fn GetLogValue - * @brief Override GetLogValue function of ILoggable + * @brief Override GetLogValue function of logger::ILoggable */ std::string GetLogValue() const override; diff --git a/src/components/real/power/solar_array_panel.cpp b/src/components/real/power/solar_array_panel.cpp index 67e459f6e..fdde4d90a 100644 --- a/src/components/real/power/solar_array_panel.cpp +++ b/src/components/real/power/solar_array_panel.cpp @@ -11,7 +11,7 @@ namespace s2e::components { -SolarArrayPanel::SolarArrayPanel(const int prescaler, ClockGenerator* clock_generator, int component_id, int number_of_series, int number_of_parallel, +SolarArrayPanel::SolarArrayPanel(const int prescaler, environment::ClockGenerator* clock_generator, int component_id, int number_of_series, int number_of_parallel, double cell_area_m2, s2e::math::Vector<3> normal_vector, double cell_efficiency, double transmission_efficiency, const SolarRadiationPressureEnvironment* srp_environment, const LocalCelestialInformation* local_celestial_information, double component_step_time_s) @@ -30,7 +30,7 @@ SolarArrayPanel::SolarArrayPanel(const int prescaler, ClockGenerator* clock_gene power_generation_W_ = 0.0; } -SolarArrayPanel::SolarArrayPanel(const int prescaler, ClockGenerator* clock_generator, int component_id, int number_of_series, int number_of_parallel, +SolarArrayPanel::SolarArrayPanel(const int prescaler, environment::ClockGenerator* clock_generator, int component_id, int number_of_series, int number_of_parallel, double cell_area_m2, s2e::math::Vector<3> normal_vector, double cell_efficiency, double transmission_efficiency, const SolarRadiationPressureEnvironment* srp_environment, double component_step_time_s) : Component(prescaler, clock_generator), @@ -47,7 +47,7 @@ SolarArrayPanel::SolarArrayPanel(const int prescaler, ClockGenerator* clock_gene power_generation_W_ = 0.0; } -SolarArrayPanel::SolarArrayPanel(ClockGenerator* clock_generator, int component_id, int number_of_series, int number_of_parallel, double cell_area_m2, +SolarArrayPanel::SolarArrayPanel(environment::ClockGenerator* clock_generator, int component_id, int number_of_series, int number_of_parallel, double cell_area_m2, s2e::math::Vector<3> normal_vector, double cell_efficiency, double transmission_efficiency, const SolarRadiationPressureEnvironment* srp_environment, const LocalCelestialInformation* local_celestial_information) @@ -116,7 +116,7 @@ void SolarArrayPanel::MainRoutine(const int time_count) { if (power_generation_W_ < 0) power_generation_W_ = 0.0; } -SolarArrayPanel InitSAP(ClockGenerator* clock_generator, int sap_id, const std::string file_name, +SolarArrayPanel InitSAP(environment::ClockGenerator* clock_generator, int sap_id, const std::string file_name, const SolarRadiationPressureEnvironment* srp_environment, const LocalCelestialInformation* local_celestial_information, double component_step_time_s) { IniAccess sap_conf(file_name); @@ -150,7 +150,7 @@ SolarArrayPanel InitSAP(ClockGenerator* clock_generator, int sap_id, const std:: return sap; } -SolarArrayPanel InitSAP(ClockGenerator* clock_generator, int sap_id, const std::string file_name, +SolarArrayPanel InitSAP(environment::ClockGenerator* clock_generator, int sap_id, const std::string file_name, const SolarRadiationPressureEnvironment* srp_environment, double component_step_time_s) { IniAccess sap_conf(file_name); diff --git a/src/components/real/power/solar_array_panel.hpp b/src/components/real/power/solar_array_panel.hpp index 6fb7aacac..f057f5066 100644 --- a/src/components/real/power/solar_array_panel.hpp +++ b/src/components/real/power/solar_array_panel.hpp @@ -15,7 +15,7 @@ namespace s2e::components { -class SolarArrayPanel : public Component, public ILoggable { +class SolarArrayPanel : public Component, public logger::ILoggable { public: /** * @fn SolarArrayPanel @@ -33,7 +33,7 @@ class SolarArrayPanel : public Component, public ILoggable { * @param [in] local_celestial_information: Local celestial information * @param [in] component_step_time_s: Component step time [sec] */ - SolarArrayPanel(const int prescaler, ClockGenerator* clock_generator, int component_id, int number_of_series, int number_of_parallel, + SolarArrayPanel(const int prescaler, environment::ClockGenerator* clock_generator, int component_id, int number_of_series, int number_of_parallel, double cell_area_m2, s2e::math::Vector<3> normal_vector, double cell_efficiency, double transmission_efficiency, const SolarRadiationPressureEnvironment* srp_environment, const LocalCelestialInformation* local_celestial_information, double component_step_time_s); @@ -52,7 +52,7 @@ class SolarArrayPanel : public Component, public ILoggable { * @param [in] srp_environment: Solar Radiation Pressure environment * @param [in] component_step_time_s: Component step time [sec] */ - SolarArrayPanel(const int prescaler, ClockGenerator* clock_generator, int component_id, int number_of_series, int number_of_parallel, + SolarArrayPanel(const int prescaler, environment::ClockGenerator* clock_generator, int component_id, int number_of_series, int number_of_parallel, double cell_area_m2, s2e::math::Vector<3> normal_vector, double cell_efficiency, double transmission_efficiency, const SolarRadiationPressureEnvironment* srp_environment, double component_step_time_s); /** @@ -70,7 +70,7 @@ class SolarArrayPanel : public Component, public ILoggable { * @param [in] srp_environment: Solar Radiation Pressure environment * @param [in] local_celestial_information: Local celestial information */ - SolarArrayPanel(ClockGenerator* clock_generator, int component_id, int number_of_series, int number_of_parallel, double cell_area_m2, + SolarArrayPanel(environment::ClockGenerator* clock_generator, int component_id, int number_of_series, int number_of_parallel, double cell_area_m2, s2e::math::Vector<3> normal_vector, double cell_efficiency, double transmission_efficiency, const SolarRadiationPressureEnvironment* srp_environment, const LocalCelestialInformation* local_celestial_information); /** @@ -96,15 +96,15 @@ class SolarArrayPanel : public Component, public ILoggable { */ void SetVoltage_V(const double voltage_V) { voltage_V_ = voltage_V; } - // Override ILoggable + // Override logger::ILoggable /** * @fn GetLogHeader - * @brief Override GetLogHeader function of ILoggable + * @brief Override GetLogHeader function of logger::ILoggable */ std::string GetLogHeader() const override; /** * @fn GetLogValue - * @brief Override GetLogValue function of ILoggable + * @brief Override GetLogValue function of logger::ILoggable */ std::string GetLogValue() const override; @@ -143,7 +143,7 @@ class SolarArrayPanel : public Component, public ILoggable { * @param [in] local_celestial_information: Local celestial information * @param [in] component_step_time_s: Component step time [sec] */ -SolarArrayPanel InitSAP(ClockGenerator* clock_generator, int sap_id, const std::string file_name, +SolarArrayPanel InitSAP(environment::ClockGenerator* clock_generator, int sap_id, const std::string file_name, const SolarRadiationPressureEnvironment* srp_environment, const LocalCelestialInformation* local_celestial_information, double component_step_time_s); @@ -156,7 +156,7 @@ SolarArrayPanel InitSAP(ClockGenerator* clock_generator, int sap_id, const std:: * @param [in] srp_environment: Solar Radiation Pressure environment * @param [in] component_step_time_s: Component step time [sec] */ -SolarArrayPanel InitSAP(ClockGenerator* clock_generator, int sap_id, const std::string file_name, +SolarArrayPanel InitSAP(environment::ClockGenerator* clock_generator, int sap_id, const std::string file_name, const SolarRadiationPressureEnvironment* srp_environment, double component_step_time_s); } // namespace s2e::components diff --git a/src/components/real/propulsion/simple_thruster.cpp b/src/components/real/propulsion/simple_thruster.cpp index 3cfdc6da7..9501f82bb 100644 --- a/src/components/real/propulsion/simple_thruster.cpp +++ b/src/components/real/propulsion/simple_thruster.cpp @@ -12,7 +12,7 @@ namespace s2e::components { // Constructor -SimpleThruster::SimpleThruster(const int prescaler, ClockGenerator* clock_generator, const int component_id, +SimpleThruster::SimpleThruster(const int prescaler, environment::ClockGenerator* clock_generator, const int component_id, const s2e::math::Vector<3> thruster_position_b_m, const s2e::math::Vector<3> thrust_direction_b, const double max_magnitude_N, const double magnitude_standard_deviation_N, const double direction_standard_deviation_rad, const Structure* structure, const Dynamics* dynamics) @@ -27,7 +27,7 @@ SimpleThruster::SimpleThruster(const int prescaler, ClockGenerator* clock_genera Initialize(magnitude_standard_deviation_N, direction_standard_deviation_rad); } -SimpleThruster::SimpleThruster(const int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, const int component_id, +SimpleThruster::SimpleThruster(const int prescaler, environment::ClockGenerator* clock_generator, PowerPort* power_port, const int component_id, const s2e::math::Vector<3> thruster_position_b_m, const s2e::math::Vector<3> thrust_direction_b, const double max_magnitude_N, const double magnitude_standard_deviation_N, const double direction_standard_deviation_rad, const Structure* structure, const Dynamics* dynamics) @@ -122,7 +122,7 @@ s2e::math::Vector<3> SimpleThruster::CalcThrustDirection() { return thrust_dir_b_true; } -SimpleThruster InitSimpleThruster(ClockGenerator* clock_generator, int thruster_id, const std::string file_name, const Structure* structure, +SimpleThruster InitSimpleThruster(environment::ClockGenerator* clock_generator, int thruster_id, const std::string file_name, const Structure* structure, const Dynamics* dynamics) { IniAccess thruster_conf(file_name); std::string section_str = "THRUSTER_" + std::to_string(thruster_id); @@ -150,7 +150,7 @@ SimpleThruster InitSimpleThruster(ClockGenerator* clock_generator, int thruster_ return thruster; } -SimpleThruster InitSimpleThruster(ClockGenerator* clock_generator, PowerPort* power_port, int thruster_id, const std::string file_name, +SimpleThruster InitSimpleThruster(environment::ClockGenerator* clock_generator, PowerPort* power_port, int thruster_id, const std::string file_name, const Structure* structure, const Dynamics* dynamics) { IniAccess thruster_conf(file_name); std::string section_str = "THRUSTER_" + std::to_string(thruster_id); diff --git a/src/components/real/propulsion/simple_thruster.hpp b/src/components/real/propulsion/simple_thruster.hpp index ab1e0734a..ba1eb0c07 100644 --- a/src/components/real/propulsion/simple_thruster.hpp +++ b/src/components/real/propulsion/simple_thruster.hpp @@ -21,7 +21,7 @@ namespace s2e::components { * @class SimpleThruster * @brief Component emulation of simple thruster */ -class SimpleThruster : public Component, public ILoggable { +class SimpleThruster : public Component, public logger::ILoggable { public: /** * @fn SimpleThruster @@ -37,7 +37,7 @@ class SimpleThruster : public Component, public ILoggable { * @param [in] structure: Spacecraft structure information * @param [in] dynamics: Spacecraft dynamics information */ - SimpleThruster(const int prescaler, ClockGenerator* clock_generator, const int component_id, const Vector<3> thruster_position_b_m, + SimpleThruster(const int prescaler, environment::ClockGenerator* clock_generator, const int component_id, const Vector<3> thruster_position_b_m, const Vector<3> thrust_direction_b, const double max_magnitude_N, const double magnitude_standard_deviation_N, const double direction_standard_deviation_rad, const Structure* structure, const Dynamics* dynamics); /** @@ -55,7 +55,7 @@ class SimpleThruster : public Component, public ILoggable { * @param [in] structure: Spacecraft structure information * @param [in] dynamics: Spacecraft dynamics information */ - SimpleThruster(const int prescaler, ClockGenerator* clock_generator, PowerPort* power_port, const int component_id, + SimpleThruster(const int prescaler, environment::ClockGenerator* clock_generator, PowerPort* power_port, const int component_id, const Vector<3> thruster_position_b_m, const Vector<3> thrust_direction_b, const double max_magnitude_N, const double magnitude_standard_deviation_N, const double direction_standard_deviation_rad, const Structure* structure, const Dynamics* dynamics); @@ -77,15 +77,15 @@ class SimpleThruster : public Component, public ILoggable { */ void PowerOffRoutine() override; - // Override ILoggable + // Override logger::ILoggable /** * @fn GetLogHeader - * @brief Override GetLogHeader function of ILoggable + * @brief Override GetLogHeader function of logger::ILoggable */ virtual std::string GetLogHeader() const override; /** * @fn GetLogValue - * @brief Override GetLogValue function of ILoggable + * @brief Override GetLogValue function of logger::ILoggable */ virtual std::string GetLogValue() const override; @@ -166,7 +166,7 @@ class SimpleThruster : public Component, public ILoggable { * @param [in] structure: Spacecraft structure information * @param [in] dynamics: Spacecraft dynamics information */ -SimpleThruster InitSimpleThruster(ClockGenerator* clock_generator, int thruster_id, const std::string file_name, const Structure* structure, +SimpleThruster InitSimpleThruster(environment::ClockGenerator* clock_generator, int thruster_id, const std::string file_name, const Structure* structure, const Dynamics* dynamics); /** * @fn InitSimpleThruster @@ -178,7 +178,7 @@ SimpleThruster InitSimpleThruster(ClockGenerator* clock_generator, int thruster_ * @param [in] structure: Spacecraft structure information * @param [in] dynamics: Spacecraft dynamics information */ -SimpleThruster InitSimpleThruster(ClockGenerator* clock_generator, PowerPort* power_port, int thruster_id, const std::string file_name, +SimpleThruster InitSimpleThruster(environment::ClockGenerator* clock_generator, PowerPort* power_port, int thruster_id, const std::string file_name, const Structure* structure, const Dynamics* dynamics); } // namespace s2e::components diff --git a/src/disturbances/air_drag.hpp b/src/disturbances/air_drag.hpp index 48ab76eb3..be27dfc02 100644 --- a/src/disturbances/air_drag.hpp +++ b/src/disturbances/air_drag.hpp @@ -43,15 +43,15 @@ class AirDrag : public SurfaceForce { */ virtual void Update(const LocalEnvironment& local_environment, const Dynamics& dynamics); - // Override ILoggable + // Override logger::ILoggable /** * @fn GetLogHeader - * @brief Override GetLogHeader function of ILoggable + * @brief Override GetLogHeader function of logger::ILoggable */ virtual std::string GetLogHeader() const; /** * @fn GetLogValue - * @brief Override GetLogValue function of ILoggable + * @brief Override GetLogValue function of logger::ILoggable */ virtual std::string GetLogValue() const; diff --git a/src/disturbances/disturbance.hpp b/src/disturbances/disturbance.hpp index 58966c35a..1d153810c 100644 --- a/src/disturbances/disturbance.hpp +++ b/src/disturbances/disturbance.hpp @@ -15,7 +15,7 @@ namespace s2e::disturbances { * @class Disturbance * @brief Base class for a disturbance */ -class Disturbance : public ILoggable { +class Disturbance : public logger::ILoggable { public: /** * @fn Disturbance diff --git a/src/disturbances/geopotential.hpp b/src/disturbances/geopotential.hpp index 95ec16968..fae80dedb 100644 --- a/src/disturbances/geopotential.hpp +++ b/src/disturbances/geopotential.hpp @@ -50,15 +50,15 @@ class Geopotential : public Disturbance { */ virtual void Update(const LocalEnvironment &local_environment, const Dynamics &dynamics); - // Override ILoggable + // Override logger::ILoggable /** * @fn GetLogHeader - * @brief Override GetLogHeader function of ILoggable + * @brief Override GetLogHeader function of logger::ILoggable */ virtual std::string GetLogHeader() const; /** * @fn GetLogValue - * @brief Override GetLogValue function of ILoggable + * @brief Override GetLogValue function of logger::ILoggable */ virtual std::string GetLogValue() const; diff --git a/src/disturbances/gravity_gradient.hpp b/src/disturbances/gravity_gradient.hpp index c54e502dd..785b9e0fa 100644 --- a/src/disturbances/gravity_gradient.hpp +++ b/src/disturbances/gravity_gradient.hpp @@ -45,15 +45,15 @@ class GravityGradient : public Disturbance { */ virtual void Update(const LocalEnvironment& local_environment, const Dynamics& dynamics); - // Override ILoggable + // Override logger::ILoggable /** * @fn GetLogHeader - * @brief Override GetLogHeader function of ILoggable + * @brief Override GetLogHeader function of logger::ILoggable */ virtual std::string GetLogHeader() const; /** * @fn GetLogValue - * @brief Override GetLogValue function of ILoggable + * @brief Override GetLogValue function of logger::ILoggable */ virtual std::string GetLogValue() const; diff --git a/src/disturbances/lunar_gravity_field.hpp b/src/disturbances/lunar_gravity_field.hpp index c809bc4fb..03841dd15 100644 --- a/src/disturbances/lunar_gravity_field.hpp +++ b/src/disturbances/lunar_gravity_field.hpp @@ -52,15 +52,15 @@ class LunarGravityField : public Disturbance { */ virtual void Update(const LocalEnvironment &local_environment, const Dynamics &dynamics); - // Override ILoggable + // Override logger::ILoggable /** * @fn GetLogHeader - * @brief Override GetLogHeader function of ILoggable + * @brief Override GetLogHeader function of logger::ILoggable */ virtual std::string GetLogHeader() const; /** * @fn GetLogValue - * @brief Override GetLogValue function of ILoggable + * @brief Override GetLogValue function of logger::ILoggable */ virtual std::string GetLogValue() const; diff --git a/src/disturbances/magnetic_disturbance.hpp b/src/disturbances/magnetic_disturbance.hpp index ab3bb7375..ecba81538 100644 --- a/src/disturbances/magnetic_disturbance.hpp +++ b/src/disturbances/magnetic_disturbance.hpp @@ -37,15 +37,15 @@ class MagneticDisturbance : public Disturbance { */ virtual void Update(const LocalEnvironment& local_environment, const Dynamics& dynamics); - // Override ILoggable + // Override logger::ILoggable /** * @fn GetLogHeader - * @brief Override GetLogHeader function of ILoggable + * @brief Override GetLogHeader function of logger::ILoggable */ virtual std::string GetLogHeader() const; /** * @fn GetLogValue - * @brief Override GetLogValue function of ILoggable + * @brief Override GetLogValue function of logger::ILoggable */ virtual std::string GetLogValue() const; diff --git a/src/disturbances/solar_radiation_pressure_disturbance.hpp b/src/disturbances/solar_radiation_pressure_disturbance.hpp index e427e6dc3..d33233a1b 100644 --- a/src/disturbances/solar_radiation_pressure_disturbance.hpp +++ b/src/disturbances/solar_radiation_pressure_disturbance.hpp @@ -38,15 +38,15 @@ class SolarRadiationPressureDisturbance : public SurfaceForce { */ virtual void Update(const LocalEnvironment& local_environment, const Dynamics& dynamics); - // Override ILoggable + // Override logger::ILoggable /** * @fn GetLogHeader - * @brief Override GetLogHeader function of ILoggable + * @brief Override GetLogHeader function of logger::ILoggable */ virtual std::string GetLogHeader() const; /** * @fn GetLogValue - * @brief Override GetLogValue function of ILoggable + * @brief Override GetLogValue function of logger::ILoggable */ virtual std::string GetLogValue() const; diff --git a/src/disturbances/third_body_gravity.hpp b/src/disturbances/third_body_gravity.hpp index cf45a8593..b1d6d5e48 100644 --- a/src/disturbances/third_body_gravity.hpp +++ b/src/disturbances/third_body_gravity.hpp @@ -47,7 +47,7 @@ class ThirdBodyGravity : public Disturbance { std::set third_body_list_; //!< List of celestial bodies to calculate the third body disturbances s2e::math::Vector<3> third_body_acceleration_i_m_s2_{0.0}; //!< Calculated third body disturbance acceleration in the inertial frame [m/s2] - // Override classes for ILoggable + // Override classes for logger::ILoggable /** * @fn GetLogHeader * @brief Override function of GetLogHeader diff --git a/src/dynamics/attitude/attitude.hpp b/src/dynamics/attitude/attitude.hpp index 1dbcfa809..533d534f3 100644 --- a/src/dynamics/attitude/attitude.hpp +++ b/src/dynamics/attitude/attitude.hpp @@ -18,7 +18,7 @@ namespace s2e::dynamics::attitude { * @class Attitude * @brief Base class for attitude of spacecraft */ -class Attitude : public ILoggable, public SimulationObject { +class Attitude : public logger::ILoggable, public SimulationObject { public: /** * @fn Attitude @@ -100,15 +100,15 @@ class Attitude : public ILoggable, public SimulationObject { */ virtual void Propagate(const double end_time_s) = 0; - // Override ILoggable + // Override logger::ILoggable /** * @fn GetLogHeader - * @brief Override GetLogHeader function of ILoggable + * @brief Override GetLogHeader function of logger::ILoggable */ virtual std::string GetLogHeader() const; /** * @fn GetLogValue - * @brief Override GetLogValue function of ILoggable + * @brief Override GetLogValue function of logger::ILoggable */ virtual std::string GetLogValue() const; diff --git a/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp b/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp index dbc96391d..682759f8f 100644 --- a/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp +++ b/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp @@ -51,15 +51,15 @@ class AttitudeWithCantileverVibration : public Attitude { */ virtual void Propagate(const double end_time_s); - // Override ILoggable + // Override logger::ILoggable /** * @fn GetLogHeader - * @brief Override GetLogHeader function of ILoggable + * @brief Override GetLogHeader function of logger::ILoggable */ virtual std::string GetLogHeader() const; /** * @fn GetLogValue - * @brief Override GetLogValue function of ILoggable + * @brief Override GetLogValue function of logger::ILoggable */ virtual std::string GetLogValue() const; diff --git a/src/dynamics/orbit/orbit.hpp b/src/dynamics/orbit/orbit.hpp index dabd75f59..b83ba4716 100644 --- a/src/dynamics/orbit/orbit.hpp +++ b/src/dynamics/orbit/orbit.hpp @@ -44,7 +44,7 @@ enum class OrbitInitializeMode { * @class Orbit * @brief Base class of orbit propagation */ -class Orbit : public ILoggable { +class Orbit : public logger::ILoggable { public: /** * @fn Orbit @@ -174,15 +174,15 @@ class Orbit : public ILoggable { */ s2e::math::Quaternion CalcQuaternion_i2lvlh() const; - // Override ILoggable + // Override logger::ILoggable /** * @fn GetLogHeader - * @brief Override GetLogHeader function of ILoggable + * @brief Override GetLogHeader function of logger::ILoggable */ virtual std::string GetLogHeader() const; /** * @fn GetLogValue - * @brief Override GetLogValue function of ILoggable + * @brief Override GetLogValue function of logger::ILoggable */ virtual std::string GetLogValue() const; diff --git a/src/dynamics/thermal/temperature.hpp b/src/dynamics/thermal/temperature.hpp index c0aaec67c..7f9596ef9 100644 --- a/src/dynamics/thermal/temperature.hpp +++ b/src/dynamics/thermal/temperature.hpp @@ -32,7 +32,7 @@ enum class SolarCalcSetting { * @class Temperature * @brief class to calculate temperature of all nodes */ -class Temperature : public ILoggable { +class Temperature : public logger::ILoggable { protected: std::vector> conductance_matrix_W_K_; //!< Coupling of node i and node j by heat conduction [W/K] std::vector> radiation_matrix_m2_; //!< Coupling of node i and node j by thermal radiation [m2] diff --git a/src/environment/global/celestial_information.hpp b/src/environment/global/celestial_information.hpp index eeb9ff5f2..162fe790a 100644 --- a/src/environment/global/celestial_information.hpp +++ b/src/environment/global/celestial_information.hpp @@ -24,7 +24,7 @@ namespace s2e::environment { * @brief Class to manage the information related with the celestial bodies * @details This class uses SPICE to get the information of celestial bodies */ -class CelestialInformation : public ILoggable { +class CelestialInformation : public logger::ILoggable { public: /** * @fn CelestialInformation @@ -49,15 +49,15 @@ class CelestialInformation : public ILoggable { */ virtual ~CelestialInformation(); - // Override ILoggable + // Override logger::ILoggable /** * @fn GetLogHeader - * @brief Override GetLogHeader function of ILoggable + * @brief Override GetLogHeader function of logger::ILoggable */ virtual std::string GetLogHeader() const; /** * @fn GetLogValue - * @brief Override GetLogValue function of ILoggable + * @brief Override GetLogValue function of logger::ILoggable */ virtual std::string GetLogValue() const; diff --git a/src/environment/global/gnss_satellites.hpp b/src/environment/global/gnss_satellites.hpp index 88994a500..563dbd3e7 100644 --- a/src/environment/global/gnss_satellites.hpp +++ b/src/environment/global/gnss_satellites.hpp @@ -27,7 +27,7 @@ namespace s2e::environment { * @class GnssSatellites * @brief Class to calculate GNSS satellite position and clock */ -class GnssSatellites : public ILoggable { +class GnssSatellites : public logger::ILoggable { public: /** * @fn GnssSatellites @@ -100,15 +100,15 @@ class GnssSatellites : public ILoggable { */ double GetClock_s(const size_t gnss_satellite_id, const s2e::time_system::EpochTime time = s2e::time_system::EpochTime(0, 0.0)) const; - // Override ILoggable + // Override logger::ILoggable /** * @fn GetLogHeader - * @brief Override GetLogHeader function of ILoggable + * @brief Override GetLogHeader function of logger::ILoggable */ std::string GetLogHeader() const override; /** * @fn GetLogValue - * @brief Override GetLogValue function of ILoggable + * @brief Override GetLogValue function of logger::ILoggable */ std::string GetLogValue() const override; diff --git a/src/environment/global/hipparcos_catalogue.hpp b/src/environment/global/hipparcos_catalogue.hpp index dd20fee9d..bc7a70f0f 100644 --- a/src/environment/global/hipparcos_catalogue.hpp +++ b/src/environment/global/hipparcos_catalogue.hpp @@ -28,7 +28,7 @@ struct HipparcosData { *@class HipparcosCatalogue *@brief Class to calculate star direction with Hipparcos catalogue */ -class HipparcosCatalogue : public ILoggable { +class HipparcosCatalogue : public logger::ILoggable { public: /** *@fn HipparcosCatalogue @@ -93,15 +93,15 @@ class HipparcosCatalogue : public ILoggable { */ s2e::math::Vector<3> GetStarDirection_b(size_t rank, s2e::math::Quaternion quaternion_i2b) const; - // Override ILoggable + // Override logger::ILoggable /** * @fn GetLogHeader - * @brief Override GetLogHeader function of ILoggable + * @brief Override GetLogHeader function of logger::ILoggable */ virtual std::string GetLogHeader() const; /** * @fn GetLogValue - * @brief Override GetLogValue function of ILoggable + * @brief Override GetLogValue function of logger::ILoggable */ virtual std::string GetLogValue() const; diff --git a/src/environment/global/simulation_time.hpp b/src/environment/global/simulation_time.hpp index 27892afdf..eacefcc71 100644 --- a/src/environment/global/simulation_time.hpp +++ b/src/environment/global/simulation_time.hpp @@ -49,7 +49,7 @@ struct UTC { *@class SimulationTime *@brief Class to manage simulation time related information */ -class SimulationTime : public ILoggable { +class SimulationTime : public logger::ILoggable { public: /** *@fn SimulationTime @@ -241,15 +241,15 @@ class SimulationTime : public ILoggable { */ inline double GetStartSecond(void) const { return start_sec_; }; - // Override ILoggable + // Override logger::ILoggable /** * @fn GetLogHeader - * @brief Override GetLogHeader function of ILoggable + * @brief Override GetLogHeader function of logger::ILoggable */ virtual std::string GetLogHeader() const; /** * @fn GetLogValue - * @brief Override GetLogValue function of ILoggable + * @brief Override GetLogValue function of logger::ILoggable */ virtual std::string GetLogValue() const; diff --git a/src/environment/local/atmosphere.hpp b/src/environment/local/atmosphere.hpp index 2c383b78c..6bc47e246 100644 --- a/src/environment/local/atmosphere.hpp +++ b/src/environment/local/atmosphere.hpp @@ -21,7 +21,7 @@ namespace s2e::environment { * @class Atmosphere * @brief Class to calculate earth's atmospheric density */ -class Atmosphere : public ILoggable { +class Atmosphere : public logger::ILoggable { public: /** * @fn Atmosphere @@ -63,15 +63,15 @@ class Atmosphere : public ILoggable { */ inline void SetCalcFlag(const bool is_calc_enabled) { is_calc_enabled_ = is_calc_enabled; } - // Override ILoggable + // Override logger::ILoggable /** * @fn GetLogHeader - * @brief Override GetLogHeader function of ILoggable + * @brief Override GetLogHeader function of logger::ILoggable */ virtual std::string GetLogHeader() const; /** * @fn GetLogValue - * @brief Override GetLogValue function of ILoggable + * @brief Override GetLogValue function of logger::ILoggable */ virtual std::string GetLogValue() const; diff --git a/src/environment/local/earth_albedo.hpp b/src/environment/local/earth_albedo.hpp index 724cba2a7..0635afd7a 100644 --- a/src/environment/local/earth_albedo.hpp +++ b/src/environment/local/earth_albedo.hpp @@ -16,7 +16,7 @@ namespace s2e::environment { * @class EarthAlbedo * @brief Class to calculate Solar Radiation Pressure */ -class EarthAlbedo : public ILoggable { +class EarthAlbedo : public logger::ILoggable { public: /** * @fn EarthAlbedo @@ -76,15 +76,15 @@ class EarthAlbedo : public ILoggable { LocalCelestialInformation* local_celestial_information_; //!< Local celestial information SolarRadiationPressureEnvironment* srp_environment_; //!< Solar radiation pressure environment - // Override ILoggable + // Override logger::ILoggable /** * @fn GetLogHeader - * @brief Override GetLogHeader function of ILoggable + * @brief Override GetLogHeader function of logger::ILoggable */ virtual std::string GetLogHeader() const; /** * @fn GetLogValue - * @brief Override GetLogValue function of ILoggable + * @brief Override GetLogValue function of logger::ILoggable */ virtual std::string GetLogValue() const; diff --git a/src/environment/local/geomagnetic_field.hpp b/src/environment/local/geomagnetic_field.hpp index 100baf480..ba3f05329 100644 --- a/src/environment/local/geomagnetic_field.hpp +++ b/src/environment/local/geomagnetic_field.hpp @@ -17,7 +17,7 @@ namespace s2e::environment { * @class GeomagneticField * @brief Class to calculate magnetic field of the earth */ -class GeomagneticField : public ILoggable { +class GeomagneticField : public logger::ILoggable { public: bool IsCalcEnabled = true; //!< Calculation flag @@ -59,15 +59,15 @@ class GeomagneticField : public ILoggable { */ inline s2e::math::Vector<3> GetGeomagneticField_b_nT() const { return magnetic_field_b_nT_; } - // Override ILoggable + // Override logger::ILoggable /** * @fn GetLogHeader - * @brief Override GetLogHeader function of ILoggable + * @brief Override GetLogHeader function of logger::ILoggable */ virtual std::string GetLogHeader() const; /** * @fn GetLogValue - * @brief Override GetLogValue function of ILoggable + * @brief Override GetLogValue function of logger::ILoggable */ virtual std::string GetLogValue() const; diff --git a/src/environment/local/local_celestial_information.hpp b/src/environment/local/local_celestial_information.hpp index 26e1c354b..e81a7652f 100644 --- a/src/environment/local/local_celestial_information.hpp +++ b/src/environment/local/local_celestial_information.hpp @@ -14,7 +14,7 @@ namespace s2e::environment { * @class LocalCelestialInformation * @brief Class to manage celestial body information in the spacecraft body frame */ -class LocalCelestialInformation : public ILoggable { +class LocalCelestialInformation : public logger::ILoggable { public: /** * @fn LocalCelestialInformation @@ -70,15 +70,15 @@ class LocalCelestialInformation : public ILoggable { */ inline const CelestialInformation& GetGlobalInformation() const { return *global_celestial_information_; } - // Override ILoggable + // Override logger::ILoggable /** * @fn GetLogHeader - * @brief Override GetLogHeader function of ILoggable + * @brief Override GetLogHeader function of logger::ILoggable */ virtual std::string GetLogHeader() const; /** * @fn GetLogValue - * @brief Override GetLogValue function of ILoggable + * @brief Override GetLogValue function of logger::ILoggable */ virtual std::string GetLogValue() const; diff --git a/src/environment/local/solar_radiation_pressure_environment.hpp b/src/environment/local/solar_radiation_pressure_environment.hpp index a768ce136..f49bc8106 100644 --- a/src/environment/local/solar_radiation_pressure_environment.hpp +++ b/src/environment/local/solar_radiation_pressure_environment.hpp @@ -15,7 +15,7 @@ namespace s2e::environment { * @class SolarRadiationPressureEnvironment * @brief Class to calculate Solar Radiation Pressure */ -class SolarRadiationPressureEnvironment : public ILoggable { +class SolarRadiationPressureEnvironment : public logger::ILoggable { public: bool IsCalcEnabled = true; //!< Calculation flag @@ -80,15 +80,15 @@ class SolarRadiationPressureEnvironment : public ILoggable { */ inline bool GetIsEclipsed() const { return (shadow_coefficient_ >= 1.0 ? false : true); } - // Override ILoggable + // Override logger::ILoggable /** * @fn GetLogHeader - * @brief Override GetLogHeader function of ILoggable + * @brief Override GetLogHeader function of logger::ILoggable */ virtual std::string GetLogHeader() const; /** * @fn GetLogValue - * @brief Override GetLogValue function of ILoggable + * @brief Override GetLogValue function of logger::ILoggable */ virtual std::string GetLogValue() const; From 85d9f0cb77cfb1f311271462b1d37abbaf9a637f Mon Sep 17 00:00:00 2001 From: fukudakazuya Date: Fri, 27 Sep 2024 15:49:18 +0900 Subject: [PATCH 425/456] modify variable names --- src/dynamics/orbit/initialize_orbit.cpp | 4 +- .../time_series_file_orbit_propagation.cpp | 103 ++++++-------- .../time_series_file_orbit_propagation.hpp | 129 ++++-------------- 3 files changed, 69 insertions(+), 167 deletions(-) diff --git a/src/dynamics/orbit/initialize_orbit.cpp b/src/dynamics/orbit/initialize_orbit.cpp index 7dd7a3ff3..835fb451b 100644 --- a/src/dynamics/orbit/initialize_orbit.cpp +++ b/src/dynamics/orbit/initialize_orbit.cpp @@ -104,9 +104,9 @@ Orbit* InitOrbit(const CelestialInformation* celestial_information, std::string const std::string time_series_file_path = conf.ReadString(section_, "time_series_file_path"); const int number_of_interpolation = conf.ReadInt(section_, "number_of_interpolation"); const int interpolation_method = conf.ReadInt(section_, "interpolation_method"); - const double orbital_period_correction = conf.ReadDouble(section_, "orbital_period_correction"); + const double orbital_period_correction_s = conf.ReadDouble(section_, "orbital_period_correction_s"); - orbit = new TimeSeriesFileOrbitPropagation(celestial_information, time_series_file_path, number_of_interpolation, interpolation_method, orbital_period_correction, current_time_jd); + orbit = new TimeSeriesFileOrbitPropagation(celestial_information, time_series_file_path, number_of_interpolation, interpolation_method, orbital_period_correction_s, current_time_jd); } else { std::cerr << "ERROR: orbit propagation mode: " << propagate_mode << " is not defined!" << std::endl; diff --git a/src/dynamics/orbit/time_series_file_orbit_propagation.cpp b/src/dynamics/orbit/time_series_file_orbit_propagation.cpp index 51efea309..4eeaf8a6f 100644 --- a/src/dynamics/orbit/time_series_file_orbit_propagation.cpp +++ b/src/dynamics/orbit/time_series_file_orbit_propagation.cpp @@ -8,25 +8,25 @@ #include #include -#include #include - +#include #include -#include "setting_file_reader/initialize_file_access.hpp" -#include "math_physics/time_system/date_time_format.hpp" -#include "math_physics/math/constants.hpp" #include "logger/log_utility.hpp" +#include "math_physics/math/constants.hpp" +#include "math_physics/time_system/date_time_format.hpp" +#include "setting_file_reader/initialize_file_access.hpp" - -TimeSeriesFileOrbitPropagation::TimeSeriesFileOrbitPropagation(const CelestialInformation* celestial_information, std::string time_series_file_path, int number_of_interpolation, int interpolation_method, double orbital_period_correction, const double current_time_jd) +TimeSeriesFileOrbitPropagation::TimeSeriesFileOrbitPropagation(const CelestialInformation* celestial_information, std::string time_series_file_path, + int number_of_interpolation, int interpolation_method, + double orbital_period_correction_s, const double current_time_jd) : Orbit(celestial_information) { propagate_mode_ = OrbitPropagateMode::kTimeSeriesFile; number_of_interpolation_ = number_of_interpolation; interpolation_method_ = interpolation_method; - orbital_period_correction_ = orbital_period_correction; - + orbital_period_correction_s_ = orbital_period_correction_s; + // Read time series file IniAccess time_series_file(time_series_file_path); time_series_file.ReadCsvDoubleWithHeader(time_series_data_, 7, 1, 0); @@ -49,11 +49,11 @@ TimeSeriesFileOrbitPropagation::TimeSeriesFileOrbitPropagation(const CelestialIn reference_interpolation_id_ = nearest_epoch_id - half_interpolation_number; } - reference_time_ = time_system::EpochTime(GetEpochData(reference_interpolation_id_)); + reference_time_ = time_system::EpochTime(CalcEpochData(reference_interpolation_id_)); // Initialize orbit - orbit_position_.assign(1.0, orbit::InterpolationOrbit(number_of_interpolation)); - orbit_velocity_.assign(1.0, orbit::InterpolationOrbit(number_of_interpolation)); + orbit_position_i_m_.assign(1.0, orbit::InterpolationOrbit(number_of_interpolation)); + orbit_velocity_i_m_s_.assign(1.0, orbit::InterpolationOrbit(number_of_interpolation)); // Initialize interpolation for (int i = 0; i < number_of_interpolation; i++) { @@ -67,25 +67,6 @@ TimeSeriesFileOrbitPropagation::TimeSeriesFileOrbitPropagation(const CelestialIn is_calc_enabled_ = false; } -void TimeSeriesFileOrbitPropagation::Update(const SimulationTime& simulation_time) { - if (!IsCalcEnabled()) return; - - // Get time - UTC current_utc = simulation_time.GetCurrentUtc(); - time_system::DateTime current_date_time((size_t)current_utc.year, (size_t)current_utc.month, (size_t)current_utc.day, (size_t)current_utc.hour, - (size_t)current_utc.minute, current_utc.second); - current_epoch_time_ = time_system::EpochTime(current_date_time); - - // Check interpolation update - double diff_s = current_epoch_time_.GetTimeWithFraction_s() - reference_time_.GetTimeWithFraction_s(); - double medium_time_s = orbit_position_[0].GetTimeList()[std::round(number_of_interpolation_ / 2.0)]; - if (diff_s > medium_time_s) { - UpdateInterpolationInformation(); - } - - return; -} - size_t TimeSeriesFileOrbitPropagation::SearchNearestEpochId(const double current_time_jd) { size_t nearest_epoch_id = 0; @@ -102,7 +83,7 @@ size_t TimeSeriesFileOrbitPropagation::SearchNearestEpochId(const double current return nearest_epoch_id; } -time_system::DateTime TimeSeriesFileOrbitPropagation::GetEpochData(const size_t epoch_id) const { +time_system::DateTime TimeSeriesFileOrbitPropagation::CalcEpochData(const size_t epoch_id) const { if (epoch_id > epoch_.size()) { time_system::DateTime zero; return zero; @@ -120,58 +101,60 @@ void TimeSeriesFileOrbitPropagation::Propagate(const double end_time_s, const do double second; SpiceChar current_utc_char[80]; double current_ephemris_time = (current_time_jd - 2451545.0) * 86400.0; - et2utc_c(current_ephemris_time, "ISOC", 2, 80, current_utc_char); + et2utc_c(current_ephemris_time, "ISOC", 2, 80, current_utc_char); sscanf(current_utc_char, "%d-%d-%dT%d:%d:%lf", &year, &month, &day, &hour, &minute, &second); - time_system::DateTime current_date_time(year, month, day, hour,minute, second); + time_system::DateTime current_date_time(year, month, day, hour, minute, second); current_epoch_time_ = time_system::EpochTime(current_date_time); // Check interpolation update double diff_s = current_epoch_time_.GetTimeWithFraction_s() - reference_time_.GetTimeWithFraction_s(); - double medium_time_s = orbit_position_[0].GetTimeList()[std::round(number_of_interpolation_ / 2.0)]; + double medium_time_s = orbit_position_i_m_[0].GetTimeList()[std::round(number_of_interpolation_ / 2.0)]; if (diff_s > medium_time_s) { UpdateInterpolationInformation(); } if (diff_s < 0.0) { - std::cout << "[ERROR] Time is out of range of time serise file." << std::endl; + if (!is_time_range_warning_displayed_) { + std::cout << "[WARNING] Time is out of range of time series file." << std::endl; + is_time_range_warning_displayed_ = true; + } for (size_t i = 0; i < 3; i++) { spacecraft_position_i_m_[i] = time_series_data_[0][i + 1]; spacecraft_velocity_i_m_s_[i] = time_series_data_[0][i + 4]; } } else if (diff_s > 1e6 || reference_interpolation_id_ >= time_series_data_.size()) { - std::cout << "[ERROR] Time is out of range of time serise file." << std::endl; + if (!is_time_range_warning_displayed_) { + std::cout << "[WARNING] Time is out of range of time series file." << std::endl; + is_time_range_warning_displayed_ = true; + } for (size_t i = 0; i < 3; i++) { spacecraft_position_i_m_[i] = time_series_data_[time_series_data_.size() - 1][i + 1]; spacecraft_velocity_i_m_s_[i] = time_series_data_[time_series_data_.size() - 1][i + 4]; } } else { - math::Vector<3> orbit_position; - math::Vector<3> orbit_velocity; - if (interpolation_method_ == 0) { - orbit_position = orbit_position_[0].CalcPositionOrVelocityWithPolynomial(diff_s); - orbit_velocity = orbit_velocity_[0].CalcPositionOrVelocityWithPolynomial(diff_s); - } else if (interpolation_method_ == 1) { - orbit_position = orbit_position_[0].CalcPositionOrVelocityWithTrigonometric(diff_s, math::tau / orbital_period_correction_); - orbit_velocity = orbit_velocity_[0].CalcPositionOrVelocityWithTrigonometric(diff_s, math::tau / orbital_period_correction_); - } else { - std::cerr << "[ERROR] Interpolation method: " << interpolation_method_ << " is not defined!" << std::endl; - std::cerr << "The orbit mode is automatically set as Polynomial" << std::endl; - orbit_position = orbit_position_[0].CalcPositionOrVelocityWithPolynomial(diff_s); - orbit_velocity = orbit_velocity_[0].CalcPositionOrVelocityWithPolynomial(diff_s); - } - for (size_t i = 0; i < 3; i++) { - spacecraft_position_i_m_[i] = orbit_position[i]; - spacecraft_velocity_i_m_s_[i] = orbit_velocity[i]; - } + if (interpolation_method_ == 0) { + spacecraft_position_i_m_ = orbit_position_i_m_[0].CalcPositionWithPolynomial(diff_s); + spacecraft_velocity_i_m_s_ = orbit_velocity_i_m_s_[0].CalcPositionWithPolynomial(diff_s); + } else if (interpolation_method_ == 1) { + spacecraft_position_i_m_ = orbit_position_i_m_[0].CalcPositionWithTrigonometric(diff_s, math::tau / orbital_period_correction_s_); + spacecraft_velocity_i_m_s_ = orbit_velocity_i_m_s_[0].CalcPositionWithTrigonometric(diff_s, math::tau / orbital_period_correction_s_); + } else { + if (!is_interpolation_method_error_displayed_) { + std::cerr << "[ERROR] Interpolation method: " << interpolation_method_ << " is not defined!" << std::endl; + std::cerr << "The orbit mode is automatically set as Polynomial" << std::endl; + is_interpolation_method_error_displayed_ = true; + } + spacecraft_position_i_m_ = orbit_position_i_m_[0].CalcPositionWithPolynomial(diff_s); + spacecraft_velocity_i_m_s_ = orbit_velocity_i_m_s_[0].CalcPositionWithPolynomial(diff_s); + } } TransformEciToEcef(); TransformEcefToGeodetic(); } bool TimeSeriesFileOrbitPropagation::UpdateInterpolationInformation() { - time_system::EpochTime time_series_time = time_system::EpochTime(GetEpochData(reference_interpolation_id_)); + time_system::EpochTime time_series_time = time_system::EpochTime(CalcEpochData(reference_interpolation_id_)); double time_diff_s = time_series_time.GetTimeWithFraction_s() - reference_time_.GetTimeWithFraction_s(); if (reference_interpolation_id_ >= time_series_data_.size()) { - std::cout << "[ERROR] Time is out of range." << std::endl; for (size_t i = 0; i < 3; i++) { spacecraft_position_i_m_[i] = time_series_data_[time_series_data_.size() - 1][i + 1]; spacecraft_velocity_i_m_s_[i] = time_series_data_[time_series_data_.size() - 1][i + 4]; @@ -183,9 +166,9 @@ bool TimeSeriesFileOrbitPropagation::UpdateInterpolationInformation() { } } - orbit_position_[0].PushAndPopData(time_diff_s, spacecraft_position_i_m_); - orbit_velocity_[0].PushAndPopData(time_diff_s, spacecraft_velocity_i_m_s_); - + orbit_position_i_m_[0].PushAndPopData(time_diff_s, spacecraft_position_i_m_); + orbit_velocity_i_m_s_[0].PushAndPopData(time_diff_s, spacecraft_velocity_i_m_s_); + reference_interpolation_id_++; return true; diff --git a/src/dynamics/orbit/time_series_file_orbit_propagation.hpp b/src/dynamics/orbit/time_series_file_orbit_propagation.hpp index 006327c3c..588c4e944 100644 --- a/src/dynamics/orbit/time_series_file_orbit_propagation.hpp +++ b/src/dynamics/orbit/time_series_file_orbit_propagation.hpp @@ -6,31 +6,13 @@ #ifndef S2E_DYNAMICS_ORBIT_TIME_SERIES_FILE_ORBIT_PROPAGATION_HPP_ #define S2E_DYNAMICS_ORBIT_TIME_SERIES_FILE_ORBIT_PROPAGATION_HPP_ -#include -#include - #include #include - -#include "environment/global/simulation_time.hpp" +#include +#include #include "orbit.hpp" -/** - *@struct TimeSeriesData - *@brief Time series data of orbit - *@note Coordinate system and units follow the time series file - */ -// struct TimeSeriesData { -// double et; //!< Ephemeris time [s] -// double x; //!< Position x -// double y; //!< Position y -// double z; //!< Position z -// double vx; //!< Velocity x -// double vy; //!< Velocity y -// double vz; //!< Velocity z -// }; - /** * @class TimeSeriesFileOrbitPropagation * @brief Class to calculate satellite orbit using interpolation with orbit time series input @@ -41,59 +23,27 @@ class TimeSeriesFileOrbitPropagation : public Orbit { *@fn TimeSeriesFileOrbitPropagation *@brief Constructor * @param [in] celestial_information: Celestial information + * @param [in] time_series_file_path: Path to the time series file + * @param [in] number_of_interpolation: Number of interpolation + * @param [in] interpolation_method: Interpolation method + * @param [in] orbital_period_correction_s: Orbital period correction [s] * @param [in] current_time_jd: Current Julian day [day] */ - TimeSeriesFileOrbitPropagation(const CelestialInformation* celestial_information, std::string time_series_file_path, int number_of_interpolation, int interpolation_method, double orbital_period_correction, const double current_time_jd); + TimeSeriesFileOrbitPropagation(const CelestialInformation* celestial_information, std::string time_series_file_path, int number_of_interpolation, + int interpolation_method, double orbital_period_correction_s, const double current_time_jd); /** *@fn ~TimeSeriesFileOrbitPropagation *@brief Destructor - */ - virtual ~TimeSeriesFileOrbitPropagation() {} - - /** - * @fn Initialize - * @brief Initialize function - * @param [in] time_series_data: orbit definition data - * @param [in] start_time: The simulation start time - * @param [in] simulation_time: Simulation time information - */ - void Initialize(const std::string ini_file_name, const std::vector>& time_series_data, const time_system::EpochTime start_time, const SimulationTime& simulation_time); - - /** - * @fn IsCalcEnabled - * @brief Return calculated enabled flag - */ - inline bool IsCalcEnabled() const { return is_calc_enabled_; } - - /** - * @fn ReadTimeSeriesCsv - * @brief Read orbit definition CSV file. - * @param ini_file_name Path to the initialize file. - * @param time_series_file_path Path to orbit definition CSV file. - * @param time_series_data List of orbit definition data. - */ - bool ReadTimeSeriesCsv(const std::string& time_series_file_path, std::vector>& time_series_data); - - /** - * @fn GetTimeSeriesDataSize - * @brief Return read orbit definition data size. - */ - size_t GetTimeSeriesDataSize() const { return time_series_data_.size(); } - - /** - * @fn GetTimeSeriesData - * @brief Return orbit definition data for a specific index. - * @param index The index of the orbit definition data. */ - std::vector GetTimeSeriesData(size_t index) const { return time_series_data_[index]; } + virtual ~TimeSeriesFileOrbitPropagation() {} /** - * @fn GetEpochData + * @fn CalcEpochData * @brief Return epoch data for a specific epoch ID. * @param epoch_id The epoch ID of the orbit definition data. */ - time_system::DateTime GetEpochData(const size_t epoch_id) const; + time_system::DateTime CalcEpochData(const size_t epoch_id) const; /** * @fn SearchNearestEpochId @@ -102,31 +52,6 @@ class TimeSeriesFileOrbitPropagation : public Orbit { */ size_t SearchNearestEpochId(const double current_time_jd); - /** - * @fn Update - * @brief Update satellite information - * @param [in] simulation_time: Simulation time information - */ - void Update(const SimulationTime& simulation_time); - - /** - * @fn GetPosition - * @brief Return satellite position - * @param [in] time: Target time to get the satellite. When the argument is not set, the last updated time is used for the calculation. - * @return Satellite position at the time. Or return zero vector when the arguments are out of range. - * @note Coordinate system and units follow the orbit definition file. - */ - inline math::Vector<3> GetPosition(const time_system::EpochTime time = time_system::EpochTime(0, 0.0)) const; - - /** - * @fn GetVelocity - * @brief Return satellite velocity - * @param [in] time: Target time to get the satellite. When the argument is not set, the last updated time is used for the calculation. - * @return Satellite velocity at the time. Or return zero vector when the arguments are out of range. - * @note Coordinate system and units follow the orbit definition file. - */ - inline math::Vector<3> GetVelocity(const time_system::EpochTime time = time_system::EpochTime(0, 0.0)) const; - // Override Orbit /** * @fn Propagate @@ -137,18 +62,21 @@ class TimeSeriesFileOrbitPropagation : public Orbit { virtual void Propagate(const double end_time_s, const double current_time_jd); private: - int number_of_interpolation_; //!< Number of interpolation - int interpolation_method_; //!< Interpolation method - double orbital_period_correction_; //!< Orbital period correction + bool is_time_range_warning_displayed_ = false; //!< Flag for time range warning + bool is_interpolation_method_error_displayed_ = false; //!< Flag for interpolation method error + + int number_of_interpolation_; //!< Number of interpolation + int interpolation_method_; //!< Interpolation method + double orbital_period_correction_s_; //!< Orbital period correction [s] - std::vector epoch_; //!< Epoch data list + std::vector epoch_; //!< Epoch data list std::vector> time_series_data_; //!< List of orbit definition data - time_system::EpochTime current_epoch_time_; //!< The last updated time - time_system::EpochTime reference_time_; //!< Reference start time of the orbit definition data handling - size_t reference_interpolation_id_ = 0; //!< Reference epoch ID of the interpolation - - std::vector orbit_position_; //!< Position with interpolation - std::vector orbit_velocity_; //!< Velocity with interpolation + time_system::EpochTime current_epoch_time_; //!< The last updated time + time_system::EpochTime reference_time_; //!< Reference start time of the orbit definition data handling + size_t reference_interpolation_id_ = 0; //!< Reference epoch ID of the interpolation + + std::vector orbit_position_i_m_; //!< Position with interpolation + std::vector orbit_velocity_i_m_s_; //!< Velocity with interpolation /** * @fn UpdateInterpolationInformation @@ -158,13 +86,4 @@ class TimeSeriesFileOrbitPropagation : public Orbit { bool UpdateInterpolationInformation(); }; -/** - * @fn InitTimeSeriesFileOrbitPropagation - * @brief Initialize function for TimeSeriesFileOrbitPropagation class - * @param [in] ini_file_name: Path to the initialize file - * @param [in] simulation_time: Simulation time information - * @return Initialized TimeSeriesFileOrbitPropagation class - */ -TimeSeriesFileOrbitPropagation* InitTimeSeriesFileOrbitPropagation(const std::string ini_file_name, const SimulationTime& simulation_time); - #endif // S2E_DYNAMICS_ORBIT_TIME_SERIES_FILE_ORBIT_PROPAGATION_HPP_ From 5e48c22269b4edf1493179113ee56e2ff34808e5 Mon Sep 17 00:00:00 2001 From: fukudakazuya Date: Fri, 27 Sep 2024 15:50:59 +0900 Subject: [PATCH 426/456] add TIME_SERIES_FILE propagation mode --- settings/sample_satellite/satellite.ini | 11 +++++++++++ 1 file changed, 11 insertions(+) diff --git a/settings/sample_satellite/satellite.ini b/settings/sample_satellite/satellite.ini index 1c0677570..28c6b19e2 100644 --- a/settings/sample_satellite/satellite.ini +++ b/settings/sample_satellite/satellite.ini @@ -60,6 +60,7 @@ logging = ENABLE // RELATIVE : Relative dynamics (for formation flying simulation) // KEPLER : Kepler orbit propagation without disturbances and thruster maneuver // ENCKE : Encke orbit propagation with disturbances and thruster maneuver +// TIME_SERIES_FILE : Orbit propagation with time series file propagate_mode = RK4 // Orbit initialize mode for RK4, KEPLER, and ENCKE @@ -123,6 +124,16 @@ reference_satellite_id = 1 error_tolerance = 0.0001 /////////////////////////////////////////////////////////////////////////////// +// Settings for orbit propagation with time series file /////////// +time_series_file_path = SETTINGS_DIR_FROM_EXE/environment/time_series/output.csv +number_of_interpolation = 5 +// Interpolation method +0: POLYNOMIAL +1: TRIGONOMETRIC +interpolation_method = 0 +orbital_period_correction_s = 86659.2 // Only used for trigonometric method. This sample value is used for the gnss satellits (24 * 60 * 60 * 1.003). +/////////////////////////////////////////////////////////////////////////////// + [THERMAL] calculation = DISABLE From 8f17cdb18e564f9b3d1b393329a0bf0994c8abd6 Mon Sep 17 00:00:00 2001 From: fukudakazuya Date: Fri, 27 Sep 2024 16:01:48 +0900 Subject: [PATCH 427/456] modify csv file path --- settings/sample_satellite/satellite.ini | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/settings/sample_satellite/satellite.ini b/settings/sample_satellite/satellite.ini index 28c6b19e2..59e3c5997 100644 --- a/settings/sample_satellite/satellite.ini +++ b/settings/sample_satellite/satellite.ini @@ -125,7 +125,7 @@ error_tolerance = 0.0001 /////////////////////////////////////////////////////////////////////////////// // Settings for orbit propagation with time series file /////////// -time_series_file_path = SETTINGS_DIR_FROM_EXE/environment/time_series/output.csv +time_series_file_path = SETTINGS_DIR_FROM_EXE/sample_satellite/time_series/time_series.csv number_of_interpolation = 5 // Interpolation method 0: POLYNOMIAL From 5c0a98f93ef5a1536ece8d0b6a5f52e54fc044a9 Mon Sep 17 00:00:00 2001 From: fukudakazuya Date: Fri, 27 Sep 2024 16:02:38 +0900 Subject: [PATCH 428/456] modify format --- src/dynamics/orbit/initialize_orbit.cpp | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/src/dynamics/orbit/initialize_orbit.cpp b/src/dynamics/orbit/initialize_orbit.cpp index 835fb451b..33129ae58 100644 --- a/src/dynamics/orbit/initialize_orbit.cpp +++ b/src/dynamics/orbit/initialize_orbit.cpp @@ -4,6 +4,8 @@ */ #include "initialize_orbit.hpp" +#include + #include #include "encke_orbit_propagation.hpp" @@ -13,8 +15,6 @@ #include "sgp4_orbit_propagation.hpp" #include "time_series_file_orbit_propagation.hpp" -#include - Orbit* InitOrbit(const CelestialInformation* celestial_information, std::string initialize_file, double step_width_s, double current_time_jd, double gravity_constant_m3_s2, std::string section, RelativeInformation* relative_information) { auto conf = IniAccess(initialize_file); @@ -106,7 +106,8 @@ Orbit* InitOrbit(const CelestialInformation* celestial_information, std::string const int interpolation_method = conf.ReadInt(section_, "interpolation_method"); const double orbital_period_correction_s = conf.ReadDouble(section_, "orbital_period_correction_s"); - orbit = new TimeSeriesFileOrbitPropagation(celestial_information, time_series_file_path, number_of_interpolation, interpolation_method, orbital_period_correction_s, current_time_jd); + orbit = new TimeSeriesFileOrbitPropagation(celestial_information, time_series_file_path, number_of_interpolation, interpolation_method, + orbital_period_correction_s, current_time_jd); } else { std::cerr << "ERROR: orbit propagation mode: " << propagate_mode << " is not defined!" << std::endl; From 4d7ca22d88b741cdaf12202be8cbefd6f3016573 Mon Sep 17 00:00:00 2001 From: fukudakazuya Date: Fri, 27 Sep 2024 16:05:56 +0900 Subject: [PATCH 429/456] delete time_series_file_orbit_propagation.ini --- .../time_series_file_orbit_propagation.ini | 18 ------------------ 1 file changed, 18 deletions(-) delete mode 100644 settings/environment/time_series_file_orbit_propagation.ini diff --git a/settings/environment/time_series_file_orbit_propagation.ini b/settings/environment/time_series_file_orbit_propagation.ini deleted file mode 100644 index 3939f7a58..000000000 --- a/settings/environment/time_series_file_orbit_propagation.ini +++ /dev/null @@ -1,18 +0,0 @@ -[TIME_SERIES_FILE_ORBIT_PROPAGATION] -time_series_file_path = SETTINGS_DIR_FROM_EXE/environment/time_series/output.csv -header_name_et = t(ET) -header_name_x = "EQU X(km, ECLIPJ2000)" -header_name_y = "EQU Y(km, ECLIPJ2000)" -header_name_z = "EQU Z(km, ECLIPJ2000)" -header_name_vx = VX(km/s) -header_name_vy = VY(km/s) -header_name_vz = VZ(km/s) -coordinate_system = eclipj2000 -unit = km - -calculation = ENABLE -logging = ENABLE - -number_of_interpolation = 5 -orbital_period_correction = 86659.2 // Only used for trigonometric method. This sample value is used for the gnss satellits (24 * 60 * 60 * 1.003). -interpolation_method = POLYNOMIAL // POLYNOMIALor TRIGONOMETRIC \ No newline at end of file From 3bded8b279dba748caf4d524324d44acfe9e76b5 Mon Sep 17 00:00:00 2001 From: fukudakazuya Date: Fri, 27 Sep 2024 16:17:39 +0900 Subject: [PATCH 430/456] modify error message --- src/dynamics/orbit/time_series_file_orbit_propagation.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/dynamics/orbit/time_series_file_orbit_propagation.cpp b/src/dynamics/orbit/time_series_file_orbit_propagation.cpp index 4eeaf8a6f..30fbf0be4 100644 --- a/src/dynamics/orbit/time_series_file_orbit_propagation.cpp +++ b/src/dynamics/orbit/time_series_file_orbit_propagation.cpp @@ -114,7 +114,7 @@ void TimeSeriesFileOrbitPropagation::Propagate(const double end_time_s, const do } if (diff_s < 0.0) { if (!is_time_range_warning_displayed_) { - std::cout << "[WARNING] Time is out of range of time series file." << std::endl; + std::cout << "[WARNING] Time series file orbit propagation: Time is out of range of time series file." << std::endl; is_time_range_warning_displayed_ = true; } for (size_t i = 0; i < 3; i++) { @@ -123,7 +123,7 @@ void TimeSeriesFileOrbitPropagation::Propagate(const double end_time_s, const do } } else if (diff_s > 1e6 || reference_interpolation_id_ >= time_series_data_.size()) { if (!is_time_range_warning_displayed_) { - std::cout << "[WARNING] Time is out of range of time series file." << std::endl; + std::cout << "[WARNING] Time series file orbit propagation: Time is out of range of time series file." << std::endl; is_time_range_warning_displayed_ = true; } for (size_t i = 0; i < 3; i++) { @@ -139,7 +139,7 @@ void TimeSeriesFileOrbitPropagation::Propagate(const double end_time_s, const do spacecraft_velocity_i_m_s_ = orbit_velocity_i_m_s_[0].CalcPositionWithTrigonometric(diff_s, math::tau / orbital_period_correction_s_); } else { if (!is_interpolation_method_error_displayed_) { - std::cerr << "[ERROR] Interpolation method: " << interpolation_method_ << " is not defined!" << std::endl; + std::cerr << "[ERROR] Time series file orbit propagation: Interpolation method " << interpolation_method_ << " is not defined!" << std::endl; std::cerr << "The orbit mode is automatically set as Polynomial" << std::endl; is_interpolation_method_error_displayed_ = true; } From 4b30d70853ecbe3bc9ef7a4f427ed800567cf870 Mon Sep 17 00:00:00 2001 From: fukudakazuya Date: Fri, 27 Sep 2024 21:20:41 +0900 Subject: [PATCH 431/456] delete include file --- src/dynamics/orbit/initialize_orbit.cpp | 2 -- src/environment/global/global_environment.hpp | 1 - 2 files changed, 3 deletions(-) diff --git a/src/dynamics/orbit/initialize_orbit.cpp b/src/dynamics/orbit/initialize_orbit.cpp index 33129ae58..33d674044 100644 --- a/src/dynamics/orbit/initialize_orbit.cpp +++ b/src/dynamics/orbit/initialize_orbit.cpp @@ -4,8 +4,6 @@ */ #include "initialize_orbit.hpp" -#include - #include #include "encke_orbit_propagation.hpp" diff --git a/src/environment/global/global_environment.hpp b/src/environment/global/global_environment.hpp index b5af66a6e..b8bb56890 100644 --- a/src/environment/global/global_environment.hpp +++ b/src/environment/global/global_environment.hpp @@ -8,7 +8,6 @@ #include "celestial_information.hpp" #include "gnss_satellites.hpp" -#include "dynamics/orbit/time_series_file_orbit_propagation.hpp" #include "hipparcos_catalogue.hpp" #include "logger/logger.hpp" #include "simulation/simulation_configuration.hpp" From 30bf8b68f962f5907283e72284bad7acde79b471 Mon Sep 17 00:00:00 2001 From: fukudakazuya Date: Fri, 27 Sep 2024 21:22:57 +0900 Subject: [PATCH 432/456] modify ephemeris time --- .../time_series_file_orbit_propagation.cpp | 63 +++++++------------ .../time_series_file_orbit_propagation.hpp | 21 +++---- 2 files changed, 32 insertions(+), 52 deletions(-) diff --git a/src/dynamics/orbit/time_series_file_orbit_propagation.cpp b/src/dynamics/orbit/time_series_file_orbit_propagation.cpp index 30fbf0be4..8a1cc87ba 100644 --- a/src/dynamics/orbit/time_series_file_orbit_propagation.cpp +++ b/src/dynamics/orbit/time_series_file_orbit_propagation.cpp @@ -14,42 +14,33 @@ #include "logger/log_utility.hpp" #include "math_physics/math/constants.hpp" -#include "math_physics/time_system/date_time_format.hpp" #include "setting_file_reader/initialize_file_access.hpp" TimeSeriesFileOrbitPropagation::TimeSeriesFileOrbitPropagation(const CelestialInformation* celestial_information, std::string time_series_file_path, int number_of_interpolation, int interpolation_method, double orbital_period_correction_s, const double current_time_jd) - : Orbit(celestial_information) { + : Orbit(celestial_information), + is_time_range_warning_displayed_(false), + is_interpolation_method_error_displayed_(false), + number_of_interpolation_(number_of_interpolation), + interpolation_method_(interpolation_method), + orbital_period_correction_s_(orbital_period_correction_s), + reference_interpolation_id_(0) { propagate_mode_ = OrbitPropagateMode::kTimeSeriesFile; - number_of_interpolation_ = number_of_interpolation; - interpolation_method_ = interpolation_method; - orbital_period_correction_s_ = orbital_period_correction_s; - // Read time series file IniAccess time_series_file(time_series_file_path); time_series_file.ReadCsvDoubleWithHeader(time_series_data_, 7, 1, 0); - int year, month, day, hour, minute; - double second; - for (size_t i = 0; i < time_series_data_.size(); ++i) { - if (!time_series_data_[i].empty()) { - SpiceChar utc_char[80]; - et2utc_c(time_series_data_[i][0], "ISOC", 2, 80, utc_char); - sscanf(utc_char, "%d-%d-%dT%d:%d:%lf", &year, &month, &day, &hour, &minute, &second); - epoch_.push_back(time_system::DateTime(year, month, day, hour, minute, second)); - } - } // Get general info - size_t nearest_epoch_id = SearchNearestEpochId(current_time_jd); + size_t nearest_ephemeris_time_id = SearchNearestEpochId(current_time_jd); const size_t half_interpolation_number = number_of_interpolation / 2; - if (nearest_epoch_id >= half_interpolation_number) { - reference_interpolation_id_ = nearest_epoch_id - half_interpolation_number; + if (nearest_ephemeris_time_id >= half_interpolation_number) { + reference_interpolation_id_ = nearest_ephemeris_time_id - half_interpolation_number; } - reference_time_ = time_system::EpochTime(CalcEpochData(reference_interpolation_id_)); + reference_time_ = CalcEpochData(reference_interpolation_id_); // Initialize orbit orbit_position_i_m_.assign(1.0, orbit::InterpolationOrbit(number_of_interpolation)); @@ -68,7 +59,7 @@ TimeSeriesFileOrbitPropagation::TimeSeriesFileOrbitPropagation(const CelestialIn } size_t TimeSeriesFileOrbitPropagation::SearchNearestEpochId(const double current_time_jd) { - size_t nearest_epoch_id = 0; + size_t nearest_ephemeris_time_id = 0; // Get start ephemeris time double start_ephemris_time = (current_time_jd - 2451545.0) * 86400.0; @@ -76,19 +67,18 @@ size_t TimeSeriesFileOrbitPropagation::SearchNearestEpochId(const double current // Get the nearest epoch ID for (size_t i = 0; i < time_series_data_.size(); i++) { if (start_ephemris_time < time_series_data_[i][0]) { - nearest_epoch_id = i; + nearest_ephemeris_time_id = i; break; } } - return nearest_epoch_id; + return nearest_ephemeris_time_id; } -time_system::DateTime TimeSeriesFileOrbitPropagation::CalcEpochData(const size_t epoch_id) const { - if (epoch_id > epoch_.size()) { - time_system::DateTime zero; - return zero; +double TimeSeriesFileOrbitPropagation::CalcEpochData(const size_t ephemeris_time_id) const { + if (ephemeris_time_id > time_series_data_.size()) { + return 0; } - return epoch_[epoch_id]; + return time_series_data_[ephemeris_time_id][0]; } void TimeSeriesFileOrbitPropagation::Propagate(const double end_time_s, const double current_time_jd) { @@ -96,18 +86,9 @@ void TimeSeriesFileOrbitPropagation::Propagate(const double end_time_s, const do if (!is_calc_enabled_) return; - // Get time - int year, month, day, hour, minute; - double second; - SpiceChar current_utc_char[80]; - double current_ephemris_time = (current_time_jd - 2451545.0) * 86400.0; - et2utc_c(current_ephemris_time, "ISOC", 2, 80, current_utc_char); - sscanf(current_utc_char, "%d-%d-%dT%d:%d:%lf", &year, &month, &day, &hour, &minute, &second); - time_system::DateTime current_date_time(year, month, day, hour, minute, second); - current_epoch_time_ = time_system::EpochTime(current_date_time); - // Check interpolation update - double diff_s = current_epoch_time_.GetTimeWithFraction_s() - reference_time_.GetTimeWithFraction_s(); + double current_ephemris_time = (current_time_jd - 2451545.0) * 86400.0; + double diff_s = current_ephemris_time - reference_time_; double medium_time_s = orbit_position_i_m_[0].GetTimeList()[std::round(number_of_interpolation_ / 2.0)]; if (diff_s > medium_time_s) { UpdateInterpolationInformation(); @@ -152,8 +133,8 @@ void TimeSeriesFileOrbitPropagation::Propagate(const double end_time_s, const do } bool TimeSeriesFileOrbitPropagation::UpdateInterpolationInformation() { - time_system::EpochTime time_series_time = time_system::EpochTime(CalcEpochData(reference_interpolation_id_)); - double time_diff_s = time_series_time.GetTimeWithFraction_s() - reference_time_.GetTimeWithFraction_s(); + double time_series_data_time_s = CalcEpochData(reference_interpolation_id_); + double time_diff_s = time_series_data_time_s - reference_time_; if (reference_interpolation_id_ >= time_series_data_.size()) { for (size_t i = 0; i < 3; i++) { spacecraft_position_i_m_[i] = time_series_data_[time_series_data_.size() - 1][i + 1]; diff --git a/src/dynamics/orbit/time_series_file_orbit_propagation.hpp b/src/dynamics/orbit/time_series_file_orbit_propagation.hpp index 588c4e944..aa18a2afc 100644 --- a/src/dynamics/orbit/time_series_file_orbit_propagation.hpp +++ b/src/dynamics/orbit/time_series_file_orbit_propagation.hpp @@ -7,7 +7,6 @@ #define S2E_DYNAMICS_ORBIT_TIME_SERIES_FILE_ORBIT_PROPAGATION_HPP_ #include -#include #include #include @@ -29,8 +28,9 @@ class TimeSeriesFileOrbitPropagation : public Orbit { * @param [in] orbital_period_correction_s: Orbital period correction [s] * @param [in] current_time_jd: Current Julian day [day] */ - TimeSeriesFileOrbitPropagation(const CelestialInformation* celestial_information, std::string time_series_file_path, int number_of_interpolation, - int interpolation_method, double orbital_period_correction_s, const double current_time_jd); + TimeSeriesFileOrbitPropagation(const CelestialInformation* celestial_information, const std::string time_series_file_path, + const int number_of_interpolation, const int interpolation_method, const double orbital_period_correction_s, + const double current_time_jd); /** *@fn ~TimeSeriesFileOrbitPropagation @@ -41,9 +41,9 @@ class TimeSeriesFileOrbitPropagation : public Orbit { /** * @fn CalcEpochData * @brief Return epoch data for a specific epoch ID. - * @param epoch_id The epoch ID of the orbit definition data. + * @param ephemeris_time_id The ephemeris time ID of the orbit definition data. */ - time_system::DateTime CalcEpochData(const size_t epoch_id) const; + double CalcEpochData(const size_t ephemeris_time_id) const; /** * @fn SearchNearestEpochId @@ -62,18 +62,16 @@ class TimeSeriesFileOrbitPropagation : public Orbit { virtual void Propagate(const double end_time_s, const double current_time_jd); private: - bool is_time_range_warning_displayed_ = false; //!< Flag for time range warning - bool is_interpolation_method_error_displayed_ = false; //!< Flag for interpolation method error + bool is_time_range_warning_displayed_; //!< Flag for time range warning + bool is_interpolation_method_error_displayed_; //!< Flag for interpolation method error int number_of_interpolation_; //!< Number of interpolation int interpolation_method_; //!< Interpolation method double orbital_period_correction_s_; //!< Orbital period correction [s] - std::vector epoch_; //!< Epoch data list std::vector> time_series_data_; //!< List of orbit definition data - time_system::EpochTime current_epoch_time_; //!< The last updated time - time_system::EpochTime reference_time_; //!< Reference start time of the orbit definition data handling - size_t reference_interpolation_id_ = 0; //!< Reference epoch ID of the interpolation + double reference_time_; //!< Reference start time of the orbit definition data handling + size_t reference_interpolation_id_; //!< Reference epoch ID of the interpolation std::vector orbit_position_i_m_; //!< Position with interpolation std::vector orbit_velocity_i_m_s_; //!< Velocity with interpolation @@ -87,3 +85,4 @@ class TimeSeriesFileOrbitPropagation : public Orbit { }; #endif // S2E_DYNAMICS_ORBIT_TIME_SERIES_FILE_ORBIT_PROPAGATION_HPP_ + From 190c7731a81692f57193b7d7349d665d2a1b4baa Mon Sep 17 00:00:00 2001 From: fukudakazuya Date: Fri, 27 Sep 2024 21:29:17 +0900 Subject: [PATCH 433/456] modify ephemeris time --- .../time_series_file_orbit_propagation.cpp | 13 ++++++----- .../time_series_file_orbit_propagation.hpp | 22 +++++++++---------- 2 files changed, 18 insertions(+), 17 deletions(-) diff --git a/src/dynamics/orbit/time_series_file_orbit_propagation.cpp b/src/dynamics/orbit/time_series_file_orbit_propagation.cpp index 8a1cc87ba..06511c93a 100644 --- a/src/dynamics/orbit/time_series_file_orbit_propagation.cpp +++ b/src/dynamics/orbit/time_series_file_orbit_propagation.cpp @@ -33,14 +33,14 @@ TimeSeriesFileOrbitPropagation::TimeSeriesFileOrbitPropagation(const CelestialIn time_series_file.ReadCsvDoubleWithHeader(time_series_data_, 7, 1, 0); // Get general info - size_t nearest_ephemeris_time_id = SearchNearestEpochId(current_time_jd); + size_t nearest_ephemeris_time_id = SearchNearestEphemerisTimeId(current_time_jd); const size_t half_interpolation_number = number_of_interpolation / 2; if (nearest_ephemeris_time_id >= half_interpolation_number) { reference_interpolation_id_ = nearest_ephemeris_time_id - half_interpolation_number; } - reference_time_ = CalcEpochData(reference_interpolation_id_); + reference_time_ = CalcEphemerisTimeData(reference_interpolation_id_); // Initialize orbit orbit_position_i_m_.assign(1.0, orbit::InterpolationOrbit(number_of_interpolation)); @@ -58,13 +58,13 @@ TimeSeriesFileOrbitPropagation::TimeSeriesFileOrbitPropagation(const CelestialIn is_calc_enabled_ = false; } -size_t TimeSeriesFileOrbitPropagation::SearchNearestEpochId(const double current_time_jd) { +size_t TimeSeriesFileOrbitPropagation::SearchNearestEphemerisTimeId(const double current_time_jd) { size_t nearest_ephemeris_time_id = 0; // Get start ephemeris time double start_ephemris_time = (current_time_jd - 2451545.0) * 86400.0; - // Get the nearest epoch ID + // Get the nearest ephemeris time ID for (size_t i = 0; i < time_series_data_.size(); i++) { if (start_ephemris_time < time_series_data_[i][0]) { nearest_ephemeris_time_id = i; @@ -74,7 +74,7 @@ size_t TimeSeriesFileOrbitPropagation::SearchNearestEpochId(const double current return nearest_ephemeris_time_id; } -double TimeSeriesFileOrbitPropagation::CalcEpochData(const size_t ephemeris_time_id) const { +double TimeSeriesFileOrbitPropagation::CalcEphemerisTimeData(const size_t ephemeris_time_id) const { if (ephemeris_time_id > time_series_data_.size()) { return 0; } @@ -133,7 +133,7 @@ void TimeSeriesFileOrbitPropagation::Propagate(const double end_time_s, const do } bool TimeSeriesFileOrbitPropagation::UpdateInterpolationInformation() { - double time_series_data_time_s = CalcEpochData(reference_interpolation_id_); + double time_series_data_time_s = CalcEphemerisTimeData(reference_interpolation_id_); double time_diff_s = time_series_data_time_s - reference_time_; if (reference_interpolation_id_ >= time_series_data_.size()) { for (size_t i = 0; i < 3; i++) { @@ -154,3 +154,4 @@ bool TimeSeriesFileOrbitPropagation::UpdateInterpolationInformation() { return true; } + diff --git a/src/dynamics/orbit/time_series_file_orbit_propagation.hpp b/src/dynamics/orbit/time_series_file_orbit_propagation.hpp index aa18a2afc..0db88a7de 100644 --- a/src/dynamics/orbit/time_series_file_orbit_propagation.hpp +++ b/src/dynamics/orbit/time_series_file_orbit_propagation.hpp @@ -39,18 +39,18 @@ class TimeSeriesFileOrbitPropagation : public Orbit { virtual ~TimeSeriesFileOrbitPropagation() {} /** - * @fn CalcEpochData - * @brief Return epoch data for a specific epoch ID. - * @param ephemeris_time_id The ephemeris time ID of the orbit definition data. + * @fn CalcEphemerisTimeData + * @brief Return ephemeris time data for a specific ephemeris time ID. + * @param ephemeris_time_id The ephemeris time ID of the time series data. */ - double CalcEpochData(const size_t ephemeris_time_id) const; + double CalcEphemerisTimeData(const size_t ephemeris_time_id) const; /** - * @fn SearchNearestEpochId - * @brief Search the nearest epoch ID from the orbit definition data. + * @fn SearchNearestEphemerisTimeId + * @brief Search the nearest ephemeris time ID from the time series data. * @param current_time_jd: Current Julian day [day] */ - size_t SearchNearestEpochId(const double current_time_jd); + size_t SearchNearestEphemerisTimeId(const double current_time_jd); // Override Orbit /** @@ -69,9 +69,9 @@ class TimeSeriesFileOrbitPropagation : public Orbit { int interpolation_method_; //!< Interpolation method double orbital_period_correction_s_; //!< Orbital period correction [s] - std::vector> time_series_data_; //!< List of orbit definition data - double reference_time_; //!< Reference start time of the orbit definition data handling - size_t reference_interpolation_id_; //!< Reference epoch ID of the interpolation + std::vector> time_series_data_; //!< List of time series data + double reference_time_; //!< Reference start time of the time series data handling + size_t reference_interpolation_id_; //!< Reference EphemerisTime ID of the interpolation std::vector orbit_position_i_m_; //!< Position with interpolation std::vector orbit_velocity_i_m_s_; //!< Velocity with interpolation @@ -79,7 +79,7 @@ class TimeSeriesFileOrbitPropagation : public Orbit { /** * @fn UpdateInterpolationInformation * @brief Update interpolation information by inserting new data - * @return true: No error, false: Orbit definition file out of range error + * @return true: No error, false: Time series file out of range error */ bool UpdateInterpolationInformation(); }; From 9d8d911db2471090ec6815c05cc4241b4f9ba619 Mon Sep 17 00:00:00 2001 From: fukudakazuya Date: Fri, 27 Sep 2024 21:31:04 +0900 Subject: [PATCH 434/456] delete SpiceUsr.h --- src/dynamics/orbit/time_series_file_orbit_propagation.cpp | 2 -- 1 file changed, 2 deletions(-) diff --git a/src/dynamics/orbit/time_series_file_orbit_propagation.cpp b/src/dynamics/orbit/time_series_file_orbit_propagation.cpp index 06511c93a..ad1d3d73c 100644 --- a/src/dynamics/orbit/time_series_file_orbit_propagation.cpp +++ b/src/dynamics/orbit/time_series_file_orbit_propagation.cpp @@ -5,8 +5,6 @@ #include "time_series_file_orbit_propagation.hpp" -#include - #include #include #include From 5a4f12c3c9279011f19808d7d613a3f7bc978c9d Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 28 Sep 2024 20:45:10 +0900 Subject: [PATCH 435/456] Add logger and setting_file_reader namespace --- .../base/sensor_template_functions.hpp | 2 +- .../ideal/angular_velocity_observer.cpp | 10 ++++----- .../ideal/angular_velocity_observer.hpp | 6 ++--- src/components/ideal/attitude_observer.cpp | 6 ++--- src/components/ideal/attitude_observer.hpp | 10 ++++----- src/components/ideal/force_generator.cpp | 18 +++++++-------- src/components/ideal/orbit_observer.cpp | 10 ++++----- src/components/ideal/torque_generator.cpp | 10 ++++----- src/components/ports/power_port.cpp | 2 +- src/components/real/aocs/gnss_receiver.cpp | 10 ++++----- src/components/real/aocs/gyro_sensor.cpp | 8 +++---- src/components/real/aocs/magnetometer.cpp | 8 +++---- src/components/real/aocs/magnetorquer.cpp | 12 +++++----- .../aocs/mtq_magnetometer_interference.cpp | 2 +- src/components/real/aocs/reaction_wheel.cpp | 14 ++++++------ src/components/real/aocs/star_sensor.cpp | 10 ++++----- src/components/real/aocs/star_sensor.hpp | 12 +++++----- src/components/real/aocs/sun_sensor.cpp | 8 +++---- src/components/real/communication/antenna.cpp | 2 +- .../antenna_radiation_pattern.cpp | 2 +- .../ground_station_calculator.cpp | 2 +- .../wings_command_sender_to_c2a.cpp | 2 +- src/components/real/mission/telescope.cpp | 22 +++++++++---------- src/components/real/mission/telescope.hpp | 10 ++++----- src/components/real/power/battery.cpp | 2 +- .../real/power/csv_scenario_interface.cpp | 2 +- .../real/power/pcu_initial_study.cpp | 2 +- .../real/power/solar_array_panel.cpp | 4 ++-- .../real/propulsion/simple_thruster.cpp | 12 +++++----- src/disturbances/air_drag.cpp | 10 ++++----- src/disturbances/disturbance.hpp | 2 +- src/disturbances/disturbances.cpp | 2 +- src/disturbances/geopotential.cpp | 10 ++++----- src/disturbances/gravity_gradient.cpp | 8 +++---- src/disturbances/lunar_gravity_field.cpp | 10 ++++----- src/disturbances/magnetic_disturbance.cpp | 10 ++++----- .../solar_radiation_pressure_disturbance.cpp | 10 ++++----- src/disturbances/third_body_gravity.cpp | 8 +++---- src/dynamics/attitude/attitude.cpp | 8 +++---- .../attitude_with_cantilever_vibration.cpp | 8 +++---- src/dynamics/attitude/initialize_attitude.cpp | 8 +++---- src/dynamics/orbit/initialize_orbit.cpp | 4 ++-- src/dynamics/orbit/orbit.cpp | 20 ++++++++--------- src/dynamics/thermal/temperature.cpp | 12 +++++----- .../global/celestial_information.cpp | 6 ++--- src/environment/global/global_environment.cpp | 2 +- src/environment/global/gnss_satellites.cpp | 6 ++--- .../global/hipparcos_catalogue.cpp | 2 +- src/environment/global/simulation_time.cpp | 2 +- src/environment/local/atmosphere.cpp | 2 +- src/environment/local/earth_albedo.cpp | 2 +- src/environment/local/geomagnetic_field.cpp | 10 ++++----- .../local/local_celestial_information.cpp | 4 ++-- src/environment/local/local_environment.cpp | 4 ++-- .../solar_radiation_pressure_environment.cpp | 2 +- src/logger/initialize_log.cpp | 4 ++-- 56 files changed, 198 insertions(+), 198 deletions(-) diff --git a/src/components/base/sensor_template_functions.hpp b/src/components/base/sensor_template_functions.hpp index 31c761393..b1236901a 100644 --- a/src/components/base/sensor_template_functions.hpp +++ b/src/components/base/sensor_template_functions.hpp @@ -79,7 +79,7 @@ void Sensor::RangeCheck(void) { template Sensor ReadSensorInformation(const std::string file_name, const double step_width_s, const std::string component_name, const std::string unit) { - IniAccess ini_file(file_name); + setting_file_reader::IniAccess ini_file(file_name); std::string section = "SENSOR_BASE_" + component_name; s2e::math::Vector scale_factor_vector; diff --git a/src/components/ideal/angular_velocity_observer.cpp b/src/components/ideal/angular_velocity_observer.cpp index 7e3bea5d9..94a12c467 100644 --- a/src/components/ideal/angular_velocity_observer.cpp +++ b/src/components/ideal/angular_velocity_observer.cpp @@ -9,7 +9,7 @@ namespace s2e::components { -AngularVelocityObserver::AngularVelocityObserver(const int prescaler, environment::ClockGenerator* clock_generator, Sensor& sensor_base, const Attitude& attitude) +AngularVelocityObserver::AngularVelocityObserver(const int prescaler, environment::ClockGenerator* clock_generator, Sensor& sensor_base, const dynamics::attitude::Attitude& attitude) : Component(prescaler, clock_generator), Sensor(sensor_base), attitude_(attitude) {} void AngularVelocityObserver::MainRoutine(const int time_count) { @@ -21,7 +21,7 @@ std::string AngularVelocityObserver::GetLogHeader() const { std::string str_tmp = ""; std::string sensor_name = "angular_velocity_observer_"; - str_tmp += WriteVector(sensor_name + "measured_value", "b", "rad/s", 3); + str_tmp += logger::WriteVector(sensor_name + "measured_value", "b", "rad/s", 3); return str_tmp; } @@ -29,14 +29,14 @@ std::string AngularVelocityObserver::GetLogHeader() const { std::string AngularVelocityObserver::GetLogValue() const { std::string str_tmp = ""; - str_tmp += WriteVector(angular_velocity_b_rad_s_); + str_tmp += logger::WriteVector(angular_velocity_b_rad_s_); return str_tmp; } AngularVelocityObserver InitializeAngularVelocityObserver(environment::ClockGenerator* clock_generator, const std::string file_name, double component_step_time_s, - const Attitude& attitude) { - IniAccess ini_file(file_name); + const dynamics::attitude::Attitude& attitude) { + setting_file_reader::IniAccess ini_file(file_name); int prescaler = ini_file.ReadInt("COMPONENT_BASE", "prescaler"); if (prescaler <= 1) prescaler = 1; diff --git a/src/components/ideal/angular_velocity_observer.hpp b/src/components/ideal/angular_velocity_observer.hpp index 67d421f9b..404785058 100644 --- a/src/components/ideal/angular_velocity_observer.hpp +++ b/src/components/ideal/angular_velocity_observer.hpp @@ -28,7 +28,7 @@ class AngularVelocityObserver : public Component, public Sensor<3>, public logge * @param [in] sensor_base: Sensor base information * @param [in] dynamics: Dynamics information */ - AngularVelocityObserver(const int prescaler, environment::ClockGenerator* clock_generator, Sensor& sensor_base, const Attitude& attitude); + AngularVelocityObserver(const int prescaler, environment::ClockGenerator* clock_generator, Sensor& sensor_base, const dynamics::attitude::Attitude& attitude); /** * @fn ~AngularVelocityObserver * @brief Destructor @@ -63,7 +63,7 @@ class AngularVelocityObserver : public Component, public Sensor<3>, public logge protected: s2e::math::Vector<3> angular_velocity_b_rad_s_{0.0}; //!< Observed angular velocity [rad/s] - const Attitude& attitude_; //!< Dynamics information + const dynamics::attitude::Attitude& attitude_; //!< Dynamics information }; /** @@ -75,7 +75,7 @@ class AngularVelocityObserver : public Component, public Sensor<3>, public logge * @param [in] dynamics: Dynamics information */ AngularVelocityObserver InitializeAngularVelocityObserver(environment::ClockGenerator* clock_generator, const std::string file_name, double component_step_time_s, - const Attitude& attitude); + const dynamics::attitude::Attitude& attitude); } // namespace s2e::components diff --git a/src/components/ideal/attitude_observer.cpp b/src/components/ideal/attitude_observer.cpp index 1cb6e6126..9d2199056 100644 --- a/src/components/ideal/attitude_observer.cpp +++ b/src/components/ideal/attitude_observer.cpp @@ -11,7 +11,7 @@ namespace s2e::components { AttitudeObserver::AttitudeObserver(const int prescaler, environment::ClockGenerator* clock_generator, const double standard_deviation_rad, - const Attitude& attitude) + const dynamics::attitude::Attitude& attitude) : Component(prescaler, clock_generator), angle_noise_(0.0, standard_deviation_rad), attitude_(attitude) { direction_noise_.SetParameters(0.0, 1.0); } @@ -49,9 +49,9 @@ std::string AttitudeObserver::GetLogValue() const { return str_tmp; } -AttitudeObserver InitializeAttitudeObserver(environment::ClockGenerator* clock_generator, const std::string file_name, const Attitude& attitude) { +AttitudeObserver InitializeAttitudeObserver(environment::ClockGenerator* clock_generator, const std::string file_name, const dynamics::attitude::Attitude& attitude) { // General - IniAccess ini_file(file_name); + setting_file_reader::IniAccess ini_file(file_name); // CompoBase int prescaler = ini_file.ReadInt("COMPONENT_BASE", "prescaler"); diff --git a/src/components/ideal/attitude_observer.hpp b/src/components/ideal/attitude_observer.hpp index 8ce9697e5..59c00dd29 100644 --- a/src/components/ideal/attitude_observer.hpp +++ b/src/components/ideal/attitude_observer.hpp @@ -26,9 +26,9 @@ class AttitudeObserver : public Component, public logger::ILoggable { * @brief Constructor without power port * @param [in] prescaler: Frequency scale factor for update * @param [in] clock_generator: Clock generator - * @param [in] attitude: Attitude information + * @param [in] attitude: dynamics::attitude::Attitude information */ - AttitudeObserver(const int prescaler, environment::ClockGenerator* clock_generator, const double standard_deviation_rad, const Attitude& attitude); + AttitudeObserver(const int prescaler, environment::ClockGenerator* clock_generator, const double standard_deviation_rad, const dynamics::attitude::Attitude& attitude); /** * @fn ~AttitudeObserver @@ -67,7 +67,7 @@ class AttitudeObserver : public Component, public logger::ILoggable { s2e::randomization::NormalRand angle_noise_; //!< Normal random for magnitude noise s2e::randomization::NormalRand direction_noise_; //!< Normal random for direction noise - const Attitude& attitude_; //!< Attitude information + const dynamics::attitude::Attitude& attitude_; //!< dynamics::attitude::Attitude information }; /** @@ -75,9 +75,9 @@ class AttitudeObserver : public Component, public logger::ILoggable { * @brief Initialize functions for AttitudeObserver * @param [in] clock_generator: Clock generator * @param [in] file_name: Path to the initialize file - * @param [in] attitude: Attitude information + * @param [in] attitude: dynamics::attitude::Attitude information */ -AttitudeObserver InitializeAttitudeObserver(environment::ClockGenerator* clock_generator, const std::string file_name, const Attitude& attitude); +AttitudeObserver InitializeAttitudeObserver(environment::ClockGenerator* clock_generator, const std::string file_name, const dynamics::attitude::Attitude& attitude); } // namespace s2e::components diff --git a/src/components/ideal/force_generator.cpp b/src/components/ideal/force_generator.cpp index f458160d7..86b17da21 100644 --- a/src/components/ideal/force_generator.cpp +++ b/src/components/ideal/force_generator.cpp @@ -68,10 +68,10 @@ std::string ForceGenerator::GetLogHeader() const { std::string str_tmp = ""; std::string head = "ideal_force_generator_"; - str_tmp += WriteVector(head + "ordered_force", "b", "N", 3); - str_tmp += WriteVector(head + "generated_force", "b", "N", 3); - str_tmp += WriteVector(head + "generated_force", "i", "N", 3); - str_tmp += WriteVector(head + "generated_force", "rtn", "N", 3); + str_tmp += logger::WriteVector(head + "ordered_force", "b", "N", 3); + str_tmp += logger::WriteVector(head + "generated_force", "b", "N", 3); + str_tmp += logger::WriteVector(head + "generated_force", "i", "N", 3); + str_tmp += logger::WriteVector(head + "generated_force", "rtn", "N", 3); return str_tmp; } @@ -79,10 +79,10 @@ std::string ForceGenerator::GetLogHeader() const { std::string ForceGenerator::GetLogValue() const { std::string str_tmp = ""; - str_tmp += WriteVector(ordered_force_b_N_); - str_tmp += WriteVector(generated_force_b_N_); - str_tmp += WriteVector(generated_force_i_N_); - str_tmp += WriteVector(generated_force_rtn_N_); + str_tmp += logger::WriteVector(ordered_force_b_N_); + str_tmp += logger::WriteVector(generated_force_b_N_); + str_tmp += logger::WriteVector(generated_force_i_N_); + str_tmp += logger::WriteVector(generated_force_rtn_N_); return str_tmp; } @@ -109,7 +109,7 @@ s2e::math::Quaternion ForceGenerator::GenerateDirectionNoiseQuaternion(s2e::math ForceGenerator InitializeForceGenerator(environment::ClockGenerator* clock_generator, const std::string file_name, const Dynamics* dynamics) { // General - IniAccess ini_file(file_name); + setting_file_reader::IniAccess ini_file(file_name); // CompoBase int prescaler = ini_file.ReadInt("COMPONENT_BASE", "prescaler"); diff --git a/src/components/ideal/orbit_observer.cpp b/src/components/ideal/orbit_observer.cpp index 0851de4d8..58ede8f6b 100644 --- a/src/components/ideal/orbit_observer.cpp +++ b/src/components/ideal/orbit_observer.cpp @@ -58,8 +58,8 @@ std::string OrbitObserver::GetLogHeader() const { std::string str_tmp = ""; std::string head = "orbit_observer_"; - str_tmp += WriteVector(head + "position", "i", "m", 3); - str_tmp += WriteVector(head + "velocity", "i", "m/s", 3); + str_tmp += logger::WriteVector(head + "position", "i", "m", 3); + str_tmp += logger::WriteVector(head + "velocity", "i", "m/s", 3); return str_tmp; } @@ -67,8 +67,8 @@ std::string OrbitObserver::GetLogHeader() const { std::string OrbitObserver::GetLogValue() const { std::string str_tmp = ""; - str_tmp += WriteVector(observed_position_i_m_, 16); - str_tmp += WriteVector(observed_velocity_i_m_s_, 16); + str_tmp += logger::WriteVector(observed_position_i_m_, 16); + str_tmp += logger::WriteVector(observed_velocity_i_m_s_, 16); return str_tmp; } @@ -87,7 +87,7 @@ NoiseFrame SetNoiseFrame(const std::string noise_frame) { OrbitObserver InitializeOrbitObserver(environment::ClockGenerator* clock_generator, const std::string file_name, const Orbit& orbit) { // General - IniAccess ini_file(file_name); + setting_file_reader::IniAccess ini_file(file_name); // CompoBase int prescaler = ini_file.ReadInt("COMPONENT_BASE", "prescaler"); diff --git a/src/components/ideal/torque_generator.cpp b/src/components/ideal/torque_generator.cpp index a47ede7c9..74a478a29 100644 --- a/src/components/ideal/torque_generator.cpp +++ b/src/components/ideal/torque_generator.cpp @@ -45,8 +45,8 @@ std::string TorqueGenerator::GetLogHeader() const { std::string str_tmp = ""; std::string head = "ideal_torque_generator_"; - str_tmp += WriteVector(head + "ordered_torque", "b", "Nm", 3); - str_tmp += WriteVector(head + "generated_torque", "b", "Nm", 3); + str_tmp += logger::WriteVector(head + "ordered_torque", "b", "Nm", 3); + str_tmp += logger::WriteVector(head + "generated_torque", "b", "Nm", 3); return str_tmp; } @@ -54,8 +54,8 @@ std::string TorqueGenerator::GetLogHeader() const { std::string TorqueGenerator::GetLogValue() const { std::string str_tmp = ""; - str_tmp += WriteVector(ordered_torque_b_Nm_); - str_tmp += WriteVector(generated_torque_b_Nm_); + str_tmp += logger::WriteVector(ordered_torque_b_Nm_); + str_tmp += logger::WriteVector(generated_torque_b_Nm_); return str_tmp; } @@ -82,7 +82,7 @@ s2e::math::Quaternion TorqueGenerator::GenerateDirectionNoiseQuaternion(s2e::mat TorqueGenerator InitializeTorqueGenerator(environment::ClockGenerator* clock_generator, const std::string file_name, const Dynamics* dynamics) { // General - IniAccess ini_file(file_name); + setting_file_reader::IniAccess ini_file(file_name); // CompoBase int prescaler = ini_file.ReadInt("COMPONENT_BASE", "prescaler"); diff --git a/src/components/ports/power_port.cpp b/src/components/ports/power_port.cpp index ac763115e..3964bb674 100644 --- a/src/components/ports/power_port.cpp +++ b/src/components/ports/power_port.cpp @@ -68,7 +68,7 @@ void PowerPort::SubtractAssumedPowerConsumption_W(const double power_W) { } void PowerPort::InitializeWithInitializeFile(const std::string file_name) { - IniAccess initialize_file(file_name); + setting_file_reader::IniAccess initialize_file(file_name); const std::string section_name = "POWER_PORT"; double minimum_voltage_V = initialize_file.ReadDouble(section_name.c_str(), "minimum_voltage_V"); diff --git a/src/components/real/aocs/gnss_receiver.cpp b/src/components/real/aocs/gnss_receiver.cpp index 9b6a80cc8..f68873453 100644 --- a/src/components/real/aocs/gnss_receiver.cpp +++ b/src/components/real/aocs/gnss_receiver.cpp @@ -208,8 +208,8 @@ std::string GnssReceiver::GetLogHeader() const // For logs str_tmp += WriteScalar(sensor_name + "measured_utc_time_hour"); str_tmp += WriteScalar(sensor_name + "measured_utc_time_min"); str_tmp += WriteScalar(sensor_name + "measured_utc_time_sec"); - str_tmp += WriteVector(sensor_name + "measured_position", "ecef", "m", 3); - str_tmp += WriteVector(sensor_name + "measured_velocity", "ecef", "m/s", 3); + str_tmp += logger::WriteVector(sensor_name + "measured_position", "ecef", "m", 3); + str_tmp += logger::WriteVector(sensor_name + "measured_velocity", "ecef", "m/s", 3); str_tmp += WriteScalar(sensor_name + "measured_latitude", "rad"); str_tmp += WriteScalar(sensor_name + "measured_longitude", "rad"); str_tmp += WriteScalar(sensor_name + "measured_altitude", "m"); @@ -228,8 +228,8 @@ std::string GnssReceiver::GetLogValue() const // For logs str_tmp += WriteScalar(utc_.hour); str_tmp += WriteScalar(utc_.minute); str_tmp += WriteScalar(utc_.second); - str_tmp += WriteVector(position_ecef_m_, 10); - str_tmp += WriteVector(velocity_ecef_m_s_, 10); + str_tmp += logger::WriteVector(position_ecef_m_, 10); + str_tmp += logger::WriteVector(velocity_ecef_m_s_, 10); str_tmp += WriteScalar(geodetic_position_.GetLatitude_rad(), 10); str_tmp += WriteScalar(geodetic_position_.GetLongitude_rad(), 10); str_tmp += WriteScalar(geodetic_position_.GetAltitude_m(), 10); @@ -264,7 +264,7 @@ typedef struct _gnss_receiver_param { GnssReceiverParam ReadGnssReceiverIni(const std::string file_name, const GnssSatellites* gnss_satellites, const size_t component_id) { GnssReceiverParam gnss_receiver_param; - IniAccess gnssr_conf(file_name); + setting_file_reader::IniAccess gnssr_conf(file_name); const char* sensor_name = "GNSS_RECEIVER_"; const std::string section_name = sensor_name + std::to_string(static_cast(component_id)); const char* GSection = section_name.c_str(); diff --git a/src/components/real/aocs/gyro_sensor.cpp b/src/components/real/aocs/gyro_sensor.cpp index f967195fa..fe16a6465 100644 --- a/src/components/real/aocs/gyro_sensor.cpp +++ b/src/components/real/aocs/gyro_sensor.cpp @@ -34,7 +34,7 @@ std::string GyroSensor::GetLogHeader() const { std::string str_tmp = ""; const std::string sensor_id = std::to_string(static_cast(sensor_id_)); std::string sensor_name = "gyro_sensor" + sensor_id + "_"; - str_tmp += WriteVector(sensor_name + "measured_angular_velocity", "c", "rad/s", kGyroDimension); + str_tmp += logger::WriteVector(sensor_name + "measured_angular_velocity", "c", "rad/s", kGyroDimension); return str_tmp; } @@ -42,14 +42,14 @@ std::string GyroSensor::GetLogHeader() const { std::string GyroSensor::GetLogValue() const { std::string str_tmp = ""; - str_tmp += WriteVector(angular_velocity_c_rad_s_); + str_tmp += logger::WriteVector(angular_velocity_c_rad_s_); return str_tmp; } GyroSensor InitGyroSensor(environment::ClockGenerator* clock_generator, int sensor_id, const std::string file_name, double component_step_time_s, const Dynamics* dynamics) { - IniAccess gyro_conf(file_name); + setting_file_reader::IniAccess gyro_conf(file_name); const char* sensor_name = "GYRO_SENSOR_"; const std::string section_name = sensor_name + std::to_string(static_cast(sensor_id)); const char* GSection = section_name.c_str(); @@ -70,7 +70,7 @@ GyroSensor InitGyroSensor(environment::ClockGenerator* clock_generator, int sens GyroSensor InitGyroSensor(environment::ClockGenerator* clock_generator, PowerPort* power_port, int sensor_id, const std::string file_name, double component_step_time_s, const Dynamics* dynamics) { - IniAccess gyro_conf(file_name); + setting_file_reader::IniAccess gyro_conf(file_name); const char* sensor_name = "GYRO_SENSOR_"; const std::string section_name = sensor_name + std::to_string(static_cast(sensor_id)); const char* GSection = section_name.c_str(); diff --git a/src/components/real/aocs/magnetometer.cpp b/src/components/real/aocs/magnetometer.cpp index c12e7b37f..dba5c8f45 100644 --- a/src/components/real/aocs/magnetometer.cpp +++ b/src/components/real/aocs/magnetometer.cpp @@ -36,7 +36,7 @@ std::string Magnetometer::GetLogHeader() const { std::string str_tmp = ""; const std::string sensor_id = std::to_string(static_cast(sensor_id_)); std::string sensor_name = "magnetometer" + sensor_id + "_"; - str_tmp += WriteVector(sensor_name + "measured_magnetic_field", "c", "nT", kMagnetometerDimension); + str_tmp += logger::WriteVector(sensor_name + "measured_magnetic_field", "c", "nT", kMagnetometerDimension); return str_tmp; } @@ -44,14 +44,14 @@ std::string Magnetometer::GetLogHeader() const { std::string Magnetometer::GetLogValue() const { std::string str_tmp = ""; - str_tmp += WriteVector(magnetic_field_c_nT_); + str_tmp += logger::WriteVector(magnetic_field_c_nT_); return str_tmp; } Magnetometer InitMagnetometer(environment::ClockGenerator* clock_generator, int sensor_id, const std::string file_name, double component_step_time_s, const GeomagneticField* geomagnetic_field) { - IniAccess magsensor_conf(file_name); + setting_file_reader::IniAccess magsensor_conf(file_name); const char* sensor_name = "MAGNETOMETER_"; const std::string section_name = sensor_name + std::to_string(static_cast(sensor_id)); const char* MSSection = section_name.c_str(); @@ -72,7 +72,7 @@ Magnetometer InitMagnetometer(environment::ClockGenerator* clock_generator, int Magnetometer InitMagnetometer(environment::ClockGenerator* clock_generator, PowerPort* power_port, int sensor_id, const std::string file_name, double component_step_time_s, const GeomagneticField* geomagnetic_field) { - IniAccess magsensor_conf(file_name); + setting_file_reader::IniAccess magsensor_conf(file_name); const char* sensor_name = "MAGNETOMETER_"; const std::string section_name = sensor_name + std::to_string(static_cast(sensor_id)); const char* MSSection = section_name.c_str(); diff --git a/src/components/real/aocs/magnetorquer.cpp b/src/components/real/aocs/magnetorquer.cpp index cab226ac7..863d1ce5b 100644 --- a/src/components/real/aocs/magnetorquer.cpp +++ b/src/components/real/aocs/magnetorquer.cpp @@ -99,23 +99,23 @@ std::string Magnetorquer::GetLogHeader() const { const std::string actuator_id = std::to_string(static_cast(component_id_)); std::string actuator_name = "magnetorquer" + actuator_id + "_"; - str_tmp += WriteVector(actuator_name + "output_magnetic_moment", "b", "Am2", kMtqDimension); - str_tmp += WriteVector(actuator_name + "output_torque", "b", "Nm", kMtqDimension); + str_tmp += logger::WriteVector(actuator_name + "output_magnetic_moment", "b", "Am2", kMtqDimension); + str_tmp += logger::WriteVector(actuator_name + "output_torque", "b", "Nm", kMtqDimension); return str_tmp; } std::string Magnetorquer::GetLogValue() const { std::string str_tmp = ""; - str_tmp += WriteVector(output_magnetic_moment_b_Am2_); - str_tmp += WriteVector(torque_b_Nm_); + str_tmp += logger::WriteVector(output_magnetic_moment_b_Am2_); + str_tmp += logger::WriteVector(torque_b_Nm_); return str_tmp; } Magnetorquer InitMagnetorquer(environment::ClockGenerator* clock_generator, int actuator_id, const std::string file_name, double component_step_time_s, const GeomagneticField* geomagnetic_field) { - IniAccess magtorquer_conf(file_name); + setting_file_reader::IniAccess magtorquer_conf(file_name); const char* sensor_name = "MAGNETORQUER_"; const std::string section_name = sensor_name + std::to_string(static_cast(actuator_id)); const char* MTSection = section_name.c_str(); @@ -160,7 +160,7 @@ Magnetorquer InitMagnetorquer(environment::ClockGenerator* clock_generator, int Magnetorquer InitMagnetorquer(environment::ClockGenerator* clock_generator, PowerPort* power_port, int actuator_id, const std::string file_name, double component_step_time_s, const GeomagneticField* geomagnetic_field) { - IniAccess magtorquer_conf(file_name); + setting_file_reader::IniAccess magtorquer_conf(file_name); const char* sensor_name = "MAGNETORQUER_"; const std::string section_name = sensor_name + std::to_string(static_cast(actuator_id)); const char* MTSection = section_name.c_str(); diff --git a/src/components/real/aocs/mtq_magnetometer_interference.cpp b/src/components/real/aocs/mtq_magnetometer_interference.cpp index b2f23f474..7113ee869 100644 --- a/src/components/real/aocs/mtq_magnetometer_interference.cpp +++ b/src/components/real/aocs/mtq_magnetometer_interference.cpp @@ -13,7 +13,7 @@ MtqMagnetometerInterference::MtqMagnetometerInterference(const std::string file_ const size_t initialize_id) : magnetometer_(magnetometer), magnetorquer_(magnetorquer) { // Read ini file - IniAccess ini_file(file_name); + setting_file_reader::IniAccess ini_file(file_name); std::string section = "MTQ_MAGNETOMETER_INTERFERENCE_" + std::to_string(static_cast(initialize_id)); polynomial_degree_ = (size_t)ini_file.ReadInt(section.c_str(), "polynomial_degree"); diff --git a/src/components/real/aocs/reaction_wheel.cpp b/src/components/real/aocs/reaction_wheel.cpp index 9fe963c84..4124f0af1 100644 --- a/src/components/real/aocs/reaction_wheel.cpp +++ b/src/components/real/aocs/reaction_wheel.cpp @@ -205,8 +205,8 @@ std::string ReactionWheel::GetLogHeader() const { str_tmp += WriteScalar(component_name + "angular_acceleration", "rad/s2"); if (is_logged_jitter_ && is_calculated_jitter_) { - str_tmp += WriteVector(component_name + "jitter_force", "c", "N", 3); - str_tmp += WriteVector(component_name + "jitter_torque", "c", "Nm", 3); + str_tmp += logger::WriteVector(component_name + "jitter_force", "c", "N", 3); + str_tmp += logger::WriteVector(component_name + "jitter_torque", "c", "Nm", 3); } return str_tmp; @@ -222,8 +222,8 @@ std::string ReactionWheel::GetLogValue() const { str_tmp += WriteScalar(generated_angular_acceleration_rad_s2_); if (is_logged_jitter_ && is_calculated_jitter_) { - str_tmp += WriteVector(rw_jitter_.GetJitterForce_c_N()); - str_tmp += WriteVector(rw_jitter_.GetJitterTorque_c_Nm()); + str_tmp += logger::WriteVector(rw_jitter_.GetJitterForce_c_N()); + str_tmp += logger::WriteVector(rw_jitter_.GetJitterTorque_c_Nm()); } return str_tmp; @@ -260,7 +260,7 @@ ReactionWheelJitter rw_jitter; void InitParams(int actuator_id, std::string file_name, double compo_update_step_s) { // Access Parameters - IniAccess rw_ini_file(file_name); + setting_file_reader::IniAccess rw_ini_file(file_name); std::string section_tmp = "REACTION_WHEEL_" + std::to_string(static_cast(actuator_id)); const char* rw_section = section_tmp.c_str(); @@ -316,8 +316,8 @@ void InitParams(int actuator_id, std::string file_name, double compo_update_step std::string radial_force_harmonics_coefficient_path = rw_ini_file.ReadString(jitter_section, "radial_force_harmonics_coefficient_file"); std::string radial_torque_harmonics_coefficient_path = rw_ini_file.ReadString(jitter_section, "radial_torque_harmonics_coefficient_file"); int harmonics_degree = rw_ini_file.ReadInt(jitter_section, "harmonics_degree"); - IniAccess conf_radial_force_harmonics(radial_force_harmonics_coefficient_path); - IniAccess conf_radial_torque_harmonics(radial_torque_harmonics_coefficient_path); + setting_file_reader::IniAccess conf_radial_force_harmonics(radial_force_harmonics_coefficient_path); + setting_file_reader::IniAccess conf_radial_torque_harmonics(radial_torque_harmonics_coefficient_path); std::vector> radial_force_harmonics_coefficients; std::vector> radial_torque_harmonics_coefficients; conf_radial_force_harmonics.ReadCsvDouble(radial_force_harmonics_coefficients, harmonics_degree); diff --git a/src/components/real/aocs/star_sensor.cpp b/src/components/real/aocs/star_sensor.cpp index 6466a60e8..324288777 100644 --- a/src/components/real/aocs/star_sensor.cpp +++ b/src/components/real/aocs/star_sensor.cpp @@ -90,7 +90,7 @@ void StarSensor::Initialize() { error_flag_ = true; } -Quaternion StarSensor::Measure(const LocalCelestialInformation* local_celestial_information, const Attitude* attitude) { +Quaternion StarSensor::Measure(const LocalCelestialInformation* local_celestial_information, const dynamics::attitude::Attitude* attitude) { update(local_celestial_information, attitude); // update delay buffer if (update_count_ == 0) { int hist = buffer_position_ - output_delay_ - 1; @@ -106,7 +106,7 @@ Quaternion StarSensor::Measure(const LocalCelestialInformation* local_celestial_ return measured_quaternion_i2c_; } -void StarSensor::update(const LocalCelestialInformation* local_celestial_information, const Attitude* attitude) { +void StarSensor::update(const LocalCelestialInformation* local_celestial_information, const dynamics::attitude::Attitude* attitude) { Quaternion quaternion_i2b = attitude->GetQuaternion_i2b(); // Read true value Quaternion q_stt_temp = quaternion_i2b * quaternion_b2c_; // Convert to component frame // Add noise on sight direction @@ -127,7 +127,7 @@ void StarSensor::update(const LocalCelestialInformation* local_celestial_informa buffer_position_ %= max_delay_; } -void StarSensor::AllJudgement(const LocalCelestialInformation* local_celestial_information, const Attitude* attitude) { +void StarSensor::AllJudgement(const LocalCelestialInformation* local_celestial_information, const dynamics::attitude::Attitude* attitude) { int judgement = 0; judgement = SunJudgement(local_celestial_information->GetPositionFromSpacecraft_b_m("SUN")); judgement += EarthJudgement(local_celestial_information->GetPositionFromSpacecraft_b_m("EARTH")); @@ -217,7 +217,7 @@ void StarSensor::MainRoutine(const int time_count) { StarSensor InitStarSensor(environment::ClockGenerator* clock_generator, int sensor_id, const string file_name, double component_step_time_s, const Dynamics* dynamics, const LocalEnvironment* local_environment) { - IniAccess STT_conf(file_name); + setting_file_reader::IniAccess STT_conf(file_name); const char* sensor_name = "STAR_SENSOR_"; const std::string section_name = sensor_name + std::to_string(static_cast(sensor_id)); const char* STTSection = section_name.c_str(); @@ -250,7 +250,7 @@ StarSensor InitStarSensor(environment::ClockGenerator* clock_generator, int sens StarSensor InitStarSensor(environment::ClockGenerator* clock_generator, PowerPort* power_port, int sensor_id, const string file_name, double component_step_time_s, const Dynamics* dynamics, const LocalEnvironment* local_environment) { - IniAccess STT_conf(file_name); + setting_file_reader::IniAccess STT_conf(file_name); const char* sensor_name = "STAR_SENSOR_"; const std::string section_name = sensor_name + std::to_string(static_cast(sensor_id)); const char* STTSection = section_name.c_str(); diff --git a/src/components/real/aocs/star_sensor.hpp b/src/components/real/aocs/star_sensor.hpp index 9a7ebf842..5e3ab99b2 100644 --- a/src/components/real/aocs/star_sensor.hpp +++ b/src/components/real/aocs/star_sensor.hpp @@ -146,24 +146,24 @@ class StarSensor : public Component, public logger::ILoggable { * @fn update * @brief Update delay buffer * @param [in] local_celestial_information: Local celestial information - * @param [in] attitude: Attitude information + * @param [in] attitude: dynamics::attitude::Attitude information */ - void update(const LocalCelestialInformation* local_celestial_information, const Attitude* attitude); + void update(const LocalCelestialInformation* local_celestial_information, const dynamics::attitude::Attitude* attitude); /** * @fn Measure * @brief Calculate measured quaternion * @param [in] local_celestial_information: Local celestial information - * @param [in] attitude: Attitude information + * @param [in] attitude: dynamics::attitude::Attitude information */ - s2e::math::Quaternion Measure(const LocalCelestialInformation* local_celestial_information, const Attitude* attitude); + s2e::math::Quaternion Measure(const LocalCelestialInformation* local_celestial_information, const dynamics::attitude::Attitude* attitude); /** * @fn AllJudgement * @brief Calculate all error judgement * @param [in] local_celestial_information: Local celestial information - * @param [in] attitude: Attitude information + * @param [in] attitude: dynamics::attitude::Attitude information */ - void AllJudgement(const LocalCelestialInformation* local_celestial_information, const Attitude* attitude); + void AllJudgement(const LocalCelestialInformation* local_celestial_information, const dynamics::attitude::Attitude* attitude); /** * @fn SunJudgement * @brief Judge violation of sun forbidden angle diff --git a/src/components/real/aocs/sun_sensor.cpp b/src/components/real/aocs/sun_sensor.cpp index 1e0b8142a..82e74e40a 100644 --- a/src/components/real/aocs/sun_sensor.cpp +++ b/src/components/real/aocs/sun_sensor.cpp @@ -138,7 +138,7 @@ string SunSensor::GetLogHeader() const { const string sensor_id = std::to_string(static_cast(component_id_)); std::string sensor_name = "sun_sensor" + sensor_id + "_"; - str_tmp += WriteVector(sensor_name + "measured_sun_direction", "c", "-", 3); + str_tmp += logger::WriteVector(sensor_name + "measured_sun_direction", "c", "-", 3); str_tmp += WriteScalar(sensor_name + "sun_detected_flag", "-"); return str_tmp; @@ -147,7 +147,7 @@ string SunSensor::GetLogHeader() const { string SunSensor::GetLogValue() const { string str_tmp = ""; - str_tmp += WriteVector(measured_sun_direction_c_); + str_tmp += logger::WriteVector(measured_sun_direction_c_); str_tmp += WriteScalar(double(sun_detected_flag_)); return str_tmp; @@ -155,7 +155,7 @@ string SunSensor::GetLogValue() const { SunSensor InitSunSensor(environment::ClockGenerator* clock_generator, int ss_id, std::string file_name, const SolarRadiationPressureEnvironment* srp_environment, const LocalCelestialInformation* local_celestial_information) { - IniAccess ss_conf(file_name); + setting_file_reader::IniAccess ss_conf(file_name); const char* sensor_name = "SUN_SENSOR_"; const std::string section_tmp = sensor_name + std::to_string(static_cast(ss_id)); const char* Section = section_tmp.c_str(); @@ -188,7 +188,7 @@ SunSensor InitSunSensor(environment::ClockGenerator* clock_generator, int ss_id, SunSensor InitSunSensor(environment::ClockGenerator* clock_generator, PowerPort* power_port, int ss_id, std::string file_name, const SolarRadiationPressureEnvironment* srp_environment, const LocalCelestialInformation* local_celestial_information) { - IniAccess ss_conf(file_name); + setting_file_reader::IniAccess ss_conf(file_name); const char* sensor_name = "SUN_SENSOR_"; const std::string section_tmp = sensor_name + std::to_string(static_cast(ss_id)); const char* Section = section_tmp.c_str(); diff --git a/src/components/real/communication/antenna.cpp b/src/components/real/communication/antenna.cpp index fb22a00b8..3eb527fd4 100644 --- a/src/components/real/communication/antenna.cpp +++ b/src/components/real/communication/antenna.cpp @@ -108,7 +108,7 @@ AntennaGainModel SetAntennaGainModel(const std::string gain_model_name) { } Antenna InitAntenna(const int antenna_id, const std::string file_name) { - IniAccess antenna_conf(file_name); + setting_file_reader::IniAccess antenna_conf(file_name); const std::string section_name = "ANTENNA_" + std::to_string(static_cast(antenna_id)); diff --git a/src/components/real/communication/antenna_radiation_pattern.cpp b/src/components/real/communication/antenna_radiation_pattern.cpp index 71566f080..59e1ac935 100644 --- a/src/components/real/communication/antenna_radiation_pattern.cpp +++ b/src/components/real/communication/antenna_radiation_pattern.cpp @@ -16,7 +16,7 @@ AntennaRadiationPattern::AntennaRadiationPattern() { gain_dBi_.assign(length_the AntennaRadiationPattern::AntennaRadiationPattern(const std::string file_path, const size_t length_theta, const size_t length_phi, const double theta_max_rad, const double phi_max_rad) : length_theta_(length_theta), length_phi_(length_phi), theta_max_rad_(theta_max_rad), phi_max_rad_(phi_max_rad) { - IniAccess gain_file(file_path); + setting_file_reader::IniAccess gain_file(file_path); gain_file.ReadCsvDouble(gain_dBi_, (std::max)(length_theta_, length_phi_)); } diff --git a/src/components/real/communication/ground_station_calculator.cpp b/src/components/real/communication/ground_station_calculator.cpp index f53afc30a..554919b92 100644 --- a/src/components/real/communication/ground_station_calculator.cpp +++ b/src/components/real/communication/ground_station_calculator.cpp @@ -120,7 +120,7 @@ std::string GroundStationCalculator::GetLogValue() const { } GroundStationCalculator InitGsCalculator(const std::string file_name) { - IniAccess gs_conf(file_name); + setting_file_reader::IniAccess gs_conf(file_name); char Section[30] = "GROUND_STATION_CALCULATOR"; diff --git a/src/components/real/communication/wings_command_sender_to_c2a.cpp b/src/components/real/communication/wings_command_sender_to_c2a.cpp index 899241372..e075b82ae 100644 --- a/src/components/real/communication/wings_command_sender_to_c2a.cpp +++ b/src/components/real/communication/wings_command_sender_to_c2a.cpp @@ -135,7 +135,7 @@ void WingsCommandSenderToC2a::AnalyzeC2aCommand(const std::vector t WingsCommandSenderToC2a InitWingsCommandSenderToC2a(environment::ClockGenerator* clock_generator, const double compo_update_step_s, const std::string initialize_file) { - IniAccess ini_access(initialize_file); + setting_file_reader::IniAccess ini_access(initialize_file); std::string section = "WINGS_COMMAND_SENDER_TO_C2A"; bool is_enabled = ini_access.ReadEnable(section.c_str(), "command_send_enable"); diff --git a/src/components/real/mission/telescope.cpp b/src/components/real/mission/telescope.cpp index 5e6e3c8da..b04e5b0da 100644 --- a/src/components/real/mission/telescope.cpp +++ b/src/components/real/mission/telescope.cpp @@ -18,7 +18,7 @@ namespace s2e::components { Telescope::Telescope(environment::ClockGenerator* clock_generator, const s2e::math::Quaternion& quaternion_b2c, const double sun_forbidden_angle_rad, const double earth_forbidden_angle_rad, const double moon_forbidden_angle_rad, const int x_number_of_pix, const int y_number_of_pix, const double x_fov_per_pix, const double y_fov_per_pix, size_t number_of_logged_stars, - const Attitude* attitude, const HipparcosCatalogue* hipparcos, const LocalCelestialInformation* local_celestial_information, + const dynamics::attitude::Attitude* attitude, const HipparcosCatalogue* hipparcos, const LocalCelestialInformation* local_celestial_information, const Orbit* orbit) : Component(1, clock_generator), quaternion_b2c_(quaternion_b2c), @@ -198,9 +198,9 @@ string Telescope::GetLogHeader() const { str_tmp += WriteScalar(component_name + "sun_in_exclusion_angle", ""); str_tmp += WriteScalar(component_name + "earth_in_exclusion_angle", ""); str_tmp += WriteScalar(component_name + "moon_in_exclusion_angle", ""); - str_tmp += WriteVector(component_name + "sun_position", "img", "pix", 2); - str_tmp += WriteVector(component_name + "earth_position", "img", "pix", 2); - str_tmp += WriteVector(component_name + "moon_position", "img", "pix", 2); + str_tmp += logger::WriteVector(component_name + "sun_position", "img", "pix", 2); + str_tmp += logger::WriteVector(component_name + "earth_position", "img", "pix", 2); + str_tmp += logger::WriteVector(component_name + "moon_position", "img", "pix", 2); str_tmp += WriteScalar(component_name + "ground_position_x", "pix"); str_tmp += WriteScalar(component_name + "ground_position_y", "pix"); // When Hipparcos Catalogue was not read, no output of ObserveStars @@ -208,7 +208,7 @@ string Telescope::GetLogHeader() const { for (size_t i = 0; i < number_of_logged_stars_; i++) { str_tmp += WriteScalar(component_name + "hipparcos_id (" + to_string(i) + ")", " "); str_tmp += WriteScalar(component_name + "visible_magnitude (" + to_string(i) + ")", " "); - str_tmp += WriteVector(component_name + "star_position (" + to_string(i) + ")", "img", "pix", 2); + str_tmp += logger::WriteVector(component_name + "star_position (" + to_string(i) + ")", "img", "pix", 2); } } @@ -225,9 +225,9 @@ string Telescope::GetLogValue() const { str_tmp += WriteScalar(is_sun_in_forbidden_angle); str_tmp += WriteScalar(is_earth_in_forbidden_angle); str_tmp += WriteScalar(is_moon_in_forbidden_angle); - str_tmp += WriteVector(sun_position_image_sensor); - str_tmp += WriteVector(earth_position_image_sensor); - str_tmp += WriteVector(moon_position_image_sensor); + str_tmp += logger::WriteVector(sun_position_image_sensor); + str_tmp += logger::WriteVector(earth_position_image_sensor); + str_tmp += logger::WriteVector(moon_position_image_sensor); str_tmp += WriteScalar(ground_position_x_image_sensor_); str_tmp += WriteScalar(ground_position_y_image_sensor_); // When Hipparcos Catalogue was not read, no output of ObserveStars @@ -235,7 +235,7 @@ string Telescope::GetLogValue() const { for (size_t i = 0; i < number_of_logged_stars_; i++) { str_tmp += WriteScalar(star_list_in_sight[i].hipparcos_data.hipparcos_id); str_tmp += WriteScalar(star_list_in_sight[i].hipparcos_data.visible_magnitude); - str_tmp += WriteVector(star_list_in_sight[i].position_image_sensor); + str_tmp += logger::WriteVector(star_list_in_sight[i].position_image_sensor); } } @@ -247,11 +247,11 @@ string Telescope::GetLogValue() const { return str_tmp; } -Telescope InitTelescope(environment::ClockGenerator* clock_generator, int sensor_id, const string file_name, const Attitude* attitude, +Telescope InitTelescope(environment::ClockGenerator* clock_generator, int sensor_id, const string file_name, const dynamics::attitude::Attitude* attitude, const HipparcosCatalogue* hipparcos, const LocalCelestialInformation* local_celestial_information, const Orbit* orbit) { using s2e::math::pi; - IniAccess Telescope_conf(file_name); + setting_file_reader::IniAccess Telescope_conf(file_name); const string st_sensor_id = std::to_string(static_cast(sensor_id)); const char* cs = st_sensor_id.data(); diff --git a/src/components/real/mission/telescope.hpp b/src/components/real/mission/telescope.hpp index 452639e56..bad6d0fbf 100644 --- a/src/components/real/mission/telescope.hpp +++ b/src/components/real/mission/telescope.hpp @@ -47,14 +47,14 @@ class Telescope : public Component, public logger::ILoggable { * @param [in] x_fov_per_pix: Field of view per pixel of X-axis in the image plane [rad/pix] * @param [in] y_fov_per_pix: Field of view per pixel of Y-axis in the image plane [rad/pix] * @param [in] number_of_logged_stars: Number of logged stars - * @param [in] attitude: Attitude Information + * @param [in] attitude: dynamics::attitude::Attitude Information * @param [in] hipparcos: Hipparcos catalogue information * @param [in] local_celestial_information: Local celestial information * @param [in] orbit: Orbit information */ Telescope(environment::ClockGenerator* clock_generator, const s2e::math::Quaternion& quaternion_b2c, const double sun_forbidden_angle_rad, const double earth_forbidden_angle_rad, const double moon_forbidden_angle_rad, const int x_number_of_pix, const int y_number_of_pix, - const double x_fov_per_pix, const double y_fov_per_pix, size_t number_of_logged_stars, const Attitude* attitude, + const double x_fov_per_pix, const double y_fov_per_pix, size_t number_of_logged_stars, const dynamics::attitude::Attitude* attitude, const HipparcosCatalogue* hipparcos, const LocalCelestialInformation* local_celestial_information, const Orbit* orbit = nullptr); /** * @fn ~Telescope @@ -126,7 +126,7 @@ class Telescope : public Component, public logger::ILoggable { */ void ObserveStars(); - const Attitude* attitude_; //!< Attitude information + const dynamics::attitude::Attitude* attitude_; //!< dynamics::attitude::Attitude information const HipparcosCatalogue* hipparcos_; //!< Star information const LocalCelestialInformation* local_celestial_information_; //!< Local celestial information /** @@ -164,11 +164,11 @@ class Telescope : public Component, public logger::ILoggable { * @param [in] clock_generator: Clock generator * @param [in] sensor_id: Sensor ID * @param [in] file_name: Path to initialize file - * @param [in] attitude: Attitude information + * @param [in] attitude: dynamics::attitude::Attitude information * @param [in] hipparcos: Star information by Hipparcos catalogue * @param [in] local_celestial_information: Local celestial information */ -Telescope InitTelescope(environment::ClockGenerator* clock_generator, int sensor_id, const std::string file_name, const Attitude* attitude, +Telescope InitTelescope(environment::ClockGenerator* clock_generator, int sensor_id, const std::string file_name, const dynamics::attitude::Attitude* attitude, const HipparcosCatalogue* hipparcos, const LocalCelestialInformation* local_celestial_information, const Orbit* orbit = nullptr); diff --git a/src/components/real/power/battery.cpp b/src/components/real/power/battery.cpp index a050e35b8..a6442ad3f 100644 --- a/src/components/real/power/battery.cpp +++ b/src/components/real/power/battery.cpp @@ -90,7 +90,7 @@ void Battery::UpdateBatVoltage() { } Battery InitBAT(environment::ClockGenerator* clock_generator, int bat_id, const std::string file_name, double component_step_time_s) { - IniAccess bat_conf(file_name); + setting_file_reader::IniAccess bat_conf(file_name); const std::string section_name = "BATTERY_" + std::to_string(static_cast(bat_id)); diff --git a/src/components/real/power/csv_scenario_interface.cpp b/src/components/real/power/csv_scenario_interface.cpp index f0efc14fb..51f2c2f4b 100644 --- a/src/components/real/power/csv_scenario_interface.cpp +++ b/src/components/real/power/csv_scenario_interface.cpp @@ -14,7 +14,7 @@ std::map CsvScenarioInterface::buffer_line_id_; std::map CsvScenarioInterface::buffers_; void CsvScenarioInterface::Initialize(const std::string file_name) { - IniAccess scenario_conf(file_name); + setting_file_reader::IniAccess scenario_conf(file_name); char Section[30] = "SCENARIO"; CsvScenarioInterface::is_csv_scenario_enabled_ = scenario_conf.ReadBoolean(Section, "is_csv_scenario_enabled"); diff --git a/src/components/real/power/pcu_initial_study.cpp b/src/components/real/power/pcu_initial_study.cpp index c79873dea..e89729490 100644 --- a/src/components/real/power/pcu_initial_study.cpp +++ b/src/components/real/power/pcu_initial_study.cpp @@ -115,7 +115,7 @@ void PcuInitialStudy::UpdateChargeCurrentAndBusVoltage() { PcuInitialStudy InitPCU_InitialStudy(environment::ClockGenerator* clock_generator, int pcu_id, const std::string file_name, const std::vector saps, Battery* battery, double component_step_time_s) { - IniAccess pcu_conf(file_name); + setting_file_reader::IniAccess pcu_conf(file_name); const std::string section_name = "PCU_INITIAL_STUDY_" + std::to_string(static_cast(pcu_id)); diff --git a/src/components/real/power/solar_array_panel.cpp b/src/components/real/power/solar_array_panel.cpp index fdde4d90a..df4bdad96 100644 --- a/src/components/real/power/solar_array_panel.cpp +++ b/src/components/real/power/solar_array_panel.cpp @@ -119,7 +119,7 @@ void SolarArrayPanel::MainRoutine(const int time_count) { SolarArrayPanel InitSAP(environment::ClockGenerator* clock_generator, int sap_id, const std::string file_name, const SolarRadiationPressureEnvironment* srp_environment, const LocalCelestialInformation* local_celestial_information, double component_step_time_s) { - IniAccess sap_conf(file_name); + setting_file_reader::IniAccess sap_conf(file_name); const std::string section_name = "SOLAR_ARRAY_PANEL_" + std::to_string(static_cast(sap_id)); @@ -152,7 +152,7 @@ SolarArrayPanel InitSAP(environment::ClockGenerator* clock_generator, int sap_id SolarArrayPanel InitSAP(environment::ClockGenerator* clock_generator, int sap_id, const std::string file_name, const SolarRadiationPressureEnvironment* srp_environment, double component_step_time_s) { - IniAccess sap_conf(file_name); + setting_file_reader::IniAccess sap_conf(file_name); const std::string section_name = "SOLAR_ARRAY_PANEL_" + std::to_string(static_cast(sap_id)); diff --git a/src/components/real/propulsion/simple_thruster.cpp b/src/components/real/propulsion/simple_thruster.cpp index 9501f82bb..735ec87f0 100644 --- a/src/components/real/propulsion/simple_thruster.cpp +++ b/src/components/real/propulsion/simple_thruster.cpp @@ -79,8 +79,8 @@ std::string SimpleThruster::GetLogHeader() const { std::string str_tmp = ""; std::string head = "simple_thruster" + std::to_string(component_id_) + "_"; - str_tmp += WriteVector(head + "output_thrust", "b", "N", 3); - str_tmp += WriteVector(head + "output_torque", "b", "Nm", 3); + str_tmp += logger::WriteVector(head + "output_thrust", "b", "N", 3); + str_tmp += logger::WriteVector(head + "output_torque", "b", "Nm", 3); str_tmp += WriteScalar(head + "output_thrust_norm", "N"); return str_tmp; } @@ -88,8 +88,8 @@ std::string SimpleThruster::GetLogHeader() const { std::string SimpleThruster::GetLogValue() const { std::string str_tmp = ""; - str_tmp += WriteVector(output_thrust_b_N_); - str_tmp += WriteVector(output_torque_b_Nm_); + str_tmp += logger::WriteVector(output_thrust_b_N_); + str_tmp += logger::WriteVector(output_torque_b_Nm_); str_tmp += WriteScalar(output_thrust_b_N_.CalcNorm()); return str_tmp; @@ -124,7 +124,7 @@ s2e::math::Vector<3> SimpleThruster::CalcThrustDirection() { SimpleThruster InitSimpleThruster(environment::ClockGenerator* clock_generator, int thruster_id, const std::string file_name, const Structure* structure, const Dynamics* dynamics) { - IniAccess thruster_conf(file_name); + setting_file_reader::IniAccess thruster_conf(file_name); std::string section_str = "THRUSTER_" + std::to_string(thruster_id); auto* Section = section_str.c_str(); @@ -152,7 +152,7 @@ SimpleThruster InitSimpleThruster(environment::ClockGenerator* clock_generator, SimpleThruster InitSimpleThruster(environment::ClockGenerator* clock_generator, PowerPort* power_port, int thruster_id, const std::string file_name, const Structure* structure, const Dynamics* dynamics) { - IniAccess thruster_conf(file_name); + setting_file_reader::IniAccess thruster_conf(file_name); std::string section_str = "THRUSTER_" + std::to_string(thruster_id); auto* Section = section_str.c_str(); diff --git a/src/disturbances/air_drag.cpp b/src/disturbances/air_drag.cpp index 87884ba9b..a15817e36 100644 --- a/src/disturbances/air_drag.cpp +++ b/src/disturbances/air_drag.cpp @@ -80,8 +80,8 @@ void AirDrag::CalcCnCt(const Vector<3>& velocity_b_m_s) { std::string AirDrag::GetLogHeader() const { std::string str_tmp = ""; - str_tmp += WriteVector("air_drag_torque", "b", "Nm", 3); - str_tmp += WriteVector("air_drag_force", "b", "N", 3); + str_tmp += logger::WriteVector("air_drag_torque", "b", "Nm", 3); + str_tmp += logger::WriteVector("air_drag_force", "b", "N", 3); return str_tmp; } @@ -89,14 +89,14 @@ std::string AirDrag::GetLogHeader() const { std::string AirDrag::GetLogValue() const { std::string str_tmp = ""; - str_tmp += WriteVector(torque_b_Nm_); - str_tmp += WriteVector(force_b_N_); + str_tmp += logger::WriteVector(torque_b_Nm_); + str_tmp += logger::WriteVector(force_b_N_); return str_tmp; } AirDrag InitAirDrag(const std::string initialize_file_path, const std::vector& surfaces, const Vector<3>& center_of_gravity_b_m) { - auto conf = IniAccess(initialize_file_path); + auto conf = setting_file_reader::IniAccess(initialize_file_path); const char* section = "AIR_DRAG"; const double wall_temperature_K = conf.ReadDouble(section, "wall_temperature_degC") + 273.0; diff --git a/src/disturbances/disturbance.hpp b/src/disturbances/disturbance.hpp index 1d153810c..1c93d18a9 100644 --- a/src/disturbances/disturbance.hpp +++ b/src/disturbances/disturbance.hpp @@ -21,7 +21,7 @@ class Disturbance : public logger::ILoggable { * @fn Disturbance * @brief Constructor * @param [in] is_calculation_enabled: Calculation flag - * @param [in] is_attitude_dependent: Attitude dependent flag + * @param [in] is_attitude_dependent: dynamics::attitude::Attitude dependent flag */ Disturbance(const bool is_calculation_enabled = true, const bool is_attitude_dependent = true) : is_calculation_enabled_(is_calculation_enabled), is_attitude_dependent_(is_attitude_dependent) { diff --git a/src/disturbances/disturbances.cpp b/src/disturbances/disturbances.cpp index 84380248b..e274cbe96 100644 --- a/src/disturbances/disturbances.cpp +++ b/src/disturbances/disturbances.cpp @@ -59,7 +59,7 @@ void Disturbances::LogSetup(Logger& logger) { void Disturbances::InitializeInstances(const SimulationConfiguration* simulation_configuration, const int spacecraft_id, const Structure* structure, const GlobalEnvironment* global_environment) { - IniAccess ini_access = IniAccess(simulation_configuration->spacecraft_file_list_[spacecraft_id]); + setting_file_reader::IniAccess ini_access = setting_file_reader::IniAccess(simulation_configuration->spacecraft_file_list_[spacecraft_id]); initialize_file_name_ = ini_access.ReadString("SETTING_FILES", "disturbance_file"); GravityGradient* gg_dist = new GravityGradient( diff --git a/src/disturbances/geopotential.cpp b/src/disturbances/geopotential.cpp index 16123cf5d..f28f6a591 100644 --- a/src/disturbances/geopotential.cpp +++ b/src/disturbances/geopotential.cpp @@ -94,10 +94,10 @@ std::string Geopotential::GetLogHeader() const { std::string str_tmp = ""; #ifdef DEBUG_GEOPOTENTIAL - str_tmp += WriteVector("geopotential_calculation_position_", "ecef", "m", 3); + str_tmp += logger::WriteVector("geopotential_calculation_position_", "ecef", "m", 3); str_tmp += WriteScalar("geopotential_calculation_time", "ms"); #endif - str_tmp += WriteVector("geopotential_acceleration", "ecef", "m/s2", 3); + str_tmp += logger::WriteVector("geopotential_acceleration", "ecef", "m/s2", 3); return str_tmp; } @@ -106,17 +106,17 @@ std::string Geopotential::GetLogValue() const { std::string str_tmp = ""; #ifdef DEBUG_GEOPOTENTIAL - str_tmp += WriteVector(debug_pos_ecef_m_, 15); + str_tmp += logger::WriteVector(debug_pos_ecef_m_, 15); str_tmp += WriteScalar(time_ms_); #endif - str_tmp += WriteVector(acceleration_ecef_m_s2_, 15); + str_tmp += logger::WriteVector(acceleration_ecef_m_s2_, 15); return str_tmp; } Geopotential InitGeopotential(const std::string initialize_file_path) { - auto conf = IniAccess(initialize_file_path); + auto conf = setting_file_reader::IniAccess(initialize_file_path); const char *section = "GEOPOTENTIAL"; const int degree = conf.ReadInt(section, "degree"); diff --git a/src/disturbances/gravity_gradient.cpp b/src/disturbances/gravity_gradient.cpp index b04b2c8d7..8ac14cdfa 100644 --- a/src/disturbances/gravity_gradient.cpp +++ b/src/disturbances/gravity_gradient.cpp @@ -38,7 +38,7 @@ s2e::math::Vector<3> GravityGradient::CalcTorque_b_Nm(const s2e::math::Vector<3> std::string GravityGradient::GetLogHeader() const { std::string str_tmp = ""; - str_tmp += WriteVector("gravity_gradient_torque", "b", "Nm", 3); + str_tmp += logger::WriteVector("gravity_gradient_torque", "b", "Nm", 3); return str_tmp; } @@ -46,13 +46,13 @@ std::string GravityGradient::GetLogHeader() const { std::string GravityGradient::GetLogValue() const { std::string str_tmp = ""; - str_tmp += WriteVector(torque_b_Nm_); + str_tmp += logger::WriteVector(torque_b_Nm_); return str_tmp; } GravityGradient InitGravityGradient(const std::string initialize_file_path) { - auto conf = IniAccess(initialize_file_path); + auto conf = setting_file_reader::IniAccess(initialize_file_path); const char* section = "GRAVITY_GRADIENT"; const bool is_calc_enable = conf.ReadEnable(section, INI_CALC_LABEL); @@ -63,7 +63,7 @@ GravityGradient InitGravityGradient(const std::string initialize_file_path) { } GravityGradient InitGravityGradient(const std::string initialize_file_path, const double gravity_constant_m3_s2) { - auto conf = IniAccess(initialize_file_path); + auto conf = setting_file_reader::IniAccess(initialize_file_path); const char* section = "GRAVITY_GRADIENT"; const bool is_calc_enable = conf.ReadEnable(section, INI_CALC_LABEL); diff --git a/src/disturbances/lunar_gravity_field.cpp b/src/disturbances/lunar_gravity_field.cpp index 747a0e065..7f7e63191 100644 --- a/src/disturbances/lunar_gravity_field.cpp +++ b/src/disturbances/lunar_gravity_field.cpp @@ -117,10 +117,10 @@ std::string LunarGravityField::GetLogHeader() const { std::string str_tmp = ""; #ifdef DEBUG_LUNAR_GRAVITY_FIELD - str_tmp += WriteVector("lunar_gravity_calculation_position", "mcmf", "m", 3); + str_tmp += logger::WriteVector("lunar_gravity_calculation_position", "mcmf", "m", 3); str_tmp += WriteScalar("lunar_gravity_calculation_time", "ms"); #endif - str_tmp += WriteVector("lunar_gravity_acceleration", "mcmf", "m/s2", 3); + str_tmp += logger::WriteVector("lunar_gravity_acceleration", "mcmf", "m/s2", 3); return str_tmp; } @@ -129,17 +129,17 @@ std::string LunarGravityField::GetLogValue() const { std::string str_tmp = ""; #ifdef DEBUG_LUNAR_GRAVITY_FIELD - str_tmp += WriteVector(debug_pos_mcmf_m_, 15); + str_tmp += logger::WriteVector(debug_pos_mcmf_m_, 15); str_tmp += WriteScalar(time_ms_); #endif - str_tmp += WriteVector(acceleration_mcmf_m_s2_, 15); + str_tmp += logger::WriteVector(acceleration_mcmf_m_s2_, 15); return str_tmp; } LunarGravityField InitLunarGravityField(const std::string initialize_file_path) { - auto conf = IniAccess(initialize_file_path); + auto conf = setting_file_reader::IniAccess(initialize_file_path); const char *section = "LUNAR_GRAVITY_FIELD"; const int degree = conf.ReadInt(section, "degree"); diff --git a/src/disturbances/magnetic_disturbance.cpp b/src/disturbances/magnetic_disturbance.cpp index fec275450..3368dc8df 100644 --- a/src/disturbances/magnetic_disturbance.cpp +++ b/src/disturbances/magnetic_disturbance.cpp @@ -49,8 +49,8 @@ void MagneticDisturbance::CalcRMM() { std::string MagneticDisturbance::GetLogHeader() const { std::string str_tmp = ""; - str_tmp += WriteVector("spacecraft_magnetic_moment", "b", "Am2", 3); - str_tmp += WriteVector("magnetic_disturbance_torque", "b", "Nm", 3); + str_tmp += logger::WriteVector("spacecraft_magnetic_moment", "b", "Am2", 3); + str_tmp += logger::WriteVector("magnetic_disturbance_torque", "b", "Nm", 3); return str_tmp; } @@ -58,14 +58,14 @@ std::string MagneticDisturbance::GetLogHeader() const { std::string MagneticDisturbance::GetLogValue() const { std::string str_tmp = ""; - str_tmp += WriteVector(rmm_b_Am2_); - str_tmp += WriteVector(torque_b_Nm_); + str_tmp += logger::WriteVector(rmm_b_Am2_); + str_tmp += logger::WriteVector(torque_b_Nm_); return str_tmp; } MagneticDisturbance InitMagneticDisturbance(const std::string initialize_file_path, const ResidualMagneticMoment& rmm_params) { - auto conf = IniAccess(initialize_file_path); + auto conf = setting_file_reader::IniAccess(initialize_file_path); const char* section = "MAGNETIC_DISTURBANCE"; const bool is_calc_enable = conf.ReadEnable(section, INI_CALC_LABEL); diff --git a/src/disturbances/solar_radiation_pressure_disturbance.cpp b/src/disturbances/solar_radiation_pressure_disturbance.cpp index 490938542..b28784672 100644 --- a/src/disturbances/solar_radiation_pressure_disturbance.cpp +++ b/src/disturbances/solar_radiation_pressure_disturbance.cpp @@ -39,8 +39,8 @@ void SolarRadiationPressureDisturbance::CalcCoefficients(const s2e::math::Vector std::string SolarRadiationPressureDisturbance::GetLogHeader() const { std::string str_tmp = ""; - str_tmp += WriteVector("srp_torque", "b", "Nm", 3); - str_tmp += WriteVector("srp_force", "b", "N", 3); + str_tmp += logger::WriteVector("srp_torque", "b", "Nm", 3); + str_tmp += logger::WriteVector("srp_force", "b", "N", 3); return str_tmp; } @@ -48,15 +48,15 @@ std::string SolarRadiationPressureDisturbance::GetLogHeader() const { std::string SolarRadiationPressureDisturbance::GetLogValue() const { std::string str_tmp = ""; - str_tmp += WriteVector(torque_b_Nm_); - str_tmp += WriteVector(force_b_N_); + str_tmp += logger::WriteVector(torque_b_Nm_); + str_tmp += logger::WriteVector(force_b_N_); return str_tmp; } SolarRadiationPressureDisturbance InitSolarRadiationPressureDisturbance(const std::string initialize_file_path, const std::vector& surfaces, const Vector<3>& center_of_gravity_b_m) { - auto conf = IniAccess(initialize_file_path); + auto conf = setting_file_reader::IniAccess(initialize_file_path); const char* section = "SOLAR_RADIATION_PRESSURE_DISTURBANCE"; const bool is_calc_enable = conf.ReadEnable(section, INI_CALC_LABEL); diff --git a/src/disturbances/third_body_gravity.cpp b/src/disturbances/third_body_gravity.cpp index eebb2ec05..476fe673e 100644 --- a/src/disturbances/third_body_gravity.cpp +++ b/src/disturbances/third_body_gravity.cpp @@ -46,21 +46,21 @@ s2e::math::Vector<3> ThirdBodyGravity::CalcAcceleration_i_m_s2(const s2e::math:: std::string ThirdBodyGravity::GetLogHeader() const { std::string str_tmp = ""; - str_tmp += WriteVector("third_body_acceleration", "i", "m/s2", 3); + str_tmp += logger::WriteVector("third_body_acceleration", "i", "m/s2", 3); return str_tmp; } std::string ThirdBodyGravity::GetLogValue() const { std::string str_tmp = ""; - str_tmp += WriteVector(acceleration_i_m_s2_); + str_tmp += logger::WriteVector(acceleration_i_m_s2_); return str_tmp; } ThirdBodyGravity InitThirdBodyGravity(const std::string initialize_file_path, const std::string ini_path_celes) { // Generate a list of bodies to be calculated in "CelesInfo" - auto conf_celes = IniAccess(ini_path_celes); + auto conf_celes = setting_file_reader::IniAccess(ini_path_celes); const char* section_celes = "CELESTIAL_INFORMATION"; const int num_of_selected_body = conf_celes.ReadInt(section_celes, "number_of_selected_body"); const std::string center_object = conf_celes.ReadString(section_celes, "center_object"); @@ -72,7 +72,7 @@ ThirdBodyGravity InitThirdBodyGravity(const std::string initialize_file_path, co } // Generate a list of bodies to be calculated in "ThirdBodyGravity" from the list of bodies of "CelesInfo" - auto conf = IniAccess(initialize_file_path); + auto conf = setting_file_reader::IniAccess(initialize_file_path); const char* section = "THIRD_BODY_GRAVITY"; const int num_of_third_body = conf.ReadInt(section, "number_of_third_body"); diff --git a/src/dynamics/attitude/attitude.cpp b/src/dynamics/attitude/attitude.cpp index 4777184de..2ad9c0f20 100644 --- a/src/dynamics/attitude/attitude.cpp +++ b/src/dynamics/attitude/attitude.cpp @@ -24,9 +24,9 @@ Attitude::Attitude(const s2e::math::Matrix<3, 3>& inertia_tensor_kgm2, const std std::string Attitude::GetLogHeader() const { std::string str_tmp = ""; - str_tmp += WriteVector("spacecraft_angular_velocity", "b", "rad/s", 3); + str_tmp += logger::WriteVector("spacecraft_angular_velocity", "b", "rad/s", 3); str_tmp += WriteQuaternion("spacecraft_quaternion", "i2b"); - str_tmp += WriteVector("spacecraft_torque", "b", "Nm", 3); + str_tmp += logger::WriteVector("spacecraft_torque", "b", "Nm", 3); str_tmp += WriteScalar("spacecraft_total_angular_momentum", "Nms"); str_tmp += WriteScalar("spacecraft_kinematic_energy", "J"); @@ -36,9 +36,9 @@ std::string Attitude::GetLogHeader() const { std::string Attitude::GetLogValue() const { std::string str_tmp = ""; - str_tmp += WriteVector(angular_velocity_b_rad_s_); + str_tmp += logger::WriteVector(angular_velocity_b_rad_s_); str_tmp += WriteQuaternion(quaternion_i2b_); - str_tmp += WriteVector(torque_b_Nm_); + str_tmp += logger::WriteVector(torque_b_Nm_); str_tmp += WriteScalar(angular_momentum_total_Nms_); str_tmp += WriteScalar(kinetic_energy_J_); diff --git a/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp b/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp index 2b2ff73e3..711c623f4 100644 --- a/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp +++ b/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp @@ -46,8 +46,8 @@ AttitudeWithCantileverVibration::~AttitudeWithCantileverVibration() {} std::string AttitudeWithCantileverVibration::GetLogHeader() const { std::string str_tmp = Attitude::GetLogHeader(); - str_tmp += WriteVector("euler_angular_cantilever", "c", "rad", 3); - str_tmp += WriteVector("angular_velocity_cantilever", "c", "rad/s", 3); + str_tmp += logger::WriteVector("euler_angular_cantilever", "c", "rad", 3); + str_tmp += logger::WriteVector("angular_velocity_cantilever", "c", "rad/s", 3); return str_tmp; } @@ -55,8 +55,8 @@ std::string AttitudeWithCantileverVibration::GetLogHeader() const { std::string AttitudeWithCantileverVibration::GetLogValue() const { std::string str_tmp = Attitude::GetLogValue(); - str_tmp += WriteVector(euler_angular_cantilever_rad_); - str_tmp += WriteVector(angular_velocity_cantilever_rad_s_); + str_tmp += logger::WriteVector(euler_angular_cantilever_rad_); + str_tmp += logger::WriteVector(angular_velocity_cantilever_rad_s_); return str_tmp; } diff --git a/src/dynamics/attitude/initialize_attitude.cpp b/src/dynamics/attitude/initialize_attitude.cpp index 02e19ad09..875bb92f2 100644 --- a/src/dynamics/attitude/initialize_attitude.cpp +++ b/src/dynamics/attitude/initialize_attitude.cpp @@ -10,7 +10,7 @@ namespace s2e::dynamics::attitude { Attitude* InitAttitude(std::string file_name, const Orbit* orbit, const LocalCelestialInformation* local_celestial_information, const double step_width_s, const s2e::math::Matrix<3, 3>& inertia_tensor_kgm2, const int spacecraft_id) { - IniAccess ini_file(file_name); + setting_file_reader::IniAccess ini_file(file_name); const char* section_ = "ATTITUDE"; std::string mc_name = "attitude" + std::to_string(spacecraft_id); Attitude* attitude; @@ -23,7 +23,7 @@ Attitude* InitAttitude(std::string file_name, const Orbit* orbit, const LocalCel s2e::math::Vector<3> torque_b; if (initialize_mode == "CONTROLLED") { // Initialize with Controlled attitude (attitude_tmp temporary used) - IniAccess ini_file_ca(file_name); + setting_file_reader::IniAccess ini_file_ca(file_name); const char* section_ca_ = "CONTROLLED_ATTITUDE"; const std::string main_mode_in = ini_file.ReadString(section_ca_, "main_mode"); const std::string sub_mode_in = ini_file.ReadString(section_ca_, "sub_mode"); @@ -53,7 +53,7 @@ Attitude* InitAttitude(std::string file_name, const Orbit* orbit, const LocalCel attitude = new AttitudeRk4(omega_b, quaternion_i2b, inertia_tensor_kgm2, torque_b, step_width_s, mc_name); } else if (propagate_mode == "CANTILEVER_VIBRATION") { std::string ini_structure_name = ini_file.ReadString("SETTING_FILES", "structure_file"); - IniAccess ini_structure(ini_structure_name); + setting_file_reader::IniAccess ini_structure(ini_structure_name); const char* section_cantilever = "CANTILEVER_PARAMETERS"; s2e::math::Matrix<3, 3> inertia_tensor_cantilever_kgm2; @@ -72,7 +72,7 @@ Attitude* InitAttitude(std::string file_name, const Orbit* orbit, const LocalCel intrinsic_angular_velocity_cantilever_rad_s, torque_b, step_width_s, mc_name); } else if (propagate_mode == "CONTROLLED") { // Controlled attitude - IniAccess ini_file_ca(file_name); + setting_file_reader::IniAccess ini_file_ca(file_name); const char* section_ca_ = "CONTROLLED_ATTITUDE"; const std::string main_mode_in = ini_file.ReadString(section_ca_, "main_mode"); const std::string sub_mode_in = ini_file.ReadString(section_ca_, "sub_mode"); diff --git a/src/dynamics/orbit/initialize_orbit.cpp b/src/dynamics/orbit/initialize_orbit.cpp index 5b8329708..8aad74327 100644 --- a/src/dynamics/orbit/initialize_orbit.cpp +++ b/src/dynamics/orbit/initialize_orbit.cpp @@ -16,7 +16,7 @@ namespace s2e::dynamics::orbit { Orbit* InitOrbit(const CelestialInformation* celestial_information, std::string initialize_file, double step_width_s, double current_time_jd, double gravity_constant_m3_s2, std::string section, RelativeInformation* relative_information) { - auto conf = IniAccess(initialize_file); + auto conf = setting_file_reader::IniAccess(initialize_file); const char* section_ = section.c_str(); Orbit* orbit; @@ -118,7 +118,7 @@ Orbit* InitOrbit(const CelestialInformation* celestial_information, std::string } s2e::math::Vector<6> InitializePosVel(std::string initialize_file, double current_time_jd, double gravity_constant_m3_s2, std::string section) { - auto conf = IniAccess(initialize_file); + auto conf = setting_file_reader::IniAccess(initialize_file); const char* section_ = section.c_str(); s2e::math::Vector<3> position_i_m; s2e::math::Vector<3> velocity_i_m_s; diff --git a/src/dynamics/orbit/orbit.cpp b/src/dynamics/orbit/orbit.cpp index c2b94493d..f838b7c76 100644 --- a/src/dynamics/orbit/orbit.cpp +++ b/src/dynamics/orbit/orbit.cpp @@ -69,11 +69,11 @@ OrbitInitializeMode SetOrbitInitializeMode(const std::string initialize_mode) { std::string Orbit::GetLogHeader() const { std::string str_tmp = ""; - str_tmp += WriteVector("spacecraft_position", "i", "m", 3); - str_tmp += WriteVector("spacecraft_position", "ecef", "m", 3); - str_tmp += WriteVector("spacecraft_velocity", "i", "m/s", 3); - str_tmp += WriteVector("spacecraft_velocity", "b", "m/s", 3); - str_tmp += WriteVector("spacecraft_acceleration", "i", "m/s2", 3); + str_tmp += logger::WriteVector("spacecraft_position", "i", "m", 3); + str_tmp += logger::WriteVector("spacecraft_position", "ecef", "m", 3); + str_tmp += logger::WriteVector("spacecraft_velocity", "i", "m/s", 3); + str_tmp += logger::WriteVector("spacecraft_velocity", "b", "m/s", 3); + str_tmp += logger::WriteVector("spacecraft_acceleration", "i", "m/s2", 3); str_tmp += WriteScalar("spacecraft_latitude", "rad"); str_tmp += WriteScalar("spacecraft_longitude", "rad"); str_tmp += WriteScalar("spacecraft_altitude", "m"); @@ -84,11 +84,11 @@ std::string Orbit::GetLogHeader() const { std::string Orbit::GetLogValue() const { std::string str_tmp = ""; - str_tmp += WriteVector(spacecraft_position_i_m_, 16); - str_tmp += WriteVector(spacecraft_position_ecef_m_, 16); - str_tmp += WriteVector(spacecraft_velocity_i_m_s_, 10); - str_tmp += WriteVector(spacecraft_velocity_b_m_s_, 10); - str_tmp += WriteVector(spacecraft_acceleration_i_m_s2_, 10); + str_tmp += logger::WriteVector(spacecraft_position_i_m_, 16); + str_tmp += logger::WriteVector(spacecraft_position_ecef_m_, 16); + str_tmp += logger::WriteVector(spacecraft_velocity_i_m_s_, 10); + str_tmp += logger::WriteVector(spacecraft_velocity_b_m_s_, 10); + str_tmp += logger::WriteVector(spacecraft_acceleration_i_m_s2_, 10); str_tmp += WriteScalar(spacecraft_geodetic_position_.GetLatitude_rad()); str_tmp += WriteScalar(spacecraft_geodetic_position_.GetLongitude_rad()); str_tmp += WriteScalar(spacecraft_geodetic_position_.GetAltitude_m()); diff --git a/src/dynamics/thermal/temperature.cpp b/src/dynamics/thermal/temperature.cpp index aec2acc7a..1843b28cc 100644 --- a/src/dynamics/thermal/temperature.cpp +++ b/src/dynamics/thermal/temperature.cpp @@ -293,7 +293,7 @@ using std::vector; Temperature* InitTemperature(const std::string file_name, const double rk_prop_step_s, const SolarRadiationPressureEnvironment* srp_environment, const EarthAlbedo* earth_albedo) { - auto mainIni = IniAccess(file_name); + auto mainIni = setting_file_reader::IniAccess(file_name); vector node_list; vector heater_list; @@ -331,7 +331,7 @@ Temperature* InitTemperature(const std::string file_name, const double rk_prop_s // Read Heatloads from CSV File string filepath_heatload = file_path + "heatload.csv"; - IniAccess conf_heatload(filepath_heatload); + setting_file_reader::IniAccess conf_heatload(filepath_heatload); conf_heatload.ReadCsvString(heatload_str_list, 100); /*since we don't know the number of node_list yet, set node_num=100 temporary. Recall that Nodes_num are given to this function only to reserve memory*/ @@ -344,7 +344,7 @@ Temperature* InitTemperature(const std::string file_name, const double rk_prop_s // Read Node Properties from CSV File string filepath_node = file_path + "node.csv"; - IniAccess conf_node(filepath_node); + setting_file_reader::IniAccess conf_node(filepath_node); conf_node.ReadCsvString(node_str_list, 100); /*since we don't know the number of node_list yet, set node_num=100 temporary. Recall that Nodes_num are given to this function only to reserve memory*/ @@ -359,7 +359,7 @@ Temperature* InitTemperature(const std::string file_name, const double rk_prop_s // Read Heater Properties from CSV File string filepath_heater = file_path + "heaters.csv"; - IniAccess conf_heater(filepath_heater); + setting_file_reader::IniAccess conf_heater(filepath_heater); conf_heater.ReadCsvString(heater_str_list, 100); /*since we don't know the number of heater_list yet, set heater_num=100 temporary. Recall that heater_num are given to this function only to reserve memory*/ @@ -375,8 +375,8 @@ Temperature* InitTemperature(const std::string file_name, const double rk_prop_s // Read Cij,Rij data from CSV File string filepath_cij = file_path + "cij.csv"; string filepath_rij = file_path + "rij.csv"; - IniAccess conf_cij(filepath_cij); - IniAccess conf_rij(filepath_rij); + setting_file_reader::IniAccess conf_cij(filepath_cij); + setting_file_reader::IniAccess conf_rij(filepath_rij); conf_cij.ReadCsvDoubleWithHeader(conductance_matrix, node_num, 1, 1); conf_rij.ReadCsvDoubleWithHeader(radiation_matrix, node_num, 1, 1); diff --git a/src/environment/global/celestial_information.cpp b/src/environment/global/celestial_information.cpp index 4eb09cf05..bcf9bf365 100644 --- a/src/environment/global/celestial_information.cpp +++ b/src/environment/global/celestial_information.cpp @@ -165,8 +165,8 @@ std::string CelestialInformation::GetLogHeader() const { std::string body_pos = name + "_position"; std::string body_vel = name + "_velocity"; - str_tmp += WriteVector(body_pos, "i", "m", 3); - str_tmp += WriteVector(body_vel, "i", "m/s", 3); + str_tmp += logger::WriteVector(body_pos, "i", "m", 3); + str_tmp += logger::WriteVector(body_vel, "i", "m/s", 3); } return str_tmp; } @@ -201,7 +201,7 @@ void CelestialInformation::GetPlanetOrbit(const char* planet_name, const double } CelestialInformation* InitCelestialInformation(std::string file_name) { - IniAccess ini_file(file_name); + setting_file_reader::IniAccess ini_file(file_name); const char* section = "CELESTIAL_INFORMATION"; const char* furnsh_section = "CSPICE_KERNELS"; diff --git a/src/environment/global/global_environment.cpp b/src/environment/global/global_environment.cpp index b97b78da7..334c1d4ae 100644 --- a/src/environment/global/global_environment.cpp +++ b/src/environment/global/global_environment.cpp @@ -20,7 +20,7 @@ GlobalEnvironment::~GlobalEnvironment() { void GlobalEnvironment::Initialize(const SimulationConfiguration* simulation_configuration) { // Get ini file path - IniAccess iniAccess = IniAccess(simulation_configuration->initialize_base_file_name_); + setting_file_reader::IniAccess iniAccess = setting_file_reader::IniAccess(simulation_configuration->initialize_base_file_name_); std::string simulation_time_ini_path = simulation_configuration->initialize_base_file_name_; // Initialize diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index d16fefc26..ee801c9b6 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -158,7 +158,7 @@ std::string GnssSatellites::GetLogHeader() const { // TODO: Add log output for other navigation systems for (size_t gps_index = 0; gps_index < kNumberOfGpsSatellite; gps_index++) { - str_tmp += WriteVector("GPS" + std::to_string(gps_index) + "_position", "ecef", "m", 3); + str_tmp += logger::WriteVector("GPS" + std::to_string(gps_index) + "_position", "ecef", "m", 3); str_tmp += WriteScalar("GPS" + std::to_string(gps_index) + "_clock_offset", "s"); } @@ -169,7 +169,7 @@ std::string GnssSatellites::GetLogValue() const { std::string str_tmp = ""; for (size_t gps_index = 0; gps_index < kNumberOfGpsSatellite; gps_index++) { - str_tmp += WriteVector(GetPosition_ecef_m(gps_index), 16); + str_tmp += logger::WriteVector(GetPosition_ecef_m(gps_index), 16); str_tmp += WriteScalar(GetClock_s(gps_index)); } @@ -177,7 +177,7 @@ std::string GnssSatellites::GetLogValue() const { } GnssSatellites* InitGnssSatellites(const std::string file_name, const EarthRotation& earth_rotation, const SimulationTime& simulation_time) { - IniAccess ini_file(file_name); + setting_file_reader::IniAccess ini_file(file_name); char section[] = "GNSS_SATELLITES"; const bool is_calc_enable = ini_file.ReadEnable(section, INI_CALC_LABEL); diff --git a/src/environment/global/hipparcos_catalogue.cpp b/src/environment/global/hipparcos_catalogue.cpp index 72ad7dfdf..a4fb9d5f4 100644 --- a/src/environment/global/hipparcos_catalogue.cpp +++ b/src/environment/global/hipparcos_catalogue.cpp @@ -87,7 +87,7 @@ std::string HipparcosCatalogue::GetLogValue() const { } HipparcosCatalogue* InitHipparcosCatalogue(std::string file_name) { - IniAccess ini_file(file_name); + setting_file_reader::IniAccess ini_file(file_name); const char* section = "HIPPARCOS_CATALOGUE"; std::string catalogue_path = ini_file.ReadString(section, "catalogue_file_path"); diff --git a/src/environment/global/simulation_time.cpp b/src/environment/global/simulation_time.cpp index e44d5a416..d1c74d495 100644 --- a/src/environment/global/simulation_time.cpp +++ b/src/environment/global/simulation_time.cpp @@ -247,7 +247,7 @@ void SimulationTime::ConvJDtoCalendarDay(const double JD) { } SimulationTime* InitSimulationTime(std::string file_name) { - IniAccess ini_file(file_name); + setting_file_reader::IniAccess ini_file(file_name); const char* section = "TIME"; // Parameters about entire simulation diff --git a/src/environment/local/atmosphere.cpp b/src/environment/local/atmosphere.cpp index cfada183c..0b0c9cccc 100644 --- a/src/environment/local/atmosphere.cpp +++ b/src/environment/local/atmosphere.cpp @@ -103,7 +103,7 @@ std::string Atmosphere::GetLogHeader() const { Atmosphere InitAtmosphere(const std::string initialize_file_path, const LocalCelestialInformation* local_celestial_information, const SimulationTime* simulation_time) { - auto conf = IniAccess(initialize_file_path); + auto conf = setting_file_reader::IniAccess(initialize_file_path); const char* section = "ATMOSPHERE"; double f107_threshold = 50.0; double f107_default = 150.0; diff --git a/src/environment/local/earth_albedo.cpp b/src/environment/local/earth_albedo.cpp index fb3672a8e..46831b8e5 100644 --- a/src/environment/local/earth_albedo.cpp +++ b/src/environment/local/earth_albedo.cpp @@ -50,7 +50,7 @@ void EarthAlbedo::CalcEarthAlbedo(const LocalCelestialInformation* local_celesti EarthAlbedo InitEarthAlbedo(std::string initialize_file_path, LocalCelestialInformation* local_celestial_information, SolarRadiationPressureEnvironment* srp_environment) { - auto conf = IniAccess(initialize_file_path); + auto conf = setting_file_reader::IniAccess(initialize_file_path); const char* section = "EARTH_ALBEDO"; EarthAlbedo earth_albedo(local_celestial_information, srp_environment); diff --git a/src/environment/local/geomagnetic_field.cpp b/src/environment/local/geomagnetic_field.cpp index 008f3277c..0b5eab1b9 100644 --- a/src/environment/local/geomagnetic_field.cpp +++ b/src/environment/local/geomagnetic_field.cpp @@ -57,8 +57,8 @@ void GeomagneticField::AddNoise(double* magnetic_field_array_i_nT) { std::string GeomagneticField::GetLogHeader() const { std::string str_tmp = ""; - str_tmp += WriteVector("geomagnetic_field_at_spacecraft_position", "i", "nT", 3); - str_tmp += WriteVector("geomagnetic_field_at_spacecraft_position", "b", "nT", 3); + str_tmp += logger::WriteVector("geomagnetic_field_at_spacecraft_position", "i", "nT", 3); + str_tmp += logger::WriteVector("geomagnetic_field_at_spacecraft_position", "b", "nT", 3); return str_tmp; } @@ -66,14 +66,14 @@ std::string GeomagneticField::GetLogHeader() const { std::string GeomagneticField::GetLogValue() const { std::string str_tmp = ""; - str_tmp += WriteVector(magnetic_field_i_nT_); - str_tmp += WriteVector(magnetic_field_b_nT_); + str_tmp += logger::WriteVector(magnetic_field_i_nT_); + str_tmp += logger::WriteVector(magnetic_field_b_nT_); return str_tmp; } GeomagneticField InitGeomagneticField(std::string initialize_file_path) { - auto conf = IniAccess(initialize_file_path); + auto conf = setting_file_reader::IniAccess(initialize_file_path); const char* section = "MAGNETIC_FIELD_ENVIRONMENT"; std::string fname = conf.ReadString(section, "coefficient_file"); diff --git a/src/environment/local/local_celestial_information.cpp b/src/environment/local/local_celestial_information.cpp index fde483b84..8699e21f2 100644 --- a/src/environment/local/local_celestial_information.cpp +++ b/src/environment/local/local_celestial_information.cpp @@ -181,8 +181,8 @@ std::string LocalCelestialInformation::GetLogHeader() const { std::string body_pos = name + "_position_from_spacecraft"; std::string body_vel = name + "_velocity_from_spacecraft"; - str_tmp += WriteVector(body_pos, "b", "m", 3); - str_tmp += WriteVector(body_vel, "b", "m/s", 3); + str_tmp += logger::WriteVector(body_pos, "b", "m", 3); + str_tmp += logger::WriteVector(body_vel, "b", "m/s", 3); } return str_tmp; } diff --git a/src/environment/local/local_environment.cpp b/src/environment/local/local_environment.cpp index d12f5e882..b8738b87a 100644 --- a/src/environment/local/local_environment.cpp +++ b/src/environment/local/local_environment.cpp @@ -26,7 +26,7 @@ LocalEnvironment::~LocalEnvironment() { void LocalEnvironment::Initialize(const SimulationConfiguration* simulation_configuration, const GlobalEnvironment* global_environment, const int spacecraft_id) { // Read file name - IniAccess iniAccess = IniAccess(simulation_configuration->spacecraft_file_list_[spacecraft_id]); + setting_file_reader::IniAccess iniAccess = setting_file_reader::IniAccess(simulation_configuration->spacecraft_file_list_[spacecraft_id]); std::string ini_fname = iniAccess.ReadString("SETTING_FILES", "local_environment_file"); // Save ini file @@ -47,7 +47,7 @@ void LocalEnvironment::Initialize(const SimulationConfiguration* simulation_conf } // Log setting for Local celestial information - IniAccess conf = IniAccess(ini_fname); + setting_file_reader::IniAccess conf = setting_file_reader::IniAccess(ini_fname); celestial_information_->is_log_enabled_ = conf.ReadEnable("LOCAL_CELESTIAL_INFORMATION", "logging"); } diff --git a/src/environment/local/solar_radiation_pressure_environment.cpp b/src/environment/local/solar_radiation_pressure_environment.cpp index 1ab74ebdc..ff60f94be 100644 --- a/src/environment/local/solar_radiation_pressure_environment.cpp +++ b/src/environment/local/solar_radiation_pressure_environment.cpp @@ -106,7 +106,7 @@ void SolarRadiationPressureEnvironment::CalcShadowCoefficient(std::string shadow SolarRadiationPressureEnvironment InitSolarRadiationPressureEnvironment(std::string initialize_file_path, LocalCelestialInformation* local_celestial_information) { - auto conf = IniAccess(initialize_file_path); + auto conf = setting_file_reader::IniAccess(initialize_file_path); const char* section = "SOLAR_RADIATION_PRESSURE_ENVIRONMENT"; SolarRadiationPressureEnvironment srp_env(local_celestial_information); diff --git a/src/logger/initialize_log.cpp b/src/logger/initialize_log.cpp index 3dec812af..30c1036bb 100644 --- a/src/logger/initialize_log.cpp +++ b/src/logger/initialize_log.cpp @@ -10,7 +10,7 @@ namespace s2e::logger { Logger* InitLog(std::string file_name) { - IniAccess ini_file(file_name); + setting_file_reader::IniAccess ini_file(file_name); std::string log_file_path = ini_file.ReadString("SIMULATION_SETTINGS", "log_file_save_directory"); bool log_ini = ini_file.ReadEnable("SIMULATION_SETTINGS", "save_initialize_files"); @@ -21,7 +21,7 @@ Logger* InitLog(std::string file_name) { } Logger* InitMonteCarloLog(std::string file_name, bool enable) { - IniAccess ini_file(file_name); + setting_file_reader::IniAccess ini_file(file_name); std::string log_file_path = ini_file.ReadString("SIMULATION_SETTINGS", "log_file_save_directory"); bool log_ini = ini_file.ReadEnable("SIMULATION_SETTINGS", "save_initialize_files"); From 679e084041063d09eb794375044585f8e277005b Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 28 Sep 2024 20:46:53 +0900 Subject: [PATCH 436/456] Add logger namespace --- src/components/ideal/attitude_observer.cpp | 4 ++-- src/components/real/aocs/star_sensor.cpp | 4 ++-- src/dynamics/attitude/attitude.cpp | 4 ++-- 3 files changed, 6 insertions(+), 6 deletions(-) diff --git a/src/components/ideal/attitude_observer.cpp b/src/components/ideal/attitude_observer.cpp index 9d2199056..dad39b3e3 100644 --- a/src/components/ideal/attitude_observer.cpp +++ b/src/components/ideal/attitude_observer.cpp @@ -36,7 +36,7 @@ std::string AttitudeObserver::GetLogHeader() const { std::string str_tmp = ""; std::string head = "attitude_observer_"; - str_tmp += WriteQuaternion(head + "quaternion", "i2b"); + str_tmp += logger::WriteQuaternion(head + "quaternion", "i2b"); return str_tmp; } @@ -44,7 +44,7 @@ std::string AttitudeObserver::GetLogHeader() const { std::string AttitudeObserver::GetLogValue() const { std::string str_tmp = ""; - str_tmp += WriteQuaternion(observed_quaternion_i2b_); + str_tmp += logger::WriteQuaternion(observed_quaternion_i2b_); return str_tmp; } diff --git a/src/components/real/aocs/star_sensor.cpp b/src/components/real/aocs/star_sensor.cpp index 324288777..e84f8edc5 100644 --- a/src/components/real/aocs/star_sensor.cpp +++ b/src/components/real/aocs/star_sensor.cpp @@ -185,7 +185,7 @@ std::string StarSensor::GetLogHeader() const { const std::string sensor_id = std::to_string(static_cast(component_id_)); std::string sensor_name = "stt" + sensor_id + "_"; - str_tmp += WriteQuaternion(sensor_name + "measured_quaternion", "i2c"); + str_tmp += logger::WriteQuaternion(sensor_name + "measured_quaternion", "i2c"); str_tmp += WriteScalar(sensor_name + "error_flag"); return str_tmp; @@ -194,7 +194,7 @@ std::string StarSensor::GetLogHeader() const { std::string StarSensor::GetLogValue() const { std::string str_tmp = ""; - str_tmp += WriteQuaternion(measured_quaternion_i2c_); + str_tmp += logger::WriteQuaternion(measured_quaternion_i2c_); str_tmp += WriteScalar(double(error_flag_)); return str_tmp; diff --git a/src/dynamics/attitude/attitude.cpp b/src/dynamics/attitude/attitude.cpp index 2ad9c0f20..55e172240 100644 --- a/src/dynamics/attitude/attitude.cpp +++ b/src/dynamics/attitude/attitude.cpp @@ -25,7 +25,7 @@ std::string Attitude::GetLogHeader() const { std::string str_tmp = ""; str_tmp += logger::WriteVector("spacecraft_angular_velocity", "b", "rad/s", 3); - str_tmp += WriteQuaternion("spacecraft_quaternion", "i2b"); + str_tmp += logger::WriteQuaternion("spacecraft_quaternion", "i2b"); str_tmp += logger::WriteVector("spacecraft_torque", "b", "Nm", 3); str_tmp += WriteScalar("spacecraft_total_angular_momentum", "Nms"); str_tmp += WriteScalar("spacecraft_kinematic_energy", "J"); @@ -37,7 +37,7 @@ std::string Attitude::GetLogValue() const { std::string str_tmp = ""; str_tmp += logger::WriteVector(angular_velocity_b_rad_s_); - str_tmp += WriteQuaternion(quaternion_i2b_); + str_tmp += logger::WriteQuaternion(quaternion_i2b_); str_tmp += logger::WriteVector(torque_b_Nm_); str_tmp += WriteScalar(angular_momentum_total_Nms_); str_tmp += WriteScalar(kinetic_energy_J_); From ebd0f75ee9b84a1421b8aafb62587534fbf23d76 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 28 Sep 2024 21:20:38 +0900 Subject: [PATCH 437/456] Add dynamics namespace --- src/components/ideal/force_generator.cpp | 4 ++-- src/components/ideal/force_generator.hpp | 4 ++-- src/components/ideal/torque_generator.cpp | 4 ++-- src/components/ideal/torque_generator.hpp | 6 +++--- src/components/real/aocs/gnss_receiver.cpp | 8 ++++---- src/components/real/aocs/gnss_receiver.hpp | 10 +++++----- src/components/real/aocs/gyro_sensor.cpp | 8 ++++---- src/components/real/aocs/gyro_sensor.hpp | 12 ++++++------ src/components/real/aocs/star_sensor.cpp | 8 ++++---- src/components/real/aocs/star_sensor.hpp | 10 +++++----- .../real/communication/ground_station_calculator.cpp | 6 +++--- .../real/communication/ground_station_calculator.hpp | 6 +++--- src/components/real/propulsion/simple_thruster.cpp | 8 ++++---- src/components/real/propulsion/simple_thruster.hpp | 10 +++++----- src/disturbances/air_drag.cpp | 2 +- src/disturbances/air_drag.hpp | 4 ++-- src/disturbances/disturbance.hpp | 4 ++-- src/disturbances/disturbances.cpp | 2 +- src/disturbances/disturbances.hpp | 4 ++-- src/disturbances/geopotential.cpp | 2 +- src/disturbances/geopotential.hpp | 4 ++-- src/disturbances/gravity_gradient.cpp | 2 +- src/disturbances/gravity_gradient.hpp | 4 ++-- src/disturbances/lunar_gravity_field.cpp | 2 +- src/disturbances/lunar_gravity_field.hpp | 4 ++-- src/disturbances/magnetic_disturbance.cpp | 2 +- src/disturbances/magnetic_disturbance.hpp | 4 ++-- .../solar_radiation_pressure_disturbance.cpp | 2 +- .../solar_radiation_pressure_disturbance.hpp | 4 ++-- src/disturbances/third_body_gravity.cpp | 2 +- src/disturbances/third_body_gravity.hpp | 4 ++-- src/dynamics/dynamics.cpp | 12 ++++++------ src/environment/local/local_environment.cpp | 2 +- src/environment/local/local_environment.hpp | 4 ++-- .../multiple_spacecraft/relative_information.cpp | 2 +- .../multiple_spacecraft/relative_information.hpp | 6 +++--- src/simulation/spacecraft/spacecraft.cpp | 2 +- src/simulation/spacecraft/spacecraft.hpp | 4 ++-- .../spacecraft/sample_components.cpp | 2 +- .../spacecraft/sample_components.hpp | 4 ++-- 40 files changed, 97 insertions(+), 97 deletions(-) diff --git a/src/components/ideal/force_generator.cpp b/src/components/ideal/force_generator.cpp index 86b17da21..d1770ac79 100644 --- a/src/components/ideal/force_generator.cpp +++ b/src/components/ideal/force_generator.cpp @@ -12,7 +12,7 @@ namespace s2e::components { // Constructor ForceGenerator::ForceGenerator(const int prescaler, environment::ClockGenerator* clock_generator, const double magnitude_error_standard_deviation_N, - const double direction_error_standard_deviation_rad, const Dynamics* dynamics) + const double direction_error_standard_deviation_rad, const dynamics::Dynamics* dynamics) : Component(prescaler, clock_generator), magnitude_noise_(0.0, magnitude_error_standard_deviation_N), direction_error_standard_deviation_rad_(direction_error_standard_deviation_rad), @@ -107,7 +107,7 @@ s2e::math::Quaternion ForceGenerator::GenerateDirectionNoiseQuaternion(s2e::math return error_quaternion; } -ForceGenerator InitializeForceGenerator(environment::ClockGenerator* clock_generator, const std::string file_name, const Dynamics* dynamics) { +ForceGenerator InitializeForceGenerator(environment::ClockGenerator* clock_generator, const std::string file_name, const dynamics::Dynamics* dynamics) { // General setting_file_reader::IniAccess ini_file(file_name); diff --git a/src/components/ideal/force_generator.hpp b/src/components/ideal/force_generator.hpp index 03c4bd09b..0881e7773 100644 --- a/src/components/ideal/force_generator.hpp +++ b/src/components/ideal/force_generator.hpp @@ -114,7 +114,7 @@ class ForceGenerator : public Component, public logger::ILoggable { */ s2e::math::Quaternion GenerateDirectionNoiseQuaternion(s2e::math::Vector<3> true_direction, const double error_standard_deviation_rad); - const Dynamics* dynamics_; //!< Spacecraft dynamics information + const dynamics::Dynamics* dynamics_; //!< Spacecraft dynamics information }; /** @@ -124,7 +124,7 @@ class ForceGenerator : public Component, public logger::ILoggable { * @param [in] file_name: Path to initialize file * @param [in] dynamics: Dynamics information */ -ForceGenerator InitializeForceGenerator(environment::ClockGenerator* clock_generator, const std::string file_name, const Dynamics* dynamics); +ForceGenerator InitializeForceGenerator(environment::ClockGenerator* clock_generator, const std::string file_name, const dynamics::Dynamics* dynamics); } // namespace s2e::components diff --git a/src/components/ideal/torque_generator.cpp b/src/components/ideal/torque_generator.cpp index 74a478a29..93b312270 100644 --- a/src/components/ideal/torque_generator.cpp +++ b/src/components/ideal/torque_generator.cpp @@ -12,7 +12,7 @@ namespace s2e::components { // Constructor TorqueGenerator::TorqueGenerator(const int prescaler, environment::ClockGenerator* clock_generator, const double magnitude_error_standard_deviation_Nm, - const double direction_error_standard_deviation_rad, const Dynamics* dynamics) + const double direction_error_standard_deviation_rad, const dynamics::Dynamics* dynamics) : Component(prescaler, clock_generator), magnitude_noise_(0.0, magnitude_error_standard_deviation_Nm), direction_error_standard_deviation_rad_(direction_error_standard_deviation_rad), @@ -80,7 +80,7 @@ s2e::math::Quaternion TorqueGenerator::GenerateDirectionNoiseQuaternion(s2e::mat return error_quaternion; } -TorqueGenerator InitializeTorqueGenerator(environment::ClockGenerator* clock_generator, const std::string file_name, const Dynamics* dynamics) { +TorqueGenerator InitializeTorqueGenerator(environment::ClockGenerator* clock_generator, const std::string file_name, const dynamics::Dynamics* dynamics) { // General setting_file_reader::IniAccess ini_file(file_name); diff --git a/src/components/ideal/torque_generator.hpp b/src/components/ideal/torque_generator.hpp index 357f7b22c..7b5144729 100644 --- a/src/components/ideal/torque_generator.hpp +++ b/src/components/ideal/torque_generator.hpp @@ -30,7 +30,7 @@ class TorqueGenerator : public Component, public logger::ILoggable { * @param [in] dynamics: Dynamics information */ TorqueGenerator(const int prescaler, environment::ClockGenerator* clock_generator, const double magnitude_error_standard_deviation_Nm, - const double direction_error_standard_deviation_rad, const Dynamics* dynamics); + const double direction_error_standard_deviation_rad, const dynamics::Dynamics* dynamics); /** * @fn ~TorqueGenerator * @brief Destructor @@ -92,7 +92,7 @@ class TorqueGenerator : public Component, public logger::ILoggable { */ s2e::math::Quaternion GenerateDirectionNoiseQuaternion(s2e::math::Vector<3> true_direction, const double error_standard_deviation_rad); - const Dynamics* dynamics_; //!< Spacecraft dynamics information + const dynamics::Dynamics* dynamics_; //!< Spacecraft dynamics information }; /** @@ -102,7 +102,7 @@ class TorqueGenerator : public Component, public logger::ILoggable { * @param [in] file_name: Path to initialize file * @param [in] dynamics: Dynamics information */ -TorqueGenerator InitializeTorqueGenerator(environment::ClockGenerator* clock_generator, const std::string file_name, const Dynamics* dynamics); +TorqueGenerator InitializeTorqueGenerator(environment::ClockGenerator* clock_generator, const std::string file_name, const dynamics::Dynamics* dynamics); } // namespace s2e::components diff --git a/src/components/real/aocs/gnss_receiver.cpp b/src/components/real/aocs/gnss_receiver.cpp index f68873453..00ba3fd58 100644 --- a/src/components/real/aocs/gnss_receiver.cpp +++ b/src/components/real/aocs/gnss_receiver.cpp @@ -16,7 +16,7 @@ namespace s2e::components { GnssReceiver::GnssReceiver(const int prescaler, environment::ClockGenerator* clock_generator, const size_t component_id, const AntennaModel antenna_model, const s2e::math::Vector<3> antenna_position_b_m, const s2e::math::Quaternion quaternion_b2c, const double half_width_deg, const s2e::math::Vector<3> position_noise_standard_deviation_ecef_m, - const s2e::math::Vector<3> velocity_noise_standard_deviation_ecef_m_s, const Dynamics* dynamics, + const s2e::math::Vector<3> velocity_noise_standard_deviation_ecef_m_s, const dynamics::Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time) : Component(prescaler, clock_generator), component_id_(component_id), @@ -36,7 +36,7 @@ GnssReceiver::GnssReceiver(const int prescaler, environment::ClockGenerator* clo GnssReceiver::GnssReceiver(const int prescaler, environment::ClockGenerator* clock_generator, PowerPort* power_port, const size_t component_id, const AntennaModel antenna_model, const s2e::math::Vector<3> antenna_position_b_m, const s2e::math::Quaternion quaternion_b2c, const double half_width_deg, const s2e::math::Vector<3> position_noise_standard_deviation_ecef_m, - const s2e::math::Vector<3> velocity_noise_standard_deviation_ecef_m_s, const Dynamics* dynamics, + const s2e::math::Vector<3> velocity_noise_standard_deviation_ecef_m_s, const dynamics::Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time) : Component(prescaler, clock_generator, power_port), component_id_(component_id), @@ -291,7 +291,7 @@ GnssReceiverParam ReadGnssReceiverIni(const std::string file_name, const GnssSat return gnss_receiver_param; } -GnssReceiver InitGnssReceiver(environment::ClockGenerator* clock_generator, const size_t component_id, const std::string file_name, const Dynamics* dynamics, +GnssReceiver InitGnssReceiver(environment::ClockGenerator* clock_generator, const size_t component_id, const std::string file_name, const dynamics::Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time) { GnssReceiverParam gr_param = ReadGnssReceiverIni(file_name, gnss_satellites, component_id); @@ -302,7 +302,7 @@ GnssReceiver InitGnssReceiver(environment::ClockGenerator* clock_generator, cons } GnssReceiver InitGnssReceiver(environment::ClockGenerator* clock_generator, PowerPort* power_port, const size_t component_id, const std::string file_name, - const Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time) { + const dynamics::Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time) { GnssReceiverParam gr_param = ReadGnssReceiverIni(file_name, gnss_satellites, component_id); // PowerPort diff --git a/src/components/real/aocs/gnss_receiver.hpp b/src/components/real/aocs/gnss_receiver.hpp index 3714cc772..e96f05f0f 100644 --- a/src/components/real/aocs/gnss_receiver.hpp +++ b/src/components/real/aocs/gnss_receiver.hpp @@ -63,7 +63,7 @@ class GnssReceiver : public Component, public logger::ILoggable { GnssReceiver(const int prescaler, environment::ClockGenerator* clock_generator, const size_t component_id, const AntennaModel antenna_model, const s2e::math::Vector<3> antenna_position_b_m, const s2e::math::Quaternion quaternion_b2c, const double half_width_deg, const s2e::math::Vector<3> position_noise_standard_deviation_ecef_m, const s2e::math::Vector<3> velocity_noise_standard_deviation_ecef_m_s, - const Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time); + const dynamics::Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time); /** * @fn GnssReceiver * @brief Constructor with power port @@ -83,7 +83,7 @@ class GnssReceiver : public Component, public logger::ILoggable { GnssReceiver(const int prescaler, environment::ClockGenerator* clock_generator, PowerPort* power_port, const size_t component_id, const AntennaModel antenna_model, const s2e::math::Vector<3> antenna_position_b_m, const s2e::math::Quaternion quaternion_b2c, const double half_width_deg, const s2e::math::Vector<3> position_noise_standard_deviation_ecef_m, - const s2e::math::Vector<3> velocity_noise_standard_deviation_ecef_m_s, const Dynamics* dynamics, const GnssSatellites* gnss_satellites, + const s2e::math::Vector<3> velocity_noise_standard_deviation_ecef_m_s, const dynamics::Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time); // Override functions for Component @@ -156,7 +156,7 @@ class GnssReceiver : public Component, public logger::ILoggable { std::vector gnss_information_list_; //!< Information List of visible GNSS satellites // References - const Dynamics* dynamics_; //!< Dynamics of spacecraft + const dynamics::Dynamics* dynamics_; //!< Dynamics of spacecraft const GnssSatellites* gnss_satellites_; //!< Information of GNSS satellites const SimulationTime* simulation_time_; //!< Simulation time @@ -226,7 +226,7 @@ AntennaModel SetAntennaModel(const std::string antenna_model); * @param [in] gnss_satellites: GNSS satellites information * @param [in] simulation_time: Simulation time information */ -GnssReceiver InitGnssReceiver(environment::ClockGenerator* clock_generator, const size_t component_id, const std::string file_name, const Dynamics* dynamics, +GnssReceiver InitGnssReceiver(environment::ClockGenerator* clock_generator, const size_t component_id, const std::string file_name, const dynamics::Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time); /** * @fn InitGnssReceiver @@ -240,7 +240,7 @@ GnssReceiver InitGnssReceiver(environment::ClockGenerator* clock_generator, cons * @param [in] simulation_time: Simulation time information */ GnssReceiver InitGnssReceiver(environment::ClockGenerator* clock_generator, PowerPort* power_port, const size_t component_id, const std::string file_name, - const Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time); + const dynamics::Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time); } // namespace s2e::components diff --git a/src/components/real/aocs/gyro_sensor.cpp b/src/components/real/aocs/gyro_sensor.cpp index fe16a6465..4776b6701 100644 --- a/src/components/real/aocs/gyro_sensor.cpp +++ b/src/components/real/aocs/gyro_sensor.cpp @@ -10,11 +10,11 @@ namespace s2e::components { GyroSensor::GyroSensor(const int prescaler, environment::ClockGenerator* clock_generator, Sensor& sensor_base, const unsigned int sensor_id, - const s2e::math::Quaternion& quaternion_b2c, const Dynamics* dynamics) + const s2e::math::Quaternion& quaternion_b2c, const dynamics::Dynamics* dynamics) : Component(prescaler, clock_generator), Sensor(sensor_base), sensor_id_(sensor_id), quaternion_b2c_(quaternion_b2c), dynamics_(dynamics) {} GyroSensor::GyroSensor(const int prescaler, environment::ClockGenerator* clock_generator, PowerPort* power_port, Sensor& sensor_base, const unsigned int sensor_id, - const s2e::math::Quaternion& quaternion_b2c, const Dynamics* dynamics) + const s2e::math::Quaternion& quaternion_b2c, const dynamics::Dynamics* dynamics) : Component(prescaler, clock_generator, power_port), Sensor(sensor_base), sensor_id_(sensor_id), @@ -48,7 +48,7 @@ std::string GyroSensor::GetLogValue() const { } GyroSensor InitGyroSensor(environment::ClockGenerator* clock_generator, int sensor_id, const std::string file_name, double component_step_time_s, - const Dynamics* dynamics) { + const dynamics::Dynamics* dynamics) { setting_file_reader::IniAccess gyro_conf(file_name); const char* sensor_name = "GYRO_SENSOR_"; const std::string section_name = sensor_name + std::to_string(static_cast(sensor_id)); @@ -69,7 +69,7 @@ GyroSensor InitGyroSensor(environment::ClockGenerator* clock_generator, int sens } GyroSensor InitGyroSensor(environment::ClockGenerator* clock_generator, PowerPort* power_port, int sensor_id, const std::string file_name, - double component_step_time_s, const Dynamics* dynamics) { + double component_step_time_s, const dynamics::Dynamics* dynamics) { setting_file_reader::IniAccess gyro_conf(file_name); const char* sensor_name = "GYRO_SENSOR_"; const std::string section_name = sensor_name + std::to_string(static_cast(sensor_id)); diff --git a/src/components/real/aocs/gyro_sensor.hpp b/src/components/real/aocs/gyro_sensor.hpp index c99759722..f4baaad1e 100644 --- a/src/components/real/aocs/gyro_sensor.hpp +++ b/src/components/real/aocs/gyro_sensor.hpp @@ -34,7 +34,7 @@ class GyroSensor : public Component, public Sensor, public logge * @param [in] dynamics: Dynamics information */ GyroSensor(const int prescaler, environment::ClockGenerator* clock_generator, Sensor& sensor_base, const unsigned int sensor_id, - const s2e::math::Quaternion& quaternion_b2c, const Dynamics* dynamics); + const s2e::math::Quaternion& quaternion_b2c, const dynamics::Dynamics* dynamics); /** * @fn GyroSensor * @brief Constructor with power port @@ -47,7 +47,7 @@ class GyroSensor : public Component, public Sensor, public logge * @param [in] dynamics: Dynamics information */ GyroSensor(const int prescaler, environment::ClockGenerator* clock_generator, PowerPort* power_port, Sensor& sensor_base, const unsigned int sensor_id, - const s2e::math::Quaternion& quaternion_b2c, const Dynamics* dynamics); + const s2e::math::Quaternion& quaternion_b2c, const dynamics::Dynamics* dynamics); /** * @fn ~GyroSensor * @brief Destructor @@ -85,7 +85,7 @@ class GyroSensor : public Component, public Sensor, public logge unsigned int sensor_id_ = 0; //!< Sensor ID s2e::math::Quaternion quaternion_b2c_{0.0, 0.0, 0.0, 1.0}; //!< Quaternion from body frame to component frame - const Dynamics* dynamics_; //!< Dynamics information + const dynamics::Dynamics* dynamics_; //!< Dynamics information }; /** @@ -98,7 +98,7 @@ class GyroSensor : public Component, public Sensor, public logge * @param [in] dynamics: Dynamics information */ GyroSensor InitGyroSensor(environment::ClockGenerator* clock_generator, int sensor_id, const std::string file_name, double component_step_time_s, - const Dynamics* dynamics); + const dynamics::Dynamics* dynamics); /** * @fn InitGyroSensor * @brief Initialize functions for gyro sensor with power port @@ -107,10 +107,10 @@ GyroSensor InitGyroSensor(environment::ClockGenerator* clock_generator, int sens * @param [in] sensor_id: Sensor ID * @param [in] component_step_time_s: Component step time [sec] * @param [in] file_name: Path to the initialize file - * @param [in] dynamics: Dynamics information + * @param [in] dynamics: dynamics::Dynamics information */ GyroSensor InitGyroSensor(environment::ClockGenerator* clock_generator, PowerPort* power_port, int sensor_id, const std::string file_name, - double component_step_time_s, const Dynamics* dynamics); + double component_step_time_s, const dynamics::Dynamics* dynamics); } //namespace s2e::components diff --git a/src/components/real/aocs/star_sensor.cpp b/src/components/real/aocs/star_sensor.cpp index e84f8edc5..c17302608 100644 --- a/src/components/real/aocs/star_sensor.cpp +++ b/src/components/real/aocs/star_sensor.cpp @@ -22,7 +22,7 @@ StarSensor::StarSensor(const int prescaler, environment::ClockGenerator* clock_g const double standard_deviation_orthogonal_direction, const double standard_deviation_sight_direction, const double step_time_s, const unsigned int output_delay, const unsigned int output_interval, const double sun_forbidden_angle_rad, const double earth_forbidden_angle_rad, const double moon_forbidden_angle_rad, - const double capture_rate_limit_rad_s, const Dynamics* dynamics, const LocalEnvironment* local_environment) + const double capture_rate_limit_rad_s, const dynamics::Dynamics* dynamics, const LocalEnvironment* local_environment) : Component(prescaler, clock_generator), component_id_(component_id), quaternion_b2c_(quaternion_b2c), @@ -46,7 +46,7 @@ StarSensor::StarSensor(const int prescaler, environment::ClockGenerator* clock_g const s2e::math::Quaternion& quaternion_b2c, const double standard_deviation_orthogonal_direction, const double standard_deviation_sight_direction, const double step_time_s, const unsigned int output_delay, const unsigned int output_interval, const double sun_forbidden_angle_rad, const double earth_forbidden_angle_rad, - const double moon_forbidden_angle_rad, const double capture_rate_limit_rad_s, const Dynamics* dynamics, + const double moon_forbidden_angle_rad, const double capture_rate_limit_rad_s, const dynamics::Dynamics* dynamics, const LocalEnvironment* local_environment) : Component(prescaler, clock_generator, power_port), component_id_(component_id), @@ -216,7 +216,7 @@ void StarSensor::MainRoutine(const int time_count) { } StarSensor InitStarSensor(environment::ClockGenerator* clock_generator, int sensor_id, const string file_name, double component_step_time_s, - const Dynamics* dynamics, const LocalEnvironment* local_environment) { + const dynamics::Dynamics* dynamics, const LocalEnvironment* local_environment) { setting_file_reader::IniAccess STT_conf(file_name); const char* sensor_name = "STAR_SENSOR_"; const std::string section_name = sensor_name + std::to_string(static_cast(sensor_id)); @@ -249,7 +249,7 @@ StarSensor InitStarSensor(environment::ClockGenerator* clock_generator, int sens } StarSensor InitStarSensor(environment::ClockGenerator* clock_generator, PowerPort* power_port, int sensor_id, const string file_name, double component_step_time_s, - const Dynamics* dynamics, const LocalEnvironment* local_environment) { + const dynamics::Dynamics* dynamics, const LocalEnvironment* local_environment) { setting_file_reader::IniAccess STT_conf(file_name); const char* sensor_name = "STAR_SENSOR_"; const std::string section_name = sensor_name + std::to_string(static_cast(sensor_id)); diff --git a/src/components/real/aocs/star_sensor.hpp b/src/components/real/aocs/star_sensor.hpp index 5e3ab99b2..772e3bd53 100644 --- a/src/components/real/aocs/star_sensor.hpp +++ b/src/components/real/aocs/star_sensor.hpp @@ -49,7 +49,7 @@ class StarSensor : public Component, public logger::ILoggable { const double standard_deviation_orthogonal_direction, const double standard_deviation_sight_direction, const double step_time_s, const unsigned int output_delay, const unsigned int output_interval, const double sun_forbidden_angle_rad, const double earth_forbidden_angle_rad, const double moon_forbidden_angle_rad, const double capture_rate_limit_rad_s, - const Dynamics* dynamics, const LocalEnvironment* local_environment); + const dynamics::Dynamics* dynamics, const LocalEnvironment* local_environment); /** * @fn StarSensor * @brief Constructor with power port @@ -74,7 +74,7 @@ class StarSensor : public Component, public logger::ILoggable { const s2e::math::Quaternion& quaternion_b2c, const double standard_deviation_orthogonal_direction, const double standard_deviation_sight_direction, const double step_time_s, const unsigned int output_delay, const unsigned int output_interval, const double sun_forbidden_angle_rad, const double earth_forbidden_angle_rad, - const double moon_forbidden_angle_rad, const double capture_rate_limit_rad_s, const Dynamics* dynamics, + const double moon_forbidden_angle_rad, const double capture_rate_limit_rad_s, const dynamics::Dynamics* dynamics, const LocalEnvironment* local_environment); // Override functions for Component @@ -138,7 +138,7 @@ class StarSensor : public Component, public logger::ILoggable { double capture_rate_limit_rad_s_; //!< Angular rate limit to get correct attitude [rad/s] // Observed variables - const Dynamics* dynamics_; //!< Dynamics information + const dynamics::Dynamics* dynamics_; //!< Dynamics information const LocalEnvironment* local_environment_; //!< Local environment information // Internal functions @@ -219,7 +219,7 @@ class StarSensor : public Component, public logger::ILoggable { * @param [in] local_environment: Local environment information */ StarSensor InitStarSensor(environment::ClockGenerator* clock_generator, int sensor_id, const std::string file_name, double component_step_time_s, - const Dynamics* dynamics, const LocalEnvironment* local_environment); + const dynamics::Dynamics* dynamics, const LocalEnvironment* local_environment); /** * @fn InitStarSensor * @brief Initialize functions for StarSensor with power port @@ -232,7 +232,7 @@ StarSensor InitStarSensor(environment::ClockGenerator* clock_generator, int sens * @param [in] local_environment: Local environment information */ StarSensor InitStarSensor(environment::ClockGenerator* clock_generator, PowerPort* power_port, int sensor_id, const std::string file_name, - double component_step_time_s, const Dynamics* dynamics, const LocalEnvironment* local_environment); + double component_step_time_s, const dynamics::Dynamics* dynamics, const LocalEnvironment* local_environment); } // namespace s2e::components diff --git a/src/components/real/communication/ground_station_calculator.cpp b/src/components/real/communication/ground_station_calculator.cpp index 554919b92..a5deff17d 100644 --- a/src/components/real/communication/ground_station_calculator.cpp +++ b/src/components/real/communication/ground_station_calculator.cpp @@ -42,7 +42,7 @@ void GroundStationCalculator::Update(const Spacecraft& spacecraft, const Antenna } // Private functions -double GroundStationCalculator::CalcMaxBitrate(const Dynamics& dynamics, const Antenna& spacecraft_tx_antenna, const GroundStation& ground_station, +double GroundStationCalculator::CalcMaxBitrate(const dynamics::Dynamics& dynamics, const Antenna& spacecraft_tx_antenna, const GroundStation& ground_station, const Antenna& ground_station_rx_antenna) { double cn0_dBHz = CalcCn0OnGs(dynamics, spacecraft_tx_antenna, ground_station, ground_station_rx_antenna); @@ -55,14 +55,14 @@ double GroundStationCalculator::CalcMaxBitrate(const Dynamics& dynamics, const A } } -double GroundStationCalculator::CalcReceiveMarginOnGs(const Dynamics& dynamics, const Antenna& spacecraft_tx_antenna, +double GroundStationCalculator::CalcReceiveMarginOnGs(const dynamics::Dynamics& dynamics, const Antenna& spacecraft_tx_antenna, const GroundStation& ground_station, const Antenna& ground_station_rx_antenna) { double cn0_dB = CalcCn0OnGs(dynamics, spacecraft_tx_antenna, ground_station, ground_station_rx_antenna); double cn0_requirement_dB = ebn0_dB_ + hardware_deterioration_dB_ + coding_gain_dB_ + 10.0 * log10(spacecraft_tx_antenna.GetBitrate_bps()); return cn0_dB - cn0_requirement_dB; } -double GroundStationCalculator::CalcCn0OnGs(const Dynamics& dynamics, const Antenna& spacecraft_tx_antenna, const GroundStation& ground_station, +double GroundStationCalculator::CalcCn0OnGs(const dynamics::Dynamics& dynamics, const Antenna& spacecraft_tx_antenna, const GroundStation& ground_station, const Antenna& ground_station_rx_antenna) { if (!spacecraft_tx_antenna.IsTransmitter() || !ground_station_rx_antenna.IsReceiver()) { // Check compatibility of transmitter and receiver diff --git a/src/components/real/communication/ground_station_calculator.hpp b/src/components/real/communication/ground_station_calculator.hpp index c78cc41a4..9d7551b4f 100644 --- a/src/components/real/communication/ground_station_calculator.hpp +++ b/src/components/real/communication/ground_station_calculator.hpp @@ -111,7 +111,7 @@ class GroundStationCalculator : public logger::ILoggable { * @param [in] ground_station_rx_antenna: Rx Antenna mounted on ground station * @return Max bitrate [Mbps] */ - double CalcMaxBitrate(const Dynamics& dynamics, const Antenna& spacecraft_tx_antenna, const GroundStation& ground_station, + double CalcMaxBitrate(const dynamics::Dynamics& dynamics, const Antenna& spacecraft_tx_antenna, const GroundStation& ground_station, const Antenna& ground_station_rx_antenna); /** * @fn CalcReceiveMarginOnGs @@ -122,7 +122,7 @@ class GroundStationCalculator : public logger::ILoggable { * @param [in] ground_station_rx_antenna: Rx Antenna mounted on ground station * @return Receive margin [dB] */ - double CalcReceiveMarginOnGs(const Dynamics& dynamics, const Antenna& spacecraft_tx_antenna, const GroundStation& ground_station, + double CalcReceiveMarginOnGs(const dynamics::Dynamics& dynamics, const Antenna& spacecraft_tx_antenna, const GroundStation& ground_station, const Antenna& ground_station_rx_antenna); /** @@ -134,7 +134,7 @@ class GroundStationCalculator : public logger::ILoggable { * @param [in] ground_station_rx_antenna: Rx Antenna mounted on ground station * @return CN0 [dB] */ - double CalcCn0OnGs(const Dynamics& dynamics, const Antenna& spacecraft_tx_antenna, const GroundStation& ground_station, + double CalcCn0OnGs(const dynamics::Dynamics& dynamics, const Antenna& spacecraft_tx_antenna, const GroundStation& ground_station, const Antenna& ground_station_rx_antenna); }; diff --git a/src/components/real/propulsion/simple_thruster.cpp b/src/components/real/propulsion/simple_thruster.cpp index 735ec87f0..9b5b7c4b7 100644 --- a/src/components/real/propulsion/simple_thruster.cpp +++ b/src/components/real/propulsion/simple_thruster.cpp @@ -15,7 +15,7 @@ namespace s2e::components { SimpleThruster::SimpleThruster(const int prescaler, environment::ClockGenerator* clock_generator, const int component_id, const s2e::math::Vector<3> thruster_position_b_m, const s2e::math::Vector<3> thrust_direction_b, const double max_magnitude_N, const double magnitude_standard_deviation_N, const double direction_standard_deviation_rad, const Structure* structure, - const Dynamics* dynamics) + const dynamics::Dynamics* dynamics) : Component(prescaler, clock_generator), component_id_(component_id), thruster_position_b_m_(thruster_position_b_m), @@ -30,7 +30,7 @@ SimpleThruster::SimpleThruster(const int prescaler, environment::ClockGenerator* SimpleThruster::SimpleThruster(const int prescaler, environment::ClockGenerator* clock_generator, PowerPort* power_port, const int component_id, const s2e::math::Vector<3> thruster_position_b_m, const s2e::math::Vector<3> thrust_direction_b, const double max_magnitude_N, const double magnitude_standard_deviation_N, const double direction_standard_deviation_rad, const Structure* structure, - const Dynamics* dynamics) + const dynamics::Dynamics* dynamics) : Component(prescaler, clock_generator, power_port), component_id_(component_id), thruster_position_b_m_(thruster_position_b_m), @@ -123,7 +123,7 @@ s2e::math::Vector<3> SimpleThruster::CalcThrustDirection() { } SimpleThruster InitSimpleThruster(environment::ClockGenerator* clock_generator, int thruster_id, const std::string file_name, const Structure* structure, - const Dynamics* dynamics) { + const dynamics::Dynamics* dynamics) { setting_file_reader::IniAccess thruster_conf(file_name); std::string section_str = "THRUSTER_" + std::to_string(thruster_id); auto* Section = section_str.c_str(); @@ -151,7 +151,7 @@ SimpleThruster InitSimpleThruster(environment::ClockGenerator* clock_generator, } SimpleThruster InitSimpleThruster(environment::ClockGenerator* clock_generator, PowerPort* power_port, int thruster_id, const std::string file_name, - const Structure* structure, const Dynamics* dynamics) { + const Structure* structure, const dynamics::Dynamics* dynamics) { setting_file_reader::IniAccess thruster_conf(file_name); std::string section_str = "THRUSTER_" + std::to_string(thruster_id); auto* Section = section_str.c_str(); diff --git a/src/components/real/propulsion/simple_thruster.hpp b/src/components/real/propulsion/simple_thruster.hpp index ba1eb0c07..6cb9ab066 100644 --- a/src/components/real/propulsion/simple_thruster.hpp +++ b/src/components/real/propulsion/simple_thruster.hpp @@ -39,7 +39,7 @@ class SimpleThruster : public Component, public logger::ILoggable { */ SimpleThruster(const int prescaler, environment::ClockGenerator* clock_generator, const int component_id, const Vector<3> thruster_position_b_m, const Vector<3> thrust_direction_b, const double max_magnitude_N, const double magnitude_standard_deviation_N, - const double direction_standard_deviation_rad, const Structure* structure, const Dynamics* dynamics); + const double direction_standard_deviation_rad, const Structure* structure, const dynamics::Dynamics* dynamics); /** * @fn SimpleThruster * @brief Constructor with power port @@ -58,7 +58,7 @@ class SimpleThruster : public Component, public logger::ILoggable { SimpleThruster(const int prescaler, environment::ClockGenerator* clock_generator, PowerPort* power_port, const int component_id, const Vector<3> thruster_position_b_m, const Vector<3> thrust_direction_b, const double max_magnitude_N, const double magnitude_standard_deviation_N, const double direction_standard_deviation_rad, const Structure* structure, - const Dynamics* dynamics); + const dynamics::Dynamics* dynamics); /** * @fn ~SimpleThruster * @brief Destructor @@ -154,7 +154,7 @@ class SimpleThruster : public Component, public logger::ILoggable { void Initialize(const double magnitude_standard_deviation_N, const double direction_standard_deviation_rad); const Structure* structure_; //!< Spacecraft structure information - const Dynamics* dynamics_; //!< Spacecraft dynamics information + const dynamics::Dynamics* dynamics_; //!< Spacecraft dynamics information }; /** @@ -167,7 +167,7 @@ class SimpleThruster : public Component, public logger::ILoggable { * @param [in] dynamics: Spacecraft dynamics information */ SimpleThruster InitSimpleThruster(environment::ClockGenerator* clock_generator, int thruster_id, const std::string file_name, const Structure* structure, - const Dynamics* dynamics); + const dynamics::Dynamics* dynamics); /** * @fn InitSimpleThruster * @brief Initialize function os SimpleThruster @@ -179,7 +179,7 @@ SimpleThruster InitSimpleThruster(environment::ClockGenerator* clock_generator, * @param [in] dynamics: Spacecraft dynamics information */ SimpleThruster InitSimpleThruster(environment::ClockGenerator* clock_generator, PowerPort* power_port, int thruster_id, const std::string file_name, - const Structure* structure, const Dynamics* dynamics); + const Structure* structure, const dynamics::Dynamics* dynamics); } // namespace s2e::components diff --git a/src/disturbances/air_drag.cpp b/src/disturbances/air_drag.cpp index a15817e36..163a80cbd 100644 --- a/src/disturbances/air_drag.cpp +++ b/src/disturbances/air_drag.cpp @@ -25,7 +25,7 @@ AirDrag::AirDrag(const std::vector& surfaces, const s2e::math::Vector<3 cn_.assign(num, 0.0); } -void AirDrag::Update(const LocalEnvironment& local_environment, const Dynamics& dynamics) { +void AirDrag::Update(const LocalEnvironment& local_environment, const dynamics::Dynamics& dynamics) { double air_density_kg_m3 = local_environment.GetAtmosphere().GetAirDensity_kg_m3(); s2e::math::Matrix<3, 3> dcm_ecef2eci = diff --git a/src/disturbances/air_drag.hpp b/src/disturbances/air_drag.hpp index be27dfc02..7f87e9bb7 100644 --- a/src/disturbances/air_drag.hpp +++ b/src/disturbances/air_drag.hpp @@ -39,9 +39,9 @@ class AirDrag : public SurfaceForce { * @fn Update * @brief Override Updates function of SimpleDisturbance * @param [in] local_environment: Local environment information - * @param [in] dynamics: Dynamics information + * @param [in] dynamics: dynamics::Dynamics information */ - virtual void Update(const LocalEnvironment& local_environment, const Dynamics& dynamics); + virtual void Update(const LocalEnvironment& local_environment, const dynamics::Dynamics& dynamics); // Override logger::ILoggable /** diff --git a/src/disturbances/disturbance.hpp b/src/disturbances/disturbance.hpp index 1c93d18a9..de7d476b8 100644 --- a/src/disturbances/disturbance.hpp +++ b/src/disturbances/disturbance.hpp @@ -41,7 +41,7 @@ class Disturbance : public logger::ILoggable { * @fn UpdateIfEnabled * @brief Update calculated disturbance when the calculation flag is true */ - virtual inline void UpdateIfEnabled(const LocalEnvironment& local_environment, const Dynamics& dynamics) { + virtual inline void UpdateIfEnabled(const LocalEnvironment& local_environment, const dynamics::Dynamics& dynamics) { if (is_calculation_enabled_) { Update(local_environment, dynamics); } else { @@ -56,7 +56,7 @@ class Disturbance : public logger::ILoggable { * @fn Update * @brief Pure virtual function to define the disturbance calculation */ - virtual void Update(const LocalEnvironment& local_environment, const Dynamics& dynamics) = 0; + virtual void Update(const LocalEnvironment& local_environment, const dynamics::Dynamics& dynamics) = 0; /** * @fn GetTorque_b_Nm diff --git a/src/disturbances/disturbances.cpp b/src/disturbances/disturbances.cpp index e274cbe96..8d0c94037 100644 --- a/src/disturbances/disturbances.cpp +++ b/src/disturbances/disturbances.cpp @@ -30,7 +30,7 @@ Disturbances::~Disturbances() { } } -void Disturbances::Update(const LocalEnvironment& local_environment, const Dynamics& dynamics, const SimulationTime* simulation_time) { +void Disturbances::Update(const LocalEnvironment& local_environment, const dynamics::Dynamics& dynamics, const SimulationTime* simulation_time) { InitializeForceAndTorque(); InitializeAcceleration(); diff --git a/src/disturbances/disturbances.hpp b/src/disturbances/disturbances.hpp index ab1d488fe..590dbc703 100644 --- a/src/disturbances/disturbances.hpp +++ b/src/disturbances/disturbances.hpp @@ -42,10 +42,10 @@ class Disturbances { * @fn Update * @brief Update all disturbance calculation * @param [in] local_environment: Local environment information - * @param [in] dynamics: Dynamics information + * @param [in] dynamics: dynamics::Dynamics information * @param [in] simulation_time: Simulation time */ - void Update(const LocalEnvironment& local_environment, const Dynamics& dynamics, const SimulationTime* simulation_time); + void Update(const LocalEnvironment& local_environment, const dynamics::Dynamics& dynamics, const SimulationTime* simulation_time); /** * @fn LogSetup * @brief log setup for all disturbances diff --git a/src/disturbances/geopotential.cpp b/src/disturbances/geopotential.cpp index f28f6a591..40cbb3515 100644 --- a/src/disturbances/geopotential.cpp +++ b/src/disturbances/geopotential.cpp @@ -70,7 +70,7 @@ bool Geopotential::ReadCoefficientsEgm96(std::string file_name) { return true; } -void Geopotential::Update(const LocalEnvironment &local_environment, const Dynamics &dynamics) { +void Geopotential::Update(const LocalEnvironment &local_environment, const dynamics::Dynamics &dynamics) { #ifdef DEBUG_GEOPOTENTIAL chrono::system_clock::time_point start, end; start = chrono::system_clock::now(); diff --git a/src/disturbances/geopotential.hpp b/src/disturbances/geopotential.hpp index fae80dedb..3bfcb83fa 100644 --- a/src/disturbances/geopotential.hpp +++ b/src/disturbances/geopotential.hpp @@ -46,9 +46,9 @@ class Geopotential : public Disturbance { * @fn Update * @brief Override Updates function of SimpleDisturbance * @param [in] local_environment: Local environment information - * @param [in] dynamics: Dynamics information + * @param [in] dynamics: dynamics::Dynamics information */ - virtual void Update(const LocalEnvironment &local_environment, const Dynamics &dynamics); + virtual void Update(const LocalEnvironment &local_environment, const dynamics::Dynamics &dynamics); // Override logger::ILoggable /** diff --git a/src/disturbances/gravity_gradient.cpp b/src/disturbances/gravity_gradient.cpp index 8ac14cdfa..366c77778 100644 --- a/src/disturbances/gravity_gradient.cpp +++ b/src/disturbances/gravity_gradient.cpp @@ -19,7 +19,7 @@ GravityGradient::GravityGradient(const bool is_calculation_enabled) GravityGradient::GravityGradient(const double gravity_constant_m3_s2, const bool is_calculation_enabled) : Disturbance(is_calculation_enabled, true), gravity_constant_m3_s2_(gravity_constant_m3_s2) {} -void GravityGradient::Update(const LocalEnvironment& local_environment, const Dynamics& dynamics) { +void GravityGradient::Update(const LocalEnvironment& local_environment, const dynamics::Dynamics& dynamics) { // TODO: use structure information to get inertia tensor CalcTorque_b_Nm(local_environment.GetCelestialInformation().GetCenterBodyPositionFromSpacecraft_b_m(), dynamics.GetAttitude().GetInertiaTensor_b_kgm2()); diff --git a/src/disturbances/gravity_gradient.hpp b/src/disturbances/gravity_gradient.hpp index 785b9e0fa..e4a578aff 100644 --- a/src/disturbances/gravity_gradient.hpp +++ b/src/disturbances/gravity_gradient.hpp @@ -41,9 +41,9 @@ class GravityGradient : public Disturbance { * @fn Update * @brief Override Updates function of SimpleDisturbance * @param [in] local_environment: Local environment information - * @param [in] dynamics: Dynamics information + * @param [in] dynamics: dynamics::Dynamics information */ - virtual void Update(const LocalEnvironment& local_environment, const Dynamics& dynamics); + virtual void Update(const LocalEnvironment& local_environment, const dynamics::Dynamics& dynamics); // Override logger::ILoggable /** diff --git a/src/disturbances/lunar_gravity_field.cpp b/src/disturbances/lunar_gravity_field.cpp index 7f7e63191..d28ccfe76 100644 --- a/src/disturbances/lunar_gravity_field.cpp +++ b/src/disturbances/lunar_gravity_field.cpp @@ -88,7 +88,7 @@ bool LunarGravityField::ReadCoefficientsGrgm1200a(std::string file_name) { return true; } -void LunarGravityField::Update(const LocalEnvironment &local_environment, const Dynamics &dynamics) { +void LunarGravityField::Update(const LocalEnvironment &local_environment, const dynamics::Dynamics &dynamics) { const CelestialInformation global_celestial_information = local_environment.GetCelestialInformation().GetGlobalInformation(); s2e::math::Matrix<3, 3> dcm_mci2mcmf_ = global_celestial_information.GetMoonRotation().GetDcmJ2000ToMcmf(); diff --git a/src/disturbances/lunar_gravity_field.hpp b/src/disturbances/lunar_gravity_field.hpp index 03841dd15..552e0425b 100644 --- a/src/disturbances/lunar_gravity_field.hpp +++ b/src/disturbances/lunar_gravity_field.hpp @@ -48,9 +48,9 @@ class LunarGravityField : public Disturbance { * @fn Update * @brief Override Updates function of SimpleDisturbance * @param [in] local_environment: Local environment information - * @param [in] dynamics: Dynamics information + * @param [in] dynamics: dynamics::Dynamics information */ - virtual void Update(const LocalEnvironment &local_environment, const Dynamics &dynamics); + virtual void Update(const LocalEnvironment &local_environment, const dynamics::Dynamics &dynamics); // Override logger::ILoggable /** diff --git a/src/disturbances/magnetic_disturbance.cpp b/src/disturbances/magnetic_disturbance.cpp index 3368dc8df..98c352c32 100644 --- a/src/disturbances/magnetic_disturbance.cpp +++ b/src/disturbances/magnetic_disturbance.cpp @@ -26,7 +26,7 @@ Vector<3> MagneticDisturbance::CalcTorque_b_Nm(const Vector<3>& magnetic_field_b return torque_b_Nm_; } -void MagneticDisturbance::Update(const LocalEnvironment& local_environment, const Dynamics& dynamics) { +void MagneticDisturbance::Update(const LocalEnvironment& local_environment, const dynamics::Dynamics& dynamics) { UNUSED(dynamics); CalcTorque_b_Nm(local_environment.GetGeomagneticField().GetGeomagneticField_b_nT()); diff --git a/src/disturbances/magnetic_disturbance.hpp b/src/disturbances/magnetic_disturbance.hpp index ecba81538..79f795ecf 100644 --- a/src/disturbances/magnetic_disturbance.hpp +++ b/src/disturbances/magnetic_disturbance.hpp @@ -33,9 +33,9 @@ class MagneticDisturbance : public Disturbance { * @fn Update * @brief Override Updates function of SimpleDisturbance * @param [in] local_environment: Local environment information - * @param [in] dynamics: Dynamics information + * @param [in] dynamics: dynamics::Dynamics information */ - virtual void Update(const LocalEnvironment& local_environment, const Dynamics& dynamics); + virtual void Update(const LocalEnvironment& local_environment, const dynamics::Dynamics& dynamics); // Override logger::ILoggable /** diff --git a/src/disturbances/solar_radiation_pressure_disturbance.cpp b/src/disturbances/solar_radiation_pressure_disturbance.cpp index b28784672..18d66fd44 100644 --- a/src/disturbances/solar_radiation_pressure_disturbance.cpp +++ b/src/disturbances/solar_radiation_pressure_disturbance.cpp @@ -16,7 +16,7 @@ SolarRadiationPressureDisturbance::SolarRadiationPressureDisturbance(const std:: const s2e::math::Vector<3>& center_of_gravity_b_m, const bool is_calculation_enabled) : SurfaceForce(surfaces, center_of_gravity_b_m, is_calculation_enabled) {} -void SolarRadiationPressureDisturbance::Update(const LocalEnvironment& local_environment, const Dynamics& dynamics) { +void SolarRadiationPressureDisturbance::Update(const LocalEnvironment& local_environment, const dynamics::Dynamics& dynamics) { UNUSED(dynamics); s2e::math::Vector<3> sun_position_from_sc_b_m = local_environment.GetCelestialInformation().GetPositionFromSpacecraft_b_m("SUN"); diff --git a/src/disturbances/solar_radiation_pressure_disturbance.hpp b/src/disturbances/solar_radiation_pressure_disturbance.hpp index d33233a1b..871538ba2 100644 --- a/src/disturbances/solar_radiation_pressure_disturbance.hpp +++ b/src/disturbances/solar_radiation_pressure_disturbance.hpp @@ -34,9 +34,9 @@ class SolarRadiationPressureDisturbance : public SurfaceForce { * @fn Update * @brief Override Updates function of SimpleDisturbance * @param [in] local_environment: Local environment information - * @param [in] dynamics: Dynamics information + * @param [in] dynamics: dynamics::Dynamics information */ - virtual void Update(const LocalEnvironment& local_environment, const Dynamics& dynamics); + virtual void Update(const LocalEnvironment& local_environment, const dynamics::Dynamics& dynamics); // Override logger::ILoggable /** diff --git a/src/disturbances/third_body_gravity.cpp b/src/disturbances/third_body_gravity.cpp index 476fe673e..2598332a0 100644 --- a/src/disturbances/third_body_gravity.cpp +++ b/src/disturbances/third_body_gravity.cpp @@ -16,7 +16,7 @@ ThirdBodyGravity::ThirdBodyGravity(std::set third_body_list, const ThirdBodyGravity::~ThirdBodyGravity() {} -void ThirdBodyGravity::Update(const LocalEnvironment& local_environment, const Dynamics& dynamics) { +void ThirdBodyGravity::Update(const LocalEnvironment& local_environment, const dynamics::Dynamics& dynamics) { acceleration_i_m_s2_ = s2e::math::Vector<3>(0.0); // initialize s2e::math::Vector<3> sc_position_i_m = dynamics.GetOrbit().GetPosition_i_m(); diff --git a/src/disturbances/third_body_gravity.hpp b/src/disturbances/third_body_gravity.hpp index b1d6d5e48..24a74ccc8 100644 --- a/src/disturbances/third_body_gravity.hpp +++ b/src/disturbances/third_body_gravity.hpp @@ -39,9 +39,9 @@ class ThirdBodyGravity : public Disturbance { * @fn Update * @brief Update third body disturbance * @param [in] local_environment: Local environment information - * @param [in] dynamics: Dynamics information + * @param [in] dynamics: dynamics::Dynamics information */ - virtual void Update(const LocalEnvironment& local_environment, const Dynamics& dynamics); + virtual void Update(const LocalEnvironment& local_environment, const dynamics::Dynamics& dynamics); private: std::set third_body_list_; //!< List of celestial bodies to calculate the third body disturbances diff --git a/src/dynamics/dynamics.cpp b/src/dynamics/dynamics.cpp index 98276524c..ea722d28d 100644 --- a/src/dynamics/dynamics.cpp +++ b/src/dynamics/dynamics.cpp @@ -9,20 +9,20 @@ namespace s2e::dynamics { -Dynamics::Dynamics(const SimulationConfiguration* simulation_configuration, const SimulationTime* simulation_time, +dynamics::Dynamics::dynamics::Dynamics(const SimulationConfiguration* simulation_configuration, const SimulationTime* simulation_time, const LocalEnvironment* local_environment, const int spacecraft_id, Structure* structure, RelativeInformation* relative_information) : structure_(structure), local_environment_(local_environment) { Initialize(simulation_configuration, simulation_time, spacecraft_id, structure, relative_information); } -Dynamics::~Dynamics() { +dynamics::Dynamics::~dynamics::Dynamics() { delete attitude_; delete orbit_; delete temperature_; } -void Dynamics::Initialize(const SimulationConfiguration* simulation_configuration, const SimulationTime* simulation_time, const int spacecraft_id, +void dynamics::Dynamics::Initialize(const SimulationConfiguration* simulation_configuration, const SimulationTime* simulation_time, const int spacecraft_id, Structure* structure, RelativeInformation* relative_information) { const LocalCelestialInformation& local_celestial_information = local_environment_->GetCelestialInformation(); // Initialize @@ -38,7 +38,7 @@ void Dynamics::Initialize(const SimulationConfiguration* simulation_configuratio orbit_->UpdateByAttitude(attitude_->GetQuaternion_i2b()); } -void Dynamics::Update(const SimulationTime* simulation_time, const LocalCelestialInformation* local_celestial_information) { +void dynamics::Dynamics::Update(const SimulationTime* simulation_time, const LocalCelestialInformation* local_celestial_information) { // Attitude propagation if (simulation_time->GetAttitudePropagateFlag()) { attitude_->Propagate(simulation_time->GetElapsedTime_s()); @@ -56,13 +56,13 @@ void Dynamics::Update(const SimulationTime* simulation_time, const LocalCelestia } } -void Dynamics::ClearForceTorque(void) { +void dynamics::Dynamics::ClearForceTorque(void) { s2e::math::Vector<3> zero(0.0); attitude_->SetTorque_b_Nm(zero); orbit_->SetAcceleration_i_m_s2(zero); } -void Dynamics::LogSetup(Logger& logger) { +void dynamics::Dynamics::LogSetup(Logger& logger) { logger.AddLogList(attitude_); logger.AddLogList(orbit_); logger.AddLogList(temperature_); diff --git a/src/environment/local/local_environment.cpp b/src/environment/local/local_environment.cpp index b8738b87a..85d23926c 100644 --- a/src/environment/local/local_environment.cpp +++ b/src/environment/local/local_environment.cpp @@ -51,7 +51,7 @@ void LocalEnvironment::Initialize(const SimulationConfiguration* simulation_conf celestial_information_->is_log_enabled_ = conf.ReadEnable("LOCAL_CELESTIAL_INFORMATION", "logging"); } -void LocalEnvironment::Update(const Dynamics* dynamics, const SimulationTime* simulation_time) { +void LocalEnvironment::Update(const dynamics::Dynamics* dynamics, const SimulationTime* simulation_time) { auto& orbit = dynamics->GetOrbit(); auto& attitude = dynamics->GetAttitude(); diff --git a/src/environment/local/local_environment.hpp b/src/environment/local/local_environment.hpp index 807ffa100..f251135f4 100644 --- a/src/environment/local/local_environment.hpp +++ b/src/environment/local/local_environment.hpp @@ -15,7 +15,7 @@ #include "simulation/simulation_configuration.hpp" #include "solar_radiation_pressure_environment.hpp" -class Dynamics; +class dynamics::Dynamics; namespace s2e::environment { @@ -45,7 +45,7 @@ class LocalEnvironment { * @param [in] dynamics: Dynamics information of the satellite * @param [in] simulation_time: Simulation time */ - void Update(const Dynamics* dynamics, const SimulationTime* simulation_time); + void Update(const dynamics::Dynamics* dynamics, const SimulationTime* simulation_time); /** * @fn LogSetup diff --git a/src/simulation/multiple_spacecraft/relative_information.cpp b/src/simulation/multiple_spacecraft/relative_information.cpp index 782b50295..93cd3007b 100644 --- a/src/simulation/multiple_spacecraft/relative_information.cpp +++ b/src/simulation/multiple_spacecraft/relative_information.cpp @@ -39,7 +39,7 @@ void RelativeInformation::Update() { } } -void RelativeInformation::RegisterDynamicsInfo(const size_t spacecraft_id, const Dynamics* dynamics) { +void RelativeInformation::RegisterDynamicsInfo(const size_t spacecraft_id, const dynamics::Dynamics* dynamics) { dynamics_database_.emplace(spacecraft_id, dynamics); ResizeLists(); } diff --git a/src/simulation/multiple_spacecraft/relative_information.hpp b/src/simulation/multiple_spacecraft/relative_information.hpp index b68cab097..04423a2ed 100644 --- a/src/simulation/multiple_spacecraft/relative_information.hpp +++ b/src/simulation/multiple_spacecraft/relative_information.hpp @@ -42,7 +42,7 @@ class RelativeInformation : public logger::ILoggable { * @param [in] spacecraft_id: ID of target spacecraft * @param [in] dynamics: Dynamics information of the target spacecraft */ - void RegisterDynamicsInfo(const size_t spacecraft_id, const dynamics::Dynamics* dynamics); + void RegisterDynamicsInfo(const size_t spacecraft_id, const dynamics::dynamics::Dynamics* dynamics); /** * @fn RegisterDynamicsInfo * @brief Remove dynamics information of target spacecraft @@ -129,12 +129,12 @@ class RelativeInformation : public logger::ILoggable { * @brief Return the dynamics information of a spacecraft * @param [in] target_spacecraft_id: ID of the spacecraft */ - inline const dynamics::Dynamics* GetReferenceSatDynamics(const size_t reference_spacecraft_id) const { + inline const dynamics::dynamics::Dynamics* GetReferenceSatDynamics(const size_t reference_spacecraft_id) const { return dynamics_database_.at(reference_spacecraft_id); }; private: - std::map dynamics_database_; //!< Dynamics database of all spacecraft + std::map dynamics_database_; //!< Dynamics database of all spacecraft std::vector>> relative_position_list_i_m_; //!< Relative position list in the inertial frame in unit [m] std::vector>> relative_velocity_list_i_m_s_; //!< Relative velocity list in the inertial frame in unit [m/s] diff --git a/src/simulation/spacecraft/spacecraft.cpp b/src/simulation/spacecraft/spacecraft.cpp index d99b1a1a5..b0efbad8b 100644 --- a/src/simulation/spacecraft/spacecraft.cpp +++ b/src/simulation/spacecraft/spacecraft.cpp @@ -32,7 +32,7 @@ void Spacecraft::Initialize(const SimulationConfiguration* simulation_configurat clock_generator_.ClearTimerCount(); structure_ = new Structure(simulation_configuration, spacecraft_id); local_environment_ = new environment::LocalEnvironment(simulation_configuration, global_environment, spacecraft_id); - dynamics_ = new dynamics::Dynamics(simulation_configuration, &(global_environment->GetSimulationTime()), local_environment_, spacecraft_id, structure_, + dynamics_ = new dynamics::dynamics::Dynamics(simulation_configuration, &(global_environment->GetSimulationTime()), local_environment_, spacecraft_id, structure_, relative_information); disturbances_ = new disturbances::Disturbances(simulation_configuration, spacecraft_id, structure_, global_environment); diff --git a/src/simulation/spacecraft/spacecraft.hpp b/src/simulation/spacecraft/spacecraft.hpp index 88f612246..5b490ec1e 100644 --- a/src/simulation/spacecraft/spacecraft.hpp +++ b/src/simulation/spacecraft/spacecraft.hpp @@ -71,7 +71,7 @@ class Spacecraft { * @fn GetDynamics * @brief Get dynamics of the spacecraft */ - inline const dynamics::Dynamics& GetDynamics() const { return *dynamics_; } + inline const dynamics::dynamics::Dynamics& GetDynamics() const { return *dynamics_; } /** * @fn GetLocalEnvironment * @brief Get local environment around the spacecraft @@ -100,7 +100,7 @@ class Spacecraft { protected: environment::ClockGenerator clock_generator_; //!< Origin of clock for the spacecraft - dynamics::Dynamics* dynamics_; //!< Dynamics information of the spacecraft + dynamics::dynamics::Dynamics* dynamics_; //!< Dynamics information of the spacecraft RelativeInformation* relative_information_; //!< Relative information with respect to the other spacecraft environment::LocalEnvironment* local_environment_; //!< Local environment information around the spacecraft disturbances::Disturbances* disturbances_; //!< Disturbance information acting on the spacecraft diff --git a/src/simulation_sample/spacecraft/sample_components.cpp b/src/simulation_sample/spacecraft/sample_components.cpp index 38debc042..0a61fea77 100644 --- a/src/simulation_sample/spacecraft/sample_components.cpp +++ b/src/simulation_sample/spacecraft/sample_components.cpp @@ -13,7 +13,7 @@ namespace s2e::sample { using namespace components; -SampleComponents::SampleComponents(const dynamics::Dynamics* dynamics, simulation::Structure* structure, const environment::LocalEnvironment* local_environment, +SampleComponents::SampleComponents(const dynamics::dynamics::Dynamics* dynamics, simulation::Structure* structure, const environment::LocalEnvironment* local_environment, const environment::GlobalEnvironment* global_environment, const simulation::SimulationConfiguration* configuration, environment::ClockGenerator* clock_generator, const unsigned int spacecraft_id) : configuration_(configuration), diff --git a/src/simulation_sample/spacecraft/sample_components.hpp b/src/simulation_sample/spacecraft/sample_components.hpp index 756e3fc9b..27c1118fc 100644 --- a/src/simulation_sample/spacecraft/sample_components.hpp +++ b/src/simulation_sample/spacecraft/sample_components.hpp @@ -62,7 +62,7 @@ class SampleComponents : public simulation::InstalledComponents { * @fn SampleComponents * @brief Constructor */ - SampleComponents(const dynamics::Dynamics* dynamics, simulation::Structure* structure, const environment::LocalEnvironment* local_environment, + SampleComponents(const dynamics::dynamics::Dynamics* dynamics, simulation::Structure* structure, const environment::LocalEnvironment* local_environment, const environment::GlobalEnvironment* global_environment, const simulation::SimulationConfiguration* configuration, environment::ClockGenerator* clock_generator, const unsigned int spacecraft_id); /** @@ -139,7 +139,7 @@ class SampleComponents : public simulation::InstalledComponents { // States const simulation::SimulationConfiguration* configuration_; //!< Simulation settings - const dynamics::Dynamics* dynamics_; //!< Dynamics information of the spacecraft + const dynamics::dynamics::Dynamics* dynamics_; //!< Dynamics information of the spacecraft simulation::Structure* structure_; //!< Structure information of the spacecraft const environment::LocalEnvironment* local_environment_; //!< Local environment information around the spacecraft const environment::GlobalEnvironment* global_environment_; //!< Global environment information From 0a6a3d2fb983b64febe98437e6418b6f09aa539f Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 28 Sep 2024 22:03:29 +0900 Subject: [PATCH 438/456] Fix namespace --- src/components/base/sensor.hpp | 18 +- .../base/sensor_template_functions.hpp | 34 ++-- .../examples/example_change_structure.cpp | 2 +- .../ideal/angular_velocity_observer.hpp | 4 +- src/components/ideal/attitude_observer.cpp | 6 +- src/components/ideal/attitude_observer.hpp | 4 +- src/components/ideal/force_generator.cpp | 32 ++-- src/components/ideal/force_generator.hpp | 16 +- src/components/ideal/orbit_observer.cpp | 14 +- src/components/ideal/orbit_observer.hpp | 10 +- src/components/ideal/torque_generator.cpp | 16 +- src/components/ideal/torque_generator.hpp | 8 +- src/components/real/aocs/gnss_receiver.cpp | 104 ++++++------ src/components/real/aocs/gnss_receiver.hpp | 32 ++-- src/components/real/aocs/gyro_sensor.cpp | 8 +- src/components/real/aocs/gyro_sensor.hpp | 10 +- src/components/real/aocs/magnetometer.cpp | 8 +- src/components/real/aocs/magnetometer.hpp | 16 +- src/components/real/aocs/magnetorquer.cpp | 64 +++---- src/components/real/aocs/magnetorquer.hpp | 50 +++--- .../aocs/mtq_magnetometer_interference.cpp | 10 +- .../aocs/mtq_magnetometer_interference.hpp | 4 +- src/components/real/aocs/reaction_wheel.cpp | 58 +++---- src/components/real/aocs/reaction_wheel.hpp | 28 +-- .../real/aocs/reaction_wheel_jitter.cpp | 6 +- .../real/aocs/reaction_wheel_jitter.hpp | 40 ++--- .../real/aocs/reaction_wheel_ode.cpp | 4 +- .../real/aocs/reaction_wheel_ode.hpp | 4 +- src/components/real/aocs/star_sensor.cpp | 68 ++++---- src/components/real/aocs/star_sensor.hpp | 30 ++-- src/components/real/aocs/sun_sensor.cpp | 40 ++--- src/components/real/aocs/sun_sensor.hpp | 14 +- src/components/real/communication/antenna.cpp | 4 +- src/components/real/communication/antenna.hpp | 8 +- .../antenna_radiation_pattern.hpp | 6 +- .../ground_station_calculator.cpp | 10 +- src/components/real/mission/telescope.cpp | 86 +++++----- src/components/real/mission/telescope.hpp | 26 +-- src/components/real/power/battery.cpp | 8 +- .../real/power/csv_scenario_interface.cpp | 4 +- .../real/power/csv_scenario_interface.hpp | 2 +- .../real/power/pcu_initial_study.cpp | 8 +- .../real/power/solar_array_panel.cpp | 22 +-- .../real/power/solar_array_panel.hpp | 8 +- .../real/propulsion/simple_thruster.cpp | 34 ++-- src/disturbances/air_drag.cpp | 20 +-- src/disturbances/air_drag.hpp | 6 +- src/disturbances/disturbance.hpp | 24 +-- src/disturbances/disturbances.hpp | 6 +- src/disturbances/geopotential.cpp | 12 +- src/disturbances/geopotential.hpp | 2 +- src/disturbances/gravity_gradient.cpp | 4 +- src/disturbances/gravity_gradient.hpp | 2 +- src/disturbances/lunar_gravity_field.cpp | 16 +- src/disturbances/lunar_gravity_field.hpp | 2 +- src/disturbances/magnetic_disturbance.cpp | 4 +- src/disturbances/magnetic_disturbance.hpp | 4 +- .../solar_radiation_pressure_disturbance.cpp | 6 +- .../solar_radiation_pressure_disturbance.hpp | 4 +- src/disturbances/surface_force.cpp | 24 +-- src/disturbances/surface_force.hpp | 10 +- src/disturbances/third_body_gravity.cpp | 14 +- src/disturbances/third_body_gravity.hpp | 4 +- src/dynamics/attitude/attitude.cpp | 32 ++-- src/dynamics/attitude/attitude.hpp | 40 ++--- src/dynamics/attitude/attitude_rk4.cpp | 34 ++-- src/dynamics/attitude/attitude_rk4.hpp | 14 +- .../attitude_with_cantilever_vibration.cpp | 20 +-- .../attitude_with_cantilever_vibration.hpp | 14 +- src/dynamics/attitude/controlled_attitude.cpp | 58 +++---- src/dynamics/attitude/controlled_attitude.hpp | 32 ++-- src/dynamics/attitude/initialize_attitude.cpp | 20 +-- src/dynamics/attitude/initialize_attitude.hpp | 4 +- ...ode_attitude_with_cantilever_vibration.hpp | 80 +++++---- src/dynamics/dynamics.cpp | 17 +- src/dynamics/dynamics.hpp | 36 ++-- .../orbit/encke_orbit_propagation.cpp | 18 +- .../orbit/encke_orbit_propagation.hpp | 18 +- src/dynamics/orbit/initialize_orbit.cpp | 34 ++-- src/dynamics/orbit/initialize_orbit.hpp | 4 +- src/dynamics/orbit/orbit.cpp | 38 ++--- src/dynamics/orbit/orbit.hpp | 44 ++--- src/dynamics/orbit/relative_orbit.cpp | 28 +-- src/dynamics/orbit/relative_orbit.hpp | 16 +- src/dynamics/orbit/rk4_orbit_propagation.cpp | 8 +- src/dynamics/orbit/rk4_orbit_propagation.hpp | 8 +- src/dynamics/thermal/heater_controller.hpp | 4 +- src/dynamics/thermal/node.cpp | 10 +- src/dynamics/thermal/node.hpp | 10 +- src/dynamics/thermal/temperature.cpp | 16 +- src/dynamics/thermal/temperature.hpp | 18 +- .../global/celestial_information.cpp | 4 +- .../global/celestial_information.hpp | 30 ++-- src/environment/global/clock_generator.cpp | 4 +- src/environment/global/clock_generator.hpp | 6 +- src/environment/global/earth_rotation.cpp | 160 +++++++++--------- src/environment/global/earth_rotation.hpp | 16 +- src/environment/global/global_environment.cpp | 10 +- src/environment/global/global_environment.hpp | 6 +- src/environment/global/gnss_satellites.cpp | 16 +- src/environment/global/gnss_satellites.hpp | 6 +- .../global/hipparcos_catalogue.cpp | 14 +- .../global/hipparcos_catalogue.hpp | 4 +- src/environment/global/moon_rotation.cpp | 8 +- src/environment/global/moon_rotation.hpp | 8 +- src/environment/global/physical_constants.hpp | 6 +- src/environment/global/simulation_time.cpp | 6 +- src/environment/local/atmosphere.cpp | 8 +- src/environment/local/atmosphere.hpp | 2 +- src/environment/local/earth_albedo.cpp | 10 +- src/environment/local/geomagnetic_field.cpp | 6 +- src/environment/local/geomagnetic_field.hpp | 10 +- .../local/local_celestial_information.cpp | 52 +++--- .../local/local_celestial_information.hpp | 22 +-- src/environment/local/local_environment.cpp | 8 +- src/environment/local/local_environment.hpp | 6 +- .../solar_radiation_pressure_environment.cpp | 18 +- src/logger/log_utility.hpp | 12 +- src/logger/logger.cpp | 4 +- .../atmosphere/harris_priester_model.cpp | 10 +- .../atmosphere/harris_priester_model.hpp | 2 +- .../atmosphere/wrapper_nrlmsise00.cpp | 6 +- .../geodesy/geodetic_position.cpp | 10 +- .../geodesy/geodetic_position.hpp | 8 +- src/math_physics/gnss/antex_file_reader.cpp | 2 +- src/math_physics/gnss/antex_file_reader.hpp | 6 +- src/math_physics/gnss/sp3_file_reader.cpp | 10 +- src/math_physics/gnss/sp3_file_reader.hpp | 10 +- .../gravity/gravity_potential.cpp | 8 +- .../gravity/gravity_potential.hpp | 4 +- .../gravity/test_gravity_potential.cpp | 40 ++--- .../math/ordinary_differential_equation.hpp | 2 +- src/math_physics/math/s2e_math.cpp | 8 +- src/math_physics/math/test_interpolation.cpp | 30 ++-- src/math_physics/math/test_matrix.cpp | 60 +++---- src/math_physics/math/test_matrix_vector.cpp | 10 +- src/math_physics/math/test_quaternion.cpp | 134 +++++++-------- src/math_physics/math/test_s2e_math.cpp | 14 +- src/math_physics/math/test_vector.cpp | 94 +++++----- .../dormand_prince_5.hpp | 4 +- .../dormand_prince_5_implementation.hpp | 6 +- .../embedded_runge_kutta_implementation.hpp | 6 +- .../numerical_integration/interface_ode.hpp | 2 +- .../numerical_integrator.hpp | 10 +- .../numerical_integration/ode_examples.hpp | 16 +- .../numerical_integration/runge_kutta.hpp | 2 +- .../numerical_integration/runge_kutta_4.hpp | 2 +- .../runge_kutta_fehlberg.hpp | 2 +- .../runge_kutta_fehlberg_implementation.hpp | 8 +- .../runge_kutta_template.hpp | 4 +- .../test_runge_kutta.cpp | 86 +++++----- .../optics/gaussian_beam_base.cpp | 8 +- .../optics/gaussian_beam_base.hpp | 12 +- .../orbit/interpolation_orbit.cpp | 8 +- .../orbit/interpolation_orbit.hpp | 6 +- src/math_physics/orbit/kepler_orbit.cpp | 16 +- src/math_physics/orbit/kepler_orbit.hpp | 10 +- src/math_physics/orbit/orbital_elements.cpp | 16 +- src/math_physics/orbit/orbital_elements.hpp | 8 +- .../orbit/relative_orbit_models.cpp | 8 +- .../orbit/relative_orbit_models.hpp | 4 +- .../orbit/test_interpolation_orbit.cpp | 4 +- .../moon_rotation_utilities.cpp | 30 ++-- .../moon_rotation_utilities.hpp | 6 +- .../randomization/random_walk.hpp | 8 +- .../random_walk_template_functions.hpp | 6 +- .../c2a_command_database.cpp | 20 +-- .../initialize_file_access.cpp | 4 +- .../initialize_file_access.hpp | 6 +- .../ground_station/ground_station.cpp | 14 +- .../initialize_monte_carlo_parameters.cpp | 70 ++++---- .../initialize_monte_carlo_simulation.cpp | 4 +- .../monte_carlo_simulation_executor.cpp | 2 +- .../monte_carlo_simulation_executor.hpp | 12 +- .../simulation_object.cpp | 2 +- .../simulation_object.hpp | 6 +- .../relative_information.cpp | 58 +++---- .../relative_information.hpp | 26 +-- .../spacecraft/installed_components.cpp | 8 +- .../spacecraft/installed_components.hpp | 4 +- .../structure/initialize_structure.cpp | 8 +- .../structure/kinematics_parameters.cpp | 2 +- .../structure/kinematics_parameters.hpp | 14 +- .../structure/residual_magnetic_moment.cpp | 2 +- .../structure/residual_magnetic_moment.hpp | 4 +- .../spacecraft/structure/surface.cpp | 2 +- .../spacecraft/structure/surface.hpp | 14 +- .../spacecraft/sample_components.cpp | 6 +- 188 files changed, 1670 insertions(+), 1673 deletions(-) diff --git a/src/components/base/sensor.hpp b/src/components/base/sensor.hpp index 38f2a9075..1091be06b 100644 --- a/src/components/base/sensor.hpp +++ b/src/components/base/sensor.hpp @@ -33,9 +33,9 @@ class Sensor { * @param [in] random_walk_standard_deviation_c: Standard deviation of random wark at the component frame * @param [in] random_walk_limit_c: Limit of random walk at the component frame */ - Sensor(const s2e::math::Matrix& scale_factor, const s2e::math::Vector& range_to_const_c, const s2e::math::Vector& range_to_zero_c, - const s2e::math::Vector& bias_noise_c, const s2e::math::Vector& normal_random_standard_deviation_c, const double random_walk_step_width_s, - const s2e::math::Vector& random_walk_standard_deviation_c, const s2e::math::Vector& random_walk_limit_c); + Sensor(const math::Matrix& scale_factor, const math::Vector& range_to_const_c, const math::Vector& range_to_zero_c, + const math::Vector& bias_noise_c, const math::Vector& normal_random_standard_deviation_c, const double random_walk_step_width_s, + const math::Vector& random_walk_standard_deviation_c, const math::Vector& random_walk_limit_c); /** * @fn ~Sensor * @brief Destructor @@ -43,7 +43,7 @@ class Sensor { ~Sensor(); protected: - s2e::math::Vector bias_noise_c_; //!< Constant bias noise at the component frame + math::Vector bias_noise_c_; //!< Constant bias noise at the component frame /** * @fn Measure @@ -51,12 +51,12 @@ class Sensor { * @param [in] true_value_c: True value at the component frame * @return Observed value with noise at the component frame */ - s2e::math::Vector Measure(const s2e::math::Vector true_value_c); + math::Vector Measure(const math::Vector true_value_c); private: - s2e::math::Matrix scale_factor_; //!< Scale factor matrix - s2e::math::Vector range_to_const_c_; //!< Output range limit to be constant output value at the component frame - s2e::math::Vector range_to_zero_c_; //!< Output range limit to be zero output value at the component frame + math::Matrix scale_factor_; //!< Scale factor matrix + math::Vector range_to_const_c_; //!< Output range limit to be constant output value at the component frame + math::Vector range_to_zero_c_; //!< Output range limit to be zero output value at the component frame s2e::randomization::NormalRand normal_random_noise_c_[N]; //!< Normal random RandomWalk random_walk_noise_c_; //!< Random Walk @@ -66,7 +66,7 @@ class Sensor { * @param [in] input_c: Input value at the component frame * @return Clipped value */ - s2e::math::Vector Clip(const s2e::math::Vector input_c); + math::Vector Clip(const math::Vector input_c); /** * @fn RangeCheck * @brief Check the range_to_const_c_ and range_to_zero_c_ is correct and fixed the values diff --git a/src/components/base/sensor_template_functions.hpp b/src/components/base/sensor_template_functions.hpp index b1236901a..89bcd73ab 100644 --- a/src/components/base/sensor_template_functions.hpp +++ b/src/components/base/sensor_template_functions.hpp @@ -12,10 +12,10 @@ namespace s2e::components { template -Sensor::Sensor(const s2e::math::Matrix& scale_factor, const s2e::math::Vector& range_to_const_c, const s2e::math::Vector& range_to_zero_c, - const s2e::math::Vector& bias_noise_c, const s2e::math::Vector& normal_random_standard_deviation_c, - const double random_walk_step_width_s, const s2e::math::Vector& random_walk_standard_deviation_c, - const s2e::math::Vector& random_walk_limit_c) +Sensor::Sensor(const math::Matrix& scale_factor, const math::Vector& range_to_const_c, const math::Vector& range_to_zero_c, + const math::Vector& bias_noise_c, const math::Vector& normal_random_standard_deviation_c, + const double random_walk_step_width_s, const math::Vector& random_walk_standard_deviation_c, + const math::Vector& random_walk_limit_c) : bias_noise_c_(bias_noise_c), scale_factor_(scale_factor), range_to_const_c_(range_to_const_c), @@ -31,8 +31,8 @@ template Sensor::~Sensor() {} template -s2e::math::Vector Sensor::Measure(const s2e::math::Vector true_value_c) { - s2e::math::Vector calc_value_c; +math::Vector Sensor::Measure(const math::Vector true_value_c) { + math::Vector calc_value_c; calc_value_c = scale_factor_ * true_value_c; calc_value_c += bias_noise_c_; for (size_t i = 0; i < N; ++i) { @@ -44,8 +44,8 @@ s2e::math::Vector Sensor::Measure(const s2e::math::Vector true_value_c) } template -s2e::math::Vector Sensor::Clip(const s2e::math::Vector input_c) { - s2e::math::Vector output_c; +math::Vector Sensor::Clip(const math::Vector input_c) { + math::Vector output_c; for (size_t i = 0; i < N; ++i) { if (input_c[i] >= range_to_const_c_[i] && input_c[i] < range_to_zero_c_[i]) { output_c[i] = range_to_const_c_[i]; @@ -82,11 +82,11 @@ Sensor ReadSensorInformation(const std::string file_name, const double step_w setting_file_reader::IniAccess ini_file(file_name); std::string section = "SENSOR_BASE_" + component_name; - s2e::math::Vector scale_factor_vector; + math::Vector scale_factor_vector; ini_file.ReadVector(section.c_str(), "scale_factor_c", scale_factor_vector); - s2e::math::Matrix scale_factor_c; + math::Matrix scale_factor_c; if (scale_factor_vector.CalcNorm() == 0.0) { - scale_factor_c = s2e::math::MakeIdentityMatrix(); + scale_factor_c = math::MakeIdentityMatrix(); } else { for (size_t i = 0; i < N; i++) { for (size_t j = 0; j < N; j++) { @@ -96,26 +96,26 @@ Sensor ReadSensorInformation(const std::string file_name, const double step_w } std::string key_name; - s2e::math::Vector constant_bias_c; + math::Vector constant_bias_c; key_name = "constant_bias_c_" + unit; ini_file.ReadVector(section.c_str(), key_name.c_str(), constant_bias_c); - s2e::math::Vector normal_random_standard_deviation_c; + math::Vector normal_random_standard_deviation_c; key_name = "normal_random_standard_deviation_c_" + unit; ini_file.ReadVector(section.c_str(), key_name.c_str(), normal_random_standard_deviation_c); - s2e::math::Vector random_walk_standard_deviation_c; + math::Vector random_walk_standard_deviation_c; key_name = "random_walk_standard_deviation_c_" + unit; ini_file.ReadVector(section.c_str(), key_name.c_str(), random_walk_standard_deviation_c); - s2e::math::Vector random_walk_limit_c; + math::Vector random_walk_limit_c; key_name = "random_walk_limit_c_" + unit; ini_file.ReadVector(section.c_str(), key_name.c_str(), random_walk_limit_c); key_name = "range_to_constant_" + unit; double range_to_const = ini_file.ReadDouble(section.c_str(), key_name.c_str()); - s2e::math::Vector range_to_const_c{range_to_const}; + math::Vector range_to_const_c{range_to_const}; key_name = "range_to_zero_" + unit; double range_to_zero = ini_file.ReadDouble(section.c_str(), key_name.c_str()); - s2e::math::Vector range_to_zero_c{range_to_zero}; + math::Vector range_to_zero_c{range_to_zero}; Sensor sensor_base(scale_factor_c, range_to_const_c, range_to_zero_c, constant_bias_c, normal_random_standard_deviation_c, step_width_s, random_walk_standard_deviation_c, random_walk_limit_c); diff --git a/src/components/examples/example_change_structure.cpp b/src/components/examples/example_change_structure.cpp index 0ee982771..62e2a0cc6 100644 --- a/src/components/examples/example_change_structure.cpp +++ b/src/components/examples/example_change_structure.cpp @@ -37,7 +37,7 @@ void ExampleChangeStructure::MainRoutine(const int time_count) { structure_->GetToSetSurfaces()[0].SetArea_m2(0.5); // Inertia Tensor - s2e::math::Matrix<3, 3> inertia_tensor_b_kgm2(0.0); + math::Matrix<3, 3> inertia_tensor_b_kgm2(0.0); inertia_tensor_b_kgm2[0][0] = 0.2; inertia_tensor_b_kgm2[1][1] = 0.2; inertia_tensor_b_kgm2[2][2] = 0.2; diff --git a/src/components/ideal/angular_velocity_observer.hpp b/src/components/ideal/angular_velocity_observer.hpp index 404785058..a99c0cb13 100644 --- a/src/components/ideal/angular_velocity_observer.hpp +++ b/src/components/ideal/angular_velocity_observer.hpp @@ -59,10 +59,10 @@ class AngularVelocityObserver : public Component, public Sensor<3>, public logge * @fn GetAngularVelocity_b_rad_s * @brief Return observed angular velocity */ - inline s2e::math::Vector<3> GetAngularVelocity_b_rad_s() const { return angular_velocity_b_rad_s_; } + inline math::Vector<3> GetAngularVelocity_b_rad_s() const { return angular_velocity_b_rad_s_; } protected: - s2e::math::Vector<3> angular_velocity_b_rad_s_{0.0}; //!< Observed angular velocity [rad/s] + math::Vector<3> angular_velocity_b_rad_s_{0.0}; //!< Observed angular velocity [rad/s] const dynamics::attitude::Attitude& attitude_; //!< Dynamics information }; diff --git a/src/components/ideal/attitude_observer.cpp b/src/components/ideal/attitude_observer.cpp index dad39b3e3..9d3a84165 100644 --- a/src/components/ideal/attitude_observer.cpp +++ b/src/components/ideal/attitude_observer.cpp @@ -20,14 +20,14 @@ void AttitudeObserver::MainRoutine(const int time_count) { UNUSED(time_count); // Error calculation - s2e::math::Vector<3> random_direction; + math::Vector<3> random_direction; random_direction[0] = direction_noise_; random_direction[1] = direction_noise_; random_direction[2] = direction_noise_; random_direction = random_direction.CalcNormalizedVector(); double error_angle_rad = angle_noise_; - s2e::math::Quaternion error_quaternion(random_direction, error_angle_rad); + math::Quaternion error_quaternion(random_direction, error_angle_rad); observed_quaternion_i2b_ = error_quaternion * attitude_.GetQuaternion_i2b(); } @@ -59,7 +59,7 @@ AttitudeObserver InitializeAttitudeObserver(environment::ClockGenerator* clock_g // AttitudeObserver double error_angle_standard_deviation_deg = ini_file.ReadDouble("ATTITUDE_OBSERVER", "error_angle_standard_deviation_deg"); - double error_angle_standard_deviation_rad = s2e::math::deg_to_rad * error_angle_standard_deviation_deg; + double error_angle_standard_deviation_rad = math::deg_to_rad * error_angle_standard_deviation_deg; AttitudeObserver attitude_observer(prescaler, clock_generator, error_angle_standard_deviation_rad, attitude); return attitude_observer; diff --git a/src/components/ideal/attitude_observer.hpp b/src/components/ideal/attitude_observer.hpp index 59c00dd29..148b3aa4f 100644 --- a/src/components/ideal/attitude_observer.hpp +++ b/src/components/ideal/attitude_observer.hpp @@ -59,10 +59,10 @@ class AttitudeObserver : public Component, public logger::ILoggable { * @fn GetQuaternion_i2c * @brief Return observed quaternion from the inertial frame to the body-fixed frame */ - inline const s2e::math::Quaternion GetQuaternion_i2b() const { return observed_quaternion_i2b_; }; + inline const math::Quaternion GetQuaternion_i2b() const { return observed_quaternion_i2b_; }; protected: - s2e::math::Quaternion observed_quaternion_i2b_ = {0.0, 0.0, 0.0, 1.0}; //!< Observed quaternion + math::Quaternion observed_quaternion_i2b_ = {0.0, 0.0, 0.0, 1.0}; //!< Observed quaternion s2e::randomization::NormalRand angle_noise_; //!< Normal random for magnitude noise s2e::randomization::NormalRand direction_noise_; //!< Normal random for direction noise diff --git a/src/components/ideal/force_generator.cpp b/src/components/ideal/force_generator.cpp index d1770ac79..2bac42d3f 100644 --- a/src/components/ideal/force_generator.cpp +++ b/src/components/ideal/force_generator.cpp @@ -31,16 +31,16 @@ void ForceGenerator::MainRoutine(const int time_count) { double norm_ordered_force = ordered_force_b_N_.CalcNorm(); if (norm_ordered_force > 0.0 + DBL_EPSILON) { // Add noise only when the force is generated - s2e::math::Vector<3> true_direction = generated_force_b_N_.CalcNormalizedVector(); - s2e::math::Quaternion error_quaternion = GenerateDirectionNoiseQuaternion(true_direction, direction_error_standard_deviation_rad_); - s2e::math::Vector<3> converted_direction = error_quaternion.FrameConversion(true_direction); + math::Vector<3> true_direction = generated_force_b_N_.CalcNormalizedVector(); + math::Quaternion error_quaternion = GenerateDirectionNoiseQuaternion(true_direction, direction_error_standard_deviation_rad_); + math::Vector<3> converted_direction = error_quaternion.FrameConversion(true_direction); double force_norm_with_error = norm_ordered_force + magnitude_noise_; generated_force_b_N_ = force_norm_with_error * converted_direction; } // Convert frame - s2e::math::Quaternion q_i2b = dynamics_->GetAttitude().GetQuaternion_i2b(); - s2e::math::Quaternion q_i2rtn = dynamics_->GetOrbit().CalcQuaternion_i2lvlh(); + math::Quaternion q_i2b = dynamics_->GetAttitude().GetQuaternion_i2b(); + math::Quaternion q_i2rtn = dynamics_->GetOrbit().CalcQuaternion_i2lvlh(); generated_force_i_N_ = q_i2b.InverseFrameConversion(generated_force_b_N_); generated_force_rtn_N_ = q_i2rtn.FrameConversion(generated_force_i_N_); } @@ -51,16 +51,16 @@ void ForceGenerator::PowerOffRoutine() { generated_force_rtn_N_ *= 0.0; } -void ForceGenerator::SetForce_i_N(const s2e::math::Vector<3> force_i_N) { - s2e::math::Quaternion q_i2b = dynamics_->GetAttitude().GetQuaternion_i2b(); +void ForceGenerator::SetForce_i_N(const math::Vector<3> force_i_N) { + math::Quaternion q_i2b = dynamics_->GetAttitude().GetQuaternion_i2b(); ordered_force_b_N_ = q_i2b.FrameConversion(force_i_N); } -void ForceGenerator::SetForce_rtn_N(const s2e::math::Vector<3> force_rtn_N) { - s2e::math::Quaternion q_i2b = dynamics_->GetAttitude().GetQuaternion_i2b(); - s2e::math::Quaternion q_i2rtn = dynamics_->GetOrbit().CalcQuaternion_i2lvlh(); +void ForceGenerator::SetForce_rtn_N(const math::Vector<3> force_rtn_N) { + math::Quaternion q_i2b = dynamics_->GetAttitude().GetQuaternion_i2b(); + math::Quaternion q_i2rtn = dynamics_->GetOrbit().CalcQuaternion_i2lvlh(); - s2e::math::Vector<3> force_i_N = q_i2rtn.InverseFrameConversion(force_rtn_N); + math::Vector<3> force_i_N = q_i2rtn.InverseFrameConversion(force_rtn_N); ordered_force_b_N_ = q_i2b.FrameConversion(force_i_N); } @@ -87,14 +87,14 @@ std::string ForceGenerator::GetLogValue() const { return str_tmp; } -s2e::math::Quaternion ForceGenerator::GenerateDirectionNoiseQuaternion(s2e::math::Vector<3> true_direction, const double error_standard_deviation_rad) { - s2e::math::Vector<3> random_direction; +math::Quaternion ForceGenerator::GenerateDirectionNoiseQuaternion(math::Vector<3> true_direction, const double error_standard_deviation_rad) { + math::Vector<3> random_direction; random_direction[0] = direction_noise_; random_direction[1] = direction_noise_; random_direction[2] = direction_noise_; random_direction = random_direction.CalcNormalizedVector(); - s2e::math::Vector<3> rotation_axis; + math::Vector<3> rotation_axis; rotation_axis = OuterProduct(true_direction, random_direction); double norm_rotation_axis = rotation_axis.CalcNorm(); if (norm_rotation_axis < 0.0 + DBL_EPSILON) { @@ -103,7 +103,7 @@ s2e::math::Quaternion ForceGenerator::GenerateDirectionNoiseQuaternion(s2e::math } double error_angle_rad = direction_noise_ * error_standard_deviation_rad; - s2e::math::Quaternion error_quaternion(rotation_axis, error_angle_rad); + math::Quaternion error_quaternion(rotation_axis, error_angle_rad); return error_quaternion; } @@ -119,7 +119,7 @@ ForceGenerator InitializeForceGenerator(environment::ClockGenerator* clock_gener char section[30] = "FORCE_GENERATOR"; double force_magnitude_standard_deviation_N = ini_file.ReadDouble(section, "force_magnitude_standard_deviation_N"); double force_direction_standard_deviation_deg = ini_file.ReadDouble(section, "force_direction_standard_deviation_deg"); - double force_direction_standard_deviation_rad = s2e::math::deg_to_rad * force_direction_standard_deviation_deg; + double force_direction_standard_deviation_rad = math::deg_to_rad * force_direction_standard_deviation_deg; ForceGenerator force_generator(prescaler, clock_generator, force_magnitude_standard_deviation_N, force_direction_standard_deviation_rad, dynamics); return force_generator; diff --git a/src/components/ideal/force_generator.hpp b/src/components/ideal/force_generator.hpp index 0881e7773..61f94d4d9 100644 --- a/src/components/ideal/force_generator.hpp +++ b/src/components/ideal/force_generator.hpp @@ -83,23 +83,23 @@ class ForceGenerator : public Component, public logger::ILoggable { * @fn SetForce_b_N * @brief Set ordered force in the body fixed frame [N] */ - inline void SetForce_b_N(const s2e::math::Vector<3> force_b_N) { ordered_force_b_N_ = force_b_N; }; + inline void SetForce_b_N(const math::Vector<3> force_b_N) { ordered_force_b_N_ = force_b_N; }; /** * @fn SetForce_i_N * @brief Set ordered force in the inertial frame [N] */ - void SetForce_i_N(const s2e::math::Vector<3> force_i_N); + void SetForce_i_N(const math::Vector<3> force_i_N); /** * @fn SetForce_rtn_N * @brief Set ordered force in the RTN frame [N] */ - void SetForce_rtn_N(const s2e::math::Vector<3> force_rtn_N); + void SetForce_rtn_N(const math::Vector<3> force_rtn_N); protected: - s2e::math::Vector<3> ordered_force_b_N_{0.0}; //!< Ordered force in the body fixed frame [N] - s2e::math::Vector<3> generated_force_b_N_{0.0}; //!< Generated force in the body fixed frame [N] - s2e::math::Vector<3> generated_force_i_N_{0.0}; //!< Generated force in the inertial frame [N] - s2e::math::Vector<3> generated_force_rtn_N_{0.0}; //!< Generated force in the RTN frame [N] + math::Vector<3> ordered_force_b_N_{0.0}; //!< Ordered force in the body fixed frame [N] + math::Vector<3> generated_force_b_N_{0.0}; //!< Generated force in the body fixed frame [N] + math::Vector<3> generated_force_i_N_{0.0}; //!< Generated force in the inertial frame [N] + math::Vector<3> generated_force_rtn_N_{0.0}; //!< Generated force in the RTN frame [N] // Noise s2e::randomization::NormalRand magnitude_noise_; //!< Normal random for magnitude noise @@ -112,7 +112,7 @@ class ForceGenerator : public Component, public logger::ILoggable { * @param [in] true_direction: True direction * @param [in] error_standard_deviation_rad: Standard deviation of direction error [rad] */ - s2e::math::Quaternion GenerateDirectionNoiseQuaternion(s2e::math::Vector<3> true_direction, const double error_standard_deviation_rad); + math::Quaternion GenerateDirectionNoiseQuaternion(math::Vector<3> true_direction, const double error_standard_deviation_rad); const dynamics::Dynamics* dynamics_; //!< Spacecraft dynamics information }; diff --git a/src/components/ideal/orbit_observer.cpp b/src/components/ideal/orbit_observer.cpp index 58ede8f6b..37e5c4dc3 100644 --- a/src/components/ideal/orbit_observer.cpp +++ b/src/components/ideal/orbit_observer.cpp @@ -11,7 +11,7 @@ namespace s2e::components { OrbitObserver::OrbitObserver(const int prescaler, environment::ClockGenerator* clock_generator, const NoiseFrame noise_frame, - const s2e::math::Vector<6> error_standard_deviation, const Orbit& orbit) + const math::Vector<6> error_standard_deviation, const Orbit& orbit) : Component(prescaler, clock_generator), noise_frame_(noise_frame), orbit_(orbit) { for (size_t i = 0; i < 6; i++) { normal_random_noise_[i].SetParameters(0.0, error_standard_deviation[i], s2e::randomization::global_randomization.MakeSeed()); @@ -22,11 +22,11 @@ void OrbitObserver::MainRoutine(const int time_count) { UNUSED(time_count); // Calc noise - s2e::math::Vector<3> position_error_i_m{0.0}; - s2e::math::Vector<3> position_error_rtn_m{0.0}; - s2e::math::Vector<3> velocity_error_i_m_s{0.0}; - s2e::math::Vector<3> velocity_error_rtn_m_s{0.0}; - s2e::math::Quaternion q_i2rtn = orbit_.CalcQuaternion_i2lvlh(); + math::Vector<3> position_error_i_m{0.0}; + math::Vector<3> position_error_rtn_m{0.0}; + math::Vector<3> velocity_error_i_m_s{0.0}; + math::Vector<3> velocity_error_rtn_m_s{0.0}; + math::Quaternion q_i2rtn = orbit_.CalcQuaternion_i2lvlh(); switch (noise_frame_) { case NoiseFrame::kInertial: for (size_t axis = 0; axis < 3; axis++) { @@ -95,7 +95,7 @@ OrbitObserver InitializeOrbitObserver(environment::ClockGenerator* clock_generat // Noise const NoiseFrame noise_frame = SetNoiseFrame(ini_file.ReadString("ORBIT_OBSERVER", "noise_frame")); - s2e::math::Vector<6> noise_standard_deviation; + math::Vector<6> noise_standard_deviation; ini_file.ReadVector("ORBIT_OBSERVER", "noise_standard_deviation", noise_standard_deviation); OrbitObserver orbit_observer(prescaler, clock_generator, noise_frame, noise_standard_deviation, orbit); diff --git a/src/components/ideal/orbit_observer.hpp b/src/components/ideal/orbit_observer.hpp index 58a2cf3c9..953184fe4 100644 --- a/src/components/ideal/orbit_observer.hpp +++ b/src/components/ideal/orbit_observer.hpp @@ -39,7 +39,7 @@ class OrbitObserver : public Component, public logger::ILoggable { * @param [in] error_standard_deviation: Position and Velocity standard deviation noise [m, m/s] * @param [in] orbit: Orbit information */ - OrbitObserver(const int prescaler, environment::ClockGenerator* clock_generator, const NoiseFrame noise_frame, const s2e::math::Vector<6> error_standard_deviation, + OrbitObserver(const int prescaler, environment::ClockGenerator* clock_generator, const NoiseFrame noise_frame, const math::Vector<6> error_standard_deviation, const Orbit& orbit); /** @@ -71,17 +71,17 @@ class OrbitObserver : public Component, public logger::ILoggable { * @fn GetPosition_i_m * @brief Return observed position */ - inline const s2e::math::Vector<3> GetPosition_i_m() const { return observed_position_i_m_; }; + inline const math::Vector<3> GetPosition_i_m() const { return observed_position_i_m_; }; /** * @fn GetVelocity_i_m_s * @brief Return observed velocity */ - inline const s2e::math::Vector<3> GetVelocity_i_m_s() const { return observed_velocity_i_m_s_; }; + inline const math::Vector<3> GetVelocity_i_m_s() const { return observed_velocity_i_m_s_; }; protected: - s2e::math::Vector<3> observed_position_i_m_{0.0}; //!< Observed position @ inertial frame [m] - s2e::math::Vector<3> observed_velocity_i_m_s_{0.0}; //!< Observed velocity @ inertial frame [m/s] + math::Vector<3> observed_position_i_m_{0.0}; //!< Observed position @ inertial frame [m] + math::Vector<3> observed_velocity_i_m_s_{0.0}; //!< Observed velocity @ inertial frame [m/s] NoiseFrame noise_frame_; //!< Noise definition frame s2e::randomization::NormalRand normal_random_noise_[6]; //!< Position and Velocity noise [m, m/s] diff --git a/src/components/ideal/torque_generator.cpp b/src/components/ideal/torque_generator.cpp index 93b312270..aef542808 100644 --- a/src/components/ideal/torque_generator.cpp +++ b/src/components/ideal/torque_generator.cpp @@ -31,9 +31,9 @@ void TorqueGenerator::MainRoutine(const int time_count) { double norm_ordered_torque = ordered_torque_b_Nm_.CalcNorm(); if (norm_ordered_torque > 0.0 + DBL_EPSILON) { // Add noise only when the torque is generated - s2e::math::Vector<3> true_direction = generated_torque_b_Nm_.CalcNormalizedVector(); - s2e::math::Quaternion error_quaternion = GenerateDirectionNoiseQuaternion(true_direction, direction_error_standard_deviation_rad_); - s2e::math::Vector<3> converted_direction = error_quaternion.FrameConversion(true_direction); + math::Vector<3> true_direction = generated_torque_b_Nm_.CalcNormalizedVector(); + math::Quaternion error_quaternion = GenerateDirectionNoiseQuaternion(true_direction, direction_error_standard_deviation_rad_); + math::Vector<3> converted_direction = error_quaternion.FrameConversion(true_direction); double torque_norm_with_error = norm_ordered_torque + magnitude_noise_; generated_torque_b_Nm_ = torque_norm_with_error * converted_direction; } @@ -60,14 +60,14 @@ std::string TorqueGenerator::GetLogValue() const { return str_tmp; } -s2e::math::Quaternion TorqueGenerator::GenerateDirectionNoiseQuaternion(s2e::math::Vector<3> true_direction, const double error_standard_deviation_rad) { - s2e::math::Vector<3> random_direction; +math::Quaternion TorqueGenerator::GenerateDirectionNoiseQuaternion(math::Vector<3> true_direction, const double error_standard_deviation_rad) { + math::Vector<3> random_direction; random_direction[0] = direction_noise_; random_direction[1] = direction_noise_; random_direction[2] = direction_noise_; random_direction = random_direction.CalcNormalizedVector(); - s2e::math::Vector<3> rotation_axis; + math::Vector<3> rotation_axis; rotation_axis = OuterProduct(true_direction, random_direction); double norm_rotation_axis = rotation_axis.CalcNorm(); if (norm_rotation_axis < 0.0 + DBL_EPSILON) { @@ -76,7 +76,7 @@ s2e::math::Quaternion TorqueGenerator::GenerateDirectionNoiseQuaternion(s2e::mat } double error_angle_rad = direction_noise_ * error_standard_deviation_rad; - s2e::math::Quaternion error_quaternion(rotation_axis, error_angle_rad); + math::Quaternion error_quaternion(rotation_axis, error_angle_rad); return error_quaternion; } @@ -92,7 +92,7 @@ TorqueGenerator InitializeTorqueGenerator(environment::ClockGenerator* clock_gen char section[30] = "TORQUE_GENERATOR"; double torque_magnitude_standard_deviation_Nm = ini_file.ReadDouble(section, "torque_magnitude_standard_deviation_Nm"); double torque_direction_standard_deviation_deg = ini_file.ReadDouble(section, "torque_direction_standard_deviation_deg"); - double torque_direction_standard_deviation_rad = s2e::math::deg_to_rad * torque_direction_standard_deviation_deg; + double torque_direction_standard_deviation_rad = math::deg_to_rad * torque_direction_standard_deviation_deg; TorqueGenerator torque_generator(prescaler, clock_generator, torque_magnitude_standard_deviation_Nm, torque_direction_standard_deviation_rad, dynamics); diff --git a/src/components/ideal/torque_generator.hpp b/src/components/ideal/torque_generator.hpp index 7b5144729..1c4965b11 100644 --- a/src/components/ideal/torque_generator.hpp +++ b/src/components/ideal/torque_generator.hpp @@ -73,11 +73,11 @@ class TorqueGenerator : public Component, public logger::ILoggable { * @fn SetTorque_b_Nm * @brief Set ordered torque in the body fixed frame [Nm] */ - inline void SetTorque_b_Nm(const s2e::math::Vector<3> torque_b_Nm) { ordered_torque_b_Nm_ = torque_b_Nm; }; + inline void SetTorque_b_Nm(const math::Vector<3> torque_b_Nm) { ordered_torque_b_Nm_ = torque_b_Nm; }; protected: - s2e::math::Vector<3> ordered_torque_b_Nm_{0.0}; //!< Ordered torque in the body fixed frame [Nm] - s2e::math::Vector<3> generated_torque_b_Nm_{0.0}; //!< Generated torque in the body fixed frame [Nm] + math::Vector<3> ordered_torque_b_Nm_{0.0}; //!< Ordered torque in the body fixed frame [Nm] + math::Vector<3> generated_torque_b_Nm_{0.0}; //!< Generated torque in the body fixed frame [Nm] // Noise s2e::randomization::NormalRand magnitude_noise_; //!< Normal random for magnitude noise @@ -90,7 +90,7 @@ class TorqueGenerator : public Component, public logger::ILoggable { * @param [in] true_direction: True direction * @param [in] error_standard_deviation_rad: Standard deviation of direction error [rad] */ - s2e::math::Quaternion GenerateDirectionNoiseQuaternion(s2e::math::Vector<3> true_direction, const double error_standard_deviation_rad); + math::Quaternion GenerateDirectionNoiseQuaternion(math::Vector<3> true_direction, const double error_standard_deviation_rad); const dynamics::Dynamics* dynamics_; //!< Spacecraft dynamics information }; diff --git a/src/components/real/aocs/gnss_receiver.cpp b/src/components/real/aocs/gnss_receiver.cpp index 00ba3fd58..033a8db5b 100644 --- a/src/components/real/aocs/gnss_receiver.cpp +++ b/src/components/real/aocs/gnss_receiver.cpp @@ -14,9 +14,9 @@ namespace s2e::components { GnssReceiver::GnssReceiver(const int prescaler, environment::ClockGenerator* clock_generator, const size_t component_id, const AntennaModel antenna_model, - const s2e::math::Vector<3> antenna_position_b_m, const s2e::math::Quaternion quaternion_b2c, const double half_width_deg, - const s2e::math::Vector<3> position_noise_standard_deviation_ecef_m, - const s2e::math::Vector<3> velocity_noise_standard_deviation_ecef_m_s, const dynamics::Dynamics* dynamics, + const math::Vector<3> antenna_position_b_m, const math::Quaternion quaternion_b2c, const double half_width_deg, + const math::Vector<3> position_noise_standard_deviation_ecef_m, + const math::Vector<3> velocity_noise_standard_deviation_ecef_m_s, const dynamics::Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time) : Component(prescaler, clock_generator), component_id_(component_id), @@ -34,9 +34,9 @@ GnssReceiver::GnssReceiver(const int prescaler, environment::ClockGenerator* clo } GnssReceiver::GnssReceiver(const int prescaler, environment::ClockGenerator* clock_generator, PowerPort* power_port, const size_t component_id, - const AntennaModel antenna_model, const s2e::math::Vector<3> antenna_position_b_m, const s2e::math::Quaternion quaternion_b2c, - const double half_width_deg, const s2e::math::Vector<3> position_noise_standard_deviation_ecef_m, - const s2e::math::Vector<3> velocity_noise_standard_deviation_ecef_m_s, const dynamics::Dynamics* dynamics, + const AntennaModel antenna_model, const math::Vector<3> antenna_position_b_m, const math::Quaternion quaternion_b2c, + const double half_width_deg, const math::Vector<3> position_noise_standard_deviation_ecef_m, + const math::Vector<3> velocity_noise_standard_deviation_ecef_m_s, const dynamics::Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time) : Component(prescaler, clock_generator, power_port), component_id_(component_id), @@ -58,8 +58,8 @@ void GnssReceiver::MainRoutine(const int time_count) { // Antenna checking // TODO: Use ECEF position only - s2e::math::Vector<3> position_true_eci = dynamics_->GetOrbit().GetPosition_i_m(); - s2e::math::Quaternion quaternion_i2b = dynamics_->GetAttitude().GetQuaternion_i2b(); + math::Vector<3> position_true_eci = dynamics_->GetOrbit().GetPosition_i_m(); + math::Quaternion quaternion_i2b = dynamics_->GetAttitude().GetQuaternion_i2b(); CheckAntenna(position_true_eci, quaternion_i2b); if (is_gnss_visible_) { @@ -76,7 +76,7 @@ void GnssReceiver::MainRoutine(const int time_count) { ConvertJulianDayToGpsTime(simulation_time_->GetCurrentTime_jd()); } -void GnssReceiver::CheckAntenna(const s2e::math::Vector<3> position_true_eci_m, const s2e::math::Quaternion quaternion_i2b) { +void GnssReceiver::CheckAntenna(const math::Vector<3> position_true_eci_m, const math::Quaternion quaternion_i2b) { if (antenna_model_ == AntennaModel::kSimple) { CheckAntennaSimple(position_true_eci_m, quaternion_i2b); } else if (antenna_model_ == AntennaModel::kCone) { @@ -86,15 +86,15 @@ void GnssReceiver::CheckAntenna(const s2e::math::Vector<3> position_true_eci_m, } } -void GnssReceiver::CheckAntennaSimple(const s2e::math::Vector<3> position_true_eci_m, const s2e::math::Quaternion quaternion_i2b) { +void GnssReceiver::CheckAntennaSimple(const math::Vector<3> position_true_eci_m, const math::Quaternion quaternion_i2b) { // Simplest model // GNSS satellites are visible when antenna directs anti-earth direction // Antenna normal vector at inertial frame - s2e::math::Vector<3> antenna_direction_c(0.0); + math::Vector<3> antenna_direction_c(0.0); antenna_direction_c[2] = 1.0; - s2e::math::Vector<3> antenna_direction_b = quaternion_b2c_.InverseFrameConversion(antenna_direction_c); - s2e::math::Vector<3> antenna_direction_i = quaternion_i2b.InverseFrameConversion(antenna_direction_b); + math::Vector<3> antenna_direction_b = quaternion_b2c_.InverseFrameConversion(antenna_direction_c); + math::Vector<3> antenna_direction_i = quaternion_i2b.InverseFrameConversion(antenna_direction_b); double inner = InnerProduct(position_true_eci_m, antenna_direction_i); if (inner <= 0.0) { @@ -104,18 +104,18 @@ void GnssReceiver::CheckAntennaSimple(const s2e::math::Vector<3> position_true_e } } -void GnssReceiver::CheckAntennaCone(const s2e::math::Vector<3> position_true_eci_m, const s2e::math::Quaternion quaternion_i2b) { +void GnssReceiver::CheckAntennaCone(const math::Vector<3> position_true_eci_m, const math::Quaternion quaternion_i2b) { // Cone model gnss_information_list_.clear(); // Antenna pointing direction vector at inertial frame - s2e::math::Vector<3> antenna_pointing_direction_c(0.0); + math::Vector<3> antenna_pointing_direction_c(0.0); antenna_pointing_direction_c[2] = 1.0; - s2e::math::Vector<3> antenna_pointing_direction_b = quaternion_b2c_.InverseFrameConversion(antenna_pointing_direction_c); - s2e::math::Vector<3> antenna_pointing_direction_i = quaternion_i2b.InverseFrameConversion(antenna_pointing_direction_b); + math::Vector<3> antenna_pointing_direction_b = quaternion_b2c_.InverseFrameConversion(antenna_pointing_direction_c); + math::Vector<3> antenna_pointing_direction_i = quaternion_i2b.InverseFrameConversion(antenna_pointing_direction_b); // Antenna position vector at inertial frame - s2e::math::Vector<3> antenna_position_i_m = position_true_eci_m + quaternion_i2b.InverseFrameConversion(antenna_position_b_m_); + math::Vector<3> antenna_position_i_m = position_true_eci_m + quaternion_i2b.InverseFrameConversion(antenna_position_b_m_); // initialize visible_satellite_number_ = 0; @@ -124,9 +124,9 @@ void GnssReceiver::CheckAntennaCone(const s2e::math::Vector<3> position_true_eci for (size_t i = 0; i < number_of_calculated_gnss_satellites; i++) { // compute direction from sat to gnss in body-fixed frame - s2e::math::Vector<3> gnss_satellite_position_i_m = gnss_satellites_->GetPosition_eci_m(i); - s2e::math::Vector<3> antenna_to_gnss_satellite_i_m = gnss_satellite_position_i_m - antenna_position_i_m; - s2e::math::Vector<3> antenna_to_gnss_satellite_direction_i = antenna_to_gnss_satellite_i_m.CalcNormalizedVector(); + math::Vector<3> gnss_satellite_position_i_m = gnss_satellites_->GetPosition_eci_m(i); + math::Vector<3> antenna_to_gnss_satellite_i_m = gnss_satellite_position_i_m - antenna_position_i_m; + math::Vector<3> antenna_to_gnss_satellite_direction_i = antenna_to_gnss_satellite_i_m.CalcNormalizedVector(); // Check GNSS satellites are visible from the receiver(not care antenna direction) bool is_gnss_satellite_visible_from_receiver = false; @@ -149,7 +149,7 @@ void GnssReceiver::CheckAntennaCone(const s2e::math::Vector<3> position_true_eci // Check GNSS satellites are in the antenna half width angle double inner2 = InnerProduct(antenna_pointing_direction_i, antenna_to_gnss_satellite_direction_i); - if (inner2 > cos(half_width_deg_ * s2e::math::deg_to_rad) && is_gnss_satellite_visible_from_receiver) { + if (inner2 > cos(half_width_deg_ * math::deg_to_rad) && is_gnss_satellite_visible_from_receiver) { // is visible visible_satellite_number_++; SetGnssInfo(antenna_to_gnss_satellite_i_m, quaternion_i2b, i); @@ -163,10 +163,10 @@ void GnssReceiver::CheckAntennaCone(const s2e::math::Vector<3> position_true_eci } } -void GnssReceiver::SetGnssInfo(const s2e::math::Vector<3> antenna_to_satellite_i_m, const s2e::math::Quaternion quaternion_i2b, +void GnssReceiver::SetGnssInfo(const math::Vector<3> antenna_to_satellite_i_m, const math::Quaternion quaternion_i2b, const std::size_t gnss_system_id) { - s2e::math::Vector<3> antenna_to_satellite_direction_b = quaternion_i2b.FrameConversion(antenna_to_satellite_i_m); - s2e::math::Vector<3> antenna_to_satellite_direction_c = quaternion_b2c_.FrameConversion(antenna_to_satellite_direction_b); + math::Vector<3> antenna_to_satellite_direction_b = quaternion_i2b.FrameConversion(antenna_to_satellite_i_m); + math::Vector<3> antenna_to_satellite_direction_c = quaternion_b2c_.FrameConversion(antenna_to_satellite_direction_b); double distance_m = antenna_to_satellite_i_m.CalcNorm(); double longitude_rad = AcTan(antenna_to_satellite_direction_c[1], antenna_to_satellite_direction_c[0]); @@ -177,7 +177,7 @@ void GnssReceiver::SetGnssInfo(const s2e::math::Vector<3> antenna_to_satellite_i gnss_information_list_.push_back(gnss_info_new); } -void GnssReceiver::AddNoise(const s2e::math::Vector<3> position_true_ecef_m, const s2e::math::Vector<3> velocity_true_ecef_m_s) { +void GnssReceiver::AddNoise(const math::Vector<3> position_true_ecef_m, const math::Vector<3> velocity_true_ecef_m_s) { for (size_t i = 0; i < 3; i++) { position_ecef_m_[i] = position_true_ecef_m[i] + position_random_noise_ecef_m_[i]; velocity_ecef_m_s_[i] = velocity_true_ecef_m_s[i] + velocity_random_noise_ecef_m_s_[i]; @@ -202,19 +202,19 @@ std::string GnssReceiver::GetLogHeader() const // For logs const std::string sensor_id = std::to_string(static_cast(component_id_)); std::string sensor_name = "gnss_receiver" + sensor_id + "_"; - str_tmp += WriteScalar(sensor_name + "measured_utc_time_year"); - str_tmp += WriteScalar(sensor_name + "measured_utc_time_month"); - str_tmp += WriteScalar(sensor_name + "measured_utc_time_day"); - str_tmp += WriteScalar(sensor_name + "measured_utc_time_hour"); - str_tmp += WriteScalar(sensor_name + "measured_utc_time_min"); - str_tmp += WriteScalar(sensor_name + "measured_utc_time_sec"); + str_tmp += logger::WriteScalar(sensor_name + "measured_utc_time_year"); + str_tmp += logger::WriteScalar(sensor_name + "measured_utc_time_month"); + str_tmp += logger::WriteScalar(sensor_name + "measured_utc_time_day"); + str_tmp += logger::WriteScalar(sensor_name + "measured_utc_time_hour"); + str_tmp += logger::WriteScalar(sensor_name + "measured_utc_time_min"); + str_tmp += logger::WriteScalar(sensor_name + "measured_utc_time_sec"); str_tmp += logger::WriteVector(sensor_name + "measured_position", "ecef", "m", 3); str_tmp += logger::WriteVector(sensor_name + "measured_velocity", "ecef", "m/s", 3); - str_tmp += WriteScalar(sensor_name + "measured_latitude", "rad"); - str_tmp += WriteScalar(sensor_name + "measured_longitude", "rad"); - str_tmp += WriteScalar(sensor_name + "measured_altitude", "m"); - str_tmp += WriteScalar(sensor_name + "satellite_visible_flag"); - str_tmp += WriteScalar(sensor_name + "number_of_visible_satellites"); + str_tmp += logger::WriteScalar(sensor_name + "measured_latitude", "rad"); + str_tmp += logger::WriteScalar(sensor_name + "measured_longitude", "rad"); + str_tmp += logger::WriteScalar(sensor_name + "measured_altitude", "m"); + str_tmp += logger::WriteScalar(sensor_name + "satellite_visible_flag"); + str_tmp += logger::WriteScalar(sensor_name + "number_of_visible_satellites"); return str_tmp; } @@ -222,19 +222,19 @@ std::string GnssReceiver::GetLogHeader() const // For logs std::string GnssReceiver::GetLogValue() const // For logs { std::string str_tmp = ""; - str_tmp += WriteScalar(utc_.year); - str_tmp += WriteScalar(utc_.month); - str_tmp += WriteScalar(utc_.day); - str_tmp += WriteScalar(utc_.hour); - str_tmp += WriteScalar(utc_.minute); - str_tmp += WriteScalar(utc_.second); + str_tmp += logger::WriteScalar(utc_.year); + str_tmp += logger::WriteScalar(utc_.month); + str_tmp += logger::WriteScalar(utc_.day); + str_tmp += logger::WriteScalar(utc_.hour); + str_tmp += logger::WriteScalar(utc_.minute); + str_tmp += logger::WriteScalar(utc_.second); str_tmp += logger::WriteVector(position_ecef_m_, 10); str_tmp += logger::WriteVector(velocity_ecef_m_s_, 10); - str_tmp += WriteScalar(geodetic_position_.GetLatitude_rad(), 10); - str_tmp += WriteScalar(geodetic_position_.GetLongitude_rad(), 10); - str_tmp += WriteScalar(geodetic_position_.GetAltitude_m(), 10); - str_tmp += WriteScalar(is_gnss_visible_); - str_tmp += WriteScalar(visible_satellite_number_); + str_tmp += logger::WriteScalar(geodetic_position_.GetLatitude_rad(), 10); + str_tmp += logger::WriteScalar(geodetic_position_.GetLongitude_rad(), 10); + str_tmp += logger::WriteScalar(geodetic_position_.GetAltitude_m(), 10); + str_tmp += logger::WriteScalar(is_gnss_visible_); + str_tmp += logger::WriteScalar(visible_satellite_number_); return str_tmp; } @@ -254,11 +254,11 @@ AntennaModel SetAntennaModel(const std::string antenna_model) { typedef struct _gnss_receiver_param { int prescaler; AntennaModel antenna_model; - s2e::math::Vector<3> antenna_pos_b; - s2e::math::Quaternion quaternion_b2c; + math::Vector<3> antenna_pos_b; + math::Quaternion quaternion_b2c; double half_width_deg; - s2e::math::Vector<3> position_noise_standard_deviation_ecef_m; - s2e::math::Vector<3> velocity_noise_standard_deviation_ecef_m_s; + math::Vector<3> position_noise_standard_deviation_ecef_m; + math::Vector<3> velocity_noise_standard_deviation_ecef_m_s; } GnssReceiverParam; GnssReceiverParam ReadGnssReceiverIni(const std::string file_name, const GnssSatellites* gnss_satellites, const size_t component_id) { diff --git a/src/components/real/aocs/gnss_receiver.hpp b/src/components/real/aocs/gnss_receiver.hpp index e96f05f0f..aa2e54f09 100644 --- a/src/components/real/aocs/gnss_receiver.hpp +++ b/src/components/real/aocs/gnss_receiver.hpp @@ -61,8 +61,8 @@ class GnssReceiver : public Component, public logger::ILoggable { * @param [in] simulation_time: Simulation time information */ GnssReceiver(const int prescaler, environment::ClockGenerator* clock_generator, const size_t component_id, const AntennaModel antenna_model, - const s2e::math::Vector<3> antenna_position_b_m, const s2e::math::Quaternion quaternion_b2c, const double half_width_deg, - const s2e::math::Vector<3> position_noise_standard_deviation_ecef_m, const s2e::math::Vector<3> velocity_noise_standard_deviation_ecef_m_s, + const math::Vector<3> antenna_position_b_m, const math::Quaternion quaternion_b2c, const double half_width_deg, + const math::Vector<3> position_noise_standard_deviation_ecef_m, const math::Vector<3> velocity_noise_standard_deviation_ecef_m_s, const dynamics::Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time); /** * @fn GnssReceiver @@ -81,9 +81,9 @@ class GnssReceiver : public Component, public logger::ILoggable { * @param [in] simulation_time: Simulation time information */ GnssReceiver(const int prescaler, environment::ClockGenerator* clock_generator, PowerPort* power_port, const size_t component_id, - const AntennaModel antenna_model, const s2e::math::Vector<3> antenna_position_b_m, const s2e::math::Quaternion quaternion_b2c, - const double half_width_deg, const s2e::math::Vector<3> position_noise_standard_deviation_ecef_m, - const s2e::math::Vector<3> velocity_noise_standard_deviation_ecef_m_s, const dynamics::Dynamics* dynamics, const GnssSatellites* gnss_satellites, + const AntennaModel antenna_model, const math::Vector<3> antenna_position_b_m, const math::Quaternion quaternion_b2c, + const double half_width_deg, const math::Vector<3> position_noise_standard_deviation_ecef_m, + const math::Vector<3> velocity_noise_standard_deviation_ecef_m_s, const dynamics::Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time); // Override functions for Component @@ -104,7 +104,7 @@ class GnssReceiver : public Component, public logger::ILoggable { * @fn GetMeasuredPosition_ecef_m * @brief Return Observed position in the ECEF frame [m] */ - inline const s2e::math::Vector<3> GetMeasuredPosition_ecef_m(void) const { return position_ecef_m_; } + inline const math::Vector<3> GetMeasuredPosition_ecef_m(void) const { return position_ecef_m_; } /** * @fn GetMeasuredGeodeticPosition * @brief Return Observed position in the LLH frame [m] @@ -114,7 +114,7 @@ class GnssReceiver : public Component, public logger::ILoggable { * @fn GetMeasuredVelocity_ecef_m_s * @brief Return Observed velocity in the ECEF frame [m/s] */ - inline const s2e::math::Vector<3> GetMeasuredVelocity_ecef_m_s(void) const { return velocity_ecef_m_s_; } + inline const math::Vector<3> GetMeasuredVelocity_ecef_m_s(void) const { return velocity_ecef_m_s_; } // Override logger::ILoggable /** @@ -133,16 +133,16 @@ class GnssReceiver : public Component, public logger::ILoggable { const size_t component_id_; //!< Receiver ID // Antenna - s2e::math::Vector<3> antenna_position_b_m_; //!< GNSS antenna position at the body-fixed frame [m] - s2e::math::Quaternion quaternion_b2c_; //!< Quaternion from body frame to component frame (antenna frame) + math::Vector<3> antenna_position_b_m_; //!< GNSS antenna position at the body-fixed frame [m] + math::Quaternion quaternion_b2c_; //!< Quaternion from body frame to component frame (antenna frame) double half_width_deg_ = 0.0; //!< Half width of the antenna cone model [deg] AntennaModel antenna_model_; //!< Antenna model // Simple position observation s2e::randomization::NormalRand position_random_noise_ecef_m_[3]; //!< Random noise for position at the ECEF frame [m] s2e::randomization::NormalRand velocity_random_noise_ecef_m_s_[3]; //!< Random noise for velocity at the ECEF frame [m] - s2e::math::Vector<3> position_ecef_m_{0.0}; //!< Observed position in the ECEF frame [m] - s2e::math::Vector<3> velocity_ecef_m_s_{0.0}; //!< Observed velocity in the ECEF frame [m/s] + math::Vector<3> position_ecef_m_{0.0}; //!< Observed position in the ECEF frame [m] + math::Vector<3> velocity_ecef_m_s_{0.0}; //!< Observed velocity in the ECEF frame [m/s] s2e::geodesy::GeodeticPosition geodetic_position_; //!< Observed position in the geodetic frame // Time observation @@ -168,7 +168,7 @@ class GnssReceiver : public Component, public logger::ILoggable { * @param [in] position_true_i_m: True position of the spacecraft in the ECI frame [m] * @param [in] quaternion_i2b: True attitude of the spacecraft expressed by quaternion from the inertial frame to the body-fixed frame */ - void CheckAntenna(const s2e::math::Vector<3> position_true_i_m, const s2e::math::Quaternion quaternion_i2b); + void CheckAntenna(const math::Vector<3> position_true_i_m, const math::Quaternion quaternion_i2b); /** * @fn CheckAntennaSimple * @brief Check the antenna can detect GNSS signal with Simple mode @@ -176,7 +176,7 @@ class GnssReceiver : public Component, public logger::ILoggable { * @param [in] position_true_i_m: True position of the spacecraft in the ECI frame [m] * @param [in] quaternion_i2b: True attitude of the spacecraft expressed by quaternion from the inertial frame to the body-fixed frame */ - void CheckAntennaSimple(const s2e::math::Vector<3> position_true_i_m, const s2e::math::Quaternion quaternion_i2b); + void CheckAntennaSimple(const math::Vector<3> position_true_i_m, const math::Quaternion quaternion_i2b); /** * @fn CheckAntennaCone * @brief Check the antenna can detect GNSS signal with Cone mode @@ -184,7 +184,7 @@ class GnssReceiver : public Component, public logger::ILoggable { * @param [in] position_true_i_m: True position of the spacecraft in the ECI frame [m] * @param [in] quaternion_i2b: True attitude of the spacecraft expressed by quaternion from the inertial frame to the body-fixed frame */ - void CheckAntennaCone(const s2e::math::Vector<3> position_true_i_m, const s2e::math::Quaternion quaternion_i2b); + void CheckAntennaCone(const math::Vector<3> position_true_i_m, const math::Quaternion quaternion_i2b); /** * @fn SetGnssInfo * @brief Calculate and set the GnssInfo values of target GNSS satellite @@ -192,14 +192,14 @@ class GnssReceiver : public Component, public logger::ILoggable { * @param [in] quaternion_i2b: True attitude of the spacecraft expressed by quaternion from the inertial frame to the body-fixed frame * @param [in] gnss_system_id: ID of target GNSS satellite */ - void SetGnssInfo(const s2e::math::Vector<3> antenna_to_satellite_i_m, const s2e::math::Quaternion quaternion_i2b, const size_t gnss_system_id); + void SetGnssInfo(const math::Vector<3> antenna_to_satellite_i_m, const math::Quaternion quaternion_i2b, const size_t gnss_system_id); /** * @fn AddNoise * @brief Substitutional method for "Measure" in other sensor models inherited Sensor class * @param [in] position_true_ecef_m: True position of the spacecraft in the ECEF frame [m] * @param [in] velocity_true_ecef_m_s: True velocity of the spacecraft in the ECEF frame [m/s] */ - void AddNoise(const s2e::math::Vector<3> position_true_ecef_m, const s2e::math::Vector<3> velocity_true_ecef_m_s); + void AddNoise(const math::Vector<3> position_true_ecef_m, const math::Vector<3> velocity_true_ecef_m_s); /** * @fn ConvertJulianDayToGpsTime * @brief Convert Julian day to GPS time diff --git a/src/components/real/aocs/gyro_sensor.cpp b/src/components/real/aocs/gyro_sensor.cpp index 4776b6701..ac63221d7 100644 --- a/src/components/real/aocs/gyro_sensor.cpp +++ b/src/components/real/aocs/gyro_sensor.cpp @@ -10,11 +10,11 @@ namespace s2e::components { GyroSensor::GyroSensor(const int prescaler, environment::ClockGenerator* clock_generator, Sensor& sensor_base, const unsigned int sensor_id, - const s2e::math::Quaternion& quaternion_b2c, const dynamics::Dynamics* dynamics) + const math::Quaternion& quaternion_b2c, const dynamics::Dynamics* dynamics) : Component(prescaler, clock_generator), Sensor(sensor_base), sensor_id_(sensor_id), quaternion_b2c_(quaternion_b2c), dynamics_(dynamics) {} GyroSensor::GyroSensor(const int prescaler, environment::ClockGenerator* clock_generator, PowerPort* power_port, Sensor& sensor_base, const unsigned int sensor_id, - const s2e::math::Quaternion& quaternion_b2c, const dynamics::Dynamics* dynamics) + const math::Quaternion& quaternion_b2c, const dynamics::Dynamics* dynamics) : Component(prescaler, clock_generator, power_port), Sensor(sensor_base), sensor_id_(sensor_id), @@ -54,7 +54,7 @@ GyroSensor InitGyroSensor(environment::ClockGenerator* clock_generator, int sens const std::string section_name = sensor_name + std::to_string(static_cast(sensor_id)); const char* GSection = section_name.c_str(); - s2e::math::Quaternion quaternion_b2c; + math::Quaternion quaternion_b2c; gyro_conf.ReadQuaternion(GSection, "quaternion_b2c", quaternion_b2c); int prescaler = gyro_conf.ReadInt(GSection, "prescaler"); if (prescaler <= 1) prescaler = 1; @@ -75,7 +75,7 @@ GyroSensor InitGyroSensor(environment::ClockGenerator* clock_generator, PowerPor const std::string section_name = sensor_name + std::to_string(static_cast(sensor_id)); const char* GSection = section_name.c_str(); - s2e::math::Quaternion quaternion_b2c; + math::Quaternion quaternion_b2c; gyro_conf.ReadQuaternion(GSection, "quaternion_b2c", quaternion_b2c); int prescaler = gyro_conf.ReadInt(GSection, "prescaler"); if (prescaler <= 1) prescaler = 1; diff --git a/src/components/real/aocs/gyro_sensor.hpp b/src/components/real/aocs/gyro_sensor.hpp index f4baaad1e..d9f262655 100644 --- a/src/components/real/aocs/gyro_sensor.hpp +++ b/src/components/real/aocs/gyro_sensor.hpp @@ -34,7 +34,7 @@ class GyroSensor : public Component, public Sensor, public logge * @param [in] dynamics: Dynamics information */ GyroSensor(const int prescaler, environment::ClockGenerator* clock_generator, Sensor& sensor_base, const unsigned int sensor_id, - const s2e::math::Quaternion& quaternion_b2c, const dynamics::Dynamics* dynamics); + const math::Quaternion& quaternion_b2c, const dynamics::Dynamics* dynamics); /** * @fn GyroSensor * @brief Constructor with power port @@ -47,7 +47,7 @@ class GyroSensor : public Component, public Sensor, public logge * @param [in] dynamics: Dynamics information */ GyroSensor(const int prescaler, environment::ClockGenerator* clock_generator, PowerPort* power_port, Sensor& sensor_base, const unsigned int sensor_id, - const s2e::math::Quaternion& quaternion_b2c, const dynamics::Dynamics* dynamics); + const math::Quaternion& quaternion_b2c, const dynamics::Dynamics* dynamics); /** * @fn ~GyroSensor * @brief Destructor @@ -77,13 +77,13 @@ class GyroSensor : public Component, public Sensor, public logge * @fn GetMeasuredAngularVelocity_c_rad_s * @brief Return observed angular velocity of the component frame with respect to the inertial frame */ - inline const s2e::math::Vector& GetMeasuredAngularVelocity_c_rad_s(void) const { return angular_velocity_c_rad_s_; } + inline const math::Vector& GetMeasuredAngularVelocity_c_rad_s(void) const { return angular_velocity_c_rad_s_; } protected: - s2e::math::Vector angular_velocity_c_rad_s_{ + math::Vector angular_velocity_c_rad_s_{ 0.0}; //!< Observed angular velocity of the component frame with respect to the inertial frame [rad/s] unsigned int sensor_id_ = 0; //!< Sensor ID - s2e::math::Quaternion quaternion_b2c_{0.0, 0.0, 0.0, 1.0}; //!< Quaternion from body frame to component frame + math::Quaternion quaternion_b2c_{0.0, 0.0, 0.0, 1.0}; //!< Quaternion from body frame to component frame const dynamics::Dynamics* dynamics_; //!< Dynamics information }; diff --git a/src/components/real/aocs/magnetometer.cpp b/src/components/real/aocs/magnetometer.cpp index dba5c8f45..275d7fb1f 100644 --- a/src/components/real/aocs/magnetometer.cpp +++ b/src/components/real/aocs/magnetometer.cpp @@ -10,14 +10,14 @@ namespace s2e::components { Magnetometer::Magnetometer(int prescaler, environment::ClockGenerator* clock_generator, Sensor& sensor_base, const unsigned int sensor_id, - const s2e::math::Quaternion& quaternion_b2c, const GeomagneticField* geomagnetic_field) + const math::Quaternion& quaternion_b2c, const GeomagneticField* geomagnetic_field) : Component(prescaler, clock_generator), Sensor(sensor_base), sensor_id_(sensor_id), quaternion_b2c_(quaternion_b2c), geomagnetic_field_(geomagnetic_field) {} Magnetometer::Magnetometer(int prescaler, environment::ClockGenerator* clock_generator, PowerPort* power_port, Sensor& sensor_base, const unsigned int sensor_id, - const s2e::math::Quaternion& quaternion_b2c, const GeomagneticField* geomagnetic_field) + const math::Quaternion& quaternion_b2c, const GeomagneticField* geomagnetic_field) : Component(prescaler, clock_generator, power_port), Sensor(sensor_base), sensor_id_(sensor_id), @@ -59,7 +59,7 @@ Magnetometer InitMagnetometer(environment::ClockGenerator* clock_generator, int int prescaler = magsensor_conf.ReadInt(MSSection, "prescaler"); if (prescaler <= 1) prescaler = 1; - s2e::math::Quaternion quaternion_b2c; + math::Quaternion quaternion_b2c; magsensor_conf.ReadQuaternion(MSSection, "quaternion_b2c", quaternion_b2c); // Sensor @@ -80,7 +80,7 @@ Magnetometer InitMagnetometer(environment::ClockGenerator* clock_generator, Powe int prescaler = magsensor_conf.ReadInt(MSSection, "prescaler"); if (prescaler <= 1) prescaler = 1; - s2e::math::Quaternion quaternion_b2c; + math::Quaternion quaternion_b2c; magsensor_conf.ReadQuaternion(MSSection, "quaternion_b2c", quaternion_b2c); // Sensor diff --git a/src/components/real/aocs/magnetometer.hpp b/src/components/real/aocs/magnetometer.hpp index ab3c5cf85..896f24a3b 100644 --- a/src/components/real/aocs/magnetometer.hpp +++ b/src/components/real/aocs/magnetometer.hpp @@ -34,7 +34,7 @@ class Magnetometer : public Component, public Sensor, pu * @param [in] geomagnetic_field: Geomagnetic environment */ Magnetometer(const int prescaler, environment::ClockGenerator* clock_generator, Sensor& sensor_base, const unsigned int sensor_id, - const s2e::math::Quaternion& quaternion_b2c, const GeomagneticField* geomagnetic_field); + const math::Quaternion& quaternion_b2c, const GeomagneticField* geomagnetic_field); /** * @fn Magnetometer * @brief Constructor with power port @@ -47,7 +47,7 @@ class Magnetometer : public Component, public Sensor, pu * @param [in] geomagnetic_field: Geomagnetic environment */ Magnetometer(const int prescaler, environment::ClockGenerator* clock_generator, PowerPort* power_port, Sensor& sensor_base, const unsigned int sensor_id, - const s2e::math::Quaternion& quaternion_b2c, const GeomagneticField* geomagnetic_field); + const math::Quaternion& quaternion_b2c, const GeomagneticField* geomagnetic_field); /** * @fn ~Magnetometer * @brief Destructor @@ -77,32 +77,32 @@ class Magnetometer : public Component, public Sensor, pu * @fn GetMeasuredMagneticField_c_nT * @brief Return observed magnetic field on the component frame */ - inline const s2e::math::Vector& GetMeasuredMagneticField_c_nT(void) const { return magnetic_field_c_nT_; } + inline const math::Vector& GetMeasuredMagneticField_c_nT(void) const { return magnetic_field_c_nT_; } /** * @fn SetConstantBiasNoise_c_nT * @brief Set constant bias noise at component frame [nT] * @param [in] constant_noise_c_nT: Constant bias noise at component frame [nT] */ - inline void SetConstantBiasNoise_c_nT(s2e::math::Vector constant_noise_c_nT) { bias_noise_c_ = constant_noise_c_nT; } + inline void SetConstantBiasNoise_c_nT(math::Vector constant_noise_c_nT) { bias_noise_c_ = constant_noise_c_nT; } /** * @fn AddConstantBiasNoise_c_nT * @brief Add constant bias noise at component frame [nT] * @param [in] constant_noise_c_nT: Additional constant bias noise at component frame [nT] */ - inline void AddConstantBiasNoise_c_nT(s2e::math::Vector constant_noise_c_nT) { bias_noise_c_ += constant_noise_c_nT; } + inline void AddConstantBiasNoise_c_nT(math::Vector constant_noise_c_nT) { bias_noise_c_ += constant_noise_c_nT; } /** * @fn GetConstantBiasNoise_c_nT * @brief Get constant bias noise at component frame [nT] */ - inline s2e::math::Vector GetConstantBiasNoise_c_nT() const { return bias_noise_c_; } + inline math::Vector GetConstantBiasNoise_c_nT() const { return bias_noise_c_; } protected: - s2e::math::Vector magnetic_field_c_nT_{0.0}; //!< Observed magnetic field on the component frame [nT] + math::Vector magnetic_field_c_nT_{0.0}; //!< Observed magnetic field on the component frame [nT] unsigned int sensor_id_ = 0; //!< Sensor ID - s2e::math::Quaternion quaternion_b2c_{0.0, 0.0, 0.0, 1.0}; //!< Quaternion from body frame to component frame + math::Quaternion quaternion_b2c_{0.0, 0.0, 0.0, 1.0}; //!< Quaternion from body frame to component frame const GeomagneticField* geomagnetic_field_; //!< Geomagnetic environment }; diff --git a/src/components/real/aocs/magnetorquer.cpp b/src/components/real/aocs/magnetorquer.cpp index 863d1ce5b..7d1352986 100644 --- a/src/components/real/aocs/magnetorquer.cpp +++ b/src/components/real/aocs/magnetorquer.cpp @@ -13,13 +13,13 @@ namespace s2e::components { -Magnetorquer::Magnetorquer(const int prescaler, environment::ClockGenerator* clock_generator, const int component_id, const s2e::math::Quaternion& quaternion_b2c, - const s2e::math::Matrix& scale_factor, - const s2e::math::Vector& max_magnetic_moment_c_Am2, const s2e::math::Vector& min_magnetic_moment_c_Am2, - const s2e::math::Vector& bias_noise_c_Am2_, double random_walk_step_width_s, - const s2e::math::Vector& random_walk_standard_deviation_c_Am2, - const s2e::math::Vector& random_walk_limit_c_Am2, - const s2e::math::Vector& normal_random_standard_deviation_c_Am2, const GeomagneticField* geomagnetic_field) +Magnetorquer::Magnetorquer(const int prescaler, environment::ClockGenerator* clock_generator, const int component_id, const math::Quaternion& quaternion_b2c, + const math::Matrix& scale_factor, + const math::Vector& max_magnetic_moment_c_Am2, const math::Vector& min_magnetic_moment_c_Am2, + const math::Vector& bias_noise_c_Am2_, double random_walk_step_width_s, + const math::Vector& random_walk_standard_deviation_c_Am2, + const math::Vector& random_walk_limit_c_Am2, + const math::Vector& normal_random_standard_deviation_c_Am2, const GeomagneticField* geomagnetic_field) : Component(prescaler, clock_generator), component_id_(component_id), quaternion_b2c_(quaternion_b2c), @@ -36,12 +36,12 @@ Magnetorquer::Magnetorquer(const int prescaler, environment::ClockGenerator* clo } Magnetorquer::Magnetorquer(const int prescaler, environment::ClockGenerator* clock_generator, PowerPort* power_port, const int component_id, - const s2e::math::Quaternion& quaternion_b2c, const s2e::math::Matrix& scale_factor, - const s2e::math::Vector& max_magnetic_moment_c_Am2, const s2e::math::Vector& min_magnetic_moment_c_Am2, - const s2e::math::Vector& bias_noise_c_Am2_, double random_walk_step_width_s, - const s2e::math::Vector& random_walk_standard_deviation_c_Am2, - const s2e::math::Vector& random_walk_limit_c_Am2, - const s2e::math::Vector& normal_random_standard_deviation_c_Am2, const GeomagneticField* geomagnetic_field) + const math::Quaternion& quaternion_b2c, const math::Matrix& scale_factor, + const math::Vector& max_magnetic_moment_c_Am2, const math::Vector& min_magnetic_moment_c_Am2, + const math::Vector& bias_noise_c_Am2_, double random_walk_step_width_s, + const math::Vector& random_walk_standard_deviation_c_Am2, + const math::Vector& random_walk_limit_c_Am2, + const math::Vector& normal_random_standard_deviation_c_Am2, const GeomagneticField* geomagnetic_field) : Component(prescaler, clock_generator, power_port), component_id_(component_id), quaternion_b2c_(quaternion_b2c), @@ -69,7 +69,7 @@ void Magnetorquer::PowerOffRoutine() { output_magnetic_moment_b_Am2_ *= 0.0; } -s2e::math::Vector Magnetorquer::CalcOutputTorque(void) { +math::Vector Magnetorquer::CalcOutputTorque(void) { for (size_t i = 0; i < kMtqDimension; ++i) { // Limit Check if (output_magnetic_moment_c_Am2_[i] > max_magnetic_moment_c_Am2_[i]) { @@ -123,33 +123,33 @@ Magnetorquer InitMagnetorquer(environment::ClockGenerator* clock_generator, int int prescaler = magtorquer_conf.ReadInt(MTSection, "prescaler"); if (prescaler <= 1) prescaler = 1; - s2e::math::Vector sf_vec; + math::Vector sf_vec; magtorquer_conf.ReadVector(MTSection, "scale_factor_c", sf_vec); - s2e::math::Matrix scale_factor; + math::Matrix scale_factor; for (size_t i = 0; i < kMtqDimension; i++) { for (size_t j = 0; j < kMtqDimension; j++) { scale_factor[i][j] = sf_vec[i * kMtqDimension + j]; } } - s2e::math::Quaternion quaternion_b2c; + math::Quaternion quaternion_b2c; magtorquer_conf.ReadQuaternion(MTSection, "quaternion_b2c", quaternion_b2c); - s2e::math::Vector max_magnetic_moment_c_Am2; + math::Vector max_magnetic_moment_c_Am2; magtorquer_conf.ReadVector(MTSection, "max_output_magnetic_moment_c_Am2", max_magnetic_moment_c_Am2); - s2e::math::Vector min_magnetic_moment_c_Am2; + math::Vector min_magnetic_moment_c_Am2; magtorquer_conf.ReadVector(MTSection, "min_output_magnetic_moment_c_Am2", min_magnetic_moment_c_Am2); - s2e::math::Vector bias_noise_c_Am2; + math::Vector bias_noise_c_Am2; magtorquer_conf.ReadVector(MTSection, "constant_bias_noise_c_Am2", bias_noise_c_Am2); double random_walk_step_width_s = component_step_time_s * (double)prescaler; - s2e::math::Vector random_walk_standard_deviation_c_Am2; + math::Vector random_walk_standard_deviation_c_Am2; magtorquer_conf.ReadVector(MTSection, "random_walk_standard_deviation_c_Am2", random_walk_standard_deviation_c_Am2); - s2e::math::Vector random_walk_limit_c_Am2; + math::Vector random_walk_limit_c_Am2; magtorquer_conf.ReadVector(MTSection, "random_walk_limit_c_Am2", random_walk_limit_c_Am2); - s2e::math::Vector normal_random_standard_deviation_c_Am2; + math::Vector normal_random_standard_deviation_c_Am2; magtorquer_conf.ReadVector(MTSection, "white_noise_standard_deviation_c_Am2", normal_random_standard_deviation_c_Am2); Magnetorquer magtorquer(prescaler, clock_generator, actuator_id, quaternion_b2c, scale_factor, max_magnetic_moment_c_Am2, min_magnetic_moment_c_Am2, @@ -168,33 +168,33 @@ Magnetorquer InitMagnetorquer(environment::ClockGenerator* clock_generator, Powe int prescaler = magtorquer_conf.ReadInt(MTSection, "prescaler"); if (prescaler <= 1) prescaler = 1; - s2e::math::Vector sf_vec; + math::Vector sf_vec; magtorquer_conf.ReadVector(MTSection, "scale_factor_c", sf_vec); - s2e::math::Matrix scale_factor; + math::Matrix scale_factor; for (size_t i = 0; i < kMtqDimension; i++) { for (size_t j = 0; j < kMtqDimension; j++) { scale_factor[i][j] = sf_vec[i * kMtqDimension + j]; } } - s2e::math::Quaternion quaternion_b2c; + math::Quaternion quaternion_b2c; magtorquer_conf.ReadQuaternion(MTSection, "quaternion_b2c", quaternion_b2c); - s2e::math::Vector max_magnetic_moment_c_Am2; + math::Vector max_magnetic_moment_c_Am2; magtorquer_conf.ReadVector(MTSection, "max_output_magnetic_moment_c_Am2", max_magnetic_moment_c_Am2); - s2e::math::Vector min_magnetic_moment_c_Am2; + math::Vector min_magnetic_moment_c_Am2; magtorquer_conf.ReadVector(MTSection, "min_output_magnetic_moment_c_Am2", min_magnetic_moment_c_Am2); - s2e::math::Vector bias_noise_c_Am2; + math::Vector bias_noise_c_Am2; magtorquer_conf.ReadVector(MTSection, "constant_bias_noise_c_Am2", bias_noise_c_Am2); double random_walk_step_width_s = component_step_time_s * (double)prescaler; - s2e::math::Vector random_walk_standard_deviation_c_Am2; + math::Vector random_walk_standard_deviation_c_Am2; magtorquer_conf.ReadVector(MTSection, "random_walk_standard_deviation_c_Am2", random_walk_standard_deviation_c_Am2); - s2e::math::Vector random_walk_limit_c_Am2; + math::Vector random_walk_limit_c_Am2; magtorquer_conf.ReadVector(MTSection, "random_walk_limit_c_Am2", random_walk_limit_c_Am2); - s2e::math::Vector normal_random_standard_deviation_c_Am2; + math::Vector normal_random_standard_deviation_c_Am2; magtorquer_conf.ReadVector(MTSection, "white_noise_standard_deviation_c_Am2", normal_random_standard_deviation_c_Am2); // PowerPort diff --git a/src/components/real/aocs/magnetorquer.hpp b/src/components/real/aocs/magnetorquer.hpp index c5c1688bf..cec1294dd 100644 --- a/src/components/real/aocs/magnetorquer.hpp +++ b/src/components/real/aocs/magnetorquer.hpp @@ -43,11 +43,11 @@ class Magnetorquer : public Component, public logger::ILoggable { * @param [in] normal_random_standard_deviation_c_Am2: Standard deviation for the normal random noise in the component frame [Am2] * @param [in] geomagnetic_field: Geomagnetic environment */ - Magnetorquer(const int prescaler, environment::ClockGenerator* clock_generator, const int component_id, const s2e::math::Quaternion& quaternion_b2c, - const s2e::math::Matrix& scale_factor, const s2e::math::Vector& max_magnetic_moment_c_Am2, - const s2e::math::Vector& min_magnetic_moment_c_Am2, const s2e::math::Vector& bias_noise_c_Am2_, - double random_walk_step_width_s, const s2e::math::Vector& random_walk_standard_deviation_c_Am2, - const s2e::math::Vector& random_walk_limit_c_Am2, const s2e::math::Vector& normal_random_standard_deviation_c_Am2, + Magnetorquer(const int prescaler, environment::ClockGenerator* clock_generator, const int component_id, const math::Quaternion& quaternion_b2c, + const math::Matrix& scale_factor, const math::Vector& max_magnetic_moment_c_Am2, + const math::Vector& min_magnetic_moment_c_Am2, const math::Vector& bias_noise_c_Am2_, + double random_walk_step_width_s, const math::Vector& random_walk_standard_deviation_c_Am2, + const math::Vector& random_walk_limit_c_Am2, const math::Vector& normal_random_standard_deviation_c_Am2, const GeomagneticField* geomagnetic_field); /** * @fn Magnetorquer @@ -68,11 +68,11 @@ class Magnetorquer : public Component, public logger::ILoggable { * @param [in] geomagnetic_field: Geomagnetic environment */ Magnetorquer(const int prescaler, environment::ClockGenerator* clock_generator, PowerPort* power_port, const int component_id, - const s2e::math::Quaternion& quaternion_b2c, const s2e::math::Matrix& scale_factor, - const s2e::math::Vector& max_magnetic_moment_c_Am2, const s2e::math::Vector& min_magnetic_moment_c_Am2, - const s2e::math::Vector& bias_noise_c_Am2_, double random_walk_step_width_s, - const s2e::math::Vector& random_walk_standard_deviation_c_Am2, const s2e::math::Vector& random_walk_limit_c_Am2, - const s2e::math::Vector& normal_random_standard_deviation_c_Am2, const GeomagneticField* geomagnetic_field); + const math::Quaternion& quaternion_b2c, const math::Matrix& scale_factor, + const math::Vector& max_magnetic_moment_c_Am2, const math::Vector& min_magnetic_moment_c_Am2, + const math::Vector& bias_noise_c_Am2_, double random_walk_step_width_s, + const math::Vector& random_walk_standard_deviation_c_Am2, const math::Vector& random_walk_limit_c_Am2, + const math::Vector& normal_random_standard_deviation_c_Am2, const GeomagneticField* geomagnetic_field); // Override functions for Component /** @@ -102,39 +102,39 @@ class Magnetorquer : public Component, public logger::ILoggable { * @fn GetOutputTorque_b_Nm * @brief Return output torque in the body fixed frame [Nm] */ - inline const s2e::math::Vector& GetOutputTorque_b_Nm(void) const { return torque_b_Nm_; }; + inline const math::Vector& GetOutputTorque_b_Nm(void) const { return torque_b_Nm_; }; /** * @fn SetOutputMagneticMoment_c_Am2 * @brief Set output magnetic moment in the component frame [Am2] */ - inline void SetOutputMagneticMoment_c_Am2(const s2e::math::Vector mag_moment_c) { output_magnetic_moment_c_Am2_ = mag_moment_c; }; + inline void SetOutputMagneticMoment_c_Am2(const math::Vector mag_moment_c) { output_magnetic_moment_c_Am2_ = mag_moment_c; }; /** * @fn SetOutputMagneticMoment_b_Am2 * @brief Return output magnetic moment in the body fixed frame [Am2] */ - inline const s2e::math::Vector& SetOutputMagneticMoment_b_Am2(void) const { return output_magnetic_moment_b_Am2_; }; + inline const math::Vector& SetOutputMagneticMoment_b_Am2(void) const { return output_magnetic_moment_b_Am2_; }; /** * @fn GetOutputMagneticMoment_b_Am2 * @brief Return output magnetic moment in the body fixed frame [Am2] */ - inline const s2e::math::Vector& GetOutputMagneticMoment_c_Am2(void) const { return output_magnetic_moment_c_Am2_; }; + inline const math::Vector& GetOutputMagneticMoment_c_Am2(void) const { return output_magnetic_moment_c_Am2_; }; protected: const int component_id_ = 0; //!< Actuator ID const double kConvertNanoT2T = 1.0e-9; //!< Constant to convert nT to T - s2e::math::Vector torque_b_Nm_{0.0}; //!< Output torque in the body fixed frame [Nm] - s2e::math::Vector output_magnetic_moment_c_Am2_{0.0}; //!< Output output magnetic moment in the component frame [Am2] - s2e::math::Vector output_magnetic_moment_b_Am2_{0.0}; //!< Output output magnetic moment in the body fixed frame [Am2] - s2e::math::Quaternion quaternion_b2c_{0.0, 0.0, 0.0, 1.0}; //!< Quaternion from body frame to component frame - s2e::math::Quaternion quaternion_c2b_{0.0, 0.0, 0.0, 1.0}; //!< Quaternion from component frame to body frame - s2e::math::Matrix scale_factor_; //!< Scale factor matrix - s2e::math::Vector max_magnetic_moment_c_Am2_{100.0}; //!< Maximum magnetic moment in the component frame [Am2] - s2e::math::Vector min_magnetic_moment_c_Am2_{-100.0}; //!< Minimum magnetic moment in the component frame [Am2] - - s2e::math::Vector bias_noise_c_Am2_{0.0}; //!< Constant bias noise in the component frame [Am2] + math::Vector torque_b_Nm_{0.0}; //!< Output torque in the body fixed frame [Nm] + math::Vector output_magnetic_moment_c_Am2_{0.0}; //!< Output output magnetic moment in the component frame [Am2] + math::Vector output_magnetic_moment_b_Am2_{0.0}; //!< Output output magnetic moment in the body fixed frame [Am2] + math::Quaternion quaternion_b2c_{0.0, 0.0, 0.0, 1.0}; //!< Quaternion from body frame to component frame + math::Quaternion quaternion_c2b_{0.0, 0.0, 0.0, 1.0}; //!< Quaternion from component frame to body frame + math::Matrix scale_factor_; //!< Scale factor matrix + math::Vector max_magnetic_moment_c_Am2_{100.0}; //!< Maximum magnetic moment in the component frame [Am2] + math::Vector min_magnetic_moment_c_Am2_{-100.0}; //!< Minimum magnetic moment in the component frame [Am2] + + math::Vector bias_noise_c_Am2_{0.0}; //!< Constant bias noise in the component frame [Am2] RandomWalk random_walk_c_Am2_; //!< Random walk noise s2e::randomization::NormalRand random_noise_c_Am2_[kMtqDimension]; //!< Normal random noise @@ -145,7 +145,7 @@ class Magnetorquer : public Component, public logger::ILoggable { * @brief Calculate output torque * @return Output torque in the body fixed frame [Nm] */ - s2e::math::Vector CalcOutputTorque(void); + math::Vector CalcOutputTorque(void); }; /** diff --git a/src/components/real/aocs/mtq_magnetometer_interference.cpp b/src/components/real/aocs/mtq_magnetometer_interference.cpp index 7113ee869..249c6f299 100644 --- a/src/components/real/aocs/mtq_magnetometer_interference.cpp +++ b/src/components/real/aocs/mtq_magnetometer_interference.cpp @@ -20,8 +20,8 @@ MtqMagnetometerInterference::MtqMagnetometerInterference(const std::string file_ for (size_t degree = 1; degree <= polynomial_degree_; degree++) { const std::string key_name = "additional_bias_by_mtq_coefficients_" + std::to_string(static_cast(degree)); - s2e::math::Vector<9> additional_bias_by_mtq_coefficients_vec; - s2e::math::Matrix<3, 3> additional_bias_by_mtq_coefficients; + math::Vector<9> additional_bias_by_mtq_coefficients_vec; + math::Matrix<3, 3> additional_bias_by_mtq_coefficients; ini_file.ReadVector(section.c_str(), key_name.c_str(), additional_bias_by_mtq_coefficients_vec); for (size_t i = 0; i < 3; i++) { for (size_t j = 0; j < 3; j++) { @@ -37,10 +37,10 @@ void MtqMagnetometerInterference::UpdateInterference(void) { magnetometer_.AddConstantBiasNoise_c_nT(-1.0 * previous_added_bias_c_nT_); // Calculate bias - s2e::math::Vector<3> additional_bias_c_nT{0.0}; - s2e::math::Vector<3> mtq_output_c_Am2 = magnetorquer_.GetOutputMagneticMoment_c_Am2(); + math::Vector<3> additional_bias_c_nT{0.0}; + math::Vector<3> mtq_output_c_Am2 = magnetorquer_.GetOutputMagneticMoment_c_Am2(); for (size_t degree = 1; degree <= polynomial_degree_; degree++) { - s2e::math::Vector<3> hadamard_mtq; + math::Vector<3> hadamard_mtq; for (size_t axis = 0; axis < 3; axis++) { hadamard_mtq[axis] = pow(mtq_output_c_Am2[axis], degree); } diff --git a/src/components/real/aocs/mtq_magnetometer_interference.hpp b/src/components/real/aocs/mtq_magnetometer_interference.hpp index 715cbce47..f468fb497 100644 --- a/src/components/real/aocs/mtq_magnetometer_interference.hpp +++ b/src/components/real/aocs/mtq_magnetometer_interference.hpp @@ -33,8 +33,8 @@ class MtqMagnetometerInterference { protected: size_t polynomial_degree_; //!< Polynomial degree - std::vector> additional_bias_by_mtq_coefficients_; //!< Polynomial coefficients of additional bias noise - s2e::math::Vector<3> previous_added_bias_c_nT_{0.0}; + std::vector> additional_bias_by_mtq_coefficients_; //!< Polynomial coefficients of additional bias noise + math::Vector<3> previous_added_bias_c_nT_{0.0}; Magnetometer& magnetometer_; //!< Magnetometer const Magnetorquer& magnetorquer_; //!< Magnetorquer diff --git a/src/components/real/aocs/reaction_wheel.cpp b/src/components/real/aocs/reaction_wheel.cpp index 4124f0af1..5494ca4ee 100644 --- a/src/components/real/aocs/reaction_wheel.cpp +++ b/src/components/real/aocs/reaction_wheel.cpp @@ -15,7 +15,7 @@ namespace s2e::components { ReactionWheel::ReactionWheel(const int prescaler, environment::ClockGenerator* clock_generator, const int component_id, const double step_width_s, const double rotor_inertia_kgm2, const double max_torque_Nm, const double max_velocity_rpm, - const s2e::math::Quaternion quaternion_b2c, const s2e::math::Vector<3> position_b_m, const double dead_time_s, + const math::Quaternion quaternion_b2c, const math::Vector<3> position_b_m, const double dead_time_s, const double time_constant_s, const std::vector friction_coefficients, const double stop_limit_angular_velocity_rad_s, const bool is_calc_jitter_enabled, const bool is_log_jitter_enabled, const int fast_prescaler, ReactionWheelJitter& rw_jitter, bool drive_flag, const double init_velocity_rad_s) @@ -33,7 +33,7 @@ ReactionWheel::ReactionWheel(const int prescaler, environment::ClockGenerator* c stop_limit_angular_velocity_rad_s_(stop_limit_angular_velocity_rad_s), drive_flag_(drive_flag), velocity_limit_rpm_(max_velocity_rpm_), - ode_angular_velocity_(step_width_s_, velocity_limit_rpm_ * s2e::math::rpm_to_rad_s, init_velocity_rad_s), + ode_angular_velocity_(step_width_s_, velocity_limit_rpm_ * math::rpm_to_rad_s, init_velocity_rad_s), rw_jitter_(rw_jitter), is_calculated_jitter_(is_calc_jitter_enabled), is_logged_jitter_(is_log_jitter_enabled) { @@ -42,7 +42,7 @@ ReactionWheel::ReactionWheel(const int prescaler, environment::ClockGenerator* c ReactionWheel::ReactionWheel(const int prescaler, environment::ClockGenerator* clock_generator, PowerPort* power_port, const int component_id, const double step_width_s, const double rotor_inertia_kgm2, const double max_torque_Nm, const double max_velocity_rpm, - const s2e::math::Quaternion quaternion_b2c, const s2e::math::Vector<3> position_b_m, const double dead_time_s, + const math::Quaternion quaternion_b2c, const math::Vector<3> position_b_m, const double dead_time_s, const double time_constant_s, const std::vector friction_coefficients, const double stop_limit_angular_velocity_rad_s, const bool is_calc_jitter_enabled, const bool is_log_jitter_enabled, const int fast_prescaler, ReactionWheelJitter& rw_jitter, const bool drive_flag, const double init_velocity_rad_s) @@ -60,7 +60,7 @@ ReactionWheel::ReactionWheel(const int prescaler, environment::ClockGenerator* c stop_limit_angular_velocity_rad_s_(stop_limit_angular_velocity_rad_s), drive_flag_(drive_flag), velocity_limit_rpm_(max_velocity_rpm_), - ode_angular_velocity_(step_width_s, velocity_limit_rpm_ * s2e::math::rpm_to_rad_s, init_velocity_rad_s), + ode_angular_velocity_(step_width_s, velocity_limit_rpm_ * math::rpm_to_rad_s, init_velocity_rad_s), rw_jitter_(rw_jitter), is_calculated_jitter_(is_calc_jitter_enabled), is_logged_jitter_(is_log_jitter_enabled) { @@ -68,7 +68,7 @@ ReactionWheel::ReactionWheel(const int prescaler, environment::ClockGenerator* c } void ReactionWheel::Initialize() { - rotation_axis_c_ = s2e::math::Vector<3>(0.0); + rotation_axis_c_ = math::Vector<3>(0.0); rotation_axis_c_[2] = 1.0; rotation_axis_b_ = quaternion_b2c_.InverseFrameConversion(rotation_axis_c_); @@ -79,7 +79,7 @@ void ReactionWheel::Initialize() { generated_angular_acceleration_rad_s2_ = 0.0; angular_velocity_rad_s_ = ode_angular_velocity_.GetAngularVelocity_rad_s(); - angular_velocity_rpm_ = angular_velocity_rad_s_ * s2e::math::rad_s_to_rpm; + angular_velocity_rpm_ = angular_velocity_rad_s_ * math::rad_s_to_rpm; // Turn on RW jitter calculation if (is_calculated_jitter_) { @@ -101,7 +101,7 @@ void ReactionWheel::FastUpdate() { } } -s2e::math::Vector<3> ReactionWheel::CalcTorque() { +math::Vector<3> ReactionWheel::CalcTorque() { if (!drive_flag_) // RW idle mode -> coasting mode { // Clear delay buffer @@ -118,7 +118,7 @@ s2e::math::Vector<3> ReactionWheel::CalcTorque() { if (abs_angular_velocity_rad_s < stop_limit_angular_velocity_rad_s_) { // Stop rotation rotation_direction = 0.0; - s2e::math::Vector<1> zero_rad_s{0.0}; + math::Vector<1> zero_rad_s{0.0}; ode_angular_velocity_.Setup(0.0, zero_rad_s); } else if (angular_velocity_rad_s_ > 0.0) { rotation_direction = -1.0; @@ -143,7 +143,7 @@ s2e::math::Vector<3> ReactionWheel::CalcTorque() { // Substitution double pre_angular_velocity_rad = angular_velocity_rad_s_; angular_velocity_rad_s_ = ode_angular_velocity_.GetAngularVelocity_rad_s(); - angular_velocity_rpm_ = angular_velocity_rad_s_ * s2e::math::rad_s_to_rpm; + angular_velocity_rpm_ = angular_velocity_rad_s_ * math::rad_s_to_rpm; generated_angular_acceleration_rad_s2_ = (angular_velocity_rad_s_ - pre_angular_velocity_rad) / step_width_s_; // Calc output torque by RW @@ -152,20 +152,20 @@ s2e::math::Vector<3> ReactionWheel::CalcTorque() { return output_torque_b_Nm_; } -const s2e::math::Vector<3> ReactionWheel::GetOutputTorque_b_Nm() const { +const math::Vector<3> ReactionWheel::GetOutputTorque_b_Nm() const { if (is_calculated_jitter_) { // Add jitter_force_b_N_-derived torque and jitter_torque_b_Nm_ to output_torque_b - return output_torque_b_Nm_ - s2e::math::OuterProduct(position_b_m_, rw_jitter_.GetJitterForce_b_N()) - rw_jitter_.GetJitterTorque_b_Nm(); + return output_torque_b_Nm_ - math::OuterProduct(position_b_m_, rw_jitter_.GetJitterForce_b_N()) - rw_jitter_.GetJitterTorque_b_Nm(); } else { return output_torque_b_Nm_; } } -const s2e::math::Vector<3> ReactionWheel::GetJitterForce_b_N() const { +const math::Vector<3> ReactionWheel::GetJitterForce_b_N() const { if (is_calculated_jitter_) { return rw_jitter_.GetJitterForce_b_N(); } else { - s2e::math::Vector<3> zero{0.0}; + math::Vector<3> zero{0.0}; return zero; } } @@ -190,7 +190,7 @@ void ReactionWheel::SetVelocityLimit_rpm(const double velocity_limit_rpm) { } else { velocity_limit_rpm_ = velocity_limit_rpm; } - ode_angular_velocity_.SetAngularVelocityLimit_rad_s(velocity_limit_rpm_ * s2e::math::rpm_to_rad_s); + ode_angular_velocity_.SetAngularVelocityLimit_rad_s(velocity_limit_rpm_ * math::rpm_to_rad_s); return; } @@ -198,11 +198,11 @@ std::string ReactionWheel::GetLogHeader() const { std::string str_tmp = ""; std::string component_name = "rw" + std::to_string(static_cast(component_id_)) + "_"; - str_tmp += WriteScalar(component_name + "angular_velocity", "rad/s"); - str_tmp += WriteScalar(component_name + "angular_velocity", "rpm"); - str_tmp += WriteScalar(component_name + "angular_velocity_upper_limit", "rpm"); - str_tmp += WriteScalar(component_name + "target_angular_acceleration", "rad/s2"); - str_tmp += WriteScalar(component_name + "angular_acceleration", "rad/s2"); + str_tmp += logger::WriteScalar(component_name + "angular_velocity", "rad/s"); + str_tmp += logger::WriteScalar(component_name + "angular_velocity", "rpm"); + str_tmp += logger::WriteScalar(component_name + "angular_velocity_upper_limit", "rpm"); + str_tmp += logger::WriteScalar(component_name + "target_angular_acceleration", "rad/s2"); + str_tmp += logger::WriteScalar(component_name + "angular_acceleration", "rad/s2"); if (is_logged_jitter_ && is_calculated_jitter_) { str_tmp += logger::WriteVector(component_name + "jitter_force", "c", "N", 3); @@ -215,11 +215,11 @@ std::string ReactionWheel::GetLogHeader() const { std::string ReactionWheel::GetLogValue() const { std::string str_tmp = ""; - str_tmp += WriteScalar(angular_velocity_rad_s_); - str_tmp += WriteScalar(angular_velocity_rpm_); - str_tmp += WriteScalar(velocity_limit_rpm_); - str_tmp += WriteScalar(target_acceleration_rad_s2_); - str_tmp += WriteScalar(generated_angular_acceleration_rad_s2_); + str_tmp += logger::WriteScalar(angular_velocity_rad_s_); + str_tmp += logger::WriteScalar(angular_velocity_rpm_); + str_tmp += logger::WriteScalar(velocity_limit_rpm_); + str_tmp += logger::WriteScalar(target_acceleration_rad_s2_); + str_tmp += logger::WriteScalar(generated_angular_acceleration_rad_s2_); if (is_logged_jitter_ && is_calculated_jitter_) { str_tmp += logger::WriteVector(rw_jitter_.GetJitterForce_c_N()); @@ -240,8 +240,8 @@ double rotor_inertia_kgm2; double max_torque_Nm; double max_velocity_rpm; // Mounting -s2e::math::Quaternion quaternion_b2c; -s2e::math::Vector<3> position_b_m; +math::Quaternion quaternion_b2c; +math::Vector<3> position_b_m; // Time delay double dead_time_s; double time_constant_s; @@ -281,11 +281,11 @@ void InitParams(int actuator_id, std::string file_name, double compo_update_step rw_ini_file.ReadQuaternion(rw_section, "quaternion_b2c", quaternion_b2c); } else // direction_determination_mode == "DIRECTION" { - s2e::math::Vector<3> direction_b; + math::Vector<3> direction_b; rw_ini_file.ReadVector(rw_section, "direction_b", direction_b); - s2e::math::Vector<3> direction_c(0.0); + math::Vector<3> direction_c(0.0); direction_c[2] = 1.0; - s2e::math::Quaternion q(direction_b, direction_c); + math::Quaternion q(direction_b, direction_c); quaternion_b2c = q.Conjugate(); } rw_ini_file.ReadVector(rw_section, "position_b_m", position_b_m); diff --git a/src/components/real/aocs/reaction_wheel.hpp b/src/components/real/aocs/reaction_wheel.hpp index fc013dc11..c20166028 100644 --- a/src/components/real/aocs/reaction_wheel.hpp +++ b/src/components/real/aocs/reaction_wheel.hpp @@ -51,8 +51,8 @@ class ReactionWheel : public Component, public logger::ILoggable { * @param [in] init_velocity_rad_s: Initial value of angular velocity of RW */ ReactionWheel(const int prescaler, environment::ClockGenerator* clock_generator, const int component_id, const double step_width_s, - const double rotor_inertia_kgm2, const double max_torque_Nm, const double max_velocity_rpm, const s2e::math::Quaternion quaternion_b2c, - const s2e::math::Vector<3> position_b_m, const double dead_time_s, const double time_constant_s, + const double rotor_inertia_kgm2, const double max_torque_Nm, const double max_velocity_rpm, const math::Quaternion quaternion_b2c, + const math::Vector<3> position_b_m, const double dead_time_s, const double time_constant_s, const std::vector friction_coefficients, const double stop_limit_angular_velocity_rad_s, const bool is_calc_jitter_enabled, const bool is_log_jitter_enabled, const int fast_prescaler, ReactionWheelJitter& rw_jitter, const bool drive_flag = false, const double init_velocity_rad_s = 0.0); @@ -81,8 +81,8 @@ class ReactionWheel : public Component, public logger::ILoggable { * @param [in] init_velocity_rad_s: Initial value of angular velocity of RW [rad/s] */ ReactionWheel(const int prescaler, environment::ClockGenerator* clock_generator, PowerPort* power_port, const int component_id, const double step_width_s, - const double rotor_inertia_kgm2, const double max_torque_Nm, const double max_velocity_rpm, const s2e::math::Quaternion quaternion_b2c, - const s2e::math::Vector<3> position_b_m, const double dead_time_s, const double time_constant_s, + const double rotor_inertia_kgm2, const double max_torque_Nm, const double max_velocity_rpm, const math::Quaternion quaternion_b2c, + const math::Vector<3> position_b_m, const double dead_time_s, const double time_constant_s, const std::vector friction_coefficients, const double stop_limit_angular_velocity_rad_s, const bool is_calc_jitter_enabled, const bool is_log_jitter_enabled, const int fast_prescaler, ReactionWheelJitter& rw_jitter, const bool drive_flag = false, const double init_velocity_rad_s = 0.0); @@ -121,12 +121,12 @@ class ReactionWheel : public Component, public logger::ILoggable { * @fn GetOutputTorque_b_Nm * @brief Return output torque in the body fixed frame [Nm] */ - const s2e::math::Vector<3> GetOutputTorque_b_Nm() const; + const math::Vector<3> GetOutputTorque_b_Nm() const; /** * @fn GetJitterForce_b_N * @brief Return output force by jitter in the body fixed frame [N] */ - inline const s2e::math::Vector<3> GetJitterForce_b_N() const; + inline const math::Vector<3> GetJitterForce_b_N() const; /** * @fn GetDriveFlag * @brief Return drive flag @@ -146,7 +146,7 @@ class ReactionWheel : public Component, public logger::ILoggable { * @fn GetAngularMomentum_b_Nms * @brief Return angular momentum of RW [Nms] */ - inline const s2e::math::Vector<3> GetAngularMomentum_b_Nms() const { return angular_momentum_b_Nms_; }; + inline const math::Vector<3> GetAngularMomentum_b_Nms() const { return angular_momentum_b_Nms_; }; // Setter /** @@ -176,10 +176,10 @@ class ReactionWheel : public Component, public logger::ILoggable { const double rotor_inertia_kgm2_; //!< Inertia of RW rotor [kgm2] const double max_torque_Nm_; //!< Maximum output torque [Nm] const double max_velocity_rpm_; //!< Maximum angular velocity of rotor [rpm] - const s2e::math::Quaternion quaternion_b2c_; //!< Quaternion from body frame to component frame - const s2e::math::Vector<3> position_b_m_; //!< Position of RW in the body fixed frame [m] - s2e::math::Vector<3> rotation_axis_c_; //!< Wheel rotation axis on the component frame. Constant as (0 0 1). (Output torque is minus direction) - s2e::math::Vector<3> rotation_axis_b_; //!< Wheel rotation vector in the body fixed frame. + const math::Quaternion quaternion_b2c_; //!< Quaternion from body frame to component frame + const math::Vector<3> position_b_m_; //!< Position of RW in the body fixed frame [m] + math::Vector<3> rotation_axis_c_; //!< Wheel rotation axis on the component frame. Constant as (0 0 1). (Output torque is minus direction) + math::Vector<3> rotation_axis_b_; //!< Wheel rotation vector in the body fixed frame. // Parameters for control delay const double step_width_s_; //!< step width for ReactionWheelOde [sec] @@ -201,8 +201,8 @@ class ReactionWheel : public Component, public logger::ILoggable { double angular_velocity_rpm_ = 0.0; //!< Current angular velocity [rpm] double angular_velocity_rad_s_ = 0.0; //!< Current angular velocity [rad/s] // Output at body frame - s2e::math::Vector<3> output_torque_b_Nm_{0.0}; //!< Output torque in the body fixed frame [Nm] - s2e::math::Vector<3> angular_momentum_b_Nms_{0.0}; //!< Angular momentum of RW [Nms] + math::Vector<3> output_torque_b_Nm_{0.0}; //!< Output torque in the body fixed frame [Nm] + math::Vector<3> angular_momentum_b_Nms_{0.0}; //!< Angular momentum of RW [Nms] // ODE double velocity_limit_rpm_; //!< Velocity limit defined by users [RPM] @@ -218,7 +218,7 @@ class ReactionWheel : public Component, public logger::ILoggable { * @fn CalcTorque * @brief Calculation of generated torque */ - s2e::math::Vector<3> CalcTorque(); + math::Vector<3> CalcTorque(); /** * @fn Initialize * @brief Initialize function diff --git a/src/components/real/aocs/reaction_wheel_jitter.cpp b/src/components/real/aocs/reaction_wheel_jitter.cpp index d0b1408fe..e9ba604df 100644 --- a/src/components/real/aocs/reaction_wheel_jitter.cpp +++ b/src/components/real/aocs/reaction_wheel_jitter.cpp @@ -13,14 +13,14 @@ namespace s2e::components { ReactionWheelJitter::ReactionWheelJitter(std::vector> radial_force_harmonics_coefficients, std::vector> radial_torque_harmonics_coefficients, const double update_interval_s, - const s2e::math::Quaternion quaternion_b2c, const double structural_resonance_frequency_Hz, + const math::Quaternion quaternion_b2c, const double structural_resonance_frequency_Hz, const double damping_factor, const double bandwidth, const bool considers_structural_resonance) : radial_force_harmonics_coefficients_(radial_force_harmonics_coefficients), radial_torque_harmonics_coefficients_(radial_torque_harmonics_coefficients), update_interval_s_(update_interval_s), quaternion_b2c_(quaternion_b2c), structural_resonance_frequency_Hz_(structural_resonance_frequency_Hz), - structural_resonance_angular_frequency_Hz_(s2e::math::tau * structural_resonance_frequency_Hz), + structural_resonance_angular_frequency_Hz_(math::tau * structural_resonance_frequency_Hz), damping_factor_(damping_factor), bandwidth_(bandwidth), considers_structural_resonance_(considers_structural_resonance) { @@ -28,7 +28,7 @@ ReactionWheelJitter::ReactionWheelJitter(std::vector> radial // Generate random number for initial rotation phase std::random_device seed_gen; std::default_random_engine engine(seed_gen()); - std::uniform_real_distribution dist(0.0, s2e::math::tau); + std::uniform_real_distribution dist(0.0, math::tau); // Initialize RW rotation phase for (size_t i = 0; i < radial_force_harmonics_coefficients_.size(); i++) { jitter_force_rotation_phase_.push_back(dist(engine)); diff --git a/src/components/real/aocs/reaction_wheel_jitter.hpp b/src/components/real/aocs/reaction_wheel_jitter.hpp index ea2fcec93..88c228b6f 100644 --- a/src/components/real/aocs/reaction_wheel_jitter.hpp +++ b/src/components/real/aocs/reaction_wheel_jitter.hpp @@ -38,7 +38,7 @@ class ReactionWheelJitter { */ ReactionWheelJitter(std::vector> radial_force_harmonics_coefficients, std::vector> radial_torque_harmonics_coefficients, const double update_interval_s, - const s2e::math::Quaternion quaternion_b2c, const double structural_resonance_frequency_Hz, const double damping_factor, + const math::Quaternion quaternion_b2c, const double structural_resonance_frequency_Hz, const double damping_factor, const double bandwidth, const bool considers_structural_resonance); /** * @fn ~ReactionWheelJitter @@ -57,24 +57,24 @@ class ReactionWheelJitter { * @fn GetJitterForce_b_N * @brief Return generated jitter force in the body fixed frame [N] */ - const s2e::math::Vector<3> GetJitterForce_b_N() const { return jitter_force_b_N_; } + const math::Vector<3> GetJitterForce_b_N() const { return jitter_force_b_N_; } /** * @fn GetJitterTorque_b_Nm * @brief Return generated jitter torque in the body fixed frame [Nm] */ - const s2e::math::Vector<3> GetJitterTorque_b_Nm() const { return jitter_torque_b_Nm_; } + const math::Vector<3> GetJitterTorque_b_Nm() const { return jitter_torque_b_Nm_; } /** * @fn GetJitterForce_c_N * @brief Return generated jitter force in the components frame [N] */ - const s2e::math::Vector<3> GetJitterForce_c_N() const { + const math::Vector<3> GetJitterForce_c_N() const { return considers_structural_resonance_ ? filtered_jitter_force_n_c_ : unfiltered_jitter_force_n_c_; } /** * @fn GetJitterTorque_c_Nm * @brief Return generated jitter torque in the component frame [Nm] */ - const s2e::math::Vector<3> GetJitterTorque_c_Nm() const { + const math::Vector<3> GetJitterTorque_c_Nm() const { return considers_structural_resonance_ ? filtered_jitter_torque_n_c_ : unfiltered_jitter_torque_n_c_; } @@ -83,7 +83,7 @@ class ReactionWheelJitter { std::vector> radial_torque_harmonics_coefficients_; //!< Coefficients for radial torque harmonics double update_interval_s_; //!< Jitter update interval [sec] - s2e::math::Quaternion quaternion_b2c_; //!< Quaternion from body frame to component frame + math::Quaternion quaternion_b2c_; //!< Quaternion from body frame to component frame double structural_resonance_frequency_Hz_; //!< Frequency of structural resonance [Hz] double structural_resonance_angular_frequency_Hz_; //!< Angular Frequency of structural resonance @@ -96,22 +96,22 @@ class ReactionWheelJitter { std::vector jitter_torque_rotation_phase_; //!< 2 * pi * h_i * Omega * t [rad] // Variables for solving difference equations in component frame - s2e::math::Vector<3> unfiltered_jitter_force_n_c_{0.0}; - s2e::math::Vector<3> unfiltered_jitter_force_n_1_c_{0.0}; - s2e::math::Vector<3> unfiltered_jitter_force_n_2_c_{0.0}; - s2e::math::Vector<3> unfiltered_jitter_torque_n_c_{0.0}; - s2e::math::Vector<3> unfiltered_jitter_torque_n_1_c_{0.0}; - s2e::math::Vector<3> unfiltered_jitter_torque_n_2_c_{0.0}; - s2e::math::Vector<3> filtered_jitter_force_n_c_{0.0}; - s2e::math::Vector<3> filtered_jitter_force_n_1_c_{0.0}; - s2e::math::Vector<3> filtered_jitter_force_n_2_c_{0.0}; - s2e::math::Vector<3> filtered_jitter_torque_n_c_{0.0}; - s2e::math::Vector<3> filtered_jitter_torque_n_1_c_{0.0}; - s2e::math::Vector<3> filtered_jitter_torque_n_2_c_{0.0}; + math::Vector<3> unfiltered_jitter_force_n_c_{0.0}; + math::Vector<3> unfiltered_jitter_force_n_1_c_{0.0}; + math::Vector<3> unfiltered_jitter_force_n_2_c_{0.0}; + math::Vector<3> unfiltered_jitter_torque_n_c_{0.0}; + math::Vector<3> unfiltered_jitter_torque_n_1_c_{0.0}; + math::Vector<3> unfiltered_jitter_torque_n_2_c_{0.0}; + math::Vector<3> filtered_jitter_force_n_c_{0.0}; + math::Vector<3> filtered_jitter_force_n_1_c_{0.0}; + math::Vector<3> filtered_jitter_force_n_2_c_{0.0}; + math::Vector<3> filtered_jitter_torque_n_c_{0.0}; + math::Vector<3> filtered_jitter_torque_n_1_c_{0.0}; + math::Vector<3> filtered_jitter_torque_n_2_c_{0.0}; double coefficients_[6]; //!< Coefficients of difference equation - s2e::math::Vector<3> jitter_force_b_N_{0.0}; //!< Generated jitter force in the body frame [N] - s2e::math::Vector<3> jitter_torque_b_Nm_{0.0}; //!< Generated jitter torque in the body frame [Nm] + math::Vector<3> jitter_force_b_N_{0.0}; //!< Generated jitter force in the body frame [N] + math::Vector<3> jitter_torque_b_Nm_{0.0}; //!< Generated jitter torque in the body frame [Nm] /** * @fn AddStructuralResonance diff --git a/src/components/real/aocs/reaction_wheel_ode.cpp b/src/components/real/aocs/reaction_wheel_ode.cpp index d8b34ee86..621b4e598 100644 --- a/src/components/real/aocs/reaction_wheel_ode.cpp +++ b/src/components/real/aocs/reaction_wheel_ode.cpp @@ -10,10 +10,10 @@ namespace s2e::components { ReactionWheelOde::ReactionWheelOde(const double step_width_s, const double velocity_limit_rad_s, const double initial_angular_velocity_rad_s) : OrdinaryDifferentialEquation<1>(step_width_s), velocity_limit_rad_s_(velocity_limit_rad_s) { - this->Setup(0.0, s2e::math::Vector<1>(initial_angular_velocity_rad_s)); + this->Setup(0.0, math::Vector<1>(initial_angular_velocity_rad_s)); } -void ReactionWheelOde::DerivativeFunction(double x, const s2e::math::Vector<1> &state, s2e::math::Vector<1> &rhs) { +void ReactionWheelOde::DerivativeFunction(double x, const math::Vector<1> &state, math::Vector<1> &rhs) { UNUSED(x); double angular_velocity_rad_s = state[0]; diff --git a/src/components/real/aocs/reaction_wheel_ode.hpp b/src/components/real/aocs/reaction_wheel_ode.hpp index 552c2cc04..82d3888e0 100644 --- a/src/components/real/aocs/reaction_wheel_ode.hpp +++ b/src/components/real/aocs/reaction_wheel_ode.hpp @@ -14,7 +14,7 @@ namespace s2e::components { * @file ReactionWheelOde * @brief Ordinary differential equation of angular velocity of reaction wheel with first-order lag */ -class ReactionWheelOde : public s2e::math::OrdinaryDifferentialEquation<1> { +class ReactionWheelOde : public math::OrdinaryDifferentialEquation<1> { public: /** * @fn ReactionWheelOde @@ -55,7 +55,7 @@ class ReactionWheelOde : public s2e::math::OrdinaryDifferentialEquation<1> { * @param [in] state: State vector * @param [out] rhs: Differentiated value of state vector */ - void DerivativeFunction(double x, const s2e::math::Vector<1>& state, s2e::math::Vector<1>& rhs) override; + void DerivativeFunction(double x, const math::Vector<1>& state, math::Vector<1>& rhs) override; double velocity_limit_rad_s_; double angular_acceleration_rad_s2_ = 0.0; //!< Angular acceleration [rad/s2] diff --git a/src/components/real/aocs/star_sensor.cpp b/src/components/real/aocs/star_sensor.cpp index c17302608..36b47095a 100644 --- a/src/components/real/aocs/star_sensor.cpp +++ b/src/components/real/aocs/star_sensor.cpp @@ -18,7 +18,7 @@ using namespace s2e::math; namespace s2e::components { -StarSensor::StarSensor(const int prescaler, environment::ClockGenerator* clock_generator, const int component_id, const s2e::math::Quaternion& quaternion_b2c, +StarSensor::StarSensor(const int prescaler, environment::ClockGenerator* clock_generator, const int component_id, const math::Quaternion& quaternion_b2c, const double standard_deviation_orthogonal_direction, const double standard_deviation_sight_direction, const double step_time_s, const unsigned int output_delay, const unsigned int output_interval, const double sun_forbidden_angle_rad, const double earth_forbidden_angle_rad, const double moon_forbidden_angle_rad, @@ -43,7 +43,7 @@ StarSensor::StarSensor(const int prescaler, environment::ClockGenerator* clock_g Initialize(); } StarSensor::StarSensor(const int prescaler, environment::ClockGenerator* clock_generator, PowerPort* power_port, const int component_id, - const s2e::math::Quaternion& quaternion_b2c, const double standard_deviation_orthogonal_direction, + const math::Quaternion& quaternion_b2c, const double standard_deviation_orthogonal_direction, const double standard_deviation_sight_direction, const double step_time_s, const unsigned int output_delay, const unsigned int output_interval, const double sun_forbidden_angle_rad, const double earth_forbidden_angle_rad, const double moon_forbidden_angle_rad, const double capture_rate_limit_rad_s, const dynamics::Dynamics* dynamics, @@ -69,21 +69,21 @@ StarSensor::StarSensor(const int prescaler, environment::ClockGenerator* clock_g } void StarSensor::Initialize() { - measured_quaternion_i2c_ = s2e::math::Quaternion(0.0, 0.0, 0.0, 1.0); + measured_quaternion_i2c_ = math::Quaternion(0.0, 0.0, 0.0, 1.0); // Decide delay buffer size max_delay_ = int(output_delay_ * 2 / step_time_s_); if (max_delay_ <= 0) max_delay_ = 1; - vector temp(max_delay_); + vector temp(max_delay_); delay_buffer_ = temp; // Initialize delay buffer for (int i = 0; i < max_delay_; ++i) { delay_buffer_[i] = measured_quaternion_i2c_; } - sight_direction_c_ = s2e::math::Vector<3>(0.0); - first_orthogonal_direction_c = s2e::math::Vector<3>(0.0); - second_orthogonal_direction_c = s2e::math::Vector<3>(0.0); + sight_direction_c_ = math::Vector<3>(0.0); + first_orthogonal_direction_c = math::Vector<3>(0.0); + second_orthogonal_direction_c = math::Vector<3>(0.0); sight_direction_c_[0] = 1.0; //(1,0,0)@Component coordinates, viewing direction first_orthogonal_direction_c[1] = 1.0; //(0,1,0)@Component coordinates, line-of-sight orthogonal direction second_orthogonal_direction_c[2] = 1.0; //(0,0,1)@Component coordinates, line-of-sight orthogonal direction @@ -112,10 +112,10 @@ void StarSensor::update(const LocalCelestialInformation* local_celestial_informa // Add noise on sight direction Quaternion q_sight(sight_direction_c_, sight_direction_noise_); // Random noise on orthogonal direction of sight. Range [0:2pi] - double rot = s2e::math::tau * double(rotation_noise_); + double rot = math::tau * double(rotation_noise_); // Calc observation error on orthogonal direction of sight - s2e::math::Vector<3> rot_axis = cos(rot) * first_orthogonal_direction_c + sin(rot) * second_orthogonal_direction_c; - s2e::math::Quaternion q_ortho(rot_axis, orthogonal_direction_noise_); + math::Vector<3> rot_axis = cos(rot) * first_orthogonal_direction_c + sin(rot) * second_orthogonal_direction_c; + math::Quaternion q_ortho(rot_axis, orthogonal_direction_noise_); // Judge errors AllJudgement(local_celestial_information, attitude); @@ -139,9 +139,9 @@ void StarSensor::AllJudgement(const LocalCelestialInformation* local_celestial_i error_flag_ = false; } -int StarSensor::SunJudgement(const s2e::math::Vector<3>& sun_b) { - s2e::math::Quaternion q_c2b = quaternion_b2c_.Conjugate(); - s2e::math::Vector<3> sight_b = q_c2b.FrameConversion(sight_direction_c_); +int StarSensor::SunJudgement(const math::Vector<3>& sun_b) { + math::Quaternion q_c2b = quaternion_b2c_.Conjugate(); + math::Vector<3> sight_b = q_c2b.FrameConversion(sight_direction_c_); double sun_angle_rad = CalAngleVector_rad(sun_b, sight_b); if (sun_angle_rad < sun_forbidden_angle_rad_) return 1; @@ -149,9 +149,9 @@ int StarSensor::SunJudgement(const s2e::math::Vector<3>& sun_b) { return 0; } -int StarSensor::EarthJudgement(const s2e::math::Vector<3>& earth_b) { - s2e::math::Quaternion q_c2b = quaternion_b2c_.Conjugate(); - s2e::math::Vector<3> sight_b = q_c2b.FrameConversion(sight_direction_c_); +int StarSensor::EarthJudgement(const math::Vector<3>& earth_b) { + math::Quaternion q_c2b = quaternion_b2c_.Conjugate(); + math::Vector<3> sight_b = q_c2b.FrameConversion(sight_direction_c_); double earth_size_rad = atan2(environment::earth_equatorial_radius_m, earth_b.CalcNorm()); // angles between sat<->earth_center & sat<->earth_edge double earth_center_angle_rad = CalAngleVector_rad(earth_b, sight_b); // angles between sat<->earth_center & sat_sight @@ -162,9 +162,9 @@ int StarSensor::EarthJudgement(const s2e::math::Vector<3>& earth_b) { return 0; } -int StarSensor::MoonJudgement(const s2e::math::Vector<3>& moon_b) { - s2e::math::Quaternion q_c2b = quaternion_b2c_.Conjugate(); - s2e::math::Vector<3> sight_b = q_c2b.FrameConversion(sight_direction_c_); +int StarSensor::MoonJudgement(const math::Vector<3>& moon_b) { + math::Quaternion q_c2b = quaternion_b2c_.Conjugate(); + math::Vector<3> sight_b = q_c2b.FrameConversion(sight_direction_c_); double moon_angle_rad = CalAngleVector_rad(moon_b, sight_b); if (moon_angle_rad < moon_forbidden_angle_rad_) return 1; @@ -172,7 +172,7 @@ int StarSensor::MoonJudgement(const s2e::math::Vector<3>& moon_b) { return 0; } -int StarSensor::CaptureRateJudgement(const s2e::math::Vector<3>& omega_b_rad_s) { +int StarSensor::CaptureRateJudgement(const math::Vector<3>& omega_b_rad_s) { double omega_norm = omega_b_rad_s.CalcNorm(); if (omega_norm > capture_rate_limit_rad_s_) return 1; @@ -186,7 +186,7 @@ std::string StarSensor::GetLogHeader() const { std::string sensor_name = "stt" + sensor_id + "_"; str_tmp += logger::WriteQuaternion(sensor_name + "measured_quaternion", "i2c"); - str_tmp += WriteScalar(sensor_name + "error_flag"); + str_tmp += logger::WriteScalar(sensor_name + "error_flag"); return str_tmp; } @@ -195,14 +195,14 @@ std::string StarSensor::GetLogValue() const { std::string str_tmp = ""; str_tmp += logger::WriteQuaternion(measured_quaternion_i2c_); - str_tmp += WriteScalar(double(error_flag_)); + str_tmp += logger::WriteScalar(double(error_flag_)); return str_tmp; } double StarSensor::CalAngleVector_rad(const Vector<3>& vector1, const Vector<3>& vector2) { - s2e::math::Vector<3> vect1_normal = vector1.CalcNormalizedVector(); - s2e::math::Vector<3> vect2_normal = vector2.CalcNormalizedVector(); + math::Vector<3> vect1_normal = vector1.CalcNormalizedVector(); + math::Vector<3> vect2_normal = vector2.CalcNormalizedVector(); double cosTheta = InnerProduct(vect1_normal, vect2_normal); // Calc cos value double theta_rad = acos(cosTheta); @@ -225,7 +225,7 @@ StarSensor InitStarSensor(environment::ClockGenerator* clock_generator, int sens int prescaler = STT_conf.ReadInt(STTSection, "prescaler"); if (prescaler <= 1) prescaler = 1; double step_time_s = component_step_time_s * prescaler; - s2e::math::Quaternion quaternion_b2c; + math::Quaternion quaternion_b2c; STT_conf.ReadQuaternion(STTSection, "quaternion_b2c", quaternion_b2c); double standard_deviation_orthogonal_direction = STT_conf.ReadDouble(STTSection, "standard_deviation_orthogonal_direction_rad"); double standard_deviation_sight_direction = STT_conf.ReadDouble(STTSection, "standard_deviation_sight_direction_rad"); @@ -234,13 +234,13 @@ StarSensor InitStarSensor(environment::ClockGenerator* clock_generator, int sens double output_interval_sec = STT_conf.ReadDouble(STTSection, "output_interval_s"); int output_interval = max(int(output_interval_sec / step_time_s), 1); double sun_forbidden_angle_deg = STT_conf.ReadDouble(STTSection, "sun_exclusion_angle_deg"); - double sun_forbidden_angle_rad = sun_forbidden_angle_deg * s2e::math::pi / 180.0; + double sun_forbidden_angle_rad = sun_forbidden_angle_deg * math::pi / 180.0; double earth_forbidden_angle_deg = STT_conf.ReadDouble(STTSection, "earth_exclusion_angle_deg"); - double earth_forbidden_angle_rad = earth_forbidden_angle_deg * s2e::math::pi / 180.0; + double earth_forbidden_angle_rad = earth_forbidden_angle_deg * math::pi / 180.0; double moon_forbidden_angle_deg = STT_conf.ReadDouble(STTSection, "moon_exclusion_angle_deg"); - double moon_forbidden_angle_rad = moon_forbidden_angle_deg * s2e::math::pi / 180.0; + double moon_forbidden_angle_rad = moon_forbidden_angle_deg * math::pi / 180.0; double capture_rate_deg_s = STT_conf.ReadDouble(STTSection, "angular_rate_limit_deg_s"); - double capture_rate_rad_s = capture_rate_deg_s * s2e::math::pi / 180.0; + double capture_rate_rad_s = capture_rate_deg_s * math::pi / 180.0; StarSensor stt(prescaler, clock_generator, sensor_id, quaternion_b2c, standard_deviation_orthogonal_direction, standard_deviation_sight_direction, step_time_s, output_delay, output_interval, sun_forbidden_angle_rad, earth_forbidden_angle_rad, moon_forbidden_angle_rad, @@ -259,7 +259,7 @@ StarSensor InitStarSensor(environment::ClockGenerator* clock_generator, PowerPor if (prescaler <= 1) prescaler = 1; double step_time_s = component_step_time_s * prescaler; - s2e::math::Quaternion quaternion_b2c; + math::Quaternion quaternion_b2c; STT_conf.ReadQuaternion(STTSection, "quaternion_b2c", quaternion_b2c); double standard_deviation_orthogonal_direction = STT_conf.ReadDouble(STTSection, "standard_deviation_orthogonal_direction_rad"); double standard_deviation_sight_direction = STT_conf.ReadDouble(STTSection, "standard_deviation_sight_direction_rad"); @@ -268,13 +268,13 @@ StarSensor InitStarSensor(environment::ClockGenerator* clock_generator, PowerPor double output_interval_sec = STT_conf.ReadDouble(STTSection, "output_interval_s"); int output_interval = max(int(output_interval_sec / step_time_s), 1); double sun_forbidden_angle_deg = STT_conf.ReadDouble(STTSection, "sun_exclusion_angle_deg"); - double sun_forbidden_angle_rad = sun_forbidden_angle_deg * s2e::math::pi / 180.0; + double sun_forbidden_angle_rad = sun_forbidden_angle_deg * math::pi / 180.0; double earth_forbidden_angle_deg = STT_conf.ReadDouble(STTSection, "earth_exclusion_angle_deg"); - double earth_forbidden_angle_rad = earth_forbidden_angle_deg * s2e::math::pi / 180.0; + double earth_forbidden_angle_rad = earth_forbidden_angle_deg * math::pi / 180.0; double moon_forbidden_angle_deg = STT_conf.ReadDouble(STTSection, "moon_exclusion_angle_deg"); - double moon_forbidden_angle_rad = moon_forbidden_angle_deg * s2e::math::pi / 180.0; + double moon_forbidden_angle_rad = moon_forbidden_angle_deg * math::pi / 180.0; double capture_rate_deg_s = STT_conf.ReadDouble(STTSection, "angular_rate_limit_deg_s"); - double capture_rate_rad_s = capture_rate_deg_s * s2e::math::pi / 180.0; + double capture_rate_rad_s = capture_rate_deg_s * math::pi / 180.0; power_port->InitializeWithInitializeFile(file_name); diff --git a/src/components/real/aocs/star_sensor.hpp b/src/components/real/aocs/star_sensor.hpp index 772e3bd53..e28e0add4 100644 --- a/src/components/real/aocs/star_sensor.hpp +++ b/src/components/real/aocs/star_sensor.hpp @@ -45,7 +45,7 @@ class StarSensor : public Component, public logger::ILoggable { * @param [in] dynamics: Dynamics information * @param [in] local_environment: Local environment information */ - StarSensor(const int prescaler, environment::ClockGenerator* clock_generator, const int component_id, const s2e::math::Quaternion& quaternion_b2c, + StarSensor(const int prescaler, environment::ClockGenerator* clock_generator, const int component_id, const math::Quaternion& quaternion_b2c, const double standard_deviation_orthogonal_direction, const double standard_deviation_sight_direction, const double step_time_s, const unsigned int output_delay, const unsigned int output_interval, const double sun_forbidden_angle_rad, const double earth_forbidden_angle_rad, const double moon_forbidden_angle_rad, const double capture_rate_limit_rad_s, @@ -71,7 +71,7 @@ class StarSensor : public Component, public logger::ILoggable { * @param [in] local_environment: Local environment information */ StarSensor(const int prescaler, environment::ClockGenerator* clock_generator, PowerPort* power_port, const int component_id, - const s2e::math::Quaternion& quaternion_b2c, const double standard_deviation_orthogonal_direction, + const math::Quaternion& quaternion_b2c, const double standard_deviation_orthogonal_direction, const double standard_deviation_sight_direction, const double step_time_s, const unsigned int output_delay, const unsigned int output_interval, const double sun_forbidden_angle_rad, const double earth_forbidden_angle_rad, const double moon_forbidden_angle_rad, const double capture_rate_limit_rad_s, const dynamics::Dynamics* dynamics, @@ -100,7 +100,7 @@ class StarSensor : public Component, public logger::ILoggable { * @fn GetMeasuredQuaternion_i2c * @brief Return observed quaternion from the inertial frame to the component frame */ - inline const s2e::math::Quaternion GetMeasuredQuaternion_i2c() const { return measured_quaternion_i2c_; }; + inline const math::Quaternion GetMeasuredQuaternion_i2c() const { return measured_quaternion_i2c_; }; /** * @fn GetErrorFlag * @brief Return error flag @@ -110,11 +110,11 @@ class StarSensor : public Component, public logger::ILoggable { protected: // StarSensor general parameters const int component_id_; //!< Sensor ID - s2e::math::Quaternion quaternion_b2c_; //!< Quaternion from body frame to component frame - s2e::math::Quaternion measured_quaternion_i2c_ = {0.0, 0.0, 0.0, 1.0}; //!< StarSensor observed quaternion - s2e::math::Vector<3> sight_direction_c_; //!< Sight direction vector at component frame - s2e::math::Vector<3> first_orthogonal_direction_c; //!< The first orthogonal direction of sight at component frame - s2e::math::Vector<3> second_orthogonal_direction_c; //!< The second orthogonal direction of sight at component frame + math::Quaternion quaternion_b2c_; //!< Quaternion from body frame to component frame + math::Quaternion measured_quaternion_i2c_ = {0.0, 0.0, 0.0, 1.0}; //!< StarSensor observed quaternion + math::Vector<3> sight_direction_c_; //!< Sight direction vector at component frame + math::Vector<3> first_orthogonal_direction_c; //!< The first orthogonal direction of sight at component frame + math::Vector<3> second_orthogonal_direction_c; //!< The second orthogonal direction of sight at component frame // Noise parameters s2e::randomization::MinimalStandardLcgWithShuffle rotation_noise_; //!< Randomize object for orthogonal direction @@ -123,7 +123,7 @@ class StarSensor : public Component, public logger::ILoggable { // Delay emulation parameters int max_delay_; //!< Max delay - std::vector delay_buffer_; //!< Buffer of quaternion for delay emulation + std::vector delay_buffer_; //!< Buffer of quaternion for delay emulation int buffer_position_; //!< Buffer position double step_time_s_; //!< Step time for delay calculation [sec] unsigned int output_delay_; //!< Output delay [0, max_delay_] [step_sec] @@ -155,7 +155,7 @@ class StarSensor : public Component, public logger::ILoggable { * @param [in] local_celestial_information: Local celestial information * @param [in] attitude: dynamics::attitude::Attitude information */ - s2e::math::Quaternion Measure(const LocalCelestialInformation* local_celestial_information, const dynamics::attitude::Attitude* attitude); + math::Quaternion Measure(const LocalCelestialInformation* local_celestial_information, const dynamics::attitude::Attitude* attitude); /** * @fn AllJudgement @@ -170,28 +170,28 @@ class StarSensor : public Component, public logger::ILoggable { * @param [in] sun_b: Sun direction vector in the body fixed frame * @return 1: violated, 0: not violated */ - int SunJudgement(const s2e::math::Vector<3>& sun_b); + int SunJudgement(const math::Vector<3>& sun_b); /** * @fn EarthJudgement * @brief Judge violation of earth forbidden angle * @param [in] earth_b: Earth direction vector in the body fixed frame * @return 1: violated, 0: not violated */ - int EarthJudgement(const s2e::math::Vector<3>& earth_b); + int EarthJudgement(const math::Vector<3>& earth_b); /** * @fn MoonJudgement * @brief Judge violation of moon forbidden angle * @param [in] moon_b: Moon direction vector in the body fixed frame * @return 1: violated, 0: not violated */ - int MoonJudgement(const s2e::math::Vector<3>& moon_b); + int MoonJudgement(const math::Vector<3>& moon_b); /** * @fn CaptureRateJudgement * @brief Judge violation of angular velocity limit * @param [in] omega_b_rad_s: Angular velocity of spacecraft in the body fixed frame * @return 1: violated, 0: not violated */ - int CaptureRateJudgement(const s2e::math::Vector<3>& omega_b_rad_s); + int CaptureRateJudgement(const math::Vector<3>& omega_b_rad_s); /** * @fn CalAngleVector_rad * @brief Calculate angle between two vectors @@ -199,7 +199,7 @@ class StarSensor : public Component, public logger::ILoggable { * @param [in] vector2: Second vector * @return Angle between two vectors [rad] */ - double CalAngleVector_rad(const s2e::math::Vector<3>& vector1, const s2e::math::Vector<3>& vector2); + double CalAngleVector_rad(const math::Vector<3>& vector1, const math::Vector<3>& vector2); /** * @fn Initialize diff --git a/src/components/real/aocs/sun_sensor.cpp b/src/components/real/aocs/sun_sensor.cpp index 82e74e40a..15fe6210a 100644 --- a/src/components/real/aocs/sun_sensor.cpp +++ b/src/components/real/aocs/sun_sensor.cpp @@ -16,7 +16,7 @@ using namespace std; namespace s2e::components { -SunSensor::SunSensor(const int prescaler, environment::ClockGenerator* clock_generator, const int component_id, const s2e::math::Quaternion& quaternion_b2c, +SunSensor::SunSensor(const int prescaler, environment::ClockGenerator* clock_generator, const int component_id, const math::Quaternion& quaternion_b2c, const double detectable_angle_rad, const double random_noise_standard_deviation_rad, const double bias_noise_standard_deviation_rad, const double intensity_lower_threshold_percent, const SolarRadiationPressureEnvironment* srp_environment, const LocalCelestialInformation* local_celestial_information) @@ -31,7 +31,7 @@ SunSensor::SunSensor(const int prescaler, environment::ClockGenerator* clock_gen } SunSensor::SunSensor(const int prescaler, environment::ClockGenerator* clock_generator, PowerPort* power_port, const int component_id, - const s2e::math::Quaternion& quaternion_b2c, const double detectable_angle_rad, const double random_noise_standard_deviation_rad, + const math::Quaternion& quaternion_b2c, const double detectable_angle_rad, const double random_noise_standard_deviation_rad, const double bias_noise_standard_deviation_rad, const double intensity_lower_threshold_percent, const SolarRadiationPressureEnvironment* srp_environment, const LocalCelestialInformation* local_celestial_information) : Component(prescaler, clock_generator, power_port), @@ -61,8 +61,8 @@ void SunSensor::MainRoutine(const int time_count) { } void SunSensor::Measure() { - s2e::math::Vector<3> sun_pos_b = local_celestial_information_->GetPositionFromSpacecraft_b_m("SUN"); - s2e::math::Vector<3> sun_dir_b = sun_pos_b.CalcNormalizedVector(); + math::Vector<3> sun_pos_b = local_celestial_information_->GetPositionFromSpacecraft_b_m("SUN"); + math::Vector<3> sun_dir_b = sun_pos_b.CalcNormalizedVector(); sun_direction_true_c_ = quaternion_b2c_.FrameConversion(sun_dir_b); // Frame conversion from body to component @@ -89,7 +89,7 @@ void SunSensor::Measure() { measured_sun_direction_c_ = measured_sun_direction_c_.CalcNormalizedVector(); } else { - measured_sun_direction_c_ = s2e::math::Vector<3>(0); + measured_sun_direction_c_ = math::Vector<3>(0); alpha_rad_ = 0.0; beta_rad_ = 0.0; } @@ -98,7 +98,7 @@ void SunSensor::Measure() { } void SunSensor::SunDetectionJudgement() { - s2e::math::Vector<3> sun_direction_c = sun_direction_true_c_.CalcNormalizedVector(); + math::Vector<3> sun_direction_c = sun_direction_true_c_.CalcNormalizedVector(); double sun_angle_ = acos(sun_direction_c[2]); @@ -114,10 +114,10 @@ void SunSensor::SunDetectionJudgement() { } void SunSensor::CalcSolarIlluminance() { - s2e::math::Vector<3> sun_direction_c = sun_direction_true_c_.CalcNormalizedVector(); + math::Vector<3> sun_direction_c = sun_direction_true_c_.CalcNormalizedVector(); double sun_angle_ = acos(sun_direction_c[2]); - if (sun_angle_ > s2e::math::pi_2) { + if (sun_angle_ > math::pi_2) { solar_illuminance_W_m2_ = 0.0; return; } @@ -128,8 +128,8 @@ void SunSensor::CalcSolarIlluminance() { } double SunSensor::TanRange(double x) { - if (x > s2e::math::pi_2) x = s2e::math::pi - x; - if (x < -s2e::math::pi_2) x = -s2e::math::pi - x; + if (x > math::pi_2) x = math::pi - x; + if (x < -math::pi_2) x = -math::pi - x; return x; } @@ -139,7 +139,7 @@ string SunSensor::GetLogHeader() const { std::string sensor_name = "sun_sensor" + sensor_id + "_"; str_tmp += logger::WriteVector(sensor_name + "measured_sun_direction", "c", "-", 3); - str_tmp += WriteScalar(sensor_name + "sun_detected_flag", "-"); + str_tmp += logger::WriteScalar(sensor_name + "sun_detected_flag", "-"); return str_tmp; } @@ -148,7 +148,7 @@ string SunSensor::GetLogValue() const { string str_tmp = ""; str_tmp += logger::WriteVector(measured_sun_direction_c_); - str_tmp += WriteScalar(double(sun_detected_flag_)); + str_tmp += logger::WriteScalar(double(sun_detected_flag_)); return str_tmp; } @@ -163,20 +163,20 @@ SunSensor InitSunSensor(environment::ClockGenerator* clock_generator, int ss_id, int prescaler = ss_conf.ReadInt(Section, "prescaler"); if (prescaler <= 1) prescaler = 1; - s2e::math::Quaternion quaternion_b2c; + math::Quaternion quaternion_b2c; ss_conf.ReadQuaternion(Section, "quaternion_b2c", quaternion_b2c); double detectable_angle_deg = 0.0, detectable_angle_rad = 0.0; detectable_angle_deg = ss_conf.ReadDouble(Section, "field_of_view_deg"); - detectable_angle_rad = s2e::math::pi / 180.0 * detectable_angle_deg; + detectable_angle_rad = math::pi / 180.0 * detectable_angle_deg; double nr_stddev = 0.0; nr_stddev = ss_conf.ReadDouble(Section, "white_noise_standard_deviation_deg"); - nr_stddev *= s2e::math::pi / 180.0; + nr_stddev *= math::pi / 180.0; double nr_bias_stddev = 0.0; nr_bias_stddev = ss_conf.ReadDouble(Section, "bias_standard_deviation_deg"); - nr_bias_stddev *= s2e::math::pi / 180.0; + nr_bias_stddev *= math::pi / 180.0; double intensity_lower_threshold_percent; intensity_lower_threshold_percent = ss_conf.ReadDouble(Section, "intensity_lower_threshold_percent"); @@ -196,20 +196,20 @@ SunSensor InitSunSensor(environment::ClockGenerator* clock_generator, PowerPort* int prescaler = ss_conf.ReadInt(Section, "prescaler"); if (prescaler <= 1) prescaler = 1; - s2e::math::Quaternion quaternion_b2c; + math::Quaternion quaternion_b2c; ss_conf.ReadQuaternion(Section, "quaternion_b2c", quaternion_b2c); double detectable_angle_deg = 0.0, detectable_angle_rad = 0.0; detectable_angle_deg = ss_conf.ReadDouble(Section, "field_of_view_deg"); - detectable_angle_rad = s2e::math::pi / 180.0 * detectable_angle_deg; + detectable_angle_rad = math::pi / 180.0 * detectable_angle_deg; double nr_stddev = 0.0; nr_stddev = ss_conf.ReadDouble(Section, "white_noise_standard_deviation_deg"); - nr_stddev *= s2e::math::pi / 180.0; + nr_stddev *= math::pi / 180.0; double nr_bias_stddev = 0.0; nr_bias_stddev = ss_conf.ReadDouble(Section, "bias_standard_deviation_deg"); - nr_bias_stddev *= s2e::math::pi / 180.0; + nr_bias_stddev *= math::pi / 180.0; double intensity_lower_threshold_percent; intensity_lower_threshold_percent = ss_conf.ReadDouble(Section, "intensity_lower_threshold_percent"); diff --git a/src/components/real/aocs/sun_sensor.hpp b/src/components/real/aocs/sun_sensor.hpp index f8aba0d41..cd23d2d38 100644 --- a/src/components/real/aocs/sun_sensor.hpp +++ b/src/components/real/aocs/sun_sensor.hpp @@ -37,7 +37,7 @@ class SunSensor : public Component, public logger::ILoggable { * @param [in] srp_environment: Solar Radiation Pressure environment * @param [in] local_celestial_information: Local celestial information */ - SunSensor(const int prescaler, environment::ClockGenerator* clock_generator, const int component_id, const s2e::math::Quaternion& quaternion_b2c, + SunSensor(const int prescaler, environment::ClockGenerator* clock_generator, const int component_id, const math::Quaternion& quaternion_b2c, const double detectable_angle_rad, const double random_noise_standard_deviation_rad, const double bias_noise_standard_deviation_rad, const double intensity_lower_threshold_percent, const SolarRadiationPressureEnvironment* srp_environment, const LocalCelestialInformation* local_celestial_information); @@ -57,7 +57,7 @@ class SunSensor : public Component, public logger::ILoggable { * @param [in] local_celestial_information: Local celestial information */ SunSensor(const int prescaler, environment::ClockGenerator* clock_generator, PowerPort* power_port, const int component_id, - const s2e::math::Quaternion& quaternion_b2c, const double detectable_angle_rad, const double random_noise_standard_deviation_rad, + const math::Quaternion& quaternion_b2c, const double detectable_angle_rad, const double random_noise_standard_deviation_rad, const double bias_noise_standard_deviation_rad, const double intensity_lower_threshold_percent, const SolarRadiationPressureEnvironment* srp_environment, const LocalCelestialInformation* local_celestial_information); @@ -82,19 +82,19 @@ class SunSensor : public Component, public logger::ILoggable { // Getter inline bool GetSunDetectedFlag() const { return sun_detected_flag_; }; - inline const s2e::math::Vector<3> GetMeasuredSunDirection_c() const { return measured_sun_direction_c_; }; - inline const s2e::math::Vector<3> GetMeasuredSunDirection_b() const { return quaternion_b2c_.Conjugate().FrameConversion(measured_sun_direction_c_); }; + inline const math::Vector<3> GetMeasuredSunDirection_c() const { return measured_sun_direction_c_; }; + inline const math::Vector<3> GetMeasuredSunDirection_b() const { return quaternion_b2c_.Conjugate().FrameConversion(measured_sun_direction_c_); }; inline double GetSunAngleAlpha_rad() const { return alpha_rad_; }; inline double GetSunAngleBeta_rad() const { return beta_rad_; }; inline double GetSolarIlluminance_W_m2() const { return solar_illuminance_W_m2_; }; protected: const int component_id_; //!< Sensor ID - s2e::math::Quaternion quaternion_b2c_; //!< Quaternion from body frame to component frame (Z-axis of the component is sight direction) + math::Quaternion quaternion_b2c_; //!< Quaternion from body frame to component frame (Z-axis of the component is sight direction) double intensity_lower_threshold_percent_; //!< If the light intensity becomes smaller than this, it becomes impossible to get the sun direction - s2e::math::Vector<3> sun_direction_true_c_{0.0}; //!< True value of sun vector in the component frame - s2e::math::Vector<3> measured_sun_direction_c_{0.0}; //!< Measured sun vector in the component frame + math::Vector<3> sun_direction_true_c_{0.0}; //!< True value of sun vector in the component frame + math::Vector<3> measured_sun_direction_c_{0.0}; //!< Measured sun vector in the component frame double alpha_rad_ = 0.0; //!< Angle between Z-axis and the sun direction projected on XZ plane [rad] double beta_rad_ = 0.0; //!< Angle between Z-axis and the sun direction projected on YZ plane [rad] diff --git a/src/components/real/communication/antenna.cpp b/src/components/real/communication/antenna.cpp index 3eb527fd4..12f24c46b 100644 --- a/src/components/real/communication/antenna.cpp +++ b/src/components/real/communication/antenna.cpp @@ -13,7 +13,7 @@ namespace s2e::components { -Antenna::Antenna(const int component_id, const s2e::math::Quaternion& quaternion_b2c, const bool is_transmitter, const bool is_receiver, +Antenna::Antenna(const int component_id, const math::Quaternion& quaternion_b2c, const bool is_transmitter, const bool is_receiver, const double frequency_MHz, const Vector<5> tx_parameters, const Vector<4> rx_parameters) : component_id_(component_id), is_transmitter_(is_transmitter), is_receiver_(is_receiver), frequency_MHz_(frequency_MHz) { quaternion_b2c_ = quaternion_b2c; @@ -47,7 +47,7 @@ Antenna::Antenna(const int component_id, const s2e::math::Quaternion& quaternion } } -Antenna::Antenna(const int component_id, const s2e::math::Quaternion& quaternion_b2c, const bool is_transmitter, const bool is_receiver, +Antenna::Antenna(const int component_id, const math::Quaternion& quaternion_b2c, const bool is_transmitter, const bool is_receiver, const double frequency_MHz, const double tx_bitrate_bps, const double tx_output_power_W, const AntennaParameters tx_parameters, const double rx_system_noise_temperature_K, const AntennaParameters rx_parameters) : component_id_(component_id), diff --git a/src/components/real/communication/antenna.hpp b/src/components/real/communication/antenna.hpp index 28023cff6..7419e3219 100644 --- a/src/components/real/communication/antenna.hpp +++ b/src/components/real/communication/antenna.hpp @@ -8,8 +8,8 @@ #include #include -using s2e::math::Quaternion; -using s2e::math::Vector; +using math::Quaternion; +using math::Vector; #include #include "./antenna_radiation_pattern.hpp" @@ -56,7 +56,7 @@ class Antenna { * @param [in] tx_parameters: output, gain, loss_feeder, loss_pointing for TX * @param [in] rx_parameters: gain, loss_feeder, loss_pointing, system_temperature for RX */ - Antenna(const int component_id, const s2e::math::Quaternion& quaternion_b2c, const bool is_transmitter, const bool is_receiver, + Antenna(const int component_id, const math::Quaternion& quaternion_b2c, const bool is_transmitter, const bool is_receiver, const double frequency_MHz, const Vector<5> tx_parameters, const Vector<4> rx_parameters); /** @@ -73,7 +73,7 @@ class Antenna { * @param [in] rx_system_noise_temperature_K: Receive system noise temperature [K] * @param [in] rx_parameters: RX antenna parameters */ - Antenna(const int component_id, const s2e::math::Quaternion& quaternion_b2c, const bool is_transmitter, const bool is_receiver, + Antenna(const int component_id, const math::Quaternion& quaternion_b2c, const bool is_transmitter, const bool is_receiver, const double frequency_MHz, const double tx_bitrate_bps, const double tx_output_power_W, const AntennaParameters tx_parameters, const double rx_system_noise_temperature_K, const AntennaParameters rx_parameters); /** diff --git a/src/components/real/communication/antenna_radiation_pattern.hpp b/src/components/real/communication/antenna_radiation_pattern.hpp index 3d2382862..f924fbe41 100644 --- a/src/components/real/communication/antenna_radiation_pattern.hpp +++ b/src/components/real/communication/antenna_radiation_pattern.hpp @@ -38,7 +38,7 @@ class AntennaRadiationPattern { * @param[in] phi_max_rad_: Maximum value of phi */ AntennaRadiationPattern(const std::string file_path, const size_t length_theta = 360, const size_t length_phi = 181, - const double theta_max_rad = s2e::math::tau, const double phi_max_rad = s2e::math::pi); + const double theta_max_rad = math::tau, const double phi_max_rad = math::pi); /** * @fn ~AntennaRadiationPattern @@ -58,8 +58,8 @@ class AntennaRadiationPattern { private: size_t length_theta_ = 360; //!< Length of grid for theta direction size_t length_phi_ = 181; //!< Length of grid for phi direction - double theta_max_rad_ = s2e::math::tau; //!< Maximum value of theta - double phi_max_rad_ = s2e::math::pi; //!< Maximum value of phi + double theta_max_rad_ = math::tau; //!< Maximum value of theta + double phi_max_rad_ = math::pi; //!< Maximum value of phi std::vector> gain_dBi_; //!< Antenna gain table [dBi] }; diff --git a/src/components/real/communication/ground_station_calculator.cpp b/src/components/real/communication/ground_station_calculator.cpp index a5deff17d..c3b3f9edd 100644 --- a/src/components/real/communication/ground_station_calculator.cpp +++ b/src/components/real/communication/ground_station_calculator.cpp @@ -74,7 +74,7 @@ double GroundStationCalculator::CalcCn0OnGs(const dynamics::Dynamics& dynamics, Vector<3> pos_gs2sc_i = sc_pos_i - gs_pos_i; double dist_sc_gs_km = pos_gs2sc_i.CalcNorm() / 1000.0; - double loss_space_dB = -20.0 * log10(4.0 * s2e::math::pi * dist_sc_gs_km / (300.0 / spacecraft_tx_antenna.GetFrequency_MHz() / 1000.0)); + double loss_space_dB = -20.0 * log10(4.0 * math::pi * dist_sc_gs_km / (300.0 / spacecraft_tx_antenna.GetFrequency_MHz() / 1000.0)); // GS direction on SC TX antenna frame Vector<3> sc_to_gs_i = gs_pos_i - sc_pos_i; @@ -104,8 +104,8 @@ std::string GroundStationCalculator::GetLogHeader() const { std::string str_tmp = ""; std::string component_name = "gs_calculator_"; - str_tmp += WriteScalar(component_name + "max_bitrate", "Mbps"); - str_tmp += WriteScalar(component_name + "receive_margin", "dB"); + str_tmp += logger::WriteScalar(component_name + "max_bitrate", "Mbps"); + str_tmp += logger::WriteScalar(component_name + "receive_margin", "dB"); return str_tmp; } @@ -113,8 +113,8 @@ std::string GroundStationCalculator::GetLogHeader() const { std::string GroundStationCalculator::GetLogValue() const { std::string str_tmp = ""; - str_tmp += WriteScalar(max_bitrate_Mbps_); - str_tmp += WriteScalar(receive_margin_dB_); + str_tmp += logger::WriteScalar(max_bitrate_Mbps_); + str_tmp += logger::WriteScalar(receive_margin_dB_); return str_tmp; } diff --git a/src/components/real/mission/telescope.cpp b/src/components/real/mission/telescope.cpp index b04e5b0da..a05730683 100644 --- a/src/components/real/mission/telescope.cpp +++ b/src/components/real/mission/telescope.cpp @@ -15,7 +15,7 @@ using namespace s2e::math; namespace s2e::components { -Telescope::Telescope(environment::ClockGenerator* clock_generator, const s2e::math::Quaternion& quaternion_b2c, const double sun_forbidden_angle_rad, +Telescope::Telescope(environment::ClockGenerator* clock_generator, const math::Quaternion& quaternion_b2c, const double sun_forbidden_angle_rad, const double earth_forbidden_angle_rad, const double moon_forbidden_angle_rad, const int x_number_of_pix, const int y_number_of_pix, const double x_fov_per_pix, const double y_fov_per_pix, size_t number_of_logged_stars, const dynamics::attitude::Attitude* attitude, const HipparcosCatalogue* hipparcos, const LocalCelestialInformation* local_celestial_information, @@ -40,8 +40,8 @@ Telescope::Telescope(environment::ClockGenerator* clock_generator, const s2e::ma x_field_of_view_rad = x_number_of_pix_ * x_fov_per_pix_; y_field_of_view_rad = y_number_of_pix_ * y_fov_per_pix_; - assert(x_field_of_view_rad < s2e::math::pi_2); // Avoid the case that the field of view is over 90 degrees - assert(y_field_of_view_rad < s2e::math::pi_2); + assert(x_field_of_view_rad < math::pi_2); // Avoid the case that the field of view is over 90 degrees + assert(y_field_of_view_rad < math::pi_2); sight_direction_c_ = Vector<3>(0); sight_direction_c_[0] = 1; // (1,0,0) at component frame, Sight direction vector @@ -60,7 +60,7 @@ Telescope::Telescope(environment::ClockGenerator* clock_generator, const s2e::ma } // Get initial spacecraft position in ECEF if (orbit_ != nullptr) { - s2e::math::Vector<3> initial_spacecraft_position_ecef_m = orbit_->GetPosition_ecef_m(); + math::Vector<3> initial_spacecraft_position_ecef_m = orbit_->GetPosition_ecef_m(); initial_ground_position_ecef_m_ = environment::earth_equatorial_radius_m * initial_spacecraft_position_ecef_m; initial_ground_position_ecef_m_ /= (orbit_->GetGeodeticPosition().GetAltitude_m() + environment::earth_equatorial_radius_m); } @@ -85,26 +85,26 @@ void Telescope::MainRoutine(const int time_count) { // sun_pos_c = quaternion_b2c_.FrameConversion(dynamics_->celestial_->GetPositionFromSpacecraft_b_m("SUN")); // earth_pos_c = quaternion_b2c_.FrameConversion(dynamics_->celestial_->GetPositionFromSpacecraft_b_m("EARTH")); // moon_pos_c = quaternion_b2c_.FrameConversion(dynamics_->celestial_->GetPositionFromSpacecraft_b_m("MOON")); - // angle_sun = CalcAngleTwoVectors_rad(sight_direction_c_, sun_pos_c) * 180/s2e::math::pi; - // angle_earth = CalcAngleTwoVectors_rad(sight_direction_c_, earth_pos_c) * 180 / s2e::math::pi; angle_moon = - // CalcAngleTwoVectors_rad(sight_direction_c_, moon_pos_c) * 180 / s2e::math::pi; + // angle_sun = CalcAngleTwoVectors_rad(sight_direction_c_, sun_pos_c) * 180/math::pi; + // angle_earth = CalcAngleTwoVectors_rad(sight_direction_c_, earth_pos_c) * 180 / math::pi; angle_moon = + // CalcAngleTwoVectors_rad(sight_direction_c_, moon_pos_c) * 180 / math::pi; //****************************************************************************** // Direction calculation of ground point ObserveGroundPositionDeviation(); } -bool Telescope::JudgeForbiddenAngle(const s2e::math::Vector<3>& target_b, const double forbidden_angle) { - s2e::math::Quaternion q_c2b = quaternion_b2c_.Conjugate(); - s2e::math::Vector<3> sight_b = q_c2b.FrameConversion(sight_direction_c_); - double angle_rad = s2e::math::CalcAngleTwoVectors_rad(target_b, sight_b); +bool Telescope::JudgeForbiddenAngle(const math::Vector<3>& target_b, const double forbidden_angle) { + math::Quaternion q_c2b = quaternion_b2c_.Conjugate(); + math::Vector<3> sight_b = q_c2b.FrameConversion(sight_direction_c_); + double angle_rad = math::CalcAngleTwoVectors_rad(target_b, sight_b); if (angle_rad < forbidden_angle) { return true; } else return false; } -void Telescope::Observe(s2e::math::Vector<2>& position_image_sensor, const s2e::math::Vector<3, double> target_b) { - s2e::math::Vector<3, double> target_c = quaternion_b2c_.FrameConversion(target_b); +void Telescope::Observe(math::Vector<2>& position_image_sensor, const math::Vector<3, double> target_b) { + math::Vector<3, double> target_c = quaternion_b2c_.FrameConversion(target_b); double arg_x = atan2(target_c[2], target_c[0]); // Angle from X-axis on XZ plane in the component frame double arg_y = atan2(target_c[1], target_c[0]); // Angle from X-axis on XY plane in the component frame @@ -124,8 +124,8 @@ void Telescope::ObserveStars() { size_t count = 0; // Counter for while loop while (star_list_in_sight.size() < number_of_logged_stars_) { - s2e::math::Vector<3> target_b = hipparcos_->GetStarDirection_b(count, quaternion_i2b); - s2e::math::Vector<3> target_c = quaternion_b2c_.FrameConversion(target_b); + math::Vector<3> target_b = hipparcos_->GetStarDirection_b(count, quaternion_i2b); + math::Vector<3> target_c = quaternion_b2c_.FrameConversion(target_b); double arg_x = atan2(target_c[2], target_c[0]); // Angle from X-axis on XZ plane in the component frame double arg_y = atan2(target_c[1], target_c[0]); // Angle from X-axis on XY plane in the component frame @@ -176,12 +176,12 @@ void Telescope::ObserveGroundPositionDeviation() { } Quaternion quaternion_i2b = attitude_->GetQuaternion_i2b(); - s2e::math::Vector<3> spacecraft_position_ecef_m = orbit_->GetPosition_ecef_m(); - s2e::math::Vector<3> direction_ecef = (initial_ground_position_ecef_m_ - spacecraft_position_ecef_m).CalcNormalizedVector(); - s2e::math::Matrix<3, 3> dcm_ecef_to_i = local_celestial_information_->GetGlobalInformation().GetEarthRotation().GetDcmJ2000ToEcef().Transpose(); - s2e::math::Vector<3> direction_i = (dcm_ecef_to_i * direction_ecef).CalcNormalizedVector(); - s2e::math::Vector<3> direction_b = quaternion_i2b.FrameConversion(direction_i); - s2e::math::Vector<3> target_c = quaternion_b2c_.FrameConversion(direction_b); + math::Vector<3> spacecraft_position_ecef_m = orbit_->GetPosition_ecef_m(); + math::Vector<3> direction_ecef = (initial_ground_position_ecef_m_ - spacecraft_position_ecef_m).CalcNormalizedVector(); + math::Matrix<3, 3> dcm_ecef_to_i = local_celestial_information_->GetGlobalInformation().GetEarthRotation().GetDcmJ2000ToEcef().Transpose(); + math::Vector<3> direction_i = (dcm_ecef_to_i * direction_ecef).CalcNormalizedVector(); + math::Vector<3> direction_b = quaternion_i2b.FrameConversion(direction_i); + math::Vector<3> target_c = quaternion_b2c_.FrameConversion(direction_b); // Ground position in the image sensor in the satellite frame double ground_angle_z_rad = atan2(target_c[2], target_c[0]); @@ -195,61 +195,61 @@ string Telescope::GetLogHeader() const { std::string component_name = "telescope_"; - str_tmp += WriteScalar(component_name + "sun_in_exclusion_angle", ""); - str_tmp += WriteScalar(component_name + "earth_in_exclusion_angle", ""); - str_tmp += WriteScalar(component_name + "moon_in_exclusion_angle", ""); + str_tmp += logger::WriteScalar(component_name + "sun_in_exclusion_angle", ""); + str_tmp += logger::WriteScalar(component_name + "earth_in_exclusion_angle", ""); + str_tmp += logger::WriteScalar(component_name + "moon_in_exclusion_angle", ""); str_tmp += logger::WriteVector(component_name + "sun_position", "img", "pix", 2); str_tmp += logger::WriteVector(component_name + "earth_position", "img", "pix", 2); str_tmp += logger::WriteVector(component_name + "moon_position", "img", "pix", 2); - str_tmp += WriteScalar(component_name + "ground_position_x", "pix"); - str_tmp += WriteScalar(component_name + "ground_position_y", "pix"); + str_tmp += logger::WriteScalar(component_name + "ground_position_x", "pix"); + str_tmp += logger::WriteScalar(component_name + "ground_position_y", "pix"); // When Hipparcos Catalogue was not read, no output of ObserveStars if (hipparcos_->IsCalcEnabled) { for (size_t i = 0; i < number_of_logged_stars_; i++) { - str_tmp += WriteScalar(component_name + "hipparcos_id (" + to_string(i) + ")", " "); - str_tmp += WriteScalar(component_name + "visible_magnitude (" + to_string(i) + ")", " "); + str_tmp += logger::WriteScalar(component_name + "hipparcos_id (" + to_string(i) + ")", " "); + str_tmp += logger::WriteScalar(component_name + "visible_magnitude (" + to_string(i) + ")", " "); str_tmp += logger::WriteVector(component_name + "star_position (" + to_string(i) + ")", "img", "pix", 2); } } // Debug output ********************************************** - // str_tmp += WriteScalar("angle_sun", ""); - // str_tmp += WriteScalar("angle_earth", ""); - // str_tmp += WriteScalar("angle_moon", ""); + // str_tmp += logger::WriteScalar("angle_sun", ""); + // str_tmp += logger::WriteScalar("angle_earth", ""); + // str_tmp += logger::WriteScalar("angle_moon", ""); //********************************************************** return str_tmp; } string Telescope::GetLogValue() const { string str_tmp = ""; - str_tmp += WriteScalar(is_sun_in_forbidden_angle); - str_tmp += WriteScalar(is_earth_in_forbidden_angle); - str_tmp += WriteScalar(is_moon_in_forbidden_angle); + str_tmp += logger::WriteScalar(is_sun_in_forbidden_angle); + str_tmp += logger::WriteScalar(is_earth_in_forbidden_angle); + str_tmp += logger::WriteScalar(is_moon_in_forbidden_angle); str_tmp += logger::WriteVector(sun_position_image_sensor); str_tmp += logger::WriteVector(earth_position_image_sensor); str_tmp += logger::WriteVector(moon_position_image_sensor); - str_tmp += WriteScalar(ground_position_x_image_sensor_); - str_tmp += WriteScalar(ground_position_y_image_sensor_); + str_tmp += logger::WriteScalar(ground_position_x_image_sensor_); + str_tmp += logger::WriteScalar(ground_position_y_image_sensor_); // When Hipparcos Catalogue was not read, no output of ObserveStars if (hipparcos_->IsCalcEnabled) { for (size_t i = 0; i < number_of_logged_stars_; i++) { - str_tmp += WriteScalar(star_list_in_sight[i].hipparcos_data.hipparcos_id); - str_tmp += WriteScalar(star_list_in_sight[i].hipparcos_data.visible_magnitude); + str_tmp += logger::WriteScalar(star_list_in_sight[i].hipparcos_data.hipparcos_id); + str_tmp += logger::WriteScalar(star_list_in_sight[i].hipparcos_data.visible_magnitude); str_tmp += logger::WriteVector(star_list_in_sight[i].position_image_sensor); } } // Debug output ********************************************** - // str_tmp += WriteScalar(angle_sun); - // str_tmp += WriteScalar(angle_earth); - // str_tmp += WriteScalar(angle_moon); + // str_tmp += logger::WriteScalar(angle_sun); + // str_tmp += logger::WriteScalar(angle_earth); + // str_tmp += logger::WriteScalar(angle_moon); //********************************************************** return str_tmp; } Telescope InitTelescope(environment::ClockGenerator* clock_generator, int sensor_id, const string file_name, const dynamics::attitude::Attitude* attitude, const HipparcosCatalogue* hipparcos, const LocalCelestialInformation* local_celestial_information, const Orbit* orbit) { - using s2e::math::pi; + using math::pi; setting_file_reader::IniAccess Telescope_conf(file_name); const string st_sensor_id = std::to_string(static_cast(sensor_id)); @@ -262,7 +262,7 @@ Telescope InitTelescope(environment::ClockGenerator* clock_generator, int sensor strcat(TelescopeSection, cs); #endif - s2e::math::Quaternion quaternion_b2c; + math::Quaternion quaternion_b2c; Telescope_conf.ReadQuaternion(TelescopeSection, "quaternion_b2c", quaternion_b2c); double sun_forbidden_angle_deg = Telescope_conf.ReadDouble(TelescopeSection, "sun_exclusion_angle_deg"); diff --git a/src/components/real/mission/telescope.hpp b/src/components/real/mission/telescope.hpp index bad6d0fbf..d6c6310b5 100644 --- a/src/components/real/mission/telescope.hpp +++ b/src/components/real/mission/telescope.hpp @@ -25,7 +25,7 @@ namespace s2e::components { */ struct Star { HipparcosData hipparcos_data; //!< Hipparcos data - s2e::math::Vector<2> position_image_sensor; //!< Position of image sensor + math::Vector<2> position_image_sensor; //!< Position of image sensor }; /* @@ -52,7 +52,7 @@ class Telescope : public Component, public logger::ILoggable { * @param [in] local_celestial_information: Local celestial information * @param [in] orbit: Orbit information */ - Telescope(environment::ClockGenerator* clock_generator, const s2e::math::Quaternion& quaternion_b2c, const double sun_forbidden_angle_rad, + Telescope(environment::ClockGenerator* clock_generator, const math::Quaternion& quaternion_b2c, const double sun_forbidden_angle_rad, const double earth_forbidden_angle_rad, const double moon_forbidden_angle_rad, const int x_number_of_pix, const int y_number_of_pix, const double x_fov_per_pix, const double y_fov_per_pix, size_t number_of_logged_stars, const dynamics::attitude::Attitude* attitude, const HipparcosCatalogue* hipparcos, const LocalCelestialInformation* local_celestial_information, const Orbit* orbit = nullptr); @@ -69,8 +69,8 @@ class Telescope : public Component, public logger::ILoggable { protected: private: - s2e::math::Quaternion quaternion_b2c_; //!< Quaternion from the body frame to component frame - s2e::math::Vector<3> sight_direction_c_; //!< Sight direction vector in the component frame + math::Quaternion quaternion_b2c_; //!< Quaternion from the body frame to component frame + math::Vector<3> sight_direction_c_; //!< Sight direction vector in the component frame double sun_forbidden_angle_rad_; //!< Sun forbidden angle [rad] double earth_forbidden_angle_rad_; //!< Earth forbidden angle [rad] @@ -91,10 +91,10 @@ class Telescope : public Component, public logger::ILoggable { size_t number_of_logged_stars_; //!< Number of logged stars - s2e::math::Vector<2> sun_position_image_sensor{-1}; //!< Position of the sun on the image plane - s2e::math::Vector<2> earth_position_image_sensor{-1}; //!< Position of the earth on the image plane - s2e::math::Vector<2> moon_position_image_sensor{-1}; //!< Position of the moon on the image plane - s2e::math::Vector<3> initial_ground_position_ecef_m_; //!< Initial spacecraft position + math::Vector<2> sun_position_image_sensor{-1}; //!< Position of the sun on the image plane + math::Vector<2> earth_position_image_sensor{-1}; //!< Position of the earth on the image plane + math::Vector<2> moon_position_image_sensor{-1}; //!< Position of the moon on the image plane + math::Vector<3> initial_ground_position_ecef_m_; //!< Initial spacecraft position std::vector star_list_in_sight; //!< Star information in the field of view @@ -104,7 +104,7 @@ class Telescope : public Component, public logger::ILoggable { * @param [in] target_b: Direction vector of target on the body fixed frame * @param [in] forbidden_angle: Forbidden angle [rad] */ - bool JudgeForbiddenAngle(const s2e::math::Vector<3>& target_b, const double forbidden_angle); + bool JudgeForbiddenAngle(const math::Vector<3>& target_b, const double forbidden_angle); // Override functions for Component /** @@ -119,7 +119,7 @@ class Telescope : public Component, public logger::ILoggable { * @param [out] position_image_sensor: Position on image sensor plane * @param [in] target_b: Direction vector of target on the body fixed frame */ - void Observe(s2e::math::Vector<2>& position_image_sensor, const s2e::math::Vector<3, double> target_b); + void Observe(math::Vector<2>& position_image_sensor, const math::Vector<3, double> target_b); /** * @fn ObserveStars * @brief Observe stars from Hipparcos catalogue @@ -149,9 +149,9 @@ class Telescope : public Component, public logger::ILoggable { virtual std::string GetLogValue() const; // For debug ********************************************** - // s2e::math::Vector<3> sun_pos_c; - // s2e::math::Vector<3> earth_pos_c; - // s2e::math::Vector<3> moon_pos_c; + // math::Vector<3> sun_pos_c; + // math::Vector<3> earth_pos_c; + // math::Vector<3> moon_pos_c; // double angle_sun; // double angle_earth; // double angle_moon; diff --git a/src/components/real/power/battery.cpp b/src/components/real/power/battery.cpp index a6442ad3f..9637e5a23 100644 --- a/src/components/real/power/battery.cpp +++ b/src/components/real/power/battery.cpp @@ -58,15 +58,15 @@ Battery::~Battery() {} std::string Battery::GetLogHeader() const { std::string str_tmp = ""; std::string component_name = "battery_"; - str_tmp += WriteScalar(component_name + "voltage", "V"); - str_tmp += WriteScalar(component_name + "dod", "%"); + str_tmp += logger::WriteScalar(component_name + "voltage", "V"); + str_tmp += logger::WriteScalar(component_name + "dod", "%"); return str_tmp; } std::string Battery::GetLogValue() const { std::string str_tmp = ""; - str_tmp += WriteScalar(battery_voltage_V_); - str_tmp += WriteScalar(depth_of_discharge_percent_); + str_tmp += logger::WriteScalar(battery_voltage_V_); + str_tmp += logger::WriteScalar(depth_of_discharge_percent_); return str_tmp; } diff --git a/src/components/real/power/csv_scenario_interface.cpp b/src/components/real/power/csv_scenario_interface.cpp index 51f2c2f4b..999369a02 100644 --- a/src/components/real/power/csv_scenario_interface.cpp +++ b/src/components/real/power/csv_scenario_interface.cpp @@ -38,8 +38,8 @@ void CsvScenarioInterface::Initialize(const std::string file_name) { bool CsvScenarioInterface::IsCsvScenarioEnabled() { return CsvScenarioInterface::is_csv_scenario_enabled_; } -s2e::math::Vector<3> CsvScenarioInterface::GetSunDirectionBody(const double time_query) { - s2e::math::Vector<3> sun_dir_b; +math::Vector<3> CsvScenarioInterface::GetSunDirectionBody(const double time_query) { + math::Vector<3> sun_dir_b; sun_dir_b[0] = GetValueFromBuffer("sun_dir_b_x", time_query); sun_dir_b[1] = GetValueFromBuffer("sun_dir_b_y", time_query); sun_dir_b[2] = GetValueFromBuffer("sun_dir_b_z", time_query); diff --git a/src/components/real/power/csv_scenario_interface.hpp b/src/components/real/power/csv_scenario_interface.hpp index f105dd773..98dc2180d 100644 --- a/src/components/real/power/csv_scenario_interface.hpp +++ b/src/components/real/power/csv_scenario_interface.hpp @@ -38,7 +38,7 @@ class CsvScenarioInterface { * @brief Return sun direction vector in the body fixed frame * @param [in] time_query: Time query */ - static s2e::math::Vector<3> GetSunDirectionBody(const double time_query); + static math::Vector<3> GetSunDirectionBody(const double time_query); /** * @fn GetSunFlag * @brief Return sun flag diff --git a/src/components/real/power/pcu_initial_study.cpp b/src/components/real/power/pcu_initial_study.cpp index e89729490..5a20fb79e 100644 --- a/src/components/real/power/pcu_initial_study.cpp +++ b/src/components/real/power/pcu_initial_study.cpp @@ -40,15 +40,15 @@ PcuInitialStudy::~PcuInitialStudy() {} std::string PcuInitialStudy::GetLogHeader() const { std::string str_tmp = ""; std::string component_name = "pcu_initial_study_"; - str_tmp += WriteScalar(component_name + "power_consumption", "W"); - str_tmp += WriteScalar(component_name + "bus_voltage", "V"); + str_tmp += logger::WriteScalar(component_name + "power_consumption", "W"); + str_tmp += logger::WriteScalar(component_name + "bus_voltage", "V"); return str_tmp; } std::string PcuInitialStudy::GetLogValue() const { std::string str_tmp = ""; - str_tmp += WriteScalar(power_consumption_W_); - str_tmp += WriteScalar(bus_voltage_V_); + str_tmp += logger::WriteScalar(power_consumption_W_); + str_tmp += logger::WriteScalar(bus_voltage_V_); return str_tmp; } diff --git a/src/components/real/power/solar_array_panel.cpp b/src/components/real/power/solar_array_panel.cpp index df4bdad96..651e49eb2 100644 --- a/src/components/real/power/solar_array_panel.cpp +++ b/src/components/real/power/solar_array_panel.cpp @@ -12,7 +12,7 @@ namespace s2e::components { SolarArrayPanel::SolarArrayPanel(const int prescaler, environment::ClockGenerator* clock_generator, int component_id, int number_of_series, int number_of_parallel, - double cell_area_m2, s2e::math::Vector<3> normal_vector, double cell_efficiency, double transmission_efficiency, + double cell_area_m2, math::Vector<3> normal_vector, double cell_efficiency, double transmission_efficiency, const SolarRadiationPressureEnvironment* srp_environment, const LocalCelestialInformation* local_celestial_information, double component_step_time_s) : Component(prescaler, clock_generator), @@ -31,7 +31,7 @@ SolarArrayPanel::SolarArrayPanel(const int prescaler, environment::ClockGenerato } SolarArrayPanel::SolarArrayPanel(const int prescaler, environment::ClockGenerator* clock_generator, int component_id, int number_of_series, int number_of_parallel, - double cell_area_m2, s2e::math::Vector<3> normal_vector, double cell_efficiency, double transmission_efficiency, + double cell_area_m2, math::Vector<3> normal_vector, double cell_efficiency, double transmission_efficiency, const SolarRadiationPressureEnvironment* srp_environment, double component_step_time_s) : Component(prescaler, clock_generator), component_id_(component_id), @@ -48,7 +48,7 @@ SolarArrayPanel::SolarArrayPanel(const int prescaler, environment::ClockGenerato } SolarArrayPanel::SolarArrayPanel(environment::ClockGenerator* clock_generator, int component_id, int number_of_series, int number_of_parallel, double cell_area_m2, - s2e::math::Vector<3> normal_vector, double cell_efficiency, double transmission_efficiency, + math::Vector<3> normal_vector, double cell_efficiency, double transmission_efficiency, const SolarRadiationPressureEnvironment* srp_environment, const LocalCelestialInformation* local_celestial_information) : Component(10, clock_generator), @@ -87,13 +87,13 @@ SolarArrayPanel::~SolarArrayPanel() {} std::string SolarArrayPanel::GetLogHeader() const { std::string str_tmp = ""; std::string component_name = "sap" + std::to_string(component_id_) + "_"; - str_tmp += WriteScalar(component_name + "generated_power", "W"); + str_tmp += logger::WriteScalar(component_name + "generated_power", "W"); return str_tmp; } std::string SolarArrayPanel::GetLogValue() const { std::string str_tmp = ""; - str_tmp += WriteScalar(power_generation_W_); + str_tmp += logger::WriteScalar(power_generation_W_); return str_tmp; } @@ -101,14 +101,14 @@ void SolarArrayPanel::MainRoutine(const int time_count) { if (CsvScenarioInterface::IsCsvScenarioEnabled()) { double time_query = compo_step_time_s_ * time_count; const auto solar_constant = srp_environment_->GetSolarConstant_W_m2(); - s2e::math::Vector<3> sun_direction_body = CsvScenarioInterface::GetSunDirectionBody(time_query); - s2e::math::Vector<3> normalized_sun_direction_body = sun_direction_body.CalcNormalizedVector(); + math::Vector<3> sun_direction_body = CsvScenarioInterface::GetSunDirectionBody(time_query); + math::Vector<3> normalized_sun_direction_body = sun_direction_body.CalcNormalizedVector(); power_generation_W_ = cell_efficiency_ * transmission_efficiency_ * solar_constant * (int)CsvScenarioInterface::GetSunFlag(time_query) * cell_area_m2_ * number_of_parallel_ * number_of_series_ * InnerProduct(normal_vector_, normalized_sun_direction_body); } else { const auto power_density = srp_environment_->GetPowerDensity_W_m2(); - s2e::math::Vector<3> sun_pos_b = local_celestial_information_->GetPositionFromSpacecraft_b_m("SUN"); - s2e::math::Vector<3> sun_dir_b = sun_pos_b.CalcNormalizedVector(); + math::Vector<3> sun_pos_b = local_celestial_information_->GetPositionFromSpacecraft_b_m("SUN"); + math::Vector<3> sun_dir_b = sun_pos_b.CalcNormalizedVector(); power_generation_W_ = cell_efficiency_ * transmission_efficiency_ * power_density * cell_area_m2_ * number_of_parallel_ * number_of_series_ * InnerProduct(normal_vector_, sun_dir_b); // TODO: Improve implementation. For example, update IV curve with sun direction and calculate generated power @@ -135,7 +135,7 @@ SolarArrayPanel InitSAP(environment::ClockGenerator* clock_generator, int sap_id double cell_area_m2; cell_area_m2 = sap_conf.ReadDouble(section_name.c_str(), "cell_area_m2"); - s2e::math::Vector<3> normal_vector; + math::Vector<3> normal_vector; sap_conf.ReadVector(section_name.c_str(), "normal_vector_b", normal_vector); double cell_efficiency; @@ -168,7 +168,7 @@ SolarArrayPanel InitSAP(environment::ClockGenerator* clock_generator, int sap_id double cell_area_m2; cell_area_m2 = sap_conf.ReadDouble(section_name.c_str(), "cell_area_m2"); - s2e::math::Vector<3> normal_vector; + math::Vector<3> normal_vector; sap_conf.ReadVector(section_name.c_str(), "normal_vector_b", normal_vector); double cell_efficiency; diff --git a/src/components/real/power/solar_array_panel.hpp b/src/components/real/power/solar_array_panel.hpp index f057f5066..e77eecd3a 100644 --- a/src/components/real/power/solar_array_panel.hpp +++ b/src/components/real/power/solar_array_panel.hpp @@ -34,7 +34,7 @@ class SolarArrayPanel : public Component, public logger::ILoggable { * @param [in] component_step_time_s: Component step time [sec] */ SolarArrayPanel(const int prescaler, environment::ClockGenerator* clock_generator, int component_id, int number_of_series, int number_of_parallel, - double cell_area_m2, s2e::math::Vector<3> normal_vector, double cell_efficiency, double transmission_efficiency, + double cell_area_m2, math::Vector<3> normal_vector, double cell_efficiency, double transmission_efficiency, const SolarRadiationPressureEnvironment* srp_environment, const LocalCelestialInformation* local_celestial_information, double component_step_time_s); /** @@ -53,7 +53,7 @@ class SolarArrayPanel : public Component, public logger::ILoggable { * @param [in] component_step_time_s: Component step time [sec] */ SolarArrayPanel(const int prescaler, environment::ClockGenerator* clock_generator, int component_id, int number_of_series, int number_of_parallel, - double cell_area_m2, s2e::math::Vector<3> normal_vector, double cell_efficiency, double transmission_efficiency, + double cell_area_m2, math::Vector<3> normal_vector, double cell_efficiency, double transmission_efficiency, const SolarRadiationPressureEnvironment* srp_environment, double component_step_time_s); /** * @fn SolarArrayPanel @@ -71,7 +71,7 @@ class SolarArrayPanel : public Component, public logger::ILoggable { * @param [in] local_celestial_information: Local celestial information */ SolarArrayPanel(environment::ClockGenerator* clock_generator, int component_id, int number_of_series, int number_of_parallel, double cell_area_m2, - s2e::math::Vector<3> normal_vector, double cell_efficiency, double transmission_efficiency, + math::Vector<3> normal_vector, double cell_efficiency, double transmission_efficiency, const SolarRadiationPressureEnvironment* srp_environment, const LocalCelestialInformation* local_celestial_information); /** * @fn SolarArrayPanel @@ -113,7 +113,7 @@ class SolarArrayPanel : public Component, public logger::ILoggable { const int number_of_series_; //!< Number of series connected solar cells const int number_of_parallel_; //!< Number of parallel connected solar cells const double cell_area_m2_; //!< Solar cell area [m^2] - const s2e::math::Vector<3> normal_vector_; //!< Normal vector of SolarArrayPanel on the body fixed frame + const math::Vector<3> normal_vector_; //!< Normal vector of SolarArrayPanel on the body fixed frame const double cell_efficiency_; //!< Power generation efficiency of solar cell const double transmission_efficiency_; //!< Efficiency of transmission to PCU diff --git a/src/components/real/propulsion/simple_thruster.cpp b/src/components/real/propulsion/simple_thruster.cpp index 9b5b7c4b7..61b1ec766 100644 --- a/src/components/real/propulsion/simple_thruster.cpp +++ b/src/components/real/propulsion/simple_thruster.cpp @@ -13,7 +13,7 @@ namespace s2e::components { // Constructor SimpleThruster::SimpleThruster(const int prescaler, environment::ClockGenerator* clock_generator, const int component_id, - const s2e::math::Vector<3> thruster_position_b_m, const s2e::math::Vector<3> thrust_direction_b, const double max_magnitude_N, + const math::Vector<3> thruster_position_b_m, const math::Vector<3> thrust_direction_b, const double max_magnitude_N, const double magnitude_standard_deviation_N, const double direction_standard_deviation_rad, const Structure* structure, const dynamics::Dynamics* dynamics) : Component(prescaler, clock_generator), @@ -28,7 +28,7 @@ SimpleThruster::SimpleThruster(const int prescaler, environment::ClockGenerator* } SimpleThruster::SimpleThruster(const int prescaler, environment::ClockGenerator* clock_generator, PowerPort* power_port, const int component_id, - const s2e::math::Vector<3> thruster_position_b_m, const s2e::math::Vector<3> thrust_direction_b, const double max_magnitude_N, + const math::Vector<3> thruster_position_b_m, const math::Vector<3> thrust_direction_b, const double max_magnitude_N, const double magnitude_standard_deviation_N, const double direction_standard_deviation_rad, const Structure* structure, const dynamics::Dynamics* dynamics) : Component(prescaler, clock_generator, power_port), @@ -68,9 +68,9 @@ void SimpleThruster::CalcThrust() { output_thrust_b_N_ = mag * CalcThrustDirection(); } -void SimpleThruster::CalcTorque(const s2e::math::Vector<3> center_of_mass_b_m) { - s2e::math::Vector<3> vector_center2thruster = thruster_position_b_m_ - center_of_mass_b_m; - s2e::math::Vector<3> torque = OuterProduct(vector_center2thruster, output_thrust_b_N_); +void SimpleThruster::CalcTorque(const math::Vector<3> center_of_mass_b_m) { + math::Vector<3> vector_center2thruster = thruster_position_b_m_ - center_of_mass_b_m; + math::Vector<3> torque = OuterProduct(vector_center2thruster, output_thrust_b_N_); output_torque_b_Nm_ = torque; } @@ -81,7 +81,7 @@ std::string SimpleThruster::GetLogHeader() const { std::string head = "simple_thruster" + std::to_string(component_id_) + "_"; str_tmp += logger::WriteVector(head + "output_thrust", "b", "N", 3); str_tmp += logger::WriteVector(head + "output_torque", "b", "Nm", 3); - str_tmp += WriteScalar(head + "output_thrust_norm", "N"); + str_tmp += logger::WriteScalar(head + "output_thrust_norm", "N"); return str_tmp; } @@ -90,32 +90,32 @@ std::string SimpleThruster::GetLogValue() const { str_tmp += logger::WriteVector(output_thrust_b_N_); str_tmp += logger::WriteVector(output_torque_b_Nm_); - str_tmp += WriteScalar(output_thrust_b_N_.CalcNorm()); + str_tmp += logger::WriteScalar(output_thrust_b_N_.CalcNorm()); return str_tmp; } double SimpleThruster::CalcThrustMagnitude() { return duty_ * thrust_magnitude_max_N_; } -s2e::math::Vector<3> SimpleThruster::CalcThrustDirection() { - s2e::math::Vector<3> thrust_dir_b_true = thrust_direction_b_; +math::Vector<3> SimpleThruster::CalcThrustDirection() { + math::Vector<3> thrust_dir_b_true = thrust_direction_b_; if (direction_noise_standard_deviation_rad_ > 0.0 + DBL_EPSILON) { - s2e::math::Vector<3> ex; // Fixme: to use outer product to generate orthogonal vector + math::Vector<3> ex; // Fixme: to use outer product to generate orthogonal vector ex[0] = 1.0; ex[1] = 0.0; ex[2] = 0.0; int flag = rand() % 2; double make_axis_rot_rad; if (flag == 0) { - make_axis_rot_rad = s2e::math::pi * (double)rand() / RAND_MAX; + make_axis_rot_rad = math::pi * (double)rand() / RAND_MAX; } else { - make_axis_rot_rad = -s2e::math::pi * (double)rand() / RAND_MAX; + make_axis_rot_rad = -math::pi * (double)rand() / RAND_MAX; } - s2e::math::Quaternion make_axis_rot(thrust_dir_b_true, make_axis_rot_rad); - s2e::math::Vector<3> axis_rot = make_axis_rot.FrameConversion(ex); + math::Quaternion make_axis_rot(thrust_dir_b_true, make_axis_rot_rad); + math::Vector<3> axis_rot = make_axis_rot.FrameConversion(ex); - s2e::math::Quaternion err_rot(axis_rot, direction_random_noise_); // Generate error quaternion + math::Quaternion err_rot(axis_rot, direction_random_noise_); // Generate error quaternion thrust_dir_b_true = err_rot.FrameConversion(thrust_dir_b_true); // Add error } @@ -143,7 +143,7 @@ SimpleThruster InitSimpleThruster(environment::ClockGenerator* clock_generator, magnitude_standard_deviation_N = thruster_conf.ReadDouble(Section, "thrust_error_standard_deviation_N"); double deg_err; - deg_err = thruster_conf.ReadDouble(Section, "direction_error_standard_deviation_deg") * s2e::math::pi / 180.0; + deg_err = thruster_conf.ReadDouble(Section, "direction_error_standard_deviation_deg") * math::pi / 180.0; SimpleThruster thruster(prescaler, clock_generator, thruster_id, thruster_pos, thruster_dir, max_magnitude_N, magnitude_standard_deviation_N, deg_err, structure, dynamics); @@ -171,7 +171,7 @@ SimpleThruster InitSimpleThruster(environment::ClockGenerator* clock_generator, magnitude_standard_deviation_N = thruster_conf.ReadDouble(Section, "thrust_error_standard_deviation_N"); double deg_err; - deg_err = thruster_conf.ReadDouble(Section, "direction_error_standard_deviation_deg") * s2e::math::pi / 180.0; + deg_err = thruster_conf.ReadDouble(Section, "direction_error_standard_deviation_deg") * math::pi / 180.0; power_port->InitializeWithInitializeFile(file_name); diff --git a/src/disturbances/air_drag.cpp b/src/disturbances/air_drag.cpp index 163a80cbd..c4f306523 100644 --- a/src/disturbances/air_drag.cpp +++ b/src/disturbances/air_drag.cpp @@ -14,7 +14,7 @@ namespace s2e::disturbances { -AirDrag::AirDrag(const std::vector& surfaces, const s2e::math::Vector<3>& center_of_gravity_b_m, const double wall_temperature_K, +AirDrag::AirDrag(const std::vector& surfaces, const math::Vector<3>& center_of_gravity_b_m, const double wall_temperature_K, const double molecular_temperature_K, const double molecular_weight_g_mol, const bool is_calculation_enabled) : SurfaceForce(surfaces, center_of_gravity_b_m, is_calculation_enabled), wall_temperature_K_(wall_temperature_K), @@ -28,15 +28,15 @@ AirDrag::AirDrag(const std::vector& surfaces, const s2e::math::Vector<3 void AirDrag::Update(const LocalEnvironment& local_environment, const dynamics::Dynamics& dynamics) { double air_density_kg_m3 = local_environment.GetAtmosphere().GetAirDensity_kg_m3(); - s2e::math::Matrix<3, 3> dcm_ecef2eci = + math::Matrix<3, 3> dcm_ecef2eci = local_environment.GetCelestialInformation().GetGlobalInformation().GetEarthRotation().GetDcmJ2000ToEcef().Transpose(); - s2e::math::Vector<3> relative_velocity_wrt_atmosphere_i_m_s = dcm_ecef2eci * dynamics.GetOrbit().GetVelocity_ecef_m_s(); - s2e::math::Quaternion quaternion_i2b = dynamics.GetAttitude().GetQuaternion_i2b(); - s2e::math::Vector<3> velocity_b_m_s = quaternion_i2b.FrameConversion(relative_velocity_wrt_atmosphere_i_m_s); + math::Vector<3> relative_velocity_wrt_atmosphere_i_m_s = dcm_ecef2eci * dynamics.GetOrbit().GetVelocity_ecef_m_s(); + math::Quaternion quaternion_i2b = dynamics.GetAttitude().GetQuaternion_i2b(); + math::Vector<3> velocity_b_m_s = quaternion_i2b.FrameConversion(relative_velocity_wrt_atmosphere_i_m_s); CalcTorqueForce(velocity_b_m_s, air_density_kg_m3); } -void AirDrag::CalcCoefficients(const s2e::math::Vector<3>& velocity_b_m_s, const double air_density_kg_m3) { +void AirDrag::CalcCoefficients(const math::Vector<3>& velocity_b_m_s, const double air_density_kg_m3) { double velocity_norm_m_s = velocity_b_m_s.CalcNorm(); CalcCnCt(velocity_b_m_s); for (size_t i = 0; i < surfaces_.size(); i++) { @@ -49,14 +49,14 @@ void AirDrag::CalcCoefficients(const s2e::math::Vector<3>& velocity_b_m_s, const double AirDrag::CalcFunctionPi(const double s) { double x; double erfs = erf(s); // ERF function is defined in math standard library - x = s * exp(-s * s) + sqrt(s2e::math::pi) * (s * s + 0.5) * (1.0 + erfs); + x = s * exp(-s * s) + sqrt(math::pi) * (s * s + 0.5) * (1.0 + erfs); return x; } double AirDrag::CalcFunctionChi(const double s) { double x; double erfs = erf(s); - x = exp(-s * s) + sqrt(s2e::math::pi) * s * (1.0 + erfs); + x = exp(-s * s) + sqrt(math::pi) * s * (1.0 + erfs); return x; } @@ -71,9 +71,9 @@ void AirDrag::CalcCnCt(const Vector<3>& velocity_b_m_s) { double speed_n = speed * cos_theta_[i]; double speed_t = speed * sin_theta_[i]; double diffuse = 1.0 - surfaces_[i].GetAirSpecularity(); - cn_[i] = (2.0 - diffuse) / sqrt(s2e::math::pi) * CalcFunctionPi(speed_n) / (speed * speed) + + cn_[i] = (2.0 - diffuse) / sqrt(math::pi) * CalcFunctionPi(speed_n) / (speed * speed) + diffuse / 2.0 * CalcFunctionChi(speed_n) / (speed * speed) * sqrt(wall_temperature_K_ / molecular_temperature_K_); - ct_[i] = diffuse * speed_t * CalcFunctionChi(speed_n) / (sqrt(s2e::math::pi) * speed * speed); + ct_[i] = diffuse * speed_t * CalcFunctionChi(speed_n) / (sqrt(math::pi) * speed * speed); } } diff --git a/src/disturbances/air_drag.hpp b/src/disturbances/air_drag.hpp index 7f87e9bb7..6c031cf0b 100644 --- a/src/disturbances/air_drag.hpp +++ b/src/disturbances/air_drag.hpp @@ -32,7 +32,7 @@ class AirDrag : public SurfaceForce { * @param [in] molecular_weight_g_mol: Molecular weight [g/mol] * @param [in] is_calculation_enabled: Calculation flag */ - AirDrag(const std::vector& surfaces, const s2e::math::Vector<3>& center_of_gravity_b_m, const double wall_temperature_K, + AirDrag(const std::vector& surfaces, const math::Vector<3>& center_of_gravity_b_m, const double wall_temperature_K, const double molecular_temperature_K, const double molecular_weight_g_mol, const bool is_calculation_enabled = true); /** @@ -68,7 +68,7 @@ class AirDrag : public SurfaceForce { * @param [in] velocity_b_m_s: Spacecraft's velocity vector in the body frame [m/s] * @param [in] air_density_kg_m3: Air density around the spacecraft [kg/m^3] */ - void CalcCoefficients(const s2e::math::Vector<3>& velocity_b_m_s, const double air_density_kg_m3); + void CalcCoefficients(const math::Vector<3>& velocity_b_m_s, const double air_density_kg_m3); // internal function for calculation /** @@ -76,7 +76,7 @@ class AirDrag : public SurfaceForce { * @brief Calculate the Cn and Ct * @param [in] velocity_b_m_s: Spacecraft's velocity vector in the body frame [m/s] */ - void CalcCnCt(const s2e::math::Vector<3>& velocity_b_m_s); + void CalcCnCt(const math::Vector<3>& velocity_b_m_s); /** * @fn CalcFunctionPi * @brief Calculate The Pi function in the algorithm diff --git a/src/disturbances/disturbance.hpp b/src/disturbances/disturbance.hpp index de7d476b8..6321f06d2 100644 --- a/src/disturbances/disturbance.hpp +++ b/src/disturbances/disturbance.hpp @@ -25,10 +25,10 @@ class Disturbance : public logger::ILoggable { */ Disturbance(const bool is_calculation_enabled = true, const bool is_attitude_dependent = true) : is_calculation_enabled_(is_calculation_enabled), is_attitude_dependent_(is_attitude_dependent) { - force_b_N_ = s2e::math::Vector<3>(0.0); - torque_b_Nm_ = s2e::math::Vector<3>(0.0); - acceleration_i_m_s2_ = s2e::math::Vector<3>(0.0); - acceleration_b_m_s2_ = s2e::math::Vector<3>(0.0); + force_b_N_ = math::Vector<3>(0.0); + torque_b_Nm_ = math::Vector<3>(0.0); + acceleration_i_m_s2_ = math::Vector<3>(0.0); + acceleration_b_m_s2_ = math::Vector<3>(0.0); } /** @@ -62,22 +62,22 @@ class Disturbance : public logger::ILoggable { * @fn GetTorque_b_Nm * @brief Return the disturbance torque in the body frame [Nm] */ - virtual inline s2e::math::Vector<3> GetTorque_b_Nm() { return torque_b_Nm_; } + virtual inline math::Vector<3> GetTorque_b_Nm() { return torque_b_Nm_; } /** * @fn GetForce_b_N * @brief Return the disturbance force in the body frame [N] */ - virtual inline s2e::math::Vector<3> GetForce_b_N() { return force_b_N_; } + virtual inline math::Vector<3> GetForce_b_N() { return force_b_N_; } /** * @fn GetAcceleration_b_m_s2 * @brief Return the disturbance acceleration in the body frame [m/s2] */ - virtual inline s2e::math::Vector<3> GetAcceleration_b_m_s2() { return acceleration_b_m_s2_; } + virtual inline math::Vector<3> GetAcceleration_b_m_s2() { return acceleration_b_m_s2_; } /** * @fn GetAcceleration_i_m_s2 * @brief Return the disturbance acceleration in the inertial frame [m/s2] */ - virtual inline s2e::math::Vector<3> GetAcceleration_i_m_s2() { return acceleration_i_m_s2_; } + virtual inline math::Vector<3> GetAcceleration_i_m_s2() { return acceleration_i_m_s2_; } /** * @fn IsAttitudeDependent * @brief Return the attitude dependent flag @@ -87,10 +87,10 @@ class Disturbance : public logger::ILoggable { protected: bool is_calculation_enabled_; //!< Flag to calculate the disturbance bool is_attitude_dependent_; //!< Flag to show the disturbance depends on attitude information - s2e::math::Vector<3> force_b_N_; //!< Disturbance force in the body frame [N] - s2e::math::Vector<3> torque_b_Nm_; //!< Disturbance torque in the body frame [Nm] - s2e::math::Vector<3> acceleration_b_m_s2_; //!< Disturbance acceleration in the body frame [m/s2] - s2e::math::Vector<3> acceleration_i_m_s2_; //!< Disturbance acceleration in the inertial frame [m/s2] + math::Vector<3> force_b_N_; //!< Disturbance force in the body frame [N] + math::Vector<3> torque_b_Nm_; //!< Disturbance torque in the body frame [Nm] + math::Vector<3> acceleration_b_m_s2_; //!< Disturbance acceleration in the body frame [m/s2] + math::Vector<3> acceleration_i_m_s2_; //!< Disturbance acceleration in the inertial frame [m/s2] }; } // namespace s2e::disturbances diff --git a/src/disturbances/disturbances.hpp b/src/disturbances/disturbances.hpp index 590dbc703..a3f57b39a 100644 --- a/src/disturbances/disturbances.hpp +++ b/src/disturbances/disturbances.hpp @@ -57,19 +57,19 @@ class Disturbances { * @fn GetTorque * @brief Return total disturbance torque in the body frame [Nm] */ - inline s2e::math::Vector<3> GetTorque_b_Nm() { return total_torque_b_Nm_; } + inline math::Vector<3> GetTorque_b_Nm() { return total_torque_b_Nm_; } /** * @fn GetTorque * @brief Return total disturbance force in the body frame [N] */ - inline s2e::math::Vector<3> GetForce_b_N() { return total_force_b_N_; } + inline math::Vector<3> GetForce_b_N() { return total_force_b_N_; } /** * @fn GetTorque * @brief Return total disturbance acceleration in the inertial frame [m/s2] */ - inline s2e::math::Vector<3> GetAcceleration_i_m_s2() { return total_acceleration_i_m_s2_; } + inline math::Vector<3> GetAcceleration_i_m_s2() { return total_acceleration_i_m_s2_; } private: std::string initialize_file_name_; //!< Initialization file name diff --git a/src/disturbances/geopotential.cpp b/src/disturbances/geopotential.cpp index 40cbb3515..dffba8b93 100644 --- a/src/disturbances/geopotential.cpp +++ b/src/disturbances/geopotential.cpp @@ -22,8 +22,8 @@ namespace s2e::disturbances { Geopotential::Geopotential(const int degree, const std::string file_path, const bool is_calculation_enabled) : Disturbance(is_calculation_enabled, false), degree_(degree) { // Initialize - acceleration_ecef_m_s2_ = s2e::math::Vector<3>(0.0); - debug_pos_ecef_m_ = s2e::math::Vector<3>(0.0); + acceleration_ecef_m_s2_ = math::Vector<3>(0.0); + debug_pos_ecef_m_ = math::Vector<3>(0.0); // degree if (degree_ > 360) { degree_ = 360; @@ -85,8 +85,8 @@ void Geopotential::Update(const LocalEnvironment &local_environment, const dynam UNUSED(time_ms_); #endif - s2e::math::Matrix<3, 3> trans_eci2ecef_ = local_environment.GetCelestialInformation().GetGlobalInformation().GetEarthRotation().GetDcmJ2000ToEcef(); - s2e::math::Matrix<3, 3> trans_ecef2eci = trans_eci2ecef_.Transpose(); + math::Matrix<3, 3> trans_eci2ecef_ = local_environment.GetCelestialInformation().GetGlobalInformation().GetEarthRotation().GetDcmJ2000ToEcef(); + math::Matrix<3, 3> trans_ecef2eci = trans_eci2ecef_.Transpose(); acceleration_i_m_s2_ = trans_ecef2eci * acceleration_ecef_m_s2_; } @@ -95,7 +95,7 @@ std::string Geopotential::GetLogHeader() const { #ifdef DEBUG_GEOPOTENTIAL str_tmp += logger::WriteVector("geopotential_calculation_position_", "ecef", "m", 3); - str_tmp += WriteScalar("geopotential_calculation_time", "ms"); + str_tmp += logger::WriteScalar("geopotential_calculation_time", "ms"); #endif str_tmp += logger::WriteVector("geopotential_acceleration", "ecef", "m/s2", 3); @@ -107,7 +107,7 @@ std::string Geopotential::GetLogValue() const { #ifdef DEBUG_GEOPOTENTIAL str_tmp += logger::WriteVector(debug_pos_ecef_m_, 15); - str_tmp += WriteScalar(time_ms_); + str_tmp += logger::WriteScalar(time_ms_); #endif str_tmp += logger::WriteVector(acceleration_ecef_m_s2_, 15); diff --git a/src/disturbances/geopotential.hpp b/src/disturbances/geopotential.hpp index 3bfcb83fa..c82f792b1 100644 --- a/src/disturbances/geopotential.hpp +++ b/src/disturbances/geopotential.hpp @@ -70,7 +70,7 @@ class Geopotential : public Disturbance { Vector<3> acceleration_ecef_m_s2_; //!< Calculated acceleration in the ECEF frame [m/s2] // debug - s2e::math::Vector<3> debug_pos_ecef_m_; //!< Spacecraft position in ECEF frame [m] + math::Vector<3> debug_pos_ecef_m_; //!< Spacecraft position in ECEF frame [m] double time_ms_ = 0.0; //!< Calculation time [ms] /** diff --git a/src/disturbances/gravity_gradient.cpp b/src/disturbances/gravity_gradient.cpp index 366c77778..5129ec5be 100644 --- a/src/disturbances/gravity_gradient.cpp +++ b/src/disturbances/gravity_gradient.cpp @@ -25,9 +25,9 @@ void GravityGradient::Update(const LocalEnvironment& local_environment, const dy dynamics.GetAttitude().GetInertiaTensor_b_kgm2()); } -s2e::math::Vector<3> GravityGradient::CalcTorque_b_Nm(const s2e::math::Vector<3> earth_position_from_sc_b_m, const s2e::math::Matrix<3, 3> inertia_tensor_b_kgm2) { +math::Vector<3> GravityGradient::CalcTorque_b_Nm(const math::Vector<3> earth_position_from_sc_b_m, const math::Matrix<3, 3> inertia_tensor_b_kgm2) { double r_norm_m = earth_position_from_sc_b_m.CalcNorm(); - s2e::math::Vector<3> u_b = earth_position_from_sc_b_m; // TODO: make undestructive normalize function for Vector + math::Vector<3> u_b = earth_position_from_sc_b_m; // TODO: make undestructive normalize function for Vector u_b /= r_norm_m; double coeff = 3.0 * gravity_constant_m3_s2_ / pow(r_norm_m, 3.0); diff --git a/src/disturbances/gravity_gradient.hpp b/src/disturbances/gravity_gradient.hpp index e4a578aff..b58b8df33 100644 --- a/src/disturbances/gravity_gradient.hpp +++ b/src/disturbances/gravity_gradient.hpp @@ -67,7 +67,7 @@ class GravityGradient : public Disturbance { * @param [in] inertia_tensor_b_kgm2: Inertia Tensor at body frame [kg*m^2] * @return Calculated torque at body frame [Nm] */ - s2e::math::Vector<3> CalcTorque_b_Nm(const s2e::math::Vector<3> earth_position_from_sc_b_m, const s2e::math::Matrix<3, 3> inertia_tensor_b_kgm2); + math::Vector<3> CalcTorque_b_Nm(const math::Vector<3> earth_position_from_sc_b_m, const math::Matrix<3, 3> inertia_tensor_b_kgm2); }; /** diff --git a/src/disturbances/lunar_gravity_field.cpp b/src/disturbances/lunar_gravity_field.cpp index d28ccfe76..3511537e6 100644 --- a/src/disturbances/lunar_gravity_field.cpp +++ b/src/disturbances/lunar_gravity_field.cpp @@ -22,8 +22,8 @@ namespace s2e::disturbances { LunarGravityField::LunarGravityField(const int degree, const std::string file_path, const bool is_calculation_enabled) : Disturbance(is_calculation_enabled, false), degree_(degree) { // Initialize - acceleration_mcmf_m_s2_ = s2e::math::Vector<3>(0.0); - debug_pos_mcmf_m_ = s2e::math::Vector<3>(0.0); + acceleration_mcmf_m_s2_ = math::Vector<3>(0.0); + debug_pos_mcmf_m_ = math::Vector<3>(0.0); debug_pos_mcmf_m_[0] = 2000000; debug_pos_mcmf_m_[1] = 2000000; debug_pos_mcmf_m_[2] = 2000000; @@ -90,10 +90,10 @@ bool LunarGravityField::ReadCoefficientsGrgm1200a(std::string file_name) { void LunarGravityField::Update(const LocalEnvironment &local_environment, const dynamics::Dynamics &dynamics) { const CelestialInformation global_celestial_information = local_environment.GetCelestialInformation().GetGlobalInformation(); - s2e::math::Matrix<3, 3> dcm_mci2mcmf_ = global_celestial_information.GetMoonRotation().GetDcmJ2000ToMcmf(); + math::Matrix<3, 3> dcm_mci2mcmf_ = global_celestial_information.GetMoonRotation().GetDcmJ2000ToMcmf(); - s2e::math::Vector<3> spacecraft_position_mci_m = dynamics.GetOrbit().GetPosition_i_m(); - s2e::math::Vector<3> spacecraft_position_mcmf_m = dcm_mci2mcmf_ * spacecraft_position_mci_m; + math::Vector<3> spacecraft_position_mci_m = dynamics.GetOrbit().GetPosition_i_m(); + math::Vector<3> spacecraft_position_mcmf_m = dcm_mci2mcmf_ * spacecraft_position_mci_m; #ifdef DEBUG_LUNAR_GRAVITY_FIELD std::chrono::system_clock::time_point start, end; @@ -109,7 +109,7 @@ void LunarGravityField::Update(const LocalEnvironment &local_environment, const UNUSED(time_ms_); #endif - s2e::math::Matrix<3, 3> dcm_mcmf2i = dcm_mci2mcmf_.Transpose(); + math::Matrix<3, 3> dcm_mcmf2i = dcm_mci2mcmf_.Transpose(); acceleration_i_m_s2_ = dcm_mcmf2i * acceleration_mcmf_m_s2_; } @@ -118,7 +118,7 @@ std::string LunarGravityField::GetLogHeader() const { #ifdef DEBUG_LUNAR_GRAVITY_FIELD str_tmp += logger::WriteVector("lunar_gravity_calculation_position", "mcmf", "m", 3); - str_tmp += WriteScalar("lunar_gravity_calculation_time", "ms"); + str_tmp += logger::WriteScalar("lunar_gravity_calculation_time", "ms"); #endif str_tmp += logger::WriteVector("lunar_gravity_acceleration", "mcmf", "m/s2", 3); @@ -130,7 +130,7 @@ std::string LunarGravityField::GetLogValue() const { #ifdef DEBUG_LUNAR_GRAVITY_FIELD str_tmp += logger::WriteVector(debug_pos_mcmf_m_, 15); - str_tmp += WriteScalar(time_ms_); + str_tmp += logger::WriteScalar(time_ms_); #endif str_tmp += logger::WriteVector(acceleration_mcmf_m_s2_, 15); diff --git a/src/disturbances/lunar_gravity_field.hpp b/src/disturbances/lunar_gravity_field.hpp index 552e0425b..40b5d0e7d 100644 --- a/src/disturbances/lunar_gravity_field.hpp +++ b/src/disturbances/lunar_gravity_field.hpp @@ -74,7 +74,7 @@ class LunarGravityField : public Disturbance { Vector<3> acceleration_mcmf_m_s2_; //!< Calculated acceleration in the MCMF(Moon Centered Moon Fixed) frame [m/s2] // debug - s2e::math::Vector<3> debug_pos_mcmf_m_; //!< Spacecraft position in MCMF frame [m] + math::Vector<3> debug_pos_mcmf_m_; //!< Spacecraft position in MCMF frame [m] double time_ms_ = 0.0; //!< Calculation time [ms] /** diff --git a/src/disturbances/magnetic_disturbance.cpp b/src/disturbances/magnetic_disturbance.cpp index 98c352c32..11fc64530 100644 --- a/src/disturbances/magnetic_disturbance.cpp +++ b/src/disturbances/magnetic_disturbance.cpp @@ -33,8 +33,8 @@ void MagneticDisturbance::Update(const LocalEnvironment& local_environment, cons } void MagneticDisturbance::CalcRMM() { - static s2e::math::Vector<3> random_walk_std_dev(residual_magnetic_moment_.GetRandomWalkStandardDeviation_Am2()); - static s2e::math::Vector<3> random_walk_limit(residual_magnetic_moment_.GetRandomWalkLimit_Am2()); + static math::Vector<3> random_walk_std_dev(residual_magnetic_moment_.GetRandomWalkStandardDeviation_Am2()); + static math::Vector<3> random_walk_limit(residual_magnetic_moment_.GetRandomWalkLimit_Am2()); static RandomWalk<3> random_walk(0.1, random_walk_std_dev, random_walk_limit); // [FIXME] step width is constant static s2e::randomization::NormalRand normal_random(0.0, residual_magnetic_moment_.GetRandomNoiseStandardDeviation_Am2(), s2e::randomization::global_randomization.MakeSeed()); diff --git a/src/disturbances/magnetic_disturbance.hpp b/src/disturbances/magnetic_disturbance.hpp index 79f795ecf..7b5187598 100644 --- a/src/disturbances/magnetic_disturbance.hpp +++ b/src/disturbances/magnetic_disturbance.hpp @@ -52,7 +52,7 @@ class MagneticDisturbance : public Disturbance { private: const double kMagUnit_ = 1.0e-9; //!< Constant value to change the unit [nT] -> [T] - s2e::math::Vector<3> rmm_b_Am2_; //!< True RMM of the spacecraft in the body frame [Am2] + math::Vector<3> rmm_b_Am2_; //!< True RMM of the spacecraft in the body frame [Am2] const ResidualMagneticMoment& residual_magnetic_moment_; //!< RMM parameters /** @@ -66,7 +66,7 @@ class MagneticDisturbance : public Disturbance { * @param [in] magnetic_field_b_nT: Magnetic field vector at the body frame [nT] * @return Calculated disturbance torque in body frame [Nm] */ - s2e::math::Vector<3> CalcTorque_b_Nm(const s2e::math::Vector<3>& magnetic_field_b_nT); + math::Vector<3> CalcTorque_b_Nm(const math::Vector<3>& magnetic_field_b_nT); }; /** diff --git a/src/disturbances/solar_radiation_pressure_disturbance.cpp b/src/disturbances/solar_radiation_pressure_disturbance.cpp index 18d66fd44..638a19833 100644 --- a/src/disturbances/solar_radiation_pressure_disturbance.cpp +++ b/src/disturbances/solar_radiation_pressure_disturbance.cpp @@ -13,17 +13,17 @@ namespace s2e::disturbances { SolarRadiationPressureDisturbance::SolarRadiationPressureDisturbance(const std::vector& surfaces, - const s2e::math::Vector<3>& center_of_gravity_b_m, const bool is_calculation_enabled) + const math::Vector<3>& center_of_gravity_b_m, const bool is_calculation_enabled) : SurfaceForce(surfaces, center_of_gravity_b_m, is_calculation_enabled) {} void SolarRadiationPressureDisturbance::Update(const LocalEnvironment& local_environment, const dynamics::Dynamics& dynamics) { UNUSED(dynamics); - s2e::math::Vector<3> sun_position_from_sc_b_m = local_environment.GetCelestialInformation().GetPositionFromSpacecraft_b_m("SUN"); + math::Vector<3> sun_position_from_sc_b_m = local_environment.GetCelestialInformation().GetPositionFromSpacecraft_b_m("SUN"); CalcTorqueForce(sun_position_from_sc_b_m, local_environment.GetSolarRadiationPressure().GetPressure_N_m2()); } -void SolarRadiationPressureDisturbance::CalcCoefficients(const s2e::math::Vector<3>& input_direction_b, const double item) { +void SolarRadiationPressureDisturbance::CalcCoefficients(const math::Vector<3>& input_direction_b, const double item) { UNUSED(input_direction_b); for (size_t i = 0; i < surfaces_.size(); i++) { // Calculate for each surface diff --git a/src/disturbances/solar_radiation_pressure_disturbance.hpp b/src/disturbances/solar_radiation_pressure_disturbance.hpp index 871538ba2..63f20e4e0 100644 --- a/src/disturbances/solar_radiation_pressure_disturbance.hpp +++ b/src/disturbances/solar_radiation_pressure_disturbance.hpp @@ -27,7 +27,7 @@ class SolarRadiationPressureDisturbance : public SurfaceForce { * @param [in] center_of_gravity_b_m: Center of gravity position at the body frame [m] * @param [in] is_calculation_enabled: Calculation flag */ - SolarRadiationPressureDisturbance(const std::vector& surfaces, const s2e::math::Vector<3>& center_of_gravity_b_m, + SolarRadiationPressureDisturbance(const std::vector& surfaces, const math::Vector<3>& center_of_gravity_b_m, const bool is_calculation_enabled = true); /** @@ -57,7 +57,7 @@ class SolarRadiationPressureDisturbance : public SurfaceForce { * @param [in] input_direction_b: Direction vector of the sun at the body frame * @param [in] item: Solar pressure [N/m^2] */ - void CalcCoefficients(const s2e::math::Vector<3>& input_direction_b, const double item); + void CalcCoefficients(const math::Vector<3>& input_direction_b, const double item); }; /** diff --git a/src/disturbances/surface_force.cpp b/src/disturbances/surface_force.cpp index 1bf0b1dfe..0cef5b365 100644 --- a/src/disturbances/surface_force.cpp +++ b/src/disturbances/surface_force.cpp @@ -9,7 +9,7 @@ namespace s2e::disturbances { -SurfaceForce::SurfaceForce(const std::vector& surfaces, const s2e::math::Vector<3>& center_of_gravity_b_m, const bool is_calculation_enabled) +SurfaceForce::SurfaceForce(const std::vector& surfaces, const math::Vector<3>& center_of_gravity_b_m, const bool is_calculation_enabled) : Disturbance(is_calculation_enabled, true), surfaces_(surfaces), center_of_gravity_b_m_(center_of_gravity_b_m) { // Initialize vectors size_t num = surfaces_.size(); @@ -19,23 +19,23 @@ SurfaceForce::SurfaceForce(const std::vector& surfaces, const s2e::math sin_theta_.assign(num, 0.0); } -s2e::math::Vector<3> SurfaceForce::CalcTorqueForce(s2e::math::Vector<3>& input_direction_b, double item) { +math::Vector<3> SurfaceForce::CalcTorqueForce(math::Vector<3>& input_direction_b, double item) { CalcTheta(input_direction_b); CalcCoefficients(input_direction_b, item); - s2e::math::Vector<3> force_b_N(0.0); - s2e::math::Vector<3> torque_b_Nm(0.0); - s2e::math::Vector<3> input_b_normal = input_direction_b.CalcNormalizedVector(); + math::Vector<3> force_b_N(0.0); + math::Vector<3> torque_b_Nm(0.0); + math::Vector<3> input_b_normal = input_direction_b.CalcNormalizedVector(); for (size_t i = 0; i < surfaces_.size(); i++) { if (cos_theta_[i] > 0.0) { // if the surface faces to the disturbance source (sun or air) // calc direction of in-plane force - s2e::math::Vector<3> normal = surfaces_[i].GetNormal_b(); - s2e::math::Vector<3> ncu = OuterProduct(input_b_normal, normal); - s2e::math::Vector<3> ncu_normalized = ncu.CalcNormalizedVector(); - s2e::math::Vector<3> in_plane_force_direction = OuterProduct(ncu_normalized, normal); + math::Vector<3> normal = surfaces_[i].GetNormal_b(); + math::Vector<3> ncu = OuterProduct(input_b_normal, normal); + math::Vector<3> ncu_normalized = ncu.CalcNormalizedVector(); + math::Vector<3> in_plane_force_direction = OuterProduct(ncu_normalized, normal); // calc force - s2e::math::Vector<3> force_per_surface_b_N = -1.0 * normal_coefficients_[i] * normal + tangential_coefficients_[i] * in_plane_force_direction; + math::Vector<3> force_per_surface_b_N = -1.0 * normal_coefficients_[i] * normal + tangential_coefficients_[i] * in_plane_force_direction; force_b_N += force_per_surface_b_N; // calc torque torque_b_Nm += OuterProduct(surfaces_[i].GetPosition_b_m() - center_of_gravity_b_m_, force_per_surface_b_N); @@ -46,8 +46,8 @@ s2e::math::Vector<3> SurfaceForce::CalcTorqueForce(s2e::math::Vector<3>& input_d return torque_b_Nm_; } -void SurfaceForce::CalcTheta(s2e::math::Vector<3>& input_direction_b) { - s2e::math::Vector<3> input_b_normal = input_direction_b.CalcNormalizedVector(); +void SurfaceForce::CalcTheta(math::Vector<3>& input_direction_b) { + math::Vector<3> input_b_normal = input_direction_b.CalcNormalizedVector(); for (size_t i = 0; i < surfaces_.size(); i++) { cos_theta_[i] = InnerProduct(surfaces_[i].GetNormal_b(), input_b_normal); diff --git a/src/disturbances/surface_force.hpp b/src/disturbances/surface_force.hpp index 943daa9e6..c6c0c3d06 100644 --- a/src/disturbances/surface_force.hpp +++ b/src/disturbances/surface_force.hpp @@ -30,7 +30,7 @@ class SurfaceForce : public Disturbance { * @param [in] center_of_gravity_b_m: Center of gravity position at the body frame [m] * @param [in] is_calculation_enabled: Calculation flag */ - SurfaceForce(const std::vector& surfaces, const s2e::math::Vector<3>& center_of_gravity_b_m, const bool is_calculation_enabled = true); + SurfaceForce(const std::vector& surfaces, const math::Vector<3>& center_of_gravity_b_m, const bool is_calculation_enabled = true); /** * @fn ~SurfaceForce * @brief Destructor @@ -40,7 +40,7 @@ class SurfaceForce : public Disturbance { protected: // Spacecraft Structure parameters const std::vector& surfaces_; //!< List of surfaces - const s2e::math::Vector<3>& center_of_gravity_b_m_; //!< Position vector of the center of mass_kg at body frame [m] + const math::Vector<3>& center_of_gravity_b_m_; //!< Position vector of the center of mass_kg at body frame [m] // Internal calculated variables std::vector normal_coefficients_; //!< coefficients for out-plane force for each surface @@ -56,13 +56,13 @@ class SurfaceForce : public Disturbance { * @param [in] item: Parameter which decide the magnitude of the disturbances (e.g., Solar flux, air density) * @return Calculated disturbance torque in body frame [Nm] */ - s2e::math::Vector<3> CalcTorqueForce(s2e::math::Vector<3>& input_direction_b, double item); + math::Vector<3> CalcTorqueForce(math::Vector<3>& input_direction_b, double item); /** * @fn CalcTheta * @brief Calculate cosX and sinX * @param [in] input_direction_b: Direction of disturbance source at the body frame */ - void CalcTheta(s2e::math::Vector<3>& input_direction_b); + void CalcTheta(math::Vector<3>& input_direction_b); /** * @fn CalcCoefficients @@ -70,7 +70,7 @@ class SurfaceForce : public Disturbance { * @param [in] input_direction_b: Direction of disturbance source at the body frame * @param [in] item: Parameter which decide the magnitude of the disturbances (e.g., Solar flux, air density) */ - virtual void CalcCoefficients(const s2e::math::Vector<3>& input_direction_b, const double item) = 0; + virtual void CalcCoefficients(const math::Vector<3>& input_direction_b, const double item) = 0; }; } // namespace s2e::disturbances diff --git a/src/disturbances/third_body_gravity.cpp b/src/disturbances/third_body_gravity.cpp index 2598332a0..7d99ab2fb 100644 --- a/src/disturbances/third_body_gravity.cpp +++ b/src/disturbances/third_body_gravity.cpp @@ -11,18 +11,18 @@ namespace s2e::disturbances { ThirdBodyGravity::ThirdBodyGravity(std::set third_body_list, const bool is_calculation_enabled) : Disturbance(is_calculation_enabled, false), third_body_list_(third_body_list) { - acceleration_i_m_s2_ = s2e::math::Vector<3>(0.0); + acceleration_i_m_s2_ = math::Vector<3>(0.0); } ThirdBodyGravity::~ThirdBodyGravity() {} void ThirdBodyGravity::Update(const LocalEnvironment& local_environment, const dynamics::Dynamics& dynamics) { - acceleration_i_m_s2_ = s2e::math::Vector<3>(0.0); // initialize + acceleration_i_m_s2_ = math::Vector<3>(0.0); // initialize - s2e::math::Vector<3> sc_position_i_m = dynamics.GetOrbit().GetPosition_i_m(); + math::Vector<3> sc_position_i_m = dynamics.GetOrbit().GetPosition_i_m(); for (auto third_body : third_body_list_) { - s2e::math::Vector<3> third_body_position_from_sc_i_m = local_environment.GetCelestialInformation().GetPositionFromSpacecraft_i_m(third_body.c_str()); - s2e::math::Vector<3> third_body_pos_i_m = sc_position_i_m + third_body_position_from_sc_i_m; + math::Vector<3> third_body_position_from_sc_i_m = local_environment.GetCelestialInformation().GetPositionFromSpacecraft_i_m(third_body.c_str()); + math::Vector<3> third_body_pos_i_m = sc_position_i_m + third_body_position_from_sc_i_m; double gravity_constant = local_environment.GetCelestialInformation().GetGlobalInformation().GetGravityConstant_m3_s2(third_body.c_str()); third_body_acceleration_i_m_s2_ = CalcAcceleration_i_m_s2(third_body_pos_i_m, third_body_position_from_sc_i_m, gravity_constant); @@ -30,8 +30,8 @@ void ThirdBodyGravity::Update(const LocalEnvironment& local_environment, const d } } -s2e::math::Vector<3> ThirdBodyGravity::CalcAcceleration_i_m_s2(const s2e::math::Vector<3> s, const s2e::math::Vector<3> sr, const double gravity_constant_m_s2) { - s2e::math::Vector<3> acceleration_i_m_s2; +math::Vector<3> ThirdBodyGravity::CalcAcceleration_i_m_s2(const math::Vector<3> s, const math::Vector<3> sr, const double gravity_constant_m_s2) { + math::Vector<3> acceleration_i_m_s2; double s_norm = s.CalcNorm(); double s_norm3 = s_norm * s_norm * s_norm; diff --git a/src/disturbances/third_body_gravity.hpp b/src/disturbances/third_body_gravity.hpp index 24a74ccc8..7207f7e78 100644 --- a/src/disturbances/third_body_gravity.hpp +++ b/src/disturbances/third_body_gravity.hpp @@ -45,7 +45,7 @@ class ThirdBodyGravity : public Disturbance { private: std::set third_body_list_; //!< List of celestial bodies to calculate the third body disturbances - s2e::math::Vector<3> third_body_acceleration_i_m_s2_{0.0}; //!< Calculated third body disturbance acceleration in the inertial frame [m/s2] + math::Vector<3> third_body_acceleration_i_m_s2_{0.0}; //!< Calculated third body disturbance acceleration in the inertial frame [m/s2] // Override classes for logger::ILoggable /** @@ -67,7 +67,7 @@ class ThirdBodyGravity : public Disturbance { * @param [in] GM: The gravitational constants of the third celestial body [m3/s2] * @return Third body disturbance acceleration in the inertial frame in unit [m/s2] */ - s2e::math::Vector<3> CalcAcceleration_i_m_s2(const s2e::math::Vector<3> s, const s2e::math::Vector<3> sr, const double gravity_constant_m_s2); + math::Vector<3> CalcAcceleration_i_m_s2(const math::Vector<3> s, const math::Vector<3> sr, const double gravity_constant_m_s2); }; /** diff --git a/src/dynamics/attitude/attitude.cpp b/src/dynamics/attitude/attitude.cpp index 55e172240..84a9040e2 100644 --- a/src/dynamics/attitude/attitude.cpp +++ b/src/dynamics/attitude/attitude.cpp @@ -8,15 +8,15 @@ namespace s2e::dynamics::attitude { -Attitude::Attitude(const s2e::math::Matrix<3, 3>& inertia_tensor_kgm2, const std::string& simulation_object_name) +Attitude::Attitude(const math::Matrix<3, 3>& inertia_tensor_kgm2, const std::string& simulation_object_name) : SimulationObject(simulation_object_name), inertia_tensor_kgm2_(inertia_tensor_kgm2) { - angular_velocity_b_rad_s_ = s2e::math::Vector<3>(0.0); - quaternion_i2b_ = s2e::math::Quaternion(0.0, 0.0, 0.0, 1.0); - torque_b_Nm_ = s2e::math::Vector<3>(0.0); - angular_momentum_spacecraft_b_Nms_ = s2e::math::Vector<3>(0.0); - angular_momentum_reaction_wheel_b_Nms_ = s2e::math::Vector<3>(0.0); - angular_momentum_total_b_Nms_ = s2e::math::Vector<3>(0.0); - angular_momentum_total_i_Nms_ = s2e::math::Vector<3>(0.0); + angular_velocity_b_rad_s_ = math::Vector<3>(0.0); + quaternion_i2b_ = math::Quaternion(0.0, 0.0, 0.0, 1.0); + torque_b_Nm_ = math::Vector<3>(0.0); + angular_momentum_spacecraft_b_Nms_ = math::Vector<3>(0.0); + angular_momentum_reaction_wheel_b_Nms_ = math::Vector<3>(0.0); + angular_momentum_total_b_Nms_ = math::Vector<3>(0.0); + angular_momentum_total_i_Nms_ = math::Vector<3>(0.0); angular_momentum_total_Nms_ = 0.0; kinetic_energy_J_ = 0.0; } @@ -27,8 +27,8 @@ std::string Attitude::GetLogHeader() const { str_tmp += logger::WriteVector("spacecraft_angular_velocity", "b", "rad/s", 3); str_tmp += logger::WriteQuaternion("spacecraft_quaternion", "i2b"); str_tmp += logger::WriteVector("spacecraft_torque", "b", "Nm", 3); - str_tmp += WriteScalar("spacecraft_total_angular_momentum", "Nms"); - str_tmp += WriteScalar("spacecraft_kinematic_energy", "J"); + str_tmp += logger::WriteScalar("spacecraft_total_angular_momentum", "Nms"); + str_tmp += logger::WriteScalar("spacecraft_kinematic_energy", "J"); return str_tmp; } @@ -39,8 +39,8 @@ std::string Attitude::GetLogValue() const { str_tmp += logger::WriteVector(angular_velocity_b_rad_s_); str_tmp += logger::WriteQuaternion(quaternion_i2b_); str_tmp += logger::WriteVector(torque_b_Nm_); - str_tmp += WriteScalar(angular_momentum_total_Nms_); - str_tmp += WriteScalar(kinetic_energy_J_); + str_tmp += logger::WriteScalar(angular_momentum_total_Nms_); + str_tmp += logger::WriteScalar(kinetic_energy_J_); return str_tmp; } @@ -52,15 +52,15 @@ void Attitude::SetParameters(const MonteCarloSimulationExecutor& mc_simulator) { void Attitude::CalcAngularMomentum(void) { angular_momentum_spacecraft_b_Nms_ = inertia_tensor_kgm2_ * angular_velocity_b_rad_s_; angular_momentum_total_b_Nms_ = angular_momentum_reaction_wheel_b_Nms_ + angular_momentum_spacecraft_b_Nms_; - s2e::math::Quaternion q_b2i = quaternion_i2b_.Conjugate(); + math::Quaternion q_b2i = quaternion_i2b_.Conjugate(); angular_momentum_total_i_Nms_ = q_b2i.FrameConversion(angular_momentum_total_b_Nms_); angular_momentum_total_Nms_ = angular_momentum_total_i_Nms_.CalcNorm(); - kinetic_energy_J_ = 0.5 * s2e::math::InnerProduct(angular_momentum_spacecraft_b_Nms_, angular_velocity_b_rad_s_); + kinetic_energy_J_ = 0.5 * math::InnerProduct(angular_momentum_spacecraft_b_Nms_, angular_velocity_b_rad_s_); } -s2e::math::Matrix<4, 4> CalcAngularVelocityMatrix(s2e::math::Vector<3> angular_velocity_b_rad_s) { - s2e::math::Matrix<4, 4> angular_velocity_matrix; +math::Matrix<4, 4> CalcAngularVelocityMatrix(math::Vector<3> angular_velocity_b_rad_s) { + math::Matrix<4, 4> angular_velocity_matrix; angular_velocity_matrix[0][0] = 0.0f; angular_velocity_matrix[0][1] = angular_velocity_b_rad_s[2]; diff --git a/src/dynamics/attitude/attitude.hpp b/src/dynamics/attitude/attitude.hpp index 533d534f3..6c3c80fef 100644 --- a/src/dynamics/attitude/attitude.hpp +++ b/src/dynamics/attitude/attitude.hpp @@ -18,14 +18,14 @@ namespace s2e::dynamics::attitude { * @class Attitude * @brief Base class for attitude of spacecraft */ -class Attitude : public logger::ILoggable, public SimulationObject { +class Attitude : public logger::ILoggable, public simulation::SimulationObject { public: /** * @fn Attitude * @brief Constructor * @param [in] simulation_object_name: Simulation object name for Monte-Carlo simulation */ - Attitude(const s2e::math::Matrix<3, 3>& inertia_tensor_kgm2, const std::string& simulation_object_name = "attitude"); + Attitude(const math::Matrix<3, 3>& inertia_tensor_kgm2, const std::string& simulation_object_name = "attitude"); /** * @fn ~Attitude * @brief Destructor @@ -42,12 +42,12 @@ class Attitude : public logger::ILoggable, public SimulationObject { * @fn GetAngularVelocity_b_rad_s * @brief Return angular velocity of spacecraft body-fixed frame with respect to the inertial frame [rad/s] */ - inline s2e::math::Vector<3> GetAngularVelocity_b_rad_s() const { return angular_velocity_b_rad_s_; } + inline math::Vector<3> GetAngularVelocity_b_rad_s() const { return angular_velocity_b_rad_s_; } /** * @fn GetQuaternion_i2b * @brief Return attitude quaternion from the inertial frame to the body fixed frame */ - inline s2e::math::Quaternion GetQuaternion_i2b() const { return quaternion_i2b_; } + inline math::Quaternion GetQuaternion_i2b() const { return quaternion_i2b_; } /** * @fn GetTotalAngularMomentNorm_Nms * @brief Return norm of total angular momentum of the spacecraft [Nms] @@ -62,34 +62,34 @@ class Attitude : public logger::ILoggable, public SimulationObject { * @fn GetInertiaTensor_b_kgm2 * @brief Return inertia tensor [kg m^2] */ - inline s2e::math::Matrix<3, 3> GetInertiaTensor_b_kgm2() const { return inertia_tensor_kgm2_; } + inline math::Matrix<3, 3> GetInertiaTensor_b_kgm2() const { return inertia_tensor_kgm2_; } // Setter /** * @fn SetAngularVelocity_b_rad_s * @brief Set angular velocity of the body fixed frame with respect to the inertial frame [rad/s] */ - inline void SetAngularVelocity_b_rad_s(const s2e::math::Vector<3> angular_velocity_b_rad_s) { angular_velocity_b_rad_s_ = angular_velocity_b_rad_s; } + inline void SetAngularVelocity_b_rad_s(const math::Vector<3> angular_velocity_b_rad_s) { angular_velocity_b_rad_s_ = angular_velocity_b_rad_s; } /** * @fn SetQuaternion_i2b * @brief Set attitude quaternion from the inertial frame to the body frame */ - inline void SetQuaternion_i2b(const s2e::math::Quaternion quaternion_i2b) { quaternion_i2b_ = quaternion_i2b; } + inline void SetQuaternion_i2b(const math::Quaternion quaternion_i2b) { quaternion_i2b_ = quaternion_i2b; } /** * @fn SetTorque_b_Nm * @brief Set torque acting on the spacecraft on the body fixed frame [Nm] */ - inline void SetTorque_b_Nm(const s2e::math::Vector<3> torque_b_Nm) { torque_b_Nm_ = torque_b_Nm; } + inline void SetTorque_b_Nm(const math::Vector<3> torque_b_Nm) { torque_b_Nm_ = torque_b_Nm; } /** * @fn AddTorque_b_Nm * @brief Add torque acting on the spacecraft on the body fixed frame [Nm] */ - inline void AddTorque_b_Nm(const s2e::math::Vector<3> torque_b_Nm) { torque_b_Nm_ += torque_b_Nm; } + inline void AddTorque_b_Nm(const math::Vector<3> torque_b_Nm) { torque_b_Nm_ += torque_b_Nm; } /** * @fn SetRwAngularMomentum_b_Nms * @brief Set angular momentum of reaction wheel in the body fixed frame [Nms] */ - inline void SetRwAngularMomentum_b_Nms(const s2e::math::Vector<3> angular_momentum_rw_b_Nms) { + inline void SetRwAngularMomentum_b_Nms(const math::Vector<3> angular_momentum_rw_b_Nms) { angular_momentum_reaction_wheel_b_Nms_ = angular_momentum_rw_b_Nms; } @@ -113,20 +113,20 @@ class Attitude : public logger::ILoggable, public SimulationObject { virtual std::string GetLogValue() const; // SimulationObject for McSim - virtual void SetParameters(const MonteCarloSimulationExecutor& mc_simulator); + virtual void SetParameters(const simulation::MonteCarloSimulationExecutor& mc_simulator); protected: bool is_calc_enabled_ = true; //!< Calculation flag double propagation_step_s_; //!< Propagation step [sec] - s2e::math::Vector<3> angular_velocity_b_rad_s_; //!< Angular velocity of spacecraft body fixed frame with respect to the inertial frame [rad/s] - s2e::math::Quaternion quaternion_i2b_; //!< Attitude quaternion from the inertial frame to the body fixed frame - s2e::math::Vector<3> torque_b_Nm_; //!< Torque in the body fixed frame [Nm] - const s2e::math::Matrix<3, 3>& inertia_tensor_kgm2_; //!< Inertia tensor of the spacecraft [kg m^2] + math::Vector<3> angular_velocity_b_rad_s_; //!< Angular velocity of spacecraft body fixed frame with respect to the inertial frame [rad/s] + math::Quaternion quaternion_i2b_; //!< Attitude quaternion from the inertial frame to the body fixed frame + math::Vector<3> torque_b_Nm_; //!< Torque in the body fixed frame [Nm] + const math::Matrix<3, 3>& inertia_tensor_kgm2_; //!< Inertia tensor of the spacecraft [kg m^2] - s2e::math::Vector<3> angular_momentum_spacecraft_b_Nms_; //!< Angular momentum of spacecraft in the body fixed frame [Nms] - s2e::math::Vector<3> angular_momentum_reaction_wheel_b_Nms_; //!< Angular momentum of reaction wheel in the body fixed frame [Nms] - s2e::math::Vector<3> angular_momentum_total_b_Nms_; //!< Total angular momentum of spacecraft in the body fixed frame [Nms] - s2e::math::Vector<3> angular_momentum_total_i_Nms_; //!< Total angular momentum of spacecraft in the inertial frame [Nms] + math::Vector<3> angular_momentum_spacecraft_b_Nms_; //!< Angular momentum of spacecraft in the body fixed frame [Nms] + math::Vector<3> angular_momentum_reaction_wheel_b_Nms_; //!< Angular momentum of reaction wheel in the body fixed frame [Nms] + math::Vector<3> angular_momentum_total_b_Nms_; //!< Total angular momentum of spacecraft in the body fixed frame [Nms] + math::Vector<3> angular_momentum_total_i_Nms_; //!< Total angular momentum of spacecraft in the inertial frame [Nms] double angular_momentum_total_Nms_; //!< Norm of total angular momentum [Nms] double kinetic_energy_J_; //!< Rotational Kinetic Energy of Spacecraft [J] @@ -142,7 +142,7 @@ class Attitude : public logger::ILoggable, public SimulationObject { * @brief Generate angular velocity matrix for kinematics calculation * @param [in] angular_velocity_b_rad_s: Angular velocity [rad/s] */ -s2e::math::Matrix<4, 4> CalcAngularVelocityMatrix(s2e::math::Vector<3> angular_velocity_b_rad_s); +math::Matrix<4, 4> CalcAngularVelocityMatrix(math::Vector<3> angular_velocity_b_rad_s); } // namespace s2e::dynamics::attitude diff --git a/src/dynamics/attitude/attitude_rk4.cpp b/src/dynamics/attitude/attitude_rk4.cpp index bac023c33..52af18344 100644 --- a/src/dynamics/attitude/attitude_rk4.cpp +++ b/src/dynamics/attitude/attitude_rk4.cpp @@ -11,8 +11,8 @@ namespace s2e::dynamics::attitude { -AttitudeRk4::AttitudeRk4(const s2e::math::Vector<3>& angular_velocity_b_rad_s, const s2e::math::Quaternion& quaternion_i2b, - const s2e::math::Matrix<3, 3>& inertia_tensor_kgm2, const s2e::math::Vector<3>& torque_b_Nm, const double propagation_step_s, +AttitudeRk4::AttitudeRk4(const math::Vector<3>& angular_velocity_b_rad_s, const math::Quaternion& quaternion_i2b, + const math::Matrix<3, 3>& inertia_tensor_kgm2, const math::Vector<3>& torque_b_Nm, const double propagation_step_s, const std::string& simulation_object_name) : Attitude(inertia_tensor_kgm2, simulation_object_name) { angular_velocity_b_rad_s_ = angular_velocity_b_rad_s; @@ -20,7 +20,7 @@ AttitudeRk4::AttitudeRk4(const s2e::math::Vector<3>& angular_velocity_b_rad_s, c torque_b_Nm_ = torque_b_Nm; propagation_step_s_ = propagation_step_s; current_propagation_time_s_ = 0.0; - angular_momentum_reaction_wheel_b_Nms_ = s2e::math::Vector<3>(0.0); + angular_momentum_reaction_wheel_b_Nms_ = math::Vector<3>(0.0); previous_inertia_tensor_kgm2_ = inertia_tensor_kgm2_; inverse_inertia_tensor_ = CalcInverseMatrix(inertia_tensor_kgm2_); CalcAngularMomentum(); @@ -34,14 +34,14 @@ void AttitudeRk4::SetParameters(const MonteCarloSimulationExecutor& mc_simulator // TODO: Consider the following calculation is needed here? current_propagation_time_s_ = 0.0; - angular_momentum_reaction_wheel_b_Nms_ = s2e::math::Vector<3>(0.0); //!< Consider how to handle this variable + angular_momentum_reaction_wheel_b_Nms_ = math::Vector<3>(0.0); //!< Consider how to handle this variable CalcAngularMomentum(); } void AttitudeRk4::Propagate(const double end_time_s) { if (!is_calc_enabled_) return; - s2e::math::Matrix<3, 3> dot_inertia_tensor = (1.0 / (end_time_s - current_propagation_time_s_)) * (inertia_tensor_kgm2_ - previous_inertia_tensor_kgm2_); + math::Matrix<3, 3> dot_inertia_tensor = (1.0 / (end_time_s - current_propagation_time_s_)) * (inertia_tensor_kgm2_ - previous_inertia_tensor_kgm2_); torque_inertia_tensor_change_b_Nm_ = dot_inertia_tensor * angular_velocity_b_rad_s_; inverse_inertia_tensor_ = CalcInverseMatrix(inertia_tensor_kgm2_); @@ -57,29 +57,29 @@ void AttitudeRk4::Propagate(const double end_time_s) { CalcAngularMomentum(); } -s2e::math::Vector<7> AttitudeRk4::AttitudeDynamicsAndKinematics(s2e::math::Vector<7> x, double t) { +math::Vector<7> AttitudeRk4::AttitudeDynamicsAndKinematics(math::Vector<7> x, double t) { UNUSED(t); - s2e::math::Vector<7> dxdt; + math::Vector<7> dxdt; - s2e::math::Vector<3> omega_b; + math::Vector<3> omega_b; for (int i = 0; i < 3; i++) { omega_b[i] = x[i]; } - s2e::math::Vector<3> angular_momentum_total_b_Nms = (previous_inertia_tensor_kgm2_ * omega_b) + angular_momentum_reaction_wheel_b_Nms_; - s2e::math::Vector<3> rhs = - inverse_inertia_tensor_ * (torque_b_Nm_ - s2e::math::OuterProduct(omega_b, angular_momentum_total_b_Nms) - torque_inertia_tensor_change_b_Nm_); + math::Vector<3> angular_momentum_total_b_Nms = (previous_inertia_tensor_kgm2_ * omega_b) + angular_momentum_reaction_wheel_b_Nms_; + math::Vector<3> rhs = + inverse_inertia_tensor_ * (torque_b_Nm_ - math::OuterProduct(omega_b, angular_momentum_total_b_Nms) - torque_inertia_tensor_change_b_Nm_); for (int i = 0; i < 3; ++i) { dxdt[i] = rhs[i]; } - s2e::math::Vector<4> quaternion_i2b; + math::Vector<4> quaternion_i2b; for (int i = 0; i < 4; i++) { quaternion_i2b[i] = x[i + 3]; } - s2e::math::Vector<4> d_quaternion = 0.5 * CalcAngularVelocityMatrix(omega_b) * quaternion_i2b; + math::Vector<4> d_quaternion = 0.5 * CalcAngularVelocityMatrix(omega_b) * quaternion_i2b; for (int i = 0; i < 4; i++) { dxdt[i + 3] = d_quaternion[i]; @@ -89,7 +89,7 @@ s2e::math::Vector<7> AttitudeRk4::AttitudeDynamicsAndKinematics(s2e::math::Vecto } void AttitudeRk4::RungeKuttaOneStep(double t, double dt) { - s2e::math::Vector<7> x; + math::Vector<7> x; for (int i = 0; i < 3; i++) { x[i] = angular_velocity_b_rad_s_[i]; } @@ -97,8 +97,8 @@ void AttitudeRk4::RungeKuttaOneStep(double t, double dt) { x[i + 3] = quaternion_i2b_[i]; } - s2e::math::Vector<7> k1, k2, k3, k4; - s2e::math::Vector<7> xk2, xk3, xk4; + math::Vector<7> k1, k2, k3, k4; + math::Vector<7> xk2, xk3, xk4; k1 = AttitudeDynamicsAndKinematics(x, t); xk2 = x + (dt / 2.0) * k1; @@ -111,7 +111,7 @@ void AttitudeRk4::RungeKuttaOneStep(double t, double dt) { k4 = AttitudeDynamicsAndKinematics(xk4, (t + dt)); - s2e::math::Vector<7> next_x = x + (dt / 6.0) * (k1 + 2.0 * k2 + 2.0 * k3 + k4); + math::Vector<7> next_x = x + (dt / 6.0) * (k1 + 2.0 * k2 + 2.0 * k3 + k4); for (int i = 0; i < 3; i++) { angular_velocity_b_rad_s_[i] = next_x[i]; diff --git a/src/dynamics/attitude/attitude_rk4.hpp b/src/dynamics/attitude/attitude_rk4.hpp index 1e71fca19..2b3b4f06c 100644 --- a/src/dynamics/attitude/attitude_rk4.hpp +++ b/src/dynamics/attitude/attitude_rk4.hpp @@ -26,8 +26,8 @@ class AttitudeRk4 : public Attitude { * @param [in] propagation_step_s: Initial value of propagation step width [sec] * @param [in] simulation_object_name: Simulation object name for Monte-Carlo simulation */ - AttitudeRk4(const s2e::math::Vector<3>& angular_velocity_b_rad_s, const s2e::math::Quaternion& quaternion_i2b, const s2e::math::Matrix<3, 3>& inertia_tensor_kgm2, - const s2e::math::Vector<3>& torque_b_Nm, const double propagation_step_s, const std::string& simulation_object_name = "attitude"); + AttitudeRk4(const math::Vector<3>& angular_velocity_b_rad_s, const math::Quaternion& quaternion_i2b, const math::Matrix<3, 3>& inertia_tensor_kgm2, + const math::Vector<3>& torque_b_Nm, const double propagation_step_s, const std::string& simulation_object_name = "attitude"); /** * @fn ~AttitudeRk4 * @brief Destructor @@ -46,13 +46,13 @@ class AttitudeRk4 : public Attitude { * @brief Set parameters for Monte-Carlo simulation * @param [in] mc_simulator: Monte-Carlo simulation executor */ - virtual void SetParameters(const MonteCarloSimulationExecutor& mc_simulator); + virtual void SetParameters(const simulation::MonteCarloSimulationExecutor& mc_simulator); private: double current_propagation_time_s_; //!< current time [sec] - s2e::math::Matrix<3, 3> inverse_inertia_tensor_; //!< Inverse of inertia tensor - s2e::math::Matrix<3, 3> previous_inertia_tensor_kgm2_; //!< Previous inertia tensor [kgm2] - s2e::math::Vector<3> torque_inertia_tensor_change_b_Nm_; //!< Torque generated by inertia tensor change [Nm] + math::Matrix<3, 3> inverse_inertia_tensor_; //!< Inverse of inertia tensor + math::Matrix<3, 3> previous_inertia_tensor_kgm2_; //!< Previous inertia tensor [kgm2] + math::Vector<3> torque_inertia_tensor_change_b_Nm_; //!< Torque generated by inertia tensor change [Nm] /** * @fn AttitudeDynamicsAndKinematics @@ -60,7 +60,7 @@ class AttitudeRk4 : public Attitude { * @param [in] x: State vector (angular velocity and quaternion) * @param [in] t: Unused TODO: remove? */ - s2e::math::Vector<7> AttitudeDynamicsAndKinematics(s2e::math::Vector<7> x, double t); + math::Vector<7> AttitudeDynamicsAndKinematics(math::Vector<7> x, double t); /** * @fn RungeKuttaOneStep * @brief Equation for one step of Runge-Kutta method diff --git a/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp b/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp index 711c623f4..78292eb5c 100644 --- a/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp +++ b/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp @@ -11,9 +11,9 @@ namespace s2e::dynamics::attitude { AttitudeWithCantileverVibration::AttitudeWithCantileverVibration( - const s2e::math::Vector<3>& angular_velocity_b_rad_s, const s2e::math::Quaternion& quaternion_i2b, const s2e::math::Matrix<3, 3>& inertia_tensor_kgm2, - const s2e::math::Matrix<3, 3>& inertia_tensor_cantilever_kgm2, const double damping_ratio_cantilever, - const double intrinsic_angular_velocity_cantilever_rad_s, const s2e::math::Vector<3>& torque_b_Nm, const double propagation_step_s, + const math::Vector<3>& angular_velocity_b_rad_s, const math::Quaternion& quaternion_i2b, const math::Matrix<3, 3>& inertia_tensor_kgm2, + const math::Matrix<3, 3>& inertia_tensor_cantilever_kgm2, const double damping_ratio_cantilever, + const double intrinsic_angular_velocity_cantilever_rad_s, const math::Vector<3>& torque_b_Nm, const double propagation_step_s, const std::string& simulation_object_name) : Attitude(inertia_tensor_kgm2, simulation_object_name), numerical_integrator_(propagation_step_s, attitude_ode_, @@ -23,7 +23,7 @@ AttitudeWithCantileverVibration::AttitudeWithCantileverVibration( torque_b_Nm_ = torque_b_Nm; propagation_step_s_ = propagation_step_s; current_propagation_time_s_ = 0.0; - angular_momentum_reaction_wheel_b_Nms_ = s2e::math::Vector<3>(0.0); + angular_momentum_reaction_wheel_b_Nms_ = math::Vector<3>(0.0); attitude_ode_.SetInertiaTensorCantilever_kgm2(inertia_tensor_cantilever_kgm2); attitude_ode_.SetPreviousInertiaTensor_kgm2(inertia_tensor_kgm2_); @@ -32,7 +32,7 @@ AttitudeWithCantileverVibration::AttitudeWithCantileverVibration( double spring_coefficient = pow(intrinsic_angular_velocity_cantilever_rad_s, 2.0); attitude_ode_.SetSpringCoefficient(spring_coefficient); attitude_ode_.SetInverseInertiaTensor(CalcInverseMatrix(inertia_tensor_kgm2_)); - s2e::math::Matrix<3, 3> inverse_equivalent_inertia_tensor_cantilever = + math::Matrix<3, 3> inverse_equivalent_inertia_tensor_cantilever = CalcInverseMatrix(inertia_tensor_kgm2_ - inertia_tensor_cantilever_kgm2) * inertia_tensor_kgm2_; attitude_ode_.SetInverseEquivalentInertiaTensorCantilever(inverse_equivalent_inertia_tensor_cantilever); attitude_ode_.SetTorque_b_Nm(torque_b_Nm_); @@ -67,23 +67,23 @@ void AttitudeWithCantileverVibration::SetParameters(const MonteCarloSimulationEx // TODO: Consider the following calculation is needed here? current_propagation_time_s_ = 0.0; - angular_momentum_reaction_wheel_b_Nms_ = s2e::math::Vector<3>(0.0); //!< TODO: Consider how to handle this variable + angular_momentum_reaction_wheel_b_Nms_ = math::Vector<3>(0.0); //!< TODO: Consider how to handle this variable CalcAngularMomentum(); } void AttitudeWithCantileverVibration::Propagate(const double end_time_s) { if (!is_calc_enabled_) return; - s2e::math::Matrix<3, 3> previous_inertia_tensor_kgm2 = attitude_ode_.GetPreviousInertiaTensor_kgm2(); + math::Matrix<3, 3> previous_inertia_tensor_kgm2 = attitude_ode_.GetPreviousInertiaTensor_kgm2(); assert(end_time_s - current_propagation_time_s_ > 1e-6); - s2e::math::Matrix<3, 3> dot_inertia_tensor = (1.0 / (end_time_s - current_propagation_time_s_)) * (inertia_tensor_kgm2_ - previous_inertia_tensor_kgm2); - s2e::math::Vector<3> torque_inertia_tensor_b_Nm = dot_inertia_tensor * angular_velocity_b_rad_s_; + math::Matrix<3, 3> dot_inertia_tensor = (1.0 / (end_time_s - current_propagation_time_s_)) * (inertia_tensor_kgm2_ - previous_inertia_tensor_kgm2); + math::Vector<3> torque_inertia_tensor_b_Nm = dot_inertia_tensor * angular_velocity_b_rad_s_; attitude_ode_.SetTorqueInertiaTensor_b_Nm(torque_inertia_tensor_b_Nm); attitude_ode_.SetInverseInertiaTensor(CalcInverseMatrix(inertia_tensor_kgm2_)); attitude_ode_.SetTorque_b_Nm(torque_b_Nm_); attitude_ode_.SetAngularMomentumReactionWheel_b_Nms(angular_momentum_reaction_wheel_b_Nms_); - s2e::math::Vector<13> state = attitude_ode_.SetStateFromPhysicalQuantities(angular_velocity_b_rad_s_, angular_velocity_cantilever_rad_s_, + math::Vector<13> state = attitude_ode_.SetStateFromPhysicalQuantities(angular_velocity_b_rad_s_, angular_velocity_cantilever_rad_s_, quaternion_i2b_, euler_angular_cantilever_rad_); numerical_integrator_.GetIntegrator()->SetState(propagation_step_s_, state); while (end_time_s - current_propagation_time_s_ - propagation_step_s_ > 1.0e-6) { diff --git a/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp b/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp index 682759f8f..30469c2fd 100644 --- a/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp +++ b/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp @@ -33,10 +33,10 @@ class AttitudeWithCantileverVibration : public Attitude { * @param [in] propagation_step_s: Initial value of propagation step width [sec] * @param [in] simulation_object_name: Simulation object name for Monte-Carlo simulation */ - AttitudeWithCantileverVibration(const s2e::math::Vector<3>& angular_velocity_b_rad_s, const s2e::math::Quaternion& quaternion_i2b, - const s2e::math::Matrix<3, 3>& inertia_tensor_kgm2, const s2e::math::Matrix<3, 3>& inertia_tensor_cantilever_kgm2, + AttitudeWithCantileverVibration(const math::Vector<3>& angular_velocity_b_rad_s, const math::Quaternion& quaternion_i2b, + const math::Matrix<3, 3>& inertia_tensor_kgm2, const math::Matrix<3, 3>& inertia_tensor_cantilever_kgm2, const double damping_ratio_cantilever, const double intrinsic_angular_velocity_cantilever_rad_s, - const s2e::math::Vector<3>& torque_b_Nm, const double propagation_step_s, + const math::Vector<3>& torque_b_Nm, const double propagation_step_s, const std::string& simulation_object_name = "attitude"); /** * @fn ~AttitudeWithCantileverVibration @@ -68,14 +68,14 @@ class AttitudeWithCantileverVibration : public Attitude { * @brief Set parameters for Monte-Carlo simulation * @param [in] mc_simulator: Monte-Carlo simulation executor */ - virtual void SetParameters(const MonteCarloSimulationExecutor& mc_simulator); + virtual void SetParameters(const simulation::MonteCarloSimulationExecutor& mc_simulator); private: double current_propagation_time_s_; //!< current time [sec] - s2e::math::Vector<3> angular_velocity_cantilever_rad_s_{0.0}; //!< Angular velocity of the cantilever with respect to the body frame [rad/s] - s2e::math::Vector<3> euler_angular_cantilever_rad_{0.0}; //!< Euler angle of the cantilever with respect to the body frame [rad/s] + math::Vector<3> angular_velocity_cantilever_rad_s_{0.0}; //!< Angular velocity of the cantilever with respect to the body frame [rad/s] + math::Vector<3> euler_angular_cantilever_rad_{0.0}; //!< Euler angle of the cantilever with respect to the body frame [rad/s] - s2e::numerical_integration::AttitudeWithCantileverVibrationOde attitude_ode_; + AttitudeWithCantileverVibrationOde attitude_ode_; s2e::numerical_integration::NumericalIntegratorManager<13> numerical_integrator_; }; diff --git a/src/dynamics/attitude/controlled_attitude.cpp b/src/dynamics/attitude/controlled_attitude.cpp index 04937978c..a1850b8fb 100644 --- a/src/dynamics/attitude/controlled_attitude.cpp +++ b/src/dynamics/attitude/controlled_attitude.cpp @@ -9,9 +9,9 @@ namespace s2e::dynamics::attitude { -ControlledAttitude::ControlledAttitude(const AttitudeControlMode main_mode, const AttitudeControlMode sub_mode, const s2e::math::Quaternion quaternion_i2b, - const s2e::math::Vector<3> main_target_direction_b, const s2e::math::Vector<3> sub_target_direction_b, - const s2e::math::Matrix<3, 3>& inertia_tensor_kgm2, const LocalCelestialInformation* local_celestial_information, +ControlledAttitude::ControlledAttitude(const AttitudeControlMode main_mode, const AttitudeControlMode sub_mode, const math::Quaternion quaternion_i2b, + const math::Vector<3> main_target_direction_b, const math::Vector<3> sub_target_direction_b, + const math::Matrix<3, 3>& inertia_tensor_kgm2, const LocalCelestialInformation* local_celestial_information, const Orbit* orbit, const std::string& simulation_object_name) : Attitude(inertia_tensor_kgm2, simulation_object_name), main_mode_(main_mode), @@ -55,7 +55,7 @@ void ControlledAttitude::Initialize(void) { } void ControlledAttitude::Propagate(const double end_time_s) { - s2e::math::Vector<3> main_direction_i, sub_direction_i; + math::Vector<3> main_direction_i, sub_direction_i; if (!is_calc_enabled_) return; if (main_mode_ == AttitudeControlMode::kInertialStabilize) { @@ -74,28 +74,28 @@ void ControlledAttitude::Propagate(const double end_time_s) { return; } -s2e::math::Vector<3> ControlledAttitude::CalcTargetDirection_i(AttitudeControlMode mode) { - s2e::math::Vector<3> direction; +math::Vector<3> ControlledAttitude::CalcTargetDirection_i(AttitudeControlMode mode) { + math::Vector<3> direction; if (mode == AttitudeControlMode::kSunPointing) { direction = local_celestial_information_->GetPositionFromSpacecraft_i_m("SUN"); // When the local_celestial_information is not initialized. FIXME: This is temporary codes for attitude initialize. if (direction.CalcNorm() == 0.0) { - s2e::math::Vector<3> sun_position_i_m = local_celestial_information_->GetGlobalInformation().GetPositionFromCenter_i_m("SUN"); - s2e::math::Vector<3> spacecraft_position_i_m = orbit_->GetPosition_i_m(); + math::Vector<3> sun_position_i_m = local_celestial_information_->GetGlobalInformation().GetPositionFromCenter_i_m("SUN"); + math::Vector<3> spacecraft_position_i_m = orbit_->GetPosition_i_m(); direction = sun_position_i_m - spacecraft_position_i_m; } } else if (mode == AttitudeControlMode::kEarthCenterPointing) { direction = local_celestial_information_->GetPositionFromSpacecraft_i_m("EARTH"); // When the local_celestial_information is not initialized. FIXME: This is temporary codes for attitude initialize. if (direction.CalcNorm() == 0.0) { - s2e::math::Vector<3> earth_position_i_m = local_celestial_information_->GetGlobalInformation().GetPositionFromCenter_i_m("EARTH"); - s2e::math::Vector<3> spacecraft_position_i_m = orbit_->GetPosition_i_m(); + math::Vector<3> earth_position_i_m = local_celestial_information_->GetGlobalInformation().GetPositionFromCenter_i_m("EARTH"); + math::Vector<3> spacecraft_position_i_m = orbit_->GetPosition_i_m(); direction = earth_position_i_m - spacecraft_position_i_m; } } else if (mode == AttitudeControlMode::kVelocityDirectionPointing) { direction = orbit_->GetVelocity_i_m_s(); } else if (mode == AttitudeControlMode::kGroundSpeedDirectionPointing) { - s2e::math::Matrix<3, 3> dcm_ecef2eci = local_celestial_information_->GetGlobalInformation().GetEarthRotation().GetDcmJ2000ToEcef().Transpose(); + math::Matrix<3, 3> dcm_ecef2eci = local_celestial_information_->GetGlobalInformation().GetEarthRotation().GetDcmJ2000ToEcef().Transpose(); direction = dcm_ecef2eci * orbit_->GetVelocity_ecef_m_s(); } else if (mode == AttitudeControlMode::kOrbitNormalPointing) { direction = OuterProduct(orbit_->GetPosition_i_m(), orbit_->GetVelocity_i_m_s()); @@ -104,29 +104,29 @@ s2e::math::Vector<3> ControlledAttitude::CalcTargetDirection_i(AttitudeControlMo return direction; } -void ControlledAttitude::PointingControl(const s2e::math::Vector<3> main_direction_i, const s2e::math::Vector<3> sub_direction_i) { +void ControlledAttitude::PointingControl(const math::Vector<3> main_direction_i, const math::Vector<3> sub_direction_i) { // Calc DCM ECI->Target - s2e::math::Matrix<3, 3> dcm_t2i = CalcDcm(main_direction_i, sub_direction_i); + math::Matrix<3, 3> dcm_t2i = CalcDcm(main_direction_i, sub_direction_i); // Calc DCM Target->body - s2e::math::Matrix<3, 3> dcm_t2b = CalcDcm(main_target_direction_b_, sub_target_direction_b_); + math::Matrix<3, 3> dcm_t2b = CalcDcm(main_target_direction_b_, sub_target_direction_b_); // Calc DCM ECI->body - s2e::math::Matrix<3, 3> dcm_i2b = dcm_t2b * dcm_t2i.Transpose(); + math::Matrix<3, 3> dcm_i2b = dcm_t2b * dcm_t2i.Transpose(); // Convert to Quaternion - quaternion_i2b_ = s2e::math::Quaternion::ConvertFromDcm(dcm_i2b); + quaternion_i2b_ = math::Quaternion::ConvertFromDcm(dcm_i2b); } -s2e::math::Matrix<3, 3> ControlledAttitude::CalcDcm(const s2e::math::Vector<3> main_direction, const s2e::math::Vector<3> sub_direction) { +math::Matrix<3, 3> ControlledAttitude::CalcDcm(const math::Vector<3> main_direction, const math::Vector<3> sub_direction) { // Calc basis vectors - s2e::math::Vector<3> ex, ey, ez; + math::Vector<3> ex, ey, ez; ex = main_direction; - s2e::math::Vector<3> tmp1 = OuterProduct(ex, sub_direction); - s2e::math::Vector<3> tmp2 = OuterProduct(tmp1, ex); + math::Vector<3> tmp1 = OuterProduct(ex, sub_direction); + math::Vector<3> tmp2 = OuterProduct(tmp1, ex); ey = tmp2.CalcNormalizedVector(); - s2e::math::Vector<3> tmp3 = OuterProduct(ex, ey); + math::Vector<3> tmp3 = OuterProduct(ex, ey); ez = tmp3.CalcNormalizedVector(); // Generate DCM - s2e::math::Matrix<3, 3> dcm; + math::Matrix<3, 3> dcm; for (int i = 0; i < 3; i++) { dcm[i][0] = ex[i]; dcm[i][1] = ey[i]; @@ -154,24 +154,24 @@ AttitudeControlMode ConvertStringToCtrlMode(const std::string mode) { } void ControlledAttitude::CalcAngularVelocity(const double current_time_s) { - s2e::math::Vector<3> controlled_torque_b_Nm(0.0); + math::Vector<3> controlled_torque_b_Nm(0.0); if (previous_calc_time_s_ > 0.0) { double time_diff_sec = current_time_s - previous_calc_time_s_; - s2e::math::Quaternion prev_q_b2i = previous_quaternion_i2b_.Conjugate(); - s2e::math::Quaternion q_diff = prev_q_b2i * quaternion_i2b_; + math::Quaternion prev_q_b2i = previous_quaternion_i2b_.Conjugate(); + math::Quaternion q_diff = prev_q_b2i * quaternion_i2b_; q_diff = (2.0 / time_diff_sec) * q_diff; - s2e::math::Vector<3> angular_acc_b_rad_s2_; + math::Vector<3> angular_acc_b_rad_s2_; for (int i = 0; i < 3; i++) { angular_velocity_b_rad_s_[i] = q_diff[i]; angular_acc_b_rad_s2_[i] = (previous_omega_b_rad_s_[i] - angular_velocity_b_rad_s_[i]) / time_diff_sec; } - s2e::math::Matrix<3, 3> inv_inertia_tensor = CalcInverseMatrix(inertia_tensor_kgm2_); + math::Matrix<3, 3> inv_inertia_tensor = CalcInverseMatrix(inertia_tensor_kgm2_); controlled_torque_b_Nm = inv_inertia_tensor * angular_acc_b_rad_s2_; } else { - angular_velocity_b_rad_s_ = s2e::math::Vector<3>(0.0); - controlled_torque_b_Nm = s2e::math::Vector<3>(0.0); + angular_velocity_b_rad_s_ = math::Vector<3>(0.0); + controlled_torque_b_Nm = math::Vector<3>(0.0); } // Add torque with disturbances AddTorque_b_Nm(controlled_torque_b_Nm); diff --git a/src/dynamics/attitude/controlled_attitude.hpp b/src/dynamics/attitude/controlled_attitude.hpp index 97154f376..0b1b65ac7 100644 --- a/src/dynamics/attitude/controlled_attitude.hpp +++ b/src/dynamics/attitude/controlled_attitude.hpp @@ -56,9 +56,9 @@ class ControlledAttitude : public Attitude { * @param [in] orbit: Orbit * @param [in] simulation_object_name: Simulation object name for Monte-Carlo simulation */ - ControlledAttitude(const AttitudeControlMode main_mode, const AttitudeControlMode sub_mode, const s2e::math::Quaternion quaternion_i2b, - const s2e::math::Vector<3> main_target_direction_b, const s2e::math::Vector<3> sub_target_direction_b, - const s2e::math::Matrix<3, 3>& inertia_tensor_kgm2, const LocalCelestialInformation* local_celestial_information, const Orbit* orbit, + ControlledAttitude(const AttitudeControlMode main_mode, const AttitudeControlMode sub_mode, const math::Quaternion quaternion_i2b, + const math::Vector<3> main_target_direction_b, const math::Vector<3> sub_target_direction_b, + const math::Matrix<3, 3>& inertia_tensor_kgm2, const environment::LocalCelestialInformation* local_celestial_information, const orbit::Orbit* orbit, const std::string& simulation_object_name = "attitude"); /** * @fn ~ControlledAttitude @@ -81,17 +81,17 @@ class ControlledAttitude : public Attitude { * @fn SetQuaternion_i2t * @brief Set quaternion for INERTIAL_STABILIZE mode */ - inline void SetQuaternion_i2t(const s2e::math::Quaternion quaternion_i2t) { quaternion_i2b_ = quaternion_i2t; } + inline void SetQuaternion_i2t(const math::Quaternion quaternion_i2t) { quaternion_i2b_ = quaternion_i2t; } /** * @fn SetMainTargetDirection_b * @brief Set main target direction on the body fixed frame */ - inline void SetMainTargetDirection_b(s2e::math::Vector<3> main_target_direction_b) { main_target_direction_b_ = main_target_direction_b; } + inline void SetMainTargetDirection_b(math::Vector<3> main_target_direction_b) { main_target_direction_b_ = main_target_direction_b; } /** * @fn SetSubTargetDirection_b * @brief Set sub target direction on the body fixed frame */ - inline void SetSubTargetDirection_b(s2e::math::Vector<3> sub_target_direction_b) { sub_target_direction_b_ = sub_target_direction_b; } + inline void SetSubTargetDirection_b(math::Vector<3> sub_target_direction_b) { sub_target_direction_b_ = sub_target_direction_b; } /** * @fn Propagate @@ -103,18 +103,18 @@ class ControlledAttitude : public Attitude { private: AttitudeControlMode main_mode_; //!< Main control mode AttitudeControlMode sub_mode_; //!< Sub control mode - s2e::math::Vector<3> main_target_direction_b_; //!< Main target direction on the body fixed frame - s2e::math::Vector<3> sub_target_direction_b_; //!< Sub target direction on tge body fixed frame + math::Vector<3> main_target_direction_b_; //!< Main target direction on the body fixed frame + math::Vector<3> sub_target_direction_b_; //!< Sub target direction on tge body fixed frame double previous_calc_time_s_ = -1.0; //!< Previous time of velocity calculation [sec] - s2e::math::Quaternion previous_quaternion_i2b_; //!< Previous quaternion - s2e::math::Vector<3> previous_omega_b_rad_s_; //!< Previous angular velocity [rad/s] + math::Quaternion previous_quaternion_i2b_; //!< Previous quaternion + math::Vector<3> previous_omega_b_rad_s_; //!< Previous angular velocity [rad/s] - const double kMinDirectionAngle_rad = 30.0 * s2e::math::deg_to_rad; //!< Minimum angle b/w main and sub direction + const double kMinDirectionAngle_rad = 30.0 * math::deg_to_rad; //!< Minimum angle b/w main and sub direction // TODO Change with ini file // Inputs - const LocalCelestialInformation* local_celestial_information_; //!< Local celestial information - const Orbit* orbit_; //!< Orbit information + const environment::LocalCelestialInformation* local_celestial_information_; //!< Local celestial information + const orbit::Orbit* orbit_; //!< Orbit information // Local functions /** @@ -128,14 +128,14 @@ class ControlledAttitude : public Attitude { * @param [in] mode: Attitude control mode * @return Target direction at the inertia frame */ - s2e::math::Vector<3> CalcTargetDirection_i(AttitudeControlMode mode); + math::Vector<3> CalcTargetDirection_i(AttitudeControlMode mode); /** * @fn PointingControl * @brief Calculate attitude quaternion * @param [in] main_direction_i: Main target direction in the inertial frame * @param [in] sub_direction_i: Sub target direction in the inertial frame */ - void PointingControl(const s2e::math::Vector<3> main_direction_i, const s2e::math::Vector<3> sub_direction_i); + void PointingControl(const math::Vector<3> main_direction_i, const math::Vector<3> sub_direction_i); /** * @fn CalcAngularVelocity * @brief Calculate angular velocity @@ -148,7 +148,7 @@ class ControlledAttitude : public Attitude { * @param [in] main_direction: Main target direction * @param [in] sub_direction: Sub target direction */ - s2e::math::Matrix<3, 3> CalcDcm(const s2e::math::Vector<3> main_direction, const s2e::math::Vector<3> sub_direction); + math::Matrix<3, 3> CalcDcm(const math::Vector<3> main_direction, const math::Vector<3> sub_direction); }; } // namespace s2e::dynamics::attitude diff --git a/src/dynamics/attitude/initialize_attitude.cpp b/src/dynamics/attitude/initialize_attitude.cpp index 875bb92f2..8460ea988 100644 --- a/src/dynamics/attitude/initialize_attitude.cpp +++ b/src/dynamics/attitude/initialize_attitude.cpp @@ -9,7 +9,7 @@ namespace s2e::dynamics::attitude { Attitude* InitAttitude(std::string file_name, const Orbit* orbit, const LocalCelestialInformation* local_celestial_information, - const double step_width_s, const s2e::math::Matrix<3, 3>& inertia_tensor_kgm2, const int spacecraft_id) { + const double step_width_s, const math::Matrix<3, 3>& inertia_tensor_kgm2, const int spacecraft_id) { setting_file_reader::IniAccess ini_file(file_name); const char* section_ = "ATTITUDE"; std::string mc_name = "attitude" + std::to_string(spacecraft_id); @@ -18,9 +18,9 @@ Attitude* InitAttitude(std::string file_name, const Orbit* orbit, const LocalCel const std::string propagate_mode = ini_file.ReadString(section_, "propagate_mode"); const std::string initialize_mode = ini_file.ReadString(section_, "initialize_mode"); - s2e::math::Vector<3> omega_b; - s2e::math::Quaternion quaternion_i2b; - s2e::math::Vector<3> torque_b; + math::Vector<3> omega_b; + math::Quaternion quaternion_i2b; + math::Vector<3> torque_b; if (initialize_mode == "CONTROLLED") { // Initialize with Controlled attitude (attitude_tmp temporary used) setting_file_reader::IniAccess ini_file_ca(file_name); @@ -32,7 +32,7 @@ Attitude* InitAttitude(std::string file_name, const Orbit* orbit, const LocalCel AttitudeControlMode sub_mode = ConvertStringToCtrlMode(sub_mode_in); ini_file_ca.ReadQuaternion(section_, "initial_quaternion_i2b", quaternion_i2b); - s2e::math::Vector<3> main_target_direction_b, sub_target_direction_b; + math::Vector<3> main_target_direction_b, sub_target_direction_b; ini_file_ca.ReadVector(section_ca_, "main_pointing_direction_b", main_target_direction_b); ini_file_ca.ReadVector(section_ca_, "sub_pointing_direction_b", sub_target_direction_b); std::string mc_name_temp = section_ + std::to_string(spacecraft_id) + "_TEMP"; @@ -40,8 +40,8 @@ Attitude* InitAttitude(std::string file_name, const Orbit* orbit, const LocalCel inertia_tensor_kgm2, local_celestial_information, orbit, mc_name_temp); attitude_temp->Propagate(step_width_s); quaternion_i2b = attitude_temp->GetQuaternion_i2b(); - omega_b = s2e::math::Vector<3>(0.0); - torque_b = s2e::math::Vector<3>(0.0); + omega_b = math::Vector<3>(0.0); + torque_b = math::Vector<3>(0.0); } else { // Including the case: initialize_mode == "MANUAL" ini_file.ReadVector(section_, "initial_angular_velocity_b_rad_s", omega_b); @@ -56,8 +56,8 @@ Attitude* InitAttitude(std::string file_name, const Orbit* orbit, const LocalCel setting_file_reader::IniAccess ini_structure(ini_structure_name); const char* section_cantilever = "CANTILEVER_PARAMETERS"; - s2e::math::Matrix<3, 3> inertia_tensor_cantilever_kgm2; - s2e::math::Vector<9> inertia_vec; + math::Matrix<3, 3> inertia_tensor_cantilever_kgm2; + math::Vector<9> inertia_vec; ini_structure.ReadVector(section_cantilever, "inertia_tensor_cantilever_kgm2", inertia_vec); for (int i = 0; i < 3; i++) { for (int j = 0; j < 3; j++) { @@ -80,7 +80,7 @@ Attitude* InitAttitude(std::string file_name, const Orbit* orbit, const LocalCel AttitudeControlMode main_mode = ConvertStringToCtrlMode(main_mode_in); AttitudeControlMode sub_mode = ConvertStringToCtrlMode(sub_mode_in); ini_file_ca.ReadQuaternion(section_, "initial_quaternion_i2b", quaternion_i2b); - s2e::math::Vector<3> main_target_direction_b, sub_target_direction_b; + math::Vector<3> main_target_direction_b, sub_target_direction_b; ini_file_ca.ReadVector(section_ca_, "main_pointing_direction_b", main_target_direction_b); ini_file_ca.ReadVector(section_ca_, "sub_pointing_direction_b", sub_target_direction_b); diff --git a/src/dynamics/attitude/initialize_attitude.hpp b/src/dynamics/attitude/initialize_attitude.hpp index fae3b99ab..a03141105 100644 --- a/src/dynamics/attitude/initialize_attitude.hpp +++ b/src/dynamics/attitude/initialize_attitude.hpp @@ -23,8 +23,8 @@ namespace s2e::dynamics::attitude { * @param [in] inertia_tensor_kgm2: Inertia tensor [kg m^2] * @param [in] spacecraft_id: Satellite ID */ -Attitude* InitAttitude(std::string file_name, const Orbit* orbit, const LocalCelestialInformation* local_celestial_information, - const double step_width_s, const s2e::math::Matrix<3, 3>& inertia_tensor_kgm2, const int spacecraft_id); +Attitude* InitAttitude(std::string file_name, const orbit::Orbit* orbit, const environment::LocalCelestialInformation* local_celestial_information, + const double step_width_s, const math::Matrix<3, 3>& inertia_tensor_kgm2, const int spacecraft_id); } // namespace s2e::dynamics::attitude diff --git a/src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp b/src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp index b0cc7711c..84591e9b3 100644 --- a/src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp +++ b/src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp @@ -13,15 +13,13 @@ namespace s2e::dynamics::attitude { -using s2e::numerical_integration - /** * @class AttitudeWithCantileverVibrationOde * @brief Class to implement Ordinary Differential Equations for Attitude with Cantilever Vibration * @note State variables in this ODE compose the following elenents (in order): angular_velocity_b_rad_s_ (3-dimension), * angular_velocity_cantilever_rad_s_ (3-dimension), quaternion_i2b_ (4-dmension), and euler_angular_cantilever_rad_ (3-dimension) */ -class AttitudeWithCantileverVibrationOde : public InterfaceOde<13> { +class AttitudeWithCantileverVibrationOde : public numerical_integration::InterfaceOde<13> { public: /** * @fn SetStateFromPhysicalQuantities @@ -31,10 +29,10 @@ class AttitudeWithCantileverVibrationOde : public InterfaceOde<13> { * @param [in] quaternion_i2b: True attitude of the spacecraft expressed by quaternion from the inertial frame to the body-fixed frame * @param [in] euler_angule_cantilever_rad: Euler angle of the cantilever@ body-fixed frame [rad] */ - s2e::math::Vector<13> SetStateFromPhysicalQuantities(const s2e::math::Vector<3> angular_velocity_b_rad_s, - const s2e::math::Vector<3> angular_velocity_cantilever_rad_s, const s2e::math::Quaternion quaternion_i2b, - const s2e::math::Vector<3> euler_angule_cantilever_rad) const { - s2e::math::Vector<13> state; + math::Vector<13> SetStateFromPhysicalQuantities(const math::Vector<3> angular_velocity_b_rad_s, + const math::Vector<3> angular_velocity_cantilever_rad_s, const math::Quaternion quaternion_i2b, + const math::Vector<3> euler_angule_cantilever_rad) const { + math::Vector<13> state; for (size_t i = 0; i < 3; i++) { state[i] = angular_velocity_b_rad_s[i]; } @@ -55,9 +53,9 @@ class AttitudeWithCantileverVibrationOde : public InterfaceOde<13> { * @brief Set physical quantities from state acquired by calculation of the ordinary differential equation * @param [in] state: state variables used to calculate the ordinary differential equation */ - void SetPhysicalQuantitiesFromState(const s2e::math::Vector<13> state, s2e::math::Vector<3>& angular_velocity_b_rad_s, - s2e::math::Vector<3>& angular_velocity_cantilever_rad_s, s2e::math::Quaternion& quaternion_i2b, - s2e::math::Vector<3>& euler_angular_cantilever_rad) const { + void SetPhysicalQuantitiesFromState(const math::Vector<13> state, math::Vector<3>& angular_velocity_b_rad_s, + math::Vector<3>& angular_velocity_cantilever_rad_s, math::Quaternion& quaternion_i2b, + math::Vector<3>& euler_angular_cantilever_rad) const { for (size_t i = 0; i < 3; i++) { angular_velocity_b_rad_s[i] = state[i]; } @@ -72,27 +70,27 @@ class AttitudeWithCantileverVibrationOde : public InterfaceOde<13> { } } - s2e::math::Vector<13> DerivativeFunction(const double time_s, const s2e::math::Vector<13>& state) const override { + math::Vector<13> DerivativeFunction(const double time_s, const math::Vector<13>& state) const override { UNUSED(time_s); - s2e::math::Vector<13> output; + math::Vector<13> output; - s2e::math::Vector<3> omega_b_rad_s; - s2e::math::Vector<3> omega_cantilever_rad_s; - s2e::math::Quaternion quaternion_i2b; - s2e::math::Vector<3> euler_angle_cantilever_rad; + math::Vector<3> omega_b_rad_s; + math::Vector<3> omega_cantilever_rad_s; + math::Quaternion quaternion_i2b; + math::Vector<3> euler_angle_cantilever_rad; SetPhysicalQuantitiesFromState(state, omega_b_rad_s, omega_cantilever_rad_s, quaternion_i2b, euler_angle_cantilever_rad); - s2e::math::Vector<3> angular_momentum_total_b_Nms = (previous_inertia_tensor_kgm2_ * omega_b_rad_s) + angular_momentum_reaction_wheel_b_Nms_; - s2e::math::Vector<3> net_torque_b_Nm = torque_b_Nm_ - s2e::math::OuterProduct(omega_b_rad_s, angular_momentum_total_b_Nms) - torque_inertia_tensor_b_Nm_; + math::Vector<3> angular_momentum_total_b_Nms = (previous_inertia_tensor_kgm2_ * omega_b_rad_s) + angular_momentum_reaction_wheel_b_Nms_; + math::Vector<3> net_torque_b_Nm = torque_b_Nm_ - math::OuterProduct(omega_b_rad_s, angular_momentum_total_b_Nms) - torque_inertia_tensor_b_Nm_; - s2e::math::Vector<3> angular_accelaration_cantilever_rad_s2 = + math::Vector<3> angular_accelaration_cantilever_rad_s2 = -(inverse_equivalent_inertia_tensor_cantilever_ * (attenuation_coefficient_ * omega_cantilever_rad_s + spring_coefficient_ * euler_angle_cantilever_rad)) - inverse_inertia_tensor_ * net_torque_b_Nm; - s2e::math::Vector<3> rhs = inverse_inertia_tensor_ * (net_torque_b_Nm - inertia_tensor_cantilever_kgm2_ * angular_accelaration_cantilever_rad_s2); + math::Vector<3> rhs = inverse_inertia_tensor_ * (net_torque_b_Nm - inertia_tensor_cantilever_kgm2_ * angular_accelaration_cantilever_rad_s2); for (size_t i = 0; i < 3; ++i) { output[i] = rhs[i]; @@ -102,7 +100,7 @@ class AttitudeWithCantileverVibrationOde : public InterfaceOde<13> { output[i + 3] = angular_accelaration_cantilever_rad_s2[i]; } - s2e::math::Vector<4> d_quaternion = 0.5 * CalcAngularVelocityMatrix(omega_b_rad_s) * (s2e::math::Vector<4>(quaternion_i2b)); + math::Vector<4> d_quaternion = 0.5 * CalcAngularVelocityMatrix(omega_b_rad_s) * (math::Vector<4>(quaternion_i2b)); for (size_t i = 0; i < 4; i++) { output[i + 6] = d_quaternion[i]; @@ -113,7 +111,7 @@ class AttitudeWithCantileverVibrationOde : public InterfaceOde<13> { } // The function is used to output the derivative of each corresponding physical quantity. - output = SetStateFromPhysicalQuantities(rhs, angular_accelaration_cantilever_rad_s2, s2e::math::Quaternion(d_quaternion), omega_cantilever_rad_s); + output = SetStateFromPhysicalQuantities(rhs, angular_accelaration_cantilever_rad_s2, math::Quaternion(d_quaternion), omega_cantilever_rad_s); return output; } @@ -133,27 +131,27 @@ class AttitudeWithCantileverVibrationOde : public InterfaceOde<13> { * @fn GetTorqueInertiaTensor_b_Nm * @brief Get torque generated by inertia tensor [Nm] */ - inline s2e::math::Vector<3> GetTorqueInertiaTensor_b_Nm() { return torque_inertia_tensor_b_Nm_; } + inline math::Vector<3> GetTorqueInertiaTensor_b_Nm() { return torque_inertia_tensor_b_Nm_; } /** * @fn GetInverseInertiaTensor * @brief Get inverse of inertia tensor */ - inline s2e::math::Matrix<3, 3> GetInverseInertiaTensor() { return inverse_inertia_tensor_; } + inline math::Matrix<3, 3> GetInverseInertiaTensor() { return inverse_inertia_tensor_; } /** * @fn GetPreviousInertiaTensor_kgm2 * @brief Get previous inertia tensor [kgm2] */ - inline s2e::math::Matrix<3, 3> GetPreviousInertiaTensor_kgm2() { return previous_inertia_tensor_kgm2_; } + inline math::Matrix<3, 3> GetPreviousInertiaTensor_kgm2() { return previous_inertia_tensor_kgm2_; } /** * @fn GetInertiaTensorCantilever_kgm2 * @brief Get inertia tensor of the cantilever [kgm2] */ - inline s2e::math::Matrix<3, 3> GetInertiaTensorCantilever_kgm2() { return inertia_tensor_cantilever_kgm2_; } + inline math::Matrix<3, 3> GetInertiaTensorCantilever_kgm2() { return inertia_tensor_cantilever_kgm2_; } /** * @fn GetInverseEquivalentInertiaTensorCantilever * @brief Get inverse of inertia tensor of the cantilever */ - inline s2e::math::Matrix<3, 3> GetInverseEquivalentInertiaTensorCantilever() { return inverse_equivalent_inertia_tensor_cantilever_; } + inline math::Matrix<3, 3> GetInverseEquivalentInertiaTensorCantilever() { return inverse_equivalent_inertia_tensor_cantilever_; } // Setter /** @@ -170,58 +168,58 @@ class AttitudeWithCantileverVibrationOde : public InterfaceOde<13> { * @fn SetTorque_b_Nm * @brief Set torque acting on the spacecraft on the body fixed frame [Nm] */ - inline void SetTorque_b_Nm(const s2e::math::Vector<3> torque_b_Nm) { torque_b_Nm_ = torque_b_Nm; } + inline void SetTorque_b_Nm(const math::Vector<3> torque_b_Nm) { torque_b_Nm_ = torque_b_Nm; } /** * @fn SetTorqueInertiaTensor_b_Nm * @brief Set torque generated by inertia tensor [Nm] */ - inline void SetTorqueInertiaTensor_b_Nm(const s2e::math::Vector<3> torque_inertia_tensor_b_Nm) { + inline void SetTorqueInertiaTensor_b_Nm(const math::Vector<3> torque_inertia_tensor_b_Nm) { torque_inertia_tensor_b_Nm_ = torque_inertia_tensor_b_Nm; } /** * @fn SetAngularMomentumReactionWheel_b_Nms * @brief Set angular momentum of reaction wheel in the body fixed frame [Nms] */ - inline void SetAngularMomentumReactionWheel_b_Nms(const s2e::math::Vector<3> angular_momentum_reaction_wheel_b_Nms) { + inline void SetAngularMomentumReactionWheel_b_Nms(const math::Vector<3> angular_momentum_reaction_wheel_b_Nms) { angular_momentum_reaction_wheel_b_Nms_ = angular_momentum_reaction_wheel_b_Nms; } /** * @fn SetInverseInertiaTensor * @brief Set inverse of inertia tensor */ - inline void SetInverseInertiaTensor(const s2e::math::Matrix<3, 3> inverse_inertia_tensor) { inverse_inertia_tensor_ = inverse_inertia_tensor; } + inline void SetInverseInertiaTensor(const math::Matrix<3, 3> inverse_inertia_tensor) { inverse_inertia_tensor_ = inverse_inertia_tensor; } /** * @fn SetPreviousInertiaTensor_kgm2 * @brief Set previous inertia tensor [kgm2] */ - inline void SetPreviousInertiaTensor_kgm2(const s2e::math::Matrix<3, 3> previous_inertia_tensor_kgm2) { + inline void SetPreviousInertiaTensor_kgm2(const math::Matrix<3, 3> previous_inertia_tensor_kgm2) { previous_inertia_tensor_kgm2_ = previous_inertia_tensor_kgm2; } /** * @fn SetInertiaTensorCantilever_kgm2 * @brief Set inertia tensor of the cantilever [kgm2] */ - inline void SetInertiaTensorCantilever_kgm2(const s2e::math::Matrix<3, 3> inertia_tensor_cantilever_kgm2) { + inline void SetInertiaTensorCantilever_kgm2(const math::Matrix<3, 3> inertia_tensor_cantilever_kgm2) { inertia_tensor_cantilever_kgm2_ = inertia_tensor_cantilever_kgm2; } /** * @fn SetInverseEquivalentInertiaTensorCantilever * @brief Set inverse of inertia tensor of the cantilever */ - inline void SetInverseEquivalentInertiaTensorCantilever(const s2e::math::Matrix<3, 3> inverse_equivalent_inertia_tensor_cantilever) { + inline void SetInverseEquivalentInertiaTensorCantilever(const math::Matrix<3, 3> inverse_equivalent_inertia_tensor_cantilever) { inverse_equivalent_inertia_tensor_cantilever_ = inverse_equivalent_inertia_tensor_cantilever; } protected: double attenuation_coefficient_ = 0.0; //!< Attenuation coefficient double spring_coefficient_ = 0.0; //!< Spring coefficient - s2e::math::Vector<3> torque_b_Nm_{0.0}; //!< Torque in the body fixed frame [Nm] - s2e::math::Vector<3> torque_inertia_tensor_b_Nm_{0.0}; //!< Torque generated by inertia tensor [Nm] - s2e::math::Vector<3> angular_momentum_reaction_wheel_b_Nms_{0.0}; //!< Angular momentum of reaction wheel in the body fixed frame [Nms] - s2e::math::Matrix<3, 3> inverse_inertia_tensor_{0.0}; //!< Inverse of inertia tensor - s2e::math::Matrix<3, 3> previous_inertia_tensor_kgm2_{0.0}; //!< Previous inertia tensor [kgm2] - s2e::math::Matrix<3, 3> inertia_tensor_cantilever_kgm2_{0.0}; //!< Inertia tensor of the cantilever [kgm2] - s2e::math::Matrix<3, 3> inverse_equivalent_inertia_tensor_cantilever_{0.0}; //!< Inverse of inertia tensor of the cantilever + math::Vector<3> torque_b_Nm_{0.0}; //!< Torque in the body fixed frame [Nm] + math::Vector<3> torque_inertia_tensor_b_Nm_{0.0}; //!< Torque generated by inertia tensor [Nm] + math::Vector<3> angular_momentum_reaction_wheel_b_Nms_{0.0}; //!< Angular momentum of reaction wheel in the body fixed frame [Nms] + math::Matrix<3, 3> inverse_inertia_tensor_{0.0}; //!< Inverse of inertia tensor + math::Matrix<3, 3> previous_inertia_tensor_kgm2_{0.0}; //!< Previous inertia tensor [kgm2] + math::Matrix<3, 3> inertia_tensor_cantilever_kgm2_{0.0}; //!< Inertia tensor of the cantilever [kgm2] + math::Matrix<3, 3> inverse_equivalent_inertia_tensor_cantilever_{0.0}; //!< Inverse of inertia tensor of the cantilever }; } // namespace s2e::dynamics::attitude diff --git a/src/dynamics/dynamics.cpp b/src/dynamics/dynamics.cpp index ea722d28d..e87f57dd0 100644 --- a/src/dynamics/dynamics.cpp +++ b/src/dynamics/dynamics.cpp @@ -9,20 +9,19 @@ namespace s2e::dynamics { -dynamics::Dynamics::dynamics::Dynamics(const SimulationConfiguration* simulation_configuration, const SimulationTime* simulation_time, - const LocalEnvironment* local_environment, const int spacecraft_id, Structure* structure, - RelativeInformation* relative_information) +Dynamics(const simulation::SimulationConfiguration* simulation_configuration, const environment::SimulationTime* simulation_time, const environment::LocalEnvironment* local_environment, + const int spacecraft_id, simulation::Structure* structure, simulation::RelativeInformation* relative_information) : structure_(structure), local_environment_(local_environment) { Initialize(simulation_configuration, simulation_time, spacecraft_id, structure, relative_information); } -dynamics::Dynamics::~dynamics::Dynamics() { +Dynamics::~dynamics::Dynamics() { delete attitude_; delete orbit_; delete temperature_; } -void dynamics::Dynamics::Initialize(const SimulationConfiguration* simulation_configuration, const SimulationTime* simulation_time, const int spacecraft_id, +void Dynamics::Initialize(const SimulationConfiguration* simulation_configuration, const SimulationTime* simulation_time, const int spacecraft_id, Structure* structure, RelativeInformation* relative_information) { const LocalCelestialInformation& local_celestial_information = local_environment_->GetCelestialInformation(); // Initialize @@ -38,7 +37,7 @@ void dynamics::Dynamics::Initialize(const SimulationConfiguration* simulation_co orbit_->UpdateByAttitude(attitude_->GetQuaternion_i2b()); } -void dynamics::Dynamics::Update(const SimulationTime* simulation_time, const LocalCelestialInformation* local_celestial_information) { +void Dynamics::Update(const SimulationTime* simulation_time, const LocalCelestialInformation* local_celestial_information) { // Attitude propagation if (simulation_time->GetAttitudePropagateFlag()) { attitude_->Propagate(simulation_time->GetElapsedTime_s()); @@ -56,13 +55,13 @@ void dynamics::Dynamics::Update(const SimulationTime* simulation_time, const Loc } } -void dynamics::Dynamics::ClearForceTorque(void) { - s2e::math::Vector<3> zero(0.0); +void Dynamics::ClearForceTorque(void) { + math::Vector<3> zero(0.0); attitude_->SetTorque_b_Nm(zero); orbit_->SetAcceleration_i_m_s2(zero); } -void dynamics::Dynamics::LogSetup(Logger& logger) { +void Dynamics::LogSetup(Logger& logger) { logger.AddLogList(attitude_); logger.AddLogList(orbit_); logger.AddLogList(temperature_); diff --git a/src/dynamics/dynamics.hpp b/src/dynamics/dynamics.hpp index 27797a506..0681d6d4c 100644 --- a/src/dynamics/dynamics.hpp +++ b/src/dynamics/dynamics.hpp @@ -38,8 +38,8 @@ class Dynamics { * @param [in] structure: Structure of the spacecraft * @param [in] relative_information: Relative information */ - Dynamics(const SimulationConfiguration* simulation_configuration, const SimulationTime* simulation_time, const LocalEnvironment* local_environment, - const int spacecraft_id, Structure* structure, RelativeInformation* relative_information = (RelativeInformation*)nullptr); + Dynamics(const simulation::SimulationConfiguration* simulation_configuration, const environment::SimulationTime* simulation_time, const environment::LocalEnvironment* local_environment, + const int spacecraft_id, simulation::Structure* structure, simulation::RelativeInformation* relative_information = (simulation::RelativeInformation*)nullptr); /** * @fn ~Dynamics * @brief Destructor @@ -52,26 +52,26 @@ class Dynamics { * @param [in] simulation_time: Simulation time * @param [in] local_celestial_information: Local celestial information */ - void Update(const SimulationTime* simulation_time, const LocalCelestialInformation* local_celestial_information); + void Update(const simulation::SimulationTime* simulation_time, const environment::LocalCelestialInformation* local_celestial_information); /** * @fn LogSetup * @brief Log setup for dynamics calculation */ - void LogSetup(Logger& logger); + void LogSetup(logger::Logger& logger); /** * @fn AddTorque_b_Nm * @brief Add input torque for the attitude dynamics propagation * @param [in] torque_b_Nm: Torque in the body fixed frame [Nm] */ - inline void AddTorque_b_Nm(s2e::math::Vector<3> torque_b_Nm) { attitude_->AddTorque_b_Nm(torque_b_Nm); } + inline void AddTorque_b_Nm(math::Vector<3> torque_b_Nm) { attitude_->AddTorque_b_Nm(torque_b_Nm); } /** * @fn AddForce_b_N * @brief Add input force for the orbit dynamics propagation * @param [in] force_b_N: Force in the body fixed frame [N] */ - inline void AddForce_b_N(s2e::math::Vector<3> force_b_N) { + inline void AddForce_b_N(math::Vector<3> force_b_N) { orbit_->AddForce_b_N(force_b_N, attitude_->GetQuaternion_i2b(), structure_->GetKinematicsParameters().GetMass_kg()); } /** @@ -79,7 +79,7 @@ class Dynamics { * @brief Add input acceleration for the orbit dynamics propagation * @param [in] acceleration_i_m_s2: Acceleration in the inertial fixed frame [N] */ - inline void AddAcceleration_i_m_s2(s2e::math::Vector<3> acceleration_i_m_s2) { orbit_->AddAcceleration_i_m_s2(acceleration_i_m_s2); } + inline void AddAcceleration_i_m_s2(math::Vector<3> acceleration_i_m_s2) { orbit_->AddAcceleration_i_m_s2(acceleration_i_m_s2); } /** * @fn ClearForceTorque @@ -91,29 +91,29 @@ class Dynamics { * @fn GetAttitude * @brief Return Attitude class */ - inline const Attitude& GetAttitude() const { return *attitude_; } + inline const attitude::Attitude& GetAttitude() const { return *attitude_; } /** * @fn GetOrbit * @brief Return Orbit class */ - inline const Orbit& GetOrbit() const { return *orbit_; } + inline const orbit::Orbit& GetOrbit() const { return *orbit_; } /** * @fn GetTemperature * @brief Return Temperature class */ - inline const Temperature& GetTemperature() const { return *temperature_; } + inline const thermal::Temperature& GetTemperature() const { return *temperature_; } /** * @fn SetAttitude * @brief Return Attitude class to change the Attitude */ - inline Attitude& SetAttitude() const { return *attitude_; } + inline attitude::Attitude& SetAttitude() const { return *attitude_; } private: - Attitude* attitude_; //!< Attitude dynamics - Orbit* orbit_; //!< Orbit dynamics - Temperature* temperature_; //!< Thermal dynamics - const Structure* structure_; //!< Structure information - const LocalEnvironment* local_environment_; //!< Local environment + attitude::Attitude* attitude_; //!< Attitude dynamics + orbit::Orbit* orbit_; //!< Orbit dynamics + thermal::Temperature* temperature_; //!< Thermal dynamics + const simulation::Structure* structure_; //!< Structure information + const environment::LocalEnvironment* local_environment_; //!< Local environment /** * @fn Initialize @@ -125,8 +125,8 @@ class Dynamics { * @param [in] structure: Structure of the spacecraft * @param [in] relative_information: Relative information */ - void Initialize(const SimulationConfiguration* simulation_configuration, const SimulationTime* simulation_time, const int spacecraft_id, - Structure* structure, RelativeInformation* relative_information = (RelativeInformation*)nullptr); + void Initialize(const simulation::SimulationConfiguration* simulation_configuration, const environment::SimulationTime* simulation_time, const int spacecraft_id, + simulation::Structure* structure, simulation::RelativeInformation* relative_information = (simulation::RelativeInformation*)nullptr); }; } // namespace s2e::dynamics diff --git a/src/dynamics/orbit/encke_orbit_propagation.cpp b/src/dynamics/orbit/encke_orbit_propagation.cpp index b846fa37c..ac661f705 100644 --- a/src/dynamics/orbit/encke_orbit_propagation.cpp +++ b/src/dynamics/orbit/encke_orbit_propagation.cpp @@ -12,10 +12,10 @@ namespace s2e::dynamics::orbit { EnckeOrbitPropagation::EnckeOrbitPropagation(const CelestialInformation* celestial_information, const double gravity_constant_m3_s2, - const double propagation_step_s, const double current_time_jd, const s2e::math::Vector<3> position_i_m, - const s2e::math::Vector<3> velocity_i_m_s, const double error_tolerance) + const double propagation_step_s, const double current_time_jd, const math::Vector<3> position_i_m, + const math::Vector<3> velocity_i_m_s, const double error_tolerance) : Orbit(celestial_information), - s2e::math::OrdinaryDifferentialEquation<6>(propagation_step_s), + math::OrdinaryDifferentialEquation<6>(propagation_step_s), gravity_constant_m3_s2_(gravity_constant_m3_s2), error_tolerance_(error_tolerance), propagation_step_s_(propagation_step_s) { @@ -62,9 +62,9 @@ void EnckeOrbitPropagation::Propagate(const double end_time_s, const double curr } // Functions for OrdinaryDifferentialEquation -void EnckeOrbitPropagation::DerivativeFunction(double t, const s2e::math::Vector<6>& state, s2e::math::Vector<6>& rhs) { +void EnckeOrbitPropagation::DerivativeFunction(double t, const math::Vector<6>& state, math::Vector<6>& rhs) { UNUSED(t); - s2e::math::Vector<3> difference_position_i_m_m, difference_acc_i_m_s2; + math::Vector<3> difference_position_i_m_m, difference_acc_i_m_s2; for (int i = 0; i < 3; i++) { difference_position_i_m_m[i] = state[i]; } @@ -85,7 +85,7 @@ void EnckeOrbitPropagation::DerivativeFunction(double t, const s2e::math::Vector } // Private Functions -void EnckeOrbitPropagation::Initialize(double current_time_jd, s2e::math::Vector<3> reference_position_i_m, s2e::math::Vector<3> reference_velocity_i_m_s) { +void EnckeOrbitPropagation::Initialize(double current_time_jd, math::Vector<3> reference_position_i_m, math::Vector<3> reference_velocity_i_m_s) { // General spacecraft_acceleration_i_m_s2_.FillUp(0.0); @@ -99,7 +99,7 @@ void EnckeOrbitPropagation::Initialize(double current_time_jd, s2e::math::Vector difference_position_i_m_.FillUp(0.0); difference_velocity_i_m_s_.FillUp(0.0); - s2e::math::Vector<6> zero(0.0f); + math::Vector<6> zero(0.0f); Setup(0.0, zero); UpdateSatOrbit(); @@ -113,11 +113,11 @@ void EnckeOrbitPropagation::UpdateSatOrbit() { TransformEcefToGeodetic(); } -double EnckeOrbitPropagation::CalcQFunction(s2e::math::Vector<3> difference_position_i_m) { +double EnckeOrbitPropagation::CalcQFunction(math::Vector<3> difference_position_i_m) { double r2; r2 = InnerProduct(spacecraft_position_i_m_, spacecraft_position_i_m_); - s2e::math::Vector<3> dr_2r; + math::Vector<3> dr_2r; dr_2r = difference_position_i_m - 2.0 * spacecraft_position_i_m_; double q = InnerProduct(difference_position_i_m, dr_2r) / r2; diff --git a/src/dynamics/orbit/encke_orbit_propagation.hpp b/src/dynamics/orbit/encke_orbit_propagation.hpp index a06a207f1..7b2ba00a8 100644 --- a/src/dynamics/orbit/encke_orbit_propagation.hpp +++ b/src/dynamics/orbit/encke_orbit_propagation.hpp @@ -16,7 +16,7 @@ namespace s2e::dynamics::orbit { * @class EnckeOrbitPropagation * @brief Class to propagate spacecraft orbit with Encke's method */ -class EnckeOrbitPropagation : public Orbit, public s2e::math::OrdinaryDifferentialEquation<6> { +class EnckeOrbitPropagation : public Orbit, public math::OrdinaryDifferentialEquation<6> { public: /** * @fn EnckeOrbitPropagation @@ -30,7 +30,7 @@ class EnckeOrbitPropagation : public Orbit, public s2e::math::OrdinaryDifferenti * @param [in] error_tolerance: Error tolerance threshold */ EnckeOrbitPropagation(const CelestialInformation* celestial_information, const double gravity_constant_m3_s2, const double propagation_step_s, - const double current_time_jd, const s2e::math::Vector<3> position_i_m, const s2e::math::Vector<3> velocity_i_m_s, + const double current_time_jd, const math::Vector<3> position_i_m, const math::Vector<3> velocity_i_m_s, const double error_tolerance); /** * @fn ~EnckeOrbitPropagation @@ -55,7 +55,7 @@ class EnckeOrbitPropagation : public Orbit, public s2e::math::OrdinaryDifferenti * @param [in] state: Position and velocity as state vector * @param [out] rhs: Output of the function */ - virtual void DerivativeFunction(double t, const s2e::math::Vector<6>& state, s2e::math::Vector<6>& rhs); + virtual void DerivativeFunction(double t, const math::Vector<6>& state, math::Vector<6>& rhs); private: // General @@ -65,13 +65,13 @@ class EnckeOrbitPropagation : public Orbit, public s2e::math::OrdinaryDifferenti double propagation_time_s_; //!< Simulation current time for numerical integration by RK4 // reference orbit - s2e::math::Vector<3> reference_position_i_m_; //!< Reference orbit position in the inertial frame [m] - s2e::math::Vector<3> reference_velocity_i_m_s_; //!< Reference orbit velocity in the inertial frame [m/s] + math::Vector<3> reference_position_i_m_; //!< Reference orbit position in the inertial frame [m] + math::Vector<3> reference_velocity_i_m_s_; //!< Reference orbit velocity in the inertial frame [m/s] s2e::orbit::KeplerOrbit reference_kepler_orbit; //!< Reference Kepler orbital element // difference orbit - s2e::math::Vector<3> difference_position_i_m_; //!< Difference orbit position in the inertial frame [m] - s2e::math::Vector<3> difference_velocity_i_m_s_; //!< Difference orbit velocity in the inertial frame [m/s] + math::Vector<3> difference_position_i_m_; //!< Difference orbit position in the inertial frame [m] + math::Vector<3> difference_velocity_i_m_s_; //!< Difference orbit velocity in the inertial frame [m/s] // functions /** @@ -81,7 +81,7 @@ class EnckeOrbitPropagation : public Orbit, public s2e::math::OrdinaryDifferenti * @param [in] reference_position_i_m: Initial value of reference orbit position in the inertial frame [m] * @param [in] reference_velocity_i_m_s: Initial value of reference orbit position in the inertial frame [m] */ - void Initialize(const double current_time_jd, const s2e::math::Vector<3> reference_position_i_m, const s2e::math::Vector<3> reference_velocity_i_m_s); + void Initialize(const double current_time_jd, const math::Vector<3> reference_position_i_m, const math::Vector<3> reference_velocity_i_m_s); /** * @fn UpdateSatOrbit * @brief Update satellite orbit @@ -92,7 +92,7 @@ class EnckeOrbitPropagation : public Orbit, public s2e::math::OrdinaryDifferenti * @brief Calculate Q function * @param [in] difference_position_i_m: Difference of position in the inertial frame [m] */ - double CalcQFunction(const s2e::math::Vector<3> difference_position_i_m); + double CalcQFunction(const math::Vector<3> difference_position_i_m); }; } // namespace s2e::dynamics::orbit diff --git a/src/dynamics/orbit/initialize_orbit.cpp b/src/dynamics/orbit/initialize_orbit.cpp index 8aad74327..a564b2521 100644 --- a/src/dynamics/orbit/initialize_orbit.cpp +++ b/src/dynamics/orbit/initialize_orbit.cpp @@ -28,9 +28,9 @@ Orbit* InitOrbit(const CelestialInformation* celestial_information, std::string if (propagate_mode == "RK4") { // initialize RK4 orbit propagator - s2e::math::Vector<3> position_i_m; - s2e::math::Vector<3> velocity_i_m_s; - s2e::math::Vector<6> pos_vel = InitializePosVel(initialize_file, current_time_jd, gravity_constant_m3_s2); + math::Vector<3> position_i_m; + math::Vector<3> velocity_i_m_s; + math::Vector<6> pos_vel = InitializePosVel(initialize_file, current_time_jd, gravity_constant_m3_s2); for (size_t i = 0; i < 3; i++) { position_i_m[i] = pos_vel[i]; velocity_i_m_s[i] = pos_vel[i + 3]; @@ -51,9 +51,9 @@ Orbit* InitOrbit(const CelestialInformation* celestial_information, std::string s2e::orbit::RelativeOrbitModel relative_dynamics_model_type = (s2e::orbit::RelativeOrbitModel)(conf.ReadInt(section_, "relative_dynamics_model_type")); s2e::orbit::StmModel stm_model_type = (s2e::orbit::StmModel)(conf.ReadInt(section_, "stm_model_type")); - s2e::math::Vector<3> init_relative_position_lvlh; + math::Vector<3> init_relative_position_lvlh; conf.ReadVector<3>(section_, "initial_relative_position_lvlh_m", init_relative_position_lvlh); - s2e::math::Vector<3> init_relative_velocity_lvlh; + math::Vector<3> init_relative_velocity_lvlh; conf.ReadVector<3>(section_, "initial_relative_velocity_lvlh_m_s", init_relative_velocity_lvlh); // There is a possibility that the orbit of the reference sat is not initialized when RelativeOrbit initialization is called To ensure that @@ -68,9 +68,9 @@ Orbit* InitOrbit(const CelestialInformation* celestial_information, std::string // TODO: init_mode_kepler should be removed in the next major update if (initialize_mode == OrbitInitializeMode::kInertialPositionAndVelocity) { // initialize with position and velocity - s2e::math::Vector<3> init_pos_m; + math::Vector<3> init_pos_m; conf.ReadVector<3>(section_, "initial_position_i_m", init_pos_m); - s2e::math::Vector<3> init_vel_m_s; + math::Vector<3> init_vel_m_s; conf.ReadVector<3>(section_, "initial_velocity_i_m_s", init_vel_m_s); oe = s2e::orbit::OrbitalElements(gravity_constant_m3_s2, current_time_jd, init_pos_m, init_vel_m_s); } else { @@ -87,9 +87,9 @@ Orbit* InitOrbit(const CelestialInformation* celestial_information, std::string orbit = new KeplerOrbitPropagation(celestial_information, current_time_jd, kepler_orbit); } else if (propagate_mode == "ENCKE") { // initialize orbit for Encke's method - s2e::math::Vector<3> position_i_m; - s2e::math::Vector<3> velocity_i_m_s; - s2e::math::Vector<6> pos_vel = InitializePosVel(initialize_file, current_time_jd, gravity_constant_m3_s2); + math::Vector<3> position_i_m; + math::Vector<3> velocity_i_m_s; + math::Vector<6> pos_vel = InitializePosVel(initialize_file, current_time_jd, gravity_constant_m3_s2); for (size_t i = 0; i < 3; i++) { position_i_m[i] = pos_vel[i]; velocity_i_m_s[i] = pos_vel[i + 3]; @@ -102,9 +102,9 @@ Orbit* InitOrbit(const CelestialInformation* celestial_information, std::string std::cerr << "ERROR: orbit propagation mode: " << propagate_mode << " is not defined!" << std::endl; std::cerr << "The orbit mode is automatically set as RK4" << std::endl; - s2e::math::Vector<3> position_i_m; - s2e::math::Vector<3> velocity_i_m_s; - s2e::math::Vector<6> pos_vel = InitializePosVel(initialize_file, current_time_jd, gravity_constant_m3_s2); + math::Vector<3> position_i_m; + math::Vector<3> velocity_i_m_s; + math::Vector<6> pos_vel = InitializePosVel(initialize_file, current_time_jd, gravity_constant_m3_s2); for (size_t i = 0; i < 3; i++) { position_i_m[i] = pos_vel[i]; velocity_i_m_s[i] = pos_vel[i + 3]; @@ -117,12 +117,12 @@ Orbit* InitOrbit(const CelestialInformation* celestial_information, std::string return orbit; } -s2e::math::Vector<6> InitializePosVel(std::string initialize_file, double current_time_jd, double gravity_constant_m3_s2, std::string section) { +math::Vector<6> InitializePosVel(std::string initialize_file, double current_time_jd, double gravity_constant_m3_s2, std::string section) { auto conf = setting_file_reader::IniAccess(initialize_file); const char* section_ = section.c_str(); - s2e::math::Vector<3> position_i_m; - s2e::math::Vector<3> velocity_i_m_s; - s2e::math::Vector<6> pos_vel; + math::Vector<3> position_i_m; + math::Vector<3> velocity_i_m_s; + math::Vector<6> pos_vel; OrbitInitializeMode initialize_mode = SetOrbitInitializeMode(conf.ReadString(section_, "initialize_mode")); if (initialize_mode == OrbitInitializeMode::kOrbitalElements) { diff --git a/src/dynamics/orbit/initialize_orbit.hpp b/src/dynamics/orbit/initialize_orbit.hpp index 59a03d8a0..ece960dd2 100644 --- a/src/dynamics/orbit/initialize_orbit.hpp +++ b/src/dynamics/orbit/initialize_orbit.hpp @@ -25,7 +25,7 @@ namespace s2e::dynamics::orbit { * @param [in] section: Section name * @param [in] relative_information: Relative information */ -Orbit* InitOrbit(const CelestialInformation* celestial_information, std::string initialize_file, double step_width_s, double current_time_jd, +Orbit* InitOrbit(const environment::CelestialInformation* celestial_information, std::string initialize_file, double step_width_s, double current_time_jd, double gravity_constant_m3_s2, std::string section = "ORBIT", RelativeInformation* relative_information = (RelativeInformation*)nullptr); @@ -37,7 +37,7 @@ Orbit* InitOrbit(const CelestialInformation* celestial_information, std::string * @param [in] gravity_constant_m3_s2: Gravity constant [m3/s2] * @param [in] section: Section name */ -s2e::math::Vector<6> InitializePosVel(std::string initialize_file, double current_time_jd, double gravity_constant_m3_s2, std::string section = "ORBIT"); +math::Vector<6> InitializePosVel(std::string initialize_file, double current_time_jd, double gravity_constant_m3_s2, std::string section = "ORBIT"); } // namespace s2e::dynamics::orbit diff --git a/src/dynamics/orbit/orbit.cpp b/src/dynamics/orbit/orbit.cpp index f838b7c76..d08e642ad 100644 --- a/src/dynamics/orbit/orbit.cpp +++ b/src/dynamics/orbit/orbit.cpp @@ -6,16 +6,16 @@ namespace s2e::dynamics::orbit { -s2e::math::Quaternion Orbit::CalcQuaternion_i2lvlh() const { - s2e::math::Vector<3> lvlh_x = spacecraft_position_i_m_; // x-axis in LVLH frame is position vector direction from geocenter to satellite - s2e::math::Vector<3> lvlh_ex = lvlh_x.CalcNormalizedVector(); - s2e::math::Vector<3> lvlh_z = +math::Quaternion Orbit::CalcQuaternion_i2lvlh() const { + math::Vector<3> lvlh_x = spacecraft_position_i_m_; // x-axis in LVLH frame is position vector direction from geocenter to satellite + math::Vector<3> lvlh_ex = lvlh_x.CalcNormalizedVector(); + math::Vector<3> lvlh_z = OuterProduct(spacecraft_position_i_m_, spacecraft_velocity_i_m_s_); // z-axis in LVLH frame is angular momentum vector direction of orbit - s2e::math::Vector<3> lvlh_ez = lvlh_z.CalcNormalizedVector(); - s2e::math::Vector<3> lvlh_y = OuterProduct(lvlh_z, lvlh_x); - s2e::math::Vector<3> lvlh_ey = lvlh_y.CalcNormalizedVector(); + math::Vector<3> lvlh_ez = lvlh_z.CalcNormalizedVector(); + math::Vector<3> lvlh_y = OuterProduct(lvlh_z, lvlh_x); + math::Vector<3> lvlh_ey = lvlh_y.CalcNormalizedVector(); - s2e::math::Matrix<3, 3> dcm_i2lvlh; + math::Matrix<3, 3> dcm_i2lvlh; dcm_i2lvlh[0][0] = lvlh_ex[0]; dcm_i2lvlh[0][1] = lvlh_ex[1]; dcm_i2lvlh[0][2] = lvlh_ex[2]; @@ -26,19 +26,19 @@ s2e::math::Quaternion Orbit::CalcQuaternion_i2lvlh() const { dcm_i2lvlh[2][1] = lvlh_ez[1]; dcm_i2lvlh[2][2] = lvlh_ez[2]; - s2e::math::Quaternion q_i2lvlh = s2e::math::Quaternion::ConvertFromDcm(dcm_i2lvlh); + math::Quaternion q_i2lvlh = math::Quaternion::ConvertFromDcm(dcm_i2lvlh); return q_i2lvlh.Normalize(); } void Orbit::TransformEciToEcef(void) { - s2e::math::Matrix<3, 3> dcm_i_to_xcxf = celestial_information_->GetEarthRotation().GetDcmJ2000ToEcef(); + math::Matrix<3, 3> dcm_i_to_xcxf = celestial_information_->GetEarthRotation().GetDcmJ2000ToEcef(); spacecraft_position_ecef_m_ = dcm_i_to_xcxf * spacecraft_position_i_m_; // convert velocity vector in ECI to the vector in ECEF - s2e::math::Vector<3> earth_angular_velocity_i_rad_s{0.0}; + math::Vector<3> earth_angular_velocity_i_rad_s{0.0}; earth_angular_velocity_i_rad_s[2] = environment::earth_mean_angular_velocity_rad_s; - s2e::math::Vector<3> we_cross_r = OuterProduct(earth_angular_velocity_i_rad_s, spacecraft_position_i_m_); - s2e::math::Vector<3> velocity_we_cross_r = spacecraft_velocity_i_m_s_ - we_cross_r; + math::Vector<3> we_cross_r = OuterProduct(earth_angular_velocity_i_rad_s, spacecraft_position_i_m_); + math::Vector<3> velocity_we_cross_r = spacecraft_velocity_i_m_s_ - we_cross_r; spacecraft_velocity_ecef_m_s_ = dcm_i_to_xcxf * velocity_we_cross_r; } @@ -74,9 +74,9 @@ std::string Orbit::GetLogHeader() const { str_tmp += logger::WriteVector("spacecraft_velocity", "i", "m/s", 3); str_tmp += logger::WriteVector("spacecraft_velocity", "b", "m/s", 3); str_tmp += logger::WriteVector("spacecraft_acceleration", "i", "m/s2", 3); - str_tmp += WriteScalar("spacecraft_latitude", "rad"); - str_tmp += WriteScalar("spacecraft_longitude", "rad"); - str_tmp += WriteScalar("spacecraft_altitude", "m"); + str_tmp += logger::WriteScalar("spacecraft_latitude", "rad"); + str_tmp += logger::WriteScalar("spacecraft_longitude", "rad"); + str_tmp += logger::WriteScalar("spacecraft_altitude", "m"); return str_tmp; } @@ -89,9 +89,9 @@ std::string Orbit::GetLogValue() const { str_tmp += logger::WriteVector(spacecraft_velocity_i_m_s_, 10); str_tmp += logger::WriteVector(spacecraft_velocity_b_m_s_, 10); str_tmp += logger::WriteVector(spacecraft_acceleration_i_m_s2_, 10); - str_tmp += WriteScalar(spacecraft_geodetic_position_.GetLatitude_rad()); - str_tmp += WriteScalar(spacecraft_geodetic_position_.GetLongitude_rad()); - str_tmp += WriteScalar(spacecraft_geodetic_position_.GetAltitude_m()); + str_tmp += logger::WriteScalar(spacecraft_geodetic_position_.GetLatitude_rad()); + str_tmp += logger::WriteScalar(spacecraft_geodetic_position_.GetLongitude_rad()); + str_tmp += logger::WriteScalar(spacecraft_geodetic_position_.GetAltitude_m()); return str_tmp; } diff --git a/src/dynamics/orbit/orbit.hpp b/src/dynamics/orbit/orbit.hpp index b83ba4716..f6d80c7e7 100644 --- a/src/dynamics/orbit/orbit.hpp +++ b/src/dynamics/orbit/orbit.hpp @@ -51,7 +51,7 @@ class Orbit : public logger::ILoggable { * @brief Constructor * @param [in] celestial_information: Celestial information */ - Orbit(const CelestialInformation* celestial_information) : celestial_information_(celestial_information) {} + Orbit(const environment::CelestialInformation* celestial_information) : celestial_information_(celestial_information) {} /** * @fn ~Orbit * @brief Destructor @@ -71,7 +71,7 @@ class Orbit : public logger::ILoggable { * @brief Update attitude information * @param [in] quaternion_i2b: End time of simulation [sec] */ - inline void UpdateByAttitude(const s2e::math::Quaternion quaternion_i2b) { + inline void UpdateByAttitude(const math::Quaternion quaternion_i2b) { spacecraft_velocity_b_m_s_ = quaternion_i2b.FrameConversion(spacecraft_velocity_i_m_s_); } @@ -90,27 +90,27 @@ class Orbit : public logger::ILoggable { * @fn GetPosition_i_m * @brief Return spacecraft position in the inertial frame [m] */ - inline s2e::math::Vector<3> GetPosition_i_m() const { return spacecraft_position_i_m_; } + inline math::Vector<3> GetPosition_i_m() const { return spacecraft_position_i_m_; } /** * @fn GetPosition_ecef_m * @brief Return spacecraft position in the ECEF frame [m] */ - inline s2e::math::Vector<3> GetPosition_ecef_m() const { return spacecraft_position_ecef_m_; } + inline math::Vector<3> GetPosition_ecef_m() const { return spacecraft_position_ecef_m_; } /** * @fn GetVelocity_i_m_s * @brief Return spacecraft velocity in the inertial frame [m/s] */ - inline s2e::math::Vector<3> GetVelocity_i_m_s() const { return spacecraft_velocity_i_m_s_; } + inline math::Vector<3> GetVelocity_i_m_s() const { return spacecraft_velocity_i_m_s_; } /** * @fn GetVelocity_b_m_s * @brief Return spacecraft velocity in the body fixed frame [m/s] */ - inline s2e::math::Vector<3> GetVelocity_b_m_s() const { return spacecraft_velocity_b_m_s_; } + inline math::Vector<3> GetVelocity_b_m_s() const { return spacecraft_velocity_b_m_s_; } /** * @fn GetVelocity_ecef_m_s * @brief Return spacecraft velocity in the ECEF frame [m/s] */ - inline s2e::math::Vector<3> GetVelocity_ecef_m_s() const { return spacecraft_velocity_ecef_m_s_; } + inline math::Vector<3> GetVelocity_ecef_m_s() const { return spacecraft_velocity_ecef_m_s_; } /** * @fn GetGeodeticPosition * @brief Return spacecraft position in the geodetic frame [m] @@ -121,8 +121,8 @@ class Orbit : public logger::ILoggable { inline double GetLatitude_rad() const { return spacecraft_geodetic_position_.GetLatitude_rad(); } inline double GetLongitude_rad() const { return spacecraft_geodetic_position_.GetLongitude_rad(); } inline double GetAltitude_m() const { return spacecraft_geodetic_position_.GetAltitude_m(); } - inline s2e::math::Vector<3> GetLatLonAlt() const { - s2e::math::Vector<3> vec; + inline math::Vector<3> GetLatLonAlt() const { + math::Vector<3> vec; vec(0) = spacecraft_geodetic_position_.GetLatitude_rad(); vec(1) = spacecraft_geodetic_position_.GetLongitude_rad(); vec(2) = spacecraft_geodetic_position_.GetAltitude_m(); @@ -139,15 +139,15 @@ class Orbit : public logger::ILoggable { * @fn SetAcceleration_i_m_s2 * @brief Set acceleration in the inertial frame [m/s2] */ - inline void SetAcceleration_i_m_s2(const s2e::math::Vector<3> acceleration_i_m_s2) { spacecraft_acceleration_i_m_s2_ = acceleration_i_m_s2; } + inline void SetAcceleration_i_m_s2(const math::Vector<3> acceleration_i_m_s2) { spacecraft_acceleration_i_m_s2_ = acceleration_i_m_s2; } /** * @fn AddForce_i_N * @brief Add force * @param [in] force_i: Force in the inertial frame [N] * @param [in] spacecraft_mass_kg: Mass of spacecraft [kg] */ - inline void AddForce_i_N(const s2e::math::Vector<3> force_i_N, double spacecraft_mass_kg) { - s2e::math::Vector<3> acceleration_i_m_s2 = force_i_N; + inline void AddForce_i_N(const math::Vector<3> force_i_N, double spacecraft_mass_kg) { + math::Vector<3> acceleration_i_m_s2 = force_i_N; acceleration_i_m_s2 /= spacecraft_mass_kg; // FIXME spacecraft_acceleration_i_m_s2_ += acceleration_i_m_s2; } @@ -155,7 +155,7 @@ class Orbit : public logger::ILoggable { * @fn AddAcceleration_i_m_s2 * @brief Add acceleration in the inertial frame [m/s2] */ - inline void AddAcceleration_i_m_s2(const s2e::math::Vector<3> acceleration_i_m_s2) { spacecraft_acceleration_i_m_s2_ += acceleration_i_m_s2; } + inline void AddAcceleration_i_m_s2(const math::Vector<3> acceleration_i_m_s2) { spacecraft_acceleration_i_m_s2_ += acceleration_i_m_s2; } /** * @fn AddForce_i_N * @brief Add force @@ -163,7 +163,7 @@ class Orbit : public logger::ILoggable { * @param [in] quaternion_i2b: Quaternion from the inertial frame to the body fixed frame * @param [in] spacecraft_mass_kg: Mass of spacecraft [kg] */ - inline void AddForce_b_N(const s2e::math::Vector<3> force_b_N, const s2e::math::Quaternion quaternion_i2b, const double spacecraft_mass_kg) { + inline void AddForce_b_N(const math::Vector<3> force_b_N, const math::Quaternion quaternion_i2b, const double spacecraft_mass_kg) { auto force_i = quaternion_i2b.InverseFrameConversion(force_b_N); AddForce_i_N(force_i, spacecraft_mass_kg); } @@ -172,7 +172,7 @@ class Orbit : public logger::ILoggable { * @fn CalcQuaternion_i2lvlh * @brief Calculate and return quaternion from the inertial frame to the LVLH frame */ - s2e::math::Quaternion CalcQuaternion_i2lvlh() const; + math::Quaternion CalcQuaternion_i2lvlh() const; // Override logger::ILoggable /** @@ -187,21 +187,21 @@ class Orbit : public logger::ILoggable { virtual std::string GetLogValue() const; protected: - const CelestialInformation* celestial_information_; //!< Celestial information + const environment::CelestialInformation* celestial_information_; //!< Celestial information // Settings bool is_calc_enabled_ = false; //!< Calculate flag OrbitPropagateMode propagate_mode_; //!< Propagation mode - s2e::math::Vector<3> spacecraft_position_i_m_; //!< Spacecraft position in the inertial frame [m] - s2e::math::Vector<3> spacecraft_position_ecef_m_; //!< Spacecraft position in the ECEF frame [m] + math::Vector<3> spacecraft_position_i_m_; //!< Spacecraft position in the inertial frame [m] + math::Vector<3> spacecraft_position_ecef_m_; //!< Spacecraft position in the ECEF frame [m] s2e::geodesy::GeodeticPosition spacecraft_geodetic_position_; //!< Spacecraft position in the Geodetic frame - s2e::math::Vector<3> spacecraft_velocity_i_m_s_; //!< Spacecraft velocity in the inertial frame [m/s] - s2e::math::Vector<3> spacecraft_velocity_b_m_s_; //!< Spacecraft velocity in the body frame [m/s] - s2e::math::Vector<3> spacecraft_velocity_ecef_m_s_; //!< Spacecraft velocity in the ECEF frame [m/s] + math::Vector<3> spacecraft_velocity_i_m_s_; //!< Spacecraft velocity in the inertial frame [m/s] + math::Vector<3> spacecraft_velocity_b_m_s_; //!< Spacecraft velocity in the body frame [m/s] + math::Vector<3> spacecraft_velocity_ecef_m_s_; //!< Spacecraft velocity in the ECEF frame [m/s] - s2e::math::Vector<3> spacecraft_acceleration_i_m_s2_; //!< Spacecraft acceleration in the inertial frame [m/s2] + math::Vector<3> spacecraft_acceleration_i_m_s2_; //!< Spacecraft acceleration in the inertial frame [m/s2] //!< NOTE: Clear to zero at the end of the Propagate function // Frame Conversion TODO: consider other planet diff --git a/src/dynamics/orbit/relative_orbit.cpp b/src/dynamics/orbit/relative_orbit.cpp index 4dbb9838a..7620b3866 100644 --- a/src/dynamics/orbit/relative_orbit.cpp +++ b/src/dynamics/orbit/relative_orbit.cpp @@ -11,11 +11,11 @@ namespace s2e::dynamics::orbit { RelativeOrbit::RelativeOrbit(const CelestialInformation* celestial_information, double gravity_constant_m3_s2, double time_step_s, - int reference_spacecraft_id, s2e::math::Vector<3> relative_position_lvlh_m, s2e::math::Vector<3> relative_velocity_lvlh_m_s, + int reference_spacecraft_id, math::Vector<3> relative_position_lvlh_m, math::Vector<3> relative_velocity_lvlh_m_s, RelativeOrbitUpdateMethod update_method, s2e::orbit::RelativeOrbitModel relative_dynamics_model_type, s2e::orbit::StmModel stm_model_type, RelativeInformation* relative_information) : Orbit(celestial_information), - s2e::math::OrdinaryDifferentialEquation<6>(time_step_s), + math::OrdinaryDifferentialEquation<6>(time_step_s), gravity_constant_m3_s2_(gravity_constant_m3_s2), reference_spacecraft_id_(reference_spacecraft_id), update_method_(update_method), @@ -32,7 +32,7 @@ RelativeOrbit::RelativeOrbit(const CelestialInformation* celestial_information, RelativeOrbit::~RelativeOrbit() {} -void RelativeOrbit::InitializeState(s2e::math::Vector<3> relative_position_lvlh_m, s2e::math::Vector<3> relative_velocity_lvlh_m_s, +void RelativeOrbit::InitializeState(math::Vector<3> relative_position_lvlh_m, math::Vector<3> relative_velocity_lvlh_m_s, double gravity_constant_m3_s2, double initial_time_s) { relative_position_lvlh_m_ = relative_position_lvlh_m; relative_velocity_lvlh_m_s_ = relative_velocity_lvlh_m_s; @@ -40,10 +40,10 @@ void RelativeOrbit::InitializeState(s2e::math::Vector<3> relative_position_lvlh_ // Disturbance acceleration are not considered in relative orbit propagation spacecraft_acceleration_i_m_s2_ *= 0.0; - s2e::math::Vector<3> reference_sat_position_i = relative_information_->GetReferenceSatDynamics(reference_spacecraft_id_)->GetOrbit().GetPosition_i_m(); - s2e::math::Vector<3> reference_sat_velocity_i = relative_information_->GetReferenceSatDynamics(reference_spacecraft_id_)->GetOrbit().GetVelocity_i_m_s(); - s2e::math::Quaternion q_i2lvlh = relative_information_->GetReferenceSatDynamics(reference_spacecraft_id_)->GetOrbit().CalcQuaternion_i2lvlh(); - s2e::math::Quaternion q_lvlh2i = q_i2lvlh.Conjugate(); + math::Vector<3> reference_sat_position_i = relative_information_->GetReferenceSatDynamics(reference_spacecraft_id_)->GetOrbit().GetPosition_i_m(); + math::Vector<3> reference_sat_velocity_i = relative_information_->GetReferenceSatDynamics(reference_spacecraft_id_)->GetOrbit().GetVelocity_i_m_s(); + math::Quaternion q_i2lvlh = relative_information_->GetReferenceSatDynamics(reference_spacecraft_id_)->GetOrbit().CalcQuaternion_i2lvlh(); + math::Quaternion q_lvlh2i = q_i2lvlh.Conjugate(); spacecraft_position_i_m_ = q_lvlh2i.FrameConversion(relative_position_lvlh_m_) + reference_sat_position_i; spacecraft_velocity_i_m_s_ = q_lvlh2i.FrameConversion(relative_velocity_lvlh_m_s_) + reference_sat_velocity_i; @@ -110,10 +110,10 @@ void RelativeOrbit::Propagate(const double end_time_s, const double current_time PropagateStm(end_time_s); } - s2e::math::Vector<3> reference_sat_position_i = relative_information_->GetReferenceSatDynamics(reference_spacecraft_id_)->GetOrbit().GetPosition_i_m(); - s2e::math::Vector<3> reference_sat_velocity_i = relative_information_->GetReferenceSatDynamics(reference_spacecraft_id_)->GetOrbit().GetVelocity_i_m_s(); - s2e::math::Quaternion q_i2lvlh = relative_information_->GetReferenceSatDynamics(reference_spacecraft_id_)->GetOrbit().CalcQuaternion_i2lvlh(); - s2e::math::Quaternion q_lvlh2i = q_i2lvlh.Conjugate(); + math::Vector<3> reference_sat_position_i = relative_information_->GetReferenceSatDynamics(reference_spacecraft_id_)->GetOrbit().GetPosition_i_m(); + math::Vector<3> reference_sat_velocity_i = relative_information_->GetReferenceSatDynamics(reference_spacecraft_id_)->GetOrbit().GetVelocity_i_m_s(); + math::Quaternion q_i2lvlh = relative_information_->GetReferenceSatDynamics(reference_spacecraft_id_)->GetOrbit().CalcQuaternion_i2lvlh(); + math::Quaternion q_lvlh2i = q_i2lvlh.Conjugate(); spacecraft_position_i_m_ = q_lvlh2i.FrameConversion(relative_position_lvlh_m_) + reference_sat_position_i; spacecraft_velocity_i_m_s_ = q_lvlh2i.FrameConversion(relative_velocity_lvlh_m_s_) + reference_sat_velocity_i; @@ -140,7 +140,7 @@ void RelativeOrbit::PropagateRk4(double elapsed_sec) { } void RelativeOrbit::PropagateStm(double elapsed_sec) { - s2e::math::Vector<6> current_state; + math::Vector<6> current_state; CalculateStm(stm_model_type_, &(relative_information_->GetReferenceSatDynamics(reference_spacecraft_id_)->GetOrbit()), gravity_constant_m3_s2_, elapsed_sec); current_state = stm_ * initial_state_; @@ -153,8 +153,8 @@ void RelativeOrbit::PropagateStm(double elapsed_sec) { relative_velocity_lvlh_m_s_[2] = current_state[5]; } -void RelativeOrbit::DerivativeFunction(double t, const s2e::math::Vector<6>& state, - s2e::math::Vector<6>& rhs) // only for RK4 relative dynamics propagation +void RelativeOrbit::DerivativeFunction(double t, const math::Vector<6>& state, + math::Vector<6>& rhs) // only for RK4 relative dynamics propagation { rhs = system_matrix_ * state; (void)t; diff --git a/src/dynamics/orbit/relative_orbit.hpp b/src/dynamics/orbit/relative_orbit.hpp index 609994168..7aa505d88 100644 --- a/src/dynamics/orbit/relative_orbit.hpp +++ b/src/dynamics/orbit/relative_orbit.hpp @@ -19,7 +19,7 @@ namespace s2e::dynamics::orbit { * @class RelativeOrbit * @brief Class to propagate relative orbit */ -class RelativeOrbit : public Orbit, public s2e::math::OrdinaryDifferentialEquation<6> { +class RelativeOrbit : public Orbit, public math::OrdinaryDifferentialEquation<6> { public: /** * @enum RelativeOrbitUpdateMethod @@ -42,7 +42,7 @@ class RelativeOrbit : public Orbit, public s2e::math::OrdinaryDifferentialEquati * @param [in] relative_information: Relative information */ RelativeOrbit(const CelestialInformation* celestial_information, double gravity_constant_m3_s2, double time_step_s, int reference_spacecraft_id, - s2e::math::Vector<3> relative_position_lvlh_m, s2e::math::Vector<3> relative_velocity_lvlh_m_s, RelativeOrbitUpdateMethod update_method, + math::Vector<3> relative_position_lvlh_m, math::Vector<3> relative_velocity_lvlh_m_s, RelativeOrbitUpdateMethod update_method, s2e::orbit::RelativeOrbitModel relative_dynamics_model_type, s2e::orbit::StmModel stm_model_type, RelativeInformation* relative_information); /** * @fn ~RelativeOrbit @@ -75,12 +75,12 @@ class RelativeOrbit : public Orbit, public s2e::math::OrdinaryDifferentialEquati double propagation_time_s_; //!< Simulation current time for numerical integration by RK4 [sec] double propagation_step_s_; //!< Step width for RK4 [sec] - s2e::math::Matrix<6, 6> system_matrix_; //!< System matrix - s2e::math::Matrix<6, 6> stm_; //!< State transition matrix + math::Matrix<6, 6> system_matrix_; //!< System matrix + math::Matrix<6, 6> stm_; //!< State transition matrix - s2e::math::Vector<6> initial_state_; //!< Initial state (Position and Velocity) - s2e::math::Vector<3> relative_position_lvlh_m_; //!< Relative position in the LVLH frame - s2e::math::Vector<3> relative_velocity_lvlh_m_s_; //!< Relative velocity in the LVLH frame + math::Vector<6> initial_state_; //!< Initial state (Position and Velocity) + math::Vector<3> relative_position_lvlh_m_; //!< Relative position in the LVLH frame + math::Vector<3> relative_velocity_lvlh_m_s_; //!< Relative velocity in the LVLH frame RelativeOrbitUpdateMethod update_method_; //!< Update method s2e::orbit::RelativeOrbitModel relative_dynamics_model_type_; //!< Relative dynamics model type @@ -95,7 +95,7 @@ class RelativeOrbit : public Orbit, public s2e::math::OrdinaryDifferentialEquati * @param [in] gravity_constant_m3_s2: Gravity constant of the center body [m3/s2] * @param [in] initial_time_s: Initialize time [sec] */ - void InitializeState(s2e::math::Vector<3> relative_position_lvlh_m, s2e::math::Vector<3> relative_velocity_lvlh_m_s, double gravity_constant_m3_s2, + void InitializeState(math::Vector<3> relative_position_lvlh_m, math::Vector<3> relative_velocity_lvlh_m_s, double gravity_constant_m3_s2, double initial_time_s = 0); /** * @fn CalculateSystemMatrix diff --git a/src/dynamics/orbit/rk4_orbit_propagation.cpp b/src/dynamics/orbit/rk4_orbit_propagation.cpp index b73971d46..824637259 100644 --- a/src/dynamics/orbit/rk4_orbit_propagation.cpp +++ b/src/dynamics/orbit/rk4_orbit_propagation.cpp @@ -11,7 +11,7 @@ namespace s2e::dynamics::orbit { Rk4OrbitPropagation::Rk4OrbitPropagation(const CelestialInformation* celestial_information, double gravity_constant_m3_s2, double time_step_s, - s2e::math::Vector<3> position_i_m, s2e::math::Vector<3> velocity_i_m_s, double initial_time_s) + math::Vector<3> position_i_m, math::Vector<3> velocity_i_m_s, double initial_time_s) : Orbit(celestial_information), OrdinaryDifferentialEquation<6>(time_step_s), gravity_constant_m3_s2_(gravity_constant_m3_s2) { propagate_mode_ = OrbitPropagateMode::kRk4; @@ -24,7 +24,7 @@ Rk4OrbitPropagation::Rk4OrbitPropagation(const CelestialInformation* celestial_i Rk4OrbitPropagation::~Rk4OrbitPropagation() {} -void Rk4OrbitPropagation::DerivativeFunction(double t, const s2e::math::Vector<6>& state, s2e::math::Vector<6>& rhs) { +void Rk4OrbitPropagation::DerivativeFunction(double t, const math::Vector<6>& state, math::Vector<6>& rhs) { double x = state[0], y = state[1], z = state[2]; double vx = state[3], vy = state[4], vz = state[5]; @@ -40,9 +40,9 @@ void Rk4OrbitPropagation::DerivativeFunction(double t, const s2e::math::Vector<6 (void)t; } -void Rk4OrbitPropagation::Initialize(s2e::math::Vector<3> position_i_m, s2e::math::Vector<3> velocity_i_m_s, double initial_time_s) { +void Rk4OrbitPropagation::Initialize(math::Vector<3> position_i_m, math::Vector<3> velocity_i_m_s, double initial_time_s) { // state vector [x,y,z,vx,vy,vz] - s2e::math::Vector<6> init_state; + math::Vector<6> init_state; init_state[0] = position_i_m[0]; init_state[1] = position_i_m[1]; init_state[2] = position_i_m[2]; diff --git a/src/dynamics/orbit/rk4_orbit_propagation.hpp b/src/dynamics/orbit/rk4_orbit_propagation.hpp index dbdc33b0d..b46b35646 100644 --- a/src/dynamics/orbit/rk4_orbit_propagation.hpp +++ b/src/dynamics/orbit/rk4_orbit_propagation.hpp @@ -17,7 +17,7 @@ namespace s2e::dynamics::orbit { * @class Rk4OrbitPropagation * @brief Class to propagate spacecraft orbit with Runge-Kutta-4 method */ -class Rk4OrbitPropagation : public Orbit, public s2e::math::OrdinaryDifferentialEquation<6> { +class Rk4OrbitPropagation : public Orbit, public math::OrdinaryDifferentialEquation<6> { public: /** * @fn Rk4OrbitPropagation @@ -30,7 +30,7 @@ class Rk4OrbitPropagation : public Orbit, public s2e::math::OrdinaryDifferential * @param [in] initial_time_s: Initial time [sec] */ Rk4OrbitPropagation(const CelestialInformation* celestial_information, double gravity_constant_m3_s2, double time_step_s, - s2e::math::Vector<3> position_i_m, s2e::math::Vector<3> velocity_i_m_s, double initial_time_s = 0); + math::Vector<3> position_i_m, math::Vector<3> velocity_i_m_s, double initial_time_s = 0); /** * @fn ~Rk4OrbitPropagation * @brief Destructor @@ -45,7 +45,7 @@ class Rk4OrbitPropagation : public Orbit, public s2e::math::OrdinaryDifferential * @param [in] state: Position and velocity as state vector * @param [out] rhs: Output of the function */ - virtual void DerivativeFunction(double t, const s2e::math::Vector<6>& state, s2e::math::Vector<6>& rhs); + virtual void DerivativeFunction(double t, const math::Vector<6>& state, math::Vector<6>& rhs); // Override Orbit /** @@ -68,7 +68,7 @@ class Rk4OrbitPropagation : public Orbit, public s2e::math::OrdinaryDifferential * @param [in] velocity_i_m_s: Initial value of velocity in the inertial frame [m/s] * @param [in] initial_time_s: Initial time [sec] */ - void Initialize(s2e::math::Vector<3> position_i_m, s2e::math::Vector<3> velocity_i_m_s, double initial_time_s = 0); + void Initialize(math::Vector<3> position_i_m, math::Vector<3> velocity_i_m_s, double initial_time_s = 0); }; } // namespace s2e::dynamics::orbit diff --git a/src/dynamics/thermal/heater_controller.hpp b/src/dynamics/thermal/heater_controller.hpp index 638e8d9e2..70ff3fb6c 100644 --- a/src/dynamics/thermal/heater_controller.hpp +++ b/src/dynamics/thermal/heater_controller.hpp @@ -45,12 +45,12 @@ class HeaterController { * @fn GetLowerThreshold_K * @brief Return Lower Threshold [K] */ - inline double GetLowerThreshold_K(void) const { return degC2K(lower_threshold_degC_); } + inline double GetLowerThreshold_K(void) const { return environment::degC2K(lower_threshold_degC_); } /** * @fn GetUpperThreshold_K * @brief Return Upper Threshold [K] */ - inline double GetUpperThreshold_K(void) const { return degC2K(upper_threshold_degC_); } + inline double GetUpperThreshold_K(void) const { return environment::degC2K(upper_threshold_degC_); } // Setter /** diff --git a/src/dynamics/thermal/node.cpp b/src/dynamics/thermal/node.cpp index 992fe489d..5c586f634 100644 --- a/src/dynamics/thermal/node.cpp +++ b/src/dynamics/thermal/node.cpp @@ -15,7 +15,7 @@ using namespace s2e::math; namespace s2e::dynamics::thermal { Node::Node(const size_t node_id, const string node_name, const NodeType node_type, const size_t heater_id, const double temperature_ini_K, - const double capacity_J_K, const double alpha, const double area_m2, s2e::math::Vector<3> normal_vector_b) + const double capacity_J_K, const double alpha, const double area_m2, math::Vector<3> normal_vector_b) : node_id_(node_id), node_name_(node_name), heater_id_(heater_id), @@ -32,7 +32,7 @@ Node::Node(const size_t node_id, const string node_name, const NodeType node_typ Node::~Node() {} -double Node::CalcSolarRadiation_W(s2e::math::Vector<3> sun_direction_b, double solar_flux_W_m2) { +double Node::CalcSolarRadiation_W(math::Vector<3> sun_direction_b, double solar_flux_W_m2) { double cos_theta = InnerProduct(sun_direction_b, normal_vector_b_); // calculate sun_power @@ -43,8 +43,8 @@ double Node::CalcSolarRadiation_W(s2e::math::Vector<3> sun_direction_b, double s return solar_radiation_W_; } -double Node::CalcAlbedoRadiation_W(s2e::math::Vector<3> earth_position_b_m, double earth_albedo_W_m2) { - s2e::math::Vector<3> earth_direction_b = earth_position_b_m.CalcNormalizedVector(); +double Node::CalcAlbedoRadiation_W(math::Vector<3> earth_position_b_m, double earth_albedo_W_m2) { + math::Vector<3> earth_direction_b = earth_position_b_m.CalcNormalizedVector(); double cos_theta_albedo = InnerProduct(earth_direction_b, normal_vector_b_); @@ -164,7 +164,7 @@ Node InitNode(const std::vector& node_str) { capacity_J_K = stod(node_str[index_capacity]); alpha = stod(node_str[index_alpha]); area_m2 = stod(node_str[index_area]); - s2e::math::Vector<3> normal_v_b; + math::Vector<3> normal_v_b; for (size_t i = 0; i < 3; i++) { normal_v_b[i] = stod(node_str[index_normal_v_b_head + i]); } diff --git a/src/dynamics/thermal/node.hpp b/src/dynamics/thermal/node.hpp index b75e6ad72..fc42b4239 100644 --- a/src/dynamics/thermal/node.hpp +++ b/src/dynamics/thermal/node.hpp @@ -47,7 +47,7 @@ class Node { * @param[in] normal_vector_b: Normal vector of face with possibility of solar incidence (Body frame) */ Node(const size_t node_id, const std::string node_name, const NodeType node_type, const size_t heater_id, const double temperature_ini_K, - const double capacity_J_K, const double alpha, const double area_m2, s2e::math::Vector<3> normal_vector_b); + const double capacity_J_K, const double alpha, const double area_m2, math::Vector<3> normal_vector_b); /** * @fn ~Node * @brief Destroy the Node object @@ -61,7 +61,7 @@ class Node { * @param solar_flux_W_m2: Solar flux [W/m^2] * @return double: Solar Radiation [W] */ - double CalcSolarRadiation_W(s2e::math::Vector<3> sun_direction_b, double solar_flux_W_m2); + double CalcSolarRadiation_W(math::Vector<3> sun_direction_b, double solar_flux_W_m2); /** * @fn CalcAlbedoRadiation_W * @brief Calculate albedo radiation [W] from earth direction, albedo factor, area, and normal vector @@ -70,7 +70,7 @@ class Node { * @param earth_albedo_W_m2: Earth albedo [W/m^2] * @return double: Albedo Radiation [W] */ - double CalcAlbedoRadiation_W(s2e::math::Vector<3> earth_position_b_m, double earth_albedo_W_m2); + double CalcAlbedoRadiation_W(math::Vector<3> earth_position_b_m, double earth_albedo_W_m2); // Getter /** @@ -102,7 +102,7 @@ class Node { * @brief Get temperature of node in degC * @return double: temperature [degC] */ - inline double GetTemperature_degC(void) const { return K2degC(temperature_K_); } + inline double GetTemperature_degC(void) const { return environment::K2degC(temperature_K_); } /** * @fn GetCapacity_J_K * @brief Return heat capacity of node [J/K] @@ -155,7 +155,7 @@ class Node { double solar_radiation_W_; double albedo_radiation_W_; NodeType node_type_; - s2e::math::Vector<3> normal_vector_b_; + math::Vector<3> normal_vector_b_; /** * @fn AssertNodeParams diff --git a/src/dynamics/thermal/temperature.cpp b/src/dynamics/thermal/temperature.cpp index 1843b28cc..0583ac6c0 100644 --- a/src/dynamics/thermal/temperature.cpp +++ b/src/dynamics/thermal/temperature.cpp @@ -70,7 +70,7 @@ void Temperature::Propagate(const LocalCelestialInformation* local_celestial_inf for (auto itr = nodes_.begin(); itr != nodes_.end(); ++itr) { cout << setprecision(4) << itr->GetSolarRadiation_W() << " "; } - s2e::math::Vector<3> sun_direction_b = local_celestial_information->GetPositionFromSpacecraft_b_m("SUN").CalcNormalizedVector(); + math::Vector<3> sun_direction_b = local_celestial_information->GetPositionFromSpacecraft_b_m("SUN").CalcNormalizedVector(); cout << "SunDir: "; for (size_t i = 0; i < 3; i++) { cout << setprecision(3) << sun_direction_b[i] << " "; @@ -80,7 +80,7 @@ void Temperature::Propagate(const LocalCelestialInformation* local_celestial_inf for (auto itr = nodes_.begin(); itr != nodes_.end(); ++itr) { cout << setprecision(4) << itr->GetAlbedoRadiation_W() << " "; } - s2e::math::Vector<3> earth_direction_b = local_celestial_information->GetPositionFromSpacecraft_b_m("EARTH").CalcNormalizedVector(); + math::Vector<3> earth_direction_b = local_celestial_information->GetPositionFromSpacecraft_b_m("EARTH").CalcNormalizedVector(); cout << "EarthDir: "; for (size_t i = 0; i < 3; i++) { cout << setprecision(3) << earth_direction_b[i] << " "; @@ -135,7 +135,7 @@ vector Temperature::CalcTemperatureDifferentials(vector temperat // TODO: consider the following unused arguments are really needed UNUSED(temperatures_K); - s2e::math::Vector<3> sun_direction_b = local_celestial_information->GetPositionFromSpacecraft_b_m("SUN").CalcNormalizedVector(); + math::Vector<3> sun_direction_b = local_celestial_information->GetPositionFromSpacecraft_b_m("SUN").CalcNormalizedVector(); vector differentials_K_s(node_num); for (size_t i = 0; i < node_num; i++) { heatloads_[i].SetElapsedTime_s(t); @@ -143,7 +143,7 @@ vector Temperature::CalcTemperatureDifferentials(vector temperat double solar_flux_W_m2 = srp_environment_->GetPowerDensity_W_m2(); if (solar_calc_setting_ == SolarCalcSetting::kEnable) { double solar_radiation_W = nodes_[i].CalcSolarRadiation_W(sun_direction_b, solar_flux_W_m2); - s2e::math::Vector<3> earth_position_b_m = local_celestial_information->GetPositionFromSpacecraft_b_m("EARTH"); + math::Vector<3> earth_position_b_m = local_celestial_information->GetPositionFromSpacecraft_b_m("EARTH"); double albedo_radiation_W = nodes_[i].CalcAlbedoRadiation_W(earth_position_b_m, earth_albedo_->GetEarthAlbedoRadiationPower_W_m2()); heatloads_[i].SetAlbedoHeatload_W(albedo_radiation_W); heatloads_[i].SetSolarHeatload_W(solar_radiation_W); @@ -196,14 +196,14 @@ string Temperature::GetLogHeader() const { // Do not retrieve boundary node values if (nodes_[i].GetNodeType() != NodeType::kBoundary) { string str_node = "temp_" + to_string(nodes_[i].GetNodeId()) + " (" + nodes_[i].GetNodeName() + ")"; - str_tmp += WriteScalar(str_node, "deg"); + str_tmp += logger::WriteScalar(str_node, "deg"); } } for (size_t i = 0; i < node_num_; i++) { // Do not retrieve boundary node values if (nodes_[i].GetNodeType() != NodeType::kBoundary) { string str_node = "heat_" + to_string(nodes_[i].GetNodeId()) + " (" + nodes_[i].GetNodeName() + ")"; - str_tmp += WriteScalar(str_node, "W"); + str_tmp += logger::WriteScalar(str_node, "W"); } } return str_tmp; @@ -214,13 +214,13 @@ string Temperature::GetLogValue() const { for (size_t i = 0; i < node_num_; i++) { // Do not retrieve boundary node values if (nodes_[i].GetNodeType() != NodeType::kBoundary) { - str_tmp += WriteScalar(nodes_[i].GetTemperature_degC()); + str_tmp += logger::WriteScalar(nodes_[i].GetTemperature_degC()); } } for (size_t i = 0; i < node_num_; i++) { // Do not retrieve boundary node values if (nodes_[i].GetNodeType() != NodeType::kBoundary) { - str_tmp += WriteScalar(heatloads_[i].GetTotalHeatload_W()); + str_tmp += logger::WriteScalar(heatloads_[i].GetTotalHeatload_W()); } } return str_tmp; diff --git a/src/dynamics/thermal/temperature.hpp b/src/dynamics/thermal/temperature.hpp index 7f9596ef9..8c99db6e1 100644 --- a/src/dynamics/thermal/temperature.hpp +++ b/src/dynamics/thermal/temperature.hpp @@ -43,8 +43,8 @@ class Temperature : public logger::ILoggable { size_t node_num_; //!< number of nodes double propagation_step_s_; //!< propagation step [s] double propagation_time_s_; //!< Incremented time inside class Temperature [s], finish propagation when reaching end_time - const SolarRadiationPressureEnvironment* srp_environment_; //!< SolarRadiationPressureEnvironment for calculating solar flux - const EarthAlbedo* earth_albedo_; //!< EarthAlbedo object for calculating earth albedo + const environment::SolarRadiationPressureEnvironment* srp_environment_; //!< SolarRadiationPressureEnvironment for calculating solar flux + const environment::EarthAlbedo* earth_albedo_; //!< EarthAlbedo object for calculating earth albedo bool is_calc_enabled_; //!< Whether temperature calculation is enabled SolarCalcSetting solar_calc_setting_; //!< setting for solar calculation bool debug_; //!< Activate debug output or not @@ -58,7 +58,7 @@ class Temperature : public logger::ILoggable { * @param[in] local_celestial_information: LocalCelestialInformation object for calculating radiation * @param[in] node_num: Number of nodes */ - void CalcRungeOneStep(double time_now_s, double time_step_s, const LocalCelestialInformation* local_celestial_information, size_t node_num); + void CalcRungeOneStep(double time_now_s, double time_step_s, const environment::LocalCelestialInformation* local_celestial_information, size_t node_num); /** * @fn CalcTemperatureDifferentials * @brief Calculate differential of thermal equilibrium equation @@ -70,7 +70,7 @@ class Temperature : public logger::ILoggable { * @return std::vector: Differential of thermal equilibrium equation at time now */ std::vector CalcTemperatureDifferentials(std::vector temperatures_K, double time_now_s, - const LocalCelestialInformation* local_celestial_information, size_t node_num); + const environment::LocalCelestialInformation* local_celestial_information, size_t node_num); public: /** @@ -93,8 +93,8 @@ class Temperature : public logger::ILoggable { */ Temperature(const std::vector> conductance_matrix_W_K, const std::vector> radiation_matrix_m2, std::vector nodes, std::vector heatloads, std::vector heaters, std::vector heater_controllers, - const size_t node_num, const double propagation_step_s, const SolarRadiationPressureEnvironment* srp_environment, - const EarthAlbedo* earth_albedo, const bool is_calc_enabled, const SolarCalcSetting solar_calc_setting, const bool debug); + const size_t node_num, const double propagation_step_s, const environment::SolarRadiationPressureEnvironment* srp_environment, + const environment::EarthAlbedo* earth_albedo, const bool is_calc_enabled, const SolarCalcSetting solar_calc_setting, const bool debug); /** * @fn Temperature * @brief Construct a new Temperature object, used when thermal calculation is disabled. @@ -114,7 +114,7 @@ class Temperature : public logger::ILoggable { * @param[in] local_celestial_information: LocalCelestialInformation object for calculating radiation * @param time_end_s: Time to finish propagation [s] */ - void Propagate(const LocalCelestialInformation* local_celestial_information, const double time_end_s); + void Propagate(const environment::LocalCelestialInformation* local_celestial_information, const double time_end_s); // Getter /** @@ -165,8 +165,8 @@ class Temperature : public logger::ILoggable { * @param[in] srp_environment: SolarRadiationPressureEnvironment object for calculating solar flux * @return Temperature* */ -Temperature* InitTemperature(const std::string file_name, const double rk_prop_step_s, const SolarRadiationPressureEnvironment* srp_environment, - const EarthAlbedo* earth_albedo); +Temperature* InitTemperature(const std::string file_name, const double rk_prop_step_s, const environment::SolarRadiationPressureEnvironment* srp_environment, + const environment::EarthAlbedo* earth_albedo); } // namespace s2e::dynamics::thermal diff --git a/src/environment/global/celestial_information.cpp b/src/environment/global/celestial_information.cpp index bcf9bf365..af94cfcb6 100644 --- a/src/environment/global/celestial_information.cpp +++ b/src/environment/global/celestial_information.cpp @@ -175,10 +175,10 @@ std::string CelestialInformation::GetLogValue() const { std::string str_tmp = ""; for (unsigned int i = 0; i < number_of_selected_bodies_; i++) { for (int j = 0; j < 3; j++) { - str_tmp += WriteScalar(celestial_body_position_from_center_i_m_[i * 3 + j]); + str_tmp += logger::WriteScalar(celestial_body_position_from_center_i_m_[i * 3 + j]); } for (int j = 0; j < 3; j++) { - str_tmp += WriteScalar(celestial_body_velocity_from_center_i_m_s_[i * 3 + j]); + str_tmp += logger::WriteScalar(celestial_body_velocity_from_center_i_m_s_[i * 3 + j]); } } return str_tmp; diff --git a/src/environment/global/celestial_information.hpp b/src/environment/global/celestial_information.hpp index 162fe790a..a00ceac53 100644 --- a/src/environment/global/celestial_information.hpp +++ b/src/environment/global/celestial_information.hpp @@ -75,8 +75,8 @@ class CelestialInformation : public logger::ILoggable { * @brief Return position from the center body in the inertial frame [m] * @param [in] id: ID of CelestialInformation list */ - inline s2e::math::Vector<3> GetPositionFromCenter_i_m(const unsigned int id) const { - s2e::math::Vector<3> pos(0.0); + inline math::Vector<3> GetPositionFromCenter_i_m(const unsigned int id) const { + math::Vector<3> pos(0.0); if (id > number_of_selected_bodies_) return pos; for (int i = 0; i < 3; i++) pos[i] = celestial_body_position_from_center_i_m_[id * 3 + i]; return pos; @@ -86,7 +86,7 @@ class CelestialInformation : public logger::ILoggable { * @brief Return position from the center body in the inertial frame [m] * @param [in] body_name: Name of the body defined in the SPICE */ - inline s2e::math::Vector<3> GetPositionFromCenter_i_m(const char* body_name) const { + inline math::Vector<3> GetPositionFromCenter_i_m(const char* body_name) const { int id = CalcBodyIdFromName(body_name); return GetPositionFromCenter_i_m(id); } @@ -96,11 +96,11 @@ class CelestialInformation : public logger::ILoggable { * @param [in] target_body_name: Name of the target body defined in the SPICE * @param [in] reference_body_name: Name of the reference body defined in the SPICE */ - inline s2e::math::Vector<3> GetPositionFromSelectedBody_i_m(const char* target_body_name, const char* reference_body_name) const { + inline math::Vector<3> GetPositionFromSelectedBody_i_m(const char* target_body_name, const char* reference_body_name) const { int target_id = CalcBodyIdFromName(target_body_name); - s2e::math::Vector<3> target_body_position_i_m = GetPositionFromCenter_i_m(target_id); + math::Vector<3> target_body_position_i_m = GetPositionFromCenter_i_m(target_id); int reference_id = CalcBodyIdFromName(reference_body_name); - s2e::math::Vector<3> reference_body_position_i_m = GetPositionFromCenter_i_m(reference_id); + math::Vector<3> reference_body_position_i_m = GetPositionFromCenter_i_m(reference_id); return target_body_position_i_m - reference_body_position_i_m; } @@ -110,8 +110,8 @@ class CelestialInformation : public logger::ILoggable { * @brief Return velocity from the center body in the inertial frame [m/s] * @param [in] id: ID of CelestialInformation list */ - inline s2e::math::Vector<3> GetVelocityFromCenter_i_m_s(const unsigned int id) const { - s2e::math::Vector<3> vel(0.0); + inline math::Vector<3> GetVelocityFromCenter_i_m_s(const unsigned int id) const { + math::Vector<3> vel(0.0); if (id > number_of_selected_bodies_) return vel; for (int i = 0; i < 3; i++) vel[i] = celestial_body_velocity_from_center_i_m_s_[id * 3 + i]; return vel; @@ -121,7 +121,7 @@ class CelestialInformation : public logger::ILoggable { * @brief Return velocity from the center body in the inertial frame [m/s] * @param [in] body_name: Name of the body defined in the SPICE */ - inline s2e::math::Vector<3> GetVelocityFromCenter_i_m_s(const char* body_name) const { + inline math::Vector<3> GetVelocityFromCenter_i_m_s(const char* body_name) const { int id = CalcBodyIdFromName(body_name); return GetVelocityFromCenter_i_m_s(id); } @@ -131,11 +131,11 @@ class CelestialInformation : public logger::ILoggable { * @param [in] target_body_name: Name of the target body defined in the SPICE * @param [in] reference_body_name: Name of the reference body defined in the SPICE */ - inline s2e::math::Vector<3> GetVelocityFromSelectedBody_i_m_s(const char* target_body_name, const char* reference_body_name) const { + inline math::Vector<3> GetVelocityFromSelectedBody_i_m_s(const char* target_body_name, const char* reference_body_name) const { int target_id = CalcBodyIdFromName(target_body_name); - s2e::math::Vector<3> target_body_velocity_i_m_s = GetVelocityFromCenter_i_m_s(target_id); + math::Vector<3> target_body_velocity_i_m_s = GetVelocityFromCenter_i_m_s(target_id); int reference_id = CalcBodyIdFromName(reference_body_name); - s2e::math::Vector<3> reference_body_velocity_i_m_s = GetVelocityFromCenter_i_m_s(reference_id); + math::Vector<3> reference_body_velocity_i_m_s = GetVelocityFromCenter_i_m_s(reference_id); return target_body_velocity_i_m_s - reference_body_velocity_i_m_s; } @@ -162,8 +162,8 @@ class CelestialInformation : public logger::ILoggable { * @brief Return 3 axis planetographic radii of a celestial body [m] * @param [in] id: ID of CelestialInformation list */ - inline s2e::math::Vector<3> GetRadii_m(const unsigned int id) const { - s2e::math::Vector<3> radii(0.0); + inline math::Vector<3> GetRadii_m(const unsigned int id) const { + math::Vector<3> radii(0.0); if (id > number_of_selected_bodies_) return radii; for (int i = 0; i < 3; i++) radii[i] = celestial_body_planetographic_radii_m_[id * 3 + i]; return radii; @@ -173,7 +173,7 @@ class CelestialInformation : public logger::ILoggable { * @brief Return 3 axis planetographic radii of a celestial body [m] * @param [in] body_name: Name of the body defined in the SPICE */ - inline s2e::math::Vector<3> GetRadiiFromName_m(const char* body_name) const { + inline math::Vector<3> GetRadiiFromName_m(const char* body_name) const { int id = CalcBodyIdFromName(body_name); return GetRadii_m(id); } diff --git a/src/environment/global/clock_generator.cpp b/src/environment/global/clock_generator.cpp index f2a1b7c8f..db573baf3 100644 --- a/src/environment/global/clock_generator.cpp +++ b/src/environment/global/clock_generator.cpp @@ -9,9 +9,9 @@ namespace s2e::environment { ClockGenerator::~ClockGenerator() {} -void ClockGenerator::RegisterComponent(ITickable* tickable) { components_.push_back(tickable); } +void ClockGenerator::RegisterComponent(components::ITickable* tickable) { components_.push_back(tickable); } -void ClockGenerator::RemoveComponent(ITickable* tickable) { +void ClockGenerator::RemoveComponent(components::ITickable* tickable) { for (auto itr = components_.begin(); itr != components_.end();) { if (*itr == tickable) { components_.erase(itr++); diff --git a/src/environment/global/clock_generator.hpp b/src/environment/global/clock_generator.hpp index 91ef4c383..d11e837f7 100644 --- a/src/environment/global/clock_generator.hpp +++ b/src/environment/global/clock_generator.hpp @@ -30,13 +30,13 @@ class ClockGenerator { * @brief Register component which has ITickable * @param [in] tickable: Component class */ - void RegisterComponent(ITickable* tickable); + void RegisterComponent(components::ITickable* tickable); /** * @fn RemoveComponent * @brief Removed registered component * @param [in] tickable: Registered component class */ - void RemoveComponent(ITickable* tickable); + void RemoveComponent(components::ITickable* tickable); /** * @fn TickToComponents * @brief Execute tick function of all registered components @@ -55,7 +55,7 @@ class ClockGenerator { inline void ClearTimerCount(void) { timer_count_ = 0; } private: - std::vector components_; //!< Component list fot tick + std::vector components_; //!< Component list fot tick unsigned int timer_count_; //!< Timer count TODO: change to long? }; diff --git a/src/environment/global/earth_rotation.cpp b/src/environment/global/earth_rotation.cpp index fd62d7b10..73d5811c8 100644 --- a/src/environment/global/earth_rotation.cpp +++ b/src/environment/global/earth_rotation.cpp @@ -19,7 +19,7 @@ namespace s2e::environment { // Default constructor EarthRotation::EarthRotation(const EarthRotationMode rotation_mode) : rotation_mode_(rotation_mode) { - dcm_j2000_to_ecef_ = s2e::math::MakeIdentityMatrix<3>(); + dcm_j2000_to_ecef_ = math::MakeIdentityMatrix<3>(); dcm_teme_to_ecef_ = dcm_j2000_to_ecef_; InitializeParameters(); } @@ -34,80 +34,80 @@ void EarthRotation::InitializeParameters() { // Coefficients to compute mean obliquity of the ecliptic // The actual unit of the coefficients are [rad/century^i], where i is the index of the array - c_epsilon_rad_[0] = 23.4392911 * s2e::math::deg_to_rad; // [rad] - c_epsilon_rad_[1] = -46.8150000 * s2e::math::arcsec_to_rad; // [rad/century] - c_epsilon_rad_[2] = -5.9000e-4 * s2e::math::arcsec_to_rad; // [rad/century^2] - c_epsilon_rad_[3] = 1.8130e-3 * s2e::math::arcsec_to_rad; // [rad/century^3] + c_epsilon_rad_[0] = 23.4392911 * math::deg_to_rad; // [rad] + c_epsilon_rad_[1] = -46.8150000 * math::arcsec_to_rad; // [rad/century] + c_epsilon_rad_[2] = -5.9000e-4 * math::arcsec_to_rad; // [rad/century^2] + c_epsilon_rad_[3] = 1.8130e-3 * math::arcsec_to_rad; // [rad/century^3] // Coefficients to compute Delaunay angles // The actual unit of the coefficients are [rad/century^i], where i is the index of the array - c_lm_rad_[0] = 134.96340251 * s2e::math::deg_to_rad; // [rad] - c_lm_rad_[1] = 1717915923.21780000 * s2e::math::arcsec_to_rad; // [rad/century] - c_lm_rad_[2] = 31.87920000 * s2e::math::arcsec_to_rad; // [rad/century^2] - c_lm_rad_[3] = 0.05163500 * s2e::math::arcsec_to_rad; // [rad/century^3] - c_lm_rad_[4] = -0.00024470 * s2e::math::arcsec_to_rad; // [rad/century^4] - - c_ls_rad_[0] = 357.52910918 * s2e::math::deg_to_rad; // [rad] - c_ls_rad_[1] = 129596581.04810000 * s2e::math::arcsec_to_rad; // [rad/century] - c_ls_rad_[2] = -0.55320000 * s2e::math::arcsec_to_rad; // [rad/century^2] - c_ls_rad_[3] = 0.00013600 * s2e::math::arcsec_to_rad; // [rad/century^3] - c_ls_rad_[4] = -0.00001149 * s2e::math::arcsec_to_rad; // [rad/century^4] - - c_f_rad_[0] = 93.27209062 * s2e::math::deg_to_rad; // [rad] - c_f_rad_[1] = 1739527262.84780000 * s2e::math::arcsec_to_rad; // [rad/century] - c_f_rad_[2] = -12.75120000 * s2e::math::arcsec_to_rad; // [rad/century^2] - c_f_rad_[3] = -0.00103700 * s2e::math::arcsec_to_rad; // [rad/century^3] - c_f_rad_[4] = 0.00000417 * s2e::math::arcsec_to_rad; // [rad/century^4] - - c_d_rad_[0] = 297.85019547 * s2e::math::deg_to_rad; // [rad] - c_d_rad_[1] = 1602961601.20900000 * s2e::math::arcsec_to_rad; // [rad/century] - c_d_rad_[2] = -6.37060000 * s2e::math::arcsec_to_rad; // [rad/century^2] - c_d_rad_[3] = 0.00659300 * s2e::math::arcsec_to_rad; // [rad/century^3] - c_d_rad_[4] = -0.00003169 * s2e::math::arcsec_to_rad; // [rad/century^4] - - c_o_rad_[0] = 125.04455501 * s2e::math::deg_to_rad; // [rad] - c_o_rad_[1] = -6962890.54310000 * s2e::math::arcsec_to_rad; // [rad/century] - c_o_rad_[2] = 7.47220000 * s2e::math::arcsec_to_rad; // [rad/century^2] - c_o_rad_[3] = 0.00770200 * s2e::math::arcsec_to_rad; // [rad/century^3] - c_o_rad_[4] = -0.00005939 * s2e::math::arcsec_to_rad; // [rad/century^4] + c_lm_rad_[0] = 134.96340251 * math::deg_to_rad; // [rad] + c_lm_rad_[1] = 1717915923.21780000 * math::arcsec_to_rad; // [rad/century] + c_lm_rad_[2] = 31.87920000 * math::arcsec_to_rad; // [rad/century^2] + c_lm_rad_[3] = 0.05163500 * math::arcsec_to_rad; // [rad/century^3] + c_lm_rad_[4] = -0.00024470 * math::arcsec_to_rad; // [rad/century^4] + + c_ls_rad_[0] = 357.52910918 * math::deg_to_rad; // [rad] + c_ls_rad_[1] = 129596581.04810000 * math::arcsec_to_rad; // [rad/century] + c_ls_rad_[2] = -0.55320000 * math::arcsec_to_rad; // [rad/century^2] + c_ls_rad_[3] = 0.00013600 * math::arcsec_to_rad; // [rad/century^3] + c_ls_rad_[4] = -0.00001149 * math::arcsec_to_rad; // [rad/century^4] + + c_f_rad_[0] = 93.27209062 * math::deg_to_rad; // [rad] + c_f_rad_[1] = 1739527262.84780000 * math::arcsec_to_rad; // [rad/century] + c_f_rad_[2] = -12.75120000 * math::arcsec_to_rad; // [rad/century^2] + c_f_rad_[3] = -0.00103700 * math::arcsec_to_rad; // [rad/century^3] + c_f_rad_[4] = 0.00000417 * math::arcsec_to_rad; // [rad/century^4] + + c_d_rad_[0] = 297.85019547 * math::deg_to_rad; // [rad] + c_d_rad_[1] = 1602961601.20900000 * math::arcsec_to_rad; // [rad/century] + c_d_rad_[2] = -6.37060000 * math::arcsec_to_rad; // [rad/century^2] + c_d_rad_[3] = 0.00659300 * math::arcsec_to_rad; // [rad/century^3] + c_d_rad_[4] = -0.00003169 * math::arcsec_to_rad; // [rad/century^4] + + c_o_rad_[0] = 125.04455501 * math::deg_to_rad; // [rad] + c_o_rad_[1] = -6962890.54310000 * math::arcsec_to_rad; // [rad/century] + c_o_rad_[2] = 7.47220000 * math::arcsec_to_rad; // [rad/century^2] + c_o_rad_[3] = 0.00770200 * math::arcsec_to_rad; // [rad/century^3] + c_o_rad_[4] = -0.00005939 * math::arcsec_to_rad; // [rad/century^4] // Coefficients to compute nutation angles - c_d_epsilon_rad_[0] = 9.2050 * s2e::math::arcsec_to_rad; // [rad] - c_d_epsilon_rad_[1] = 0.5730 * s2e::math::arcsec_to_rad; // [rad] - c_d_epsilon_rad_[2] = -0.0900 * s2e::math::arcsec_to_rad; // [rad] - c_d_epsilon_rad_[3] = 0.0980 * s2e::math::arcsec_to_rad; // [rad] - c_d_epsilon_rad_[4] = 0.0070 * s2e::math::arcsec_to_rad; // [rad] - c_d_epsilon_rad_[5] = -0.0010 * s2e::math::arcsec_to_rad; // [rad] - c_d_epsilon_rad_[6] = 0.0220 * s2e::math::arcsec_to_rad; // [rad] - c_d_epsilon_rad_[7] = 0.0130 * s2e::math::arcsec_to_rad; // [rad] - c_d_epsilon_rad_[8] = -0.0100 * s2e::math::arcsec_to_rad; // [rad] - - c_d_psi_rad_[0] = -17.2060 * s2e::math::arcsec_to_rad; // [rad] - c_d_psi_rad_[1] = -1.3170 * s2e::math::arcsec_to_rad; // [rad] - c_d_psi_rad_[2] = 0.2070 * s2e::math::arcsec_to_rad; // [rad] - c_d_psi_rad_[3] = -0.2280 * s2e::math::arcsec_to_rad; // [rad] - c_d_psi_rad_[4] = 0.1480 * s2e::math::arcsec_to_rad; // [rad] - c_d_psi_rad_[5] = 0.0710 * s2e::math::arcsec_to_rad; // [rad] - c_d_psi_rad_[6] = -0.0520 * s2e::math::arcsec_to_rad; // [rad] - c_d_psi_rad_[7] = -0.0300 * s2e::math::arcsec_to_rad; // [rad] - c_d_psi_rad_[8] = 0.0220 * s2e::math::arcsec_to_rad; // [rad] + c_d_epsilon_rad_[0] = 9.2050 * math::arcsec_to_rad; // [rad] + c_d_epsilon_rad_[1] = 0.5730 * math::arcsec_to_rad; // [rad] + c_d_epsilon_rad_[2] = -0.0900 * math::arcsec_to_rad; // [rad] + c_d_epsilon_rad_[3] = 0.0980 * math::arcsec_to_rad; // [rad] + c_d_epsilon_rad_[4] = 0.0070 * math::arcsec_to_rad; // [rad] + c_d_epsilon_rad_[5] = -0.0010 * math::arcsec_to_rad; // [rad] + c_d_epsilon_rad_[6] = 0.0220 * math::arcsec_to_rad; // [rad] + c_d_epsilon_rad_[7] = 0.0130 * math::arcsec_to_rad; // [rad] + c_d_epsilon_rad_[8] = -0.0100 * math::arcsec_to_rad; // [rad] + + c_d_psi_rad_[0] = -17.2060 * math::arcsec_to_rad; // [rad] + c_d_psi_rad_[1] = -1.3170 * math::arcsec_to_rad; // [rad] + c_d_psi_rad_[2] = 0.2070 * math::arcsec_to_rad; // [rad] + c_d_psi_rad_[3] = -0.2280 * math::arcsec_to_rad; // [rad] + c_d_psi_rad_[4] = 0.1480 * math::arcsec_to_rad; // [rad] + c_d_psi_rad_[5] = 0.0710 * math::arcsec_to_rad; // [rad] + c_d_psi_rad_[6] = -0.0520 * math::arcsec_to_rad; // [rad] + c_d_psi_rad_[7] = -0.0300 * math::arcsec_to_rad; // [rad] + c_d_psi_rad_[8] = 0.0220 * math::arcsec_to_rad; // [rad] // Coefficients to compute precession angle // The actual unit of the coefficients are [rad/century^i], where i is the index of the array - c_zeta_rad_[0] = 2306.218100 * s2e::math::arcsec_to_rad; // [rad/century] - c_zeta_rad_[1] = 0.301880 * s2e::math::arcsec_to_rad; // [rad/century^2] - c_zeta_rad_[2] = 0.017998 * s2e::math::arcsec_to_rad; // [rad/century^3] + c_zeta_rad_[0] = 2306.218100 * math::arcsec_to_rad; // [rad/century] + c_zeta_rad_[1] = 0.301880 * math::arcsec_to_rad; // [rad/century^2] + c_zeta_rad_[2] = 0.017998 * math::arcsec_to_rad; // [rad/century^3] - c_theta_rad_[0] = 2004.310900 * s2e::math::arcsec_to_rad; // [rad/century] - c_theta_rad_[1] = -0.426650 * s2e::math::arcsec_to_rad; // [rad/century^2] - c_theta_rad_[2] = -0.041833 * s2e::math::arcsec_to_rad; // [rad/century^3] + c_theta_rad_[0] = 2004.310900 * math::arcsec_to_rad; // [rad/century] + c_theta_rad_[1] = -0.426650 * math::arcsec_to_rad; // [rad/century^2] + c_theta_rad_[2] = -0.041833 * math::arcsec_to_rad; // [rad/century^3] - c_z_rad_[0] = 2306.218100 * s2e::math::arcsec_to_rad; // [rad/century] - c_z_rad_[1] = 1.094680 * s2e::math::arcsec_to_rad; // [rad/century^2] - c_z_rad_[2] = 0.018203 * s2e::math::arcsec_to_rad; // [rad/century^3] + c_z_rad_[0] = 2306.218100 * math::arcsec_to_rad; // [rad/century] + c_z_rad_[1] = 1.094680 * math::arcsec_to_rad; // [rad/century^2] + c_z_rad_[2] = 0.018203 * math::arcsec_to_rad; // [rad/century^3] } else { // If the rotation mode is neither Simple nor Full, disable the rotation calculation and make the DCM a unit matrix - dcm_j2000_to_ecef_ = s2e::math::MakeIdentityMatrix<3>(); + dcm_j2000_to_ecef_ = math::MakeIdentityMatrix<3>(); } } @@ -127,10 +127,10 @@ void EarthRotation::Update(const double julian_date) { terrestrial_time_julian_century[i + 1] = terrestrial_time_julian_century[i] * terrestrial_time_julian_century[0]; } - s2e::math::Matrix<3, 3> dcm_precession; - s2e::math::Matrix<3, 3> dcm_nutation; - s2e::math::Matrix<3, 3> dcm_rotation; - s2e::math::Matrix<3, 3> dcm_polar_motion; + math::Matrix<3, 3> dcm_precession; + math::Matrix<3, 3> dcm_nutation; + math::Matrix<3, 3> dcm_rotation; + math::Matrix<3, 3> dcm_polar_motion; // Nutation + Precession dcm_precession = Precession(terrestrial_time_julian_century); dcm_nutation = Nutation(terrestrial_time_julian_century); // epsilon_rad_, d_epsilon_rad_, d_psi_rad_ are updated in this procedure @@ -156,9 +156,9 @@ void EarthRotation::Update(const double julian_date) { } } -s2e::math::Matrix<3, 3> EarthRotation::AxialRotation(const double gast_rad) { return s2e::math::MakeRotationMatrixZ(gast_rad); } +math::Matrix<3, 3> EarthRotation::AxialRotation(const double gast_rad) { return math::MakeRotationMatrixZ(gast_rad); } -s2e::math::Matrix<3, 3> EarthRotation::Nutation(const double (&t_tt_century)[4]) { +math::Matrix<3, 3> EarthRotation::Nutation(const double (&t_tt_century)[4]) { // Mean obliquity of the ecliptic epsilon_rad_ = c_epsilon_rad_[0]; for (int i = 0; i < 3; i++) { @@ -210,17 +210,17 @@ s2e::math::Matrix<3, 3> EarthRotation::Nutation(const double (&t_tt_century)[4]) c_d_epsilon_rad_[7] * cos(2 * l_rad + lm_rad) + c_d_epsilon_rad_[8] * cos(2 * ld_rad - ls_rad); double epsi_mod_rad = epsilon_rad_ + d_epsilon_rad_; - s2e::math::Matrix<3, 3> x_epsi_1st = s2e::math::MakeRotationMatrixX(epsilon_rad_); - s2e::math::Matrix<3, 3> z_d_psi = s2e::math::MakeRotationMatrixZ(-d_psi_rad_); - s2e::math::Matrix<3, 3> x_epsi_2nd = s2e::math::MakeRotationMatrixX(-epsi_mod_rad); + math::Matrix<3, 3> x_epsi_1st = math::MakeRotationMatrixX(epsilon_rad_); + math::Matrix<3, 3> z_d_psi = math::MakeRotationMatrixZ(-d_psi_rad_); + math::Matrix<3, 3> x_epsi_2nd = math::MakeRotationMatrixX(-epsi_mod_rad); - s2e::math::Matrix<3, 3> dcm_nutation; + math::Matrix<3, 3> dcm_nutation; dcm_nutation = x_epsi_2nd * z_d_psi * x_epsi_1st; return dcm_nutation; } -s2e::math::Matrix<3, 3> EarthRotation::Precession(const double (&t_tt_century)[4]) { +math::Matrix<3, 3> EarthRotation::Precession(const double (&t_tt_century)[4]) { // Compute precession angles(zeta, theta, z) double zeta_rad = 0.0; for (int i = 0; i < 3; i++) { @@ -236,18 +236,18 @@ s2e::math::Matrix<3, 3> EarthRotation::Precession(const double (&t_tt_century)[4 } // Develop transformation matrix - s2e::math::Matrix<3, 3> z_zeta = s2e::math::MakeRotationMatrixZ(-zeta_rad); - s2e::math::Matrix<3, 3> y_theta = s2e::math::MakeRotationMatrixY(theta_rad); - s2e::math::Matrix<3, 3> z_z = s2e::math::MakeRotationMatrixZ(-z_rad); + math::Matrix<3, 3> z_zeta = math::MakeRotationMatrixZ(-zeta_rad); + math::Matrix<3, 3> y_theta = math::MakeRotationMatrixY(theta_rad); + math::Matrix<3, 3> z_z = math::MakeRotationMatrixZ(-z_rad); - s2e::math::Matrix<3, 3> dcm_precession; + math::Matrix<3, 3> dcm_precession; dcm_precession = z_z * y_theta * z_zeta; return dcm_precession; } -s2e::math::Matrix<3, 3> EarthRotation::PolarMotion(const double x_p, const double y_p) { - s2e::math::Matrix<3, 3> dcm_polar_motion; +math::Matrix<3, 3> EarthRotation::PolarMotion(const double x_p, const double y_p) { + math::Matrix<3, 3> dcm_polar_motion; dcm_polar_motion[0][0] = 1.0; dcm_polar_motion[0][1] = 0.0; diff --git a/src/environment/global/earth_rotation.hpp b/src/environment/global/earth_rotation.hpp index b9680e478..25cfa1992 100644 --- a/src/environment/global/earth_rotation.hpp +++ b/src/environment/global/earth_rotation.hpp @@ -47,20 +47,20 @@ class EarthRotation { * @fn GetDcmJ2000ToEcef * @brief Return the DCM between J2000 inertial frame and the Earth Centered Earth Fixed frame */ - inline const s2e::math::Matrix<3, 3> GetDcmJ2000ToEcef() const { return dcm_j2000_to_ecef_; }; + inline const math::Matrix<3, 3> GetDcmJ2000ToEcef() const { return dcm_j2000_to_ecef_; }; /** * @fn GetDcmTemeToEcef * @brief Return the DCM between TEME (Inertial frame used in SGP4) and the Earth Centered Earth Fixed frame */ - inline const s2e::math::Matrix<3, 3> GetDcmTemeToEcef() const { return dcm_teme_to_ecef_; }; + inline const math::Matrix<3, 3> GetDcmTemeToEcef() const { return dcm_teme_to_ecef_; }; private: double d_psi_rad_; //!< Nutation in obliquity [rad] double d_epsilon_rad_; //!< Nutation in longitude [rad] double epsilon_rad_; //!< Mean obliquity of the ecliptic [rad] - s2e::math::Matrix<3, 3> dcm_j2000_to_ecef_; //!< Direction Cosine Matrix J2000 to ECEF - s2e::math::Matrix<3, 3> dcm_teme_to_ecef_; //!< Direction Cosine Matrix TEME to ECEF + math::Matrix<3, 3> dcm_j2000_to_ecef_; //!< Direction Cosine Matrix J2000 to ECEF + math::Matrix<3, 3> dcm_teme_to_ecef_; //!< Direction Cosine Matrix TEME to ECEF EarthRotationMode rotation_mode_; //!< Designation of dynamics model // Definitions of coefficients @@ -96,7 +96,7 @@ class EarthRotation { * @param [in] gast_rad: Greenwich 'Apparent' Sidereal Time [rad] * @return Rotation matrix */ - s2e::math::Matrix<3, 3> AxialRotation(const double gast_rad); + math::Matrix<3, 3> AxialRotation(const double gast_rad); /** * @fn Nutation @@ -104,7 +104,7 @@ class EarthRotation { * @param [in] t_tt_century: nth power of julian century for terrestrial time * @return Rotation matrix */ - s2e::math::Matrix<3, 3> Nutation(const double (&t_tt_century)[4]); + math::Matrix<3, 3> Nutation(const double (&t_tt_century)[4]); /** * @fn Precession @@ -112,14 +112,14 @@ class EarthRotation { * @param [in] t_tt_century: nth power of julian century for terrestrial time * @return Rotation matrix */ - s2e::math::Matrix<3, 3> Precession(const double (&t_tt_century)[4]); + math::Matrix<3, 3> Precession(const double (&t_tt_century)[4]); /** * @fn PolarMotion * @brief Calculate movement of the coordinate axes due to Polar Motion * @note Currently, this function is not used. */ - s2e::math::Matrix<3, 3> PolarMotion(const double x_p, const double y_p); + math::Matrix<3, 3> PolarMotion(const double x_p, const double y_p); }; EarthRotationMode ConvertEarthRotationMode(const std::string mode); diff --git a/src/environment/global/global_environment.cpp b/src/environment/global/global_environment.cpp index 334c1d4ae..3657594c5 100644 --- a/src/environment/global/global_environment.cpp +++ b/src/environment/global/global_environment.cpp @@ -9,7 +9,7 @@ namespace s2e::environment { -GlobalEnvironment::GlobalEnvironment(const SimulationConfiguration* simulation_configuration) { Initialize(simulation_configuration); } +GlobalEnvironment::GlobalEnvironment(const simulation::SimulationConfiguration* simulation_configuration) { Initialize(simulation_configuration); } GlobalEnvironment::~GlobalEnvironment() { delete simulation_time_; @@ -18,7 +18,7 @@ GlobalEnvironment::~GlobalEnvironment() { delete gnss_satellites_; } -void GlobalEnvironment::Initialize(const SimulationConfiguration* simulation_configuration) { +void GlobalEnvironment::Initialize(const simulation::SimulationConfiguration* simulation_configuration) { // Get ini file path setting_file_reader::IniAccess iniAccess = setting_file_reader::IniAccess(simulation_configuration->initialize_base_file_name_); std::string simulation_time_ini_path = simulation_configuration->initialize_base_file_name_; @@ -39,12 +39,12 @@ void GlobalEnvironment::Update() { gnss_satellites_->Update(*simulation_time_); } -void GlobalEnvironment::LogSetup(Logger& logger) { +void GlobalEnvironment::LogSetup(logger::Logger& logger) { logger.AddLogList(simulation_time_); logger.AddLogList(celestial_information_); logger.AddLogList(gnss_satellites_); } -} // namespace s2e::environment - void GlobalEnvironment::Reset(void) { simulation_time_->ResetClock(); } + +} // namespace s2e::environment diff --git a/src/environment/global/global_environment.hpp b/src/environment/global/global_environment.hpp index 37c51cbfb..f067c33b8 100644 --- a/src/environment/global/global_environment.hpp +++ b/src/environment/global/global_environment.hpp @@ -26,7 +26,7 @@ class GlobalEnvironment { * @brief Constructor * @param [in] simulation_configuration: Simulation configuration */ - GlobalEnvironment(const SimulationConfiguration* simulation_configuration); + GlobalEnvironment(const simulation::SimulationConfiguration* simulation_configuration); /** * @fn ~GlobalEnvironment * @brief Destructor @@ -38,7 +38,7 @@ class GlobalEnvironment { * @brief Initialize all global environment members * @param [in] simulation_configuration: Simulation configuration */ - void Initialize(const SimulationConfiguration* simulation_configuration); + void Initialize(const simulation::SimulationConfiguration* simulation_configuration); /** * @fn Update * @brief Update states of all global environment @@ -48,7 +48,7 @@ class GlobalEnvironment { * @fn LogSetup * @brief Log setup of global environment information */ - void LogSetup(Logger& logger); + void LogSetup(logger::Logger& logger); /** * @fn Reset * @brief Reset clock of SimulationTime diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index ee801c9b6..9dbf72393 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -47,7 +47,7 @@ void GnssSatellites::Initialize(const std::vector& sp3_files, con // Initialize clock std::vector temp; temp.assign(kNumberOfInterpolation, -1.0); - clock_.assign(number_of_calculated_gnss_satellites_, s2e::math::Interpolation(temp, temp)); + clock_.assign(number_of_calculated_gnss_satellites_, math::Interpolation(temp, temp)); // Initialize interpolation for (size_t i = 0; i < kNumberOfInterpolation; i++) { @@ -76,8 +76,8 @@ void GnssSatellites::Update(const SimulationTime& simulation_time) { return; } -s2e::math::Vector<3> GnssSatellites::GetPosition_ecef_m(const size_t gnss_satellite_id, const s2e::time_system::EpochTime time) const { - if (gnss_satellite_id > number_of_calculated_gnss_satellites_) return s2e::math::Vector<3>(0.0); +math::Vector<3> GnssSatellites::GetPosition_ecef_m(const size_t gnss_satellite_id, const s2e::time_system::EpochTime time) const { + if (gnss_satellite_id > number_of_calculated_gnss_satellites_) return math::Vector<3>(0.0); s2e::time_system::EpochTime target_time; @@ -88,10 +88,10 @@ s2e::math::Vector<3> GnssSatellites::GetPosition_ecef_m(const size_t gnss_satell } double diff_s = target_time.GetTimeWithFraction_s() - reference_time_.GetTimeWithFraction_s(); - if (diff_s < 0.0 || diff_s > 1e6) return s2e::math::Vector<3>(0.0); + if (diff_s < 0.0 || diff_s > 1e6) return math::Vector<3>(0.0); const double kOrbitalPeriodCorrection_s = 24 * 60 * 60 * 1.003; // See http://acc.igs.org/orbits/orbit-interp_gpssoln03.pdf - return orbit_[gnss_satellite_id].CalcPositionWithTrigonometric(diff_s, s2e::math::tau / kOrbitalPeriodCorrection_s); + return orbit_[gnss_satellite_id].CalcPositionWithTrigonometric(diff_s, math::tau / kOrbitalPeriodCorrection_s); } double GnssSatellites::GetClock_s(const size_t gnss_satellite_id, const s2e::time_system::EpochTime time) const { @@ -133,7 +133,7 @@ bool GnssSatellites::UpdateInterpolationInformation() { for (size_t gnss_id = 0; gnss_id < number_of_calculated_gnss_satellites_; gnss_id++) { s2e::time_system::EpochTime sp3_time = s2e::time_system::EpochTime(sp3_file.GetEpochData(reference_interpolation_id_)); double time_diff_s = sp3_time.GetTimeWithFraction_s() - reference_time_.GetTimeWithFraction_s(); - s2e::math::Vector<3> sp3_position_m = 1000.0 * sp3_file.GetSatellitePosition_km(reference_interpolation_id_, gnss_id); + math::Vector<3> sp3_position_m = 1000.0 * sp3_file.GetSatellitePosition_km(reference_interpolation_id_, gnss_id); orbit_[gnss_id].PushAndPopData(time_diff_s, sp3_position_m); clock_[gnss_id].PushAndPopData(time_diff_s, sp3_file.GetSatelliteClockOffset(reference_interpolation_id_, gnss_id)); @@ -159,7 +159,7 @@ std::string GnssSatellites::GetLogHeader() const { // TODO: Add log output for other navigation systems for (size_t gps_index = 0; gps_index < kNumberOfGpsSatellite; gps_index++) { str_tmp += logger::WriteVector("GPS" + std::to_string(gps_index) + "_position", "ecef", "m", 3); - str_tmp += WriteScalar("GPS" + std::to_string(gps_index) + "_clock_offset", "s"); + str_tmp += logger::WriteScalar("GPS" + std::to_string(gps_index) + "_clock_offset", "s"); } return str_tmp; @@ -170,7 +170,7 @@ std::string GnssSatellites::GetLogValue() const { for (size_t gps_index = 0; gps_index < kNumberOfGpsSatellite; gps_index++) { str_tmp += logger::WriteVector(GetPosition_ecef_m(gps_index), 16); - str_tmp += WriteScalar(GetClock_s(gps_index)); + str_tmp += logger::WriteScalar(GetClock_s(gps_index)); } return str_tmp; diff --git a/src/environment/global/gnss_satellites.hpp b/src/environment/global/gnss_satellites.hpp index 563dbd3e7..49e73f2a1 100644 --- a/src/environment/global/gnss_satellites.hpp +++ b/src/environment/global/gnss_satellites.hpp @@ -77,7 +77,7 @@ class GnssSatellites : public logger::ILoggable { */ void Update(const SimulationTime& simulation_time); - inline s2e::math::Vector<3> GetPosition_eci_m(const size_t gnss_satellite_id) const { + inline math::Vector<3> GetPosition_eci_m(const size_t gnss_satellite_id) const { // TODO: Add target time for earth rotation calculation return earth_rotation_.GetDcmJ2000ToEcef().Transpose() * GetPosition_ecef_m(gnss_satellite_id); } @@ -89,7 +89,7 @@ class GnssSatellites : public logger::ILoggable { * @param [in] time: Target time to get the GNSS satellite. When the argument is not set, the last updated time is used for the calculation. * @return GNSS satellite position at ECEF frame at the time. Or return zero vector when the arguments are out of range. */ - s2e::math::Vector<3> GetPosition_ecef_m(const size_t gnss_satellite_id, const s2e::time_system::EpochTime time = s2e::time_system::EpochTime(0, 0.0)) const; + math::Vector<3> GetPosition_ecef_m(const size_t gnss_satellite_id, const s2e::time_system::EpochTime time = s2e::time_system::EpochTime(0, 0.0)) const; /** * @fn GetGetClock_s @@ -123,7 +123,7 @@ class GnssSatellites : public logger::ILoggable { s2e::time_system::EpochTime current_epoch_time_; //!< The last updated time std::vector orbit_; //!< GNSS satellite orbit with interpolation - std::vector clock_; //!< GNSS satellite clock offset with interpolation + std::vector clock_; //!< GNSS satellite clock offset with interpolation // References const EarthRotation& earth_rotation_; //!< Earth rotation diff --git a/src/environment/global/hipparcos_catalogue.cpp b/src/environment/global/hipparcos_catalogue.cpp index a4fb9d5f4..83e378997 100644 --- a/src/environment/global/hipparcos_catalogue.cpp +++ b/src/environment/global/hipparcos_catalogue.cpp @@ -52,10 +52,10 @@ bool HipparcosCatalogue::ReadContents(const std::string& file_name, const char d return true; } -s2e::math::Vector<3> HipparcosCatalogue::GetStarDirection_i(size_t rank) const { - s2e::math::Vector<3> direction_i; - double ra_rad = GetRightAscension_deg(rank) * s2e::math::deg_to_rad; - double de_rad = GetDeclination_deg(rank) * s2e::math::deg_to_rad; +math::Vector<3> HipparcosCatalogue::GetStarDirection_i(size_t rank) const { + math::Vector<3> direction_i; + double ra_rad = GetRightAscension_deg(rank) * math::deg_to_rad; + double de_rad = GetDeclination_deg(rank) * math::deg_to_rad; direction_i[0] = cos(ra_rad) * cos(de_rad); direction_i[1] = sin(ra_rad) * cos(de_rad); @@ -64,9 +64,9 @@ s2e::math::Vector<3> HipparcosCatalogue::GetStarDirection_i(size_t rank) const { return direction_i; } -s2e::math::Vector<3> HipparcosCatalogue::GetStarDirection_b(size_t rank, s2e::math::Quaternion quaternion_i2b) const { - s2e::math::Vector<3> direction_i; - s2e::math::Vector<3> direction_b; +math::Vector<3> HipparcosCatalogue::GetStarDirection_b(size_t rank, math::Quaternion quaternion_i2b) const { + math::Vector<3> direction_i; + math::Vector<3> direction_b; direction_i = GetStarDirection_i(rank); direction_b = quaternion_i2b.FrameConversion(direction_i); diff --git a/src/environment/global/hipparcos_catalogue.hpp b/src/environment/global/hipparcos_catalogue.hpp index bc7a70f0f..8067bfcd5 100644 --- a/src/environment/global/hipparcos_catalogue.hpp +++ b/src/environment/global/hipparcos_catalogue.hpp @@ -84,14 +84,14 @@ class HipparcosCatalogue : public logger::ILoggable { *@brief Return direction vector of a star in the inertial frame *@param [in] rank: Rank of star magnitude in read catalogue */ - s2e::math::Vector<3> GetStarDirection_i(size_t rank) const; + math::Vector<3> GetStarDirection_i(size_t rank) const; /** *@fn GetStarDir_b *@brief Return direction vector of a star in the body-fixed frame *@param [in] rank: Rank of star magnitude in read catalogue *@param [in] quaternion_i2b: Quaternion from the inertial frame to the body-fixed frame */ - s2e::math::Vector<3> GetStarDirection_b(size_t rank, s2e::math::Quaternion quaternion_i2b) const; + math::Vector<3> GetStarDirection_b(size_t rank, math::Quaternion quaternion_i2b) const; // Override logger::ILoggable /** diff --git a/src/environment/global/moon_rotation.cpp b/src/environment/global/moon_rotation.cpp index c8843e3a0..b40692284 100644 --- a/src/environment/global/moon_rotation.cpp +++ b/src/environment/global/moon_rotation.cpp @@ -14,13 +14,13 @@ namespace s2e::environment { MoonRotation::MoonRotation(const CelestialInformation& celestial_information, MoonRotationMode mode) : mode_(mode), celestial_information_(celestial_information) { - dcm_j2000_to_mcmf_ = s2e::math::MakeIdentityMatrix<3>(); + dcm_j2000_to_mcmf_ = math::MakeIdentityMatrix<3>(); } void MoonRotation::Update(const SimulationTime& simulation_time) { if (mode_ == MoonRotationMode::kSimple) { - s2e::math::Vector<3> moon_position_eci_m = celestial_information_.GetPositionFromSelectedBody_i_m("MOON", "EARTH"); - s2e::math::Vector<3> moon_velocity_eci_m_s = celestial_information_.GetVelocityFromSelectedBody_i_m_s("MOON", "EARTH"); + math::Vector<3> moon_position_eci_m = celestial_information_.GetPositionFromSelectedBody_i_m("MOON", "EARTH"); + math::Vector<3> moon_velocity_eci_m_s = celestial_information_.GetVelocityFromSelectedBody_i_m_s("MOON", "EARTH"); dcm_j2000_to_mcmf_ = s2e::planet_rotation::CalcDcmEciToPrincipalAxis(moon_position_eci_m, moon_velocity_eci_m_s); } else if (mode_ == MoonRotationMode::kIauMoon) { ConstSpiceChar from[] = "J2000"; @@ -34,7 +34,7 @@ void MoonRotation::Update(const SimulationTime& simulation_time) { } } } else { - dcm_j2000_to_mcmf_ = s2e::math::MakeIdentityMatrix<3>(); + dcm_j2000_to_mcmf_ = math::MakeIdentityMatrix<3>(); } } diff --git a/src/environment/global/moon_rotation.hpp b/src/environment/global/moon_rotation.hpp index ebdc7c4a3..196e2d6a6 100644 --- a/src/environment/global/moon_rotation.hpp +++ b/src/environment/global/moon_rotation.hpp @@ -11,10 +11,10 @@ #include "math_physics/math/vector.hpp" #include "simulation_time.hpp" -class CelestialInformation; - namespace s2e::environment { +class CelestialInformation; + /** * @enum MoonRotationMode * @brief Definition of calculation mode of moon rotation @@ -55,11 +55,11 @@ class MoonRotation { * @brief Return the DCM between J2000 inertial frame and the Moon Centered Moon Fixed frame * @note Because this is just a DCM, users need to consider the origin of the vector, which you want to convert with this matrix. */ - inline const s2e::math::Matrix<3, 3> GetDcmJ2000ToMcmf() const { return dcm_j2000_to_mcmf_; }; + inline const math::Matrix<3, 3> GetDcmJ2000ToMcmf() const { return dcm_j2000_to_mcmf_; }; private: MoonRotationMode mode_; //!< Rotation mode - s2e::math::Matrix<3, 3> dcm_j2000_to_mcmf_; //!< Direction Cosine Matrix J2000 to MCMF (Moon Centered Moon Fixed) + math::Matrix<3, 3> dcm_j2000_to_mcmf_; //!< Direction Cosine Matrix J2000 to MCMF (Moon Centered Moon Fixed) const CelestialInformation &celestial_information_; //!< Celestial Information to get moon orbit }; diff --git a/src/environment/global/physical_constants.hpp b/src/environment/global/physical_constants.hpp index 2c279b389..c97259ee2 100644 --- a/src/environment/global/physical_constants.hpp +++ b/src/environment/global/physical_constants.hpp @@ -39,9 +39,9 @@ DEFINE_PHYSICAL_CONSTANT(earth_flattening, 3.352797e-3L) / #undef DEFINE_PHYSICAL_CONSTANT -} // namespace s2e::environment +inline double degC2K(double degC) { return (degC - absolute_zero_degC); } +inline double K2degC(double K) { return (K + absolute_zero_degC); } -inline double degC2K(double degC) { return (degC - environment::absolute_zero_degC); } -inline double K2degC(double K) { return (K + environment::absolute_zero_degC); } +} // namespace s2e::environment #endif // S2E_ENVIRONMENT_GLOBAL_PHYSICAL_CONSTANT_HPP_ diff --git a/src/environment/global/simulation_time.cpp b/src/environment/global/simulation_time.cpp index d1c74d495..600e70440 100644 --- a/src/environment/global/simulation_time.cpp +++ b/src/environment/global/simulation_time.cpp @@ -204,8 +204,8 @@ void SimulationTime::PrintStartDateTime(void) const { string SimulationTime::GetLogHeader() const { string str_tmp = ""; - str_tmp += WriteScalar("elapsed_time", "s"); - str_tmp += WriteScalar("time", "UTC"); + str_tmp += logger::WriteScalar("elapsed_time", "s"); + str_tmp += logger::WriteScalar("time", "UTC"); return str_tmp; } @@ -213,7 +213,7 @@ string SimulationTime::GetLogHeader() const { string SimulationTime::GetLogValue() const { string str_tmp = ""; - str_tmp += WriteScalar(elapsed_time_sec_); + str_tmp += logger::WriteScalar(elapsed_time_sec_); const char kSize = 100; char ymdhms[kSize]; diff --git a/src/environment/local/atmosphere.cpp b/src/environment/local/atmosphere.cpp index 0b0c9cccc..4659f8c43 100644 --- a/src/environment/local/atmosphere.cpp +++ b/src/environment/local/atmosphere.cpp @@ -52,7 +52,7 @@ Atmosphere::Atmosphere(const std::string model, const std::string space_weather_ } } -double Atmosphere::CalcAirDensity_kg_m3(const double decimal_year, const Orbit& orbit) { +double Atmosphere::CalcAirDensity_kg_m3(const double decimal_year, const dynamics::orbit::Orbit& orbit) { if (!is_calc_enabled_) return 0; if (model_ == "STANDARD") { @@ -68,7 +68,7 @@ double Atmosphere::CalcAirDensity_kg_m3(const double decimal_year, const Orbit& manual_average_f107_, manual_ap_); } else if (model_ == "HARRIS_PRIESTER") { // Harris-Priester - s2e::math::Vector<3> sun_direction_eci = local_celestial_information_->GetGlobalInformation().GetPositionFromCenter_i_m("SUN").CalcNormalizedVector(); + math::Vector<3> sun_direction_eci = local_celestial_information_->GetGlobalInformation().GetPositionFromCenter_i_m("SUN").CalcNormalizedVector(); air_density_kg_m3_ = s2e::atmosphere::CalcAirDensityWithHarrisPriester_kg_m3(orbit.GetGeodeticPosition(), sun_direction_eci); } else { // No suitable model @@ -88,7 +88,7 @@ double Atmosphere::AddNoise(const double rho_kg_m3) { std::string Atmosphere::GetLogValue() const { std::string str_tmp = ""; - str_tmp += WriteScalar(air_density_kg_m3_); + str_tmp += logger::WriteScalar(air_density_kg_m3_); return str_tmp; } @@ -96,7 +96,7 @@ std::string Atmosphere::GetLogValue() const { std::string Atmosphere::GetLogHeader() const { std::string str_tmp = ""; - str_tmp += WriteScalar("air_density_at_spacecraft_position", "kg/m3"); + str_tmp += logger::WriteScalar("air_density_at_spacecraft_position", "kg/m3"); return str_tmp; } diff --git a/src/environment/local/atmosphere.hpp b/src/environment/local/atmosphere.hpp index 6bc47e246..197c0972a 100644 --- a/src/environment/local/atmosphere.hpp +++ b/src/environment/local/atmosphere.hpp @@ -51,7 +51,7 @@ class Atmosphere : public logger::ILoggable { * @param [in] position: Position of target point to calculate the air density * @return Atmospheric density [kg/m^3] */ - double CalcAirDensity_kg_m3(const double decimal_year, const Orbit& orbit); + double CalcAirDensity_kg_m3(const double decimal_year, const dynamics::orbit::Orbit& orbit); /** * @fn GetAirDensity * @brief Return Atmospheric density [kg/m^3] diff --git a/src/environment/local/earth_albedo.cpp b/src/environment/local/earth_albedo.cpp index 46831b8e5..1a38af8da 100644 --- a/src/environment/local/earth_albedo.cpp +++ b/src/environment/local/earth_albedo.cpp @@ -26,8 +26,8 @@ void EarthAlbedo::UpdateAllStates() { std::string EarthAlbedo::GetLogHeader() const { std::string str_tmp = ""; - str_tmp += WriteScalar("earth_albedo_factor"); - str_tmp += WriteScalar("earth_albedo_W_m2"); + str_tmp += logger::WriteScalar("earth_albedo_factor"); + str_tmp += logger::WriteScalar("earth_albedo_W_m2"); return str_tmp; } @@ -35,14 +35,14 @@ std::string EarthAlbedo::GetLogHeader() const { std::string EarthAlbedo::GetLogValue() const { std::string str_tmp = ""; - str_tmp += WriteScalar(earth_albedo_factor_); - str_tmp += WriteScalar(earth_albedo_W_m2_); + str_tmp += logger::WriteScalar(earth_albedo_factor_); + str_tmp += logger::WriteScalar(earth_albedo_W_m2_); return str_tmp; } void EarthAlbedo::CalcEarthAlbedo(const LocalCelestialInformation* local_celestial_information) { - s2e::math::Vector<3> earth_position_b_m = local_celestial_information->GetPositionFromSpacecraft_b_m("EARTH"); + math::Vector<3> earth_position_b_m = local_celestial_information->GetPositionFromSpacecraft_b_m("EARTH"); double earth_distance_m = earth_position_b_m.CalcNorm(); earth_albedo_W_m2_ = srp_environment_->GetPowerDensity_W_m2() * GetEarthAlbedoFactor() * pow((environment::astronomy::earth_equatorial_radius_m / earth_distance_m), 2.0) / 4.0; diff --git a/src/environment/local/geomagnetic_field.cpp b/src/environment/local/geomagnetic_field.cpp index 0b5eab1b9..5b713a11d 100644 --- a/src/environment/local/geomagnetic_field.cpp +++ b/src/environment/local/geomagnetic_field.cpp @@ -25,7 +25,7 @@ GeomagneticField::GeomagneticField(const std::string igrf_file_name, const doubl } void GeomagneticField::CalcMagneticField(const double decimal_year, const double sidereal_day, const s2e::geodesy::GeodeticPosition position, - const s2e::math::Quaternion quaternion_i2b) { + const math::Quaternion quaternion_i2b) { if (!IsCalcEnabled) return; const double lat_rad = position.GetLatitude_rad(); @@ -42,8 +42,8 @@ void GeomagneticField::CalcMagneticField(const double decimal_year, const double } void GeomagneticField::AddNoise(double* magnetic_field_array_i_nT) { - static s2e::math::Vector<3> standard_deviation(random_walk_standard_deviation_nT_); - static s2e::math::Vector<3> limit(random_walk_limit_nT_); + static math::Vector<3> standard_deviation(random_walk_standard_deviation_nT_); + static math::Vector<3> limit(random_walk_limit_nT_); static RandomWalk<3> random_walk(0.1, standard_deviation, limit); static s2e::randomization::NormalRand white_noise(0.0, white_noise_standard_deviation_nT_, s2e::randomization::global_randomization.MakeSeed()); diff --git a/src/environment/local/geomagnetic_field.hpp b/src/environment/local/geomagnetic_field.hpp index ba3f05329..6b9857946 100644 --- a/src/environment/local/geomagnetic_field.hpp +++ b/src/environment/local/geomagnetic_field.hpp @@ -46,18 +46,18 @@ class GeomagneticField : public logger::ILoggable { * @param [in] quaternion_i2b: Spacecraft attitude quaternion from the inertial frame to the body fixed frame */ void CalcMagneticField(const double decimal_year, const double sidereal_day, const s2e::geodesy::GeodeticPosition position, - const s2e::math::Quaternion quaternion_i2b); + const math::Quaternion quaternion_i2b); /** * @fn GetGeomagneticField_i_nT * @brief Return magnetic field vector in the inertial frame [nT] */ - inline s2e::math::Vector<3> GetGeomagneticField_i_nT() const { return magnetic_field_i_nT_; } + inline math::Vector<3> GetGeomagneticField_i_nT() const { return magnetic_field_i_nT_; } /** * @fn GetGeomagneticField_b_nT * @brief Return magnetic field vector in the body fixed frame [nT] */ - inline s2e::math::Vector<3> GetGeomagneticField_b_nT() const { return magnetic_field_b_nT_; } + inline math::Vector<3> GetGeomagneticField_b_nT() const { return magnetic_field_b_nT_; } // Override logger::ILoggable /** @@ -72,8 +72,8 @@ class GeomagneticField : public logger::ILoggable { virtual std::string GetLogValue() const; private: - s2e::math::Vector<3> magnetic_field_i_nT_; //!< Magnetic field vector at the inertial frame [nT] - s2e::math::Vector<3> magnetic_field_b_nT_; //!< Magnetic field vector at the spacecraft body fixed frame [nT] + math::Vector<3> magnetic_field_i_nT_; //!< Magnetic field vector at the inertial frame [nT] + math::Vector<3> magnetic_field_b_nT_; //!< Magnetic field vector at the spacecraft body fixed frame [nT] double random_walk_standard_deviation_nT_; //!< Standard deviation of Random Walk [nT] double random_walk_limit_nT_; //!< Limit of Random Walk [nT] double white_noise_standard_deviation_nT_; //!< Standard deviation of white noise [nT] diff --git a/src/environment/local/local_celestial_information.cpp b/src/environment/local/local_celestial_information.cpp index 8699e21f2..40d78c536 100644 --- a/src/environment/local/local_celestial_information.cpp +++ b/src/environment/local/local_celestial_information.cpp @@ -45,11 +45,11 @@ LocalCelestialInformation::~LocalCelestialInformation() { delete[] celestial_body_velocity_from_spacecraft_b_m_s_; } -void LocalCelestialInformation::UpdateAllObjectsInformation(const s2e::math::Vector<3> spacecraft_position_from_center_i_m, - const s2e::math::Vector<3> spacecraft_velocity_from_center_i_m_s, - const s2e::math::Quaternion quaternion_i2b, - const s2e::math::Vector<3> spacecraft_angular_velocity_rad_s) { - s2e::math::Vector<3> celestial_body_position_i_m, celestial_body_velocity_i_m_s; +void LocalCelestialInformation::UpdateAllObjectsInformation(const math::Vector<3> spacecraft_position_from_center_i_m, + const math::Vector<3> spacecraft_velocity_from_center_i_m_s, + const math::Quaternion quaternion_i2b, + const math::Vector<3> spacecraft_angular_velocity_rad_s) { + math::Vector<3> celestial_body_position_i_m, celestial_body_velocity_i_m_s; for (int i = 0; i < global_celestial_information_->GetNumberOfSelectedBodies(); i++) { celestial_body_position_i_m = global_celestial_information_->GetPositionFromCenter_i_m(i); celestial_body_velocity_i_m_s = global_celestial_information_->GetVelocityFromCenter_i_m_s(i); @@ -64,8 +64,8 @@ void LocalCelestialInformation::UpdateAllObjectsInformation(const s2e::math::Vec return; } -void LocalCelestialInformation::CalcAllPosVel_b(const s2e::math::Quaternion quaternion_i2b, const s2e::math::Vector<3> spacecraft_angular_velocity_rad_s) { - s2e::math::Vector<3> celestial_body_position_i_m, celestial_body_velocity_i_m_s; +void LocalCelestialInformation::CalcAllPosVel_b(const math::Quaternion quaternion_i2b, const math::Vector<3> spacecraft_angular_velocity_rad_s) { + math::Vector<3> celestial_body_position_i_m, celestial_body_velocity_i_m_s; double r_buf1_i[3], velocity_buf1_i[3], r_buf1_b[3], velocity_buf1_b[3]; double r_buf2_i[3], velocity_buf2_i[3], r_buf2_b[3], velocity_buf2_b[3]; for (int i = 0; i < global_celestial_information_->GetNumberOfSelectedBodies(); i++) { @@ -91,50 +91,50 @@ void LocalCelestialInformation::CalcAllPosVel_b(const s2e::math::Quaternion quat } } -void LocalCelestialInformation::ConvertInertialToBody(const double* input_i, double* output_b, s2e::math::Quaternion quaternion_i2b) { - s2e::math::Vector<3> temp_i; +void LocalCelestialInformation::ConvertInertialToBody(const double* input_i, double* output_b, math::Quaternion quaternion_i2b) { + math::Vector<3> temp_i; for (int i = 0; i < 3; i++) { temp_i[i] = input_i[i]; } - s2e::math::Vector<3> temp_b = quaternion_i2b.FrameConversion(temp_i); + math::Vector<3> temp_b = quaternion_i2b.FrameConversion(temp_i); for (int i = 0; i < 3; i++) { output_b[i] = temp_b[i]; } } void LocalCelestialInformation::ConvertVelocityInertialToBody(const double* position_i, const double* velocity_i, double* velocity_b, - const s2e::math::Quaternion quaternion_i2b, const s2e::math::Vector<3> angular_velocity_b) { + const math::Quaternion quaternion_i2b, const math::Vector<3> angular_velocity_b) { // copy input vector - s2e::math::Vector<3> vi; + math::Vector<3> vi; for (int i = 0; i < 3; i++) { vi[i] = velocity_i[i]; } - s2e::math::Vector<3> ri; + math::Vector<3> ri; for (int i = 0; i < 3; i++) { ri[i] = position_i[i]; } // convert body rate vector into that in inertial coordinate - s2e::math::Vector<3> wb; + math::Vector<3> wb; for (int i = 0; i < 3; i++) { wb[i] = angular_velocity_b[i]; } // compute cross term wxr - s2e::math::Vector<3> wxposition_i = OuterProduct(wb, ri); + math::Vector<3> wxposition_i = OuterProduct(wb, ri); // compute dr/dt + wxr for (int i = 0; i < 3; i++) { vi[i] = vi[i] - wxposition_i[i]; } // convert vector in inertial coordinate into that in body coordinate - s2e::math::Vector<3> temp_b = quaternion_i2b.FrameConversion(vi); + math::Vector<3> temp_b = quaternion_i2b.FrameConversion(vi); for (int i = 0; i < 3; i++) { velocity_b[i] = temp_b[i]; } } -s2e::math::Vector<3> LocalCelestialInformation::GetPositionFromSpacecraft_i_m(const char* body_name) const { - s2e::math::Vector<3> position; +math::Vector<3> LocalCelestialInformation::GetPositionFromSpacecraft_i_m(const char* body_name) const { + math::Vector<3> position; int index = 0; index = global_celestial_information_->CalcBodyIdFromName(body_name); for (int i = 0; i < 3; i++) { @@ -143,14 +143,14 @@ s2e::math::Vector<3> LocalCelestialInformation::GetPositionFromSpacecraft_i_m(co return position; } -s2e::math::Vector<3> LocalCelestialInformation::GetCenterBodyPositionFromSpacecraft_i_m() const { +math::Vector<3> LocalCelestialInformation::GetCenterBodyPositionFromSpacecraft_i_m() const { std::string body_name = global_celestial_information_->GetCenterBodyName(); - s2e::math::Vector<3> position = GetPositionFromSpacecraft_i_m(body_name.c_str()); + math::Vector<3> position = GetPositionFromSpacecraft_i_m(body_name.c_str()); return position; } -s2e::math::Vector<3> LocalCelestialInformation::GetPositionFromSpacecraft_b_m(const char* body_name) const { - s2e::math::Vector<3> position; +math::Vector<3> LocalCelestialInformation::GetPositionFromSpacecraft_b_m(const char* body_name) const { + math::Vector<3> position; int index = 0; index = global_celestial_information_->CalcBodyIdFromName(body_name); for (int i = 0; i < 3; i++) { @@ -159,9 +159,9 @@ s2e::math::Vector<3> LocalCelestialInformation::GetPositionFromSpacecraft_b_m(co return position; } -s2e::math::Vector<3> LocalCelestialInformation::GetCenterBodyPositionFromSpacecraft_b_m(void) const { +math::Vector<3> LocalCelestialInformation::GetCenterBodyPositionFromSpacecraft_b_m(void) const { std::string body_name = global_celestial_information_->GetCenterBodyName(); - s2e::math::Vector<3> position = GetPositionFromSpacecraft_b_m(body_name.c_str()); + math::Vector<3> position = GetPositionFromSpacecraft_b_m(body_name.c_str()); return position; } @@ -191,10 +191,10 @@ std::string LocalCelestialInformation::GetLogValue() const { std::string str_tmp = ""; for (int i = 0; i < global_celestial_information_->GetNumberOfSelectedBodies(); i++) { for (int j = 0; j < 3; j++) { - str_tmp += WriteScalar(celestial_body_position_from_spacecraft_b_m_[i * 3 + j]); + str_tmp += logger::WriteScalar(celestial_body_position_from_spacecraft_b_m_[i * 3 + j]); } for (int j = 0; j < 3; j++) { - str_tmp += WriteScalar(celestial_body_velocity_from_spacecraft_b_m_s_[i * 3 + j]); + str_tmp += logger::WriteScalar(celestial_body_velocity_from_spacecraft_b_m_s_[i * 3 + j]); } } return str_tmp; diff --git a/src/environment/local/local_celestial_information.hpp b/src/environment/local/local_celestial_information.hpp index e81a7652f..93a2c13c8 100644 --- a/src/environment/local/local_celestial_information.hpp +++ b/src/environment/local/local_celestial_information.hpp @@ -36,33 +36,33 @@ class LocalCelestialInformation : public logger::ILoggable { * @param [in] quaternion_i2b: Spacecraft attitude quaternion from the inertial frame to the body fixed frame * @param [in] spacecraft_angular_velocity_rad_s: Spacecraft angular velocity with respect to the inertial frame [rad/s] */ - void UpdateAllObjectsInformation(const s2e::math::Vector<3> spacecraft_position_from_center_i_m, - const s2e::math::Vector<3> spacecraft_velocity_from_center_i_m_s, const s2e::math::Quaternion quaternion_i2b, - const s2e::math::Vector<3> spacecraft_angular_velocity_rad_s); + void UpdateAllObjectsInformation(const math::Vector<3> spacecraft_position_from_center_i_m, + const math::Vector<3> spacecraft_velocity_from_center_i_m_s, const math::Quaternion quaternion_i2b, + const math::Vector<3> spacecraft_angular_velocity_rad_s); /** * @fn GetPositionFromSpacecraft_i_m * @brief Return position of a selected body (Origin: Spacecraft, Frame: Inertial frame) * @param [in] body_name Celestial body name */ - s2e::math::Vector<3> GetPositionFromSpacecraft_i_m(const char* body_name) const; + math::Vector<3> GetPositionFromSpacecraft_i_m(const char* body_name) const; /** * @fn GetCenterBodyPositionFromSpacecraft_i_m * @brief Return position of the center body (Origin: Spacecraft, Frame: Inertial frame) */ - s2e::math::Vector<3> GetCenterBodyPositionFromSpacecraft_i_m(void) const; + math::Vector<3> GetCenterBodyPositionFromSpacecraft_i_m(void) const; /** * @fn GetPositionFromSpacecraft_b_m * @brief Return position of a selected body (Origin: Spacecraft, Frame: Body fixed frame) * @param [in] body_name Celestial body name */ - s2e::math::Vector<3> GetPositionFromSpacecraft_b_m(const char* body_name) const; + math::Vector<3> GetPositionFromSpacecraft_b_m(const char* body_name) const; /** * @fn GetCenterBodyPositionFromSpacecraft_b_m * @brief Return position of the center body (Origin: Spacecraft, Frame: Body fixed frame) */ - s2e::math::Vector<3> GetCenterBodyPositionFromSpacecraft_b_m(void) const; + math::Vector<3> GetCenterBodyPositionFromSpacecraft_b_m(void) const; /** * @fn GetGlobalInfo @@ -98,7 +98,7 @@ class LocalCelestialInformation : public logger::ILoggable { * @param [in] quaternion_i2b: Spacecraft attitude quaternion from the inertial frame to the body fixed frame * @param [in] spacecraft_angular_velocity_rad_s: Spacecraft angular velocity with respect to the inertial frame [rad/s] */ - void CalcAllPosVel_b(const s2e::math::Quaternion quaternion_i2b, const s2e::math::Vector<3> spacecraft_angular_velocity_rad_s); + void CalcAllPosVel_b(const math::Quaternion quaternion_i2b, const math::Vector<3> spacecraft_angular_velocity_rad_s); /** * @fn ConvertInertialToBody @@ -107,7 +107,7 @@ class LocalCelestialInformation : public logger::ILoggable { * @param [out] output_b: Output vector in the body fixed frame * @param [in] quaternion_i2b: Spacecraft attitude quaternion from the inertial frame to the body fixed frame */ - void ConvertInertialToBody(const double* input_i, double* output_b, const s2e::math::Quaternion quaternion_i2b); + void ConvertInertialToBody(const double* input_i, double* output_b, const math::Quaternion quaternion_i2b); /** * @fn ConvertVelocityInertialToBody @@ -118,8 +118,8 @@ class LocalCelestialInformation : public logger::ILoggable { * @param [in] quaternion_i2b: Spacecraft attitude quaternion from the inertial frame to the body fixed frame * @param [in] angular_velocity_b: Spacecraft angular velocity with respect to the inertial frame [rad/s] */ - void ConvertVelocityInertialToBody(const double* position_i, const double* velocity_i, double* velocity_b, const s2e::math::Quaternion quaternion_i2b, - const s2e::math::Vector<3> angular_velocity_b); + void ConvertVelocityInertialToBody(const double* position_i, const double* velocity_i, double* velocity_b, const math::Quaternion quaternion_i2b, + const math::Vector<3> angular_velocity_b); }; } // namespace s2e::environment diff --git a/src/environment/local/local_environment.cpp b/src/environment/local/local_environment.cpp index 85d23926c..3fbe777b1 100644 --- a/src/environment/local/local_environment.cpp +++ b/src/environment/local/local_environment.cpp @@ -8,9 +8,9 @@ #include "dynamics/orbit/orbit.hpp" #include "setting_file_reader/initialize_file_access.hpp" -namespace s2e::environment +namespace s2e::environment{ -LocalEnvironment::LocalEnvironment(const SimulationConfiguration* simulation_configuration, const GlobalEnvironment* global_environment, +LocalEnvironment::LocalEnvironment(const simulation::SimulationConfiguration* simulation_configuration, const GlobalEnvironment* global_environment, const int spacecraft_id) { Initialize(simulation_configuration, global_environment, spacecraft_id); } @@ -23,7 +23,7 @@ LocalEnvironment::~LocalEnvironment() { delete celestial_information_; } -void LocalEnvironment::Initialize(const SimulationConfiguration* simulation_configuration, const GlobalEnvironment* global_environment, +void LocalEnvironment::Initialize(const simulation::SimulationConfiguration* simulation_configuration, const GlobalEnvironment* global_environment, const int spacecraft_id) { // Read file name setting_file_reader::IniAccess iniAccess = setting_file_reader::IniAccess(simulation_configuration->spacecraft_file_list_[spacecraft_id]); @@ -71,7 +71,7 @@ void LocalEnvironment::Update(const dynamics::Dynamics* dynamics, const Simulati } } -void LocalEnvironment::LogSetup(Logger& logger) { +void LocalEnvironment::LogSetup(logger::Logger& logger) { logger.AddLogList(geomagnetic_field_); logger.AddLogList(solar_radiation_pressure_environment_); logger.AddLogList(earth_albedo_); diff --git a/src/environment/local/local_environment.hpp b/src/environment/local/local_environment.hpp index f251135f4..f6d698f67 100644 --- a/src/environment/local/local_environment.hpp +++ b/src/environment/local/local_environment.hpp @@ -32,7 +32,7 @@ class LocalEnvironment { * @param [in] global_environment: Global environment * @param [in] spacecraft_id: Satellite ID */ - LocalEnvironment(const SimulationConfiguration* simulation_configuration, const GlobalEnvironment* global_environment, const int spacecraft_id); + LocalEnvironment(const simulation::SimulationConfiguration* simulation_configuration, const GlobalEnvironment* global_environment, const int spacecraft_id); /** * @fn ~LocalEnvironment * @brief Destructor @@ -51,7 +51,7 @@ class LocalEnvironment { * @fn LogSetup * @brief Log setup for local environments */ - void LogSetup(Logger& logger); + void LogSetup(logger::Logger& logger); /** * @fn GetAtmosphere @@ -93,7 +93,7 @@ class LocalEnvironment { * @param [in] global_environment: Global environment * @param [in] spacecraft_id: Satellite ID */ - void Initialize(const SimulationConfiguration* simulation_configuration, const GlobalEnvironment* global_environment, const int spacecraft_id); + void Initialize(const simulation::SimulationConfiguration* simulation_configuration, const GlobalEnvironment* global_environment, const int spacecraft_id); }; } // namespace s2e::environment diff --git a/src/environment/local/solar_radiation_pressure_environment.cpp b/src/environment/local/solar_radiation_pressure_environment.cpp index ff60f94be..ba259567b 100644 --- a/src/environment/local/solar_radiation_pressure_environment.cpp +++ b/src/environment/local/solar_radiation_pressure_environment.cpp @@ -33,7 +33,7 @@ void SolarRadiationPressureEnvironment::UpdateAllStates() { } void SolarRadiationPressureEnvironment::UpdatePressure() { - const s2e::math::Vector<3> r_sc2sun_eci = local_celestial_information_->GetPositionFromSpacecraft_i_m("SUN"); + const math::Vector<3> r_sc2sun_eci = local_celestial_information_->GetPositionFromSpacecraft_i_m("SUN"); const double distance_sat_to_sun = r_sc2sun_eci.CalcNorm(); solar_radiation_pressure_N_m2_ = solar_constant_W_m2_ / environment::speed_of_light_m_s / pow(distance_sat_to_sun / environment::astronomical_unit_m, 2.0); @@ -42,8 +42,8 @@ void SolarRadiationPressureEnvironment::UpdatePressure() { std::string SolarRadiationPressureEnvironment::GetLogHeader() const { std::string str_tmp = ""; - str_tmp += WriteScalar("solar_radiation_pressure_at_spacecraft_position", "N/m2"); - str_tmp += WriteScalar("shadow_coefficient_at_spacecraft_position"); + str_tmp += logger::WriteScalar("solar_radiation_pressure_at_spacecraft_position", "N/m2"); + str_tmp += logger::WriteScalar("shadow_coefficient_at_spacecraft_position"); return str_tmp; } @@ -51,8 +51,8 @@ std::string SolarRadiationPressureEnvironment::GetLogHeader() const { std::string SolarRadiationPressureEnvironment::GetLogValue() const { std::string str_tmp = ""; - str_tmp += WriteScalar(solar_radiation_pressure_N_m2_ * shadow_coefficient_); - str_tmp += WriteScalar(shadow_coefficient_); + str_tmp += logger::WriteScalar(solar_radiation_pressure_N_m2_ * shadow_coefficient_); + str_tmp += logger::WriteScalar(shadow_coefficient_); return str_tmp; } @@ -63,8 +63,8 @@ void SolarRadiationPressureEnvironment::CalcShadowCoefficient(std::string shadow return; } - const s2e::math::Vector<3> r_sc2sun_eci = local_celestial_information_->GetPositionFromSpacecraft_i_m("SUN"); - const s2e::math::Vector<3> r_sc2source_eci = local_celestial_information_->GetPositionFromSpacecraft_i_m(shadow_source_name.c_str()); + const math::Vector<3> r_sc2sun_eci = local_celestial_information_->GetPositionFromSpacecraft_i_m("SUN"); + const math::Vector<3> r_sc2source_eci = local_celestial_information_->GetPositionFromSpacecraft_i_m(shadow_source_name.c_str()); const double shadow_source_radius_m = local_celestial_information_->GetGlobalInformation().GetMeanRadiusFromName_m(shadow_source_name.c_str()); @@ -73,7 +73,7 @@ void SolarRadiationPressureEnvironment::CalcShadowCoefficient(std::string shadow const double sd_source = asin(shadow_source_radius_m / r_sc2source_eci.CalcNorm()); // Apparent radius of the shadow source // Angle of deviation from shadow source center to sun center - s2e::math::Vector<3> r_source2sun_eci = r_sc2sun_eci - r_sc2source_eci; + math::Vector<3> r_source2sun_eci = r_sc2sun_eci - r_sc2source_eci; const double delta = acos(InnerProduct(r_sc2source_eci, r_sc2sun_eci - r_sc2source_eci) / r_sc2source_eci.CalcNorm() / r_source2sun_eci.CalcNorm()); // The angle between the center of the sun and the common chord const double x = (delta * delta + sd_sun * sd_sun - sd_source * sd_source) / (2.0 * delta); @@ -93,7 +93,7 @@ void SolarRadiationPressureEnvironment::CalcShadowCoefficient(std::string shadow } else if (fabs(a - b) <= c && c <= (a + b)) // spacecraft is in penumbra { double A = a * a * acos(x / a) + b * b * acos((c - x) / b) - c * y; // The area of the occulted segment of the apparent solar disk - shadow_coefficient_ *= 1.0 - A / (s2e::math::pi * a * a); + shadow_coefficient_ *= 1.0 - A / (math::pi * a * a); } else { // no occultation takes place if (c < (a + b)) { std::cout << "[Error SRP Environment]: The calculation error was occurred at the shadow calculation." << std::endl; diff --git a/src/logger/log_utility.hpp b/src/logger/log_utility.hpp index 54599ee07..40f47f8f1 100644 --- a/src/logger/log_utility.hpp +++ b/src/logger/log_utility.hpp @@ -37,7 +37,7 @@ inline std::string WriteScalar(const std::string name, const std::string unit); * @param [in] precision: precision for the value (number of digit) */ template -inline std::string WriteVector(const s2e::math::Vector vector, const int precision = 6); +inline std::string WriteVector(const math::Vector vector, const int precision = 6); /** * @fn WriteVector * @brief Write header for vector value @@ -54,7 +54,7 @@ inline std::string WriteVector(const std::string name, const std::string frame, * @param [in] matrix: matrix value */ template -inline std::string WriteMatrix(const s2e::math::Matrix matrix, const int precision = 6); +inline std::string WriteMatrix(const math::Matrix matrix, const int precision = 6); /** * @fn WriteMatrix * @brief Write header for matrix value @@ -72,7 +72,7 @@ inline std::string WriteMatrix(const std::string name, const std::string frame, * @brief Write quaternion value * @param [in] quaternion: Quaternion */ -inline std::string WriteQuaternion(const s2e::math::Quaternion quaternion, const int precision = 6); +inline std::string WriteQuaternion(const math::Quaternion quaternion, const int precision = 6); /** * @fn WriteQuaternion * @brief Write header for quaternion @@ -93,7 +93,7 @@ std::string WriteScalar(const T scalar, const int precision) { std::string WriteScalar(const std::string name, const std::string unit) { return name + "[" + unit + "],"; } template -std::string WriteVector(const s2e::math::Vector vector, const int precision) { +std::string WriteVector(const math::Vector vector, const int precision) { std::stringstream str_tmp; for (size_t n = 0; n < NUM; n++) { @@ -117,7 +117,7 @@ std::string WriteVector(const std::string name, const std::string frame, const s } template -std::string WriteMatrix(const s2e::math::Matrix matrix, const int precision) { +std::string WriteMatrix(const math::Matrix matrix, const int precision) { std::stringstream str_tmp; for (size_t n = 0; n < ROW; n++) { @@ -140,7 +140,7 @@ std::string WriteMatrix(const std::string name, const std::string frame, const s return str_tmp.str(); } -std::string WriteQuaternion(const s2e::math::Quaternion quaternion, const int precision) { +std::string WriteQuaternion(const math::Quaternion quaternion, const int precision) { std::stringstream str_tmp; for (size_t i = 0; i < 4; i++) { diff --git a/src/logger/logger.cpp b/src/logger/logger.cpp index 0469f38e9..4299127db 100644 --- a/src/logger/logger.cpp +++ b/src/logger/logger.cpp @@ -8,13 +8,13 @@ #include #include +namespace s2e::logger { + std::vector log_list_; bool Logger::is_directory_created_ = false; namespace fs = std::filesystem; -namespace s2e::logger { - Logger::Logger(const std::string &file_name, const fs::path &data_path, const fs::path &ini_file_name, const bool is_ini_save_enabled, const bool is_enabled) : is_enabled_(is_enabled), is_ini_save_enabled_(is_ini_save_enabled) { diff --git a/src/math_physics/atmosphere/harris_priester_model.cpp b/src/math_physics/atmosphere/harris_priester_model.cpp index e38476335..09d7a2143 100644 --- a/src/math_physics/atmosphere/harris_priester_model.cpp +++ b/src/math_physics/atmosphere/harris_priester_model.cpp @@ -28,27 +28,27 @@ double CalcScaleHeight_km(const std::map::const_iterator density */ double CalcApexDensity_g_km3(const std::map::const_iterator density_itr, const double altitude_km); -double CalcAirDensityWithHarrisPriester_kg_m3(const s2e::geodesy::GeodeticPosition geodetic_position, const s2e::math::Vector<3> sun_direction_eci, +double CalcAirDensityWithHarrisPriester_kg_m3(const s2e::geodesy::GeodeticPosition geodetic_position, const math::Vector<3> sun_direction_eci, const double f10_7, const double exponent_parameter) { // Altitude double altitude_km = geodetic_position.GetAltitude_m() / 1000.0; // Position - s2e::math::Vector<3> position_ecef_m = geodetic_position.CalcEcefPosition(); + math::Vector<3> position_ecef_m = geodetic_position.CalcEcefPosition(); // Phi: angle between the satellite position and apex of the diurnal bulge double sun_ra_rad; //!< Right ascension of the sun phi double sun_dec_rad; //!< Declination of the sun theta sun_ra_rad = atan2(sun_direction_eci[1], sun_direction_eci[0]); sun_dec_rad = atan2(sun_direction_eci[2], sqrt(sun_direction_eci[0] * sun_direction_eci[0] + sun_direction_eci[1] * sun_direction_eci[1])); - s2e::math::Vector<3> apex_direction; - const double lag_angle_rad = 30.0 * s2e::math::deg_to_rad; + math::Vector<3> apex_direction; + const double lag_angle_rad = 30.0 * math::deg_to_rad; double apex_ra_rad = sun_ra_rad + lag_angle_rad; apex_direction[0] = cos(sun_dec_rad) * cos(apex_ra_rad); apex_direction[1] = cos(sun_dec_rad) * sin(apex_ra_rad); apex_direction[2] = sin(sun_dec_rad); - double beta_rad = s2e::math::InnerProduct(position_ecef_m.CalcNormalizedVector(), apex_direction); + double beta_rad = math::InnerProduct(position_ecef_m.CalcNormalizedVector(), apex_direction); double cos_phi = pow(0.5 + beta_rad / 2.0, exponent_parameter / 2.0); // Find density coefficients from altitude diff --git a/src/math_physics/atmosphere/harris_priester_model.hpp b/src/math_physics/atmosphere/harris_priester_model.hpp index a5b05bc7e..266682c88 100644 --- a/src/math_physics/atmosphere/harris_priester_model.hpp +++ b/src/math_physics/atmosphere/harris_priester_model.hpp @@ -20,7 +20,7 @@ namespace s2e::atmosphere { * @param [in] exponent_parameter: n in the equation. n=2 for low inclination orbit and n=6 for polar orbit. * @return Atmospheric density [kg/m^3] */ -double CalcAirDensityWithHarrisPriester_kg_m3(const s2e::geodesy::GeodeticPosition geodetic_position, const s2e::math::Vector<3> sun_direction_eci, +double CalcAirDensityWithHarrisPriester_kg_m3(const s2e::geodesy::GeodeticPosition geodetic_position, const math::Vector<3> sun_direction_eci, const double f10_7 = 100.0, const double exponent_parameter = 4); } // namespace s2e::atmosphere diff --git a/src/math_physics/atmosphere/wrapper_nrlmsise00.cpp b/src/math_physics/atmosphere/wrapper_nrlmsise00.cpp index 8401d233b..c000ca49e 100644 --- a/src/math_physics/atmosphere/wrapper_nrlmsise00.cpp +++ b/src/math_physics/atmosphere/wrapper_nrlmsise00.cpp @@ -187,9 +187,9 @@ double CalcNRLMSISE00(double decyear, double latrad, double lonrad, double alt, input.year = 0; /* without effect */ input.sec = date[3] * 60.0 * 60.0 + date[4] * 60.0 + date[5]; input.alt = alt / 1000.0; - input.g_lat = latrad * s2e::math::rad_to_deg; - input.g_long = lonrad * s2e::math::rad_to_deg; - input.lst = input.sec / 3600.0 + lonrad * s2e::math::rad_to_deg / 15.0; + input.g_lat = latrad * math::rad_to_deg; + input.g_long = lonrad * math::rad_to_deg; + input.lst = input.sec / 3600.0 + lonrad * math::rad_to_deg / 15.0; if (is_manual_param) { input.f107 = manual_f107; diff --git a/src/math_physics/geodesy/geodetic_position.cpp b/src/math_physics/geodesy/geodetic_position.cpp index 50bac4071..b72aa1804 100644 --- a/src/math_physics/geodesy/geodetic_position.cpp +++ b/src/math_physics/geodesy/geodetic_position.cpp @@ -25,7 +25,7 @@ GeodeticPosition::GeodeticPosition(const double latitude_rad, const double longi CalcQuaternionXcxfToLtc(); } -void GeodeticPosition::UpdateFromEcef(const s2e::math::Vector<3> position_ecef_m) { +void GeodeticPosition::UpdateFromEcef(const math::Vector<3> position_ecef_m) { const double earth_radius_m = environment::earth_equatorial_radius_m; const double flattening = environment::earth_flattening; @@ -46,7 +46,7 @@ void GeodeticPosition::UpdateFromEcef(const s2e::math::Vector<3> position_ecef_m altitude_m_ = r_m / cos(lat_tmp_rad) - c * earth_radius_m; - if (lat_tmp_rad > s2e::math::pi_2) lat_tmp_rad -= s2e::math::tau; + if (lat_tmp_rad > math::pi_2) lat_tmp_rad -= math::tau; latitude_rad_ = lat_tmp_rad; @@ -54,7 +54,7 @@ void GeodeticPosition::UpdateFromEcef(const s2e::math::Vector<3> position_ecef_m return; } -s2e::math::Vector<3> GeodeticPosition::CalcEcefPosition() const { +math::Vector<3> GeodeticPosition::CalcEcefPosition() const { const double earth_radius_m = environment::earth_equatorial_radius_m; const double flattening = environment::earth_flattening; @@ -63,7 +63,7 @@ s2e::math::Vector<3> GeodeticPosition::CalcEcefPosition() const { double c = 1.0 / sqrt(1.0 - e2 * sin(latitude_rad_) * sin(latitude_rad_)); double n = c * earth_radius_m; - s2e::math::Vector<3> pos_ecef_m; + math::Vector<3> pos_ecef_m; pos_ecef_m(0) = (n + altitude_m_) * cos(latitude_rad_) * cos(theta); pos_ecef_m(1) = (n + altitude_m_) * cos(latitude_rad_) * sin(theta); pos_ecef_m(2) = (n * (1.0 - e2) + altitude_m_) * sin(latitude_rad_); @@ -72,7 +72,7 @@ s2e::math::Vector<3> GeodeticPosition::CalcEcefPosition() const { } void GeodeticPosition::CalcQuaternionXcxfToLtc() { - s2e::math::Matrix<3, 3> dcm_xcxf_to_ltc; + math::Matrix<3, 3> dcm_xcxf_to_ltc; dcm_xcxf_to_ltc[0][0] = -sin(longitude_rad_); dcm_xcxf_to_ltc[0][1] = cos(longitude_rad_); dcm_xcxf_to_ltc[0][2] = 0; diff --git a/src/math_physics/geodesy/geodetic_position.hpp b/src/math_physics/geodesy/geodetic_position.hpp index 9687e0ea9..36cb4e839 100644 --- a/src/math_physics/geodesy/geodetic_position.hpp +++ b/src/math_physics/geodesy/geodetic_position.hpp @@ -36,13 +36,13 @@ class GeodeticPosition { * @brief Update geodetic position with position vector in the ECEF frame * @param [in] position_ecef_m: Position vector in the ECEF frame [m] */ - void UpdateFromEcef(const s2e::math::Vector<3> position_ecef_m); + void UpdateFromEcef(const math::Vector<3> position_ecef_m); /** * @fn CalcEcefPosition * @brief Calculate and return the ECEF position from the geodetic position */ - s2e::math::Vector<3> CalcEcefPosition() const; + math::Vector<3> CalcEcefPosition() const; // Getter /** @@ -64,14 +64,14 @@ class GeodeticPosition { * @fn GetQuaternionXcxfToLtc * @brief Conversion quaternion from XCXF (e.g. ECEF) to LTC frame */ - inline s2e::math::Quaternion GetQuaternionXcxfToLtc() const { return quaternion_xcxf_to_ltc_; } + inline math::Quaternion GetQuaternionXcxfToLtc() const { return quaternion_xcxf_to_ltc_; } private: double latitude_rad_; //!< Latitude [rad] South: -π/2 to 0, North: 0 to π/2 double longitude_rad_; //!< Longitude [rad] East: 0 to π, West: 2π to π (i.e., defined as 0 to 2π [rad] east of the Greenwich meridian) double altitude_m_; //!< Altitude [m] - s2e::math::Quaternion quaternion_xcxf_to_ltc_; //!< Conversion quaternion from XCXF (e.g. ECEF) to LTC (Local Topographic Coordinate) + math::Quaternion quaternion_xcxf_to_ltc_; //!< Conversion quaternion from XCXF (e.g. ECEF) to LTC (Local Topographic Coordinate) /** * @fn CalcQuaternionXcxfToLtc diff --git a/src/math_physics/gnss/antex_file_reader.cpp b/src/math_physics/gnss/antex_file_reader.cpp index c27c34ff7..e3008d6b0 100644 --- a/src/math_physics/gnss/antex_file_reader.cpp +++ b/src/math_physics/gnss/antex_file_reader.cpp @@ -171,7 +171,7 @@ AntexPhaseCenterData AntexFileReader::ReadPhaseCenterData(std::ifstream& antex_f } // Phase center offset if (line.find("NORTH / EAST / UP") == ANTEX_LINE_TYPE_POSITION) { - s2e::math::Vector<3> offset{0.0}; + math::Vector<3> offset{0.0}; sscanf(line.c_str(), "%lf %lf %lf", &offset[0], &offset[1], &offset[2]); phase_center_data.SetPhaseCenterOffset_mm(offset); } diff --git a/src/math_physics/gnss/antex_file_reader.hpp b/src/math_physics/gnss/antex_file_reader.hpp index 179616bb9..9e30ebce6 100644 --- a/src/math_physics/gnss/antex_file_reader.hpp +++ b/src/math_physics/gnss/antex_file_reader.hpp @@ -128,7 +128,7 @@ class AntexPhaseCenterData { * @fn SetPhaseCenterOffset_mm * @param[in] phase_center_offset_mm: Phase center offset vector [mm] */ - inline void SetPhaseCenterOffset_mm(const s2e::math::Vector<3> phase_center_offset_mm) { phase_center_offset_mm_ = phase_center_offset_mm; } + inline void SetPhaseCenterOffset_mm(const math::Vector<3> phase_center_offset_mm) { phase_center_offset_mm_ = phase_center_offset_mm; } /** * @fn SetGridInformation * @param[in] grid_information: Grid information @@ -152,7 +152,7 @@ class AntexPhaseCenterData { * @fn GetPhaseCenterOffset_mm * @return Phase center offset vector [mm] */ - inline s2e::math::Vector<3> GetPhaseCenterOffset_mm() const { return phase_center_offset_mm_; } + inline math::Vector<3> GetPhaseCenterOffset_mm() const { return phase_center_offset_mm_; } /** * @fn GetGridInformation * @return Grid information @@ -166,7 +166,7 @@ class AntexPhaseCenterData { private: std::string frequency_name_ = ""; //!< Frequency name - s2e::math::Vector<3> phase_center_offset_mm_{0.0}; //!< Phase center offset [mm] + math::Vector<3> phase_center_offset_mm_{0.0}; //!< Phase center offset [mm] AntexGridDefinition grid_information_; //!< Grid information std::vector> phase_center_variation_matrix_mm_; //!< Phase center variation [mm] (column, row definition: [azimuth][zenith]) }; diff --git a/src/math_physics/gnss/sp3_file_reader.cpp b/src/math_physics/gnss/sp3_file_reader.cpp index 212661e73..aa857965a 100644 --- a/src/math_physics/gnss/sp3_file_reader.cpp +++ b/src/math_physics/gnss/sp3_file_reader.cpp @@ -40,7 +40,7 @@ double Sp3FileReader::GetSatelliteClockOffset(const size_t epoch_id, const size_ return position_clock.clock_us_; } -s2e::math::Vector<3> Sp3FileReader::GetSatellitePosition_km(const size_t epoch_id, const size_t satellite_id) { +math::Vector<3> Sp3FileReader::GetSatellitePosition_km(const size_t epoch_id, const size_t satellite_id) { Sp3PositionClock position_clock = GetPositionClock(epoch_id, satellite_id); return position_clock.position_km_; } @@ -314,7 +314,7 @@ Sp3PositionClock Sp3FileReader::DecodePositionClockData(std::string line) { position_clock.satellite_id_ = line.substr(1, 3); // Position and clock - s2e::math::Vector<3> position_km; + math::Vector<3> position_km; for (size_t axis = 0; axis < 3; axis++) { position_km[axis] = stod(line.substr(4 + axis * 14, 14)); } @@ -323,7 +323,7 @@ Sp3PositionClock Sp3FileReader::DecodePositionClockData(std::string line) { // Standard deviations if (line.size() > 61) { - s2e::math::Vector<3> position_standard_deviation; + math::Vector<3> position_standard_deviation; for (size_t axis = 0; axis < 3; axis++) { try { position_standard_deviation[axis] = stod(line.substr(61 + axis * 3, 2)); @@ -384,7 +384,7 @@ Sp3VelocityClockRate Sp3FileReader::DecodeVelocityClockRateData(std::string line velocity_clock_rate.satellite_id_ = line.substr(1, 3); // Velocity and clock rate - s2e::math::Vector<3> velocity_dm_s; + math::Vector<3> velocity_dm_s; for (size_t axis = 0; axis < 3; axis++) { velocity_dm_s[axis] = stod(line.substr(4 + axis * 14, 14)); } @@ -393,7 +393,7 @@ Sp3VelocityClockRate Sp3FileReader::DecodeVelocityClockRateData(std::string line // Standard deviations if (line.size() > 60) { - s2e::math::Vector<3> velocity_standard_deviation; + math::Vector<3> velocity_standard_deviation; for (size_t axis = 0; axis < 3; axis++) { velocity_standard_deviation[axis] = stod(line.substr(61 + axis * 2, 2)); } diff --git a/src/math_physics/gnss/sp3_file_reader.hpp b/src/math_physics/gnss/sp3_file_reader.hpp index 076ebd4d4..1b7164dbf 100644 --- a/src/math_physics/gnss/sp3_file_reader.hpp +++ b/src/math_physics/gnss/sp3_file_reader.hpp @@ -95,9 +95,9 @@ struct Sp3Header { */ struct Sp3PositionClock { std::string satellite_id_; //!< GNSS satellite ID - s2e::math::Vector<3> position_km_{SP3_BAD_POSITION_VALUE}; //!< Satellite position [km] + math::Vector<3> position_km_{SP3_BAD_POSITION_VALUE}; //!< Satellite position [km] double clock_us_ = SP3_BAD_CLOCK_VALUE; //!< Satellite clock offset [us] - s2e::math::Vector<3> position_standard_deviation_{0.0}; //!< Satellite position standard deviation [-] + math::Vector<3> position_standard_deviation_{0.0}; //!< Satellite position standard deviation [-] double clock_standard_deviation_ = 0.0; //!< Satellite clock offset standard deviation [-] bool clock_event_flag_ = false; //!< true when clock discontinuity is happened bool clock_prediction_flag_ = false; //!< true when clock data is predicted @@ -130,9 +130,9 @@ struct Sp3PositionClockCorrelation { */ struct Sp3VelocityClockRate { std::string satellite_id_; //!< GNSS satellite ID - s2e::math::Vector<3> velocity_dm_s_{0.0}; //!< Satellite velocity [dm/s] + math::Vector<3> velocity_dm_s_{0.0}; //!< Satellite velocity [dm/s] double clock_rate_ = 0.0; //!< Satellite clock offset change rate [-] - s2e::math::Vector<3> velocity_standard_deviation_{0.0}; //!< Satellite position standard deviation [-] + math::Vector<3> velocity_standard_deviation_{0.0}; //!< Satellite position standard deviation [-] double clock_rate_standard_deviation_ = 0.0; //!< Satellite clock offset standard deviation [-] }; @@ -178,7 +178,7 @@ class Sp3FileReader { s2e::time_system::DateTime GetEpochData(const size_t epoch_id) const; Sp3PositionClock GetPositionClock(const size_t epoch_id, const size_t satellite_id); double GetSatelliteClockOffset(const size_t epoch_id, const size_t satellite_id); - s2e::math::Vector<3> GetSatellitePosition_km(const size_t epoch_id, const size_t satellite_id); + math::Vector<3> GetSatellitePosition_km(const size_t epoch_id, const size_t satellite_id); size_t SearchNearestEpochId(const s2e::time_system::EpochTime time); diff --git a/src/math_physics/gravity/gravity_potential.cpp b/src/math_physics/gravity/gravity_potential.cpp index f2adcaa7e..05f502fa5 100644 --- a/src/math_physics/gravity/gravity_potential.cpp +++ b/src/math_physics/gravity/gravity_potential.cpp @@ -28,8 +28,8 @@ GravityPotential::GravityPotential(const size_t degree, const std::vector GravityPotential::CalcAcceleration_xcxf_m_s2(const s2e::math::Vector<3> &position_xcxf_m) { - s2e::math::Vector<3> acceleration_xcxf_m_s2(0.0); +math::Vector<3> GravityPotential::CalcAcceleration_xcxf_m_s2(const math::Vector<3> &position_xcxf_m) { + math::Vector<3> acceleration_xcxf_m_s2(0.0); if (degree_ <= 0) return acceleration_xcxf_m_s2; // TODO: Consider this assertion is needed xcxf_x_m_ = position_xcxf_m[0]; @@ -95,8 +95,8 @@ s2e::math::Vector<3> GravityPotential::CalcAcceleration_xcxf_m_s2(const s2e::mat return acceleration_xcxf_m_s2; } -s2e::math::Matrix<3, 3> GravityPotential::CalcPartialDerivative_xcxf_s2(const s2e::math::Vector<3> &position_xcxf_m) { - s2e::math::Matrix<3, 3> partial_derivative(0.0); +math::Matrix<3, 3> GravityPotential::CalcPartialDerivative_xcxf_s2(const math::Vector<3> &position_xcxf_m) { + math::Matrix<3, 3> partial_derivative(0.0); if (degree_ <= 0) return partial_derivative; xcxf_x_m_ = position_xcxf_m[0]; diff --git a/src/math_physics/gravity/gravity_potential.hpp b/src/math_physics/gravity/gravity_potential.hpp index 23d6df4c9..bf06ee4d2 100644 --- a/src/math_physics/gravity/gravity_potential.hpp +++ b/src/math_physics/gravity/gravity_potential.hpp @@ -48,7 +48,7 @@ class GravityPotential { * @param [in] position_xcxf_m: Position of the spacecraft in the XCXF frame [m] * @return Acceleration in XCXF frame [m/s2] */ - s2e::math::Vector<3> CalcAcceleration_xcxf_m_s2(const s2e::math::Vector<3> &position_xcxf_m); + math::Vector<3> CalcAcceleration_xcxf_m_s2(const math::Vector<3> &position_xcxf_m); /** * @fn CalcAcceleration_xcxf_m_s2 @@ -56,7 +56,7 @@ class GravityPotential { * @param [in] position_xcxf_m: Position of the spacecraft in the XCXF frame [m] * @return Partial derivative of acceleration in XCXF frame [-/s2] */ - s2e::math::Matrix<3, 3> CalcPartialDerivative_xcxf_s2(const s2e::math::Vector<3> &position_xcxf_m); + math::Matrix<3, 3> CalcPartialDerivative_xcxf_s2(const math::Vector<3> &position_xcxf_m); private: size_t degree_ = 0; //!< Maximum degree diff --git a/src/math_physics/gravity/test_gravity_potential.cpp b/src/math_physics/gravity/test_gravity_potential.cpp index 54717f1c1..0ac2fa038 100644 --- a/src/math_physics/gravity/test_gravity_potential.cpp +++ b/src/math_physics/gravity/test_gravity_potential.cpp @@ -25,8 +25,8 @@ TEST(GravityPotential, Acceleration) { GravityPotential gravity_potential_(degree, c_, s_, 1.0, 1.0); // Acceleration Calculation check - s2e::math::Vector<3> position_xcxf_m; - s2e::math::Vector<3> acceleration_xcxf_m_s2; + math::Vector<3> position_xcxf_m; + math::Vector<3> acceleration_xcxf_m_s2; const double accuracy = 1.0e-3; // Calc Acceleration @@ -67,8 +67,8 @@ TEST(GravityPotential, PartialDerivative1) { GravityPotential gravity_potential_(degree, c_, s_, 1.0, 1.0); // Calculation check - s2e::math::Vector<3> position_xcxf_m; - s2e::math::Matrix<3, 3> partial_derivative_xcxf_s2; + math::Vector<3> position_xcxf_m; + math::Matrix<3, 3> partial_derivative_xcxf_s2; const double accuracy = 1.0e-3; // Calc Partial Derivative @@ -79,22 +79,22 @@ TEST(GravityPotential, PartialDerivative1) { // Calc Acceleration and numerical partial derivatives double d_r = 1e-9; - s2e::math::Matrix<3, 3> numerical_partial_derivative_xcxf_s2; + math::Matrix<3, 3> numerical_partial_derivative_xcxf_s2; for (size_t i = 0; i < 3; i++) { - s2e::math::Vector<3> position_1_xcxf_m = position_xcxf_m; - s2e::math::Vector<3> position_2_xcxf_m = position_xcxf_m; + math::Vector<3> position_1_xcxf_m = position_xcxf_m; + math::Vector<3> position_2_xcxf_m = position_xcxf_m; position_1_xcxf_m[i] = position_xcxf_m[i] - d_r / 2.0; position_2_xcxf_m[i] = position_xcxf_m[i] + d_r / 2.0; - s2e::math::Vector<3> acceleration_1_xcxf_m_s2 = gravity_potential_.CalcAcceleration_xcxf_m_s2(position_1_xcxf_m); - s2e::math::Vector<3> acceleration_2_xcxf_m_s2 = gravity_potential_.CalcAcceleration_xcxf_m_s2(position_2_xcxf_m); - s2e::math::Vector<3> diff_acceleration_xcxf_m_s2 = acceleration_2_xcxf_m_s2 - acceleration_1_xcxf_m_s2; + math::Vector<3> acceleration_1_xcxf_m_s2 = gravity_potential_.CalcAcceleration_xcxf_m_s2(position_1_xcxf_m); + math::Vector<3> acceleration_2_xcxf_m_s2 = gravity_potential_.CalcAcceleration_xcxf_m_s2(position_2_xcxf_m); + math::Vector<3> diff_acceleration_xcxf_m_s2 = acceleration_2_xcxf_m_s2 - acceleration_1_xcxf_m_s2; for (size_t j = 0; j < 3; j++) { numerical_partial_derivative_xcxf_s2[i][j] = diff_acceleration_xcxf_m_s2[j] / d_r; } } // Compare numerical and analytical calculation - s2e::math::Matrix<3, 3> diff; + math::Matrix<3, 3> diff; for (size_t i = 0; i < 3; i++) { for (size_t j = 0; j < 3; j++) { EXPECT_NEAR(numerical_partial_derivative_xcxf_s2[i][j], partial_derivative_xcxf_s2[i][j], accuracy); @@ -120,8 +120,8 @@ TEST(GravityPotential, PartialDerivative2) { GravityPotential gravity_potential_(degree, c_, s_, 1.0, 1.0); // Calculation check - s2e::math::Vector<3> position_xcxf_m; - s2e::math::Matrix<3, 3> partial_derivative_xcxf_s2; + math::Vector<3> position_xcxf_m; + math::Matrix<3, 3> partial_derivative_xcxf_s2; const double accuracy = 1.0e-3; // Calc Partial Derivative @@ -132,22 +132,22 @@ TEST(GravityPotential, PartialDerivative2) { // Calc Acceleration and numerical partial derivatives double d_r = 1e-9; - s2e::math::Matrix<3, 3> numerical_partial_derivative_xcxf_s2; + math::Matrix<3, 3> numerical_partial_derivative_xcxf_s2; for (size_t i = 0; i < 3; i++) { - s2e::math::Vector<3> position_1_xcxf_m = position_xcxf_m; - s2e::math::Vector<3> position_2_xcxf_m = position_xcxf_m; + math::Vector<3> position_1_xcxf_m = position_xcxf_m; + math::Vector<3> position_2_xcxf_m = position_xcxf_m; position_1_xcxf_m[i] = position_xcxf_m[i] - d_r / 2.0; position_2_xcxf_m[i] = position_xcxf_m[i] + d_r / 2.0; - s2e::math::Vector<3> acceleration_1_xcxf_m_s2 = gravity_potential_.CalcAcceleration_xcxf_m_s2(position_1_xcxf_m); - s2e::math::Vector<3> acceleration_2_xcxf_m_s2 = gravity_potential_.CalcAcceleration_xcxf_m_s2(position_2_xcxf_m); - s2e::math::Vector<3> diff_acceleration_xcxf_m_s2 = acceleration_2_xcxf_m_s2 - acceleration_1_xcxf_m_s2; + math::Vector<3> acceleration_1_xcxf_m_s2 = gravity_potential_.CalcAcceleration_xcxf_m_s2(position_1_xcxf_m); + math::Vector<3> acceleration_2_xcxf_m_s2 = gravity_potential_.CalcAcceleration_xcxf_m_s2(position_2_xcxf_m); + math::Vector<3> diff_acceleration_xcxf_m_s2 = acceleration_2_xcxf_m_s2 - acceleration_1_xcxf_m_s2; for (size_t j = 0; j < 3; j++) { numerical_partial_derivative_xcxf_s2[i][j] = diff_acceleration_xcxf_m_s2[j] / d_r; } } // Compare numerical and analytical calculation - s2e::math::Matrix<3, 3> diff; + math::Matrix<3, 3> diff; for (size_t i = 0; i < 3; i++) { for (size_t j = 0; j < 3; j++) { EXPECT_NEAR(numerical_partial_derivative_xcxf_s2[i][j], partial_derivative_xcxf_s2[i][j], accuracy); diff --git a/src/math_physics/math/ordinary_differential_equation.hpp b/src/math_physics/math/ordinary_differential_equation.hpp index fb0d81b36..1c861a391 100644 --- a/src/math_physics/math/ordinary_differential_equation.hpp +++ b/src/math_physics/math/ordinary_differential_equation.hpp @@ -102,7 +102,7 @@ class OrdinaryDifferentialEquation { * @fn GetState * @brief Return current state vector for inheriting class */ - inline s2e::math::Vector& GetState() { return state_; } + inline math::Vector& GetState() { return state_; } private: double independent_variable_; //!< Latest value of independent variable diff --git a/src/math_physics/math/s2e_math.cpp b/src/math_physics/math/s2e_math.cpp index 26020cd77..fb4e53e1e 100644 --- a/src/math_physics/math/s2e_math.cpp +++ b/src/math_physics/math/s2e_math.cpp @@ -12,11 +12,11 @@ double WrapTo2Pi(const double angle_rad) { double angle_out = angle_rad; if (angle_out < 0.0) { while (angle_out < 0.0) { - angle_out += s2e::math::tau; + angle_out += math::tau; } - } else if (angle_out > s2e::math::tau) { - while (angle_out > s2e::math::tau) { - angle_out -= s2e::math::tau; + } else if (angle_out > math::tau) { + while (angle_out > math::tau) { + angle_out -= math::tau; } } else { // nothing to do diff --git a/src/math_physics/math/test_interpolation.cpp b/src/math_physics/math/test_interpolation.cpp index a29f3b330..674b12419 100644 --- a/src/math_physics/math/test_interpolation.cpp +++ b/src/math_physics/math/test_interpolation.cpp @@ -15,7 +15,7 @@ TEST(Interpolation, PolynomialLinearFunction) { std::vector x{0.0, 1.0, 2.0, 3.0, 4.0}; std::vector y{0.0, 2.0, 4.0, 6.0, 8.0}; - s2e::math::Interpolation interpolation(x, y); + math::Interpolation interpolation(x, y); double xx = 0.4; EXPECT_DOUBLE_EQ(2.0 * xx, interpolation.CalcPolynomial(xx)); @@ -31,7 +31,7 @@ TEST(Interpolation, PolynomialLinearFunction) { TEST(Interpolation, PolynomialQuadraticFunction) { std::vector x{0.0, 1.0, 2.0, 3.0, 4.0}; std::vector y{0.0, 1.0, 4.0, 9.0, 16.0}; - s2e::math::Interpolation interpolation(x, y); + math::Interpolation interpolation(x, y); double xx = 0.4; EXPECT_DOUBLE_EQ(pow(xx, 2.0), interpolation.CalcPolynomial(xx)); @@ -45,16 +45,16 @@ TEST(Interpolation, PolynomialQuadraticFunction) { * @brief Test for sin function with trigonometric interpolation */ TEST(Interpolation, TrigonometricSinFunction) { - std::vector x{0.0, s2e::math::pi_2, s2e::math::pi, s2e::math::pi * 3.0 / 2.0, s2e::math::tau}; + std::vector x{0.0, math::pi_2, math::pi, math::pi * 3.0 / 2.0, math::tau}; std::vector y; for (size_t i = 0; i < x.size(); i++) { y.push_back(sin(x[i])); } - s2e::math::Interpolation interpolation(x, y); + math::Interpolation interpolation(x, y); - double xx = 0.4 * s2e::math::pi; + double xx = 0.4 * math::pi; EXPECT_DOUBLE_EQ(sin(xx), interpolation.CalcTrigonometric(xx)); - xx = 1.4 * s2e::math::pi; + xx = 1.4 * math::pi; EXPECT_DOUBLE_EQ(sin(xx), interpolation.CalcTrigonometric(xx)); } @@ -62,16 +62,16 @@ TEST(Interpolation, TrigonometricSinFunction) { * @brief Test for cos function with trigonometric interpolation */ TEST(Interpolation, TrigonometricCosFunction) { - std::vector x{0.0, 0.3 * s2e::math::pi_2, 0.6 * s2e::math::pi_2, 0.9 * s2e::math::pi_2, 1.2 * s2e::math::pi_2}; + std::vector x{0.0, 0.3 * math::pi_2, 0.6 * math::pi_2, 0.9 * math::pi_2, 1.2 * math::pi_2}; std::vector y; for (size_t i = 0; i < x.size(); i++) { y.push_back(cos(x[i])); } - s2e::math::Interpolation interpolation(x, y); + math::Interpolation interpolation(x, y); - double xx = 0.1 * s2e::math::pi_2; + double xx = 0.1 * math::pi_2; EXPECT_NEAR(cos(xx), interpolation.CalcTrigonometric(xx), 1e-6); - xx = 0.8 * s2e::math::pi_2; + xx = 0.8 * math::pi_2; EXPECT_NEAR(cos(xx), interpolation.CalcTrigonometric(xx), 1e-6); } @@ -79,16 +79,16 @@ TEST(Interpolation, TrigonometricCosFunction) { * @brief Test for cos function with trigonometric interpolation */ TEST(Interpolation, TrigonometricCosSinFunctionOddDegree) { - std::vector x{0.0, 0.3 * s2e::math::pi_2, 0.6 * s2e::math::pi_2, 0.9 * s2e::math::pi_2, 1.2 * s2e::math::pi_2, 1.5 * s2e::math::pi_2}; + std::vector x{0.0, 0.3 * math::pi_2, 0.6 * math::pi_2, 0.9 * math::pi_2, 1.2 * math::pi_2, 1.5 * math::pi_2}; std::vector y; for (size_t i = 0; i < x.size(); i++) { y.push_back(cos(x[i]) + sin(x[i])); } - s2e::math::Interpolation interpolation(x, y); + math::Interpolation interpolation(x, y); - double xx = 0.1 * s2e::math::pi_2; + double xx = 0.1 * math::pi_2; EXPECT_NEAR(cos(xx) + sin(xx), interpolation.CalcTrigonometric(xx), 1e-6); - xx = 0.8 * s2e::math::pi_2; + xx = 0.8 * math::pi_2; EXPECT_NEAR(cos(xx) + sin(xx), interpolation.CalcTrigonometric(xx), 1e-6); } @@ -98,7 +98,7 @@ TEST(Interpolation, TrigonometricCosSinFunctionOddDegree) { TEST(Interpolation, PushAndPop) { std::vector x{0.0, 1.0, 2.0, 3.0, 4.0}; std::vector y{0.0, 2.0, 4.0, 6.0, 8.0}; - s2e::math::Interpolation interpolation(x, y); + math::Interpolation interpolation(x, y); EXPECT_EQ(x.size(), interpolation.GetDegree()); for (size_t i = 0; i < x.size(); i++) { diff --git a/src/math_physics/math/test_matrix.cpp b/src/math_physics/math/test_matrix.cpp index 9b23c15d5..53dee0b75 100644 --- a/src/math_physics/math/test_matrix.cpp +++ b/src/math_physics/math/test_matrix.cpp @@ -14,7 +14,7 @@ TEST(Matrix, ConstructorWithNumber) { const size_t R = 6; const size_t C = 3; double initialize_value = 2.0; - s2e::math::Matrix m(initialize_value); + math::Matrix m(initialize_value); for (size_t r = 0; r < R; r++) { for (size_t c = 0; c < C; c++) { @@ -30,7 +30,7 @@ TEST(Matrix, ConstructorWithNumber) { TEST(Matrix, GetLength) { const size_t R = 6; const size_t C = 3; - s2e::math::Matrix m; + math::Matrix m; EXPECT_EQ(R, m.GetRowLength()); EXPECT_EQ(C, m.GetColumnLength()); @@ -43,8 +43,8 @@ TEST(Matrix, OperatorPlusEqual) { const size_t R = 6; const size_t C = 3; double initialize_value = 2.0; - s2e::math::Matrix m(initialize_value); - s2e::math::Matrix adding; + math::Matrix m(initialize_value); + math::Matrix adding; for (size_t r = 0; r < R; r++) { for (size_t c = 0; c < C; c++) { @@ -71,8 +71,8 @@ TEST(Matrix, OperatorMinusEqual) { const size_t R = 6; const size_t C = 3; double initialize_value = 2.0; - s2e::math::Matrix m(initialize_value); - s2e::math::Matrix subtracting; + math::Matrix m(initialize_value); + math::Matrix subtracting; for (size_t r = 0; r < R; r++) { for (size_t c = 0; c < C; c++) { @@ -99,7 +99,7 @@ TEST(Matrix, OperatorMultiplyEqual) { const size_t R = 6; const size_t C = 3; - s2e::math::Matrix m; + math::Matrix m; double multiplying = 2.0; for (size_t r = 0; r < R; r++) { @@ -125,7 +125,7 @@ TEST(Matrix, OperatorDivideEqual) { const size_t R = 6; const size_t C = 3; - s2e::math::Matrix m; + math::Matrix m; double dividing = 2.0; for (size_t r = 0; r < R; r++) { @@ -152,7 +152,7 @@ TEST(Matrix, FillUp) { const size_t C = 3; double value = 3.0; - s2e::math::Matrix m; + math::Matrix m; m.FillUp(value); @@ -169,7 +169,7 @@ TEST(Matrix, FillUp) { */ TEST(Matrix, CalcTrace) { const size_t N = 6; - s2e::math::Matrix m; + math::Matrix m; for (size_t r = 0; r < N; r++) { for (size_t c = 0; c < N; c++) { @@ -201,8 +201,8 @@ TEST(Matrix, OperatorPlus) { const size_t R = 6; const size_t C = 3; double initialize_value = -2.0; - s2e::math::Matrix m(initialize_value); - s2e::math::Matrix adding; + math::Matrix m(initialize_value); + math::Matrix adding; for (size_t r = 0; r < R; r++) { for (size_t c = 0; c < C; c++) { @@ -210,7 +210,7 @@ TEST(Matrix, OperatorPlus) { } } - s2e::math::Matrix added = m + adding; + math::Matrix added = m + adding; for (size_t r = 0; r < R; r++) { for (size_t c = 0; c < C; c++) { @@ -230,8 +230,8 @@ TEST(Matrix, OperatorMinus) { const size_t R = 6; const size_t C = 3; double initialize_value = 0.6; - s2e::math::Matrix m(initialize_value); - s2e::math::Matrix subtracting; + math::Matrix m(initialize_value); + math::Matrix subtracting; for (size_t r = 0; r < R; r++) { for (size_t c = 0; c < C; c++) { @@ -239,7 +239,7 @@ TEST(Matrix, OperatorMinus) { } } - s2e::math::Matrix subtracted = m - subtracting; + math::Matrix subtracted = m - subtracting; for (size_t r = 0; r < R; r++) { for (size_t c = 0; c < C; c++) { @@ -259,7 +259,7 @@ TEST(Matrix, OperatorMultiplyScalar) { const size_t R = 6; const size_t C = 3; - s2e::math::Matrix m; + math::Matrix m; double multiplying = 0.3; for (size_t r = 0; r < R; r++) { @@ -268,7 +268,7 @@ TEST(Matrix, OperatorMultiplyScalar) { } } - s2e::math::Matrix subtracted = multiplying * m; + math::Matrix subtracted = multiplying * m; for (size_t r = 0; r < R; r++) { for (size_t c = 0; c < C; c++) { @@ -287,8 +287,8 @@ TEST(Matrix, OperatorMultiplyMatrix) { const size_t R = 2; const size_t C = 3; - s2e::math::Matrix a; - s2e::math::Matrix b; + math::Matrix a; + math::Matrix b; a[0][0] = 1.0; a[0][1] = 2.0; @@ -304,7 +304,7 @@ TEST(Matrix, OperatorMultiplyMatrix) { b[2][0] = 5.0; b[2][1] = 6.0; - s2e::math::Matrix result = a * b; + math::Matrix result = a * b; EXPECT_DOUBLE_EQ(22.0, result[0][0]); EXPECT_DOUBLE_EQ(28.0, result[0][1]); @@ -319,14 +319,14 @@ TEST(Matrix, Transpose) { const size_t R = 6; const size_t C = 3; - s2e::math::Matrix m; + math::Matrix m; for (size_t r = 0; r < R; r++) { for (size_t c = 0; c < C; c++) { m[r][c] = r * c; } } - s2e::math::Matrix transposed = m.Transpose(); + math::Matrix transposed = m.Transpose(); for (size_t r = 0; r < R; r++) { for (size_t c = 0; c < C; c++) { @@ -344,7 +344,7 @@ TEST(Matrix, Transpose) { TEST(Matrix, MakeIdentityMatrix) { const size_t N = 6; - s2e::math::Matrix m = s2e::math::MakeIdentityMatrix(); + math::Matrix m = math::MakeIdentityMatrix(); for (size_t r = 0; r < N; r++) { for (size_t c = 0; c < N; c++) { @@ -362,9 +362,9 @@ TEST(Matrix, MakeIdentityMatrix) { */ TEST(Matrix, MakeRotationMatrixX) { const size_t N = 3; - double theta_rad = -45.0 * s2e::math::deg_to_rad; + double theta_rad = -45.0 * math::deg_to_rad; - s2e::math::Matrix m = s2e::math::MakeRotationMatrixX(theta_rad); + math::Matrix m = math::MakeRotationMatrixX(theta_rad); EXPECT_DOUBLE_EQ(1.0, m[0][0]); EXPECT_DOUBLE_EQ(0.0, m[0][1]); @@ -382,9 +382,9 @@ TEST(Matrix, MakeRotationMatrixX) { */ TEST(Matrix, MakeRotationMatrixY) { const size_t N = 3; - double theta_rad = 120.0 * s2e::math::deg_to_rad; + double theta_rad = 120.0 * math::deg_to_rad; - s2e::math::Matrix m = s2e::math::MakeRotationMatrixY(theta_rad); + math::Matrix m = math::MakeRotationMatrixY(theta_rad); EXPECT_DOUBLE_EQ(cos(theta_rad), m[0][0]); EXPECT_DOUBLE_EQ(0.0, m[0][1]); @@ -402,9 +402,9 @@ TEST(Matrix, MakeRotationMatrixY) { */ TEST(Matrix, MakeRotationMatrixZ) { const size_t N = 3; - double theta_rad = 30.0 * s2e::math::deg_to_rad; + double theta_rad = 30.0 * math::deg_to_rad; - s2e::math::Matrix m = s2e::math::MakeRotationMatrixZ(theta_rad); + math::Matrix m = math::MakeRotationMatrixZ(theta_rad); EXPECT_DOUBLE_EQ(cos(theta_rad), m[0][0]); EXPECT_DOUBLE_EQ(sin(theta_rad), m[0][1]); diff --git a/src/math_physics/math/test_matrix_vector.cpp b/src/math_physics/math/test_matrix_vector.cpp index 958a409b6..78fc9babf 100644 --- a/src/math_physics/math/test_matrix_vector.cpp +++ b/src/math_physics/math/test_matrix_vector.cpp @@ -14,8 +14,8 @@ TEST(MatrixVector, MultiplyMatrixVector) { const size_t R = 3; const size_t C = 2; - s2e::math::Matrix m; - s2e::math::Vector v; + math::Matrix m; + math::Vector v; m[0][0] = 1.0; m[0][1] = 2.0; @@ -27,7 +27,7 @@ TEST(MatrixVector, MultiplyMatrixVector) { v[0] = 7.0; v[1] = 1.0; - s2e::math::Vector result = m * v; + math::Vector result = m * v; EXPECT_DOUBLE_EQ(9.0, result[0]); EXPECT_DOUBLE_EQ(-7.0, result[1]); @@ -40,7 +40,7 @@ TEST(MatrixVector, MultiplyMatrixVector) { TEST(MatrixVector, CalcInverseMatrix) { const size_t N = 3; - s2e::math::Matrix m; + math::Matrix m; m[0][0] = 1.0; m[0][1] = 1.0; @@ -52,7 +52,7 @@ TEST(MatrixVector, CalcInverseMatrix) { m[2][1] = -2.0; m[2][2] = 1.0; - s2e::math::Matrix inverse = s2e::math::CalcInverseMatrix(m); + math::Matrix inverse = math::CalcInverseMatrix(m); EXPECT_NEAR(-1.0, inverse[0][0], 1e-10); EXPECT_NEAR(-1.0, inverse[0][1], 1e-10); diff --git a/src/math_physics/math/test_quaternion.cpp b/src/math_physics/math/test_quaternion.cpp index 2821eccee..4995afccc 100644 --- a/src/math_physics/math/test_quaternion.cpp +++ b/src/math_physics/math/test_quaternion.cpp @@ -11,7 +11,7 @@ * @brief Test for constructor from four numbers */ TEST(Quaternion, ConstructorFourNumber) { - s2e::math::Quaternion q(0.5, 0.5, 0.5, 0.5); + math::Quaternion q(0.5, 0.5, 0.5, 0.5); EXPECT_DOUBLE_EQ(0.5, q[0]); EXPECT_DOUBLE_EQ(0.5, q[1]); @@ -23,8 +23,8 @@ TEST(Quaternion, ConstructorFourNumber) { * @brief Test for constructor from Vector */ TEST(Quaternion, ConstructorVector) { - s2e::math::Vector<4> v(0.5); - s2e::math::Quaternion q(v); + math::Vector<4> v(0.5); + math::Quaternion q(v); EXPECT_DOUBLE_EQ(0.5, q[0]); EXPECT_DOUBLE_EQ(0.5, q[1]); @@ -36,12 +36,12 @@ TEST(Quaternion, ConstructorVector) { * @brief Test for constructor from axis and rotation angle X rotation */ TEST(Quaternion, ConstructorAxisAndAngleX) { - s2e::math::Vector<3> axis; + math::Vector<3> axis; axis[0] = 1.0; axis[1] = 0.0; axis[2] = 0.0; - double theta_rad = 90 * s2e::math::deg_to_rad; - s2e::math::Quaternion q(axis, theta_rad); + double theta_rad = 90 * math::deg_to_rad; + math::Quaternion q(axis, theta_rad); EXPECT_NEAR(axis[0] * sin(theta_rad / 2.0), q[0], 1e-5); EXPECT_NEAR(axis[1] * sin(theta_rad / 2.0), q[1], 1e-5); @@ -53,12 +53,12 @@ TEST(Quaternion, ConstructorAxisAndAngleX) { * @brief Test for constructor from axis and rotation angle Y rotation */ TEST(Quaternion, ConstructorAxisAndAngleY) { - s2e::math::Vector<3> axis; + math::Vector<3> axis; axis[0] = 0.0; axis[1] = 1.0; axis[2] = 0.0; - double theta_rad = 45 * s2e::math::deg_to_rad; - s2e::math::Quaternion q(axis, theta_rad); + double theta_rad = 45 * math::deg_to_rad; + math::Quaternion q(axis, theta_rad); EXPECT_NEAR(axis[0] * sin(theta_rad / 2.0), q[0], 1e-5); EXPECT_NEAR(axis[1] * sin(theta_rad / 2.0), q[1], 1e-5); @@ -70,12 +70,12 @@ TEST(Quaternion, ConstructorAxisAndAngleY) { * @brief Test for constructor from axis and rotation angle Z rotation */ TEST(Quaternion, ConstructorAxisAndAngleZ) { - s2e::math::Vector<3> axis; + math::Vector<3> axis; axis[0] = 0.0; axis[1] = 0.0; axis[2] = 1.0; - double theta_rad = -60 * s2e::math::deg_to_rad; - s2e::math::Quaternion q(axis, theta_rad); + double theta_rad = -60 * math::deg_to_rad; + math::Quaternion q(axis, theta_rad); EXPECT_NEAR(axis[0] * sin(theta_rad / 2.0), q[0], 1e-5); EXPECT_NEAR(axis[1] * sin(theta_rad / 2.0), q[1], 1e-5); @@ -87,12 +87,12 @@ TEST(Quaternion, ConstructorAxisAndAngleZ) { * @brief Test for constructor from axis and rotation angle All axes rotation */ TEST(Quaternion, ConstructorAxisAndAngleAll) { - s2e::math::Vector<3> axis; + math::Vector<3> axis; axis[0] = 1.0; axis[1] = 1.0; axis[2] = 1.0; - double theta_rad = 180 * s2e::math::deg_to_rad; - s2e::math::Quaternion q(axis, theta_rad); + double theta_rad = 180 * math::deg_to_rad; + math::Quaternion q(axis, theta_rad); EXPECT_NEAR(axis[0] * sin(theta_rad / 2.0), q[0], 1e-5); EXPECT_NEAR(axis[1] * sin(theta_rad / 2.0), q[1], 1e-5); @@ -104,16 +104,16 @@ TEST(Quaternion, ConstructorAxisAndAngleAll) { * @brief Test for constructor from two vectors: No rotation */ TEST(Quaternion, ConstructorTwoVectorsNoRotation) { - s2e::math::Vector<3> before; + math::Vector<3> before; before[0] = 0.0; before[1] = 0.0; before[2] = 2.0; // To check normalization - s2e::math::Vector<3> after; + math::Vector<3> after; after[0] = 0.0; after[1] = 0.0; after[2] = 1.0; - s2e::math::Quaternion q(before, after); + math::Quaternion q(before, after); EXPECT_NEAR(0.0, q[0], 1e-5); EXPECT_NEAR(0.0, q[1], 1e-5); @@ -125,18 +125,18 @@ TEST(Quaternion, ConstructorTwoVectorsNoRotation) { * @brief Test for constructor from two vectors: X rotation */ TEST(Quaternion, ConstructorTwoVectorsX) { - s2e::math::Vector<3> before; + math::Vector<3> before; before[0] = 0.0; before[1] = 0.0; before[2] = 1.0; - s2e::math::Vector<3> after; + math::Vector<3> after; after[0] = 0.0; after[1] = 1.0; after[2] = 0.0; - s2e::math::Quaternion q(before, after); + math::Quaternion q(before, after); - double theta_rad = -90 * s2e::math::deg_to_rad; + double theta_rad = -90 * math::deg_to_rad; EXPECT_NEAR(sin(theta_rad / 2.0), q[0], 1e-5); EXPECT_NEAR(0.0, q[1], 1e-5); EXPECT_NEAR(0.0, q[2], 1e-5); @@ -147,18 +147,18 @@ TEST(Quaternion, ConstructorTwoVectorsX) { * @brief Test for constructor from two vectors: Y rotation */ TEST(Quaternion, ConstructorTwoVectorsY) { - s2e::math::Vector<3> before; + math::Vector<3> before; before[0] = 0.0; before[1] = 0.0; before[2] = 1.0; - s2e::math::Vector<3> after; + math::Vector<3> after; after[0] = 1.0; after[1] = 0.0; after[2] = 0.0; - s2e::math::Quaternion q(before, after); + math::Quaternion q(before, after); - double theta_rad = 90 * s2e::math::deg_to_rad; + double theta_rad = 90 * math::deg_to_rad; EXPECT_NEAR(0.0, q[0], 1e-5); EXPECT_NEAR(sin(theta_rad / 2.0), q[1], 1e-5); EXPECT_NEAR(0.0, q[2], 1e-5); @@ -169,18 +169,18 @@ TEST(Quaternion, ConstructorTwoVectorsY) { * @brief Test for constructor from two vectors: Z rotation */ TEST(Quaternion, ConstructorTwoVectorsZ) { - s2e::math::Vector<3> before; + math::Vector<3> before; before[0] = 1.0; before[1] = 0.0; before[2] = 0.0; - s2e::math::Vector<3> after; + math::Vector<3> after; after[0] = 0.0; after[1] = 1.0; after[2] = 0.0; - s2e::math::Quaternion q(before, after); + math::Quaternion q(before, after); - double theta_rad = 90 * s2e::math::deg_to_rad; + double theta_rad = 90 * math::deg_to_rad; EXPECT_NEAR(0.0, q[0], 1e-5); EXPECT_NEAR(0.0, q[1], 1e-5); EXPECT_NEAR(sin(theta_rad / 2.0), q[2], 1e-5); @@ -192,7 +192,7 @@ TEST(Quaternion, ConstructorTwoVectorsZ) { * @note TODO: Fix to nondestructive function */ TEST(Quaternion, Normalize) { - s2e::math::Quaternion q(1.0, 1.0, 1.0, 1.0); + math::Quaternion q(1.0, 1.0, 1.0, 1.0); EXPECT_DOUBLE_EQ(1.0, q[0]); EXPECT_DOUBLE_EQ(1.0, q[1]); EXPECT_DOUBLE_EQ(1.0, q[2]); @@ -209,9 +209,9 @@ TEST(Quaternion, Normalize) { * @brief Test for Conjugate */ TEST(Quaternion, Conjugate) { - s2e::math::Quaternion q(0.5, 0.5, 0.5, 0.5); + math::Quaternion q(0.5, 0.5, 0.5, 0.5); - s2e::math::Quaternion q_conjugate = q.Conjugate(); + math::Quaternion q_conjugate = q.Conjugate(); // Check nondestructive function EXPECT_DOUBLE_EQ(0.5, q[0]); @@ -229,10 +229,10 @@ TEST(Quaternion, Conjugate) { * @brief Test for ConvertToDcm Y rotation */ TEST(Quaternion, ConvertToDcmY) { - s2e::math::Quaternion q(0.0, 1.0, 0.0, 1.0); + math::Quaternion q(0.0, 1.0, 0.0, 1.0); q.Normalize(); - s2e::math::Matrix<3, 3> dcm = q.ConvertToDcm(); + math::Matrix<3, 3> dcm = q.ConvertToDcm(); // Check nondestructive function EXPECT_DOUBLE_EQ(0.0, q[0]); @@ -253,7 +253,7 @@ TEST(Quaternion, ConvertToDcmY) { EXPECT_NEAR(0.0, dcm[2][2], accuracy); // Inverse Conversion - s2e::math::Quaternion q_from_dcm = s2e::math::Quaternion::ConvertFromDcm(dcm); + math::Quaternion q_from_dcm = math::Quaternion::ConvertFromDcm(dcm); for (size_t i = 0; i < 4; i++) { EXPECT_NEAR(q[i], q_from_dcm[i], accuracy); } @@ -263,10 +263,10 @@ TEST(Quaternion, ConvertToDcmY) { * @brief Test for ConvertToDcm */ TEST(Quaternion, ConvertToDcm) { - s2e::math::Quaternion q(0.5, 0.3, 0.1, 1.0); + math::Quaternion q(0.5, 0.3, 0.1, 1.0); q.Normalize(); - s2e::math::Matrix<3, 3> dcm = q.ConvertToDcm(); + math::Matrix<3, 3> dcm = q.ConvertToDcm(); // Check nondestructive function const double accuracy = 1.0e-5; @@ -281,7 +281,7 @@ TEST(Quaternion, ConvertToDcm) { EXPECT_NEAR(0.4962963, dcm[2][2], accuracy); // Inverse Conversion - s2e::math::Quaternion q_from_dcm = s2e::math::Quaternion::ConvertFromDcm(dcm); + math::Quaternion q_from_dcm = math::Quaternion::ConvertFromDcm(dcm); for (size_t i = 0; i < 4; i++) { EXPECT_NEAR(q[i], q_from_dcm[i], accuracy); } @@ -291,10 +291,10 @@ TEST(Quaternion, ConvertToDcm) { * @brief Test for ConvertToEuler X rotation */ TEST(Quaternion, ConvertToEulerX) { - s2e::math::Quaternion q(1.0, 0.0, 0.0, 1.0); + math::Quaternion q(1.0, 0.0, 0.0, 1.0); q.Normalize(); - s2e::math::Vector<3> euler = q.ConvertToEuler(); + math::Vector<3> euler = q.ConvertToEuler(); // Check nondestructive function EXPECT_DOUBLE_EQ(1.0 / sqrt(2.0), q[0]); @@ -304,12 +304,12 @@ TEST(Quaternion, ConvertToEulerX) { // Check nondestructive function const double accuracy = 1.0e-7; - EXPECT_NEAR(90 * s2e::math::deg_to_rad, euler[0], accuracy); + EXPECT_NEAR(90 * math::deg_to_rad, euler[0], accuracy); EXPECT_NEAR(0.0, euler[1], accuracy); EXPECT_NEAR(0.0, euler[2], accuracy); // Inverse Conversion - s2e::math::Quaternion q_from_euler = s2e::math::Quaternion::ConvertFromEuler(euler); + math::Quaternion q_from_euler = math::Quaternion::ConvertFromEuler(euler); for (size_t i = 0; i < 4; i++) { EXPECT_NEAR(q[i], q_from_euler[i], accuracy); } @@ -319,10 +319,10 @@ TEST(Quaternion, ConvertToEulerX) { * @brief Test for ConvertToEuler */ TEST(Quaternion, ConvertToEuler) { - s2e::math::Quaternion q(0.5, 0.3, 0.1, 1.0); + math::Quaternion q(0.5, 0.3, 0.1, 1.0); q.Normalize(); - s2e::math::Vector<3> euler = q.ConvertToEuler(); + math::Vector<3> euler = q.ConvertToEuler(); // Check nondestructive function const double accuracy = 1.0e-7; @@ -331,7 +331,7 @@ TEST(Quaternion, ConvertToEuler) { EXPECT_NEAR(0.41012734, euler[2], accuracy); // Inverse Conversion - s2e::math::Quaternion q_from_euler = s2e::math::Quaternion::ConvertFromEuler(euler); + math::Quaternion q_from_euler = math::Quaternion::ConvertFromEuler(euler); for (size_t i = 0; i < 4; i++) { EXPECT_NEAR(q[i], q_from_euler[i], accuracy); } @@ -341,22 +341,22 @@ TEST(Quaternion, ConvertToEuler) { * @brief Test for FrameConversion Z rotation */ TEST(Quaternion, FrameConversionZ) { - s2e::math::Quaternion q(0.0, 0.0, 1.0, 1.0); + math::Quaternion q(0.0, 0.0, 1.0, 1.0); q.Normalize(); - s2e::math::Vector<3> v; + math::Vector<3> v; v[0] = 1.0; v[1] = 0.0; v[2] = 0.0; - s2e::math::Vector<3> v_frame_conv = q.FrameConversion(v); + math::Vector<3> v_frame_conv = q.FrameConversion(v); const double accuracy = 1.0e-7; EXPECT_NEAR(0.0, v_frame_conv[0], accuracy); EXPECT_NEAR(-1.0, v_frame_conv[1], accuracy); EXPECT_NEAR(0.0, v_frame_conv[2], accuracy); - s2e::math::Vector<3> v_frame_conv_inv = q.InverseFrameConversion(v_frame_conv); + math::Vector<3> v_frame_conv_inv = q.InverseFrameConversion(v_frame_conv); for (size_t i = 0; i < 3; i++) { EXPECT_NEAR(v[i], v_frame_conv_inv[i], accuracy); @@ -367,15 +367,15 @@ TEST(Quaternion, FrameConversionZ) { * @brief Test for FrameConversion */ TEST(Quaternion, FrameConversion) { - s2e::math::Quaternion q(0.5, 0.3, 0.1, 1.0); + math::Quaternion q(0.5, 0.3, 0.1, 1.0); q.Normalize(); - s2e::math::Vector<3> v; + math::Vector<3> v; v[0] = 1.0; v[1] = 0.0; v[2] = 0.0; - s2e::math::Vector<3> v_frame_conv = q.FrameConversion(v); - s2e::math::Vector<3> v_frame_conv_inv = q.InverseFrameConversion(v_frame_conv); + math::Vector<3> v_frame_conv = q.FrameConversion(v); + math::Vector<3> v_frame_conv_inv = q.InverseFrameConversion(v_frame_conv); const double accuracy = 1.0e-7; for (size_t i = 0; i < 3; i++) { @@ -387,9 +387,9 @@ TEST(Quaternion, FrameConversion) { * @brief Test for ConvertToVector */ TEST(Quaternion, ConvertToVector) { - s2e::math::Quaternion q(0.5, 0.3, 0.1, 1.0); + math::Quaternion q(0.5, 0.3, 0.1, 1.0); - s2e::math::Vector<4> v = q.ConvertToVector(); + math::Vector<4> v = q.ConvertToVector(); for (size_t i = 0; i < 4; i++) { EXPECT_DOUBLE_EQ(q[i], v[i]); @@ -400,10 +400,10 @@ TEST(Quaternion, ConvertToVector) { * @brief Test for operator+ */ TEST(Quaternion, OperatorPlus) { - s2e::math::Quaternion q1(0.5, 0.3, 0.1, 1.0); - s2e::math::Quaternion q2(-0.3, 0.1, -1.0, 0.4); + math::Quaternion q1(0.5, 0.3, 0.1, 1.0); + math::Quaternion q2(-0.3, 0.1, -1.0, 0.4); - s2e::math::Quaternion result = q1 + q2; + math::Quaternion result = q1 + q2; EXPECT_DOUBLE_EQ(0.2, result[0]); EXPECT_DOUBLE_EQ(0.4, result[1]); @@ -415,10 +415,10 @@ TEST(Quaternion, OperatorPlus) { * @brief Test for operator- */ TEST(Quaternion, OperatorMinus) { - s2e::math::Quaternion q1(0.5, 0.3, 0.1, 1.0); - s2e::math::Quaternion q2(-0.3, 0.1, -1.0, 0.4); + math::Quaternion q1(0.5, 0.3, 0.1, 1.0); + math::Quaternion q2(-0.3, 0.1, -1.0, 0.4); - s2e::math::Quaternion result = q1 - q2; + math::Quaternion result = q1 - q2; EXPECT_DOUBLE_EQ(0.8, result[0]); EXPECT_DOUBLE_EQ(0.2, result[1]); @@ -430,10 +430,10 @@ TEST(Quaternion, OperatorMinus) { * @brief Test for operator* quaternion */ TEST(Quaternion, OperatorQuaternionMultiply) { - s2e::math::Quaternion q1(0.289271, -0.576012, -0.420972, 0.638212); - s2e::math::Quaternion q2(-0.0821846, 0.501761, 0.721995, -0.469259); + math::Quaternion q1(0.289271, -0.576012, -0.420972, 0.638212); + math::Quaternion q2(-0.0821846, 0.501761, 0.721995, -0.469259); - s2e::math::Quaternion result = q1 * q2; + math::Quaternion result = q1 * q2; const double accuracy = 1.0e-7; EXPECT_NEAR(-0.3928446703722, result[0], accuracy); @@ -446,10 +446,10 @@ TEST(Quaternion, OperatorQuaternionMultiply) { * @brief Test for operator* scalar */ TEST(Quaternion, OperatorScalarMultiply) { - s2e::math::Quaternion q(0.289271, -0.576012, -0.420972, 0.638212); + math::Quaternion q(0.289271, -0.576012, -0.420972, 0.638212); double scalar = 2.3; - s2e::math::Quaternion result = scalar * q; + math::Quaternion result = scalar * q; const double accuracy = 1.0e-7; EXPECT_NEAR(q[0] * 2.3, result[0], accuracy); diff --git a/src/math_physics/math/test_s2e_math.cpp b/src/math_physics/math/test_s2e_math.cpp index 7a293b967..949751a3b 100644 --- a/src/math_physics/math/test_s2e_math.cpp +++ b/src/math_physics/math/test_s2e_math.cpp @@ -14,18 +14,18 @@ TEST(S2eMath, WrapTo2Pi) { const double accuracy = 1.0e-7; double input_angle_rad = 0.0; - double wrapped_angle_rad = s2e::math::WrapTo2Pi(input_angle_rad); + double wrapped_angle_rad = math::WrapTo2Pi(input_angle_rad); EXPECT_NEAR(0.0, wrapped_angle_rad, accuracy); input_angle_rad = -1.0e-5; - wrapped_angle_rad = s2e::math::WrapTo2Pi(input_angle_rad); - EXPECT_NEAR(s2e::math::tau + input_angle_rad, wrapped_angle_rad, accuracy); + wrapped_angle_rad = math::WrapTo2Pi(input_angle_rad); + EXPECT_NEAR(math::tau + input_angle_rad, wrapped_angle_rad, accuracy); - input_angle_rad = s2e::math::tau + 1.0e-5; - wrapped_angle_rad = s2e::math::WrapTo2Pi(input_angle_rad); + input_angle_rad = math::tau + 1.0e-5; + wrapped_angle_rad = math::WrapTo2Pi(input_angle_rad); EXPECT_NEAR(1.0e-5, wrapped_angle_rad, accuracy); - input_angle_rad = 10 * s2e::math::tau + 1.0e-5; - wrapped_angle_rad = s2e::math::WrapTo2Pi(input_angle_rad); + input_angle_rad = 10 * math::tau + 1.0e-5; + wrapped_angle_rad = math::WrapTo2Pi(input_angle_rad); EXPECT_NEAR(1.0e-5, wrapped_angle_rad, accuracy); } diff --git a/src/math_physics/math/test_vector.cpp b/src/math_physics/math/test_vector.cpp index e920dc0b8..5f636960d 100644 --- a/src/math_physics/math/test_vector.cpp +++ b/src/math_physics/math/test_vector.cpp @@ -13,7 +13,7 @@ TEST(Vector, ConstructorWithNumber) { const size_t N = 6; double initialize_value = 2.0; - s2e::math::Vector v(initialize_value); + math::Vector v(initialize_value); for (size_t i = 0; i < N; i++) { EXPECT_DOUBLE_EQ(initialize_value, v[i]); @@ -26,7 +26,7 @@ TEST(Vector, ConstructorWithNumber) { */ TEST(Vector, GetLength) { const size_t N = 6; - s2e::math::Vector v; + math::Vector v; EXPECT_EQ(N, v.GetLength()); } @@ -37,8 +37,8 @@ TEST(Vector, GetLength) { TEST(Vector, OperatorPlusEqual) { const size_t N = 6; double initialize_value = 2.0; - s2e::math::Vector v(initialize_value); - s2e::math::Vector adding; + math::Vector v(initialize_value); + math::Vector adding; for (size_t i = 0; i < N; i++) { adding[i] = double(i); @@ -60,8 +60,8 @@ TEST(Vector, OperatorPlusEqual) { TEST(Vector, OperatorMinusEqual) { const size_t N = 6; double initialize_value = 2.0; - s2e::math::Vector v(initialize_value); - s2e::math::Vector subtracting; + math::Vector v(initialize_value); + math::Vector subtracting; for (size_t i = 0; i < N; i++) { subtracting[i] = double(i); @@ -82,7 +82,7 @@ TEST(Vector, OperatorMinusEqual) { */ TEST(Vector, OperatorMultiplyEqual) { const size_t N = 6; - s2e::math::Vector v; + math::Vector v; double multiplying = 2.0; for (size_t i = 0; i < N; i++) { @@ -104,7 +104,7 @@ TEST(Vector, OperatorMultiplyEqual) { */ TEST(Vector, OperatorDivideEqual) { const size_t N = 6; - s2e::math::Vector v; + math::Vector v; double dividing = 3.0; for (size_t i = 0; i < N; i++) { @@ -126,13 +126,13 @@ TEST(Vector, OperatorDivideEqual) { */ TEST(Vector, OperatorNegative) { const size_t N = 6; - s2e::math::Vector v; + math::Vector v; for (size_t i = 0; i < N; i++) { v[i] = double(i); } - s2e::math::Vector v_negative = -v; + math::Vector v_negative = -v; for (size_t i = 0; i < N; i++) { // Check nondestructive @@ -147,7 +147,7 @@ TEST(Vector, OperatorNegative) { */ TEST(Vector, FillUp) { const size_t N = 6; - s2e::math::Vector v; + math::Vector v; for (size_t i = 0; i < N; i++) { v[i] = double(i); @@ -171,14 +171,14 @@ TEST(Vector, FillUp) { TEST(Vector, OperatorPlus) { const size_t N = 6; double initialize_value = 2.0; - s2e::math::Vector v(initialize_value); - s2e::math::Vector adding; + math::Vector v(initialize_value); + math::Vector adding; for (size_t i = 0; i < N; i++) { adding[i] = double(i); } - s2e::math::Vector added = v + adding; + math::Vector added = v + adding; for (size_t i = 0; i < N; i++) { // Check nondestructive @@ -195,14 +195,14 @@ TEST(Vector, OperatorPlus) { TEST(Vector, OperatorMinus) { const size_t N = 6; double initialize_value = 2.0; - s2e::math::Vector v(initialize_value); - s2e::math::Vector subtracting; + math::Vector v(initialize_value); + math::Vector subtracting; for (size_t i = 0; i < N; i++) { subtracting[i] = double(i); } - s2e::math::Vector subtracted = v - subtracting; + math::Vector subtracted = v - subtracting; for (size_t i = 0; i < N; i++) { // Check nondestructive @@ -218,8 +218,8 @@ TEST(Vector, OperatorMinus) { */ TEST(Vector, InnerProduct) { const size_t N = 3; - s2e::math::Vector a; - s2e::math::Vector b; + math::Vector a; + math::Vector b; for (size_t i = 0; i < N; i++) { a[i] = double(i + 1); @@ -235,8 +235,8 @@ TEST(Vector, InnerProduct) { */ TEST(Vector, InnerProductZero) { const size_t N = 3; - s2e::math::Vector a; - s2e::math::Vector b; + math::Vector a; + math::Vector b; a[0] = 1.0; a[1] = 0.0; @@ -255,8 +255,8 @@ TEST(Vector, InnerProductZero) { */ TEST(Vector, OuterProductZero) { const size_t N = 3; - s2e::math::Vector a; - s2e::math::Vector b; + math::Vector a; + math::Vector b; a[0] = 1.0; a[1] = 0.0; @@ -266,7 +266,7 @@ TEST(Vector, OuterProductZero) { b[1] = 0.0; b[2] = 0.0; - s2e::math::Vector<3> result = OuterProduct(a, b); + math::Vector<3> result = OuterProduct(a, b); for (size_t i = 0; i < N; i++) { EXPECT_DOUBLE_EQ(0.0, result[i]); @@ -278,8 +278,8 @@ TEST(Vector, OuterProductZero) { */ TEST(Vector, OuterProductX) { const size_t N = 3; - s2e::math::Vector a; - s2e::math::Vector b; + math::Vector a; + math::Vector b; a[0] = 0.0; a[1] = 0.0; @@ -289,7 +289,7 @@ TEST(Vector, OuterProductX) { b[1] = 1.0; b[2] = 0.0; - s2e::math::Vector<3> result = OuterProduct(a, b); + math::Vector<3> result = OuterProduct(a, b); EXPECT_DOUBLE_EQ(-1.0, result[0]); EXPECT_DOUBLE_EQ(0.0, result[1]); @@ -301,8 +301,8 @@ TEST(Vector, OuterProductX) { */ TEST(Vector, OuterProductY) { const size_t N = 3; - s2e::math::Vector a; - s2e::math::Vector b; + math::Vector a; + math::Vector b; a[0] = 0.0; a[1] = 0.0; @@ -312,7 +312,7 @@ TEST(Vector, OuterProductY) { b[1] = 0.0; b[2] = 0.0; - s2e::math::Vector<3> result = OuterProduct(a, b); + math::Vector<3> result = OuterProduct(a, b); EXPECT_DOUBLE_EQ(0.0, result[0]); EXPECT_DOUBLE_EQ(1.0, result[1]); @@ -324,8 +324,8 @@ TEST(Vector, OuterProductY) { */ TEST(Vector, OuterProductZ) { const size_t N = 3; - s2e::math::Vector a; - s2e::math::Vector b; + math::Vector a; + math::Vector b; a[0] = 1.0; a[1] = 0.0; @@ -335,7 +335,7 @@ TEST(Vector, OuterProductZ) { b[1] = 1.0; b[2] = 0.0; - s2e::math::Vector<3> result = OuterProduct(a, b); + math::Vector<3> result = OuterProduct(a, b); EXPECT_DOUBLE_EQ(0.0, result[0]); EXPECT_DOUBLE_EQ(0.0, result[1]); @@ -347,7 +347,7 @@ TEST(Vector, OuterProductZ) { */ TEST(Vector, CalcNorm) { const size_t N = 10; - s2e::math::Vector v(1.0); + math::Vector v(1.0); double norm = v.CalcNorm(); @@ -364,9 +364,9 @@ TEST(Vector, CalcNorm) { */ TEST(Vector, Normalize) { const size_t N = 5; - s2e::math::Vector v(1.0); + math::Vector v(1.0); - s2e::math::Vector normalized = v.CalcNormalizedVector(); + math::Vector normalized = v.CalcNormalizedVector(); for (size_t i = 0; i < N; i++) { // Check nondestructive @@ -381,8 +381,8 @@ TEST(Vector, Normalize) { */ TEST(Vector, CalcAngleTwoVectors90deg) { const size_t N = 3; - s2e::math::Vector a; - s2e::math::Vector b; + math::Vector a; + math::Vector b; a[0] = 1.0; a[1] = 0.0; @@ -394,7 +394,7 @@ TEST(Vector, CalcAngleTwoVectors90deg) { double angle_rad = CalcAngleTwoVectors_rad(a, b); - EXPECT_DOUBLE_EQ(90.0 * s2e::math::deg_to_rad, angle_rad); + EXPECT_DOUBLE_EQ(90.0 * math::deg_to_rad, angle_rad); } /** @@ -402,7 +402,7 @@ TEST(Vector, CalcAngleTwoVectors90deg) { */ TEST(Vector, CalcAngleTwoVectors0deg) { const size_t N = 3; - s2e::math::Vector a; + math::Vector a; a[0] = 1.0; a[1] = 0.0; @@ -410,7 +410,7 @@ TEST(Vector, CalcAngleTwoVectors0deg) { double angle_rad = CalcAngleTwoVectors_rad(a, a); - EXPECT_DOUBLE_EQ(0.0 * s2e::math::deg_to_rad, angle_rad); + EXPECT_DOUBLE_EQ(0.0 * math::deg_to_rad, angle_rad); } /** @@ -418,8 +418,8 @@ TEST(Vector, CalcAngleTwoVectors0deg) { */ TEST(Vector, CalcAngleTwoVectors45deg) { const size_t N = 3; - s2e::math::Vector a; - s2e::math::Vector b; + math::Vector a; + math::Vector b; a[0] = 0.0; a[1] = 1.0; @@ -431,7 +431,7 @@ TEST(Vector, CalcAngleTwoVectors45deg) { double angle_rad = CalcAngleTwoVectors_rad(a, b); - EXPECT_DOUBLE_EQ(45.0 * s2e::math::deg_to_rad, angle_rad); + EXPECT_DOUBLE_EQ(45.0 * math::deg_to_rad, angle_rad); } /** @@ -439,11 +439,11 @@ TEST(Vector, CalcAngleTwoVectors45deg) { */ TEST(Vector, GenerateOrthogonalUnitVector) { const size_t N = 3; - s2e::math::Vector a(1.0); + math::Vector a(1.0); - s2e::math::Vector b = GenerateOrthogonalUnitVector(a); + math::Vector b = GenerateOrthogonalUnitVector(a); double angle_rad = CalcAngleTwoVectors_rad(a, b); - EXPECT_DOUBLE_EQ(90.0 * s2e::math::deg_to_rad, angle_rad); + EXPECT_DOUBLE_EQ(90.0 * math::deg_to_rad, angle_rad); } diff --git a/src/math_physics/numerical_integration/dormand_prince_5.hpp b/src/math_physics/numerical_integration/dormand_prince_5.hpp index 90e5fb413..0e5ff40e6 100644 --- a/src/math_physics/numerical_integration/dormand_prince_5.hpp +++ b/src/math_physics/numerical_integration/dormand_prince_5.hpp @@ -33,10 +33,10 @@ class DormandPrince5 : public EmbeddedRungeKutta { * @param [in] sigma: Sigma value (0 < sigma < 1) for interpolation * @return : interpolated state x(t0 + sigma * h) */ - s2e::math::Vector CalcInterpolationState(const double sigma) const override; + math::Vector CalcInterpolationState(const double sigma) const override; private: - std::vector> coefficients_; //!< Coefficients to calculate interpolation weights + std::vector> coefficients_; //!< Coefficients to calculate interpolation weights /** * @fn CalcInterpolationWeights * @brief Calculate weights for interpolation diff --git a/src/math_physics/numerical_integration/dormand_prince_5_implementation.hpp b/src/math_physics/numerical_integration/dormand_prince_5_implementation.hpp index 3dc53411c..8a5bbb55e 100644 --- a/src/math_physics/numerical_integration/dormand_prince_5_implementation.hpp +++ b/src/math_physics/numerical_integration/dormand_prince_5_implementation.hpp @@ -75,7 +75,7 @@ DormandPrince5::DormandPrince5(const double step_width, const InterfaceOde this->rk_matrix_[6][5] = 11.0 / 84.0; // Interpolation coefficients - s2e::math::Vector<5> coefficients_temp; + math::Vector<5> coefficients_temp; coefficients_temp[0] = 11282082432.0; coefficients_temp[1] = -32272833064.0; coefficients_temp[2] = 34969693132.0; @@ -123,10 +123,10 @@ DormandPrince5::DormandPrince5(const double step_width, const InterfaceOde } template -s2e::math::Vector DormandPrince5::CalcInterpolationState(const double sigma) const { +math::Vector DormandPrince5::CalcInterpolationState(const double sigma) const { std::vector interpolation_weights = CalcInterpolationWeights(sigma); - s2e::math::Vector interpolation_state = this->previous_state_; + math::Vector interpolation_state = this->previous_state_; for (size_t i = 0; i < this->number_of_stages_; i++) { interpolation_state = interpolation_state + (sigma * this->step_width_ * interpolation_weights[i]) * this->slope_[i]; } diff --git a/src/math_physics/numerical_integration/embedded_runge_kutta_implementation.hpp b/src/math_physics/numerical_integration/embedded_runge_kutta_implementation.hpp index 1a73d0775..f4e794a0f 100644 --- a/src/math_physics/numerical_integration/embedded_runge_kutta_implementation.hpp +++ b/src/math_physics/numerical_integration/embedded_runge_kutta_implementation.hpp @@ -14,15 +14,15 @@ void EmbeddedRungeKutta::Integrate() { this->CalcSlope(); this->previous_state_ = this->current_state_; - s2e::math::Vector lower_current_state = this->current_state_; //!< eta in the equation - s2e::math::Vector higher_current_state = this->current_state_; //!< eta_hat in the equation + math::Vector lower_current_state = this->current_state_; //!< eta in the equation + math::Vector higher_current_state = this->current_state_; //!< eta_hat in the equation for (size_t i = 0; i < this->number_of_stages_; i++) { lower_current_state = lower_current_state + this->weights_[i] * this->step_width_ * this->slope_[i]; higher_current_state = higher_current_state + higher_order_weights_[i] * this->step_width_ * this->slope_[i]; } // Error evaluation - s2e::math::Vector truncation_error = lower_current_state - higher_current_state; + math::Vector truncation_error = lower_current_state - higher_current_state; local_truncation_error_ = truncation_error.CalcNorm(); // State update diff --git a/src/math_physics/numerical_integration/interface_ode.hpp b/src/math_physics/numerical_integration/interface_ode.hpp index a050119b9..fada6e5b0 100644 --- a/src/math_physics/numerical_integration/interface_ode.hpp +++ b/src/math_physics/numerical_integration/interface_ode.hpp @@ -24,7 +24,7 @@ class InterfaceOde { * @param [in] state: State vector * @return Differentiated value of state vector */ - virtual s2e::math::Vector DerivativeFunction(const double independent_variable, const s2e::math::Vector& state) const = 0; + virtual math::Vector DerivativeFunction(const double independent_variable, const math::Vector& state) const = 0; }; } // namespace s2e::numerical_integration diff --git a/src/math_physics/numerical_integration/numerical_integrator.hpp b/src/math_physics/numerical_integration/numerical_integrator.hpp index e125ec810..461bfa225 100644 --- a/src/math_physics/numerical_integration/numerical_integrator.hpp +++ b/src/math_physics/numerical_integration/numerical_integrator.hpp @@ -44,7 +44,7 @@ class NumericalIntegrator { * @fn SetState * @brief Set state information */ - inline void SetState(const double independent_variable, const s2e::math::Vector& state) { + inline void SetState(const double independent_variable, const math::Vector& state) { current_independent_variable_ = independent_variable; current_state_ = state; previous_state_ = state; @@ -54,7 +54,7 @@ class NumericalIntegrator { * @fn GetState * @brief Return current state vector */ - inline const s2e::math::Vector& GetState() const { return current_state_; } + inline const math::Vector& GetState() const { return current_state_; } /** * @fn CalcInterpolationState @@ -62,7 +62,7 @@ class NumericalIntegrator { * @param [in] sigma: Sigma value (0 < sigma < 1) for interpolation * @return : interpolated state x(t0 + sigma * h) */ - virtual s2e::math::Vector CalcInterpolationState(const double sigma) const = 0; + virtual math::Vector CalcInterpolationState(const double sigma) const = 0; protected: // Settings @@ -71,8 +71,8 @@ class NumericalIntegrator { // States const InterfaceOde& ode_; //!< Ordinary differential equation double current_independent_variable_; //!< Latest value of independent variable - s2e::math::Vector current_state_; //!< Latest state vector - s2e::math::Vector previous_state_; //!< Previous state vector + math::Vector current_state_; //!< Latest state vector + math::Vector previous_state_; //!< Previous state vector }; } // namespace s2e::numerical_integration diff --git a/src/math_physics/numerical_integration/ode_examples.hpp b/src/math_physics/numerical_integration/ode_examples.hpp index f248f3d3b..98ee43d63 100644 --- a/src/math_physics/numerical_integration/ode_examples.hpp +++ b/src/math_physics/numerical_integration/ode_examples.hpp @@ -13,11 +13,11 @@ namespace s2e::numerical_integration { class ExampleLinearOde : public InterfaceOde<1> { public: - s2e::math::Vector<1> DerivativeFunction(const double time_s, const s2e::math::Vector<1>& state) const { + math::Vector<1> DerivativeFunction(const double time_s, const math::Vector<1>& state) const { UNUSED(time_s); UNUSED(state); - s2e::math::Vector<1> output(1.0); + math::Vector<1> output(1.0); return output; } }; @@ -35,11 +35,11 @@ class ExampleQuadraticOde : public InterfaceOde<1> { * @param [in] state: State vector * @return Differentiated value of state vector */ - virtual s2e::math::Vector<1> DerivativeFunction(const double time_s, const s2e::math::Vector<1>& state) const { + virtual math::Vector<1> DerivativeFunction(const double time_s, const math::Vector<1>& state) const { UNUSED(time_s); UNUSED(state); - s2e::math::Vector<1> output(0.0); + math::Vector<1> output(0.0); output[0] = 2.0 * time_s; return output; } @@ -51,10 +51,10 @@ class ExampleQuadraticOde : public InterfaceOde<1> { */ class Example1dPositionVelocityOde : public InterfaceOde<2> { public: - virtual s2e::math::Vector<2> DerivativeFunction(const double time_s, const s2e::math::Vector<2>& state) const { + virtual math::Vector<2> DerivativeFunction(const double time_s, const math::Vector<2>& state) const { UNUSED(time_s); - s2e::math::Vector<2> output(0.0); + math::Vector<2> output(0.0); output[0] = state[1]; output[1] = 0.0; return output; @@ -67,10 +67,10 @@ class Example1dPositionVelocityOde : public InterfaceOde<2> { */ class Example2dTwoBodyOrbitOde : public InterfaceOde<4> { public: - virtual s2e::math::Vector<4> DerivativeFunction(const double time_s, const s2e::math::Vector<4>& state) const { + virtual math::Vector<4> DerivativeFunction(const double time_s, const math::Vector<4>& state) const { UNUSED(time_s); - s2e::math::Vector<4> output(0.0); + math::Vector<4> output(0.0); output[0] = state[2]; output[1] = state[3]; double denominator = pow(state[0] * state[0] + state[1] * state[1], 3.0 / 2.0); diff --git a/src/math_physics/numerical_integration/runge_kutta.hpp b/src/math_physics/numerical_integration/runge_kutta.hpp index 2bb9a2505..d2072d4cb 100644 --- a/src/math_physics/numerical_integration/runge_kutta.hpp +++ b/src/math_physics/numerical_integration/runge_kutta.hpp @@ -46,7 +46,7 @@ class RungeKutta : public NumericalIntegrator { std::vector nodes_; //!< Nodes vector for general RK (c vector in the equation) std::vector weights_; //!< Weights vector for general RK (b vector in the equation) std::vector> rk_matrix_; //!< Runge-Kutta matrix for general RK (a matrix in the equation) - std::vector> slope_; //!< Slope vector for general RK (k vector in the equation) + std::vector> slope_; //!< Slope vector for general RK (k vector in the equation) /** * @fn CalcSlope diff --git a/src/math_physics/numerical_integration/runge_kutta_4.hpp b/src/math_physics/numerical_integration/runge_kutta_4.hpp index d52106039..d8925f51c 100644 --- a/src/math_physics/numerical_integration/runge_kutta_4.hpp +++ b/src/math_physics/numerical_integration/runge_kutta_4.hpp @@ -45,7 +45,7 @@ class RungeKutta4 : public RungeKutta { } // We did not implement the interpolation for RK4 - s2e::math::Vector CalcInterpolationState(const double sigma) const override { + math::Vector CalcInterpolationState(const double sigma) const override { UNUSED(sigma); return this->current_state_; } diff --git a/src/math_physics/numerical_integration/runge_kutta_fehlberg.hpp b/src/math_physics/numerical_integration/runge_kutta_fehlberg.hpp index e22c969eb..11a4a51ff 100644 --- a/src/math_physics/numerical_integration/runge_kutta_fehlberg.hpp +++ b/src/math_physics/numerical_integration/runge_kutta_fehlberg.hpp @@ -29,7 +29,7 @@ class RungeKuttaFehlberg : public EmbeddedRungeKutta { * @param [in] sigma: Sigma value (0 < sigma < 1) for interpolation * @return : interpolated state x(t0 + sigma * h) */ - s2e::math::Vector CalcInterpolationState(const double sigma) const override; + math::Vector CalcInterpolationState(const double sigma) const override; private: /** diff --git a/src/math_physics/numerical_integration/runge_kutta_fehlberg_implementation.hpp b/src/math_physics/numerical_integration/runge_kutta_fehlberg_implementation.hpp index 5ccfe3941..c9887034c 100644 --- a/src/math_physics/numerical_integration/runge_kutta_fehlberg_implementation.hpp +++ b/src/math_physics/numerical_integration/runge_kutta_fehlberg_implementation.hpp @@ -64,15 +64,15 @@ RungeKuttaFehlberg::RungeKuttaFehlberg(const double step_width, const Interfa } template -s2e::math::Vector RungeKuttaFehlberg::CalcInterpolationState(const double sigma) const { +math::Vector RungeKuttaFehlberg::CalcInterpolationState(const double sigma) const { // Calc k7 (slope after state update) - s2e::math::Vector state_7 = + math::Vector state_7 = this->previous_state_ + this->step_width_ * (1.0 / 6.0 * this->slope_[0] + 1.0 / 6.0 * this->slope_[4] + 2.0 / 3.0 * this->slope_[5]); - s2e::math::Vector k7 = this->ode_.DerivativeFunction(this->current_independent_variable_, state_7); + math::Vector k7 = this->ode_.DerivativeFunction(this->current_independent_variable_, state_7); std::vector interpolation_weights = CalcInterpolationWeights(sigma); - s2e::math::Vector interpolation_state = this->previous_state_; + math::Vector interpolation_state = this->previous_state_; for (size_t i = 0; i < this->number_of_stages_; i++) { interpolation_state = interpolation_state + (sigma * this->step_width_ * interpolation_weights[i]) * this->slope_[i]; } diff --git a/src/math_physics/numerical_integration/runge_kutta_template.hpp b/src/math_physics/numerical_integration/runge_kutta_template.hpp index 296fe302f..0a34a7485 100644 --- a/src/math_physics/numerical_integration/runge_kutta_template.hpp +++ b/src/math_physics/numerical_integration/runge_kutta_template.hpp @@ -22,10 +22,10 @@ void RungeKutta::Integrate() { template void RungeKutta::CalcSlope() { - slope_.assign(number_of_stages_, s2e::math::Vector(0.0)); + slope_.assign(number_of_stages_, math::Vector(0.0)); for (size_t i = 0; i < number_of_stages_; i++) { - s2e::math::Vector state = this->current_state_; + math::Vector state = this->current_state_; for (size_t j = 0; j < i; j++) { state = state + rk_matrix_[i][j] * this->step_width_ * slope_[j]; } diff --git a/src/math_physics/numerical_integration/test_runge_kutta.cpp b/src/math_physics/numerical_integration/test_runge_kutta.cpp index b2571ba5c..2223a9a9b 100644 --- a/src/math_physics/numerical_integration/test_runge_kutta.cpp +++ b/src/math_physics/numerical_integration/test_runge_kutta.cpp @@ -18,7 +18,7 @@ TEST(NUMERICAL_INTEGRATION, Constructor) { s2e::numerical_integration::ExampleLinearOde ode; s2e::numerical_integration::RungeKutta4<1> linear_ode(0.1, ode); - s2e::math::Vector<1> state = linear_ode.GetState(); + math::Vector<1> state = linear_ode.GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); } @@ -30,7 +30,7 @@ TEST(NUMERICAL_INTEGRATION, IntegrateLinearRk4) { s2e::numerical_integration::ExampleLinearOde ode; s2e::numerical_integration::RungeKutta4<1> rk4_ode(step_width_s, ode); - s2e::math::Vector<1> state = rk4_ode.GetState(); + math::Vector<1> state = rk4_ode.GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); size_t step_num = 10000; @@ -51,7 +51,7 @@ TEST(NUMERICAL_INTEGRATION, IntegrateLinearRkf) { s2e::numerical_integration::ExampleLinearOde ode; s2e::numerical_integration::RungeKuttaFehlberg<1> rkf_ode(step_width_s, ode); - s2e::math::Vector<1> state = rkf_ode.GetState(); + math::Vector<1> state = rkf_ode.GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); size_t step_num = 10000; @@ -72,7 +72,7 @@ TEST(NUMERICAL_INTEGRATION, IntegrateLinearDp5) { s2e::numerical_integration::ExampleLinearOde ode; s2e::numerical_integration::DormandPrince5<1> dp5_ode(step_width_s, ode); - s2e::math::Vector<1> state = dp5_ode.GetState(); + math::Vector<1> state = dp5_ode.GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); size_t step_num = 10000; @@ -93,7 +93,7 @@ TEST(NUMERICAL_INTEGRATION, IntegrateLinearNumericalIntegratorManagerRk4) { s2e::numerical_integration::ExampleLinearOde ode; s2e::numerical_integration::NumericalIntegratorManager<1> numerical_integrator(step_width_s, ode); - s2e::math::Vector<1> state = numerical_integrator.GetIntegrator()->GetState(); + math::Vector<1> state = numerical_integrator.GetIntegrator()->GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); size_t step_num = 10000; @@ -115,7 +115,7 @@ TEST(NUMERICAL_INTEGRATION, IntegrateLinearNumericalIntegratorManagerRkf) { s2e::numerical_integration::NumericalIntegratorManager<1> numerical_integrator(step_width_s, ode, s2e::numerical_integration::NumericalIntegrationMethod::kRkf); - s2e::math::Vector<1> state = numerical_integrator.GetIntegrator()->GetState(); + math::Vector<1> state = numerical_integrator.GetIntegrator()->GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); size_t step_num = 10000; @@ -141,7 +141,7 @@ TEST(NUMERICAL_INTEGRATION, IntegrateLinearNumericalIntegratorManagerDp5) { s2e::numerical_integration::NumericalIntegratorManager<1> numerical_integrator(step_width_s, ode, s2e::numerical_integration::NumericalIntegrationMethod::kDp5); - s2e::math::Vector<1> state = numerical_integrator.GetIntegrator()->GetState(); + math::Vector<1> state = numerical_integrator.GetIntegrator()->GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); size_t step_num = 10000; @@ -166,7 +166,7 @@ TEST(NUMERICAL_INTEGRATION, IntegrateQuadraticRk4) { s2e::numerical_integration::ExampleQuadraticOde ode; s2e::numerical_integration::RungeKutta4<1> rk4_ode(step_width_s, ode); - s2e::math::Vector<1> state = rk4_ode.GetState(); + math::Vector<1> state = rk4_ode.GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); size_t step_num = 10000; @@ -187,7 +187,7 @@ TEST(NUMERICAL_INTEGRATION, IntegrateQuadraticRkf) { s2e::numerical_integration::ExampleQuadraticOde ode; s2e::numerical_integration::RungeKuttaFehlberg<1> rkf_ode(step_width_s, ode); - s2e::math::Vector<1> state = rkf_ode.GetState(); + math::Vector<1> state = rkf_ode.GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); size_t step_num = 10000; @@ -208,7 +208,7 @@ TEST(NUMERICAL_INTEGRATION, InterpolationQuadraticRkf) { s2e::numerical_integration::ExampleQuadraticOde ode; s2e::numerical_integration::RungeKuttaFehlberg<1> rkf_ode(step_width_s, ode); - s2e::math::Vector<1> state = rkf_ode.GetState(); + math::Vector<1> state = rkf_ode.GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); rkf_ode.Integrate(); @@ -237,7 +237,7 @@ TEST(NUMERICAL_INTEGRATION, IntegrateQuadraticDp5) { s2e::numerical_integration::ExampleQuadraticOde ode; s2e::numerical_integration::DormandPrince5<1> dp5_ode(step_width_s, ode); - s2e::math::Vector<1> state = dp5_ode.GetState(); + math::Vector<1> state = dp5_ode.GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); size_t step_num = 10000; @@ -258,7 +258,7 @@ TEST(NUMERICAL_INTEGRATION, InterpolationQuadraticDp5) { s2e::numerical_integration::ExampleQuadraticOde ode; s2e::numerical_integration::DormandPrince5<1> dp5_ode(step_width_s, ode); - s2e::math::Vector<1> state = dp5_ode.GetState(); + math::Vector<1> state = dp5_ode.GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); dp5_ode.Integrate(); @@ -287,12 +287,12 @@ TEST(NUMERICAL_INTEGRATION, Integrate1dPositionVelocityRk4) { s2e::numerical_integration::Example1dPositionVelocityOde ode; s2e::numerical_integration::RungeKutta4<2> rk4_ode(step_width_s, ode); - s2e::math::Vector<2> initial_state(0.0); + math::Vector<2> initial_state(0.0); initial_state[0] = 0.0; initial_state[1] = 0.1; rk4_ode.SetState(0.0, initial_state); - s2e::math::Vector<2> state = rk4_ode.GetState(); + math::Vector<2> state = rk4_ode.GetState(); EXPECT_DOUBLE_EQ(initial_state[0], state[0]); EXPECT_DOUBLE_EQ(initial_state[1], state[1]); @@ -301,7 +301,7 @@ TEST(NUMERICAL_INTEGRATION, Integrate1dPositionVelocityRk4) { rk4_ode.Integrate(); } state = rk4_ode.GetState(); - s2e::math::Vector<2> estimated_result(0.0); + math::Vector<2> estimated_result(0.0); estimated_result[0] = (step_width_s * step_num) * initial_state[1] + initial_state[0]; estimated_result[1] = initial_state[1]; @@ -317,12 +317,12 @@ TEST(NUMERICAL_INTEGRATION, Integrate1dPositionVelocityRkf) { s2e::numerical_integration::Example1dPositionVelocityOde ode; s2e::numerical_integration::RungeKuttaFehlberg<2> rkf_ode(step_width_s, ode); - s2e::math::Vector<2> initial_state(0.0); + math::Vector<2> initial_state(0.0); initial_state[0] = 0.0; initial_state[1] = 0.1; rkf_ode.SetState(0.0, initial_state); - s2e::math::Vector<2> state = rkf_ode.GetState(); + math::Vector<2> state = rkf_ode.GetState(); EXPECT_DOUBLE_EQ(initial_state[0], state[0]); EXPECT_DOUBLE_EQ(initial_state[1], state[1]); @@ -331,7 +331,7 @@ TEST(NUMERICAL_INTEGRATION, Integrate1dPositionVelocityRkf) { rkf_ode.Integrate(); } state = rkf_ode.GetState(); - s2e::math::Vector<2> estimated_result(0.0); + math::Vector<2> estimated_result(0.0); estimated_result[0] = (step_width_s * step_num) * initial_state[1] + initial_state[0]; estimated_result[1] = initial_state[1]; @@ -347,12 +347,12 @@ TEST(NUMERICAL_INTEGRATION, Integrate1dPositionVelocityDp5) { s2e::numerical_integration::Example1dPositionVelocityOde ode; s2e::numerical_integration::DormandPrince5<2> dp5_ode(step_width_s, ode); - s2e::math::Vector<2> initial_state(0.0); + math::Vector<2> initial_state(0.0); initial_state[0] = 0.0; initial_state[1] = 0.1; dp5_ode.SetState(0.0, initial_state); - s2e::math::Vector<2> state = dp5_ode.GetState(); + math::Vector<2> state = dp5_ode.GetState(); EXPECT_DOUBLE_EQ(initial_state[0], state[0]); EXPECT_DOUBLE_EQ(initial_state[1], state[1]); @@ -361,7 +361,7 @@ TEST(NUMERICAL_INTEGRATION, Integrate1dPositionVelocityDp5) { dp5_ode.Integrate(); } state = dp5_ode.GetState(); - s2e::math::Vector<2> estimated_result(0.0); + math::Vector<2> estimated_result(0.0); estimated_result[0] = (step_width_s * step_num) * initial_state[1] + initial_state[0]; estimated_result[1] = initial_state[1]; @@ -379,7 +379,7 @@ TEST(NUMERICAL_INTEGRATION, Integrate2dTwoBodyOrbitSmallEccentricity) { s2e::numerical_integration::RungeKuttaFehlberg<4> rkf_ode(step_width_s, ode); s2e::numerical_integration::DormandPrince5<4> dp5_ode(step_width_s, ode); - s2e::math::Vector<4> initial_state(0.0); + math::Vector<4> initial_state(0.0); const double eccentricity = 0.1; initial_state[0] = 1.0 - eccentricity; initial_state[1] = 0.0; @@ -389,9 +389,9 @@ TEST(NUMERICAL_INTEGRATION, Integrate2dTwoBodyOrbitSmallEccentricity) { rkf_ode.SetState(0.0, initial_state); dp5_ode.SetState(0.0, initial_state); - s2e::math::Vector<4> state_rk4 = rk4_ode.GetState(); - s2e::math::Vector<4> state_rkf = rkf_ode.GetState(); - s2e::math::Vector<4> state_dp5 = dp5_ode.GetState(); + math::Vector<4> state_rk4 = rk4_ode.GetState(); + math::Vector<4> state_rkf = rkf_ode.GetState(); + math::Vector<4> state_dp5 = dp5_ode.GetState(); for (size_t i = 0; i < 4; i++) { EXPECT_DOUBLE_EQ(initial_state[i], state_rk4[i]); EXPECT_DOUBLE_EQ(initial_state[i], state_rkf[i]); @@ -409,8 +409,8 @@ TEST(NUMERICAL_INTEGRATION, Integrate2dTwoBodyOrbitSmallEccentricity) { state_dp5 = dp5_ode.GetState(); // Estimation by Kepler Orbit calculation - s2e::math::Vector<3> initial_position(0.0); - s2e::math::Vector<3> initial_velocity(0.0); + math::Vector<3> initial_position(0.0); + math::Vector<3> initial_velocity(0.0); initial_position[0] = initial_state[0]; initial_position[1] = initial_state[1]; @@ -449,7 +449,7 @@ TEST(NUMERICAL_INTEGRATION, Integrate2dTwoBodyOrbitLargeEccentricity) { s2e::numerical_integration::RungeKuttaFehlberg<4> rkf_ode(step_width_s, ode); s2e::numerical_integration::DormandPrince5<4> dp5_ode(step_width_s, ode); - s2e::math::Vector<4> initial_state(0.0); + math::Vector<4> initial_state(0.0); const double eccentricity = 0.9; initial_state[0] = 1.0 - eccentricity; initial_state[1] = 0.0; @@ -459,9 +459,9 @@ TEST(NUMERICAL_INTEGRATION, Integrate2dTwoBodyOrbitLargeEccentricity) { rkf_ode.SetState(0.0, initial_state); dp5_ode.SetState(0.0, initial_state); - s2e::math::Vector<4> state_rk4 = rk4_ode.GetState(); - s2e::math::Vector<4> state_rkf = rkf_ode.GetState(); - s2e::math::Vector<4> state_dp5 = dp5_ode.GetState(); + math::Vector<4> state_rk4 = rk4_ode.GetState(); + math::Vector<4> state_rkf = rkf_ode.GetState(); + math::Vector<4> state_dp5 = dp5_ode.GetState(); for (size_t i = 0; i < 4; i++) { EXPECT_DOUBLE_EQ(initial_state[i], state_rk4[i]); EXPECT_DOUBLE_EQ(initial_state[i], state_rkf[i]); @@ -479,8 +479,8 @@ TEST(NUMERICAL_INTEGRATION, Integrate2dTwoBodyOrbitLargeEccentricity) { state_dp5 = dp5_ode.GetState(); // Estimation by Kepler Orbit calculation - s2e::math::Vector<3> initial_position(0.0); - s2e::math::Vector<3> initial_velocity(0.0); + math::Vector<3> initial_position(0.0); + math::Vector<3> initial_velocity(0.0); initial_position[0] = initial_state[0]; initial_position[1] = initial_state[1]; @@ -518,7 +518,7 @@ TEST(NUMERICAL_INTEGRATION, Interpolation2dTwoBodyOrbitSmallEccentricity) { s2e::numerical_integration::RungeKuttaFehlberg<4> rkf_ode(step_width_s, ode); s2e::numerical_integration::DormandPrince5<4> dp5_ode(step_width_s, ode); - s2e::math::Vector<4> initial_state(0.0); + math::Vector<4> initial_state(0.0); const double eccentricity = 0.1; initial_state[0] = 1.0 - eccentricity; initial_state[1] = 0.0; @@ -527,8 +527,8 @@ TEST(NUMERICAL_INTEGRATION, Interpolation2dTwoBodyOrbitSmallEccentricity) { rkf_ode.SetState(0.0, initial_state); dp5_ode.SetState(0.0, initial_state); - s2e::math::Vector<4> state_rkf = rkf_ode.GetState(); - s2e::math::Vector<4> state_dp5 = dp5_ode.GetState(); + math::Vector<4> state_rkf = rkf_ode.GetState(); + math::Vector<4> state_dp5 = dp5_ode.GetState(); for (size_t i = 0; i < 4; i++) { EXPECT_DOUBLE_EQ(initial_state[i], state_rkf[i]); EXPECT_DOUBLE_EQ(initial_state[i], state_dp5[i]); @@ -543,8 +543,8 @@ TEST(NUMERICAL_INTEGRATION, Interpolation2dTwoBodyOrbitSmallEccentricity) { state_dp5 = dp5_ode.GetState(); // Estimation by Kepler Orbit calculation - s2e::math::Vector<3> initial_position(0.0); - s2e::math::Vector<3> initial_velocity(0.0); + math::Vector<3> initial_position(0.0); + math::Vector<3> initial_velocity(0.0); // Final value initial_position[0] = initial_state[0]; @@ -613,7 +613,7 @@ TEST(NUMERICAL_INTEGRATION, Interpolation2dTwoBodyOrbitLargeEccentricity) { s2e::numerical_integration::RungeKuttaFehlberg<4> rkf_ode(step_width_s, ode); s2e::numerical_integration::DormandPrince5<4> dp5_ode(step_width_s, ode); - s2e::math::Vector<4> initial_state(0.0); + math::Vector<4> initial_state(0.0); const double eccentricity = 0.8; initial_state[0] = 1.0 - eccentricity; initial_state[1] = 0.0; @@ -622,8 +622,8 @@ TEST(NUMERICAL_INTEGRATION, Interpolation2dTwoBodyOrbitLargeEccentricity) { rkf_ode.SetState(0.0, initial_state); dp5_ode.SetState(0.0, initial_state); - s2e::math::Vector<4> state_rkf = rkf_ode.GetState(); - s2e::math::Vector<4> state_dp5 = dp5_ode.GetState(); + math::Vector<4> state_rkf = rkf_ode.GetState(); + math::Vector<4> state_dp5 = dp5_ode.GetState(); for (size_t i = 0; i < 4; i++) { EXPECT_DOUBLE_EQ(initial_state[i], state_rkf[i]); EXPECT_DOUBLE_EQ(initial_state[i], state_dp5[i]); @@ -638,8 +638,8 @@ TEST(NUMERICAL_INTEGRATION, Interpolation2dTwoBodyOrbitLargeEccentricity) { state_dp5 = dp5_ode.GetState(); // Estimation by Kepler Orbit calculation - s2e::math::Vector<3> initial_position(0.0); - s2e::math::Vector<3> initial_velocity(0.0); + math::Vector<3> initial_position(0.0); + math::Vector<3> initial_velocity(0.0); // Final value initial_position[0] = initial_state[0]; diff --git a/src/math_physics/optics/gaussian_beam_base.cpp b/src/math_physics/optics/gaussian_beam_base.cpp index 0cfc5e40b..10b9745c8 100644 --- a/src/math_physics/optics/gaussian_beam_base.cpp +++ b/src/math_physics/optics/gaussian_beam_base.cpp @@ -30,19 +30,19 @@ void GaussianBeamBase::SetTotalPower_W(const double total_power_W) { total_power_W_ = total_power_W; } -void GaussianBeamBase::SetPointingVector_i(const s2e::math::Vector<3> pointing_vector_i) { pointing_vector_i_ = pointing_vector_i; } +void GaussianBeamBase::SetPointingVector_i(const math::Vector<3> pointing_vector_i) { pointing_vector_i_ = pointing_vector_i; } -void GaussianBeamBase::SetBeamWaistPosition_i_m(const s2e::math::Vector<3> position_beam_waist_i_m) { position_beam_waist_i_m_ = position_beam_waist_i_m; } +void GaussianBeamBase::SetBeamWaistPosition_i_m(const math::Vector<3> position_beam_waist_i_m) { position_beam_waist_i_m_ = position_beam_waist_i_m; } double GaussianBeamBase::CalcBeamWidthRadius_m(double distance_from_beam_waist_m) { - double rayleigh_length_m = s2e::math::pi * radius_beam_waist_m_ * radius_beam_waist_m_ / wavelength_m_; + double rayleigh_length_m = math::pi * radius_beam_waist_m_ * radius_beam_waist_m_ / wavelength_m_; double beam_width_radius_m = radius_beam_waist_m_ * sqrt(1.0 + std::pow((distance_from_beam_waist_m / rayleigh_length_m), 2.0)); return beam_width_radius_m; } double GaussianBeamBase::CalcIntensity_W_m2(double distance_from_beam_waist_m, double deviation_from_optical_axis_m) { double beam_width_radius_m = CalcBeamWidthRadius_m(distance_from_beam_waist_m); - double peak_intensity_W_m2 = (2.0 * total_power_W_) / (s2e::math::pi * beam_width_radius_m * beam_width_radius_m); + double peak_intensity_W_m2 = (2.0 * total_power_W_) / (math::pi * beam_width_radius_m * beam_width_radius_m); double gaussian_dist = std::exp((-2.0 * deviation_from_optical_axis_m * deviation_from_optical_axis_m) / (beam_width_radius_m * beam_width_radius_m)); double intensity_W_m2 = peak_intensity_W_m2 * gaussian_dist; diff --git a/src/math_physics/optics/gaussian_beam_base.hpp b/src/math_physics/optics/gaussian_beam_base.hpp index f9fd71432..cf79b46e3 100644 --- a/src/math_physics/optics/gaussian_beam_base.hpp +++ b/src/math_physics/optics/gaussian_beam_base.hpp @@ -50,12 +50,12 @@ class GaussianBeamBase { * @fn SetPointingVector_i * @brief Set pointing direction vector in the inertial frame */ - void SetPointingVector_i(const s2e::math::Vector<3> pointing_vector_i); + void SetPointingVector_i(const math::Vector<3> pointing_vector_i); /** * @fn SetBeamWaistPosition_i_m * @brief Set position of beam waist in the inertial frame [m] (Not used?) */ - void SetBeamWaistPosition_i_m(const s2e::math::Vector<3> position_beam_waist_i_m); + void SetBeamWaistPosition_i_m(const math::Vector<3> position_beam_waist_i_m); // Getter /** @@ -77,12 +77,12 @@ class GaussianBeamBase { * @fn GetPointingVector_i * @brief Return pointing direction vector in the inertial frame */ - inline const s2e::math::Vector<3> GetPointingVector_i() const { return pointing_vector_i_; } + inline const math::Vector<3> GetPointingVector_i() const { return pointing_vector_i_; } /** * @fn GetBeamWaistPosition_i_m * @brief Return position of beam waist in the inertial frame [m] (Not used?) */ - inline const s2e::math::Vector<3> GetBeamWaistPosition_i_m() const { return position_beam_waist_i_m_; } + inline const math::Vector<3> GetBeamWaistPosition_i_m() const { return position_beam_waist_i_m_; } // Calculate functions /** @@ -105,8 +105,8 @@ class GaussianBeamBase { double wavelength_m_; //!< Wavelength [m] double radius_beam_waist_m_; //!< Radius of beam waist [m] double total_power_W_; //!< Total power [W] - s2e::math::Vector<3> pointing_vector_i_{0.0}; //!< Pointing direction vector in the inertial frame - s2e::math::Vector<3> position_beam_waist_i_m_{0.0}; //!< Position of beam waist in the inertial frame [m] (Not used?) + math::Vector<3> pointing_vector_i_{0.0}; //!< Pointing direction vector in the inertial frame + math::Vector<3> position_beam_waist_i_m_{0.0}; //!< Position of beam waist in the inertial frame [m] (Not used?) }; } // namespace s2e::optics diff --git a/src/math_physics/orbit/interpolation_orbit.cpp b/src/math_physics/orbit/interpolation_orbit.cpp index db373629a..8f35bcbae 100644 --- a/src/math_physics/orbit/interpolation_orbit.cpp +++ b/src/math_physics/orbit/interpolation_orbit.cpp @@ -12,13 +12,13 @@ InterpolationOrbit::InterpolationOrbit(const size_t degree) { time.assign(degree, -1.0); std::vector position; position.assign(degree, 0.0); - s2e::math::Interpolation temp(time, position); + math::Interpolation temp(time, position); for (size_t axis = 0; axis < 3; axis++) { interpolation_position_.push_back(temp); } } -bool InterpolationOrbit::PushAndPopData(const double time, const s2e::math::Vector<3> position) { +bool InterpolationOrbit::PushAndPopData(const double time, const math::Vector<3> position) { bool result; for (size_t axis = 0; axis < 3; axis++) { result = interpolation_position_[axis].PushAndPopData(time, position[axis]); @@ -29,8 +29,8 @@ bool InterpolationOrbit::PushAndPopData(const double time, const s2e::math::Vect return true; } -s2e::math::Vector<3> InterpolationOrbit::CalcPositionWithTrigonometric(const double time, const double period) const { - s2e::math::Vector<3> output_position; +math::Vector<3> InterpolationOrbit::CalcPositionWithTrigonometric(const double time, const double period) const { + math::Vector<3> output_position; for (size_t axis = 0; axis < 3; axis++) { output_position[axis] = interpolation_position_[axis].CalcTrigonometric(time, period); } diff --git a/src/math_physics/orbit/interpolation_orbit.hpp b/src/math_physics/orbit/interpolation_orbit.hpp index 1443ec959..77719eac7 100644 --- a/src/math_physics/orbit/interpolation_orbit.hpp +++ b/src/math_physics/orbit/interpolation_orbit.hpp @@ -32,7 +32,7 @@ class InterpolationOrbit { * @param [in] time: time of the new data * @param [in] position: Satellite position of the new data */ - bool PushAndPopData(const double time, const s2e::math::Vector<3> position); + bool PushAndPopData(const double time, const math::Vector<3> position); /** * @fn CalcPositionWithTrigonometric @@ -41,7 +41,7 @@ class InterpolationOrbit { * @param [in] period: Characteristic period * @return Calculated position */ - s2e::math::Vector<3> CalcPositionWithTrigonometric(const double time, const double period = 0.0) const; + math::Vector<3> CalcPositionWithTrigonometric(const double time, const double period = 0.0) const; // Getters /** @@ -68,7 +68,7 @@ class InterpolationOrbit { } private: - std::vector interpolation_position_; // 3D vector of interpolation + std::vector interpolation_position_; // 3D vector of interpolation }; } // namespace s2e::orbit diff --git a/src/math_physics/orbit/kepler_orbit.cpp b/src/math_physics/orbit/kepler_orbit.cpp index 1f7630ef2..2f49fd5db 100644 --- a/src/math_physics/orbit/kepler_orbit.cpp +++ b/src/math_physics/orbit/kepler_orbit.cpp @@ -24,10 +24,10 @@ void KeplerOrbit::CalcConstKeplerMotion() { mean_motion_rad_s_ = sqrt(gravity_constant_m3_s2_ / a_m3); // DCM - s2e::math::Matrix<3, 3> dcm_arg_perigee = s2e::math::MakeRotationMatrixZ(-1.0 * oe_.GetArgPerigee_rad()); - s2e::math::Matrix<3, 3> dcm_inclination = s2e::math::MakeRotationMatrixX(-1.0 * oe_.GetInclination_rad()); - s2e::math::Matrix<3, 3> dcm_raan = s2e::math::MakeRotationMatrixZ(-1.0 * oe_.GetRaan_rad()); - s2e::math::Matrix<3, 3> dcm_inc_arg = dcm_inclination * dcm_arg_perigee; + math::Matrix<3, 3> dcm_arg_perigee = math::MakeRotationMatrixZ(-1.0 * oe_.GetArgPerigee_rad()); + math::Matrix<3, 3> dcm_inclination = math::MakeRotationMatrixX(-1.0 * oe_.GetInclination_rad()); + math::Matrix<3, 3> dcm_raan = math::MakeRotationMatrixZ(-1.0 * oe_.GetRaan_rad()); + math::Matrix<3, 3> dcm_inc_arg = dcm_inclination * dcm_arg_perigee; dcm_inplane_to_i_ = dcm_raan * dcm_inc_arg; } @@ -39,12 +39,12 @@ void KeplerOrbit::CalcOrbit(double time_jday) { double dt_s = (time_jday - oe_.GetEpoch_jday()) * (24.0 * 60.0 * 60.0); double mean_anomaly_rad = mean_motion_rad_s_ * dt_s; - double l_rad = s2e::math::WrapTo2Pi(mean_anomaly_rad); + double l_rad = math::WrapTo2Pi(mean_anomaly_rad); // Solve Kepler Equation double eccentric_anomaly_rad; eccentric_anomaly_rad = SolveKeplerNewtonMethod(e, l_rad, 1.0e-5, 10); - double u_rad = s2e::math::WrapTo2Pi(eccentric_anomaly_rad); + double u_rad = math::WrapTo2Pi(eccentric_anomaly_rad); // Calc position and velocity in the plane double cos_u = cos(u_rad); @@ -52,12 +52,12 @@ void KeplerOrbit::CalcOrbit(double time_jday) { double a_sqrt_e_m = a_m * sqrt(1.0 - e * e); double e_cos_u = 1.0 - e * cos_u; - s2e::math::Vector<3> pos_inplane_m; + math::Vector<3> pos_inplane_m; pos_inplane_m[0] = a_m * (cos_u - e); pos_inplane_m[1] = a_sqrt_e_m * sin_u; pos_inplane_m[2] = 0.0; - s2e::math::Vector<3> vel_inplane_m_s; + math::Vector<3> vel_inplane_m_s; vel_inplane_m_s[0] = -1.0 * a_m * n_rad_s * sin_u / e_cos_u; vel_inplane_m_s[1] = n_rad_s * a_sqrt_e_m * cos_u / e_cos_u; vel_inplane_m_s[2] = 0.0; diff --git a/src/math_physics/orbit/kepler_orbit.hpp b/src/math_physics/orbit/kepler_orbit.hpp index 7a12ca760..efe4e7f5c 100644 --- a/src/math_physics/orbit/kepler_orbit.hpp +++ b/src/math_physics/orbit/kepler_orbit.hpp @@ -47,22 +47,22 @@ class KeplerOrbit { * @fn GetPosition_i_m * @brief Return position vector in the inertial frame [m] */ - inline const s2e::math::Vector<3> GetPosition_i_m() const { return position_i_m_; } + inline const math::Vector<3> GetPosition_i_m() const { return position_i_m_; } /** * @fn GetVelocity_i_m_s * @brief Return velocity vector in the inertial frame [m/s] */ - inline const s2e::math::Vector<3> GetVelocity_i_m_s() const { return velocity_i_m_s_; } + inline const math::Vector<3> GetVelocity_i_m_s() const { return velocity_i_m_s_; } protected: - s2e::math::Vector<3> position_i_m_; //!< Position vector in the inertial frame [m] - s2e::math::Vector<3> velocity_i_m_s_; //!< Velocity vector in the inertial frame [m/s] + math::Vector<3> position_i_m_; //!< Position vector in the inertial frame [m] + math::Vector<3> velocity_i_m_s_; //!< Velocity vector in the inertial frame [m/s] private: double gravity_constant_m3_s2_; //!< Gravity constant of the center body [m3/s2] OrbitalElements oe_; //!< Orbital elements double mean_motion_rad_s_; //!< Mean motion of the orbit [rad/s] - s2e::math::Matrix<3, 3> dcm_inplane_to_i_; //!< Direction cosine matrix from the in-plane frame to the inertial frame + math::Matrix<3, 3> dcm_inplane_to_i_; //!< Direction cosine matrix from the in-plane frame to the inertial frame /** * @fn CalcConstKeplerMotion diff --git a/src/math_physics/orbit/orbital_elements.cpp b/src/math_physics/orbit/orbital_elements.cpp index 69817f80f..d02a324e2 100644 --- a/src/math_physics/orbit/orbital_elements.cpp +++ b/src/math_physics/orbit/orbital_elements.cpp @@ -24,20 +24,20 @@ OrbitalElements::OrbitalElements(const double epoch_jday, const double semi_majo epoch_jday_(epoch_jday) {} // initialize with position and velocity -OrbitalElements::OrbitalElements(const double gravity_constant_m3_s2, const double time_jday, const s2e::math::Vector<3> position_i_m, - const s2e::math::Vector<3> velocity_i_m_s) { +OrbitalElements::OrbitalElements(const double gravity_constant_m3_s2, const double time_jday, const math::Vector<3> position_i_m, + const math::Vector<3> velocity_i_m_s) { CalcOeFromPosVel(gravity_constant_m3_s2, time_jday, position_i_m, velocity_i_m_s); } OrbitalElements::~OrbitalElements() {} // Private Function -void OrbitalElements::CalcOeFromPosVel(const double gravity_constant_m3_s2, const double time_jday, const s2e::math::Vector<3> position_i_m, - const s2e::math::Vector<3> velocity_i_m_s) { +void OrbitalElements::CalcOeFromPosVel(const double gravity_constant_m3_s2, const double time_jday, const math::Vector<3> position_i_m, + const math::Vector<3> velocity_i_m_s) { // common variables double r_m = position_i_m.CalcNorm(); double v2_m2_s2 = InnerProduct(velocity_i_m_s, velocity_i_m_s); - s2e::math::Vector<3> h; //!< angular momentum vector + math::Vector<3> h; //!< angular momentum vector h = OuterProduct(position_i_m, velocity_i_m_s); double h_norm = h.CalcNorm(); @@ -45,7 +45,7 @@ void OrbitalElements::CalcOeFromPosVel(const double gravity_constant_m3_s2, cons semi_major_axis_m_ = gravity_constant_m3_s2 / (2.0 * gravity_constant_m3_s2 / r_m - v2_m2_s2); // inclination - s2e::math::Vector<3> h_direction = h.CalcNormalizedVector(); + math::Vector<3> h_direction = h.CalcNormalizedVector(); inclination_rad_ = acos(h_direction[2]); // RAAN @@ -77,10 +77,10 @@ void OrbitalElements::CalcOeFromPosVel(const double gravity_constant_m3_s2, cons // true anomaly f_rad and eccentric anomaly u_rad double phi_rad = atan2(y_p_m, x_p_m); double f_rad = phi_rad - arg_perigee_rad_; - f_rad = s2e::math::WrapTo2Pi(f_rad); + f_rad = math::WrapTo2Pi(f_rad); double u_rad = atan2(r_m * sin(f_rad) / sqrt(1.0 - eccentricity_ * eccentricity_), r_m * cos(f_rad) + semi_major_axis_m_ * eccentricity_); - u_rad = s2e::math::WrapTo2Pi(u_rad); + u_rad = math::WrapTo2Pi(u_rad); // epoch t0 double n_rad_s = sqrt(gravity_constant_m3_s2 / pow(semi_major_axis_m_, 3.0)); diff --git a/src/math_physics/orbit/orbital_elements.hpp b/src/math_physics/orbit/orbital_elements.hpp index b177fda41..4b4e3f04f 100644 --- a/src/math_physics/orbit/orbital_elements.hpp +++ b/src/math_physics/orbit/orbital_elements.hpp @@ -41,8 +41,8 @@ class OrbitalElements { * @param[in] position_i_m: Position vector in the inertial frame [m] * @param[in] velocity_i_m_s: Velocity vector in the inertial frame [m/s] */ - OrbitalElements(const double gravity_constant_m3_s2, const double time_jday, const s2e::math::Vector<3> position_i_m, - const s2e::math::Vector<3> velocity_i_m_s); + OrbitalElements(const double gravity_constant_m3_s2, const double time_jday, const math::Vector<3> position_i_m, + const math::Vector<3> velocity_i_m_s); /** * @fn ~OrbitalElements * @brief Destructor @@ -102,8 +102,8 @@ class OrbitalElements { * @param[in] position_i_m: Position vector in the inertial frame [m] * @param[in] velocity_i_m_s: Velocity vector in the inertial frame [m/s] */ - void CalcOeFromPosVel(const double gravity_constant_m3_s2, const double time_jday, const s2e::math::Vector<3> position_i_m, - const s2e::math::Vector<3> velocity_i_m_s); + void CalcOeFromPosVel(const double gravity_constant_m3_s2, const double time_jday, const math::Vector<3> position_i_m, + const math::Vector<3> velocity_i_m_s); }; } // namespace s2e::orbit diff --git a/src/math_physics/orbit/relative_orbit_models.cpp b/src/math_physics/orbit/relative_orbit_models.cpp index 0c6e358b6..0ec2ebfff 100644 --- a/src/math_physics/orbit/relative_orbit_models.cpp +++ b/src/math_physics/orbit/relative_orbit_models.cpp @@ -6,8 +6,8 @@ namespace s2e::orbit { -s2e::math::Matrix<6, 6> CalcHillSystemMatrix(double orbit_radius_m, double gravity_constant_m3_s2) { - s2e::math::Matrix<6, 6> system_matrix; +math::Matrix<6, 6> CalcHillSystemMatrix(double orbit_radius_m, double gravity_constant_m3_s2) { + math::Matrix<6, 6> system_matrix; double n = sqrt(gravity_constant_m3_s2 / pow(orbit_radius_m, 3)); system_matrix[0][0] = 0.0; @@ -50,8 +50,8 @@ s2e::math::Matrix<6, 6> CalcHillSystemMatrix(double orbit_radius_m, double gravi return system_matrix; } -s2e::math::Matrix<6, 6> CalcHcwStm(double orbit_radius_m, double gravity_constant_m3_s2, double elapsed_time_s) { - s2e::math::Matrix<6, 6> stm; +math::Matrix<6, 6> CalcHcwStm(double orbit_radius_m, double gravity_constant_m3_s2, double elapsed_time_s) { + math::Matrix<6, 6> stm; double n = sqrt(gravity_constant_m3_s2 / pow(orbit_radius_m, 3)); double t = elapsed_time_s; diff --git a/src/math_physics/orbit/relative_orbit_models.hpp b/src/math_physics/orbit/relative_orbit_models.hpp index 1a12bf634..eb5c42a45 100644 --- a/src/math_physics/orbit/relative_orbit_models.hpp +++ b/src/math_physics/orbit/relative_orbit_models.hpp @@ -31,7 +31,7 @@ enum class StmModel { kHcw = 0 }; * @param [in] gravity_constant_m3_s2: Gravity constant of the center body [m3/s2] * @return System matrix */ -s2e::math::Matrix<6, 6> CalcHillSystemMatrix(const double orbit_radius_m, const double gravity_constant_m3_s2); +math::Matrix<6, 6> CalcHillSystemMatrix(const double orbit_radius_m, const double gravity_constant_m3_s2); // STMs /** @@ -42,7 +42,7 @@ s2e::math::Matrix<6, 6> CalcHillSystemMatrix(const double orbit_radius_m, const * @param [in] elapsed_time_s: Elapsed time [s] * @return State Transition Matrix */ -s2e::math::Matrix<6, 6> CalcHcwStm(const double orbit_radius_m, const double gravity_constant_m3_s2, const double elapsed_time_s); +math::Matrix<6, 6> CalcHcwStm(const double orbit_radius_m, const double gravity_constant_m3_s2, const double elapsed_time_s); } // namespace s2e::orbit diff --git a/src/math_physics/orbit/test_interpolation_orbit.cpp b/src/math_physics/orbit/test_interpolation_orbit.cpp index f83a3f0cf..1e05a13fb 100644 --- a/src/math_physics/orbit/test_interpolation_orbit.cpp +++ b/src/math_physics/orbit/test_interpolation_orbit.cpp @@ -33,7 +33,7 @@ TEST(InterpolationOrbit, PushAndPop) { EXPECT_EQ(degree, interpolation_orbit.GetDegree()); for (size_t i = 0; i < degree; i++) { double time = (double)i; - s2e::math::Vector<3> position{i * 2.0}; + math::Vector<3> position{i * 2.0}; bool ret = interpolation_orbit.PushAndPopData(time, position); EXPECT_TRUE(ret); } @@ -46,7 +46,7 @@ TEST(InterpolationOrbit, PushAndPop) { // False test double time = 2.0; - s2e::math::Vector<3> position{-100.0}; + math::Vector<3> position{-100.0}; bool ret = interpolation_orbit.PushAndPopData(time, position); EXPECT_FALSE(ret); } diff --git a/src/math_physics/planet_rotation/moon_rotation_utilities.cpp b/src/math_physics/planet_rotation/moon_rotation_utilities.cpp index f2d30c96c..370e5ba63 100644 --- a/src/math_physics/planet_rotation/moon_rotation_utilities.cpp +++ b/src/math_physics/planet_rotation/moon_rotation_utilities.cpp @@ -12,22 +12,22 @@ namespace s2e::planet_rotation { -s2e::math::Matrix<3, 3> CalcDcmEciToPrincipalAxis(const s2e::math::Vector<3> moon_position_eci_m, const s2e::math::Vector<3> moon_velocity_eci_m_s) { - s2e::math::Matrix<3, 3> dcm_eci2me = CalcDcmEciToMeanEarth(moon_position_eci_m, moon_velocity_eci_m_s); - s2e::math::Matrix<3, 3> dcm_me2pa = CalcDcmMeanEarthToPrincipalAxis(); +math::Matrix<3, 3> CalcDcmEciToPrincipalAxis(const math::Vector<3> moon_position_eci_m, const math::Vector<3> moon_velocity_eci_m_s) { + math::Matrix<3, 3> dcm_eci2me = CalcDcmEciToMeanEarth(moon_position_eci_m, moon_velocity_eci_m_s); + math::Matrix<3, 3> dcm_me2pa = CalcDcmMeanEarthToPrincipalAxis(); return dcm_me2pa * dcm_eci2me; } -s2e::math::Matrix<3, 3> CalcDcmEciToMeanEarth(const s2e::math::Vector<3> moon_position_eci_m, const s2e::math::Vector<3> moon_velocity_eci_m_s) { - s2e::math::Vector<3> me_ex_eci = -1.0 * moon_position_eci_m.CalcNormalizedVector(); +math::Matrix<3, 3> CalcDcmEciToMeanEarth(const math::Vector<3> moon_position_eci_m, const math::Vector<3> moon_velocity_eci_m_s) { + math::Vector<3> me_ex_eci = -1.0 * moon_position_eci_m.CalcNormalizedVector(); - s2e::math::Vector<3> moon_orbit_norm = s2e::math::OuterProduct(moon_position_eci_m, moon_velocity_eci_m_s); - s2e::math::Vector<3> me_ez_eci = moon_orbit_norm.CalcNormalizedVector(); + math::Vector<3> moon_orbit_norm = math::OuterProduct(moon_position_eci_m, moon_velocity_eci_m_s); + math::Vector<3> me_ez_eci = moon_orbit_norm.CalcNormalizedVector(); - s2e::math::Vector<3> me_ey_eci = s2e::math::OuterProduct(me_ez_eci, me_ex_eci); + math::Vector<3> me_ey_eci = math::OuterProduct(me_ez_eci, me_ex_eci); - s2e::math::Matrix<3, 3> dcm_eci_to_me; + math::Matrix<3, 3> dcm_eci_to_me; for (size_t i = 0; i < 3; i++) { dcm_eci_to_me[0][i] = me_ex_eci[i]; dcm_eci_to_me[1][i] = me_ey_eci[i]; @@ -37,14 +37,14 @@ s2e::math::Matrix<3, 3> CalcDcmEciToMeanEarth(const s2e::math::Vector<3> moon_po return dcm_eci_to_me; } -s2e::math::Matrix<3, 3> CalcDcmMeanEarthToPrincipalAxis() { +math::Matrix<3, 3> CalcDcmMeanEarthToPrincipalAxis() { // The correction values between DE430 Principal Axis and Mean Earth frame - const double theta_x_rad = 0.285 * s2e::math::arcsec_to_rad; - const double theta_y_rad = 78.580 * s2e::math::arcsec_to_rad; - const double theta_z_rad = 67.573 * s2e::math::arcsec_to_rad; + const double theta_x_rad = 0.285 * math::arcsec_to_rad; + const double theta_y_rad = 78.580 * math::arcsec_to_rad; + const double theta_z_rad = 67.573 * math::arcsec_to_rad; - s2e::math::Matrix<3, 3> dcm_me_pa = - s2e::math::MakeRotationMatrixZ(theta_z_rad) * s2e::math::MakeRotationMatrixY(theta_y_rad) * s2e::math::MakeRotationMatrixX(theta_x_rad); + math::Matrix<3, 3> dcm_me_pa = + math::MakeRotationMatrixZ(theta_z_rad) * math::MakeRotationMatrixY(theta_y_rad) * math::MakeRotationMatrixX(theta_x_rad); return dcm_me_pa; } diff --git a/src/math_physics/planet_rotation/moon_rotation_utilities.hpp b/src/math_physics/planet_rotation/moon_rotation_utilities.hpp index d7e3eff30..b46dbd7e1 100644 --- a/src/math_physics/planet_rotation/moon_rotation_utilities.hpp +++ b/src/math_physics/planet_rotation/moon_rotation_utilities.hpp @@ -20,7 +20,7 @@ namespace s2e::planet_rotation { * @param[in] moon_position_eci_m: Moon position vector @ ECI frame [m] * @param[in] moon_velocity_eci_m_s: Moon velocity vector @ ECI frame [m/s] */ -s2e::math::Matrix<3, 3> CalcDcmEciToPrincipalAxis(const s2e::math::Vector<3> moon_position_eci_m, const s2e::math::Vector<3> moon_velocity_eci_m_s); +math::Matrix<3, 3> CalcDcmEciToPrincipalAxis(const math::Vector<3> moon_position_eci_m, const math::Vector<3> moon_velocity_eci_m_s); /** * @fn CalcDcmEciToMeanEarth @@ -28,13 +28,13 @@ s2e::math::Matrix<3, 3> CalcDcmEciToPrincipalAxis(const s2e::math::Vector<3> moo * @param[in] moon_position_eci_m: Moon position vector @ ECI frame [m] * @param[in] moon_velocity_eci_m_s: Moon velocity vector @ ECI frame [m/s] */ -s2e::math::Matrix<3, 3> CalcDcmEciToMeanEarth(const s2e::math::Vector<3> moon_position_eci_m, const s2e::math::Vector<3> moon_velocity_eci_m_s); +math::Matrix<3, 3> CalcDcmEciToMeanEarth(const math::Vector<3> moon_position_eci_m, const math::Vector<3> moon_velocity_eci_m_s); /** * @fn CalcDcmMeToPrincipalAxis * @brief Calculate DCM from ME (Mean Earth) moon fixed frame to PA (Principal Axis) moon fixed frame */ -s2e::math::Matrix<3, 3> CalcDcmMeanEarthToPrincipalAxis(); +math::Matrix<3, 3> CalcDcmMeanEarthToPrincipalAxis(); } // namespace s2e::planet_rotation diff --git a/src/math_physics/randomization/random_walk.hpp b/src/math_physics/randomization/random_walk.hpp index 9f05aff9f..ee7db5bb6 100644 --- a/src/math_physics/randomization/random_walk.hpp +++ b/src/math_physics/randomization/random_walk.hpp @@ -15,7 +15,7 @@ * @brief Class to calculate random wark value */ template -class RandomWalk : public s2e::math::OrdinaryDifferentialEquation { +class RandomWalk : public math::OrdinaryDifferentialEquation { public: /** * @fn RandomWalk @@ -24,7 +24,7 @@ class RandomWalk : public s2e::math::OrdinaryDifferentialEquation { * @param standard_deviation: Standard deviation of random walk excitation noise * @param limit: Limit of random walk */ - RandomWalk(double step_width_s, const s2e::math::Vector& standard_deviation, const s2e::math::Vector& limit); + RandomWalk(double step_width_s, const math::Vector& standard_deviation, const math::Vector& limit); /** * @fn DerivativeFunction @@ -33,10 +33,10 @@ class RandomWalk : public s2e::math::OrdinaryDifferentialEquation { * @param [in] state: State vector * @param [out] rhs: Differentiated value of state vector */ - virtual void DerivativeFunction(double x, const s2e::math::Vector& state, s2e::math::Vector& rhs); + virtual void DerivativeFunction(double x, const math::Vector& state, math::Vector& rhs); private: - s2e::math::Vector limit_; //!< Limit of random walk + math::Vector limit_; //!< Limit of random walk s2e::randomization::NormalRand normal_randomizer_[N]; //!< Random walk excitation noise }; diff --git a/src/math_physics/randomization/random_walk_template_functions.hpp b/src/math_physics/randomization/random_walk_template_functions.hpp index 4c4a77ca6..68fa37eea 100644 --- a/src/math_physics/randomization/random_walk_template_functions.hpp +++ b/src/math_physics/randomization/random_walk_template_functions.hpp @@ -10,8 +10,8 @@ #include template -RandomWalk::RandomWalk(double step_width_s, const s2e::math::Vector& standard_deviation, const s2e::math::Vector& limit) - : s2e::math::OrdinaryDifferentialEquation(step_width_s), limit_(limit) { +RandomWalk::RandomWalk(double step_width_s, const math::Vector& standard_deviation, const math::Vector& limit) + : math::OrdinaryDifferentialEquation(step_width_s), limit_(limit) { // Set standard deviation for (size_t i = 0; i < N; ++i) { normal_randomizer_[i].SetParameters(0.0, standard_deviation[i], s2e::randomization::global_randomization.MakeSeed()); @@ -19,7 +19,7 @@ RandomWalk::RandomWalk(double step_width_s, const s2e::math::Vector& stand } template -void RandomWalk::DerivativeFunction(double x, const s2e::math::Vector& state, s2e::math::Vector& rhs) { +void RandomWalk::DerivativeFunction(double x, const math::Vector& state, math::Vector& rhs) { UNUSED(x); // TODO: consider the x is really need for this function for (size_t i = 0; i < N; ++i) { diff --git a/src/setting_file_reader/c2a_command_database.cpp b/src/setting_file_reader/c2a_command_database.cpp index 72e8bdf18..76572c1ab 100644 --- a/src/setting_file_reader/c2a_command_database.cpp +++ b/src/setting_file_reader/c2a_command_database.cpp @@ -95,61 +95,61 @@ void DecodeC2aCommandArgument(const C2aArgumentType type, const std::string argu case C2aArgumentType::kUint8t: { size_param = 1; uint8_t argument = (uint8_t)std::stoul(argument_string); // TODO: 範囲外処理 - endian_memcpy(param, &argument, size_param); + utilities::endian_memcpy(param, &argument, size_param); break; } case C2aArgumentType::kUint16t: { size_param = 2; uint16_t argument = (uint16_t)std::stoul(argument_string); // TODO: 範囲外処理 - endian_memcpy(param, &argument, size_param); + utilities::endian_memcpy(param, &argument, size_param); break; } case C2aArgumentType::kUint32t: { size_param = 4; uint32_t argument = (uint32_t)std::stoul(argument_string); // TODO: 範囲外処理 - endian_memcpy(param, &argument, size_param); + utilities::endian_memcpy(param, &argument, size_param); break; } case C2aArgumentType::kUint64t: { size_param = 8; uint64_t argument = std::stoul(argument_string); - endian_memcpy(param, &argument, size_param); + utilities::endian_memcpy(param, &argument, size_param); break; } case C2aArgumentType::kInt8t: { size_param = 1; int8_t argument = (int8_t)std::stoi(argument_string); // TODO: 範囲外処理 - endian_memcpy(param, &argument, size_param); + utilities::endian_memcpy(param, &argument, size_param); break; } case C2aArgumentType::kInt16t: { size_param = 2; int16_t argument = (int16_t)std::stoi(argument_string); // TODO: 範囲外処理 - endian_memcpy(param, &argument, size_param); + utilities::endian_memcpy(param, &argument, size_param); break; } case C2aArgumentType::kInt32t: { size_param = 4; int32_t argument = std::stoi(argument_string); - endian_memcpy(param, &argument, size_param); + utilities::endian_memcpy(param, &argument, size_param); break; } case C2aArgumentType::kInt64t: { size_param = 8; int64_t argument = std::stol(argument_string); - endian_memcpy(param, &argument, size_param); + utilities::endian_memcpy(param, &argument, size_param); break; } case C2aArgumentType::kFloat: { size_param = 4; float argument = std::stof(argument_string); - endian_memcpy(param, &argument, size_param); + utilities::endian_memcpy(param, &argument, size_param); break; } case C2aArgumentType::kDouble: { size_param = 8; double argument = std::stod(argument_string); - endian_memcpy(param, &argument, size_param); + utilities::endian_memcpy(param, &argument, size_param); break; } case C2aArgumentType::kRaw: { diff --git a/src/setting_file_reader/initialize_file_access.cpp b/src/setting_file_reader/initialize_file_access.cpp index 9397057ad..4ca4c0769 100644 --- a/src/setting_file_reader/initialize_file_access.cpp +++ b/src/setting_file_reader/initialize_file_access.cpp @@ -120,8 +120,8 @@ std::vector IniAccess::ReadVectorDouble(const char* section_name, const return data; } -void IniAccess::ReadQuaternion(const char* section_name, const char* key_name, s2e::math::Quaternion& data) { - s2e::math::Quaternion temp; +void IniAccess::ReadQuaternion(const char* section_name, const char* key_name, math::Quaternion& data) { + math::Quaternion temp; double norm = 0.0; for (int i = 0; i < 4; i++) { // Read Quaternion as new format diff --git a/src/setting_file_reader/initialize_file_access.hpp b/src/setting_file_reader/initialize_file_access.hpp index 48ff1acd1..9af1a3a8a 100644 --- a/src/setting_file_reader/initialize_file_access.hpp +++ b/src/setting_file_reader/initialize_file_access.hpp @@ -112,7 +112,7 @@ class IniAccess { * @param[out] data: Read vector type data */ template - void ReadVector(const char* section_name, const char* key_name, s2e::math::Vector& data); + void ReadVector(const char* section_name, const char* key_name, math::Vector& data); /** * @fn ReadStrVector * @brief Read list of string type @@ -128,7 +128,7 @@ class IniAccess { * @param[in] key_name: Key name * @param[out] data: Read quaternion data */ - void ReadQuaternion(const char* section_name, const char* key_name, s2e::math::Quaternion& data); + void ReadQuaternion(const char* section_name, const char* key_name, math::Quaternion& data); /** * @fn ReadChar * @brief Read characters data @@ -210,7 +210,7 @@ class IniAccess { }; template -void IniAccess::ReadVector(const char* section_name, const char* key_name, s2e::math::Vector& data) { +void IniAccess::ReadVector(const char* section_name, const char* key_name, math::Vector& data) { for (size_t i = 0; i < NumElement; i++) { std::stringstream c_name; c_name << key_name << "(" << i << ")"; diff --git a/src/simulation/ground_station/ground_station.cpp b/src/simulation/ground_station/ground_station.cpp index 5340c30dc..d6f230149 100644 --- a/src/simulation/ground_station/ground_station.cpp +++ b/src/simulation/ground_station/ground_station.cpp @@ -37,7 +37,7 @@ void GroundStation::Initialize(const SimulationConfiguration* configuration, con double latitude_deg = conf.ReadDouble(Section, "latitude_deg"); double longitude_deg = conf.ReadDouble(Section, "longitude_deg"); double height_m = conf.ReadDouble(Section, "height_m"); - geodetic_position_ = s2e::geodesy::GeodeticPosition(latitude_deg * s2e::math::deg_to_rad, longitude_deg * s2e::math::deg_to_rad, height_m); + geodetic_position_ = s2e::geodesy::GeodeticPosition(latitude_deg * math::deg_to_rad, longitude_deg * math::deg_to_rad, height_m); position_ecef_m_ = geodetic_position_.CalcEcefPosition(); elevation_limit_angle_deg_ = conf.ReadDouble(Section, "elevation_limit_angle_deg"); @@ -48,23 +48,23 @@ void GroundStation::Initialize(const SimulationConfiguration* configuration, con void GroundStation::LogSetup(logger::Logger& logger) { logger.AddLogList(this); } void GroundStation::Update(const environment::EarthRotation& celestial_rotation, const Spacecraft& spacecraft) { - s2e::math::Matrix<3, 3> dcm_ecef2eci = celestial_rotation.GetDcmJ2000ToEcef().Transpose(); + math::Matrix<3, 3> dcm_ecef2eci = celestial_rotation.GetDcmJ2000ToEcef().Transpose(); position_i_m_ = dcm_ecef2eci * position_ecef_m_; is_visible_[spacecraft.GetSpacecraftId()] = CalcIsVisible(spacecraft.GetDynamics().GetOrbit().GetPosition_ecef_m()); } -bool GroundStation::CalcIsVisible(const s2e::math::Vector<3> spacecraft_position_ecef_m) { - s2e::math::Quaternion q_ecef_to_ltc = geodetic_position_.GetQuaternionXcxfToLtc(); +bool GroundStation::CalcIsVisible(const math::Vector<3> spacecraft_position_ecef_m) { + math::Quaternion q_ecef_to_ltc = geodetic_position_.GetQuaternionXcxfToLtc(); - s2e::math::Vector<3> sc_pos_ltc = q_ecef_to_ltc.FrameConversion(spacecraft_position_ecef_m - position_ecef_m_); // Satellite position in LTC frame [m] + math::Vector<3> sc_pos_ltc = q_ecef_to_ltc.FrameConversion(spacecraft_position_ecef_m - position_ecef_m_); // Satellite position in LTC frame [m] sc_pos_ltc = sc_pos_ltc.CalcNormalizedVector(); - s2e::math::Vector<3> dir_gs_to_zenith = s2e::math::Vector<3>(0); + math::Vector<3> dir_gs_to_zenith = math::Vector<3>(0); dir_gs_to_zenith[2] = 1; // Judge the satellite position angle is over the minimum elevation - if (dot(sc_pos_ltc, dir_gs_to_zenith) > sin(elevation_limit_angle_deg_ * s2e::math::deg_to_rad)) { + if (dot(sc_pos_ltc, dir_gs_to_zenith) > sin(elevation_limit_angle_deg_ * math::deg_to_rad)) { return true; } else { return false; diff --git a/src/simulation/monte_carlo_simulation/initialize_monte_carlo_parameters.cpp b/src/simulation/monte_carlo_simulation/initialize_monte_carlo_parameters.cpp index 0020cffc5..0a8cfb0e5 100644 --- a/src/simulation/monte_carlo_simulation/initialize_monte_carlo_parameters.cpp +++ b/src/simulation/monte_carlo_simulation/initialize_monte_carlo_parameters.cpp @@ -48,7 +48,7 @@ void InitializedMonteCarloParameters::GetRandomizedScalar(double& destination) c } } -void InitializedMonteCarloParameters::GetRandomizedQuaternion(s2e::math::Quaternion& destination) const { +void InitializedMonteCarloParameters::GetRandomizedQuaternion(math::Quaternion& destination) const { if (randomization_type_ == kNoRandomization) { ; } else if (4 > randomized_value_.size()) { @@ -122,7 +122,7 @@ void InitializedMonteCarloParameters::GenerateCartesianNormal() { } } -void InitializedMonteCarloParameters::CalcCircularNormalUniform(s2e::math::Vector<2>& destination, double r_mean, double r_sigma, double theta_min, +void InitializedMonteCarloParameters::CalcCircularNormalUniform(math::Vector<2>& destination, double r_mean, double r_sigma, double theta_min, double theta_max) { // r follows normal distribution, and θ follows uniform distribution in Circular frame double r = InitializedMonteCarloParameters::Generate1dNormal(r_mean, r_sigma); @@ -136,7 +136,7 @@ void InitializedMonteCarloParameters::GenerateCircularNormalUniform() { if (mean_or_min_.size() < dim || sigma_or_max_.size() < dim) { throw "Config parameters dimension unmatched."; } - s2e::math::Vector temp_vec; + math::Vector temp_vec; CalcCircularNormalUniform(temp_vec, mean_or_min_[0], sigma_or_max_[0], mean_or_min_[1], sigma_or_max_[1]); randomized_value_.clear(); @@ -145,7 +145,7 @@ void InitializedMonteCarloParameters::GenerateCircularNormalUniform() { } } -void InitializedMonteCarloParameters::CalcCircularNormalNormal(s2e::math::Vector<2>& destination, double r_mean, double r_sigma, double theta_mean, +void InitializedMonteCarloParameters::CalcCircularNormalNormal(math::Vector<2>& destination, double r_mean, double r_sigma, double theta_mean, double theta_sigma) { // r and θ follow normal distribution in Circular frame double r = InitializedMonteCarloParameters::Generate1dNormal(r_mean, r_sigma); @@ -159,7 +159,7 @@ void InitializedMonteCarloParameters::GenerateCircularNormalNormal() { if (mean_or_min_.size() < dim || sigma_or_max_.size() < dim) { throw "Config parameters dimension unmatched."; } - s2e::math::Vector temp_vec; + math::Vector temp_vec; CalcCircularNormalNormal(temp_vec, mean_or_min_[0], sigma_or_max_[0], mean_or_min_[1], sigma_or_max_[1]); randomized_value_.clear(); @@ -168,7 +168,7 @@ void InitializedMonteCarloParameters::GenerateCircularNormalNormal() { } } -void InitializedMonteCarloParameters::CalcSphericalNormalUniformUniform(s2e::math::Vector<3>& destination, double r_mean, double r_sigma, double theta_min, +void InitializedMonteCarloParameters::CalcSphericalNormalUniformUniform(math::Vector<3>& destination, double r_mean, double r_sigma, double theta_min, double theta_max, double phi_min, double phi_max) { // r follows normal distribution, and θ and φ follow uniform distribution in Spherical frame double r = InitializedMonteCarloParameters::Generate1dNormal(r_mean, r_sigma); @@ -184,7 +184,7 @@ void InitializedMonteCarloParameters::GenerateSphericalNormalUniformUniform() { if (mean_or_min_.size() < dim || sigma_or_max_.size() < dim) { throw "Config parameters dimension unmatched."; } - s2e::math::Vector temp_vec; + math::Vector temp_vec; CalcSphericalNormalUniformUniform(temp_vec, mean_or_min_[0], sigma_or_max_[0], mean_or_min_[1], sigma_or_max_[1], mean_or_min_[2], sigma_or_max_[2]); @@ -194,29 +194,29 @@ void InitializedMonteCarloParameters::GenerateSphericalNormalUniformUniform() { } } -void InitializedMonteCarloParameters::CalcSphericalNormalNormal(s2e::math::Vector<3>& destination, const s2e::math::Vector<3>& mean_vec) { +void InitializedMonteCarloParameters::CalcSphericalNormalNormal(math::Vector<3>& destination, const math::Vector<3>& mean_vec) { // r and θ follow normal distribution, and mean vector angle φ follows uniform distribution [0,2*pi] - s2e::math::Vector<3> mean_vec_dir; + math::Vector<3> mean_vec_dir; mean_vec_dir = 1.0 / mean_vec.CalcNorm() * mean_vec; // Unit vector of mean vector direction - s2e::math::Vector<3> x_axis(0.0), y_axis(0.0); + math::Vector<3> x_axis(0.0), y_axis(0.0); x_axis[0] = 1.0; y_axis[1] = 1.0; - s2e::math::Vector<3> op_x = OuterProduct(mean_vec_dir, x_axis); - s2e::math::Vector<3> op_y = OuterProduct(mean_vec_dir, y_axis); + math::Vector<3> op_x = OuterProduct(mean_vec_dir, x_axis); + math::Vector<3> op_y = OuterProduct(mean_vec_dir, y_axis); // An unit vector perpendicular with the mean vector // In case of the mean vector is parallel with X or Y axis, selecting the axis depend on the norm of outer product - s2e::math::Vector<3> normal_unit_vec = op_x.CalcNorm() > op_y.CalcNorm() ? op_x = op_x.CalcNormalizedVector() : op_y = op_y.CalcNormalizedVector(); + math::Vector<3> normal_unit_vec = op_x.CalcNorm() > op_y.CalcNorm() ? op_x = op_x.CalcNormalizedVector() : op_y = op_y.CalcNormalizedVector(); - double rotation_angle_of_normal_unit_vec = InitializedMonteCarloParameters::Generate1dUniform(0.0, s2e::math::tau); - s2e::math::Quaternion rotation_of_normal_unit_vec(mean_vec_dir, + double rotation_angle_of_normal_unit_vec = InitializedMonteCarloParameters::Generate1dUniform(0.0, math::tau); + math::Quaternion rotation_of_normal_unit_vec(mean_vec_dir, -rotation_angle_of_normal_unit_vec); // Use opposite sign to rotate the vector (not the frame) - s2e::math::Vector<3> rotation_axis = rotation_of_normal_unit_vec.FrameConversion(normal_unit_vec); // Axis of mean vector rotation + math::Vector<3> rotation_axis = rotation_of_normal_unit_vec.FrameConversion(normal_unit_vec); // Axis of mean vector rotation double rotation_angle_of_mean_vec = InitializedMonteCarloParameters::Generate1dNormal(0.0, sigma_or_max_[1]); - s2e::math::Quaternion rotation_of_mean_vec(rotation_axis, -rotation_angle_of_mean_vec); // Use opposite sign to rotate the vector (not the frame) - s2e::math::Vector<3> ret_vec = rotation_of_mean_vec.FrameConversion(mean_vec_dir); // Complete calculation of the direction + math::Quaternion rotation_of_mean_vec(rotation_axis, -rotation_angle_of_mean_vec); // Use opposite sign to rotate the vector (not the frame) + math::Vector<3> ret_vec = rotation_of_mean_vec.FrameConversion(mean_vec_dir); // Complete calculation of the direction ret_vec = InitializedMonteCarloParameters::Generate1dNormal(mean_vec.CalcNorm(), sigma_or_max_[0]) * ret_vec; // multiply norm @@ -230,7 +230,7 @@ void InitializedMonteCarloParameters::GenerateSphericalNormalNormal() { if (mean_or_min_.size() < dim || sigma_or_max_.size() < 2) { throw "Config parameters dimension unmatched."; } - s2e::math::Vector temp_vec, temp_mean_vec; + math::Vector temp_vec, temp_mean_vec; for (int i = 0; i < dim; i++) { temp_mean_vec[i] = mean_or_min_[i]; } @@ -242,32 +242,32 @@ void InitializedMonteCarloParameters::GenerateSphericalNormalNormal() { } } -void InitializedMonteCarloParameters::CalcQuaternionUniform(s2e::math::Quaternion& destination) { - // Perfectly Randomized s2e::math::Quaternion - s2e::math::Vector<3> x_axis(0.0); +void InitializedMonteCarloParameters::CalcQuaternionUniform(math::Quaternion& destination) { + // Perfectly Randomized math::Quaternion + math::Vector<3> x_axis(0.0); x_axis[0] = 1.0; // A direction vector converted from the X-axis by a quaternion may follows the uniform distribution in full sphere. - s2e::math::Quaternion first_cnv; - s2e::math::Vector<3> x_axis_cnvd; + math::Quaternion first_cnv; + math::Vector<3> x_axis_cnvd; double theta = acos(1 - (1 - (-1)) * InitializedMonteCarloParameters::Generate1dUniform(0.0, 1.0)); - double phi = InitializedMonteCarloParameters::Generate1dUniform(0, s2e::math::tau); + double phi = InitializedMonteCarloParameters::Generate1dUniform(0, math::tau); x_axis_cnvd[0] = sin(theta) * cos(phi); x_axis_cnvd[1] = sin(theta) * sin(phi); x_axis_cnvd[2] = cos(theta); double cos_angle_between = InnerProduct(x_axis, x_axis_cnvd); - s2e::math::Vector<3> op = OuterProduct(x_axis, x_axis_cnvd); + math::Vector<3> op = OuterProduct(x_axis, x_axis_cnvd); for (int i = 0; i < 3; i++) { first_cnv[i] = op[i]; } first_cnv[3] = cos_angle_between; // Generate randomized rotation angle around the X-axis - double rotation_angle = InitializedMonteCarloParameters::Generate1dUniform(0.0, s2e::math::tau); - s2e::math::Quaternion second_cnv(x_axis, rotation_angle); + double rotation_angle = InitializedMonteCarloParameters::Generate1dUniform(0.0, math::tau); + math::Quaternion second_cnv(x_axis, rotation_angle); - s2e::math::Quaternion ret_q = first_cnv * second_cnv; + math::Quaternion ret_q = first_cnv * second_cnv; for (int i = 0; i < 4; i++) { destination[i] = ret_q[i]; @@ -276,7 +276,7 @@ void InitializedMonteCarloParameters::CalcQuaternionUniform(s2e::math::Quaternio void InitializedMonteCarloParameters::GenerateQuaternionUniform() { const static int dim = 4; - s2e::math::Quaternion temp_q; + math::Quaternion temp_q; CalcQuaternionUniform(temp_q); randomized_value_.clear(); @@ -285,19 +285,19 @@ void InitializedMonteCarloParameters::GenerateQuaternionUniform() { } } -void InitializedMonteCarloParameters::CalcQuaternionNormal(s2e::math::Quaternion& destination, double theta_sigma) { +void InitializedMonteCarloParameters::CalcQuaternionNormal(math::Quaternion& destination, double theta_sigma) { // Angle from the default quaternion θ follows normal distribution // The rotation axis follows uniform distribution on full sphere - s2e::math::Vector<3> rot_axis; + math::Vector<3> rot_axis; double theta = acos(1 - (1 - (-1)) * InitializedMonteCarloParameters::Generate1dUniform(0.0, 1.0)); - double phi = InitializedMonteCarloParameters::Generate1dUniform(0, s2e::math::tau); + double phi = InitializedMonteCarloParameters::Generate1dUniform(0, math::tau); rot_axis[0] = sin(theta) * cos(phi); rot_axis[1] = sin(theta) * sin(phi); rot_axis[2] = cos(theta); double rotation_angle = InitializedMonteCarloParameters::Generate1dNormal(0.0, theta_sigma); - s2e::math::Quaternion ret_q(rot_axis, rotation_angle); + math::Quaternion ret_q(rot_axis, rotation_angle); for (int i = 0; i < 4; i++) { destination[i] = ret_q[i]; } @@ -309,7 +309,7 @@ void InitializedMonteCarloParameters::GenerateQuaternionNormal() { if (sigma_or_max_.size() < 1) { throw "Config parameters dimension unmatched."; } - s2e::math::Quaternion temp_q; + math::Quaternion temp_q; CalcQuaternionNormal(temp_q, sigma_or_max_[0]); randomized_value_.clear(); diff --git a/src/simulation/monte_carlo_simulation/initialize_monte_carlo_simulation.cpp b/src/simulation/monte_carlo_simulation/initialize_monte_carlo_simulation.cpp index 720d678eb..348a459de 100644 --- a/src/simulation/monte_carlo_simulation/initialize_monte_carlo_simulation.cpp +++ b/src/simulation/monte_carlo_simulation/initialize_monte_carlo_simulation.cpp @@ -81,12 +81,12 @@ MonteCarloSimulationExecutor* InitMonteCarloSimulation(std::string file_name) { // Read mean_or_min vector key_name = so_dot_ip_str + MonteCarloSimulationExecutor::separator_ + "mean_or_min"; - s2e::math::Vector<3> mean_or_min; + math::Vector<3> mean_or_min; ini_file.ReadVector(section, key_name.c_str(), mean_or_min); // Read sigma_or_max vector key_name = so_dot_ip_str + MonteCarloSimulationExecutor::separator_ + "sigma_or_max"; - s2e::math::Vector<3> sigma_or_max; + math::Vector<3> sigma_or_max; ini_file.ReadVector(section, key_name.c_str(), sigma_or_max); // Write randomize setting diff --git a/src/simulation/monte_carlo_simulation/monte_carlo_simulation_executor.cpp b/src/simulation/monte_carlo_simulation/monte_carlo_simulation_executor.cpp index dda7abfd0..6f422e5ce 100644 --- a/src/simulation/monte_carlo_simulation/monte_carlo_simulation_executor.cpp +++ b/src/simulation/monte_carlo_simulation/monte_carlo_simulation_executor.cpp @@ -49,7 +49,7 @@ void MonteCarloSimulationExecutor::GetInitializedMonteCarloParameterDouble(strin } void MonteCarloSimulationExecutor::GetInitializedMonteCarloParameterQuaternion(string so_name, string init_monte_carlo_parameter_name, - s2e::math::Quaternion& destination) const { + math::Quaternion& destination) const { if (!enabled_) return; { string name = so_name + MonteCarloSimulationExecutor::separator_ + init_monte_carlo_parameter_name; diff --git a/src/simulation/monte_carlo_simulation/monte_carlo_simulation_executor.hpp b/src/simulation/monte_carlo_simulation/monte_carlo_simulation_executor.hpp index 97626e47e..fdf2328dc 100644 --- a/src/simulation/monte_carlo_simulation/monte_carlo_simulation_executor.hpp +++ b/src/simulation/monte_carlo_simulation/monte_carlo_simulation_executor.hpp @@ -88,7 +88,7 @@ class MonteCarloSimulationExecutor { */ template void GetInitializedMonteCarloParameterVector(std::string so_name, std::string init_monte_carlo_parameter_name, - s2e::math::Vector& destination) const; + math::Vector& destination) const; /** * @fn GetInitializedMonteCarloParameterDouble * @brief Get randomized value and store it in dest @@ -99,7 +99,7 @@ class MonteCarloSimulationExecutor { * @brief Get randomized quaternion and store it in dest_quat */ void GetInitializedMonteCarloParameterQuaternion(std::string so_name, std::string init_monte_carlo_parameter_name, - s2e::math::Quaternion& destination) const; + math::Quaternion& destination) const; // Calculation /** @@ -128,7 +128,7 @@ class MonteCarloSimulationExecutor { * @brief Add initialized parameter */ void AddInitializedMonteCarloParameter(std::string so_name, std::string init_monte_carlo_parameter_name, - const s2e::math::Vector& mean_or_min, const s2e::math::Vector& sigma_or_max, + const math::Vector& mean_or_min, const math::Vector& sigma_or_max, InitializedMonteCarloParameters::RandomizationType random_type); /** @@ -140,7 +140,7 @@ class MonteCarloSimulationExecutor { template void MonteCarloSimulationExecutor::GetInitializedMonteCarloParameterVector(std::string so_name, std::string init_monte_carlo_parameter_name, - s2e::math::Vector& destination) const { + math::Vector& destination) const { if (!enabled_) return; std::string name = so_name + MonteCarloSimulationExecutor::separator_ + init_monte_carlo_parameter_name; if (init_parameter_list_.find(name) == init_parameter_list_.end()) { @@ -153,8 +153,8 @@ void MonteCarloSimulationExecutor::GetInitializedMonteCarloParameterVector(std:: template void MonteCarloSimulationExecutor::AddInitializedMonteCarloParameter(std::string so_name, std::string init_monte_carlo_parameter_name, - const s2e::math::Vector& mean_or_min, - const s2e::math::Vector& sigma_or_max, + const math::Vector& mean_or_min, + const math::Vector& sigma_or_max, InitializedMonteCarloParameters::RandomizationType random_type) { std::string name = so_name + MonteCarloSimulationExecutor::separator_ + init_monte_carlo_parameter_name; if (init_parameter_list_.find(name) == init_parameter_list_.end()) { diff --git a/src/simulation/monte_carlo_simulation/simulation_object.cpp b/src/simulation/monte_carlo_simulation/simulation_object.cpp index 0f41bf32d..cb5f015ec 100644 --- a/src/simulation/monte_carlo_simulation/simulation_object.cpp +++ b/src/simulation/monte_carlo_simulation/simulation_object.cpp @@ -40,7 +40,7 @@ void SimulationObject::GetInitializedMonteCarloParameterDouble(const MonteCarloS } void SimulationObject::GetInitializedMonteCarloParameterQuaternion(const MonteCarloSimulationExecutor& monte_carlo_simulator, - std::string init_monte_carlo_parameter_name, s2e::math::Quaternion& destination) const { + std::string init_monte_carlo_parameter_name, math::Quaternion& destination) const { monte_carlo_simulator.GetInitializedMonteCarloParameterQuaternion(name_, init_monte_carlo_parameter_name, destination); } diff --git a/src/simulation/monte_carlo_simulation/simulation_object.hpp b/src/simulation/monte_carlo_simulation/simulation_object.hpp index cb1c2df09..4273771ec 100644 --- a/src/simulation/monte_carlo_simulation/simulation_object.hpp +++ b/src/simulation/monte_carlo_simulation/simulation_object.hpp @@ -42,7 +42,7 @@ class SimulationObject { */ template void GetInitializedMonteCarloParameterVector(const MonteCarloSimulationExecutor& monte_carlo_simulator, std::string init_monte_carlo_parameter_name, - s2e::math::Vector& destination) const; + math::Vector& destination) const; /** * @fn GetInitializedMonteCarloParameterDouble @@ -56,7 +56,7 @@ class SimulationObject { * @brief Get randomized quaternion and store it in destination */ void GetInitializedMonteCarloParameterQuaternion(const MonteCarloSimulationExecutor& monte_carlo_simulator, - std::string init_monte_carlo_parameter_name, s2e::math::Quaternion& destination) const; + std::string init_monte_carlo_parameter_name, math::Quaternion& destination) const; /** * @fn SetParameters @@ -82,7 +82,7 @@ class SimulationObject { template void SimulationObject::GetInitializedMonteCarloParameterVector(const MonteCarloSimulationExecutor& monte_carlo_simulator, std::string init_monte_carlo_parameter_name, - s2e::math::Vector& destination) const { + math::Vector& destination) const { monte_carlo_simulator.GetInitializedMonteCarloParameterVector(name_, init_monte_carlo_parameter_name, destination); } diff --git a/src/simulation/multiple_spacecraft/relative_information.cpp b/src/simulation/multiple_spacecraft/relative_information.cpp index 93cd3007b..8c1465239 100644 --- a/src/simulation/multiple_spacecraft/relative_information.cpp +++ b/src/simulation/multiple_spacecraft/relative_information.cpp @@ -15,8 +15,8 @@ void RelativeInformation::Update() { for (size_t target_spacecraft_id = 0; target_spacecraft_id < dynamics_database_.size(); target_spacecraft_id++) { for (size_t reference_spacecraft_id = 0; reference_spacecraft_id < dynamics_database_.size(); reference_spacecraft_id++) { // Position - s2e::math::Vector<3> target_sat_pos_i = dynamics_database_.at(target_spacecraft_id)->GetOrbit().GetPosition_i_m(); - s2e::math::Vector<3> reference_sat_pos_i = dynamics_database_.at(reference_spacecraft_id)->GetOrbit().GetPosition_i_m(); + math::Vector<3> target_sat_pos_i = dynamics_database_.at(target_spacecraft_id)->GetOrbit().GetPosition_i_m(); + math::Vector<3> reference_sat_pos_i = dynamics_database_.at(reference_spacecraft_id)->GetOrbit().GetPosition_i_m(); relative_position_list_i_m_[target_spacecraft_id][reference_spacecraft_id] = target_sat_pos_i - reference_sat_pos_i; relative_position_list_rtn_m_[target_spacecraft_id][reference_spacecraft_id] = CalcRelativePosition_rtn_m(target_spacecraft_id, reference_spacecraft_id); @@ -26,8 +26,8 @@ void RelativeInformation::Update() { relative_position_list_i_m_[target_spacecraft_id][reference_spacecraft_id].CalcNorm(); // Velocity - s2e::math::Vector<3> target_sat_vel_i = dynamics_database_.at(target_spacecraft_id)->GetOrbit().GetVelocity_i_m_s(); - s2e::math::Vector<3> reference_sat_vel_i = dynamics_database_.at(reference_spacecraft_id)->GetOrbit().GetVelocity_i_m_s(); + math::Vector<3> target_sat_vel_i = dynamics_database_.at(target_spacecraft_id)->GetOrbit().GetVelocity_i_m_s(); + math::Vector<3> reference_sat_vel_i = dynamics_database_.at(reference_spacecraft_id)->GetOrbit().GetVelocity_i_m_s(); relative_velocity_list_i_m_s_[target_spacecraft_id][reference_spacecraft_id] = target_sat_vel_i - reference_sat_vel_i; relative_velocity_list_rtn_m_s_[target_spacecraft_id][reference_spacecraft_id] = CalcRelativeVelocity_rtn_m_s(target_spacecraft_id, reference_spacecraft_id); @@ -113,57 +113,57 @@ std::string RelativeInformation::GetLogValue() const { void RelativeInformation::LogSetup(logger::Logger& logger) { logger.AddLogList(this); } -s2e::math::Quaternion RelativeInformation::CalcRelativeAttitudeQuaternion(const size_t target_spacecraft_id, const size_t reference_spacecraft_id) { +math::Quaternion RelativeInformation::CalcRelativeAttitudeQuaternion(const size_t target_spacecraft_id, const size_t reference_spacecraft_id) { // Observer SC Body frame(obs_sat) -> ECI frame(i) - s2e::math::Quaternion q_reference_i2b = dynamics_database_.at(reference_spacecraft_id)->GetAttitude().GetQuaternion_i2b(); - s2e::math::Quaternion q_reference_b2i = q_reference_i2b.Conjugate(); + math::Quaternion q_reference_i2b = dynamics_database_.at(reference_spacecraft_id)->GetAttitude().GetQuaternion_i2b(); + math::Quaternion q_reference_b2i = q_reference_i2b.Conjugate(); // ECI frame(i) -> Target SC body frame(main_sat) - s2e::math::Quaternion q_target_i2b = dynamics_database_.at(target_spacecraft_id)->GetAttitude().GetQuaternion_i2b(); + math::Quaternion q_target_i2b = dynamics_database_.at(target_spacecraft_id)->GetAttitude().GetQuaternion_i2b(); return q_target_i2b * q_reference_b2i; } -s2e::math::Vector<3> RelativeInformation::CalcRelativePosition_rtn_m(const size_t target_spacecraft_id, const size_t reference_spacecraft_id) { - s2e::math::Vector<3> target_sat_pos_i = dynamics_database_.at(target_spacecraft_id)->GetOrbit().GetPosition_i_m(); - s2e::math::Vector<3> reference_sat_pos_i = dynamics_database_.at(reference_spacecraft_id)->GetOrbit().GetPosition_i_m(); - s2e::math::Vector<3> relative_pos_i = target_sat_pos_i - reference_sat_pos_i; +math::Vector<3> RelativeInformation::CalcRelativePosition_rtn_m(const size_t target_spacecraft_id, const size_t reference_spacecraft_id) { + math::Vector<3> target_sat_pos_i = dynamics_database_.at(target_spacecraft_id)->GetOrbit().GetPosition_i_m(); + math::Vector<3> reference_sat_pos_i = dynamics_database_.at(reference_spacecraft_id)->GetOrbit().GetPosition_i_m(); + math::Vector<3> relative_pos_i = target_sat_pos_i - reference_sat_pos_i; // RTN frame for the reference satellite - s2e::math::Quaternion q_i2rtn = dynamics_database_.at(reference_spacecraft_id)->GetOrbit().CalcQuaternion_i2lvlh(); + math::Quaternion q_i2rtn = dynamics_database_.at(reference_spacecraft_id)->GetOrbit().CalcQuaternion_i2lvlh(); - s2e::math::Vector<3> relative_pos_rtn = q_i2rtn.FrameConversion(relative_pos_i); + math::Vector<3> relative_pos_rtn = q_i2rtn.FrameConversion(relative_pos_i); return relative_pos_rtn; } -s2e::math::Vector<3> RelativeInformation::CalcRelativeVelocity_rtn_m_s(const size_t target_spacecraft_id, const size_t reference_spacecraft_id) { - s2e::math::Vector<3> target_sat_pos_i = dynamics_database_.at(target_spacecraft_id)->GetOrbit().GetPosition_i_m(); - s2e::math::Vector<3> reference_sat_pos_i = dynamics_database_.at(reference_spacecraft_id)->GetOrbit().GetPosition_i_m(); - s2e::math::Vector<3> relative_pos_i = target_sat_pos_i - reference_sat_pos_i; +math::Vector<3> RelativeInformation::CalcRelativeVelocity_rtn_m_s(const size_t target_spacecraft_id, const size_t reference_spacecraft_id) { + math::Vector<3> target_sat_pos_i = dynamics_database_.at(target_spacecraft_id)->GetOrbit().GetPosition_i_m(); + math::Vector<3> reference_sat_pos_i = dynamics_database_.at(reference_spacecraft_id)->GetOrbit().GetPosition_i_m(); + math::Vector<3> relative_pos_i = target_sat_pos_i - reference_sat_pos_i; // RTN frame for the reference satellite - s2e::math::Quaternion q_i2rtn = dynamics_database_.at(reference_spacecraft_id)->GetOrbit().CalcQuaternion_i2lvlh(); + math::Quaternion q_i2rtn = dynamics_database_.at(reference_spacecraft_id)->GetOrbit().CalcQuaternion_i2lvlh(); // Rotation vector of RTN frame - s2e::math::Vector<3> reference_sat_vel_i = dynamics_database_.at(reference_spacecraft_id)->GetOrbit().GetVelocity_i_m_s(); - s2e::math::Vector<3> target_sat_vel_i = dynamics_database_.at(target_spacecraft_id)->GetOrbit().GetVelocity_i_m_s(); - s2e::math::Vector<3> rot_vec_rtn_i = cross(reference_sat_pos_i, reference_sat_vel_i); + math::Vector<3> reference_sat_vel_i = dynamics_database_.at(reference_spacecraft_id)->GetOrbit().GetVelocity_i_m_s(); + math::Vector<3> target_sat_vel_i = dynamics_database_.at(target_spacecraft_id)->GetOrbit().GetVelocity_i_m_s(); + math::Vector<3> rot_vec_rtn_i = cross(reference_sat_pos_i, reference_sat_vel_i); double r2_ref = reference_sat_pos_i.CalcNorm() * reference_sat_pos_i.CalcNorm(); rot_vec_rtn_i /= r2_ref; - s2e::math::Vector<3> relative_vel_i = target_sat_vel_i - reference_sat_vel_i - cross(rot_vec_rtn_i, relative_pos_i); + math::Vector<3> relative_vel_i = target_sat_vel_i - reference_sat_vel_i - cross(rot_vec_rtn_i, relative_pos_i); - s2e::math::Vector<3> relative_vel_rtn = q_i2rtn.FrameConversion(relative_vel_i); + math::Vector<3> relative_vel_rtn = q_i2rtn.FrameConversion(relative_vel_i); return relative_vel_rtn; } void RelativeInformation::ResizeLists() { size_t size = dynamics_database_.size(); - relative_position_list_i_m_.assign(size, std::vector>(size, s2e::math::Vector<3>(0))); - relative_velocity_list_i_m_s_.assign(size, std::vector>(size, s2e::math::Vector<3>(0))); + relative_position_list_i_m_.assign(size, std::vector>(size, math::Vector<3>(0))); + relative_velocity_list_i_m_s_.assign(size, std::vector>(size, math::Vector<3>(0))); relative_distance_list_m_.assign(size, std::vector(size, 0.0)); - relative_position_list_rtn_m_.assign(size, std::vector>(size, s2e::math::Vector<3>(0))); - relative_velocity_list_rtn_m_s_.assign(size, std::vector>(size, s2e::math::Vector<3>(0))); - relative_attitude_quaternion_list_.assign(size, std::vector(size, s2e::math::Quaternion(0, 0, 0, 1))); + relative_position_list_rtn_m_.assign(size, std::vector>(size, math::Vector<3>(0))); + relative_velocity_list_rtn_m_s_.assign(size, std::vector>(size, math::Vector<3>(0))); + relative_attitude_quaternion_list_.assign(size, std::vector(size, math::Quaternion(0, 0, 0, 1))); } } // namespace s2e::simulation diff --git a/src/simulation/multiple_spacecraft/relative_information.hpp b/src/simulation/multiple_spacecraft/relative_information.hpp index 04423a2ed..e0dbf1a78 100644 --- a/src/simulation/multiple_spacecraft/relative_information.hpp +++ b/src/simulation/multiple_spacecraft/relative_information.hpp @@ -75,7 +75,7 @@ class RelativeInformation : public logger::ILoggable { * @param [in] target_spacecraft_id: ID of target spacecraft * @param [in] reference_spacecraft_id: ID of reference spacecraft */ - inline s2e::math::Quaternion GetRelativeAttitudeQuaternion(const size_t target_spacecraft_id, const size_t reference_spacecraft_id) const { + inline math::Quaternion GetRelativeAttitudeQuaternion(const size_t target_spacecraft_id, const size_t reference_spacecraft_id) const { return relative_attitude_quaternion_list_[target_spacecraft_id][reference_spacecraft_id]; } /** @@ -84,7 +84,7 @@ class RelativeInformation : public logger::ILoggable { * @param [in] target_spacecraft_id: ID of target spacecraft * @param [in] reference_spacecraft_id: ID of reference spacecraft */ - inline s2e::math::Vector<3> GetRelativePosition_i_m(const size_t target_spacecraft_id, const size_t reference_spacecraft_id) const { + inline math::Vector<3> GetRelativePosition_i_m(const size_t target_spacecraft_id, const size_t reference_spacecraft_id) const { return relative_position_list_i_m_[target_spacecraft_id][reference_spacecraft_id]; } /** @@ -93,7 +93,7 @@ class RelativeInformation : public logger::ILoggable { * @param [in] target_spacecraft_id: ID of target spacecraft * @param [in] reference_spacecraft_id: ID of reference spacecraft */ - inline s2e::math::Vector<3> GetRelativeVelocity_i_m_s(const size_t target_spacecraft_id, const size_t reference_spacecraft_id) const { + inline math::Vector<3> GetRelativeVelocity_i_m_s(const size_t target_spacecraft_id, const size_t reference_spacecraft_id) const { return relative_velocity_list_i_m_s_[target_spacecraft_id][reference_spacecraft_id]; } /** @@ -111,7 +111,7 @@ class RelativeInformation : public logger::ILoggable { * @param [in] target_spacecraft_id: ID of target spacecraft * @param [in] reference_spacecraft_id: ID of reference spacecraft */ - inline s2e::math::Vector<3> GetRelativePosition_rtn_m(const size_t target_spacecraft_id, const size_t reference_spacecraft_id) const { + inline math::Vector<3> GetRelativePosition_rtn_m(const size_t target_spacecraft_id, const size_t reference_spacecraft_id) const { return relative_position_list_rtn_m_[target_spacecraft_id][reference_spacecraft_id]; } /** @@ -120,7 +120,7 @@ class RelativeInformation : public logger::ILoggable { * @param [in] target_spacecraft_id: ID of target spacecraft * @param [in] reference_spacecraft_id: ID of reference spacecraft */ - inline s2e::math::Vector<3> GetRelativeVelocity_rtn_m_s(const size_t target_spacecraft_id, const size_t reference_spacecraft_id) const { + inline math::Vector<3> GetRelativeVelocity_rtn_m_s(const size_t target_spacecraft_id, const size_t reference_spacecraft_id) const { return relative_velocity_list_rtn_m_s_[target_spacecraft_id][reference_spacecraft_id]; } @@ -136,12 +136,12 @@ class RelativeInformation : public logger::ILoggable { private: std::map dynamics_database_; //!< Dynamics database of all spacecraft - std::vector>> relative_position_list_i_m_; //!< Relative position list in the inertial frame in unit [m] - std::vector>> relative_velocity_list_i_m_s_; //!< Relative velocity list in the inertial frame in unit [m/s] - std::vector>> relative_position_list_rtn_m_; //!< Relative position list in the RTN frame in unit [m] - std::vector>> relative_velocity_list_rtn_m_s_; //!< Relative velocity list in the RTN frame in unit [m/s] + std::vector>> relative_position_list_i_m_; //!< Relative position list in the inertial frame in unit [m] + std::vector>> relative_velocity_list_i_m_s_; //!< Relative velocity list in the inertial frame in unit [m/s] + std::vector>> relative_position_list_rtn_m_; //!< Relative position list in the RTN frame in unit [m] + std::vector>> relative_velocity_list_rtn_m_s_; //!< Relative velocity list in the RTN frame in unit [m/s] std::vector> relative_distance_list_m_; //!< Relative distance list in unit [m] - std::vector> relative_attitude_quaternion_list_; //!< Relative attitude quaternion list + std::vector> relative_attitude_quaternion_list_; //!< Relative attitude quaternion list /** * @fn CalcRelativeAttitudeQuaternion @@ -149,21 +149,21 @@ class RelativeInformation : public logger::ILoggable { * @param [in] target_spacecraft_id: ID of the spacecraft * @param [in] reference_spacecraft_id: ID of reference spacecraft */ - s2e::math::Quaternion CalcRelativeAttitudeQuaternion(const size_t target_spacecraft_id, const size_t reference_spacecraft_id); + math::Quaternion CalcRelativeAttitudeQuaternion(const size_t target_spacecraft_id, const size_t reference_spacecraft_id); /** * @fn CalcRelativePosition_rtn_m * @brief Calculate and return the relative position in RTN frame * @param [in] target_spacecraft_id: ID of the spacecraft * @param [in] reference_spacecraft_id: ID of reference spacecraft */ - s2e::math::Vector<3> CalcRelativePosition_rtn_m(const size_t target_spacecraft_id, const size_t reference_spacecraft_id); + math::Vector<3> CalcRelativePosition_rtn_m(const size_t target_spacecraft_id, const size_t reference_spacecraft_id); /** * @fn CalcRelativeVelocity_rtn_m_s * @brief Calculate and return the relative velocity in RTN frame * @param [in] target_spacecraft_id: ID of the spacecraft * @param [in] reference_spacecraft_id: ID of reference spacecraft */ - s2e::math::Vector<3> CalcRelativeVelocity_rtn_m_s(const size_t target_spacecraft_id, const size_t reference_spacecraft_id); + math::Vector<3> CalcRelativeVelocity_rtn_m_s(const size_t target_spacecraft_id, const size_t reference_spacecraft_id); /** * @fn ResizeLists diff --git a/src/simulation/spacecraft/installed_components.cpp b/src/simulation/spacecraft/installed_components.cpp index ebee0e571..db5899965 100644 --- a/src/simulation/spacecraft/installed_components.cpp +++ b/src/simulation/spacecraft/installed_components.cpp @@ -9,13 +9,13 @@ namespace s2e::simulation { -s2e::math::Vector<3> InstalledComponents::GenerateForce_b_N() { - s2e::math::Vector<3> force_b_N_(0.0); +math::Vector<3> InstalledComponents::GenerateForce_b_N() { + math::Vector<3> force_b_N_(0.0); return force_b_N_; } -s2e::math::Vector<3> InstalledComponents::GenerateTorque_b_Nm() { - s2e::math::Vector<3> torque_b_Nm_(0.0); +math::Vector<3> InstalledComponents::GenerateTorque_b_Nm() { + math::Vector<3> torque_b_Nm_(0.0); return torque_b_Nm_; } diff --git a/src/simulation/spacecraft/installed_components.hpp b/src/simulation/spacecraft/installed_components.hpp index f357daca3..d0a731355 100644 --- a/src/simulation/spacecraft/installed_components.hpp +++ b/src/simulation/spacecraft/installed_components.hpp @@ -28,14 +28,14 @@ class InstalledComponents { * @brief Return force generated by components in unit Newton in body fixed frame * @details Users need to override this function to add force generated by components */ - virtual s2e::math::Vector<3> GenerateForce_b_N(); + virtual math::Vector<3> GenerateForce_b_N(); /** * @fn GenerateTorque_b_Nm * @brief Return torque generated by components in unit Newton-meter in body fixed frame * @details Users need to override this function to add torque generated by components */ - virtual s2e::math::Vector<3> GenerateTorque_b_Nm(); + virtual math::Vector<3> GenerateTorque_b_Nm(); /** * @fn ComponentInterference diff --git a/src/simulation/spacecraft/structure/initialize_structure.cpp b/src/simulation/spacecraft/structure/initialize_structure.cpp index 5eaa7c863..b52091e23 100644 --- a/src/simulation/spacecraft/structure/initialize_structure.cpp +++ b/src/simulation/spacecraft/structure/initialize_structure.cpp @@ -15,11 +15,11 @@ KinematicsParameters InitKinematicsParameters(std::string file_name) { auto conf = setting_file_reader::IniAccess(file_name); const char* section = "KINEMATIC_PARAMETERS"; - s2e::math::Vector<3> center_of_gravity_b_m; + math::Vector<3> center_of_gravity_b_m; conf.ReadVector(section, "center_of_gravity_b_m", center_of_gravity_b_m); double mass_kg = conf.ReadDouble(section, "mass_kg"); - s2e::math::Vector<9> inertia_vec; - s2e::math::Matrix<3, 3> inertia_tensor_b_kgm2; + math::Vector<9> inertia_vec; + math::Matrix<3, 3> inertia_tensor_b_kgm2; conf.ReadVector(section, "inertia_tensor_kgm2", inertia_vec); for (int i = 0; i < 3; i++) { for (int j = 0; j < 3; j++) { @@ -112,7 +112,7 @@ ResidualMagneticMoment InitResidualMagneticMoment(std::string file_name) { auto conf = setting_file_reader::IniAccess(file_name); const char* section = "RESIDUAL_MAGNETIC_MOMENT"; - s2e::math::Vector<3> rmm_const_b; + math::Vector<3> rmm_const_b; conf.ReadVector(section, "rmm_constant_b_Am2", rmm_const_b); double rmm_rwdev = conf.ReadDouble(section, "rmm_random_walk_speed_Am2"); double random_walk_limit_Am2 = conf.ReadDouble(section, "rmm_random_walk_limit_Am2"); diff --git a/src/simulation/spacecraft/structure/kinematics_parameters.cpp b/src/simulation/spacecraft/structure/kinematics_parameters.cpp index 9318c92e7..403487a3f 100644 --- a/src/simulation/spacecraft/structure/kinematics_parameters.cpp +++ b/src/simulation/spacecraft/structure/kinematics_parameters.cpp @@ -7,7 +7,7 @@ namespace s2e::simulation { -KinematicsParameters::KinematicsParameters(s2e::math::Vector<3> center_of_gravity_b_m, double mass_kg, s2e::math::Matrix<3, 3> inertia_tensor_b_kgm2) +KinematicsParameters::KinematicsParameters(math::Vector<3> center_of_gravity_b_m, double mass_kg, math::Matrix<3, 3> inertia_tensor_b_kgm2) : center_of_gravity_b_m_(center_of_gravity_b_m), mass_kg_(mass_kg), inertia_tensor_b_kgm2_(inertia_tensor_b_kgm2) {} } // namespace s2e::simulation diff --git a/src/simulation/spacecraft/structure/kinematics_parameters.hpp b/src/simulation/spacecraft/structure/kinematics_parameters.hpp index c7d3db504..2a1805dc3 100644 --- a/src/simulation/spacecraft/structure/kinematics_parameters.hpp +++ b/src/simulation/spacecraft/structure/kinematics_parameters.hpp @@ -21,7 +21,7 @@ class KinematicsParameters { * @fn KinematicsParameters * @brief Constructor */ - KinematicsParameters(s2e::math::Vector<3> center_of_gravity_b_m, double mass_kg, s2e::math::Matrix<3, 3> inertia_tensor_b_kgm2); + KinematicsParameters(math::Vector<3> center_of_gravity_b_m, double mass_kg, math::Matrix<3, 3> inertia_tensor_b_kgm2); /** * @fn ~KinematicsParameters * @brief Destructor @@ -33,7 +33,7 @@ class KinematicsParameters { * @fn GetCenterOfGravity_b_m * @brief Return Position vector of center of gravity at body frame [m] */ - inline const s2e::math::Vector<3>& GetCenterOfGravity_b_m() const { return center_of_gravity_b_m_; } + inline const math::Vector<3>& GetCenterOfGravity_b_m() const { return center_of_gravity_b_m_; } /** * @fn GetMass_kg * @brief Return Mass of the satellite [kg] @@ -43,7 +43,7 @@ class KinematicsParameters { * @fn GetInertiaTensor_b_kgm2 * @brief Return Inertia tensor at body frame [kgm2] */ - inline const s2e::math::Matrix<3, 3>& GetInertiaTensor_b_kgm2() const { return inertia_tensor_b_kgm2_; } + inline const math::Matrix<3, 3>& GetInertiaTensor_b_kgm2() const { return inertia_tensor_b_kgm2_; } // Setter /** @@ -51,7 +51,7 @@ class KinematicsParameters { * @brief Set center of gravity vector at the body frame [m] * @param [in] center_of_gravity_vector_b_m: Center of gravity vector at the body frame [m] */ - inline void SetCenterOfGravityVector_b_m(const s2e::math::Vector<3> center_of_gravity_vector_b_m) { + inline void SetCenterOfGravityVector_b_m(const math::Vector<3> center_of_gravity_vector_b_m) { center_of_gravity_b_m_ = center_of_gravity_vector_b_m; } /** @@ -77,15 +77,15 @@ class KinematicsParameters { * @brief Inertia tensor at body frame * @param [in] inertia_tensor_b_kgm2: Inertia tensor at body frame [kgm2] */ - inline void SetInertiaTensor_b_kgm2(const s2e::math::Matrix<3, 3> inertia_tensor_b_kgm2) { + inline void SetInertiaTensor_b_kgm2(const math::Matrix<3, 3> inertia_tensor_b_kgm2) { // TODO add assertion check inertia_tensor_b_kgm2_ = inertia_tensor_b_kgm2; } private: - s2e::math::Vector<3> center_of_gravity_b_m_; //!< Position vector of center of gravity at body frame [m] + math::Vector<3> center_of_gravity_b_m_; //!< Position vector of center of gravity at body frame [m] double mass_kg_; //!< Mass of the satellite [kg] - s2e::math::Matrix<3, 3> inertia_tensor_b_kgm2_; //!< Inertia tensor at body frame [kgm2] + math::Matrix<3, 3> inertia_tensor_b_kgm2_; //!< Inertia tensor at body frame [kgm2] }; } // namespace s2e::simulation diff --git a/src/simulation/spacecraft/structure/residual_magnetic_moment.cpp b/src/simulation/spacecraft/structure/residual_magnetic_moment.cpp index f88ef8b39..0f8fc1377 100644 --- a/src/simulation/spacecraft/structure/residual_magnetic_moment.cpp +++ b/src/simulation/spacecraft/structure/residual_magnetic_moment.cpp @@ -7,7 +7,7 @@ namespace s2e::simulation { -ResidualMagneticMoment::ResidualMagneticMoment(const Vector<3> constant_value_b_Am2_, const double random_walk_standard_deviation_Am2, +ResidualMagneticMoment::ResidualMagneticMoment(const math::Vector<3> constant_value_b_Am2_, const double random_walk_standard_deviation_Am2, const double random_walk_limit_Am2, const double random_noise_standard_deviation_Am2) : constant_value_b_Am2_(constant_value_b_Am2_), random_walk_standard_deviation_Am2_(random_walk_standard_deviation_Am2), diff --git a/src/simulation/spacecraft/structure/residual_magnetic_moment.hpp b/src/simulation/spacecraft/structure/residual_magnetic_moment.hpp index b66d7c90d..138e8ddf0 100644 --- a/src/simulation/spacecraft/structure/residual_magnetic_moment.hpp +++ b/src/simulation/spacecraft/structure/residual_magnetic_moment.hpp @@ -20,7 +20,7 @@ class ResidualMagneticMoment { * @fn ResidualMagneticMoment * @brief Constructor */ - ResidualMagneticMoment(const Vector<3> constant_value_b_Am2_, const double random_walk_standard_deviation_Am2, const double random_walk_limit_Am2, + ResidualMagneticMoment(const math::Vector<3> constant_value_b_Am2_, const double random_walk_standard_deviation_Am2, const double random_walk_limit_Am2, const double random_noise_standard_deviation_Am2); /** * @fn ~ResidualMagneticMoment @@ -33,7 +33,7 @@ class ResidualMagneticMoment { * @fn GetConstantValue_b_Am2 * @brief Return Constant value of RMM at body frame [Am2] */ - inline const Vector<3>& GetConstantValue_b_Am2(void) const { return constant_value_b_Am2_; } + inline const math::Vector<3>& GetConstantValue_b_Am2(void) const { return constant_value_b_Am2_; } /** * @fn GetRandomWalkStandardDeviation_Am2 * @brief Return Random walk standard deviation of RMM [Am2] diff --git a/src/simulation/spacecraft/structure/surface.cpp b/src/simulation/spacecraft/structure/surface.cpp index 9c6c1326c..6ea2356b0 100644 --- a/src/simulation/spacecraft/structure/surface.cpp +++ b/src/simulation/spacecraft/structure/surface.cpp @@ -7,7 +7,7 @@ namespace s2e::simulation { -Surface::Surface(const s2e::math::Vector<3> position_b_m, const s2e::math::Vector<3> normal_b, const double area_m2, const double reflectivity, +Surface::Surface(const math::Vector<3> position_b_m, const math::Vector<3> normal_b, const double area_m2, const double reflectivity, const double specularity, const double air_specularity) : position_b_m_(position_b_m), normal_b_(normal_b), diff --git a/src/simulation/spacecraft/structure/surface.hpp b/src/simulation/spacecraft/structure/surface.hpp index 01367ee95..5f9007fe4 100644 --- a/src/simulation/spacecraft/structure/surface.hpp +++ b/src/simulation/spacecraft/structure/surface.hpp @@ -20,7 +20,7 @@ class Surface { * @fn Surface * @brief Constructor */ - Surface(const s2e::math::Vector<3> position_b_m, const s2e::math::Vector<3> normal_b, const double area_m2, const double reflectivity, + Surface(const math::Vector<3> position_b_m, const math::Vector<3> normal_b, const double area_m2, const double reflectivity, const double specularity, const double air_specularity); /** * @fn ~Surface @@ -33,12 +33,12 @@ class Surface { * @fn GetPosition_b_m * @brief Return position vector of geometric center of the surface in body frame and meter unit */ - inline const s2e::math::Vector<3>& GetPosition_b_m(void) const { return position_b_m_; } + inline const math::Vector<3>& GetPosition_b_m(void) const { return position_b_m_; } /** * @fn GetNormal_b * @brief Return normal vector of the surface in body frame */ - inline const s2e::math::Vector<3>& GetNormal_b(void) const { return normal_b_; } + inline const math::Vector<3>& GetNormal_b(void) const { return normal_b_; } /** * @fn GetArea_m2 * @brief Return area of the surface in meter^2 unit @@ -66,13 +66,13 @@ class Surface { * @brief Set position vector of geometric center of the surface in body frame [m] * @param[in] position_b_m: Position vector of geometric center of the surface in body frame [m] */ - inline void SetPosition_b_m(const s2e::math::Vector<3> position_b_m) { position_b_m_ = position_b_m; } + inline void SetPosition_b_m(const math::Vector<3> position_b_m) { position_b_m_ = position_b_m; } /** * @fn SetNormal * @brief Set normal vector of the surface in body frame * @param[in] normal_b: Normal vector of the surface in body frame */ - inline void SetNormal_b(const s2e::math::Vector<3> normal_b) { normal_b_ = normal_b.CalcNormalizedVector(); } + inline void SetNormal_b(const math::Vector<3> normal_b) { normal_b_ = normal_b.CalcNormalizedVector(); } /** * @fn SetArea_m2 * @brief Set area of the surface @@ -107,8 +107,8 @@ class Surface { } private: - s2e::math::Vector<3> position_b_m_; //!< Position vector of the surface @ Body Frame [m] - s2e::math::Vector<3> normal_b_; //!< Normal unit vector of the surface @ Body Frame [-] + math::Vector<3> position_b_m_; //!< Position vector of the surface @ Body Frame [m] + math::Vector<3> normal_b_; //!< Normal unit vector of the surface @ Body Frame [-] double area_m2_; //!< Area of the surface [m2] double reflectivity_; //!< Total reflectivity for solar wavelength (1.0 - solar absorption) double specularity_; //!< Ratio of specular reflection in the total reflected light diff --git a/src/simulation_sample/spacecraft/sample_components.cpp b/src/simulation_sample/spacecraft/sample_components.cpp index 0a61fea77..4a9d9e852 100644 --- a/src/simulation_sample/spacecraft/sample_components.cpp +++ b/src/simulation_sample/spacecraft/sample_components.cpp @@ -145,21 +145,21 @@ SampleComponents::SampleComponents(const dynamics::dynamics::Dynamics* dynamics, /**************/ // actuator debug output - // s2e::math::Vector mag_moment_c{0.01}; + // math::Vector mag_moment_c{0.01}; // magnetorquer_->SetOutputMagneticMoment_c_Am2(mag_moment_c); // reaction_wheel_->SetTargetTorque_rw_Nm(0.01); // reaction_wheel_->SetDriveFlag(true); // thruster_->SetDuty(0.9); // force generator debug output - // s2e::math::Vector<3> force_N; + // math::Vector<3> force_N; // force_N[0] = 1.0; // force_N[1] = 0.0; // force_N[2] = 0.0; // force_generator_->SetForce_b_N(force_N); // torque generator debug output - // s2e::math::Vector<3> torque_Nm; + // math::Vector<3> torque_Nm; // torque_Nm[0] = 0.1; // torque_Nm[1] = 0.0; // torque_Nm[2] = 0.0; From 3d87e0371b9ed642953d3e644da42f57248f1207 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Sat, 28 Sep 2024 22:30:26 +0900 Subject: [PATCH 439/456] Fix format --- src/components/base/component.cpp | 5 ++-- src/components/base/component.hpp | 8 ++--- .../base/gpio_connection_with_obc.cpp | 2 +- .../base/gpio_connection_with_obc.hpp | 2 +- src/components/base/i2c_controller.cpp | 3 +- .../i2c_target_communication_with_obc.hpp | 2 +- .../base/interface_gpio_component.hpp | 2 +- src/components/base/sensor.hpp | 8 ++--- .../base/uart_communication_with_obc.cpp | 3 +- .../base/uart_communication_with_obc.hpp | 2 +- .../example_i2c_controller_for_hils.cpp | 7 +++-- .../example_i2c_controller_for_hils.hpp | 5 ++-- .../example_serial_communication_for_hils.cpp | 7 +++-- .../example_serial_communication_for_hils.hpp | 5 ++-- .../ideal/angular_velocity_observer.cpp | 7 +++-- .../ideal/angular_velocity_observer.hpp | 9 +++--- src/components/ideal/attitude_observer.cpp | 3 +- src/components/ideal/attitude_observer.hpp | 6 ++-- src/components/ideal/force_generator.cpp | 3 +- src/components/ideal/force_generator.hpp | 9 +++--- src/components/ideal/orbit_observer.hpp | 8 ++--- src/components/ideal/torque_generator.cpp | 8 +++-- src/components/ideal/torque_generator.hpp | 9 +++--- src/components/ports/i2c_port.cpp | 2 +- src/components/ports/power_port.cpp | 2 +- src/components/ports/uart_port.cpp | 2 +- src/components/ports/uart_port.hpp | 2 +- src/components/real/aocs/gnss_receiver.cpp | 29 +++++++++++-------- src/components/real/aocs/gnss_receiver.hpp | 21 +++++++------- src/components/real/aocs/gyro_sensor.cpp | 6 ++-- src/components/real/aocs/gyro_sensor.hpp | 6 ++-- src/components/real/aocs/magnetometer.cpp | 6 ++-- src/components/real/aocs/magnetometer.hpp | 6 ++-- src/components/real/aocs/magnetorquer.cpp | 10 +++---- src/components/real/aocs/magnetorquer.hpp | 10 +++---- .../aocs/mtq_magnetometer_interference.cpp | 2 +- .../aocs/mtq_magnetometer_interference.hpp | 2 +- src/components/real/aocs/reaction_wheel.cpp | 2 +- src/components/real/aocs/reaction_wheel.hpp | 14 ++++----- .../real/aocs/reaction_wheel_jitter.cpp | 2 +- .../real/aocs/reaction_wheel_jitter.hpp | 2 +- .../real/aocs/reaction_wheel_ode.cpp | 2 +- .../real/aocs/reaction_wheel_ode.hpp | 2 +- src/components/real/aocs/star_sensor.cpp | 17 ++++++----- src/components/real/aocs/star_sensor.hpp | 4 +-- src/components/real/aocs/sun_sensor.cpp | 10 +++---- src/components/real/aocs/sun_sensor.hpp | 6 ++-- src/components/real/cdh/c2a_communication.hpp | 2 +- src/components/real/cdh/on_board_computer.cpp | 2 +- src/components/real/cdh/on_board_computer.hpp | 2 +- .../real/cdh/on_board_computer_with_c2a.cpp | 2 +- .../real/cdh/on_board_computer_with_c2a.hpp | 2 +- src/components/real/communication/antenna.cpp | 2 +- src/components/real/communication/antenna.hpp | 2 +- .../antenna_radiation_pattern.cpp | 2 +- .../antenna_radiation_pattern.hpp | 2 +- .../ground_station_calculator.cpp | 10 +++---- .../ground_station_calculator.hpp | 2 +- .../wings_command_sender_to_c2a.cpp | 2 +- .../wings_command_sender_to_c2a.hpp | 6 ++-- src/components/real/mission/telescope.cpp | 11 +++---- src/components/real/mission/telescope.hpp | 10 +++---- src/components/real/power/battery.cpp | 8 ++--- src/components/real/power/battery.hpp | 2 +- .../real/power/csv_scenario_interface.cpp | 2 +- .../real/power/csv_scenario_interface.hpp | 2 +- .../real/power/pcu_initial_study.cpp | 6 ++-- .../real/power/pcu_initial_study.hpp | 2 +- .../real/power/power_control_unit.cpp | 2 +- .../real/power/power_control_unit.hpp | 2 +- .../real/power/solar_array_panel.cpp | 19 ++++++------ .../real/power/solar_array_panel.hpp | 2 +- .../real/propulsion/simple_thruster.cpp | 6 ++-- .../real/propulsion/simple_thruster.hpp | 26 ++++++++--------- src/disturbances/air_drag.cpp | 2 +- src/disturbances/air_drag.hpp | 2 +- src/disturbances/disturbance.hpp | 2 +- src/disturbances/disturbances.cpp | 2 +- src/disturbances/disturbances.hpp | 2 +- src/disturbances/geopotential.cpp | 2 +- src/disturbances/geopotential.hpp | 2 +- src/disturbances/gravity_gradient.cpp | 2 +- src/disturbances/gravity_gradient.hpp | 2 +- src/disturbances/lunar_gravity_field.cpp | 2 +- src/disturbances/lunar_gravity_field.hpp | 2 +- src/disturbances/magnetic_disturbance.cpp | 4 +-- src/disturbances/magnetic_disturbance.hpp | 2 +- .../solar_radiation_pressure_disturbance.cpp | 2 +- .../solar_radiation_pressure_disturbance.hpp | 2 +- src/disturbances/surface_force.cpp | 2 +- src/disturbances/surface_force.hpp | 2 +- src/disturbances/third_body_gravity.cpp | 2 +- src/disturbances/third_body_gravity.hpp | 2 +- src/dynamics/attitude/attitude.cpp | 2 +- src/dynamics/attitude/attitude.hpp | 2 +- src/dynamics/attitude/attitude_rk4.cpp | 2 +- src/dynamics/attitude/attitude_rk4.hpp | 2 +- .../attitude_with_cantilever_vibration.cpp | 2 +- .../attitude_with_cantilever_vibration.hpp | 2 +- src/dynamics/attitude/controlled_attitude.cpp | 2 +- src/dynamics/attitude/controlled_attitude.hpp | 8 ++--- src/dynamics/attitude/initialize_attitude.cpp | 2 +- src/dynamics/attitude/initialize_attitude.hpp | 2 +- ...ode_attitude_with_cantilever_vibration.hpp | 2 +- src/dynamics/dynamics.cpp | 7 +++-- src/dynamics/dynamics.hpp | 24 ++++++++------- .../orbit/encke_orbit_propagation.cpp | 2 +- .../orbit/encke_orbit_propagation.hpp | 6 ++-- src/dynamics/orbit/initialize_orbit.cpp | 5 ++-- src/dynamics/orbit/initialize_orbit.hpp | 6 ++-- .../orbit/kepler_orbit_propagation.cpp | 2 +- .../orbit/kepler_orbit_propagation.hpp | 2 +- src/dynamics/orbit/orbit.cpp | 2 +- src/dynamics/orbit/orbit.hpp | 6 ++-- src/dynamics/orbit/relative_orbit.cpp | 2 +- src/dynamics/orbit/relative_orbit.hpp | 12 ++++---- src/dynamics/orbit/rk4_orbit_propagation.cpp | 2 +- src/dynamics/orbit/rk4_orbit_propagation.hpp | 2 +- src/dynamics/orbit/sgp4_orbit_propagation.cpp | 2 +- src/dynamics/orbit/sgp4_orbit_propagation.hpp | 2 +- src/dynamics/thermal/heater.cpp | 2 +- src/dynamics/thermal/heater.hpp | 2 +- src/dynamics/thermal/heater_controller.cpp | 2 +- src/dynamics/thermal/heater_controller.hpp | 2 +- src/dynamics/thermal/heatload.cpp | 2 +- src/dynamics/thermal/heatload.hpp | 2 +- src/dynamics/thermal/node.cpp | 2 +- src/dynamics/thermal/node.hpp | 3 +- src/dynamics/thermal/temperature.cpp | 2 +- src/dynamics/thermal/temperature.hpp | 17 ++++++----- .../global/celestial_information.cpp | 2 +- .../global/celestial_information.hpp | 2 +- src/environment/global/clock_generator.cpp | 2 +- src/environment/global/clock_generator.hpp | 4 +-- src/environment/global/earth_rotation.cpp | 2 +- src/environment/global/earth_rotation.hpp | 2 +- src/environment/global/global_environment.cpp | 2 +- src/environment/global/global_environment.hpp | 2 +- src/environment/global/gnss_satellites.cpp | 8 ++--- src/environment/global/gnss_satellites.hpp | 19 ++++++------ .../global/hipparcos_catalogue.cpp | 2 +- .../global/hipparcos_catalogue.hpp | 2 +- src/environment/global/moon_rotation.cpp | 2 +- src/environment/global/moon_rotation.hpp | 2 +- src/environment/global/simulation_time.cpp | 2 +- src/environment/global/simulation_time.hpp | 2 +- src/environment/local/atmosphere.cpp | 2 +- src/environment/local/atmosphere.hpp | 6 ++-- src/environment/local/earth_albedo.cpp | 2 +- src/environment/local/earth_albedo.hpp | 2 +- src/environment/local/geomagnetic_field.cpp | 4 +-- src/environment/local/geomagnetic_field.hpp | 2 +- .../local/local_celestial_information.cpp | 2 +- .../local/local_celestial_information.hpp | 2 +- src/environment/local/local_environment.cpp | 4 +-- src/environment/local/local_environment.hpp | 10 +++---- .../solar_radiation_pressure_environment.cpp | 2 +- .../solar_radiation_pressure_environment.hpp | 2 +- src/logger/initialize_log.cpp | 2 +- src/logger/initialize_log.hpp | 2 +- src/logger/log_utility.hpp | 2 +- src/logger/loggable.hpp | 2 +- src/logger/logger.cpp | 2 +- src/logger/logger.hpp | 2 +- .../atmosphere/wrapper_nrlmsise00.cpp | 4 +++ .../atmosphere/wrapper_nrlmsise00.hpp | 4 +++ src/math_physics/gnss/antex_file_reader.hpp | 4 +-- src/math_physics/gnss/sp3_file_reader.hpp | 16 +++++----- .../numerical_integrator.hpp | 2 +- .../numerical_integration/runge_kutta.hpp | 2 +- .../test_runge_kutta.cpp | 4 +-- .../randomization/global_randomization.hpp | 4 +-- .../randomization/random_walk.hpp | 8 +++-- .../random_walk_template_functions.hpp | 4 +++ src/s2e.cpp | 2 +- .../c2a_command_database.cpp | 2 +- .../c2a_command_database.hpp | 2 +- .../initialize_file_access.cpp | 2 +- .../initialize_file_access.hpp | 2 +- .../wings_operation_file.cpp | 2 +- src/simulation/case/simulation_case.cpp | 2 +- src/simulation/case/simulation_case.hpp | 6 ++-- .../ground_station/ground_station.cpp | 2 +- .../ground_station/ground_station.hpp | 6 ++-- src/simulation/hils/hils_port_manager.cpp | 2 +- src/simulation/hils/hils_port_manager.hpp | 2 +- .../initialize_monte_carlo_parameters.cpp | 2 +- .../initialize_monte_carlo_parameters.hpp | 2 +- .../initialize_monte_carlo_simulation.cpp | 2 +- .../initialize_monte_carlo_simulation.hpp | 2 +- .../monte_carlo_simulation_executor.cpp | 2 +- .../monte_carlo_simulation_executor.hpp | 2 +- .../simulation_object.cpp | 2 +- .../simulation_object.hpp | 2 +- .../inter_spacecraft_communication.cpp | 2 +- .../inter_spacecraft_communication.hpp | 2 +- .../relative_information.cpp | 2 +- .../relative_information.hpp | 2 +- src/simulation/simulation_configuration.hpp | 4 +-- .../spacecraft/installed_components.cpp | 2 +- .../spacecraft/installed_components.hpp | 2 +- src/simulation/spacecraft/spacecraft.cpp | 10 +++---- src/simulation/spacecraft/spacecraft.hpp | 22 +++++++------- .../structure/initialize_structure.cpp | 2 +- .../structure/initialize_structure.hpp | 2 +- .../structure/kinematics_parameters.cpp | 2 +- .../structure/kinematics_parameters.hpp | 4 +-- .../structure/residual_magnetic_moment.cpp | 2 +- .../structure/residual_magnetic_moment.hpp | 10 +++---- .../spacecraft/structure/structure.cpp | 2 +- .../spacecraft/structure/structure.hpp | 2 +- .../spacecraft/structure/surface.cpp | 2 +- .../spacecraft/structure/surface.hpp | 4 +-- src/simulation_sample/case/sample_case.cpp | 2 +- src/simulation_sample/case/sample_case.hpp | 2 +- .../ground_station/sample_ground_station.cpp | 2 +- .../ground_station/sample_ground_station.hpp | 2 +- .../sample_ground_station_components.cpp | 2 +- .../sample_ground_station_components.hpp | 2 +- .../spacecraft/sample_components.cpp | 9 +++--- .../spacecraft/sample_components.hpp | 13 +++++---- .../spacecraft/sample_port_configuration.hpp | 2 +- .../spacecraft/sample_spacecraft.cpp | 6 ++-- .../spacecraft/sample_spacecraft.hpp | 2 +- src/utilities/com_port_interface.hpp | 2 +- src/utilities/endian.cpp | 2 +- src/utilities/endian.hpp | 2 +- src/utilities/macros.hpp | 2 +- src/utilities/quantization.hpp | 2 +- src/utilities/ring_buffer.cpp | 2 +- src/utilities/ring_buffer.hpp | 2 +- src/utilities/slip.cpp | 2 +- src/utilities/slip.hpp | 2 +- 233 files changed, 509 insertions(+), 458 deletions(-) diff --git a/src/components/base/component.cpp b/src/components/base/component.cpp index 65f9f88ae..469c4e981 100644 --- a/src/components/base/component.cpp +++ b/src/components/base/component.cpp @@ -15,7 +15,8 @@ Component::Component(const unsigned int prescaler, environment::ClockGenerator* fast_prescaler_ = (fast_prescaler > 0) ? fast_prescaler : 1; } -Component::Component(const unsigned int prescaler, environment::ClockGenerator* clock_generator, PowerPort* power_port, const unsigned int fast_prescaler) +Component::Component(const unsigned int prescaler, environment::ClockGenerator* clock_generator, PowerPort* power_port, + const unsigned int fast_prescaler) : clock_generator_(clock_generator), power_port_(power_port) { clock_generator_->RegisterComponent(this); prescaler_ = (prescaler > 0) ? prescaler : 1; @@ -51,4 +52,4 @@ void Component::FastTick(const unsigned int fast_count) { } } -} // namespace s2e::components +} // namespace s2e::components diff --git a/src/components/base/component.hpp b/src/components/base/component.hpp index 25c035415..2cfc64db5 100644 --- a/src/components/base/component.hpp +++ b/src/components/base/component.hpp @@ -78,18 +78,18 @@ class Component : public ITickable { * @brief Pure virtual function used to calculate high-frequency disturbances(e.g. RW jitter) * @note Override only when high-frequency disturbances need to be calculated. */ - virtual void FastUpdate(){}; + virtual void FastUpdate() {}; /** * @fn PowerOffRoutine * @brief Pure virtual function executed when the power switch is off. */ - virtual void PowerOffRoutine(){}; + virtual void PowerOffRoutine() {}; environment::ClockGenerator* clock_generator_; //!< Clock generator - PowerPort* power_port_; //!< Power port + PowerPort* power_port_; //!< Power port }; -} // namespace s2e::components +} // namespace s2e::components #endif // S2E_COMPONENTS_BASE_COMPONENT_HPP_ diff --git a/src/components/base/gpio_connection_with_obc.cpp b/src/components/base/gpio_connection_with_obc.cpp index 7b87659b0..ceae6170b 100644 --- a/src/components/base/gpio_connection_with_obc.cpp +++ b/src/components/base/gpio_connection_with_obc.cpp @@ -20,4 +20,4 @@ bool GpioConnectionWithObc::Read(const int index) { return obc_->GpioComponentRe void GpioConnectionWithObc::Write(const int index, const bool is_high) { obc_->GpioComponentWrite(port_id_[index], is_high); } -} // namespace s2e::components +} // namespace s2e::components diff --git a/src/components/base/gpio_connection_with_obc.hpp b/src/components/base/gpio_connection_with_obc.hpp index b066b1f38..752d36d5b 100644 --- a/src/components/base/gpio_connection_with_obc.hpp +++ b/src/components/base/gpio_connection_with_obc.hpp @@ -52,6 +52,6 @@ class GpioConnectionWithObc { OnBoardComputer* obc_; //!< The communication target OBC }; -} // namespace s2e::components +} // namespace s2e::components #endif // S2E_COMPONENTS_BASE_GPIO_CONNECTION_WITH_OBC_HPP_ diff --git a/src/components/base/i2c_controller.cpp b/src/components/base/i2c_controller.cpp index 400c88ae3..48a6850d7 100644 --- a/src/components/base/i2c_controller.cpp +++ b/src/components/base/i2c_controller.cpp @@ -7,7 +7,6 @@ #include #include - namespace s2e::components { I2cController::I2cController(const unsigned int hils_port_id, const unsigned int baud_rate, const unsigned int tx_buffer_size, @@ -52,4 +51,4 @@ int I2cController::SendCommand(const unsigned char length) { return hils_port_manager_->I2cControllerSend(hils_port_id_, &tx_buffer_.front(), 0, length); } -} // namespace s2e::components +} // namespace s2e::components diff --git a/src/components/base/i2c_target_communication_with_obc.hpp b/src/components/base/i2c_target_communication_with_obc.hpp index 61a1b3e34..5fa5bf279 100644 --- a/src/components/base/i2c_target_communication_with_obc.hpp +++ b/src/components/base/i2c_target_communication_with_obc.hpp @@ -119,7 +119,7 @@ class I2cTargetCommunicationWithObc { SimulationMode simulation_mode_ = SimulationMode::kError; //!< Simulation mode - OnBoardComputer* obc_; //!< Communication target OBC + OnBoardComputer* obc_; //!< Communication target OBC simulation::HilsPortManager* hils_port_manager_; //!< HILS port manager }; diff --git a/src/components/base/interface_gpio_component.hpp b/src/components/base/interface_gpio_component.hpp index 9df3db260..6a5d3bb75 100644 --- a/src/components/base/interface_gpio_component.hpp +++ b/src/components/base/interface_gpio_component.hpp @@ -18,7 +18,7 @@ class IGPIOCompo { * @fn ~IGPIOCompo * @brief Destructor */ - virtual ~IGPIOCompo(){}; + virtual ~IGPIOCompo() {}; /** * @fn GpioStateChanged diff --git a/src/components/base/sensor.hpp b/src/components/base/sensor.hpp index 1091be06b..351a1275d 100644 --- a/src/components/base/sensor.hpp +++ b/src/components/base/sensor.hpp @@ -54,11 +54,11 @@ class Sensor { math::Vector Measure(const math::Vector true_value_c); private: - math::Matrix scale_factor_; //!< Scale factor matrix - math::Vector range_to_const_c_; //!< Output range limit to be constant output value at the component frame - math::Vector range_to_zero_c_; //!< Output range limit to be zero output value at the component frame + math::Matrix scale_factor_; //!< Scale factor matrix + math::Vector range_to_const_c_; //!< Output range limit to be constant output value at the component frame + math::Vector range_to_zero_c_; //!< Output range limit to be zero output value at the component frame s2e::randomization::NormalRand normal_random_noise_c_[N]; //!< Normal random - RandomWalk random_walk_noise_c_; //!< Random Walk + RandomWalk random_walk_noise_c_; //!< Random Walk /** * @fn Clip diff --git a/src/components/base/uart_communication_with_obc.cpp b/src/components/base/uart_communication_with_obc.cpp index 075b67944..74a7f92e6 100644 --- a/src/components/base/uart_communication_with_obc.cpp +++ b/src/components/base/uart_communication_with_obc.cpp @@ -35,7 +35,8 @@ UartCommunicationWithObc::UartCommunicationWithObc(const unsigned int sils_port_ InitializeObcComBase(); } -UartCommunicationWithObc::UartCommunicationWithObc(const unsigned int hils_port_id, const unsigned int baud_rate, simulation::HilsPortManager* hils_port_manager) +UartCommunicationWithObc::UartCommunicationWithObc(const unsigned int hils_port_id, const unsigned int baud_rate, + simulation::HilsPortManager* hils_port_manager) : hils_port_id_(hils_port_id), baud_rate_(baud_rate), hils_port_manager_(hils_port_manager) { #ifdef USE_HILS simulation_mode_ = SimulationMode::kHils; diff --git a/src/components/base/uart_communication_with_obc.hpp b/src/components/base/uart_communication_with_obc.hpp index caad9f1c9..ec887a685 100644 --- a/src/components/base/uart_communication_with_obc.hpp +++ b/src/components/base/uart_communication_with_obc.hpp @@ -109,7 +109,7 @@ class UartCommunicationWithObc { SimulationMode simulation_mode_ = SimulationMode::kError; //!< Simulation mode - OnBoardComputer* obc_; //!< Communication target OBC + OnBoardComputer* obc_; //!< Communication target OBC simulation::HilsPortManager* hils_port_manager_; //!< HILS port manager /** diff --git a/src/components/examples/example_i2c_controller_for_hils.cpp b/src/components/examples/example_i2c_controller_for_hils.cpp index c67f5fe8e..892268768 100644 --- a/src/components/examples/example_i2c_controller_for_hils.cpp +++ b/src/components/examples/example_i2c_controller_for_hils.cpp @@ -6,9 +6,10 @@ namespace s2e::components { -ExampleI2cControllerForHils::ExampleI2cControllerForHils(const int prescaler, environment::ClockGenerator* clock_generator, const unsigned int hils_port_id, - const unsigned int baud_rate, const unsigned int tx_buffer_size, - const unsigned int rx_buffer_size, simulation::HilsPortManager* hils_port_manager) +ExampleI2cControllerForHils::ExampleI2cControllerForHils(const int prescaler, environment::ClockGenerator* clock_generator, + const unsigned int hils_port_id, const unsigned int baud_rate, + const unsigned int tx_buffer_size, const unsigned int rx_buffer_size, + simulation::HilsPortManager* hils_port_manager) : Component(prescaler, clock_generator), I2cController(hils_port_id, baud_rate, tx_buffer_size, rx_buffer_size, hils_port_manager) {} ExampleI2cControllerForHils::~ExampleI2cControllerForHils() {} diff --git a/src/components/examples/example_i2c_controller_for_hils.hpp b/src/components/examples/example_i2c_controller_for_hils.hpp index 84537cf6a..84254633f 100644 --- a/src/components/examples/example_i2c_controller_for_hils.hpp +++ b/src/components/examples/example_i2c_controller_for_hils.hpp @@ -33,8 +33,9 @@ class ExampleI2cControllerForHils : public Component, public I2cController { * @param [in] rx_buffer_size: RX (Target to Controller) buffer size * @param [in] hils_port_manager: HILS port manager */ - ExampleI2cControllerForHils(const int prescaler, environment::ClockGenerator* clock_generator, const unsigned int hils_port_id, const unsigned int baud_rate, - const unsigned int tx_buffer_size, const unsigned int rx_buffer_size, simulation::HilsPortManager* hils_port_manager); + ExampleI2cControllerForHils(const int prescaler, environment::ClockGenerator* clock_generator, const unsigned int hils_port_id, + const unsigned int baud_rate, const unsigned int tx_buffer_size, const unsigned int rx_buffer_size, + simulation::HilsPortManager* hils_port_manager); /** * @fn ~ExampleI2cControllerForHils * @brief Destructor diff --git a/src/components/examples/example_serial_communication_for_hils.cpp b/src/components/examples/example_serial_communication_for_hils.cpp index 3c84e0b2b..f39bc91fd 100644 --- a/src/components/examples/example_serial_communication_for_hils.cpp +++ b/src/components/examples/example_serial_communication_for_hils.cpp @@ -8,9 +8,10 @@ namespace s2e::components { -ExampleSerialCommunicationForHils::ExampleSerialCommunicationForHils(environment::ClockGenerator* clock_generator, const int sils_port_id, OnBoardComputer* obc, - const unsigned int hils_port_id, const unsigned int baud_rate, - simulation::HilsPortManager* hils_port_manager, const int mode_id) +ExampleSerialCommunicationForHils::ExampleSerialCommunicationForHils(environment::ClockGenerator* clock_generator, const int sils_port_id, + OnBoardComputer* obc, const unsigned int hils_port_id, + const unsigned int baud_rate, simulation::HilsPortManager* hils_port_manager, + const int mode_id) : Component(300, clock_generator), UartCommunicationWithObc(sils_port_id, obc, hils_port_id, baud_rate, hils_port_manager), mode_id_(mode_id) {} ExampleSerialCommunicationForHils::~ExampleSerialCommunicationForHils() {} diff --git a/src/components/examples/example_serial_communication_for_hils.hpp b/src/components/examples/example_serial_communication_for_hils.hpp index aeac14f2e..077c9fc30 100644 --- a/src/components/examples/example_serial_communication_for_hils.hpp +++ b/src/components/examples/example_serial_communication_for_hils.hpp @@ -36,8 +36,9 @@ class ExampleSerialCommunicationForHils : public Component, public UartCommunica * @param [in] hils_port_manager: HILS port manager * @param [in] mode_id: Mode ID to select sender(0) or responder(1) */ - ExampleSerialCommunicationForHils(environment::ClockGenerator* clock_generator, const int sils_port_id, OnBoardComputer* obc, const unsigned int hils_port_id, - const unsigned int baud_rate, simulation::HilsPortManager* hils_port_manager, const int mode_id); + ExampleSerialCommunicationForHils(environment::ClockGenerator* clock_generator, const int sils_port_id, OnBoardComputer* obc, + const unsigned int hils_port_id, const unsigned int baud_rate, simulation::HilsPortManager* hils_port_manager, + const int mode_id); /** * @fn ~ExampleSerialCommunicationForHils * @brief Destructor diff --git a/src/components/ideal/angular_velocity_observer.cpp b/src/components/ideal/angular_velocity_observer.cpp index 94a12c467..3b72b890b 100644 --- a/src/components/ideal/angular_velocity_observer.cpp +++ b/src/components/ideal/angular_velocity_observer.cpp @@ -9,7 +9,8 @@ namespace s2e::components { -AngularVelocityObserver::AngularVelocityObserver(const int prescaler, environment::ClockGenerator* clock_generator, Sensor& sensor_base, const dynamics::attitude::Attitude& attitude) +AngularVelocityObserver::AngularVelocityObserver(const int prescaler, environment::ClockGenerator* clock_generator, Sensor& sensor_base, + const dynamics::attitude::Attitude& attitude) : Component(prescaler, clock_generator), Sensor(sensor_base), attitude_(attitude) {} void AngularVelocityObserver::MainRoutine(const int time_count) { @@ -34,8 +35,8 @@ std::string AngularVelocityObserver::GetLogValue() const { return str_tmp; } -AngularVelocityObserver InitializeAngularVelocityObserver(environment::ClockGenerator* clock_generator, const std::string file_name, double component_step_time_s, - const dynamics::attitude::Attitude& attitude) { +AngularVelocityObserver InitializeAngularVelocityObserver(environment::ClockGenerator* clock_generator, const std::string file_name, + double component_step_time_s, const dynamics::attitude::Attitude& attitude) { setting_file_reader::IniAccess ini_file(file_name); int prescaler = ini_file.ReadInt("COMPONENT_BASE", "prescaler"); diff --git a/src/components/ideal/angular_velocity_observer.hpp b/src/components/ideal/angular_velocity_observer.hpp index a99c0cb13..5f8f10e22 100644 --- a/src/components/ideal/angular_velocity_observer.hpp +++ b/src/components/ideal/angular_velocity_observer.hpp @@ -28,7 +28,8 @@ class AngularVelocityObserver : public Component, public Sensor<3>, public logge * @param [in] sensor_base: Sensor base information * @param [in] dynamics: Dynamics information */ - AngularVelocityObserver(const int prescaler, environment::ClockGenerator* clock_generator, Sensor& sensor_base, const dynamics::attitude::Attitude& attitude); + AngularVelocityObserver(const int prescaler, environment::ClockGenerator* clock_generator, Sensor& sensor_base, + const dynamics::attitude::Attitude& attitude); /** * @fn ~AngularVelocityObserver * @brief Destructor @@ -63,7 +64,7 @@ class AngularVelocityObserver : public Component, public Sensor<3>, public logge protected: math::Vector<3> angular_velocity_b_rad_s_{0.0}; //!< Observed angular velocity [rad/s] - const dynamics::attitude::Attitude& attitude_; //!< Dynamics information + const dynamics::attitude::Attitude& attitude_; //!< Dynamics information }; /** @@ -74,8 +75,8 @@ class AngularVelocityObserver : public Component, public Sensor<3>, public logge * @param [in] component_step_time_s: Component step time [sec] * @param [in] dynamics: Dynamics information */ -AngularVelocityObserver InitializeAngularVelocityObserver(environment::ClockGenerator* clock_generator, const std::string file_name, double component_step_time_s, - const dynamics::attitude::Attitude& attitude); +AngularVelocityObserver InitializeAngularVelocityObserver(environment::ClockGenerator* clock_generator, const std::string file_name, + double component_step_time_s, const dynamics::attitude::Attitude& attitude); } // namespace s2e::components diff --git a/src/components/ideal/attitude_observer.cpp b/src/components/ideal/attitude_observer.cpp index 9d3a84165..a77c1b429 100644 --- a/src/components/ideal/attitude_observer.cpp +++ b/src/components/ideal/attitude_observer.cpp @@ -49,7 +49,8 @@ std::string AttitudeObserver::GetLogValue() const { return str_tmp; } -AttitudeObserver InitializeAttitudeObserver(environment::ClockGenerator* clock_generator, const std::string file_name, const dynamics::attitude::Attitude& attitude) { +AttitudeObserver InitializeAttitudeObserver(environment::ClockGenerator* clock_generator, const std::string file_name, + const dynamics::attitude::Attitude& attitude) { // General setting_file_reader::IniAccess ini_file(file_name); diff --git a/src/components/ideal/attitude_observer.hpp b/src/components/ideal/attitude_observer.hpp index 148b3aa4f..0dfd29fe7 100644 --- a/src/components/ideal/attitude_observer.hpp +++ b/src/components/ideal/attitude_observer.hpp @@ -28,7 +28,8 @@ class AttitudeObserver : public Component, public logger::ILoggable { * @param [in] clock_generator: Clock generator * @param [in] attitude: dynamics::attitude::Attitude information */ - AttitudeObserver(const int prescaler, environment::ClockGenerator* clock_generator, const double standard_deviation_rad, const dynamics::attitude::Attitude& attitude); + AttitudeObserver(const int prescaler, environment::ClockGenerator* clock_generator, const double standard_deviation_rad, + const dynamics::attitude::Attitude& attitude); /** * @fn ~AttitudeObserver @@ -77,7 +78,8 @@ class AttitudeObserver : public Component, public logger::ILoggable { * @param [in] file_name: Path to the initialize file * @param [in] attitude: dynamics::attitude::Attitude information */ -AttitudeObserver InitializeAttitudeObserver(environment::ClockGenerator* clock_generator, const std::string file_name, const dynamics::attitude::Attitude& attitude); +AttitudeObserver InitializeAttitudeObserver(environment::ClockGenerator* clock_generator, const std::string file_name, + const dynamics::attitude::Attitude& attitude); } // namespace s2e::components diff --git a/src/components/ideal/force_generator.cpp b/src/components/ideal/force_generator.cpp index 2bac42d3f..2104ad4b9 100644 --- a/src/components/ideal/force_generator.cpp +++ b/src/components/ideal/force_generator.cpp @@ -107,7 +107,8 @@ math::Quaternion ForceGenerator::GenerateDirectionNoiseQuaternion(math::Vector<3 return error_quaternion; } -ForceGenerator InitializeForceGenerator(environment::ClockGenerator* clock_generator, const std::string file_name, const dynamics::Dynamics* dynamics) { +ForceGenerator InitializeForceGenerator(environment::ClockGenerator* clock_generator, const std::string file_name, + const dynamics::Dynamics* dynamics) { // General setting_file_reader::IniAccess ini_file(file_name); diff --git a/src/components/ideal/force_generator.hpp b/src/components/ideal/force_generator.hpp index 61f94d4d9..b5d254414 100644 --- a/src/components/ideal/force_generator.hpp +++ b/src/components/ideal/force_generator.hpp @@ -102,9 +102,9 @@ class ForceGenerator : public Component, public logger::ILoggable { math::Vector<3> generated_force_rtn_N_{0.0}; //!< Generated force in the RTN frame [N] // Noise - s2e::randomization::NormalRand magnitude_noise_; //!< Normal random for magnitude noise - s2e::randomization::NormalRand direction_noise_; //!< Normal random for direction noise - double direction_error_standard_deviation_rad_; //!< Standard deviation of direction error [rad] + s2e::randomization::NormalRand magnitude_noise_; //!< Normal random for magnitude noise + s2e::randomization::NormalRand direction_noise_; //!< Normal random for direction noise + double direction_error_standard_deviation_rad_; //!< Standard deviation of direction error [rad] /** * @fn GenerateDirectionNoiseQuaternion @@ -124,7 +124,8 @@ class ForceGenerator : public Component, public logger::ILoggable { * @param [in] file_name: Path to initialize file * @param [in] dynamics: Dynamics information */ -ForceGenerator InitializeForceGenerator(environment::ClockGenerator* clock_generator, const std::string file_name, const dynamics::Dynamics* dynamics); +ForceGenerator InitializeForceGenerator(environment::ClockGenerator* clock_generator, const std::string file_name, + const dynamics::Dynamics* dynamics); } // namespace s2e::components diff --git a/src/components/ideal/orbit_observer.hpp b/src/components/ideal/orbit_observer.hpp index 953184fe4..6e56fdd59 100644 --- a/src/components/ideal/orbit_observer.hpp +++ b/src/components/ideal/orbit_observer.hpp @@ -39,8 +39,8 @@ class OrbitObserver : public Component, public logger::ILoggable { * @param [in] error_standard_deviation: Position and Velocity standard deviation noise [m, m/s] * @param [in] orbit: Orbit information */ - OrbitObserver(const int prescaler, environment::ClockGenerator* clock_generator, const NoiseFrame noise_frame, const math::Vector<6> error_standard_deviation, - const Orbit& orbit); + OrbitObserver(const int prescaler, environment::ClockGenerator* clock_generator, const NoiseFrame noise_frame, + const math::Vector<6> error_standard_deviation, const Orbit& orbit); /** * @fn ~AttitudeObserver @@ -83,7 +83,7 @@ class OrbitObserver : public Component, public logger::ILoggable { math::Vector<3> observed_position_i_m_{0.0}; //!< Observed position @ inertial frame [m] math::Vector<3> observed_velocity_i_m_s_{0.0}; //!< Observed velocity @ inertial frame [m/s] - NoiseFrame noise_frame_; //!< Noise definition frame + NoiseFrame noise_frame_; //!< Noise definition frame s2e::randomization::NormalRand normal_random_noise_[6]; //!< Position and Velocity noise [m, m/s] // Observed variables @@ -107,6 +107,6 @@ NoiseFrame SetNoiseFrame(const std::string noise_frame); */ OrbitObserver InitializeOrbitObserver(environment::ClockGenerator* clock_generator, const std::string file_name, const Orbit& orbit); -} // namespace s2e::components +} // namespace s2e::components #endif // S2E_COMPONENTS_IDEAL_ORBIT_OBSERVER_HPP_ diff --git a/src/components/ideal/torque_generator.cpp b/src/components/ideal/torque_generator.cpp index aef542808..c64478b6b 100644 --- a/src/components/ideal/torque_generator.cpp +++ b/src/components/ideal/torque_generator.cpp @@ -11,8 +11,9 @@ namespace s2e::components { // Constructor -TorqueGenerator::TorqueGenerator(const int prescaler, environment::ClockGenerator* clock_generator, const double magnitude_error_standard_deviation_Nm, - const double direction_error_standard_deviation_rad, const dynamics::Dynamics* dynamics) +TorqueGenerator::TorqueGenerator(const int prescaler, environment::ClockGenerator* clock_generator, + const double magnitude_error_standard_deviation_Nm, const double direction_error_standard_deviation_rad, + const dynamics::Dynamics* dynamics) : Component(prescaler, clock_generator), magnitude_noise_(0.0, magnitude_error_standard_deviation_Nm), direction_error_standard_deviation_rad_(direction_error_standard_deviation_rad), @@ -80,7 +81,8 @@ math::Quaternion TorqueGenerator::GenerateDirectionNoiseQuaternion(math::Vector< return error_quaternion; } -TorqueGenerator InitializeTorqueGenerator(environment::ClockGenerator* clock_generator, const std::string file_name, const dynamics::Dynamics* dynamics) { +TorqueGenerator InitializeTorqueGenerator(environment::ClockGenerator* clock_generator, const std::string file_name, + const dynamics::Dynamics* dynamics) { // General setting_file_reader::IniAccess ini_file(file_name); diff --git a/src/components/ideal/torque_generator.hpp b/src/components/ideal/torque_generator.hpp index 1c4965b11..b94a54919 100644 --- a/src/components/ideal/torque_generator.hpp +++ b/src/components/ideal/torque_generator.hpp @@ -80,9 +80,9 @@ class TorqueGenerator : public Component, public logger::ILoggable { math::Vector<3> generated_torque_b_Nm_{0.0}; //!< Generated torque in the body fixed frame [Nm] // Noise - s2e::randomization::NormalRand magnitude_noise_; //!< Normal random for magnitude noise - s2e::randomization::NormalRand direction_noise_; //!< Normal random for direction noise - double direction_error_standard_deviation_rad_; //!< Standard deviation of direction error [rad] + s2e::randomization::NormalRand magnitude_noise_; //!< Normal random for magnitude noise + s2e::randomization::NormalRand direction_noise_; //!< Normal random for direction noise + double direction_error_standard_deviation_rad_; //!< Standard deviation of direction error [rad] /** * @fn GenerateDirectionNoiseQuaternion @@ -102,7 +102,8 @@ class TorqueGenerator : public Component, public logger::ILoggable { * @param [in] file_name: Path to initialize file * @param [in] dynamics: Dynamics information */ -TorqueGenerator InitializeTorqueGenerator(environment::ClockGenerator* clock_generator, const std::string file_name, const dynamics::Dynamics* dynamics); +TorqueGenerator InitializeTorqueGenerator(environment::ClockGenerator* clock_generator, const std::string file_name, + const dynamics::Dynamics* dynamics); } // namespace s2e::components diff --git a/src/components/ports/i2c_port.cpp b/src/components/ports/i2c_port.cpp index 8b4e1cfa1..3e4578a28 100644 --- a/src/components/ports/i2c_port.cpp +++ b/src/components/ports/i2c_port.cpp @@ -96,4 +96,4 @@ unsigned char I2cPort::ReadCommand(const unsigned char i2c_address, unsigned cha return length; } -} // namespace s2e::components \ No newline at end of file +} // namespace s2e::components \ No newline at end of file diff --git a/src/components/ports/power_port.cpp b/src/components/ports/power_port.cpp index 3964bb674..5671b94e9 100644 --- a/src/components/ports/power_port.cpp +++ b/src/components/ports/power_port.cpp @@ -77,4 +77,4 @@ void PowerPort::InitializeWithInitializeFile(const std::string file_name) { this->SetAssumedPowerConsumption_W(assumed_power_consumption_W); } -} // namespace s2e::components +} // namespace s2e::components diff --git a/src/components/ports/uart_port.cpp b/src/components/ports/uart_port.cpp index a88f98699..6969b9361 100644 --- a/src/components/ports/uart_port.cpp +++ b/src/components/ports/uart_port.cpp @@ -39,4 +39,4 @@ int UartPort::ReadRx(unsigned char* buffer, const unsigned int offset, const uns return rx_buffer_->Read(buffer, offset, data_length); } -} // namespace s2e::components +} // namespace s2e::components diff --git a/src/components/ports/uart_port.hpp b/src/components/ports/uart_port.hpp index eb5e6683c..2d00a0101 100644 --- a/src/components/ports/uart_port.hpp +++ b/src/components/ports/uart_port.hpp @@ -80,6 +80,6 @@ class UartPort { RingBuffer* tx_buffer_; //!< Transmit buffer (OBC-> Component) }; -} // namespace s2e::components +} // namespace s2e::components #endif // S2E_COMPONENTS_PORTS_UART_PORT_HPP_ diff --git a/src/components/real/aocs/gnss_receiver.cpp b/src/components/real/aocs/gnss_receiver.cpp index 033a8db5b..e6b528f94 100644 --- a/src/components/real/aocs/gnss_receiver.cpp +++ b/src/components/real/aocs/gnss_receiver.cpp @@ -13,9 +13,9 @@ namespace s2e::components { -GnssReceiver::GnssReceiver(const int prescaler, environment::ClockGenerator* clock_generator, const size_t component_id, const AntennaModel antenna_model, - const math::Vector<3> antenna_position_b_m, const math::Quaternion quaternion_b2c, const double half_width_deg, - const math::Vector<3> position_noise_standard_deviation_ecef_m, +GnssReceiver::GnssReceiver(const int prescaler, environment::ClockGenerator* clock_generator, const size_t component_id, + const AntennaModel antenna_model, const math::Vector<3> antenna_position_b_m, const math::Quaternion quaternion_b2c, + const double half_width_deg, const math::Vector<3> position_noise_standard_deviation_ecef_m, const math::Vector<3> velocity_noise_standard_deviation_ecef_m_s, const dynamics::Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time) : Component(prescaler, clock_generator), @@ -28,8 +28,10 @@ GnssReceiver::GnssReceiver(const int prescaler, environment::ClockGenerator* clo gnss_satellites_(gnss_satellites), simulation_time_(simulation_time) { for (size_t i = 0; i < 3; i++) { - position_random_noise_ecef_m_[i].SetParameters(0.0, position_noise_standard_deviation_ecef_m[i], s2e::randomization::global_randomization.MakeSeed()); - velocity_random_noise_ecef_m_s_[i].SetParameters(0.0, velocity_noise_standard_deviation_ecef_m_s[i], s2e::randomization::global_randomization.MakeSeed()); + position_random_noise_ecef_m_[i].SetParameters(0.0, position_noise_standard_deviation_ecef_m[i], + s2e::randomization::global_randomization.MakeSeed()); + velocity_random_noise_ecef_m_s_[i].SetParameters(0.0, velocity_noise_standard_deviation_ecef_m_s[i], + s2e::randomization::global_randomization.MakeSeed()); } } @@ -48,8 +50,10 @@ GnssReceiver::GnssReceiver(const int prescaler, environment::ClockGenerator* clo gnss_satellites_(gnss_satellites), simulation_time_(simulation_time) { for (size_t i = 0; i < 3; i++) { - position_random_noise_ecef_m_[i].SetParameters(0.0, position_noise_standard_deviation_ecef_m[i], s2e::randomization::global_randomization.MakeSeed()); - velocity_random_noise_ecef_m_s_[i].SetParameters(0.0, velocity_noise_standard_deviation_ecef_m_s[i], s2e::randomization::global_randomization.MakeSeed()); + position_random_noise_ecef_m_[i].SetParameters(0.0, position_noise_standard_deviation_ecef_m[i], + s2e::randomization::global_randomization.MakeSeed()); + velocity_random_noise_ecef_m_s_[i].SetParameters(0.0, velocity_noise_standard_deviation_ecef_m_s[i], + s2e::randomization::global_randomization.MakeSeed()); } } @@ -291,8 +295,8 @@ GnssReceiverParam ReadGnssReceiverIni(const std::string file_name, const GnssSat return gnss_receiver_param; } -GnssReceiver InitGnssReceiver(environment::ClockGenerator* clock_generator, const size_t component_id, const std::string file_name, const dynamics::Dynamics* dynamics, - const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time) { +GnssReceiver InitGnssReceiver(environment::ClockGenerator* clock_generator, const size_t component_id, const std::string file_name, + const dynamics::Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time) { GnssReceiverParam gr_param = ReadGnssReceiverIni(file_name, gnss_satellites, component_id); GnssReceiver gnss_r(gr_param.prescaler, clock_generator, component_id, gr_param.antenna_model, gr_param.antenna_pos_b, gr_param.quaternion_b2c, @@ -301,8 +305,9 @@ GnssReceiver InitGnssReceiver(environment::ClockGenerator* clock_generator, cons return gnss_r; } -GnssReceiver InitGnssReceiver(environment::ClockGenerator* clock_generator, PowerPort* power_port, const size_t component_id, const std::string file_name, - const dynamics::Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time) { +GnssReceiver InitGnssReceiver(environment::ClockGenerator* clock_generator, PowerPort* power_port, const size_t component_id, + const std::string file_name, const dynamics::Dynamics* dynamics, const GnssSatellites* gnss_satellites, + const SimulationTime* simulation_time) { GnssReceiverParam gr_param = ReadGnssReceiverIni(file_name, gnss_satellites, component_id); // PowerPort @@ -314,4 +319,4 @@ GnssReceiver InitGnssReceiver(environment::ClockGenerator* clock_generator, Powe return gnss_r; } -} // namespace s2e::components +} // namespace s2e::components diff --git a/src/components/real/aocs/gnss_receiver.hpp b/src/components/real/aocs/gnss_receiver.hpp index aa2e54f09..2661d856b 100644 --- a/src/components/real/aocs/gnss_receiver.hpp +++ b/src/components/real/aocs/gnss_receiver.hpp @@ -83,8 +83,8 @@ class GnssReceiver : public Component, public logger::ILoggable { GnssReceiver(const int prescaler, environment::ClockGenerator* clock_generator, PowerPort* power_port, const size_t component_id, const AntennaModel antenna_model, const math::Vector<3> antenna_position_b_m, const math::Quaternion quaternion_b2c, const double half_width_deg, const math::Vector<3> position_noise_standard_deviation_ecef_m, - const math::Vector<3> velocity_noise_standard_deviation_ecef_m_s, const dynamics::Dynamics* dynamics, const GnssSatellites* gnss_satellites, - const SimulationTime* simulation_time); + const math::Vector<3> velocity_noise_standard_deviation_ecef_m_s, const dynamics::Dynamics* dynamics, + const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time); // Override functions for Component /** @@ -141,8 +141,8 @@ class GnssReceiver : public Component, public logger::ILoggable { // Simple position observation s2e::randomization::NormalRand position_random_noise_ecef_m_[3]; //!< Random noise for position at the ECEF frame [m] s2e::randomization::NormalRand velocity_random_noise_ecef_m_s_[3]; //!< Random noise for velocity at the ECEF frame [m] - math::Vector<3> position_ecef_m_{0.0}; //!< Observed position in the ECEF frame [m] - math::Vector<3> velocity_ecef_m_s_{0.0}; //!< Observed velocity in the ECEF frame [m/s] + math::Vector<3> position_ecef_m_{0.0}; //!< Observed position in the ECEF frame [m] + math::Vector<3> velocity_ecef_m_s_{0.0}; //!< Observed velocity in the ECEF frame [m/s] s2e::geodesy::GeodeticPosition geodetic_position_; //!< Observed position in the geodetic frame // Time observation @@ -156,7 +156,7 @@ class GnssReceiver : public Component, public logger::ILoggable { std::vector gnss_information_list_; //!< Information List of visible GNSS satellites // References - const dynamics::Dynamics* dynamics_; //!< Dynamics of spacecraft + const dynamics::Dynamics* dynamics_; //!< Dynamics of spacecraft const GnssSatellites* gnss_satellites_; //!< Information of GNSS satellites const SimulationTime* simulation_time_; //!< Simulation time @@ -226,8 +226,8 @@ AntennaModel SetAntennaModel(const std::string antenna_model); * @param [in] gnss_satellites: GNSS satellites information * @param [in] simulation_time: Simulation time information */ -GnssReceiver InitGnssReceiver(environment::ClockGenerator* clock_generator, const size_t component_id, const std::string file_name, const dynamics::Dynamics* dynamics, - const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time); +GnssReceiver InitGnssReceiver(environment::ClockGenerator* clock_generator, const size_t component_id, const std::string file_name, + const dynamics::Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time); /** * @fn InitGnssReceiver * @brief Initialize functions for GNSS Receiver with power port @@ -239,9 +239,10 @@ GnssReceiver InitGnssReceiver(environment::ClockGenerator* clock_generator, cons * @param [in] gnss_satellites: GNSS satellites information * @param [in] simulation_time: Simulation time information */ -GnssReceiver InitGnssReceiver(environment::ClockGenerator* clock_generator, PowerPort* power_port, const size_t component_id, const std::string file_name, - const dynamics::Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time); +GnssReceiver InitGnssReceiver(environment::ClockGenerator* clock_generator, PowerPort* power_port, const size_t component_id, + const std::string file_name, const dynamics::Dynamics* dynamics, const GnssSatellites* gnss_satellites, + const SimulationTime* simulation_time); -} // namespace s2e::components +} // namespace s2e::components #endif // S2E_COMPONENTS_REAL_AOCS_GNSS_RECEIVER_HPP_ diff --git a/src/components/real/aocs/gyro_sensor.cpp b/src/components/real/aocs/gyro_sensor.cpp index ac63221d7..5a019cd5a 100644 --- a/src/components/real/aocs/gyro_sensor.cpp +++ b/src/components/real/aocs/gyro_sensor.cpp @@ -13,8 +13,8 @@ GyroSensor::GyroSensor(const int prescaler, environment::ClockGenerator* clock_g const math::Quaternion& quaternion_b2c, const dynamics::Dynamics* dynamics) : Component(prescaler, clock_generator), Sensor(sensor_base), sensor_id_(sensor_id), quaternion_b2c_(quaternion_b2c), dynamics_(dynamics) {} -GyroSensor::GyroSensor(const int prescaler, environment::ClockGenerator* clock_generator, PowerPort* power_port, Sensor& sensor_base, const unsigned int sensor_id, - const math::Quaternion& quaternion_b2c, const dynamics::Dynamics* dynamics) +GyroSensor::GyroSensor(const int prescaler, environment::ClockGenerator* clock_generator, PowerPort* power_port, Sensor& sensor_base, + const unsigned int sensor_id, const math::Quaternion& quaternion_b2c, const dynamics::Dynamics* dynamics) : Component(prescaler, clock_generator, power_port), Sensor(sensor_base), sensor_id_(sensor_id), @@ -91,4 +91,4 @@ GyroSensor InitGyroSensor(environment::ClockGenerator* clock_generator, PowerPor return gyro; } -} // namespace s2e::components +} // namespace s2e::components diff --git a/src/components/real/aocs/gyro_sensor.hpp b/src/components/real/aocs/gyro_sensor.hpp index d9f262655..ab75c929e 100644 --- a/src/components/real/aocs/gyro_sensor.hpp +++ b/src/components/real/aocs/gyro_sensor.hpp @@ -46,8 +46,8 @@ class GyroSensor : public Component, public Sensor, public logge * @param [in] quaternion_b2c: Quaternion from body frame to component frame * @param [in] dynamics: Dynamics information */ - GyroSensor(const int prescaler, environment::ClockGenerator* clock_generator, PowerPort* power_port, Sensor& sensor_base, const unsigned int sensor_id, - const math::Quaternion& quaternion_b2c, const dynamics::Dynamics* dynamics); + GyroSensor(const int prescaler, environment::ClockGenerator* clock_generator, PowerPort* power_port, Sensor& sensor_base, + const unsigned int sensor_id, const math::Quaternion& quaternion_b2c, const dynamics::Dynamics* dynamics); /** * @fn ~GyroSensor * @brief Destructor @@ -112,6 +112,6 @@ GyroSensor InitGyroSensor(environment::ClockGenerator* clock_generator, int sens GyroSensor InitGyroSensor(environment::ClockGenerator* clock_generator, PowerPort* power_port, int sensor_id, const std::string file_name, double component_step_time_s, const dynamics::Dynamics* dynamics); -} //namespace s2e::components +} // namespace s2e::components #endif // S2E_COMPONENTS_REAL_AOCS_GYRO_SENSOR_HPP_ diff --git a/src/components/real/aocs/magnetometer.cpp b/src/components/real/aocs/magnetometer.cpp index 275d7fb1f..a709c91b1 100644 --- a/src/components/real/aocs/magnetometer.cpp +++ b/src/components/real/aocs/magnetometer.cpp @@ -16,8 +16,8 @@ Magnetometer::Magnetometer(int prescaler, environment::ClockGenerator* clock_gen sensor_id_(sensor_id), quaternion_b2c_(quaternion_b2c), geomagnetic_field_(geomagnetic_field) {} -Magnetometer::Magnetometer(int prescaler, environment::ClockGenerator* clock_generator, PowerPort* power_port, Sensor& sensor_base, const unsigned int sensor_id, - const math::Quaternion& quaternion_b2c, const GeomagneticField* geomagnetic_field) +Magnetometer::Magnetometer(int prescaler, environment::ClockGenerator* clock_generator, PowerPort* power_port, Sensor& sensor_base, + const unsigned int sensor_id, const math::Quaternion& quaternion_b2c, const GeomagneticField* geomagnetic_field) : Component(prescaler, clock_generator, power_port), Sensor(sensor_base), sensor_id_(sensor_id), @@ -94,4 +94,4 @@ Magnetometer InitMagnetometer(environment::ClockGenerator* clock_generator, Powe return magsensor; } -} // namespace s2e::components +} // namespace s2e::components diff --git a/src/components/real/aocs/magnetometer.hpp b/src/components/real/aocs/magnetometer.hpp index 896f24a3b..7a52c30cd 100644 --- a/src/components/real/aocs/magnetometer.hpp +++ b/src/components/real/aocs/magnetometer.hpp @@ -46,8 +46,8 @@ class Magnetometer : public Component, public Sensor, pu * @param [in] quaternion_b2c: Quaternion from body frame to component frame * @param [in] geomagnetic_field: Geomagnetic environment */ - Magnetometer(const int prescaler, environment::ClockGenerator* clock_generator, PowerPort* power_port, Sensor& sensor_base, const unsigned int sensor_id, - const math::Quaternion& quaternion_b2c, const GeomagneticField* geomagnetic_field); + Magnetometer(const int prescaler, environment::ClockGenerator* clock_generator, PowerPort* power_port, Sensor& sensor_base, + const unsigned int sensor_id, const math::Quaternion& quaternion_b2c, const GeomagneticField* geomagnetic_field); /** * @fn ~Magnetometer * @brief Destructor @@ -131,6 +131,6 @@ Magnetometer InitMagnetometer(environment::ClockGenerator* clock_generator, int Magnetometer InitMagnetometer(environment::ClockGenerator* clock_generator, PowerPort* power_port, int sensor_id, const std::string file_name, double component_step_time_s, const GeomagneticField* geomagnetic_field); -} // namespace s2e::components +} // namespace s2e::components #endif // S2E_COMPONENTS_REAL_AOCS_MAGNETOMETER_HPP_ diff --git a/src/components/real/aocs/magnetorquer.cpp b/src/components/real/aocs/magnetorquer.cpp index 7d1352986..2dcbe762a 100644 --- a/src/components/real/aocs/magnetorquer.cpp +++ b/src/components/real/aocs/magnetorquer.cpp @@ -13,8 +13,8 @@ namespace s2e::components { -Magnetorquer::Magnetorquer(const int prescaler, environment::ClockGenerator* clock_generator, const int component_id, const math::Quaternion& quaternion_b2c, - const math::Matrix& scale_factor, +Magnetorquer::Magnetorquer(const int prescaler, environment::ClockGenerator* clock_generator, const int component_id, + const math::Quaternion& quaternion_b2c, const math::Matrix& scale_factor, const math::Vector& max_magnetic_moment_c_Am2, const math::Vector& min_magnetic_moment_c_Am2, const math::Vector& bias_noise_c_Am2_, double random_walk_step_width_s, const math::Vector& random_walk_standard_deviation_c_Am2, @@ -113,8 +113,8 @@ std::string Magnetorquer::GetLogValue() const { return str_tmp; } -Magnetorquer InitMagnetorquer(environment::ClockGenerator* clock_generator, int actuator_id, const std::string file_name, double component_step_time_s, - const GeomagneticField* geomagnetic_field) { +Magnetorquer InitMagnetorquer(environment::ClockGenerator* clock_generator, int actuator_id, const std::string file_name, + double component_step_time_s, const GeomagneticField* geomagnetic_field) { setting_file_reader::IniAccess magtorquer_conf(file_name); const char* sensor_name = "MAGNETORQUER_"; const std::string section_name = sensor_name + std::to_string(static_cast(actuator_id)); @@ -206,4 +206,4 @@ Magnetorquer InitMagnetorquer(environment::ClockGenerator* clock_generator, Powe return magtorquer; } -} // namespace s2e::components +} // namespace s2e::components diff --git a/src/components/real/aocs/magnetorquer.hpp b/src/components/real/aocs/magnetorquer.hpp index cec1294dd..f18dec450 100644 --- a/src/components/real/aocs/magnetorquer.hpp +++ b/src/components/real/aocs/magnetorquer.hpp @@ -134,8 +134,8 @@ class Magnetorquer : public Component, public logger::ILoggable { math::Vector max_magnetic_moment_c_Am2_{100.0}; //!< Maximum magnetic moment in the component frame [Am2] math::Vector min_magnetic_moment_c_Am2_{-100.0}; //!< Minimum magnetic moment in the component frame [Am2] - math::Vector bias_noise_c_Am2_{0.0}; //!< Constant bias noise in the component frame [Am2] - RandomWalk random_walk_c_Am2_; //!< Random walk noise + math::Vector bias_noise_c_Am2_{0.0}; //!< Constant bias noise in the component frame [Am2] + RandomWalk random_walk_c_Am2_; //!< Random walk noise s2e::randomization::NormalRand random_noise_c_Am2_[kMtqDimension]; //!< Normal random noise const GeomagneticField* geomagnetic_field_; //!< Geomagnetic environment @@ -157,8 +157,8 @@ class Magnetorquer : public Component, public logger::ILoggable { * @param [in] component_step_time_s: Component step time [sec] * @param [in] geomagnetic_field: Geomegnetic environment */ -Magnetorquer InitMagnetorquer(environment::ClockGenerator* clock_generator, int actuator_id, const std::string file_name, double component_step_time_s, - const GeomagneticField* geomagnetic_field); +Magnetorquer InitMagnetorquer(environment::ClockGenerator* clock_generator, int actuator_id, const std::string file_name, + double component_step_time_s, const GeomagneticField* geomagnetic_field); /** * @fn InitMagnetorquer * @brief Initialize functions for magnetometer with power port @@ -172,6 +172,6 @@ Magnetorquer InitMagnetorquer(environment::ClockGenerator* clock_generator, int Magnetorquer InitMagnetorquer(environment::ClockGenerator* clock_generator, PowerPort* power_port, int actuator_id, const std::string file_name, double component_step_time_s, const GeomagneticField* geomagnetic_field); -} // namespace s2e::components +} // namespace s2e::components #endif // S2E_COMPONENTS_REAL_AOCS_MAGNETORQUER_HPP_ diff --git a/src/components/real/aocs/mtq_magnetometer_interference.cpp b/src/components/real/aocs/mtq_magnetometer_interference.cpp index 249c6f299..c2428b15b 100644 --- a/src/components/real/aocs/mtq_magnetometer_interference.cpp +++ b/src/components/real/aocs/mtq_magnetometer_interference.cpp @@ -52,4 +52,4 @@ void MtqMagnetometerInterference::UpdateInterference(void) { previous_added_bias_c_nT_ = additional_bias_c_nT; } -} // namespace s2e::components +} // namespace s2e::components diff --git a/src/components/real/aocs/mtq_magnetometer_interference.hpp b/src/components/real/aocs/mtq_magnetometer_interference.hpp index f468fb497..67c5f0863 100644 --- a/src/components/real/aocs/mtq_magnetometer_interference.hpp +++ b/src/components/real/aocs/mtq_magnetometer_interference.hpp @@ -40,6 +40,6 @@ class MtqMagnetometerInterference { const Magnetorquer& magnetorquer_; //!< Magnetorquer }; -} // namespace s2e::components +} // namespace s2e::components #endif // S2E_COMPONENTS_REAL_AOCS_MTQ_MAGNETOMETER_INTERFERENCE_HPP_ diff --git a/src/components/real/aocs/reaction_wheel.cpp b/src/components/real/aocs/reaction_wheel.cpp index 5494ca4ee..9cdbac455 100644 --- a/src/components/real/aocs/reaction_wheel.cpp +++ b/src/components/real/aocs/reaction_wheel.cpp @@ -356,4 +356,4 @@ ReactionWheel InitReactionWheel(environment::ClockGenerator* clock_generator, Po return rw; } -} // namespace s2e::components +} // namespace s2e::components diff --git a/src/components/real/aocs/reaction_wheel.hpp b/src/components/real/aocs/reaction_wheel.hpp index c20166028..e59f704b2 100644 --- a/src/components/real/aocs/reaction_wheel.hpp +++ b/src/components/real/aocs/reaction_wheel.hpp @@ -80,9 +80,9 @@ class ReactionWheel : public Component, public logger::ILoggable { * @param [in] drive_flag: RW drive flag * @param [in] init_velocity_rad_s: Initial value of angular velocity of RW [rad/s] */ - ReactionWheel(const int prescaler, environment::ClockGenerator* clock_generator, PowerPort* power_port, const int component_id, const double step_width_s, - const double rotor_inertia_kgm2, const double max_torque_Nm, const double max_velocity_rpm, const math::Quaternion quaternion_b2c, - const math::Vector<3> position_b_m, const double dead_time_s, const double time_constant_s, + ReactionWheel(const int prescaler, environment::ClockGenerator* clock_generator, PowerPort* power_port, const int component_id, + const double step_width_s, const double rotor_inertia_kgm2, const double max_torque_Nm, const double max_velocity_rpm, + const math::Quaternion quaternion_b2c, const math::Vector<3> position_b_m, const double dead_time_s, const double time_constant_s, const std::vector friction_coefficients, const double stop_limit_angular_velocity_rad_s, const bool is_calc_jitter_enabled, const bool is_log_jitter_enabled, const int fast_prescaler, ReactionWheelJitter& rw_jitter, const bool drive_flag = false, const double init_velocity_rad_s = 0.0); @@ -182,9 +182,9 @@ class ReactionWheel : public Component, public logger::ILoggable { math::Vector<3> rotation_axis_b_; //!< Wheel rotation vector in the body fixed frame. // Parameters for control delay - const double step_width_s_; //!< step width for ReactionWheelOde [sec] - const double dead_time_s_; //!< dead time [sec] - std::vector acceleration_delay_buffer_; //!< Delay buffer for acceleration + const double step_width_s_; //!< step width for ReactionWheelOde [sec] + const double dead_time_s_; //!< dead time [sec] + std::vector acceleration_delay_buffer_; //!< Delay buffer for acceleration s2e::control_utilities::FirstOrderLag delayed_acceleration_rad_s2_; //!< Delayed acceleration [rad/s2] // Coasting friction @@ -248,6 +248,6 @@ ReactionWheel InitReactionWheel(environment::ClockGenerator* clock_generator, in ReactionWheel InitReactionWheel(environment::ClockGenerator* clock_generator, PowerPort* power_port, int actuator_id, std::string file_name, double compo_update_step_s); -} // namespace s2e::components +} // namespace s2e::components #endif // S2E_COMPONENTS_REAL_AOCS_REACTION_WHEEL_HPP_ diff --git a/src/components/real/aocs/reaction_wheel_jitter.cpp b/src/components/real/aocs/reaction_wheel_jitter.cpp index e9ba604df..c7edc497f 100644 --- a/src/components/real/aocs/reaction_wheel_jitter.cpp +++ b/src/components/real/aocs/reaction_wheel_jitter.cpp @@ -129,4 +129,4 @@ void ReactionWheelJitter::CalcCoefficients() { pow(update_interval_s_, 2.0) * pow(structural_resonance_angular_frequency_Hz_, 2.0); } -} // namespace s2e::components +} // namespace s2e::components diff --git a/src/components/real/aocs/reaction_wheel_jitter.hpp b/src/components/real/aocs/reaction_wheel_jitter.hpp index 88c228b6f..f926754dd 100644 --- a/src/components/real/aocs/reaction_wheel_jitter.hpp +++ b/src/components/real/aocs/reaction_wheel_jitter.hpp @@ -130,6 +130,6 @@ class ReactionWheelJitter { void CalcCoefficients(); }; -} // namespace s2e::components +} // namespace s2e::components #endif // S2E_COMPONENTS_REAL_AOCS_REACTION_WHEEL_JITTER_HPP_ diff --git a/src/components/real/aocs/reaction_wheel_ode.cpp b/src/components/real/aocs/reaction_wheel_ode.cpp index 621b4e598..fa5b1ac69 100644 --- a/src/components/real/aocs/reaction_wheel_ode.cpp +++ b/src/components/real/aocs/reaction_wheel_ode.cpp @@ -31,4 +31,4 @@ void ReactionWheelOde::DerivativeFunction(double x, const math::Vector<1> &state rhs[0] = angular_acceleration_rad_s2_; } -} // namespace s2e::components +} // namespace s2e::components diff --git a/src/components/real/aocs/reaction_wheel_ode.hpp b/src/components/real/aocs/reaction_wheel_ode.hpp index 82d3888e0..13c0b26f2 100644 --- a/src/components/real/aocs/reaction_wheel_ode.hpp +++ b/src/components/real/aocs/reaction_wheel_ode.hpp @@ -61,6 +61,6 @@ class ReactionWheelOde : public math::OrdinaryDifferentialEquation<1> { double angular_acceleration_rad_s2_ = 0.0; //!< Angular acceleration [rad/s2] }; -} // namespace s2e::components +} // namespace s2e::components #endif // S2E_COMPONENTS_REAL_AOCS_REACTION_WHEEL_ODE_HPP_ diff --git a/src/components/real/aocs/star_sensor.cpp b/src/components/real/aocs/star_sensor.cpp index 36b47095a..be7ddd363 100644 --- a/src/components/real/aocs/star_sensor.cpp +++ b/src/components/real/aocs/star_sensor.cpp @@ -18,11 +18,12 @@ using namespace s2e::math; namespace s2e::components { -StarSensor::StarSensor(const int prescaler, environment::ClockGenerator* clock_generator, const int component_id, const math::Quaternion& quaternion_b2c, - const double standard_deviation_orthogonal_direction, const double standard_deviation_sight_direction, - const double step_time_s, const unsigned int output_delay, const unsigned int output_interval, - const double sun_forbidden_angle_rad, const double earth_forbidden_angle_rad, const double moon_forbidden_angle_rad, - const double capture_rate_limit_rad_s, const dynamics::Dynamics* dynamics, const LocalEnvironment* local_environment) +StarSensor::StarSensor(const int prescaler, environment::ClockGenerator* clock_generator, const int component_id, + const math::Quaternion& quaternion_b2c, const double standard_deviation_orthogonal_direction, + const double standard_deviation_sight_direction, const double step_time_s, const unsigned int output_delay, + const unsigned int output_interval, const double sun_forbidden_angle_rad, const double earth_forbidden_angle_rad, + const double moon_forbidden_angle_rad, const double capture_rate_limit_rad_s, const dynamics::Dynamics* dynamics, + const LocalEnvironment* local_environment) : Component(prescaler, clock_generator), component_id_(component_id), quaternion_b2c_(quaternion_b2c), @@ -248,8 +249,8 @@ StarSensor InitStarSensor(environment::ClockGenerator* clock_generator, int sens return stt; } -StarSensor InitStarSensor(environment::ClockGenerator* clock_generator, PowerPort* power_port, int sensor_id, const string file_name, double component_step_time_s, - const dynamics::Dynamics* dynamics, const LocalEnvironment* local_environment) { +StarSensor InitStarSensor(environment::ClockGenerator* clock_generator, PowerPort* power_port, int sensor_id, const string file_name, + double component_step_time_s, const dynamics::Dynamics* dynamics, const LocalEnvironment* local_environment) { setting_file_reader::IniAccess STT_conf(file_name); const char* sensor_name = "STAR_SENSOR_"; const std::string section_name = sensor_name + std::to_string(static_cast(sensor_id)); @@ -284,4 +285,4 @@ StarSensor InitStarSensor(environment::ClockGenerator* clock_generator, PowerPor return stt; } -} // namespace s2e::components +} // namespace s2e::components diff --git a/src/components/real/aocs/star_sensor.hpp b/src/components/real/aocs/star_sensor.hpp index e28e0add4..8ad44ae86 100644 --- a/src/components/real/aocs/star_sensor.hpp +++ b/src/components/real/aocs/star_sensor.hpp @@ -138,7 +138,7 @@ class StarSensor : public Component, public logger::ILoggable { double capture_rate_limit_rad_s_; //!< Angular rate limit to get correct attitude [rad/s] // Observed variables - const dynamics::Dynamics* dynamics_; //!< Dynamics information + const dynamics::Dynamics* dynamics_; //!< Dynamics information const LocalEnvironment* local_environment_; //!< Local environment information // Internal functions @@ -234,6 +234,6 @@ StarSensor InitStarSensor(environment::ClockGenerator* clock_generator, int sens StarSensor InitStarSensor(environment::ClockGenerator* clock_generator, PowerPort* power_port, int sensor_id, const std::string file_name, double component_step_time_s, const dynamics::Dynamics* dynamics, const LocalEnvironment* local_environment); -} // namespace s2e::components +} // namespace s2e::components #endif // S2E_COMPONENTS_REAL_AOCS_STAR_SENSOR_HPP_ diff --git a/src/components/real/aocs/sun_sensor.cpp b/src/components/real/aocs/sun_sensor.cpp index 15fe6210a..63a5ea09d 100644 --- a/src/components/real/aocs/sun_sensor.cpp +++ b/src/components/real/aocs/sun_sensor.cpp @@ -16,8 +16,8 @@ using namespace std; namespace s2e::components { -SunSensor::SunSensor(const int prescaler, environment::ClockGenerator* clock_generator, const int component_id, const math::Quaternion& quaternion_b2c, - const double detectable_angle_rad, const double random_noise_standard_deviation_rad, +SunSensor::SunSensor(const int prescaler, environment::ClockGenerator* clock_generator, const int component_id, + const math::Quaternion& quaternion_b2c, const double detectable_angle_rad, const double random_noise_standard_deviation_rad, const double bias_noise_standard_deviation_rad, const double intensity_lower_threshold_percent, const SolarRadiationPressureEnvironment* srp_environment, const LocalCelestialInformation* local_celestial_information) : Component(prescaler, clock_generator), @@ -153,8 +153,8 @@ string SunSensor::GetLogValue() const { return str_tmp; } -SunSensor InitSunSensor(environment::ClockGenerator* clock_generator, int ss_id, std::string file_name, const SolarRadiationPressureEnvironment* srp_environment, - const LocalCelestialInformation* local_celestial_information) { +SunSensor InitSunSensor(environment::ClockGenerator* clock_generator, int ss_id, std::string file_name, + const SolarRadiationPressureEnvironment* srp_environment, const LocalCelestialInformation* local_celestial_information) { setting_file_reader::IniAccess ss_conf(file_name); const char* sensor_name = "SUN_SENSOR_"; const std::string section_tmp = sensor_name + std::to_string(static_cast(ss_id)); @@ -221,4 +221,4 @@ SunSensor InitSunSensor(environment::ClockGenerator* clock_generator, PowerPort* return ss; } -} // namespace s2e::components +} // namespace s2e::components diff --git a/src/components/real/aocs/sun_sensor.hpp b/src/components/real/aocs/sun_sensor.hpp index cd23d2d38..4d988d7ac 100644 --- a/src/components/real/aocs/sun_sensor.hpp +++ b/src/components/real/aocs/sun_sensor.hpp @@ -104,8 +104,8 @@ class SunSensor : public Component, public logger::ILoggable { // Noise parameters s2e::randomization::NormalRand random_noise_alpha_; //!< Normal random for alpha angle s2e::randomization::NormalRand random_noise_beta_; //!< Normal random for beta angle - double bias_noise_alpha_rad_ = 0.0; //!< Constant bias for alpha angle (Value is calculated by random number generator) - double bias_noise_beta_rad_ = 0.0; //!< Constant bias for beta angle (Value is calculated by random number generator) + double bias_noise_alpha_rad_ = 0.0; //!< Constant bias for alpha angle (Value is calculated by random number generator) + double bias_noise_beta_rad_ = 0.0; //!< Constant bias for beta angle (Value is calculated by random number generator) // Measured variables const SolarRadiationPressureEnvironment* srp_environment_; //!< Solar Radiation Pressure environment @@ -167,6 +167,6 @@ SunSensor InitSunSensor(environment::ClockGenerator* clock_generator, int sensor SunSensor InitSunSensor(environment::ClockGenerator* clock_generator, PowerPort* power_port, int sensor_id, const std::string file_name, const SolarRadiationPressureEnvironment* srp_environment, const LocalCelestialInformation* local_celestial_information); -} // namespace s2e::components +} // namespace s2e::components #endif // S2E_COMPONENTS_REAL_AOCS_SUN_SENSOR_HPP_ diff --git a/src/components/real/cdh/c2a_communication.hpp b/src/components/real/cdh/c2a_communication.hpp index 4517a3355..ea7afef13 100644 --- a/src/components/real/cdh/c2a_communication.hpp +++ b/src/components/real/cdh/c2a_communication.hpp @@ -25,6 +25,6 @@ int OBC_C2A_I2cReadRegister(int port_id, const unsigned char i2c_address, unsign int OBC_C2A_GpioWrite(int port_id, const bool is_high); bool OBC_C2A_GpioRead(int port_id); // return false when the port_id is not used -} // namespace s2e::components +} // namespace s2e::components #endif // C2A_COMMUNICATION_H_ diff --git a/src/components/real/cdh/on_board_computer.cpp b/src/components/real/cdh/on_board_computer.cpp index ce38a4196..c661fc6d6 100644 --- a/src/components/real/cdh/on_board_computer.cpp +++ b/src/components/real/cdh/on_board_computer.cpp @@ -135,4 +135,4 @@ bool OnBoardComputer::GpioComponentRead(int port_id) { return port->DigitalRead(); } -} // namespace s2e::components +} // namespace s2e::components diff --git a/src/components/real/cdh/on_board_computer.hpp b/src/components/real/cdh/on_board_computer.hpp index 91aeff65b..123066539 100644 --- a/src/components/real/cdh/on_board_computer.hpp +++ b/src/components/real/cdh/on_board_computer.hpp @@ -209,6 +209,6 @@ class OnBoardComputer : public Component { std::map gpio_ports_; //!< GPIO ports }; -} // namespace s2e::components +} // namespace s2e::components #endif // S2E_COMPONENTS_REAL_CDH_OBC_HPP_ diff --git a/src/components/real/cdh/on_board_computer_with_c2a.cpp b/src/components/real/cdh/on_board_computer_with_c2a.cpp index 3c6f58d1d..639e87f5e 100644 --- a/src/components/real/cdh/on_board_computer_with_c2a.cpp +++ b/src/components/real/cdh/on_board_computer_with_c2a.cpp @@ -259,4 +259,4 @@ int OBC_C2A_GpioWrite(int port_id, const bool is_high) { return ObcWithC2a::Gpio bool OBC_C2A_GpioRead(int port_id) { return ObcWithC2a::GpioRead_C2A(port_id); } -} // namespace s2e::components +} // namespace s2e::components diff --git a/src/components/real/cdh/on_board_computer_with_c2a.hpp b/src/components/real/cdh/on_board_computer_with_c2a.hpp index 05685df17..4b3c043aa 100644 --- a/src/components/real/cdh/on_board_computer_with_c2a.hpp +++ b/src/components/real/cdh/on_board_computer_with_c2a.hpp @@ -273,6 +273,6 @@ class ObcWithC2a : public OnBoardComputer { static std::map gpio_ports_c2a_; //!< GPIO ports }; -} // namespace s2e::components +} // namespace s2e::components #endif // S2E_COMPONENTS_REAL_CDH_OBC_C2A_HPP_ diff --git a/src/components/real/communication/antenna.cpp b/src/components/real/communication/antenna.cpp index 12f24c46b..9bb535a61 100644 --- a/src/components/real/communication/antenna.cpp +++ b/src/components/real/communication/antenna.cpp @@ -167,4 +167,4 @@ Antenna InitAntenna(const int antenna_id, const std::string file_name) { return antenna; } -} // namespace s2e::components +} // namespace s2e::components diff --git a/src/components/real/communication/antenna.hpp b/src/components/real/communication/antenna.hpp index 7419e3219..841fb55d0 100644 --- a/src/components/real/communication/antenna.hpp +++ b/src/components/real/communication/antenna.hpp @@ -168,6 +168,6 @@ AntennaGainModel SetAntennaGainModel(const std::string gain_model_name); */ Antenna InitAntenna(const int antenna_id, const std::string file_name); -} // namespace s2e::components +} // namespace s2e::components #endif // S2E_COMPONENTS_REAL_COMMUNICATION_ANTENNA_HPP_ diff --git a/src/components/real/communication/antenna_radiation_pattern.cpp b/src/components/real/communication/antenna_radiation_pattern.cpp index 59e1ac935..b1a3bced7 100644 --- a/src/components/real/communication/antenna_radiation_pattern.cpp +++ b/src/components/real/communication/antenna_radiation_pattern.cpp @@ -40,4 +40,4 @@ double AntennaRadiationPattern::GetGain_dBi(const double theta_rad, const double return gain_dBi_[theta_idx][phi_idx]; } -} // namespace s2e::components +} // namespace s2e::components diff --git a/src/components/real/communication/antenna_radiation_pattern.hpp b/src/components/real/communication/antenna_radiation_pattern.hpp index f924fbe41..a6efac136 100644 --- a/src/components/real/communication/antenna_radiation_pattern.hpp +++ b/src/components/real/communication/antenna_radiation_pattern.hpp @@ -64,6 +64,6 @@ class AntennaRadiationPattern { std::vector> gain_dBi_; //!< Antenna gain table [dBi] }; -} // namespace s2e::components +} // namespace s2e::components #endif // S2E_COMPONENTS_REAL_COMMUNICATION_ANTENNA_RADIATION_PATTERN_HPP_ diff --git a/src/components/real/communication/ground_station_calculator.cpp b/src/components/real/communication/ground_station_calculator.cpp index c3b3f9edd..8e00eeb82 100644 --- a/src/components/real/communication/ground_station_calculator.cpp +++ b/src/components/real/communication/ground_station_calculator.cpp @@ -42,8 +42,8 @@ void GroundStationCalculator::Update(const Spacecraft& spacecraft, const Antenna } // Private functions -double GroundStationCalculator::CalcMaxBitrate(const dynamics::Dynamics& dynamics, const Antenna& spacecraft_tx_antenna, const GroundStation& ground_station, - const Antenna& ground_station_rx_antenna) { +double GroundStationCalculator::CalcMaxBitrate(const dynamics::Dynamics& dynamics, const Antenna& spacecraft_tx_antenna, + const GroundStation& ground_station, const Antenna& ground_station_rx_antenna) { double cn0_dBHz = CalcCn0OnGs(dynamics, spacecraft_tx_antenna, ground_station, ground_station_rx_antenna); double margin_for_bitrate_dB = cn0_dBHz - (ebn0_dB_ + hardware_deterioration_dB_ + coding_gain_dB_) - margin_requirement_dB_; @@ -62,8 +62,8 @@ double GroundStationCalculator::CalcReceiveMarginOnGs(const dynamics::Dynamics& return cn0_dB - cn0_requirement_dB; } -double GroundStationCalculator::CalcCn0OnGs(const dynamics::Dynamics& dynamics, const Antenna& spacecraft_tx_antenna, const GroundStation& ground_station, - const Antenna& ground_station_rx_antenna) { +double GroundStationCalculator::CalcCn0OnGs(const dynamics::Dynamics& dynamics, const Antenna& spacecraft_tx_antenna, + const GroundStation& ground_station, const Antenna& ground_station_rx_antenna) { if (!spacecraft_tx_antenna.IsTransmitter() || !ground_station_rx_antenna.IsReceiver()) { // Check compatibility of transmitter and receiver return 0.0f; @@ -139,4 +139,4 @@ GroundStationCalculator InitGsCalculator(const std::string file_name) { return gs_calculator; } -} // namespace s2e::components +} // namespace s2e::components diff --git a/src/components/real/communication/ground_station_calculator.hpp b/src/components/real/communication/ground_station_calculator.hpp index 9d7551b4f..dbda8d681 100644 --- a/src/components/real/communication/ground_station_calculator.hpp +++ b/src/components/real/communication/ground_station_calculator.hpp @@ -146,6 +146,6 @@ class GroundStationCalculator : public logger::ILoggable { GroundStationCalculator InitGsCalculator(const std::string file_name); -} // namespace s2e::components +} // namespace s2e::components #endif // S2E_COMPONENTS_REAL_COMMUNICATION_GROUND_STATION_CALCULATOR_HPP_ diff --git a/src/components/real/communication/wings_command_sender_to_c2a.cpp b/src/components/real/communication/wings_command_sender_to_c2a.cpp index e075b82ae..ec6c25da0 100644 --- a/src/components/real/communication/wings_command_sender_to_c2a.cpp +++ b/src/components/real/communication/wings_command_sender_to_c2a.cpp @@ -151,4 +151,4 @@ WingsCommandSenderToC2a InitWingsCommandSenderToC2a(environment::ClockGenerator* return WingsCommandSenderToC2a(prescaler, clock_generator, step_width_s, c2a_command_data_base_file, wings_operation_file, is_enabled); } -} // namespace s2e::components +} // namespace s2e::components diff --git a/src/components/real/communication/wings_command_sender_to_c2a.hpp b/src/components/real/communication/wings_command_sender_to_c2a.hpp index accc49546..167563cf9 100644 --- a/src/components/real/communication/wings_command_sender_to_c2a.hpp +++ b/src/components/real/communication/wings_command_sender_to_c2a.hpp @@ -24,8 +24,8 @@ class WingsCommandSenderToC2a : public Component { * @brief Constructor * @param [in] */ - WingsCommandSenderToC2a(int prescaler, environment::ClockGenerator* clock_generator, const double step_width_s, const std::string command_database_file, - const std::string operation_file, const bool is_enabled) + WingsCommandSenderToC2a(int prescaler, environment::ClockGenerator* clock_generator, const double step_width_s, + const std::string command_database_file, const std::string operation_file, const bool is_enabled) : Component(prescaler, clock_generator), c2a_command_database_(command_database_file), wings_operation_file_(operation_file), @@ -78,6 +78,6 @@ class WingsCommandSenderToC2a : public Component { WingsCommandSenderToC2a InitWingsCommandSenderToC2a(environment::ClockGenerator* clock_generator, const double compo_update_step_s, const std::string initialize_file); -} // namespace s2e::components +} // namespace s2e::components #endif // S2E_COMPONENTS_REAL_COMMUNICATION_C2A_COMMAND_SENDER_HPP_ diff --git a/src/components/real/mission/telescope.cpp b/src/components/real/mission/telescope.cpp index a05730683..7b704ba75 100644 --- a/src/components/real/mission/telescope.cpp +++ b/src/components/real/mission/telescope.cpp @@ -18,8 +18,8 @@ namespace s2e::components { Telescope::Telescope(environment::ClockGenerator* clock_generator, const math::Quaternion& quaternion_b2c, const double sun_forbidden_angle_rad, const double earth_forbidden_angle_rad, const double moon_forbidden_angle_rad, const int x_number_of_pix, const int y_number_of_pix, const double x_fov_per_pix, const double y_fov_per_pix, size_t number_of_logged_stars, - const dynamics::attitude::Attitude* attitude, const HipparcosCatalogue* hipparcos, const LocalCelestialInformation* local_celestial_information, - const Orbit* orbit) + const dynamics::attitude::Attitude* attitude, const HipparcosCatalogue* hipparcos, + const LocalCelestialInformation* local_celestial_information, const Orbit* orbit) : Component(1, clock_generator), quaternion_b2c_(quaternion_b2c), sun_forbidden_angle_rad_(sun_forbidden_angle_rad), @@ -247,8 +247,9 @@ string Telescope::GetLogValue() const { return str_tmp; } -Telescope InitTelescope(environment::ClockGenerator* clock_generator, int sensor_id, const string file_name, const dynamics::attitude::Attitude* attitude, - const HipparcosCatalogue* hipparcos, const LocalCelestialInformation* local_celestial_information, const Orbit* orbit) { +Telescope InitTelescope(environment::ClockGenerator* clock_generator, int sensor_id, const string file_name, + const dynamics::attitude::Attitude* attitude, const HipparcosCatalogue* hipparcos, + const LocalCelestialInformation* local_celestial_information, const Orbit* orbit) { using math::pi; setting_file_reader::IniAccess Telescope_conf(file_name); @@ -288,4 +289,4 @@ Telescope InitTelescope(environment::ClockGenerator* clock_generator, int sensor return telescope; } -} // namespace s2e::components +} // namespace s2e::components diff --git a/src/components/real/mission/telescope.hpp b/src/components/real/mission/telescope.hpp index d6c6310b5..c39a46854 100644 --- a/src/components/real/mission/telescope.hpp +++ b/src/components/real/mission/telescope.hpp @@ -126,7 +126,7 @@ class Telescope : public Component, public logger::ILoggable { */ void ObserveStars(); - const dynamics::attitude::Attitude* attitude_; //!< dynamics::attitude::Attitude information + const dynamics::attitude::Attitude* attitude_; //!< dynamics::attitude::Attitude information const HipparcosCatalogue* hipparcos_; //!< Star information const LocalCelestialInformation* local_celestial_information_; //!< Local celestial information /** @@ -168,10 +168,10 @@ class Telescope : public Component, public logger::ILoggable { * @param [in] hipparcos: Star information by Hipparcos catalogue * @param [in] local_celestial_information: Local celestial information */ -Telescope InitTelescope(environment::ClockGenerator* clock_generator, int sensor_id, const std::string file_name, const dynamics::attitude::Attitude* attitude, - const HipparcosCatalogue* hipparcos, const LocalCelestialInformation* local_celestial_information, - const Orbit* orbit = nullptr); +Telescope InitTelescope(environment::ClockGenerator* clock_generator, int sensor_id, const std::string file_name, + const dynamics::attitude::Attitude* attitude, const HipparcosCatalogue* hipparcos, + const LocalCelestialInformation* local_celestial_information, const Orbit* orbit = nullptr); -} // namespace s2e::components +} // namespace s2e::components #endif // S2E_COMPONENTS_REAL_MISSION_TELESCOPE_HPP_P_ diff --git a/src/components/real/power/battery.cpp b/src/components/real/power/battery.cpp index 9637e5a23..247bf082b 100644 --- a/src/components/real/power/battery.cpp +++ b/src/components/real/power/battery.cpp @@ -10,9 +10,9 @@ namespace s2e::components { -Battery::Battery(const int prescaler, environment::ClockGenerator* clock_generator, int number_of_series, int number_of_parallel, double cell_capacity_Ah, - const std::vector cell_discharge_curve_coefficients, double initial_dod, double cc_charge_c_rate, double cv_charge_voltage_V, - double battery_resistance_Ohm, double component_step_time_s) +Battery::Battery(const int prescaler, environment::ClockGenerator* clock_generator, int number_of_series, int number_of_parallel, + double cell_capacity_Ah, const std::vector cell_discharge_curve_coefficients, double initial_dod, double cc_charge_c_rate, + double cv_charge_voltage_V, double battery_resistance_Ohm, double component_step_time_s) : Component(prescaler, clock_generator), number_of_series_(number_of_series), number_of_parallel_(number_of_parallel), @@ -133,4 +133,4 @@ Battery InitBAT(environment::ClockGenerator* clock_generator, int bat_id, const return battery; } -} // namespace s2e::components +} // namespace s2e::components diff --git a/src/components/real/power/battery.hpp b/src/components/real/power/battery.hpp index c1adf5d49..84d2edf9b 100644 --- a/src/components/real/power/battery.hpp +++ b/src/components/real/power/battery.hpp @@ -146,6 +146,6 @@ class Battery : public Component, public logger::ILoggable { */ Battery InitBAT(environment::ClockGenerator* clock_generator, int bat_id, const std::string file_name, double component_step_time_s); -} // namespace s2e::components +} // namespace s2e::components #endif // S2E_COMPONENTS_REAL_POWER_BATTERY_HPP_P_ diff --git a/src/components/real/power/csv_scenario_interface.cpp b/src/components/real/power/csv_scenario_interface.cpp index 999369a02..54ee31a01 100644 --- a/src/components/real/power/csv_scenario_interface.cpp +++ b/src/components/real/power/csv_scenario_interface.cpp @@ -95,4 +95,4 @@ double CsvScenarioInterface::GetValueFromBuffer(const std::string buffer_name, c return output; } -} // namespace s2e::components +} // namespace s2e::components diff --git a/src/components/real/power/csv_scenario_interface.hpp b/src/components/real/power/csv_scenario_interface.hpp index 98dc2180d..d6c331ad9 100644 --- a/src/components/real/power/csv_scenario_interface.hpp +++ b/src/components/real/power/csv_scenario_interface.hpp @@ -80,6 +80,6 @@ class CsvScenarioInterface { static std::map buffers_; //!< Buffer }; -} // namespace s2e::components +} // namespace s2e::components #endif // S2E_COMPONENTS_REAL_POWER_CSV_SCENARIO_INTERFACE_HPP_ diff --git a/src/components/real/power/pcu_initial_study.cpp b/src/components/real/power/pcu_initial_study.cpp index 5a20fb79e..b1d35c2a7 100644 --- a/src/components/real/power/pcu_initial_study.cpp +++ b/src/components/real/power/pcu_initial_study.cpp @@ -12,8 +12,8 @@ namespace s2e::components { -PcuInitialStudy::PcuInitialStudy(const int prescaler, environment::ClockGenerator* clock_generator, const std::vector saps, Battery* battery, - double component_step_time_s) +PcuInitialStudy::PcuInitialStudy(const int prescaler, environment::ClockGenerator* clock_generator, const std::vector saps, + Battery* battery, double component_step_time_s) : Component(prescaler, clock_generator), saps_(saps), battery_(battery), @@ -127,4 +127,4 @@ PcuInitialStudy InitPCU_InitialStudy(environment::ClockGenerator* clock_generato return pcu; } -} // namespace s2e::components +} // namespace s2e::components diff --git a/src/components/real/power/pcu_initial_study.hpp b/src/components/real/power/pcu_initial_study.hpp index 5a8bd074b..65f5eda94 100644 --- a/src/components/real/power/pcu_initial_study.hpp +++ b/src/components/real/power/pcu_initial_study.hpp @@ -97,6 +97,6 @@ class PcuInitialStudy : public Component, public logger::ILoggable { PcuInitialStudy InitPCU_InitialStudy(environment::ClockGenerator* clock_generator, int pcu_id, const std::string file_name, const std::vector saps, Battery* battery, double component_step_time_s); -} // namespace s2e::components +} // namespace s2e::components #endif // S2E_COMPONENTS_REAL_POWER_PCU_INITIAL_STUDY_HPP_ diff --git a/src/components/real/power/power_control_unit.cpp b/src/components/real/power/power_control_unit.cpp index ce820b1c3..5ed558949 100644 --- a/src/components/real/power/power_control_unit.cpp +++ b/src/components/real/power/power_control_unit.cpp @@ -55,4 +55,4 @@ std::string PowerControlUnit::GetLogValue() const { return str_tmp; } -} // namespace s2e::components +} // namespace s2e::components diff --git a/src/components/real/power/power_control_unit.hpp b/src/components/real/power/power_control_unit.hpp index d61bc397b..0e16e2547 100644 --- a/src/components/real/power/power_control_unit.hpp +++ b/src/components/real/power/power_control_unit.hpp @@ -97,6 +97,6 @@ class PowerControlUnit : public Component, public logger::ILoggable { std::map power_ports_; //!< Power port list }; -} // namespace s2e::components +} // namespace s2e::components #endif // S2E_COMPONENTS_REAL_POWER_POWER_CONTROL_UNIT_HPP_ diff --git a/src/components/real/power/solar_array_panel.cpp b/src/components/real/power/solar_array_panel.cpp index 651e49eb2..f50959a07 100644 --- a/src/components/real/power/solar_array_panel.cpp +++ b/src/components/real/power/solar_array_panel.cpp @@ -11,9 +11,9 @@ namespace s2e::components { -SolarArrayPanel::SolarArrayPanel(const int prescaler, environment::ClockGenerator* clock_generator, int component_id, int number_of_series, int number_of_parallel, - double cell_area_m2, math::Vector<3> normal_vector, double cell_efficiency, double transmission_efficiency, - const SolarRadiationPressureEnvironment* srp_environment, +SolarArrayPanel::SolarArrayPanel(const int prescaler, environment::ClockGenerator* clock_generator, int component_id, int number_of_series, + int number_of_parallel, double cell_area_m2, math::Vector<3> normal_vector, double cell_efficiency, + double transmission_efficiency, const SolarRadiationPressureEnvironment* srp_environment, const LocalCelestialInformation* local_celestial_information, double component_step_time_s) : Component(prescaler, clock_generator), component_id_(component_id), @@ -30,9 +30,10 @@ SolarArrayPanel::SolarArrayPanel(const int prescaler, environment::ClockGenerato power_generation_W_ = 0.0; } -SolarArrayPanel::SolarArrayPanel(const int prescaler, environment::ClockGenerator* clock_generator, int component_id, int number_of_series, int number_of_parallel, - double cell_area_m2, math::Vector<3> normal_vector, double cell_efficiency, double transmission_efficiency, - const SolarRadiationPressureEnvironment* srp_environment, double component_step_time_s) +SolarArrayPanel::SolarArrayPanel(const int prescaler, environment::ClockGenerator* clock_generator, int component_id, int number_of_series, + int number_of_parallel, double cell_area_m2, math::Vector<3> normal_vector, double cell_efficiency, + double transmission_efficiency, const SolarRadiationPressureEnvironment* srp_environment, + double component_step_time_s) : Component(prescaler, clock_generator), component_id_(component_id), number_of_series_(number_of_series), @@ -47,8 +48,8 @@ SolarArrayPanel::SolarArrayPanel(const int prescaler, environment::ClockGenerato power_generation_W_ = 0.0; } -SolarArrayPanel::SolarArrayPanel(environment::ClockGenerator* clock_generator, int component_id, int number_of_series, int number_of_parallel, double cell_area_m2, - math::Vector<3> normal_vector, double cell_efficiency, double transmission_efficiency, +SolarArrayPanel::SolarArrayPanel(environment::ClockGenerator* clock_generator, int component_id, int number_of_series, int number_of_parallel, + double cell_area_m2, math::Vector<3> normal_vector, double cell_efficiency, double transmission_efficiency, const SolarRadiationPressureEnvironment* srp_environment, const LocalCelestialInformation* local_celestial_information) : Component(10, clock_generator), @@ -183,4 +184,4 @@ SolarArrayPanel InitSAP(environment::ClockGenerator* clock_generator, int sap_id return sap; } -} // namespace s2e::components +} // namespace s2e::components diff --git a/src/components/real/power/solar_array_panel.hpp b/src/components/real/power/solar_array_panel.hpp index e77eecd3a..e684062cf 100644 --- a/src/components/real/power/solar_array_panel.hpp +++ b/src/components/real/power/solar_array_panel.hpp @@ -159,6 +159,6 @@ SolarArrayPanel InitSAP(environment::ClockGenerator* clock_generator, int sap_id SolarArrayPanel InitSAP(environment::ClockGenerator* clock_generator, int sap_id, const std::string file_name, const SolarRadiationPressureEnvironment* srp_environment, double component_step_time_s); -} // namespace s2e::components +} // namespace s2e::components #endif // S2E_COMPONENTS_REAL_POWER_SOLAR_ARRAY_PANEL_HPP_ diff --git a/src/components/real/propulsion/simple_thruster.cpp b/src/components/real/propulsion/simple_thruster.cpp index 61b1ec766..dc07d7007 100644 --- a/src/components/real/propulsion/simple_thruster.cpp +++ b/src/components/real/propulsion/simple_thruster.cpp @@ -122,8 +122,8 @@ math::Vector<3> SimpleThruster::CalcThrustDirection() { return thrust_dir_b_true; } -SimpleThruster InitSimpleThruster(environment::ClockGenerator* clock_generator, int thruster_id, const std::string file_name, const Structure* structure, - const dynamics::Dynamics* dynamics) { +SimpleThruster InitSimpleThruster(environment::ClockGenerator* clock_generator, int thruster_id, const std::string file_name, + const Structure* structure, const dynamics::Dynamics* dynamics) { setting_file_reader::IniAccess thruster_conf(file_name); std::string section_str = "THRUSTER_" + std::to_string(thruster_id); auto* Section = section_str.c_str(); @@ -180,4 +180,4 @@ SimpleThruster InitSimpleThruster(environment::ClockGenerator* clock_generator, return thruster; } -} // namespace s2e::components +} // namespace s2e::components diff --git a/src/components/real/propulsion/simple_thruster.hpp b/src/components/real/propulsion/simple_thruster.hpp index 6cb9ab066..ca0476e04 100644 --- a/src/components/real/propulsion/simple_thruster.hpp +++ b/src/components/real/propulsion/simple_thruster.hpp @@ -110,14 +110,14 @@ class SimpleThruster : public Component, public logger::ILoggable { protected: // parameters - const int component_id_; //!< Thruster ID - Vector<3> thruster_position_b_m_{0.0}; //!< Thruster position @ body frame [m] - Vector<3> thrust_direction_b_{0.0}; //!< Thrust direction @ body frame - double duty_ = 0.0; //!< PWM Duty [0.0 : 1.0] - double thrust_magnitude_max_N_ = 0.0; //!< Maximum thrust magnitude [N] - double direction_noise_standard_deviation_rad_ = 0.0; //!< Standard deviation of thrust direction error [rad] - s2e::randomization::NormalRand magnitude_random_noise_; //!< Normal random for thrust magnitude error - s2e::randomization::NormalRand direction_random_noise_; //!< Normal random for thrust direction error + const int component_id_; //!< Thruster ID + Vector<3> thruster_position_b_m_{0.0}; //!< Thruster position @ body frame [m] + Vector<3> thrust_direction_b_{0.0}; //!< Thrust direction @ body frame + double duty_ = 0.0; //!< PWM Duty [0.0 : 1.0] + double thrust_magnitude_max_N_ = 0.0; //!< Maximum thrust magnitude [N] + double direction_noise_standard_deviation_rad_ = 0.0; //!< Standard deviation of thrust direction error [rad] + s2e::randomization::NormalRand magnitude_random_noise_; //!< Normal random for thrust magnitude error + s2e::randomization::NormalRand direction_random_noise_; //!< Normal random for thrust direction error // outputs Vector<3> output_thrust_b_N_{0.0}; //!< Generated thrust on the body fixed frame [N] Vector<3> output_torque_b_Nm_{0.0}; //!< Generated torque on the body fixed frame [Nm] @@ -153,8 +153,8 @@ class SimpleThruster : public Component, public logger::ILoggable { */ void Initialize(const double magnitude_standard_deviation_N, const double direction_standard_deviation_rad); - const Structure* structure_; //!< Spacecraft structure information - const dynamics::Dynamics* dynamics_; //!< Spacecraft dynamics information + const Structure* structure_; //!< Spacecraft structure information + const dynamics::Dynamics* dynamics_; //!< Spacecraft dynamics information }; /** @@ -166,8 +166,8 @@ class SimpleThruster : public Component, public logger::ILoggable { * @param [in] structure: Spacecraft structure information * @param [in] dynamics: Spacecraft dynamics information */ -SimpleThruster InitSimpleThruster(environment::ClockGenerator* clock_generator, int thruster_id, const std::string file_name, const Structure* structure, - const dynamics::Dynamics* dynamics); +SimpleThruster InitSimpleThruster(environment::ClockGenerator* clock_generator, int thruster_id, const std::string file_name, + const Structure* structure, const dynamics::Dynamics* dynamics); /** * @fn InitSimpleThruster * @brief Initialize function os SimpleThruster @@ -181,6 +181,6 @@ SimpleThruster InitSimpleThruster(environment::ClockGenerator* clock_generator, SimpleThruster InitSimpleThruster(environment::ClockGenerator* clock_generator, PowerPort* power_port, int thruster_id, const std::string file_name, const Structure* structure, const dynamics::Dynamics* dynamics); -} // namespace s2e::components +} // namespace s2e::components #endif // S2E_COMPONENTS_REAL_PROPULSION_SIMPLE_THRUSTER_HPP_ diff --git a/src/disturbances/air_drag.cpp b/src/disturbances/air_drag.cpp index c4f306523..8b7503776 100644 --- a/src/disturbances/air_drag.cpp +++ b/src/disturbances/air_drag.cpp @@ -112,4 +112,4 @@ AirDrag InitAirDrag(const std::string initialize_file_path, const std::vector& surfaces, const Vector<3>& center_of_gravity_b_m); -} // namespace s2e::disturbances +} // namespace s2e::disturbances #endif // S2E_DISTURBANCES_AIR_DRAG_HPP_ diff --git a/src/disturbances/disturbance.hpp b/src/disturbances/disturbance.hpp index 6321f06d2..274517736 100644 --- a/src/disturbances/disturbance.hpp +++ b/src/disturbances/disturbance.hpp @@ -93,6 +93,6 @@ class Disturbance : public logger::ILoggable { math::Vector<3> acceleration_i_m_s2_; //!< Disturbance acceleration in the inertial frame [m/s2] }; -} // namespace s2e::disturbances +} // namespace s2e::disturbances #endif // S2E_DISTURBANCES_DISTURBANCE_HPP_ diff --git a/src/disturbances/disturbances.cpp b/src/disturbances/disturbances.cpp index 8d0c94037..e3351d989 100644 --- a/src/disturbances/disturbances.cpp +++ b/src/disturbances/disturbances.cpp @@ -99,4 +99,4 @@ void Disturbances::InitializeForceAndTorque() { void Disturbances::InitializeAcceleration() { total_acceleration_i_m_s2_ = Vector<3>(0.0); } -} // namespace s2e::disturbances +} // namespace s2e::disturbances diff --git a/src/disturbances/disturbances.hpp b/src/disturbances/disturbances.hpp index a3f57b39a..67d1f473d 100644 --- a/src/disturbances/disturbances.hpp +++ b/src/disturbances/disturbances.hpp @@ -101,6 +101,6 @@ class Disturbances { void InitializeAcceleration(); }; -} // namespace s2e::disturbances +} // namespace s2e::disturbances #endif // S2E_DISTURBANCES_DISTURBANCES_HPP_ diff --git a/src/disturbances/geopotential.cpp b/src/disturbances/geopotential.cpp index dffba8b93..382a10dc4 100644 --- a/src/disturbances/geopotential.cpp +++ b/src/disturbances/geopotential.cpp @@ -129,4 +129,4 @@ Geopotential InitGeopotential(const std::string initialize_file_path) { return geopotential_disturbance; } -} // namespace s2e::disturbances +} // namespace s2e::disturbances diff --git a/src/disturbances/geopotential.hpp b/src/disturbances/geopotential.hpp index c82f792b1..235c1fef8 100644 --- a/src/disturbances/geopotential.hpp +++ b/src/disturbances/geopotential.hpp @@ -88,6 +88,6 @@ class Geopotential : public Disturbance { */ Geopotential InitGeopotential(const std::string initialize_file_path); -} // namespace s2e::disturbances +} // namespace s2e::disturbances #endif // S2E_DISTURBANCES_GEOPOTENTIAL_HPP_ diff --git a/src/disturbances/gravity_gradient.cpp b/src/disturbances/gravity_gradient.cpp index 5129ec5be..4bb880cc1 100644 --- a/src/disturbances/gravity_gradient.cpp +++ b/src/disturbances/gravity_gradient.cpp @@ -73,4 +73,4 @@ GravityGradient InitGravityGradient(const std::string initialize_file_path, cons return gg_disturbance; } -} // namespace s2e::disturbances +} // namespace s2e::disturbances diff --git a/src/disturbances/gravity_gradient.hpp b/src/disturbances/gravity_gradient.hpp index b58b8df33..ad5e6fcea 100644 --- a/src/disturbances/gravity_gradient.hpp +++ b/src/disturbances/gravity_gradient.hpp @@ -85,6 +85,6 @@ GravityGradient InitGravityGradient(const std::string initialize_file_path); */ GravityGradient InitGravityGradient(const std::string initialize_file_path, const double gravity_constant_m3_s2); -} // namespace s2e::disturbances +} // namespace s2e::disturbances #endif // S2E_DISTURBANCES_GRAVITY_GRADIENT_HPP_ diff --git a/src/disturbances/lunar_gravity_field.cpp b/src/disturbances/lunar_gravity_field.cpp index 3511537e6..7d37794e4 100644 --- a/src/disturbances/lunar_gravity_field.cpp +++ b/src/disturbances/lunar_gravity_field.cpp @@ -153,4 +153,4 @@ LunarGravityField InitLunarGravityField(const std::string initialize_file_path) return lunar_gravity_field; } -} // namespace s2e::disturbances +} // namespace s2e::disturbances diff --git a/src/disturbances/lunar_gravity_field.hpp b/src/disturbances/lunar_gravity_field.hpp index 40b5d0e7d..a117464f5 100644 --- a/src/disturbances/lunar_gravity_field.hpp +++ b/src/disturbances/lunar_gravity_field.hpp @@ -92,6 +92,6 @@ class LunarGravityField : public Disturbance { */ LunarGravityField InitLunarGravityField(const std::string initialize_file_path); -} // namespace s2e::disturbances +} // namespace s2e::disturbances #endif // S2E_DISTURBANCES_LUNAR_GRAVITY_FIELD_HPP_ diff --git a/src/disturbances/magnetic_disturbance.cpp b/src/disturbances/magnetic_disturbance.cpp index 11fc64530..6165965f0 100644 --- a/src/disturbances/magnetic_disturbance.cpp +++ b/src/disturbances/magnetic_disturbance.cpp @@ -37,7 +37,7 @@ void MagneticDisturbance::CalcRMM() { static math::Vector<3> random_walk_limit(residual_magnetic_moment_.GetRandomWalkLimit_Am2()); static RandomWalk<3> random_walk(0.1, random_walk_std_dev, random_walk_limit); // [FIXME] step width is constant static s2e::randomization::NormalRand normal_random(0.0, residual_magnetic_moment_.GetRandomNoiseStandardDeviation_Am2(), - s2e::randomization::global_randomization.MakeSeed()); + s2e::randomization::global_randomization.MakeSeed()); rmm_b_Am2_ = residual_magnetic_moment_.GetConstantValue_b_Am2(); for (int i = 0; i < 3; ++i) { @@ -75,4 +75,4 @@ MagneticDisturbance InitMagneticDisturbance(const std::string initialize_file_pa return mag_disturbance; } -} // namespace s2e::disturbances +} // namespace s2e::disturbances diff --git a/src/disturbances/magnetic_disturbance.hpp b/src/disturbances/magnetic_disturbance.hpp index 7b5187598..f618f9de3 100644 --- a/src/disturbances/magnetic_disturbance.hpp +++ b/src/disturbances/magnetic_disturbance.hpp @@ -77,6 +77,6 @@ class MagneticDisturbance : public Disturbance { */ MagneticDisturbance InitMagneticDisturbance(const std::string initialize_file_path, const ResidualMagneticMoment& rmm_params); -} // namespace s2e::disturbances +} // namespace s2e::disturbances #endif // S2E_DISTURBANCES_MAGNETIC_DISTURBANCE_HPP_ diff --git a/src/disturbances/solar_radiation_pressure_disturbance.cpp b/src/disturbances/solar_radiation_pressure_disturbance.cpp index 638a19833..bd26dec2a 100644 --- a/src/disturbances/solar_radiation_pressure_disturbance.cpp +++ b/src/disturbances/solar_radiation_pressure_disturbance.cpp @@ -68,4 +68,4 @@ SolarRadiationPressureDisturbance InitSolarRadiationPressureDisturbance(const st return srp_disturbance; } -} // namespace s2e::disturbances +} // namespace s2e::disturbances diff --git a/src/disturbances/solar_radiation_pressure_disturbance.hpp b/src/disturbances/solar_radiation_pressure_disturbance.hpp index 63f20e4e0..8cfcc3df1 100644 --- a/src/disturbances/solar_radiation_pressure_disturbance.hpp +++ b/src/disturbances/solar_radiation_pressure_disturbance.hpp @@ -70,6 +70,6 @@ class SolarRadiationPressureDisturbance : public SurfaceForce { SolarRadiationPressureDisturbance InitSolarRadiationPressureDisturbance(const std::string initialize_file_path, const std::vector& surfaces, const Vector<3>& center_of_gravity_b_m); -} // namespace s2e::disturbances +} // namespace s2e::disturbances #endif // S2E_DISTURBANCES_SOLAR_RADIATION_PRESSURE_DISTURBANCE_HPP_ diff --git a/src/disturbances/surface_force.cpp b/src/disturbances/surface_force.cpp index 0cef5b365..80ec260cf 100644 --- a/src/disturbances/surface_force.cpp +++ b/src/disturbances/surface_force.cpp @@ -55,4 +55,4 @@ void SurfaceForce::CalcTheta(math::Vector<3>& input_direction_b) { } } -} // namespace s2e::disturbances +} // namespace s2e::disturbances diff --git a/src/disturbances/surface_force.hpp b/src/disturbances/surface_force.hpp index c6c0c3d06..61eb8edba 100644 --- a/src/disturbances/surface_force.hpp +++ b/src/disturbances/surface_force.hpp @@ -73,6 +73,6 @@ class SurfaceForce : public Disturbance { virtual void CalcCoefficients(const math::Vector<3>& input_direction_b, const double item) = 0; }; -} // namespace s2e::disturbances +} // namespace s2e::disturbances #endif // S2E_DISTURBANCES_SURFACE_FORCE_HPP_ diff --git a/src/disturbances/third_body_gravity.cpp b/src/disturbances/third_body_gravity.cpp index 7d99ab2fb..205c129fa 100644 --- a/src/disturbances/third_body_gravity.cpp +++ b/src/disturbances/third_body_gravity.cpp @@ -102,4 +102,4 @@ ThirdBodyGravity InitThirdBodyGravity(const std::string initialize_file_path, co return third_body_disturbance; } -} // namespace s2e::disturbances +} // namespace s2e::disturbances diff --git a/src/disturbances/third_body_gravity.hpp b/src/disturbances/third_body_gravity.hpp index 7207f7e78..c55d5f2e3 100644 --- a/src/disturbances/third_body_gravity.hpp +++ b/src/disturbances/third_body_gravity.hpp @@ -78,6 +78,6 @@ class ThirdBodyGravity : public Disturbance { */ ThirdBodyGravity InitThirdBodyGravity(const std::string initialize_file_path, const std::string ini_path_celes); -} // namespace s2e::disturbances +} // namespace s2e::disturbances #endif // S2E_DISTURBANCES_THIRD_BODY_GRAVITY_HPP_ diff --git a/src/dynamics/attitude/attitude.cpp b/src/dynamics/attitude/attitude.cpp index 84a9040e2..b079c68b8 100644 --- a/src/dynamics/attitude/attitude.cpp +++ b/src/dynamics/attitude/attitude.cpp @@ -82,4 +82,4 @@ math::Matrix<4, 4> CalcAngularVelocityMatrix(math::Vector<3> angular_velocity_b_ return angular_velocity_matrix; } -} // namespace s2e::dynamics::attitude +} // namespace s2e::dynamics::attitude diff --git a/src/dynamics/attitude/attitude.hpp b/src/dynamics/attitude/attitude.hpp index 6c3c80fef..59076b6ef 100644 --- a/src/dynamics/attitude/attitude.hpp +++ b/src/dynamics/attitude/attitude.hpp @@ -144,6 +144,6 @@ class Attitude : public logger::ILoggable, public simulation::SimulationObject { */ math::Matrix<4, 4> CalcAngularVelocityMatrix(math::Vector<3> angular_velocity_b_rad_s); -} // namespace s2e::dynamics::attitude +} // namespace s2e::dynamics::attitude #endif // S2E_DYNAMICS_ATTITUDE_ATTITUDE_HPP_ diff --git a/src/dynamics/attitude/attitude_rk4.cpp b/src/dynamics/attitude/attitude_rk4.cpp index 52af18344..f7cca9b68 100644 --- a/src/dynamics/attitude/attitude_rk4.cpp +++ b/src/dynamics/attitude/attitude_rk4.cpp @@ -122,4 +122,4 @@ void AttitudeRk4::RungeKuttaOneStep(double t, double dt) { quaternion_i2b_.Normalize(); } -} // namespace s2e::dynamics::attitude +} // namespace s2e::dynamics::attitude diff --git a/src/dynamics/attitude/attitude_rk4.hpp b/src/dynamics/attitude/attitude_rk4.hpp index 2b3b4f06c..5924bd4cf 100644 --- a/src/dynamics/attitude/attitude_rk4.hpp +++ b/src/dynamics/attitude/attitude_rk4.hpp @@ -70,6 +70,6 @@ class AttitudeRk4 : public Attitude { void RungeKuttaOneStep(double t, double dt); }; -} // namespace s2e::dynamics::attitude +} // namespace s2e::dynamics::attitude #endif // S2E_DYNAMICS_ATTITUDE_ATTITUDE_RK4_HPP_ diff --git a/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp b/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp index 78292eb5c..a43ba941d 100644 --- a/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp +++ b/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp @@ -102,4 +102,4 @@ void AttitudeWithCantileverVibration::Propagate(const double end_time_s) { CalcAngularMomentum(); } -} // namespace s2e::dynamics::attitude +} // namespace s2e::dynamics::attitude diff --git a/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp b/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp index 30469c2fd..0484e7c54 100644 --- a/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp +++ b/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp @@ -79,6 +79,6 @@ class AttitudeWithCantileverVibration : public Attitude { s2e::numerical_integration::NumericalIntegratorManager<13> numerical_integrator_; }; -} // namespace s2e::dynamics::attitude +} // namespace s2e::dynamics::attitude #endif // S2E_DYNAMICS_ATTITUDE_ATTITUDE_WITH_CANTILEVER_VIBRATION_HPP_ diff --git a/src/dynamics/attitude/controlled_attitude.cpp b/src/dynamics/attitude/controlled_attitude.cpp index a1850b8fb..f564ebd21 100644 --- a/src/dynamics/attitude/controlled_attitude.cpp +++ b/src/dynamics/attitude/controlled_attitude.cpp @@ -181,4 +181,4 @@ void ControlledAttitude::CalcAngularVelocity(const double current_time_s) { previous_omega_b_rad_s_ = angular_velocity_b_rad_s_; } -} // namespace s2e::dynamics::attitude +} // namespace s2e::dynamics::attitude diff --git a/src/dynamics/attitude/controlled_attitude.hpp b/src/dynamics/attitude/controlled_attitude.hpp index 0b1b65ac7..c2853871e 100644 --- a/src/dynamics/attitude/controlled_attitude.hpp +++ b/src/dynamics/attitude/controlled_attitude.hpp @@ -58,8 +58,8 @@ class ControlledAttitude : public Attitude { */ ControlledAttitude(const AttitudeControlMode main_mode, const AttitudeControlMode sub_mode, const math::Quaternion quaternion_i2b, const math::Vector<3> main_target_direction_b, const math::Vector<3> sub_target_direction_b, - const math::Matrix<3, 3>& inertia_tensor_kgm2, const environment::LocalCelestialInformation* local_celestial_information, const orbit::Orbit* orbit, - const std::string& simulation_object_name = "attitude"); + const math::Matrix<3, 3>& inertia_tensor_kgm2, const environment::LocalCelestialInformation* local_celestial_information, + const orbit::Orbit* orbit, const std::string& simulation_object_name = "attitude"); /** * @fn ~ControlledAttitude * @brief Destructor @@ -114,7 +114,7 @@ class ControlledAttitude : public Attitude { // Inputs const environment::LocalCelestialInformation* local_celestial_information_; //!< Local celestial information - const orbit::Orbit* orbit_; //!< Orbit information + const orbit::Orbit* orbit_; //!< Orbit information // Local functions /** @@ -151,6 +151,6 @@ class ControlledAttitude : public Attitude { math::Matrix<3, 3> CalcDcm(const math::Vector<3> main_direction, const math::Vector<3> sub_direction); }; -} // namespace s2e::dynamics::attitude +} // namespace s2e::dynamics::attitude #endif // S2E_DYNAMICS_ATTITUDE_CONTROLLED_ATTITUDE_HPP_ diff --git a/src/dynamics/attitude/initialize_attitude.cpp b/src/dynamics/attitude/initialize_attitude.cpp index 8460ea988..0aea27194 100644 --- a/src/dynamics/attitude/initialize_attitude.cpp +++ b/src/dynamics/attitude/initialize_attitude.cpp @@ -96,4 +96,4 @@ Attitude* InitAttitude(std::string file_name, const Orbit* orbit, const LocalCel return attitude; } -} // namespace s2e::dynamics::attitude +} // namespace s2e::dynamics::attitude diff --git a/src/dynamics/attitude/initialize_attitude.hpp b/src/dynamics/attitude/initialize_attitude.hpp index a03141105..335ee0c44 100644 --- a/src/dynamics/attitude/initialize_attitude.hpp +++ b/src/dynamics/attitude/initialize_attitude.hpp @@ -26,6 +26,6 @@ namespace s2e::dynamics::attitude { Attitude* InitAttitude(std::string file_name, const orbit::Orbit* orbit, const environment::LocalCelestialInformation* local_celestial_information, const double step_width_s, const math::Matrix<3, 3>& inertia_tensor_kgm2, const int spacecraft_id); -} // namespace s2e::dynamics::attitude +} // namespace s2e::dynamics::attitude #endif // S2E_DYNAMICS_ATTITUDE_INITIALIZE_ATTITUDE_HPP_ diff --git a/src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp b/src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp index 84591e9b3..c267b84f7 100644 --- a/src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp +++ b/src/dynamics/attitude/ode_attitude_with_cantilever_vibration.hpp @@ -222,6 +222,6 @@ class AttitudeWithCantileverVibrationOde : public numerical_integration::Interfa math::Matrix<3, 3> inverse_equivalent_inertia_tensor_cantilever_{0.0}; //!< Inverse of inertia tensor of the cantilever }; -} // namespace s2e::dynamics::attitude +} // namespace s2e::dynamics::attitude #endif // S2E_DYNAMICS_ATTITUDE_ODE_ATTITUDE_WITH_CANTILEVER_VIBRATION_HPP_ diff --git a/src/dynamics/dynamics.cpp b/src/dynamics/dynamics.cpp index e87f57dd0..49f226dde 100644 --- a/src/dynamics/dynamics.cpp +++ b/src/dynamics/dynamics.cpp @@ -9,8 +9,9 @@ namespace s2e::dynamics { -Dynamics(const simulation::SimulationConfiguration* simulation_configuration, const environment::SimulationTime* simulation_time, const environment::LocalEnvironment* local_environment, - const int spacecraft_id, simulation::Structure* structure, simulation::RelativeInformation* relative_information) +Dynamics(const simulation::SimulationConfiguration* simulation_configuration, const environment::SimulationTime* simulation_time, + const environment::LocalEnvironment* local_environment, const int spacecraft_id, simulation::Structure* structure, + simulation::RelativeInformation* relative_information) : structure_(structure), local_environment_(local_environment) { Initialize(simulation_configuration, simulation_time, spacecraft_id, structure, relative_information); } @@ -67,4 +68,4 @@ void Dynamics::LogSetup(Logger& logger) { logger.AddLogList(temperature_); } -} // namespace s2e::dynamics +} // namespace s2e::dynamics diff --git a/src/dynamics/dynamics.hpp b/src/dynamics/dynamics.hpp index 0681d6d4c..5267f7a64 100644 --- a/src/dynamics/dynamics.hpp +++ b/src/dynamics/dynamics.hpp @@ -17,8 +17,8 @@ #include "dynamics/thermal/node.hpp" #include "dynamics/thermal/temperature.hpp" -class RelativeInformation; -class LocalEnvironment; +class s2e::simulation::RelativeInformation; +class s2e::environment::LocalEnvironment; namespace s2e::dynamics { @@ -38,8 +38,9 @@ class Dynamics { * @param [in] structure: Structure of the spacecraft * @param [in] relative_information: Relative information */ - Dynamics(const simulation::SimulationConfiguration* simulation_configuration, const environment::SimulationTime* simulation_time, const environment::LocalEnvironment* local_environment, - const int spacecraft_id, simulation::Structure* structure, simulation::RelativeInformation* relative_information = (simulation::RelativeInformation*)nullptr); + Dynamics(const simulation::SimulationConfiguration* simulation_configuration, const environment::SimulationTime* simulation_time, + const environment::LocalEnvironment* local_environment, const int spacecraft_id, simulation::Structure* structure, + simulation::RelativeInformation* relative_information = (simulation::RelativeInformation*)nullptr); /** * @fn ~Dynamics * @brief Destructor @@ -109,10 +110,10 @@ class Dynamics { inline attitude::Attitude& SetAttitude() const { return *attitude_; } private: - attitude::Attitude* attitude_; //!< Attitude dynamics - orbit::Orbit* orbit_; //!< Orbit dynamics - thermal::Temperature* temperature_; //!< Thermal dynamics - const simulation::Structure* structure_; //!< Structure information + attitude::Attitude* attitude_; //!< Attitude dynamics + orbit::Orbit* orbit_; //!< Orbit dynamics + thermal::Temperature* temperature_; //!< Thermal dynamics + const simulation::Structure* structure_; //!< Structure information const environment::LocalEnvironment* local_environment_; //!< Local environment /** @@ -125,10 +126,11 @@ class Dynamics { * @param [in] structure: Structure of the spacecraft * @param [in] relative_information: Relative information */ - void Initialize(const simulation::SimulationConfiguration* simulation_configuration, const environment::SimulationTime* simulation_time, const int spacecraft_id, - simulation::Structure* structure, simulation::RelativeInformation* relative_information = (simulation::RelativeInformation*)nullptr); + void Initialize(const simulation::SimulationConfiguration* simulation_configuration, const environment::SimulationTime* simulation_time, + const int spacecraft_id, simulation::Structure* structure, + simulation::RelativeInformation* relative_information = (simulation::RelativeInformation*)nullptr); }; -} // namespace s2e::dynamics +} // namespace s2e::dynamics #endif // S2E_DYNAMICS_DYNAMICS_HPP_ diff --git a/src/dynamics/orbit/encke_orbit_propagation.cpp b/src/dynamics/orbit/encke_orbit_propagation.cpp index ac661f705..adf102ceb 100644 --- a/src/dynamics/orbit/encke_orbit_propagation.cpp +++ b/src/dynamics/orbit/encke_orbit_propagation.cpp @@ -127,4 +127,4 @@ double EnckeOrbitPropagation::CalcQFunction(math::Vector<3> difference_position_ return q_func; } -} // namespace s2e::dynamics::orbit +} // namespace s2e::dynamics::orbit diff --git a/src/dynamics/orbit/encke_orbit_propagation.hpp b/src/dynamics/orbit/encke_orbit_propagation.hpp index 7b2ba00a8..4101b6b71 100644 --- a/src/dynamics/orbit/encke_orbit_propagation.hpp +++ b/src/dynamics/orbit/encke_orbit_propagation.hpp @@ -65,8 +65,8 @@ class EnckeOrbitPropagation : public Orbit, public math::OrdinaryDifferentialEqu double propagation_time_s_; //!< Simulation current time for numerical integration by RK4 // reference orbit - math::Vector<3> reference_position_i_m_; //!< Reference orbit position in the inertial frame [m] - math::Vector<3> reference_velocity_i_m_s_; //!< Reference orbit velocity in the inertial frame [m/s] + math::Vector<3> reference_position_i_m_; //!< Reference orbit position in the inertial frame [m] + math::Vector<3> reference_velocity_i_m_s_; //!< Reference orbit velocity in the inertial frame [m/s] s2e::orbit::KeplerOrbit reference_kepler_orbit; //!< Reference Kepler orbital element // difference orbit @@ -95,6 +95,6 @@ class EnckeOrbitPropagation : public Orbit, public math::OrdinaryDifferentialEqu double CalcQFunction(const math::Vector<3> difference_position_i_m); }; -} // namespace s2e::dynamics::orbit +} // namespace s2e::dynamics::orbit #endif // S2E_DYNAMICS_ORBIT_ENCKE_ORBIT_PROPAGATION_HPP_ diff --git a/src/dynamics/orbit/initialize_orbit.cpp b/src/dynamics/orbit/initialize_orbit.cpp index a564b2521..79ebd0e13 100644 --- a/src/dynamics/orbit/initialize_orbit.cpp +++ b/src/dynamics/orbit/initialize_orbit.cpp @@ -48,7 +48,8 @@ Orbit* InitOrbit(const CelestialInformation* celestial_information, std::string // initialize orbit for relative dynamics of formation flying RelativeOrbit::RelativeOrbitUpdateMethod update_method = (RelativeOrbit::RelativeOrbitUpdateMethod)(conf.ReadInt(section_, "relative_orbit_update_method")); - s2e::orbit::RelativeOrbitModel relative_dynamics_model_type = (s2e::orbit::RelativeOrbitModel)(conf.ReadInt(section_, "relative_dynamics_model_type")); + s2e::orbit::RelativeOrbitModel relative_dynamics_model_type = + (s2e::orbit::RelativeOrbitModel)(conf.ReadInt(section_, "relative_dynamics_model_type")); s2e::orbit::StmModel stm_model_type = (s2e::orbit::StmModel)(conf.ReadInt(section_, "stm_model_type")); math::Vector<3> init_relative_position_lvlh; @@ -151,4 +152,4 @@ math::Vector<6> InitializePosVel(std::string initialize_file, double current_tim return pos_vel; } -} // namespace s2e::dynamics::orbit +} // namespace s2e::dynamics::orbit diff --git a/src/dynamics/orbit/initialize_orbit.hpp b/src/dynamics/orbit/initialize_orbit.hpp index ece960dd2..a006fe204 100644 --- a/src/dynamics/orbit/initialize_orbit.hpp +++ b/src/dynamics/orbit/initialize_orbit.hpp @@ -25,8 +25,8 @@ namespace s2e::dynamics::orbit { * @param [in] section: Section name * @param [in] relative_information: Relative information */ -Orbit* InitOrbit(const environment::CelestialInformation* celestial_information, std::string initialize_file, double step_width_s, double current_time_jd, - double gravity_constant_m3_s2, std::string section = "ORBIT", +Orbit* InitOrbit(const environment::CelestialInformation* celestial_information, std::string initialize_file, double step_width_s, + double current_time_jd, double gravity_constant_m3_s2, std::string section = "ORBIT", RelativeInformation* relative_information = (RelativeInformation*)nullptr); /** @@ -39,6 +39,6 @@ Orbit* InitOrbit(const environment::CelestialInformation* celestial_information, */ math::Vector<6> InitializePosVel(std::string initialize_file, double current_time_jd, double gravity_constant_m3_s2, std::string section = "ORBIT"); -} // namespace s2e::dynamics::orbit +} // namespace s2e::dynamics::orbit #endif // S2E_DYNAMICS_ORBIT_INITIALIZE_ORBIT_HPP_ diff --git a/src/dynamics/orbit/kepler_orbit_propagation.cpp b/src/dynamics/orbit/kepler_orbit_propagation.cpp index d745a2c3a..dadb5ef50 100644 --- a/src/dynamics/orbit/kepler_orbit_propagation.cpp +++ b/src/dynamics/orbit/kepler_orbit_propagation.cpp @@ -35,4 +35,4 @@ void KeplerOrbitPropagation::UpdateState(const double current_time_jd) { TransformEcefToGeodetic(); } -} // namespace s2e::dynamics::orbit +} // namespace s2e::dynamics::orbit diff --git a/src/dynamics/orbit/kepler_orbit_propagation.hpp b/src/dynamics/orbit/kepler_orbit_propagation.hpp index 117f8edc1..cd18bab8c 100644 --- a/src/dynamics/orbit/kepler_orbit_propagation.hpp +++ b/src/dynamics/orbit/kepler_orbit_propagation.hpp @@ -50,6 +50,6 @@ class KeplerOrbitPropagation : public Orbit, public s2e::orbit::KeplerOrbit { void UpdateState(const double current_time_jd); }; -} // namespace s2e::dynamics::orbit +} // namespace s2e::dynamics::orbit #endif // S2E_DYNAMICS_ORBIT_KEPLER_ORBIT_PROPAGATION_HPP_ diff --git a/src/dynamics/orbit/orbit.cpp b/src/dynamics/orbit/orbit.cpp index d08e642ad..dbdcb7791 100644 --- a/src/dynamics/orbit/orbit.cpp +++ b/src/dynamics/orbit/orbit.cpp @@ -96,4 +96,4 @@ std::string Orbit::GetLogValue() const { return str_tmp; } -} // namespace s2e::dynamics::orbit +} // namespace s2e::dynamics::orbit diff --git a/src/dynamics/orbit/orbit.hpp b/src/dynamics/orbit/orbit.hpp index f6d80c7e7..9594aa7a1 100644 --- a/src/dynamics/orbit/orbit.hpp +++ b/src/dynamics/orbit/orbit.hpp @@ -193,8 +193,8 @@ class Orbit : public logger::ILoggable { bool is_calc_enabled_ = false; //!< Calculate flag OrbitPropagateMode propagate_mode_; //!< Propagation mode - math::Vector<3> spacecraft_position_i_m_; //!< Spacecraft position in the inertial frame [m] - math::Vector<3> spacecraft_position_ecef_m_; //!< Spacecraft position in the ECEF frame [m] + math::Vector<3> spacecraft_position_i_m_; //!< Spacecraft position in the inertial frame [m] + math::Vector<3> spacecraft_position_ecef_m_; //!< Spacecraft position in the ECEF frame [m] s2e::geodesy::GeodeticPosition spacecraft_geodetic_position_; //!< Spacecraft position in the Geodetic frame math::Vector<3> spacecraft_velocity_i_m_s_; //!< Spacecraft velocity in the inertial frame [m/s] @@ -219,6 +219,6 @@ class Orbit : public logger::ILoggable { OrbitInitializeMode SetOrbitInitializeMode(const std::string initialize_mode); -} // namespace s2e::dynamics::orbit +} // namespace s2e::dynamics::orbit #endif // S2E_DYNAMICS_ORBIT_ORBIT_HPP_ diff --git a/src/dynamics/orbit/relative_orbit.cpp b/src/dynamics/orbit/relative_orbit.cpp index 7620b3866..af1ee1d88 100644 --- a/src/dynamics/orbit/relative_orbit.cpp +++ b/src/dynamics/orbit/relative_orbit.cpp @@ -160,4 +160,4 @@ void RelativeOrbit::DerivativeFunction(double t, const math::Vector<6>& state, (void)t; } -} // namespace s2e::dynamics::orbit +} // namespace s2e::dynamics::orbit diff --git a/src/dynamics/orbit/relative_orbit.hpp b/src/dynamics/orbit/relative_orbit.hpp index 7aa505d88..5abf101cb 100644 --- a/src/dynamics/orbit/relative_orbit.hpp +++ b/src/dynamics/orbit/relative_orbit.hpp @@ -43,7 +43,8 @@ class RelativeOrbit : public Orbit, public math::OrdinaryDifferentialEquation<6> */ RelativeOrbit(const CelestialInformation* celestial_information, double gravity_constant_m3_s2, double time_step_s, int reference_spacecraft_id, math::Vector<3> relative_position_lvlh_m, math::Vector<3> relative_velocity_lvlh_m_s, RelativeOrbitUpdateMethod update_method, - s2e::orbit::RelativeOrbitModel relative_dynamics_model_type, s2e::orbit::StmModel stm_model_type, RelativeInformation* relative_information); + s2e::orbit::RelativeOrbitModel relative_dynamics_model_type, s2e::orbit::StmModel stm_model_type, + RelativeInformation* relative_information); /** * @fn ~RelativeOrbit * @brief Destructor @@ -82,10 +83,10 @@ class RelativeOrbit : public Orbit, public math::OrdinaryDifferentialEquation<6> math::Vector<3> relative_position_lvlh_m_; //!< Relative position in the LVLH frame math::Vector<3> relative_velocity_lvlh_m_s_; //!< Relative velocity in the LVLH frame - RelativeOrbitUpdateMethod update_method_; //!< Update method + RelativeOrbitUpdateMethod update_method_; //!< Update method s2e::orbit::RelativeOrbitModel relative_dynamics_model_type_; //!< Relative dynamics model type s2e::orbit::StmModel stm_model_type_; //!< State Transition Matrix model type - RelativeInformation* relative_information_; //!< Relative information + RelativeInformation* relative_information_; //!< Relative information /** * @fn InitializeState @@ -104,7 +105,8 @@ class RelativeOrbit : public Orbit, public math::OrdinaryDifferentialEquation<6> * @param [in] reference_sat_orbit: Orbit information of reference satellite * @param [in] gravity_constant_m3_s2: Gravity constant of the center body [m3/s2] */ - void CalculateSystemMatrix(s2e::orbit::RelativeOrbitModel relative_dynamics_model_type, const Orbit* reference_sat_orbit, double gravity_constant_m3_s2); + void CalculateSystemMatrix(s2e::orbit::RelativeOrbitModel relative_dynamics_model_type, const Orbit* reference_sat_orbit, + double gravity_constant_m3_s2); /** * @fn CalculateStm * @brief Calculate State Transition Matrix @@ -128,6 +130,6 @@ class RelativeOrbit : public Orbit, public math::OrdinaryDifferentialEquation<6> void PropagateStm(double elapsed_sec); }; -} // namespace s2e::dynamics::orbit +} // namespace s2e::dynamics::orbit #endif // S2E_DYNAMICS_ORBIT_RELATIVE_ORBIT_HPP_ diff --git a/src/dynamics/orbit/rk4_orbit_propagation.cpp b/src/dynamics/orbit/rk4_orbit_propagation.cpp index 824637259..b9fea10c7 100644 --- a/src/dynamics/orbit/rk4_orbit_propagation.cpp +++ b/src/dynamics/orbit/rk4_orbit_propagation.cpp @@ -89,4 +89,4 @@ void Rk4OrbitPropagation::Propagate(const double end_time_s, const double curren TransformEcefToGeodetic(); } -} // namespace s2e::dynamics::orbit +} // namespace s2e::dynamics::orbit diff --git a/src/dynamics/orbit/rk4_orbit_propagation.hpp b/src/dynamics/orbit/rk4_orbit_propagation.hpp index b46b35646..dbda96d86 100644 --- a/src/dynamics/orbit/rk4_orbit_propagation.hpp +++ b/src/dynamics/orbit/rk4_orbit_propagation.hpp @@ -71,6 +71,6 @@ class Rk4OrbitPropagation : public Orbit, public math::OrdinaryDifferentialEquat void Initialize(math::Vector<3> position_i_m, math::Vector<3> velocity_i_m_s, double initial_time_s = 0); }; -} // namespace s2e::dynamics::orbit +} // namespace s2e::dynamics::orbit #endif // S2E_DYNAMICS_ORBIT_RK4_ORBIT_PROPAGATION_HPP_ diff --git a/src/dynamics/orbit/sgp4_orbit_propagation.cpp b/src/dynamics/orbit/sgp4_orbit_propagation.cpp index f15c8b56c..1322cbeb6 100644 --- a/src/dynamics/orbit/sgp4_orbit_propagation.cpp +++ b/src/dynamics/orbit/sgp4_orbit_propagation.cpp @@ -69,4 +69,4 @@ void Sgp4OrbitPropagation::Propagate(const double end_time_s, const double curre TransformEcefToGeodetic(); } -} // namespace s2e::dynamics::orbit +} // namespace s2e::dynamics::orbit diff --git a/src/dynamics/orbit/sgp4_orbit_propagation.hpp b/src/dynamics/orbit/sgp4_orbit_propagation.hpp index a31be3690..0bd59bfd3 100644 --- a/src/dynamics/orbit/sgp4_orbit_propagation.hpp +++ b/src/dynamics/orbit/sgp4_orbit_propagation.hpp @@ -47,6 +47,6 @@ class Sgp4OrbitPropagation : public Orbit { elsetrec sgp4_data_; //!< Structure data for SGP4 library }; -} // namespace s2e::dynamics::orbit +} // namespace s2e::dynamics::orbit #endif // S2E_DYNAMICS_ORBIT_SGP4_ORBIT_PROPAGATION_HPP_ diff --git a/src/dynamics/thermal/heater.cpp b/src/dynamics/thermal/heater.cpp index 6444ae329..e43e32951 100644 --- a/src/dynamics/thermal/heater.cpp +++ b/src/dynamics/thermal/heater.cpp @@ -78,4 +78,4 @@ Heater InitHeater(const std::vector& heater_str) { return heater; } -} // namespace s2e::dynamics::thermal +} // namespace s2e::dynamics::thermal diff --git a/src/dynamics/thermal/heater.hpp b/src/dynamics/thermal/heater.hpp index ac1f47c30..5643efcdc 100644 --- a/src/dynamics/thermal/heater.hpp +++ b/src/dynamics/thermal/heater.hpp @@ -101,6 +101,6 @@ class Heater { */ Heater InitHeater(const std::vector& heater_str); -} // namespace s2e::dynamics::thermal +} // namespace s2e::dynamics::thermal #endif // S2E_DYNAMICS_THERMAL_HEATER_HPP_ diff --git a/src/dynamics/thermal/heater_controller.cpp b/src/dynamics/thermal/heater_controller.cpp index 6c346041e..e0c02658f 100644 --- a/src/dynamics/thermal/heater_controller.cpp +++ b/src/dynamics/thermal/heater_controller.cpp @@ -55,4 +55,4 @@ HeaterController InitHeaterController(const std::vector& heater_str return heater_controller; } -} // namespace s2e::dynamics::thermal +} // namespace s2e::dynamics::thermal diff --git a/src/dynamics/thermal/heater_controller.hpp b/src/dynamics/thermal/heater_controller.hpp index 70ff3fb6c..0d8f76bc5 100644 --- a/src/dynamics/thermal/heater_controller.hpp +++ b/src/dynamics/thermal/heater_controller.hpp @@ -91,6 +91,6 @@ class HeaterController { */ HeaterController InitHeaterController(const std::vector& heater_str); -} // namespace s2e::dynamics::thermal +} // namespace s2e::dynamics::thermal #endif // S2E_DYNAMICS_THERMAL_HEATER_CONTROLLER_HPP_ diff --git a/src/dynamics/thermal/heatload.cpp b/src/dynamics/thermal/heatload.cpp index 949bfa361..29b8cdb44 100644 --- a/src/dynamics/thermal/heatload.cpp +++ b/src/dynamics/thermal/heatload.cpp @@ -103,4 +103,4 @@ Heatload InitHeatload(const std::vector& time_str, const std::vecto return Heatload(node_id, time_table_s, internal_heatload_table_W); } -} // namespace s2e::dynamics::thermal +} // namespace s2e::dynamics::thermal diff --git a/src/dynamics/thermal/heatload.hpp b/src/dynamics/thermal/heatload.hpp index 0a3106a25..a4e4afb25 100644 --- a/src/dynamics/thermal/heatload.hpp +++ b/src/dynamics/thermal/heatload.hpp @@ -129,6 +129,6 @@ class Heatload { */ Heatload InitHeatload(const std::vector& time_str, const std::vector& internal_heatload_str); -} // namespace s2e::dynamics::thermal +} // namespace s2e::dynamics::thermal #endif // S2E_DYNAMICS_THERMAL_HEATLOAD_HPP_ diff --git a/src/dynamics/thermal/node.cpp b/src/dynamics/thermal/node.cpp index 5c586f634..24440ce5a 100644 --- a/src/dynamics/thermal/node.cpp +++ b/src/dynamics/thermal/node.cpp @@ -189,4 +189,4 @@ Node InitNode(const std::vector& node_str) { return node; } -} // namespace s2e::dynamics::thermal +} // namespace s2e::dynamics::thermal diff --git a/src/dynamics/thermal/node.hpp b/src/dynamics/thermal/node.hpp index fc42b4239..6d9cb0434 100644 --- a/src/dynamics/thermal/node.hpp +++ b/src/dynamics/thermal/node.hpp @@ -172,6 +172,7 @@ class Node { */ Node InitNode(const std::vector& node_str); -}namespace s2e::dynamics::thermal +} // namespace s2e::dynamics::thermal +namespace s2e::dynamics::thermal #endif // S2E_DYNAMICS_THERMAL_NODE_HPP_ diff --git a/src/dynamics/thermal/temperature.cpp b/src/dynamics/thermal/temperature.cpp index 0583ac6c0..fecd97cd4 100644 --- a/src/dynamics/thermal/temperature.cpp +++ b/src/dynamics/thermal/temperature.cpp @@ -391,4 +391,4 @@ Temperature* InitTemperature(const std::string file_name, const double rk_prop_s return temperature; } -} // namespace s2e::dynamics::thermal +} // namespace s2e::dynamics::thermal diff --git a/src/dynamics/thermal/temperature.hpp b/src/dynamics/thermal/temperature.hpp index 8c99db6e1..292e432d5 100644 --- a/src/dynamics/thermal/temperature.hpp +++ b/src/dynamics/thermal/temperature.hpp @@ -45,9 +45,9 @@ class Temperature : public logger::ILoggable { double propagation_time_s_; //!< Incremented time inside class Temperature [s], finish propagation when reaching end_time const environment::SolarRadiationPressureEnvironment* srp_environment_; //!< SolarRadiationPressureEnvironment for calculating solar flux const environment::EarthAlbedo* earth_albedo_; //!< EarthAlbedo object for calculating earth albedo - bool is_calc_enabled_; //!< Whether temperature calculation is enabled - SolarCalcSetting solar_calc_setting_; //!< setting for solar calculation - bool debug_; //!< Activate debug output or not + bool is_calc_enabled_; //!< Whether temperature calculation is enabled + SolarCalcSetting solar_calc_setting_; //!< setting for solar calculation + bool debug_; //!< Activate debug output or not /** * @fn CalcRungeOneStep @@ -58,7 +58,8 @@ class Temperature : public logger::ILoggable { * @param[in] local_celestial_information: LocalCelestialInformation object for calculating radiation * @param[in] node_num: Number of nodes */ - void CalcRungeOneStep(double time_now_s, double time_step_s, const environment::LocalCelestialInformation* local_celestial_information, size_t node_num); + void CalcRungeOneStep(double time_now_s, double time_step_s, const environment::LocalCelestialInformation* local_celestial_information, + size_t node_num); /** * @fn CalcTemperatureDifferentials * @brief Calculate differential of thermal equilibrium equation @@ -119,7 +120,7 @@ class Temperature : public logger::ILoggable { // Getter /** * @fn GetNodes - * + * * @brief Return Nodes * @return std::vector */ @@ -165,9 +166,9 @@ class Temperature : public logger::ILoggable { * @param[in] srp_environment: SolarRadiationPressureEnvironment object for calculating solar flux * @return Temperature* */ -Temperature* InitTemperature(const std::string file_name, const double rk_prop_step_s, const environment::SolarRadiationPressureEnvironment* srp_environment, - const environment::EarthAlbedo* earth_albedo); +Temperature* InitTemperature(const std::string file_name, const double rk_prop_step_s, + const environment::SolarRadiationPressureEnvironment* srp_environment, const environment::EarthAlbedo* earth_albedo); -} // namespace s2e::dynamics::thermal +} // namespace s2e::dynamics::thermal #endif // S2E_DYNAMICS_THERMAL_TEMPERATURE_HPP_ diff --git a/src/environment/global/celestial_information.cpp b/src/environment/global/celestial_information.cpp index af94cfcb6..a8ffde6eb 100644 --- a/src/environment/global/celestial_information.cpp +++ b/src/environment/global/celestial_information.cpp @@ -247,4 +247,4 @@ CelestialInformation* InitCelestialInformation(std::string file_name) { return celestial_info; } -} // namespace s2e::environment +} // namespace s2e::environment diff --git a/src/environment/global/celestial_information.hpp b/src/environment/global/celestial_information.hpp index a00ceac53..dbb9777d9 100644 --- a/src/environment/global/celestial_information.hpp +++ b/src/environment/global/celestial_information.hpp @@ -283,6 +283,6 @@ class CelestialInformation : public logger::ILoggable { */ CelestialInformation* InitCelestialInformation(std::string file_name); -} // namespace s2e::environment +} // namespace s2e::environment #endif // S2E_ENVIRONMENT_GLOBAL_CELESTIAL_INFORMATION_HPP_ diff --git a/src/environment/global/clock_generator.cpp b/src/environment/global/clock_generator.cpp index db573baf3..5fd61999c 100644 --- a/src/environment/global/clock_generator.cpp +++ b/src/environment/global/clock_generator.cpp @@ -41,4 +41,4 @@ void ClockGenerator::UpdateComponents(const SimulationTime* simulation_time) { } } -} // namespace s2e::environment +} // namespace s2e::environment diff --git a/src/environment/global/clock_generator.hpp b/src/environment/global/clock_generator.hpp index d11e837f7..87361d772 100644 --- a/src/environment/global/clock_generator.hpp +++ b/src/environment/global/clock_generator.hpp @@ -56,9 +56,9 @@ class ClockGenerator { private: std::vector components_; //!< Component list fot tick - unsigned int timer_count_; //!< Timer count TODO: change to long? + unsigned int timer_count_; //!< Timer count TODO: change to long? }; -} // namespace s2e::environment +} // namespace s2e::environment #endif // S2E_ENVIRONMENT_GLOBAL_CLOCK_GENERATOR_HPP_ diff --git a/src/environment/global/earth_rotation.cpp b/src/environment/global/earth_rotation.cpp index 73d5811c8..f7eedde82 100644 --- a/src/environment/global/earth_rotation.cpp +++ b/src/environment/global/earth_rotation.cpp @@ -278,4 +278,4 @@ EarthRotationMode ConvertEarthRotationMode(const std::string mode) { return rotation_mode; } -} // namespace s2e::environment +} // namespace s2e::environment diff --git a/src/environment/global/earth_rotation.hpp b/src/environment/global/earth_rotation.hpp index 25cfa1992..4c1668adb 100644 --- a/src/environment/global/earth_rotation.hpp +++ b/src/environment/global/earth_rotation.hpp @@ -124,6 +124,6 @@ class EarthRotation { EarthRotationMode ConvertEarthRotationMode(const std::string mode); -} // namespace s2e::environment +} // namespace s2e::environment #endif // S2E_ENVIRONMENT_GLOBAL_EARTH_ROTATION_HPP_ diff --git a/src/environment/global/global_environment.cpp b/src/environment/global/global_environment.cpp index 3657594c5..0244387fe 100644 --- a/src/environment/global/global_environment.cpp +++ b/src/environment/global/global_environment.cpp @@ -47,4 +47,4 @@ void GlobalEnvironment::LogSetup(logger::Logger& logger) { void GlobalEnvironment::Reset(void) { simulation_time_->ResetClock(); } -} // namespace s2e::environment +} // namespace s2e::environment diff --git a/src/environment/global/global_environment.hpp b/src/environment/global/global_environment.hpp index f067c33b8..2ce5da7c3 100644 --- a/src/environment/global/global_environment.hpp +++ b/src/environment/global/global_environment.hpp @@ -84,6 +84,6 @@ class GlobalEnvironment { GnssSatellites* gnss_satellites_; //!< GNSS satellites }; -} // namespace s2e::environment +} // namespace s2e::environment #endif // S2E_ENVIRONMENT_GLOBAL_GLOBAL_ENVIRONMENT_HPP_ diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index 9dbf72393..17219887c 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -63,7 +63,7 @@ void GnssSatellites::Update(const SimulationTime& simulation_time) { // Get time UTC current_utc = simulation_time.GetCurrentUtc(); s2e::time_system::DateTime current_date_time((size_t)current_utc.year, (size_t)current_utc.month, (size_t)current_utc.day, (size_t)current_utc.hour, - (size_t)current_utc.minute, current_utc.second); + (size_t)current_utc.minute, current_utc.second); current_epoch_time_ = s2e::time_system::EpochTime(current_date_time); // Check interpolation update @@ -229,12 +229,12 @@ GnssSatellites* InitGnssSatellites(const std::string file_name, const EarthRotat // s2e::time_system::DateTime start_date_time((size_t)simulation_time.GetStartYear(), (size_t)simulation_time.GetStartMonth(), - (size_t)simulation_time.GetStartDay(), (size_t)simulation_time.GetStartHour(), - (size_t)simulation_time.GetStartMinute(), simulation_time.GetStartSecond()); + (size_t)simulation_time.GetStartDay(), (size_t)simulation_time.GetStartHour(), + (size_t)simulation_time.GetStartMinute(), simulation_time.GetStartSecond()); s2e::time_system::EpochTime start_epoch_time(start_date_time); gnss_satellites->Initialize(sp3_file_readers, start_epoch_time); return gnss_satellites; } -} // namespace s2e::environment +} // namespace s2e::environment diff --git a/src/environment/global/gnss_satellites.hpp b/src/environment/global/gnss_satellites.hpp index 49e73f2a1..c88f86a69 100644 --- a/src/environment/global/gnss_satellites.hpp +++ b/src/environment/global/gnss_satellites.hpp @@ -89,7 +89,8 @@ class GnssSatellites : public logger::ILoggable { * @param [in] time: Target time to get the GNSS satellite. When the argument is not set, the last updated time is used for the calculation. * @return GNSS satellite position at ECEF frame at the time. Or return zero vector when the arguments are out of range. */ - math::Vector<3> GetPosition_ecef_m(const size_t gnss_satellite_id, const s2e::time_system::EpochTime time = s2e::time_system::EpochTime(0, 0.0)) const; + math::Vector<3> GetPosition_ecef_m(const size_t gnss_satellite_id, + const s2e::time_system::EpochTime time = s2e::time_system::EpochTime(0, 0.0)) const; /** * @fn GetGetClock_s @@ -115,15 +116,15 @@ class GnssSatellites : public logger::ILoggable { private: bool is_calc_enabled_ = false; //!< Flag to manage the GNSS satellite position calculation - std::vector sp3_files_; //!< List of SP3 files - size_t number_of_calculated_gnss_satellites_; //!< Number of calculated GNSS satellites - size_t sp3_file_id_; //!< Current SP3 file ID - s2e::time_system::EpochTime reference_time_; //!< Reference start time of the SP3 handling - size_t reference_interpolation_id_ = 0; //!< Reference epoch ID of the interpolation - s2e::time_system::EpochTime current_epoch_time_; //!< The last updated time + std::vector sp3_files_; //!< List of SP3 files + size_t number_of_calculated_gnss_satellites_; //!< Number of calculated GNSS satellites + size_t sp3_file_id_; //!< Current SP3 file ID + s2e::time_system::EpochTime reference_time_; //!< Reference start time of the SP3 handling + size_t reference_interpolation_id_ = 0; //!< Reference epoch ID of the interpolation + s2e::time_system::EpochTime current_epoch_time_; //!< The last updated time std::vector orbit_; //!< GNSS satellite orbit with interpolation - std::vector clock_; //!< GNSS satellite clock offset with interpolation + std::vector clock_; //!< GNSS satellite clock offset with interpolation // References const EarthRotation& earth_rotation_; //!< Earth rotation @@ -155,6 +156,6 @@ class GnssSatellites : public logger::ILoggable { */ GnssSatellites* InitGnssSatellites(const std::string file_name, const EarthRotation& earth_rotation, const SimulationTime& simulation_time); -} // namespace s2e::environment +} // namespace s2e::environment #endif // S2E_ENVIRONMENT_GLOBAL_GNSS_SATELLITES_HPP_ diff --git a/src/environment/global/hipparcos_catalogue.cpp b/src/environment/global/hipparcos_catalogue.cpp index 83e378997..8888085ac 100644 --- a/src/environment/global/hipparcos_catalogue.cpp +++ b/src/environment/global/hipparcos_catalogue.cpp @@ -102,4 +102,4 @@ HipparcosCatalogue* InitHipparcosCatalogue(std::string file_name) { return hipparcos_catalogue_; } -} // namespace s2e::environment +} // namespace s2e::environment diff --git a/src/environment/global/hipparcos_catalogue.hpp b/src/environment/global/hipparcos_catalogue.hpp index 8067bfcd5..23dd55630 100644 --- a/src/environment/global/hipparcos_catalogue.hpp +++ b/src/environment/global/hipparcos_catalogue.hpp @@ -120,6 +120,6 @@ class HipparcosCatalogue : public logger::ILoggable { */ HipparcosCatalogue* InitHipparcosCatalogue(std::string file_name); -} // namespace s2e::environment +} // namespace s2e::environment #endif // S2E_ENVIRONMENT_GLOBAL_HIPPARCOS_CATALOGUE_HPP_ diff --git a/src/environment/global/moon_rotation.cpp b/src/environment/global/moon_rotation.cpp index b40692284..d2f93c659 100644 --- a/src/environment/global/moon_rotation.cpp +++ b/src/environment/global/moon_rotation.cpp @@ -54,4 +54,4 @@ MoonRotationMode ConvertMoonRotationMode(const std::string mode) { return rotation_mode; } -} // namespace s2e::environment +} // namespace s2e::environment diff --git a/src/environment/global/moon_rotation.hpp b/src/environment/global/moon_rotation.hpp index 196e2d6a6..1c5ea0d68 100644 --- a/src/environment/global/moon_rotation.hpp +++ b/src/environment/global/moon_rotation.hpp @@ -64,6 +64,6 @@ class MoonRotation { const CelestialInformation &celestial_information_; //!< Celestial Information to get moon orbit }; -} // namespace s2e::environment +} // namespace s2e::environment #endif // S2E_ENVIRONMENT_GLOBAL_MOON_ROTATION_HPP_ diff --git a/src/environment/global/simulation_time.cpp b/src/environment/global/simulation_time.cpp index 600e70440..6438e5011 100644 --- a/src/environment/global/simulation_time.cpp +++ b/src/environment/global/simulation_time.cpp @@ -278,4 +278,4 @@ SimulationTime* InitSimulationTime(std::string file_name) { return simTime; } -} // namespace s2e::environment +} // namespace s2e::environment diff --git a/src/environment/global/simulation_time.hpp b/src/environment/global/simulation_time.hpp index eacefcc71..7a2093c19 100644 --- a/src/environment/global/simulation_time.hpp +++ b/src/environment/global/simulation_time.hpp @@ -336,6 +336,6 @@ class SimulationTime : public logger::ILoggable { */ SimulationTime* InitSimulationTime(std::string file_name); -} // namespace s2e::environment +} // namespace s2e::environment #endif // S2E_ENVIRONMENT_GLOBAL_SIMULATION_TIME_HPP_ diff --git a/src/environment/local/atmosphere.cpp b/src/environment/local/atmosphere.cpp index 4659f8c43..0e31d6b17 100644 --- a/src/environment/local/atmosphere.cpp +++ b/src/environment/local/atmosphere.cpp @@ -136,4 +136,4 @@ Atmosphere InitAtmosphere(const std::string initialize_file_path, const LocalCel return atmosphere; } -} // namespace s2e::environment +} // namespace s2e::environment diff --git a/src/environment/local/atmosphere.hpp b/src/environment/local/atmosphere.hpp index 197c0972a..81dd063eb 100644 --- a/src/environment/local/atmosphere.hpp +++ b/src/environment/local/atmosphere.hpp @@ -82,8 +82,8 @@ class Atmosphere : public logger::ILoggable { double air_density_kg_m3_; //!< Atmospheric density [kg/m^3] // NRLMSISE-00 model information - std::vector space_weather_table_; //!< Space weather table - bool is_manual_param_used_; //!< Flag to use manual parameters + std::vector space_weather_table_; //!< Space weather table + bool is_manual_param_used_; //!< Flag to use manual parameters // Reference of the following setting parameters https://www.swpc.noaa.gov/phenomena/f107-cm-radio-emissions double manual_daily_f107_; //!< Manual daily f10.7 value double manual_average_f107_; //!< Manual 3-month averaged f10.7 value @@ -118,6 +118,6 @@ class Atmosphere : public logger::ILoggable { Atmosphere InitAtmosphere(const std::string initialize_file_path, const LocalCelestialInformation* local_celestial_information, const SimulationTime* simulation_time); -} // namespace s2e::environment +} // namespace s2e::environment #endif // S2E_ENVIRONMENT_LOCAL_ATMOSPHERE_HPP_ diff --git a/src/environment/local/earth_albedo.cpp b/src/environment/local/earth_albedo.cpp index 1a38af8da..2e1ab6902 100644 --- a/src/environment/local/earth_albedo.cpp +++ b/src/environment/local/earth_albedo.cpp @@ -60,4 +60,4 @@ EarthAlbedo InitEarthAlbedo(std::string initialize_file_path, LocalCelestialInfo return earth_albedo; } -} // namespace s2e::environment +} // namespace s2e::environment diff --git a/src/environment/local/earth_albedo.hpp b/src/environment/local/earth_albedo.hpp index 0635afd7a..8fbd6521b 100644 --- a/src/environment/local/earth_albedo.hpp +++ b/src/environment/local/earth_albedo.hpp @@ -104,6 +104,6 @@ class EarthAlbedo : public logger::ILoggable { EarthAlbedo InitEarthAlbedo(std::string initialize_file_path, LocalCelestialInformation* local_celestial_information, SolarRadiationPressureEnvironment* srp_environment); -} // namespace s2e::environment +} // namespace s2e::environment #endif // S2E_ENVIRONMENT_LOCAL_EARTH_ALBEDO_HPP_ diff --git a/src/environment/local/geomagnetic_field.cpp b/src/environment/local/geomagnetic_field.cpp index 5b713a11d..ba49d575d 100644 --- a/src/environment/local/geomagnetic_field.cpp +++ b/src/environment/local/geomagnetic_field.cpp @@ -44,7 +44,7 @@ void GeomagneticField::CalcMagneticField(const double decimal_year, const double void GeomagneticField::AddNoise(double* magnetic_field_array_i_nT) { static math::Vector<3> standard_deviation(random_walk_standard_deviation_nT_); static math::Vector<3> limit(random_walk_limit_nT_); - static RandomWalk<3> random_walk(0.1, standard_deviation, limit); + static randomization::RandomWalk<3> random_walk(0.1, standard_deviation, limit); static s2e::randomization::NormalRand white_noise(0.0, white_noise_standard_deviation_nT_, s2e::randomization::global_randomization.MakeSeed()); @@ -88,4 +88,4 @@ GeomagneticField InitGeomagneticField(std::string initialize_file_path) { return geomagnetic_field; } -} // namespace s2e::environment +} // namespace s2e::environment diff --git a/src/environment/local/geomagnetic_field.hpp b/src/environment/local/geomagnetic_field.hpp index 6b9857946..0317952f3 100644 --- a/src/environment/local/geomagnetic_field.hpp +++ b/src/environment/local/geomagnetic_field.hpp @@ -94,6 +94,6 @@ class GeomagneticField : public logger::ILoggable { */ GeomagneticField InitGeomagneticField(std::string initialize_file_path); -} // namespace s2e::environment +} // namespace s2e::environment #endif // S2E_ENVIRONMENT_LOCAL_GEOMAGNETIC_FIELD_HPP_ diff --git a/src/environment/local/local_celestial_information.cpp b/src/environment/local/local_celestial_information.cpp index 40d78c536..dab63eec9 100644 --- a/src/environment/local/local_celestial_information.cpp +++ b/src/environment/local/local_celestial_information.cpp @@ -200,4 +200,4 @@ std::string LocalCelestialInformation::GetLogValue() const { return str_tmp; } -} // namespace s2e::environment +} // namespace s2e::environment diff --git a/src/environment/local/local_celestial_information.hpp b/src/environment/local/local_celestial_information.hpp index 93a2c13c8..1d15a2ca6 100644 --- a/src/environment/local/local_celestial_information.hpp +++ b/src/environment/local/local_celestial_information.hpp @@ -122,6 +122,6 @@ class LocalCelestialInformation : public logger::ILoggable { const math::Vector<3> angular_velocity_b); }; -} // namespace s2e::environment +} // namespace s2e::environment #endif // S2E_ENVIRONMENT_LOCAL_LOCAL_CELESTIAL_INFORMATION_HPP_ diff --git a/src/environment/local/local_environment.cpp b/src/environment/local/local_environment.cpp index 3fbe777b1..3f53239d1 100644 --- a/src/environment/local/local_environment.cpp +++ b/src/environment/local/local_environment.cpp @@ -8,7 +8,7 @@ #include "dynamics/orbit/orbit.hpp" #include "setting_file_reader/initialize_file_access.hpp" -namespace s2e::environment{ +namespace s2e::environment { LocalEnvironment::LocalEnvironment(const simulation::SimulationConfiguration* simulation_configuration, const GlobalEnvironment* global_environment, const int spacecraft_id) { @@ -79,4 +79,4 @@ void LocalEnvironment::LogSetup(logger::Logger& logger) { logger.AddLogList(celestial_information_); } -} // namespace s2e::environment +} // namespace s2e::environment diff --git a/src/environment/local/local_environment.hpp b/src/environment/local/local_environment.hpp index f6d698f67..ef671a499 100644 --- a/src/environment/local/local_environment.hpp +++ b/src/environment/local/local_environment.hpp @@ -15,8 +15,6 @@ #include "simulation/simulation_configuration.hpp" #include "solar_radiation_pressure_environment.hpp" -class dynamics::Dynamics; - namespace s2e::environment { /** @@ -32,7 +30,8 @@ class LocalEnvironment { * @param [in] global_environment: Global environment * @param [in] spacecraft_id: Satellite ID */ - LocalEnvironment(const simulation::SimulationConfiguration* simulation_configuration, const GlobalEnvironment* global_environment, const int spacecraft_id); + LocalEnvironment(const simulation::SimulationConfiguration* simulation_configuration, const GlobalEnvironment* global_environment, + const int spacecraft_id); /** * @fn ~LocalEnvironment * @brief Destructor @@ -93,9 +92,10 @@ class LocalEnvironment { * @param [in] global_environment: Global environment * @param [in] spacecraft_id: Satellite ID */ - void Initialize(const simulation::SimulationConfiguration* simulation_configuration, const GlobalEnvironment* global_environment, const int spacecraft_id); + void Initialize(const simulation::SimulationConfiguration* simulation_configuration, const GlobalEnvironment* global_environment, + const int spacecraft_id); }; -} // namespace s2e::environment +} // namespace s2e::environment #endif // S2E_ENVIRONMENT_LOCAL_LOCAL_ENVIRONMENT_HPP_ diff --git a/src/environment/local/solar_radiation_pressure_environment.cpp b/src/environment/local/solar_radiation_pressure_environment.cpp index ba259567b..c571f309f 100644 --- a/src/environment/local/solar_radiation_pressure_environment.cpp +++ b/src/environment/local/solar_radiation_pressure_environment.cpp @@ -122,4 +122,4 @@ SolarRadiationPressureEnvironment InitSolarRadiationPressureEnvironment(std::str return srp_env; } -} // namespace s2e::environment +} // namespace s2e::environment diff --git a/src/environment/local/solar_radiation_pressure_environment.hpp b/src/environment/local/solar_radiation_pressure_environment.hpp index f49bc8106..98f833b6c 100644 --- a/src/environment/local/solar_radiation_pressure_environment.hpp +++ b/src/environment/local/solar_radiation_pressure_environment.hpp @@ -124,6 +124,6 @@ class SolarRadiationPressureEnvironment : public logger::ILoggable { SolarRadiationPressureEnvironment InitSolarRadiationPressureEnvironment(std::string initialize_file_path, LocalCelestialInformation* local_celestial_information); -} // namespace s2e::environment +} // namespace s2e::environment #endif // S2E_ENVIRONMENT_LOCAL_SOLAR_RADIATION_PRESSURE_ENVIRONMENT_HPP_ diff --git a/src/logger/initialize_log.cpp b/src/logger/initialize_log.cpp index 30c1036bb..84098e57b 100644 --- a/src/logger/initialize_log.cpp +++ b/src/logger/initialize_log.cpp @@ -31,4 +31,4 @@ Logger* InitMonteCarloLog(std::string file_name, bool enable) { return log; } -} // namespace s2e::logger +} // namespace s2e::logger diff --git a/src/logger/initialize_log.hpp b/src/logger/initialize_log.hpp index 630425134..9d7c7a45b 100644 --- a/src/logger/initialize_log.hpp +++ b/src/logger/initialize_log.hpp @@ -25,6 +25,6 @@ Logger* InitLog(std::string file_name); */ Logger* InitMonteCarloLog(std::string file_name, bool enable); -} // namespace s2e::logger +} // namespace s2e::logger #endif // S2E_LIBRARY_LOGGER_INITIALIZE_LOG_HPP_ diff --git a/src/logger/log_utility.hpp b/src/logger/log_utility.hpp index 40f47f8f1..3328d358e 100644 --- a/src/logger/log_utility.hpp +++ b/src/logger/log_utility.hpp @@ -158,6 +158,6 @@ std::string WriteQuaternion(const std::string name, const std::string frame) { return str_tmp.str(); } -} // namespace s2e::logger +} // namespace s2e::logger #endif // S2E_LIBRARY_LOGGER_LOG_UTILITY_HPP_ diff --git a/src/logger/loggable.hpp b/src/logger/loggable.hpp index 064bbf952..b8616f1a7 100644 --- a/src/logger/loggable.hpp +++ b/src/logger/loggable.hpp @@ -36,6 +36,6 @@ class ILoggable { bool is_log_enabled_ = true; //!< Log enable flag }; -} // namespace s2e::logger +} // namespace s2e::logger #endif // S2E_LIBRARY_LOGGER_LOGGABLE_HPP_ diff --git a/src/logger/logger.cpp b/src/logger/logger.cpp index 4299127db..3bc823cad 100644 --- a/src/logger/logger.cpp +++ b/src/logger/logger.cpp @@ -106,4 +106,4 @@ void Logger::CopyFileToLogDirectory(const fs::path &ini_file_name) { return; } -} // namespace s2e::logger +} // namespace s2e::logger diff --git a/src/logger/logger.hpp b/src/logger/logger.hpp index fa85e21ed..066c6814f 100644 --- a/src/logger/logger.hpp +++ b/src/logger/logger.hpp @@ -123,6 +123,6 @@ class Logger { std::filesystem::path CreateDirectory(const std::filesystem::path &data_path, const std::string &time); }; -} // namespace s2e::logger +} // namespace s2e::logger #endif // S2E_LIBRARY_LOGGER_LOGGER_HPP_ diff --git a/src/math_physics/atmosphere/wrapper_nrlmsise00.cpp b/src/math_physics/atmosphere/wrapper_nrlmsise00.cpp index c000ca49e..c467efe37 100644 --- a/src/math_physics/atmosphere/wrapper_nrlmsise00.cpp +++ b/src/math_physics/atmosphere/wrapper_nrlmsise00.cpp @@ -23,6 +23,8 @@ extern "C" { using namespace std; +namespace s2e::atmosphere { + /* ------------------------------------------------------------------- */ /* ------------------------------ DEFINES ---------------------------- */ /* ------------------------------------------------------------------- */ @@ -305,3 +307,5 @@ size_t GetSpaceWeatherTable_(double decyear, double endsec, const string& filena return table.size(); } + +} // namespace s2e::atmosphere diff --git a/src/math_physics/atmosphere/wrapper_nrlmsise00.hpp b/src/math_physics/atmosphere/wrapper_nrlmsise00.hpp index 88bf51ee2..ea1e6e43f 100644 --- a/src/math_physics/atmosphere/wrapper_nrlmsise00.hpp +++ b/src/math_physics/atmosphere/wrapper_nrlmsise00.hpp @@ -12,6 +12,8 @@ #include #include +namespace s2e::atmosphere { + /** * @struct nrlmsise_table * @brief Parameters for NRLMSISE calculation @@ -74,4 +76,6 @@ size_t GetSpaceWeatherTable_(double decyear, double endsec, const std::string& f #define __inline_double double #endif +} // namespace s2e::atmosphere + #endif // S2E_LIBRARY_EXTERNAL_NRLMSISE00_WRAPPER_NRLMSISE00__HPP_ diff --git a/src/math_physics/gnss/antex_file_reader.hpp b/src/math_physics/gnss/antex_file_reader.hpp index 9e30ebce6..67efe3133 100644 --- a/src/math_physics/gnss/antex_file_reader.hpp +++ b/src/math_physics/gnss/antex_file_reader.hpp @@ -256,8 +256,8 @@ class AntexSatelliteData { private: std::string antenna_type_; //!< Antenna type std::string serial_number_; //!< Serial number or satellite code - s2e::time_system::DateTime valid_start_time_; //!< Valid start time - s2e::time_system::DateTime valid_end_time_; //!< Valid end time (The latest data does not have the end time) + s2e::time_system::DateTime valid_start_time_; //!< Valid start time + s2e::time_system::DateTime valid_end_time_; //!< Valid end time (The latest data does not have the end time) size_t number_of_frequency_ = 1; //!< Number of frequency std::vector phase_center_data_; //!< Phase center data for each frequency }; diff --git a/src/math_physics/gnss/sp3_file_reader.hpp b/src/math_physics/gnss/sp3_file_reader.hpp index 1b7164dbf..e551e186d 100644 --- a/src/math_physics/gnss/sp3_file_reader.hpp +++ b/src/math_physics/gnss/sp3_file_reader.hpp @@ -51,16 +51,16 @@ enum class Sp3OrbitType { struct Sp3Header { // 1st line information // version -> not implemented yet - Sp3Mode mode_; //!< position or velocity + Sp3Mode mode_; //!< position or velocity s2e::time_system::DateTime start_epoch_; //!< Time of start epoch - size_t number_of_epoch_ = 0; //!< Number of epoch in the SP3 file - std::string used_data_; //!< Used data to generate the SP3 file - std::string coordinate_system_; //!< Coordinate system for the position and velocity data - Sp3OrbitType orbit_type_; //!< Orbit type - std::string agency_name_; //!< Agency name who generates the SP3 file + size_t number_of_epoch_ = 0; //!< Number of epoch in the SP3 file + std::string used_data_; //!< Used data to generate the SP3 file + std::string coordinate_system_; //!< Coordinate system for the position and velocity data + Sp3OrbitType orbit_type_; //!< Orbit type + std::string agency_name_; //!< Agency name who generates the SP3 file // 2nd line information - s2e::time_system::GpsTime start_gps_time_; //!< Start time of orbit + s2e::time_system::GpsTime start_gps_time_; //!< Start time of orbit double epoch_interval_s_ = 1.0; //!< Epoch interval (0.0, 100000.0) size_t start_time_mjday_; //!< Start time of the orbit data (44244 = 6th Jan. 1980) [Modified Julian day] double start_time_mjday_fractional_day_ = 0.0; //!< Fractional part of the start time [0.0, 1.0) [day] @@ -183,7 +183,7 @@ class Sp3FileReader { size_t SearchNearestEpochId(const s2e::time_system::EpochTime time); private: - Sp3Header header_; //!< SP3 header information + Sp3Header header_; //!< SP3 header information std::vector epoch_; //!< Epoch data list // Orbit and clock data (Use as position_clock_[satellite_id][epoch_id]) diff --git a/src/math_physics/numerical_integration/numerical_integrator.hpp b/src/math_physics/numerical_integration/numerical_integrator.hpp index 461bfa225..ae708a753 100644 --- a/src/math_physics/numerical_integration/numerical_integrator.hpp +++ b/src/math_physics/numerical_integration/numerical_integrator.hpp @@ -32,7 +32,7 @@ class NumericalIntegrator { * @fn ~NumericalIntegrator * @brief Destructor */ - inline virtual ~NumericalIntegrator(){}; + inline virtual ~NumericalIntegrator() {}; /** * @fn Integrate diff --git a/src/math_physics/numerical_integration/runge_kutta.hpp b/src/math_physics/numerical_integration/runge_kutta.hpp index d2072d4cb..a24b4f53b 100644 --- a/src/math_physics/numerical_integration/runge_kutta.hpp +++ b/src/math_physics/numerical_integration/runge_kutta.hpp @@ -29,7 +29,7 @@ class RungeKutta : public NumericalIntegrator { * @fn ~RungeKutta * @brief Destructor */ - inline virtual ~RungeKutta(){}; + inline virtual ~RungeKutta() {}; /** * @fn Integrate diff --git a/src/math_physics/numerical_integration/test_runge_kutta.cpp b/src/math_physics/numerical_integration/test_runge_kutta.cpp index 2223a9a9b..60293ab18 100644 --- a/src/math_physics/numerical_integration/test_runge_kutta.cpp +++ b/src/math_physics/numerical_integration/test_runge_kutta.cpp @@ -113,7 +113,7 @@ TEST(NUMERICAL_INTEGRATION, IntegrateLinearNumericalIntegratorManagerRkf) { double step_width_s = 0.1; s2e::numerical_integration::ExampleLinearOde ode; s2e::numerical_integration::NumericalIntegratorManager<1> numerical_integrator(step_width_s, ode, - s2e::numerical_integration::NumericalIntegrationMethod::kRkf); + s2e::numerical_integration::NumericalIntegrationMethod::kRkf); math::Vector<1> state = numerical_integrator.GetIntegrator()->GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); @@ -139,7 +139,7 @@ TEST(NUMERICAL_INTEGRATION, IntegrateLinearNumericalIntegratorManagerDp5) { double step_width_s = 0.1; s2e::numerical_integration::ExampleLinearOde ode; s2e::numerical_integration::NumericalIntegratorManager<1> numerical_integrator(step_width_s, ode, - s2e::numerical_integration::NumericalIntegrationMethod::kDp5); + s2e::numerical_integration::NumericalIntegrationMethod::kDp5); math::Vector<1> state = numerical_integrator.GetIntegrator()->GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); diff --git a/src/math_physics/randomization/global_randomization.hpp b/src/math_physics/randomization/global_randomization.hpp index fd9dac4a0..df464b974 100644 --- a/src/math_physics/randomization/global_randomization.hpp +++ b/src/math_physics/randomization/global_randomization.hpp @@ -34,9 +34,9 @@ class GlobalRandomization { long MakeSeed(); private: - static const unsigned int kMaxSeed = 0xffffffff; //!< Maximum value of seed + static const unsigned int kMaxSeed = 0xffffffff; //!< Maximum value of seed s2e::randomization::MinimalStandardLcg base_randomizer_; //!< Base of global randomization - long seed_; //!< Seed of global randomization + long seed_; //!< Seed of global randomization }; extern GlobalRandomization global_randomization; //!< Global randomization diff --git a/src/math_physics/randomization/random_walk.hpp b/src/math_physics/randomization/random_walk.hpp index ee7db5bb6..aed70512b 100644 --- a/src/math_physics/randomization/random_walk.hpp +++ b/src/math_physics/randomization/random_walk.hpp @@ -10,6 +10,8 @@ #include "../math/vector.hpp" #include "./normal_randomization.hpp" +namespace s2e::randomization { + /** * @class RandomWalk * @brief Class to calculate random wark value @@ -36,10 +38,12 @@ class RandomWalk : public math::OrdinaryDifferentialEquation { virtual void DerivativeFunction(double x, const math::Vector& state, math::Vector& rhs); private: - math::Vector limit_; //!< Limit of random walk - s2e::randomization::NormalRand normal_randomizer_[N]; //!< Random walk excitation noise + math::Vector limit_; //!< Limit of random walk + NormalRand normal_randomizer_[N]; //!< Random walk excitation noise }; +} // namespace s2e::randomization + #include "random_walk_template_functions.hpp" // template function definisions. #endif // S2E_LIBRARY_RANDOMIZATION_RANDOM_WALK_HPP_ \ No newline at end of file diff --git a/src/math_physics/randomization/random_walk_template_functions.hpp b/src/math_physics/randomization/random_walk_template_functions.hpp index 68fa37eea..1f782b7cb 100644 --- a/src/math_physics/randomization/random_walk_template_functions.hpp +++ b/src/math_physics/randomization/random_walk_template_functions.hpp @@ -9,6 +9,8 @@ #include #include +namespace s2e::randomization { + template RandomWalk::RandomWalk(double step_width_s, const math::Vector& standard_deviation, const math::Vector& limit) : math::OrdinaryDifferentialEquation(step_width_s), limit_(limit) { @@ -32,4 +34,6 @@ void RandomWalk::DerivativeFunction(double x, const math::Vector& state, m } } +} // namespace s2e::randomization + #endif // S2E_LIBRARY_RANDOMIZATION_RANDOM_WALK_TEMPLATE_FUNCTIONS_HPP_ diff --git a/src/s2e.cpp b/src/s2e.cpp index 853b04bee..3c9da8fa6 100644 --- a/src/s2e.cpp +++ b/src/s2e.cpp @@ -82,4 +82,4 @@ int main(int argc, char *argv[]) return EXIT_SUCCESS; } -} // namespace s2e +} // namespace s2e diff --git a/src/setting_file_reader/c2a_command_database.cpp b/src/setting_file_reader/c2a_command_database.cpp index 76572c1ab..7811b36ee 100644 --- a/src/setting_file_reader/c2a_command_database.cpp +++ b/src/setting_file_reader/c2a_command_database.cpp @@ -161,4 +161,4 @@ void DecodeC2aCommandArgument(const C2aArgumentType type, const std::string argu } } -} // namespace s2e::setting_file_reader +} // namespace s2e::setting_file_reader diff --git a/src/setting_file_reader/c2a_command_database.hpp b/src/setting_file_reader/c2a_command_database.hpp index fce12028f..f8905f49a 100644 --- a/src/setting_file_reader/c2a_command_database.hpp +++ b/src/setting_file_reader/c2a_command_database.hpp @@ -117,6 +117,6 @@ class C2aCommandDatabase { */ void DecodeC2aCommandArgument(const C2aArgumentType type, const std::string argument_string, uint8_t* param, size_t& size_param); -} // namespace s2e::setting_file_reader +} // namespace s2e::setting_file_reader #endif // S2E_LIBRARY_INITIALIZE_C2A_COMMAND_DATABASE_HPP_ diff --git a/src/setting_file_reader/initialize_file_access.cpp b/src/setting_file_reader/initialize_file_access.cpp index 4ca4c0769..187b55998 100644 --- a/src/setting_file_reader/initialize_file_access.cpp +++ b/src/setting_file_reader/initialize_file_access.cpp @@ -286,4 +286,4 @@ void IniAccess::ReadCsvString(std::vector>& output_valu } } -} // namespace s2e::setting_file_reader +} // namespace s2e::setting_file_reader diff --git a/src/setting_file_reader/initialize_file_access.hpp b/src/setting_file_reader/initialize_file_access.hpp index 9af1a3a8a..e63cd424f 100644 --- a/src/setting_file_reader/initialize_file_access.hpp +++ b/src/setting_file_reader/initialize_file_access.hpp @@ -218,6 +218,6 @@ void IniAccess::ReadVector(const char* section_name, const char* key_name, math: } } -} // namespace s2e::setting_file_reader +} // namespace s2e::setting_file_reader #endif // S2E_LIBRARY_INITIALIZE_INITIALIZE_FILE_ACCESS_HPP_ diff --git a/src/setting_file_reader/wings_operation_file.cpp b/src/setting_file_reader/wings_operation_file.cpp index 4b9b56d0a..78efa4d9d 100644 --- a/src/setting_file_reader/wings_operation_file.cpp +++ b/src/setting_file_reader/wings_operation_file.cpp @@ -48,4 +48,4 @@ std::string WingsOperationFile::GetLatestLine() { return line; } -} // namespace s2e::setting_file_reader +} // namespace s2e::setting_file_reader diff --git a/src/simulation/case/simulation_case.cpp b/src/simulation/case/simulation_case.cpp index cda5c0786..e8cfb56e6 100644 --- a/src/simulation/case/simulation_case.cpp +++ b/src/simulation/case/simulation_case.cpp @@ -108,4 +108,4 @@ void SimulationCase::InitializeSimulationConfiguration(const std::string initial global_environment_->LogSetup(*(simulation_configuration_.main_logger_)); } -} // namespace s2e::simulation +} // namespace s2e::simulation diff --git a/src/simulation/case/simulation_case.hpp b/src/simulation/case/simulation_case.hpp index 47800dee7..26f012dc4 100644 --- a/src/simulation/case/simulation_case.hpp +++ b/src/simulation/case/simulation_case.hpp @@ -77,8 +77,8 @@ class SimulationCase : public logger::ILoggable { inline const environment::GlobalEnvironment& GetGlobalEnvironment() const { return *global_environment_; } protected: - SimulationConfiguration simulation_configuration_; //!< Simulation setting - environment::GlobalEnvironment* global_environment_; //!< Global Environment + SimulationConfiguration simulation_configuration_; //!< Simulation setting + environment::GlobalEnvironment* global_environment_; //!< Global Environment /** * @fn InitializeSimulationConfiguration @@ -100,6 +100,6 @@ class SimulationCase : public logger::ILoggable { virtual void UpdateTargetObjects() = 0; }; -} // namespace s2e::simulation +} // namespace s2e::simulation #endif // S2E_SIMULATION_CASE_SIMULATION_CASE_HPP_ diff --git a/src/simulation/ground_station/ground_station.cpp b/src/simulation/ground_station/ground_station.cpp index d6f230149..f0d233936 100644 --- a/src/simulation/ground_station/ground_station.cpp +++ b/src/simulation/ground_station/ground_station.cpp @@ -93,4 +93,4 @@ std::string GroundStation::GetLogValue() const { return str_tmp; } -} // namespace s2e::simulation +} // namespace s2e::simulation diff --git a/src/simulation/ground_station/ground_station.hpp b/src/simulation/ground_station/ground_station.hpp index 12ca04fec..c88f96666 100644 --- a/src/simulation/ground_station/ground_station.hpp +++ b/src/simulation/ground_station/ground_station.hpp @@ -95,8 +95,8 @@ class GroundStation : public logger::ILoggable { protected: unsigned int ground_station_id_; //!< Ground station ID geodesy::GeodeticPosition geodetic_position_; //!< Ground Station Position in the geodetic frame - math::Vector<3> position_ecef_m_{0.0}; //!< Ground Station Position in the ECEF frame [m] - math::Vector<3> position_i_m_{0.0}; //!< Ground Station Position in the inertial frame [m] + math::Vector<3> position_ecef_m_{0.0}; //!< Ground Station Position in the ECEF frame [m] + math::Vector<3> position_i_m_{0.0}; //!< Ground Station Position in the inertial frame [m] double elevation_limit_angle_deg_; //!< Minimum elevation angle to work the ground station [deg] std::map is_visible_; //!< Visible flag for each spacecraft ID (not care antenna) @@ -111,6 +111,6 @@ class GroundStation : public logger::ILoggable { bool CalcIsVisible(const math::Vector<3> spacecraft_position_ecef_m); }; -} // namespace s2e::simulation +} // namespace s2e::simulation #endif // S2E_SIMULATION_GROUND_STATION_GROUND_STATION_HPP_ diff --git a/src/simulation/hils/hils_port_manager.cpp b/src/simulation/hils/hils_port_manager.cpp index ee0e7f1e1..8f68bff4f 100644 --- a/src/simulation/hils/hils_port_manager.cpp +++ b/src/simulation/hils/hils_port_manager.cpp @@ -261,4 +261,4 @@ int HilsPortManager::I2cControllerSend(unsigned int port_id, const unsigned char return UartSend(port_id, buffer, offset, length); } -} // namespace s2e::simulation +} // namespace s2e::simulation diff --git a/src/simulation/hils/hils_port_manager.hpp b/src/simulation/hils/hils_port_manager.hpp index 8753429e6..cd04dc173 100644 --- a/src/simulation/hils/hils_port_manager.hpp +++ b/src/simulation/hils/hils_port_manager.hpp @@ -170,6 +170,6 @@ class HilsPortManager { #endif }; -} // namespace s2e::simulation +} // namespace s2e::simulation #endif // S2E_SIMULATION_HILS_HILS_PORT_MANAGER_HPP_ diff --git a/src/simulation/monte_carlo_simulation/initialize_monte_carlo_parameters.cpp b/src/simulation/monte_carlo_simulation/initialize_monte_carlo_parameters.cpp index 0a8cfb0e5..967b92b1d 100644 --- a/src/simulation/monte_carlo_simulation/initialize_monte_carlo_parameters.cpp +++ b/src/simulation/monte_carlo_simulation/initialize_monte_carlo_parameters.cpp @@ -318,4 +318,4 @@ void InitializedMonteCarloParameters::GenerateQuaternionNormal() { } } -} // namespace s2e::simulation +} // namespace s2e::simulation diff --git a/src/simulation/monte_carlo_simulation/initialize_monte_carlo_parameters.hpp b/src/simulation/monte_carlo_simulation/initialize_monte_carlo_parameters.hpp index 6b7493ee4..c44529766 100644 --- a/src/simulation/monte_carlo_simulation/initialize_monte_carlo_parameters.hpp +++ b/src/simulation/monte_carlo_simulation/initialize_monte_carlo_parameters.hpp @@ -234,6 +234,6 @@ void InitializedMonteCarloParameters::GetRandomizedVector(math::Vector(size, math::Quaternion(0, 0, 0, 1))); } -} // namespace s2e::simulation +} // namespace s2e::simulation diff --git a/src/simulation/multiple_spacecraft/relative_information.hpp b/src/simulation/multiple_spacecraft/relative_information.hpp index e0dbf1a78..9e77403d0 100644 --- a/src/simulation/multiple_spacecraft/relative_information.hpp +++ b/src/simulation/multiple_spacecraft/relative_information.hpp @@ -172,6 +172,6 @@ class RelativeInformation : public logger::ILoggable { void ResizeLists(); }; -} // namespace s2e::simulation +} // namespace s2e::simulation #endif // S2E_MULTIPLE_SPACECRAFT_RELATIVE_INFORMATION_HPP_ diff --git a/src/simulation/simulation_configuration.hpp b/src/simulation/simulation_configuration.hpp index d8ca3078f..e3adeb87d 100644 --- a/src/simulation/simulation_configuration.hpp +++ b/src/simulation/simulation_configuration.hpp @@ -19,7 +19,7 @@ namespace s2e::simulation { */ struct SimulationConfiguration { std::string initialize_base_file_name_; //!< Base file name for initialization - logger::Logger* main_logger_; //!< Main logger + logger::Logger* main_logger_; //!< Main logger unsigned int number_of_simulated_spacecraft_; //!< Number of simulated spacecraft std::vector spacecraft_file_list_; //!< File name list for spacecraft initialization @@ -37,6 +37,6 @@ struct SimulationConfiguration { ~SimulationConfiguration() { delete main_logger_; } }; -} // namespace s2e::simulation +} // namespace s2e::simulation #endif // S2E_SIMULATION_SIMULATION_CONFIGURATION_HPP_ diff --git a/src/simulation/spacecraft/installed_components.cpp b/src/simulation/spacecraft/installed_components.cpp index db5899965..7302e2ed5 100644 --- a/src/simulation/spacecraft/installed_components.cpp +++ b/src/simulation/spacecraft/installed_components.cpp @@ -21,4 +21,4 @@ math::Vector<3> InstalledComponents::GenerateTorque_b_Nm() { void InstalledComponents::LogSetup(logger::Logger& logger) { UNUSED(logger); } -} // namespace s2e::simulation +} // namespace s2e::simulation diff --git a/src/simulation/spacecraft/installed_components.hpp b/src/simulation/spacecraft/installed_components.hpp index d0a731355..5b9f44b8c 100644 --- a/src/simulation/spacecraft/installed_components.hpp +++ b/src/simulation/spacecraft/installed_components.hpp @@ -51,6 +51,6 @@ class InstalledComponents { virtual void LogSetup(logger::Logger& logger); }; -} // namespace s2e::simulation +} // namespace s2e::simulation #endif // S2E_SIMULATION_SPACECRAFT_INSTALLED_COMPONENTS_HPP_ diff --git a/src/simulation/spacecraft/spacecraft.cpp b/src/simulation/spacecraft/spacecraft.cpp index b0efbad8b..36a6f91a8 100644 --- a/src/simulation/spacecraft/spacecraft.cpp +++ b/src/simulation/spacecraft/spacecraft.cpp @@ -10,8 +10,8 @@ namespace s2e::simulation { -Spacecraft::Spacecraft(const SimulationConfiguration* simulation_configuration, const environment::GlobalEnvironment* global_environment, const int spacecraft_id, - RelativeInformation* relative_information) +Spacecraft::Spacecraft(const SimulationConfiguration* simulation_configuration, const environment::GlobalEnvironment* global_environment, + const int spacecraft_id, RelativeInformation* relative_information) : spacecraft_id_(spacecraft_id) { Initialize(simulation_configuration, global_environment, spacecraft_id, relative_information); } @@ -32,8 +32,8 @@ void Spacecraft::Initialize(const SimulationConfiguration* simulation_configurat clock_generator_.ClearTimerCount(); structure_ = new Structure(simulation_configuration, spacecraft_id); local_environment_ = new environment::LocalEnvironment(simulation_configuration, global_environment, spacecraft_id); - dynamics_ = new dynamics::dynamics::Dynamics(simulation_configuration, &(global_environment->GetSimulationTime()), local_environment_, spacecraft_id, structure_, - relative_information); + dynamics_ = new dynamics::dynamics::Dynamics(simulation_configuration, &(global_environment->GetSimulationTime()), local_environment_, + spacecraft_id, structure_, relative_information); disturbances_ = new disturbances::Disturbances(simulation_configuration, spacecraft_id, structure_, global_environment); simulation_configuration->main_logger_->CopyFileToLogDirectory(simulation_configuration->spacecraft_file_list_[spacecraft_id]); @@ -77,4 +77,4 @@ void Spacecraft::Update(const environment::SimulationTime* simulation_time) { void Spacecraft::Clear(void) { dynamics_->ClearForceTorque(); } -} // namespace s2e::simulation +} // namespace s2e::simulation diff --git a/src/simulation/spacecraft/spacecraft.hpp b/src/simulation/spacecraft/spacecraft.hpp index 5b490ec1e..d1e99a444 100644 --- a/src/simulation/spacecraft/spacecraft.hpp +++ b/src/simulation/spacecraft/spacecraft.hpp @@ -27,8 +27,8 @@ class Spacecraft { * @fn Spacecraft * @brief Constructor for single satellite simulation */ - Spacecraft(const SimulationConfiguration* simulation_configuration, const environment::GlobalEnvironment* global_environment, const int spacecraft_id, - RelativeInformation* relative_information = nullptr); + Spacecraft(const SimulationConfiguration* simulation_configuration, const environment::GlobalEnvironment* global_environment, + const int spacecraft_id, RelativeInformation* relative_information = nullptr); /** * @fn ~Spacecraft @@ -99,16 +99,16 @@ class Spacecraft { inline unsigned int GetSpacecraftId() const { return spacecraft_id_; } protected: - environment::ClockGenerator clock_generator_; //!< Origin of clock for the spacecraft - dynamics::dynamics::Dynamics* dynamics_; //!< Dynamics information of the spacecraft - RelativeInformation* relative_information_; //!< Relative information with respect to the other spacecraft - environment::LocalEnvironment* local_environment_; //!< Local environment information around the spacecraft - disturbances::Disturbances* disturbances_; //!< Disturbance information acting on the spacecraft - Structure* structure_; //!< Structure information of the spacecraft - InstalledComponents* components_; //!< Components information installed on the spacecraft - const unsigned int spacecraft_id_; //!< ID of the spacecraft + environment::ClockGenerator clock_generator_; //!< Origin of clock for the spacecraft + dynamics::dynamics::Dynamics* dynamics_; //!< Dynamics information of the spacecraft + RelativeInformation* relative_information_; //!< Relative information with respect to the other spacecraft + environment::LocalEnvironment* local_environment_; //!< Local environment information around the spacecraft + disturbances::Disturbances* disturbances_; //!< Disturbance information acting on the spacecraft + Structure* structure_; //!< Structure information of the spacecraft + InstalledComponents* components_; //!< Components information installed on the spacecraft + const unsigned int spacecraft_id_; //!< ID of the spacecraft }; -} // namespace s2e::simulation +} // namespace s2e::simulation #endif // S2E_SIMULATION_SPACECRAFT_SPACECRAFT_HPP_ diff --git a/src/simulation/spacecraft/structure/initialize_structure.cpp b/src/simulation/spacecraft/structure/initialize_structure.cpp index b52091e23..44ed97d14 100644 --- a/src/simulation/spacecraft/structure/initialize_structure.cpp +++ b/src/simulation/spacecraft/structure/initialize_structure.cpp @@ -122,4 +122,4 @@ ResidualMagneticMoment InitResidualMagneticMoment(std::string file_name) { return rmm_params; } -} // namespace s2e::simulation +} // namespace s2e::simulation diff --git a/src/simulation/spacecraft/structure/initialize_structure.hpp b/src/simulation/spacecraft/structure/initialize_structure.hpp index 53065ff2e..0ab741839 100644 --- a/src/simulation/spacecraft/structure/initialize_structure.hpp +++ b/src/simulation/spacecraft/structure/initialize_structure.hpp @@ -28,6 +28,6 @@ std::vector InitSurfaces(std::string file_name); */ ResidualMagneticMoment InitResidualMagneticMoment(std::string file_name); -} // namespace s2e::simulation +} // namespace s2e::simulation #endif // S2E_SIMULATION_SPACECRAFT_STRUCTURE_INITIALIZE_STRUCTURE_HPP_ diff --git a/src/simulation/spacecraft/structure/kinematics_parameters.cpp b/src/simulation/spacecraft/structure/kinematics_parameters.cpp index 403487a3f..0734e849d 100644 --- a/src/simulation/spacecraft/structure/kinematics_parameters.cpp +++ b/src/simulation/spacecraft/structure/kinematics_parameters.cpp @@ -10,4 +10,4 @@ namespace s2e::simulation { KinematicsParameters::KinematicsParameters(math::Vector<3> center_of_gravity_b_m, double mass_kg, math::Matrix<3, 3> inertia_tensor_b_kgm2) : center_of_gravity_b_m_(center_of_gravity_b_m), mass_kg_(mass_kg), inertia_tensor_b_kgm2_(inertia_tensor_b_kgm2) {} -} // namespace s2e::simulation +} // namespace s2e::simulation diff --git a/src/simulation/spacecraft/structure/kinematics_parameters.hpp b/src/simulation/spacecraft/structure/kinematics_parameters.hpp index 2a1805dc3..c4dfadeb2 100644 --- a/src/simulation/spacecraft/structure/kinematics_parameters.hpp +++ b/src/simulation/spacecraft/structure/kinematics_parameters.hpp @@ -26,7 +26,7 @@ class KinematicsParameters { * @fn ~KinematicsParameters * @brief Destructor */ - ~KinematicsParameters(){}; + ~KinematicsParameters() {}; // Getter /** @@ -88,6 +88,6 @@ class KinematicsParameters { math::Matrix<3, 3> inertia_tensor_b_kgm2_; //!< Inertia tensor at body frame [kgm2] }; -} // namespace s2e::simulation +} // namespace s2e::simulation #endif // S2E_SIMULATION_SPACECRAFT_STRUCTURE_KINEMATICS_PARAMETERS_HPP_ diff --git a/src/simulation/spacecraft/structure/residual_magnetic_moment.cpp b/src/simulation/spacecraft/structure/residual_magnetic_moment.cpp index 0f8fc1377..7f7108f61 100644 --- a/src/simulation/spacecraft/structure/residual_magnetic_moment.cpp +++ b/src/simulation/spacecraft/structure/residual_magnetic_moment.cpp @@ -14,4 +14,4 @@ ResidualMagneticMoment::ResidualMagneticMoment(const math::Vector<3> constant_va random_walk_limit_Am2_(random_walk_limit_Am2), random_noise_standard_deviation_Am2_(random_noise_standard_deviation_Am2) {} -} // namespace s2e::simulation +} // namespace s2e::simulation diff --git a/src/simulation/spacecraft/structure/residual_magnetic_moment.hpp b/src/simulation/spacecraft/structure/residual_magnetic_moment.hpp index 138e8ddf0..ae06bb85d 100644 --- a/src/simulation/spacecraft/structure/residual_magnetic_moment.hpp +++ b/src/simulation/spacecraft/structure/residual_magnetic_moment.hpp @@ -20,13 +20,13 @@ class ResidualMagneticMoment { * @fn ResidualMagneticMoment * @brief Constructor */ - ResidualMagneticMoment(const math::Vector<3> constant_value_b_Am2_, const double random_walk_standard_deviation_Am2, const double random_walk_limit_Am2, - const double random_noise_standard_deviation_Am2); + ResidualMagneticMoment(const math::Vector<3> constant_value_b_Am2_, const double random_walk_standard_deviation_Am2, + const double random_walk_limit_Am2, const double random_noise_standard_deviation_Am2); /** * @fn ~ResidualMagneticMoment * @brief Destructor */ - ~ResidualMagneticMoment(){}; + ~ResidualMagneticMoment() {}; // Getter /** @@ -65,12 +65,12 @@ class ResidualMagneticMoment { inline void AddRmmConstant_b_Am2(const math::Vector<3> rmm_const_b_Am2) { constant_value_b_Am2_ += rmm_const_b_Am2; } private: - math::Vector<3> constant_value_b_Am2_; //!< Constant value of RMM at body frame [Am2] + math::Vector<3> constant_value_b_Am2_; //!< Constant value of RMM at body frame [Am2] double random_walk_standard_deviation_Am2_; //!< Random walk standard deviation of RMM [Am2] double random_walk_limit_Am2_; //!< Random walk limit of RMM [Am2] double random_noise_standard_deviation_Am2_; //!< Standard deviation of white noise of RMM [Am2] }; -} // namespace s2e::simulation +} // namespace s2e::simulation #endif // S2E_SIMULATION_SPACECRAFT_STRUCTURE_RESIDUAL_MAGNETIC_MOMENT_HPP_ \ No newline at end of file diff --git a/src/simulation/spacecraft/structure/structure.cpp b/src/simulation/spacecraft/structure/structure.cpp index ffbe55e05..72260265d 100644 --- a/src/simulation/spacecraft/structure/structure.cpp +++ b/src/simulation/spacecraft/structure/structure.cpp @@ -31,4 +31,4 @@ void Structure::Initialize(const SimulationConfiguration* simulation_configurati residual_magnetic_moment_ = new ResidualMagneticMoment(InitResidualMagneticMoment(ini_fname)); } -} // namespace s2e::simulation +} // namespace s2e::simulation diff --git a/src/simulation/spacecraft/structure/structure.hpp b/src/simulation/spacecraft/structure/structure.hpp index c56943f58..fe099cd04 100644 --- a/src/simulation/spacecraft/structure/structure.hpp +++ b/src/simulation/spacecraft/structure/structure.hpp @@ -76,6 +76,6 @@ class Structure { ResidualMagneticMoment* residual_magnetic_moment_; //!< Residual Magnetic Moment }; -} // namespace s2e::simulation +} // namespace s2e::simulation #endif // S2E_SIMULATION_SPACECRAFT_STRUCTURE_STRUCTURE_HPP_ diff --git a/src/simulation/spacecraft/structure/surface.cpp b/src/simulation/spacecraft/structure/surface.cpp index 6ea2356b0..16b8b5f24 100644 --- a/src/simulation/spacecraft/structure/surface.cpp +++ b/src/simulation/spacecraft/structure/surface.cpp @@ -16,4 +16,4 @@ Surface::Surface(const math::Vector<3> position_b_m, const math::Vector<3> norma specularity_(specularity), air_specularity_(air_specularity) {} -} // namespace s2e::simulation +} // namespace s2e::simulation diff --git a/src/simulation/spacecraft/structure/surface.hpp b/src/simulation/spacecraft/structure/surface.hpp index 5f9007fe4..73a09d6e6 100644 --- a/src/simulation/spacecraft/structure/surface.hpp +++ b/src/simulation/spacecraft/structure/surface.hpp @@ -26,7 +26,7 @@ class Surface { * @fn ~Surface * @brief Destructor */ - ~Surface(){}; + ~Surface() {}; // Getter /** @@ -115,6 +115,6 @@ class Surface { double air_specularity_; //!< Specularity for air drag }; -} // namespace s2e::simulation +} // namespace s2e::simulation #endif // S2E_SIMULATION_SPACECRAFT_STRUCTURE_SURFACE_HPP_ diff --git a/src/simulation_sample/case/sample_case.cpp b/src/simulation_sample/case/sample_case.cpp index 5487e0e08..4697ecd07 100644 --- a/src/simulation_sample/case/sample_case.cpp +++ b/src/simulation_sample/case/sample_case.cpp @@ -50,4 +50,4 @@ std::string SampleCase::GetLogValue() const { return str_tmp; } -} // namespace s2e::sample +} // namespace s2e::sample diff --git a/src/simulation_sample/case/sample_case.hpp b/src/simulation_sample/case/sample_case.hpp index 66302d589..af3fc5b74 100644 --- a/src/simulation_sample/case/sample_case.hpp +++ b/src/simulation_sample/case/sample_case.hpp @@ -59,6 +59,6 @@ class SampleCase : public simulation::SimulationCase { void UpdateTargetObjects(); }; -} // namespace s2e::sample +} // namespace s2e::sample #endif // S2E_SIMULATION_SAMPLE_CASE_SAMPLE_CASE_HPP_ diff --git a/src/simulation_sample/ground_station/sample_ground_station.cpp b/src/simulation_sample/ground_station/sample_ground_station.cpp index 5489d4423..4ec523260 100644 --- a/src/simulation_sample/ground_station/sample_ground_station.cpp +++ b/src/simulation_sample/ground_station/sample_ground_station.cpp @@ -26,4 +26,4 @@ void SampleGroundStation::Update(const environment::EarthRotation& celestial_rot components_->GetGsCalculator()->Update(spacecraft, spacecraft.GetInstalledComponents().GetAntenna(), *this, *(components_->GetAntenna())); } -} // namespace s2e::sample +} // namespace s2e::sample diff --git a/src/simulation_sample/ground_station/sample_ground_station.hpp b/src/simulation_sample/ground_station/sample_ground_station.hpp index 9acc8d613..aafafada0 100644 --- a/src/simulation_sample/ground_station/sample_ground_station.hpp +++ b/src/simulation_sample/ground_station/sample_ground_station.hpp @@ -51,6 +51,6 @@ class SampleGroundStation : public simulation::GroundStation { SampleGsComponents* components_; //!< Ground station related components }; -} // namespace s2e::sample +} // namespace s2e::sample #endif // S2E_SIMULATION_SAMPLE_GROUND_STATION_SAMPLE_GROUND_STATION_HPP_ diff --git a/src/simulation_sample/ground_station/sample_ground_station_components.cpp b/src/simulation_sample/ground_station/sample_ground_station_components.cpp index c18528bb2..45ba2ee24 100644 --- a/src/simulation_sample/ground_station/sample_ground_station_components.cpp +++ b/src/simulation_sample/ground_station/sample_ground_station_components.cpp @@ -29,4 +29,4 @@ void SampleGsComponents::CompoLogSetUp(logger::Logger& logger) { logger.AddLogList(gs_calculator_); } -} // namespace s2e::sample +} // namespace s2e::sample diff --git a/src/simulation_sample/ground_station/sample_ground_station_components.hpp b/src/simulation_sample/ground_station/sample_ground_station_components.hpp index 1de5eec24..35d5571da 100644 --- a/src/simulation_sample/ground_station/sample_ground_station_components.hpp +++ b/src/simulation_sample/ground_station/sample_ground_station_components.hpp @@ -51,6 +51,6 @@ class SampleGsComponents { const simulation::SimulationConfiguration* configuration_; //!< Simulation setting }; -} // namespace s2e::sample +} // namespace s2e::sample #endif // S2E_SIMULATION_SAMPLE_GROUND_STATION_SAMPLE_GROUND_STATION_COMPONENTS_HPP_ diff --git a/src/simulation_sample/spacecraft/sample_components.cpp b/src/simulation_sample/spacecraft/sample_components.cpp index 4a9d9e852..1554f6ccb 100644 --- a/src/simulation_sample/spacecraft/sample_components.cpp +++ b/src/simulation_sample/spacecraft/sample_components.cpp @@ -13,9 +13,10 @@ namespace s2e::sample { using namespace components; -SampleComponents::SampleComponents(const dynamics::dynamics::Dynamics* dynamics, simulation::Structure* structure, const environment::LocalEnvironment* local_environment, - const environment::GlobalEnvironment* global_environment, const simulation::SimulationConfiguration* configuration, environment::ClockGenerator* clock_generator, - const unsigned int spacecraft_id) +SampleComponents::SampleComponents(const dynamics::dynamics::Dynamics* dynamics, simulation::Structure* structure, + const environment::LocalEnvironment* local_environment, const environment::GlobalEnvironment* global_environment, + const simulation::SimulationConfiguration* configuration, environment::ClockGenerator* clock_generator, + const unsigned int spacecraft_id) : configuration_(configuration), dynamics_(dynamics), structure_(structure), @@ -227,4 +228,4 @@ void SampleComponents::LogSetup(logger::Logger& logger) { logger.AddLogList(orbit_observer_); } -} // namespace s2e::sample +} // namespace s2e::sample diff --git a/src/simulation_sample/spacecraft/sample_components.hpp b/src/simulation_sample/spacecraft/sample_components.hpp index 27c1118fc..428ec9645 100644 --- a/src/simulation_sample/spacecraft/sample_components.hpp +++ b/src/simulation_sample/spacecraft/sample_components.hpp @@ -62,8 +62,9 @@ class SampleComponents : public simulation::InstalledComponents { * @fn SampleComponents * @brief Constructor */ - SampleComponents(const dynamics::dynamics::Dynamics* dynamics, simulation::Structure* structure, const environment::LocalEnvironment* local_environment, - const environment::GlobalEnvironment* global_environment, const simulation::SimulationConfiguration* configuration, environment::ClockGenerator* clock_generator, + SampleComponents(const dynamics::dynamics::Dynamics* dynamics, simulation::Structure* structure, + const environment::LocalEnvironment* local_environment, const environment::GlobalEnvironment* global_environment, + const simulation::SimulationConfiguration* configuration, environment::ClockGenerator* clock_generator, const unsigned int spacecraft_id); /** * @fn ~SampleComponents @@ -139,12 +140,12 @@ class SampleComponents : public simulation::InstalledComponents { // States const simulation::SimulationConfiguration* configuration_; //!< Simulation settings - const dynamics::dynamics::Dynamics* dynamics_; //!< Dynamics information of the spacecraft + const dynamics::dynamics::Dynamics* dynamics_; //!< Dynamics information of the spacecraft simulation::Structure* structure_; //!< Structure information of the spacecraft - const environment::LocalEnvironment* local_environment_; //!< Local environment information around the spacecraft - const environment::GlobalEnvironment* global_environment_; //!< Global environment information + const environment::LocalEnvironment* local_environment_; //!< Local environment information around the spacecraft + const environment::GlobalEnvironment* global_environment_; //!< Global environment information }; -} // namespace s2e::sample +} // namespace s2e::sample #endif // S2E_SIMULATION_SAMPLE_SPACECRAFT_SAMPLE_COMPONENTS_HPP_ diff --git a/src/simulation_sample/spacecraft/sample_port_configuration.hpp b/src/simulation_sample/spacecraft/sample_port_configuration.hpp index bfa1a57db..dd67bddab 100644 --- a/src/simulation_sample/spacecraft/sample_port_configuration.hpp +++ b/src/simulation_sample/spacecraft/sample_port_configuration.hpp @@ -29,6 +29,6 @@ enum class UARTPortConfig { kUartComponentMax //!< Maximum port number. Do not remove. Place on the bottom. }; -} // namespace s2e::sample +} // namespace s2e::sample #endif // S2E_SIMULATION_SAMPLE_SPACECRAFT_SAMPLE_PORT_CONFIGURATION_HPP_ diff --git a/src/simulation_sample/spacecraft/sample_spacecraft.cpp b/src/simulation_sample/spacecraft/sample_spacecraft.cpp index bfc1bdcc9..13ab3289d 100644 --- a/src/simulation_sample/spacecraft/sample_spacecraft.cpp +++ b/src/simulation_sample/spacecraft/sample_spacecraft.cpp @@ -12,12 +12,12 @@ namespace s2e::sample { -SampleSpacecraft::SampleSpacecraft(const simulation::SimulationConfiguration* simulation_configuration, const environment::GlobalEnvironment* global_environment, - const unsigned int spacecraft_id) +SampleSpacecraft::SampleSpacecraft(const simulation::SimulationConfiguration* simulation_configuration, + const environment::GlobalEnvironment* global_environment, const unsigned int spacecraft_id) : simulation::Spacecraft(simulation_configuration, global_environment, spacecraft_id) { sample_components_ = new SampleComponents(dynamics_, structure_, local_environment_, global_environment, simulation_configuration, &clock_generator_, spacecraft_id); components_ = sample_components_; } -} // namespace s2e::sample +} // namespace s2e::sample diff --git a/src/simulation_sample/spacecraft/sample_spacecraft.hpp b/src/simulation_sample/spacecraft/sample_spacecraft.hpp index 43f9ff564..4a3767acc 100644 --- a/src/simulation_sample/spacecraft/sample_spacecraft.hpp +++ b/src/simulation_sample/spacecraft/sample_spacecraft.hpp @@ -37,6 +37,6 @@ class SampleSpacecraft : public simulation::Spacecraft { SampleComponents* sample_components_; }; -} // namespace s2e::sample +} // namespace s2e::sample #endif // S2E_SIMULATION_SAMPLE_SPACECRAFT_SAMPLE_SPACECRAFT_HPP_ diff --git a/src/utilities/com_port_interface.hpp b/src/utilities/com_port_interface.hpp index aca6d663d..3da5bd6eb 100644 --- a/src/utilities/com_port_interface.hpp +++ b/src/utilities/com_port_interface.hpp @@ -108,6 +108,6 @@ class ComPortInterface { msclr::gcroot rx_buf_; //!< RX Buffer }; -} // namespace s2e::utilities +} // namespace s2e::utilities #endif // S2E_LIBRARY_COMMUNICATION_COM_PORT_INTERFACE_HPP_ diff --git a/src/utilities/endian.cpp b/src/utilities/endian.cpp index 8286204ea..6aa2111a1 100644 --- a/src/utilities/endian.cpp +++ b/src/utilities/endian.cpp @@ -29,4 +29,4 @@ void *endian_memcpy(void *dst, const void *src, size_t size) { #endif // IS_LITTLE_ENDIAN } -} // namespace s2e::utilities +} // namespace s2e::utilities diff --git a/src/utilities/endian.hpp b/src/utilities/endian.hpp index 966800f36..0660d78f9 100644 --- a/src/utilities/endian.hpp +++ b/src/utilities/endian.hpp @@ -22,6 +22,6 @@ namespace s2e::utilities { */ void *endian_memcpy(void *dst, const void *src, size_t count); -} // namespace s2e::utilities +} // namespace s2e::utilities #endif // S2E_LIBRARY_UTILITIES_ENDIAN_HPP_ diff --git a/src/utilities/macros.hpp b/src/utilities/macros.hpp index f78b16fe0..cbd37f012 100644 --- a/src/utilities/macros.hpp +++ b/src/utilities/macros.hpp @@ -10,6 +10,6 @@ namespace s2e::utilities { #define UNUSED(x) (void)(x) //!< Macro to avoid unused warnings -} // namespace s2e::utilities +} // namespace s2e::utilities #endif // S2E_LIBRARY_UTILITIES_MACROS_HPP_ diff --git a/src/utilities/quantization.hpp b/src/utilities/quantization.hpp index 47bdd4f71..9fd075e3b 100644 --- a/src/utilities/quantization.hpp +++ b/src/utilities/quantization.hpp @@ -26,6 +26,6 @@ double quantization(const double continuous_number, const double resolution); */ float quantization_float(const double continuous_number, const double resolution); -} // namespace s2e::utilities +} // namespace s2e::utilities #endif // S2E_LIBRARY_UTILITIES_QUANTIZATION_HPP_ diff --git a/src/utilities/ring_buffer.cpp b/src/utilities/ring_buffer.cpp index feb9ec73e..40aed8adb 100644 --- a/src/utilities/ring_buffer.cpp +++ b/src/utilities/ring_buffer.cpp @@ -47,4 +47,4 @@ int RingBuffer::Read(byte* buffer, const unsigned int offset, const unsigned int return read_count; } -} // namespace s2e::utilities +} // namespace s2e::utilities diff --git a/src/utilities/ring_buffer.hpp b/src/utilities/ring_buffer.hpp index 95a45d60f..3855c8179 100644 --- a/src/utilities/ring_buffer.hpp +++ b/src/utilities/ring_buffer.hpp @@ -54,6 +54,6 @@ class RingBuffer { unsigned int write_pointer_; //!< Write pointer }; -} // namespace s2e::utilities +} // namespace s2e::utilities #endif // S2E_LIBRARY_UTILITIES_RING_BUFFER_HPP_ diff --git a/src/utilities/slip.cpp b/src/utilities/slip.cpp index beeef8e53..b1f0fbb03 100644 --- a/src/utilities/slip.cpp +++ b/src/utilities/slip.cpp @@ -80,4 +80,4 @@ std::vector encode_slip_with_header(const std::vector in) { return out; } -} // namespace s2e::utilities +} // namespace s2e::utilities diff --git a/src/utilities/slip.hpp b/src/utilities/slip.hpp index e001295b3..da9e222d5 100644 --- a/src/utilities/slip.hpp +++ b/src/utilities/slip.hpp @@ -42,6 +42,6 @@ std::vector encode_slip(std::vector in); */ std::vector encode_slip_with_header(std::vector in); -} // namespace s2e::utilities +} // namespace s2e::utilities #endif // S2E_LIBRARY_UTILITIES_SLIP_HPP_ From 38ff92f7ebbf423243490c2e2424c5625efb22c3 Mon Sep 17 00:00:00 2001 From: fukudakazuya Date: Sun, 29 Sep 2024 17:39:56 +0900 Subject: [PATCH 440/456] solve build warning --- src/dynamics/orbit/time_series_file_orbit_propagation.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/dynamics/orbit/time_series_file_orbit_propagation.cpp b/src/dynamics/orbit/time_series_file_orbit_propagation.cpp index ad1d3d73c..edcc344da 100644 --- a/src/dynamics/orbit/time_series_file_orbit_propagation.cpp +++ b/src/dynamics/orbit/time_series_file_orbit_propagation.cpp @@ -41,8 +41,8 @@ TimeSeriesFileOrbitPropagation::TimeSeriesFileOrbitPropagation(const CelestialIn reference_time_ = CalcEphemerisTimeData(reference_interpolation_id_); // Initialize orbit - orbit_position_i_m_.assign(1.0, orbit::InterpolationOrbit(number_of_interpolation)); - orbit_velocity_i_m_s_.assign(1.0, orbit::InterpolationOrbit(number_of_interpolation)); + orbit_position_i_m_.assign(static_cast(1), orbit::InterpolationOrbit(number_of_interpolation)); + orbit_velocity_i_m_s_.assign(static_cast(1), orbit::InterpolationOrbit(number_of_interpolation)); // Initialize interpolation for (int i = 0; i < number_of_interpolation; i++) { @@ -87,7 +87,7 @@ void TimeSeriesFileOrbitPropagation::Propagate(const double end_time_s, const do // Check interpolation update double current_ephemris_time = (current_time_jd - 2451545.0) * 86400.0; double diff_s = current_ephemris_time - reference_time_; - double medium_time_s = orbit_position_i_m_[0].GetTimeList()[std::round(number_of_interpolation_ / 2.0)]; + double medium_time_s = orbit_position_i_m_[0].GetTimeList()[static_cast(std::round(number_of_interpolation_ / 2.0))]; if (diff_s > medium_time_s) { UpdateInterpolationInformation(); } From 9f2908f43340efa1e1005a4fb1937408d84acf6c Mon Sep 17 00:00:00 2001 From: fukudakazuya Date: Mon, 30 Sep 2024 14:59:04 +0900 Subject: [PATCH 441/456] modify 1 --- src/dynamics/orbit/time_series_file_orbit_propagation.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/dynamics/orbit/time_series_file_orbit_propagation.cpp b/src/dynamics/orbit/time_series_file_orbit_propagation.cpp index edcc344da..709b23335 100644 --- a/src/dynamics/orbit/time_series_file_orbit_propagation.cpp +++ b/src/dynamics/orbit/time_series_file_orbit_propagation.cpp @@ -41,8 +41,8 @@ TimeSeriesFileOrbitPropagation::TimeSeriesFileOrbitPropagation(const CelestialIn reference_time_ = CalcEphemerisTimeData(reference_interpolation_id_); // Initialize orbit - orbit_position_i_m_.assign(static_cast(1), orbit::InterpolationOrbit(number_of_interpolation)); - orbit_velocity_i_m_s_.assign(static_cast(1), orbit::InterpolationOrbit(number_of_interpolation)); + orbit_position_i_m_.assign(1, orbit::InterpolationOrbit(number_of_interpolation)); + orbit_velocity_i_m_s_.assign(1, orbit::InterpolationOrbit(number_of_interpolation)); // Initialize interpolation for (int i = 0; i < number_of_interpolation; i++) { From f372519319be08fff753911714135ff577b10c3b Mon Sep 17 00:00:00 2001 From: fukudakazuya Date: Mon, 30 Sep 2024 16:18:03 +0900 Subject: [PATCH 442/456] add time_series_orbit.csv --- .../orbit_files/time_series_orbit.csv | 4072 +++++++++++++++++ 1 file changed, 4072 insertions(+) create mode 100644 settings/sample_satellite/orbit_files/time_series_orbit.csv diff --git a/settings/sample_satellite/orbit_files/time_series_orbit.csv b/settings/sample_satellite/orbit_files/time_series_orbit.csv new file mode 100644 index 000000000..6ee1558ff --- /dev/null +++ b/settings/sample_satellite/orbit_files/time_series_orbit.csv @@ -0,0 +1,4072 @@ +ephemeris_time[s],position_i_x[m],position_i_y[m],position_i_z[m],velocity_i_x[m/s],velocity_i_y[m/s],velocity_i_z[m/s] 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9648b681e2e842286ef5c9db1d7d68b04907e8bf Mon Sep 17 00:00:00 2001 From: fukudakazuya Date: Mon, 30 Sep 2024 16:19:33 +0900 Subject: [PATCH 443/456] modify path name --- settings/sample_satellite/satellite.ini | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/settings/sample_satellite/satellite.ini b/settings/sample_satellite/satellite.ini index 59e3c5997..3a89dc56f 100644 --- a/settings/sample_satellite/satellite.ini +++ b/settings/sample_satellite/satellite.ini @@ -125,7 +125,7 @@ error_tolerance = 0.0001 /////////////////////////////////////////////////////////////////////////////// // Settings for orbit propagation with time series file /////////// -time_series_file_path = SETTINGS_DIR_FROM_EXE/sample_satellite/time_series/time_series.csv +time_series_file_path = SETTINGS_DIR_FROM_EXE/sample_satellite/orbit_files/time_series_orbit.csv number_of_interpolation = 5 // Interpolation method 0: POLYNOMIAL From 7d36c935b36fe8cafdc7244181f773257fcaddb5 Mon Sep 17 00:00:00 2001 From: fukudakazuya Date: Mon, 30 Sep 2024 16:30:12 +0900 Subject: [PATCH 444/456] modify time_series_orbit.csv --- .../orbit_files/time_series_orbit.csv | 3971 ----------------- 1 file changed, 3971 deletions(-) diff --git a/settings/sample_satellite/orbit_files/time_series_orbit.csv b/settings/sample_satellite/orbit_files/time_series_orbit.csv index 6ee1558ff..fd1519f45 100644 --- a/settings/sample_satellite/orbit_files/time_series_orbit.csv +++ b/settings/sample_satellite/orbit_files/time_series_orbit.csv @@ -99,3974 +99,3 @@ ephemeris_time[s],position_i_x[m],position_i_y[m],position_i_z[m],velocity_i_x[m 715843150.8148,259800185.9332,-261643400.80021977,84980394.98085491,2.2741037471439998,9.254357245190995,-150.56163132943067 715844634.1195,259797975.8742,-261628811.0746532,84756314.34089553,-5.31953792671,10.40324886362125,-151.5807702951432 715845969.0938,259786114.5769,-261614274.80887884,84553328.72959259,-12.510306223079999,11.362263826441371,-152.5288019697381 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282cead6e273feec5402e7f00dd863c072968ef6 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 1 Oct 2024 13:12:49 +0900 Subject: [PATCH 445/456] Fix format --- src/dynamics/dynamics.cpp | 2 -- src/dynamics/dynamics.hpp | 11 ++++++++--- src/dynamics/orbit/orbit.hpp | 2 +- .../orbit/time_series_file_orbit_propagation.cpp | 1 - .../orbit/time_series_file_orbit_propagation.hpp | 1 - src/environment/local/local_environment.hpp | 4 ++++ src/setting_file_reader/wings_operation_file.hpp | 2 +- .../multiple_spacecraft/relative_information.hpp | 11 ++++++++--- src/utilities/com_port_interface.cpp | 2 +- src/utilities/quantization.cpp | 2 +- 10 files changed, 24 insertions(+), 14 deletions(-) diff --git a/src/dynamics/dynamics.cpp b/src/dynamics/dynamics.cpp index 49f226dde..1a9da635e 100644 --- a/src/dynamics/dynamics.cpp +++ b/src/dynamics/dynamics.cpp @@ -5,8 +5,6 @@ #include "dynamics.hpp" -#include "../simulation/multiple_spacecraft/relative_information.hpp" - namespace s2e::dynamics { Dynamics(const simulation::SimulationConfiguration* simulation_configuration, const environment::SimulationTime* simulation_time, diff --git a/src/dynamics/dynamics.hpp b/src/dynamics/dynamics.hpp index 5267f7a64..be8534181 100644 --- a/src/dynamics/dynamics.hpp +++ b/src/dynamics/dynamics.hpp @@ -10,6 +10,7 @@ #include "../environment/global/simulation_time.hpp" #include "../environment/local/local_environment.hpp" #include "../math_physics/math/vector.hpp" +#include "../simulation/multiple_spacecraft/relative_information.hpp" #include "../simulation/simulation_configuration.hpp" #include "../simulation/spacecraft/structure/structure.hpp" #include "dynamics/attitude/initialize_attitude.hpp" @@ -17,8 +18,12 @@ #include "dynamics/thermal/node.hpp" #include "dynamics/thermal/temperature.hpp" -class s2e::simulation::RelativeInformation; -class s2e::environment::LocalEnvironment; +namespace s2e::simulation { +class RelativeInformation; +} +namespace s2e::environment { +class LocalEnvironment; +} namespace s2e::dynamics { @@ -53,7 +58,7 @@ class Dynamics { * @param [in] simulation_time: Simulation time * @param [in] local_celestial_information: Local celestial information */ - void Update(const simulation::SimulationTime* simulation_time, const environment::LocalCelestialInformation* local_celestial_information); + void Update(const environment::SimulationTime* simulation_time, const environment::LocalCelestialInformation* local_celestial_information); /** * @fn LogSetup diff --git a/src/dynamics/orbit/orbit.hpp b/src/dynamics/orbit/orbit.hpp index 9bdfc4851..c51f0dc61 100644 --- a/src/dynamics/orbit/orbit.hpp +++ b/src/dynamics/orbit/orbit.hpp @@ -27,7 +27,7 @@ enum class OrbitPropagateMode { kSgp4, //!< SGP4 propagation using TLE without thruster maneuver kRelativeOrbit, //!< Relative dynamics (for formation flying simulation) kKepler, //!< Kepler orbit propagation without disturbances and thruster maneuver - kEncke, //!< Encke orbit propagation with disturbances and thruster maneuver + kEncke, //!< Encke orbit propagation with disturbances and thruster maneuver kTimeSeriesFile //!< Orbit propagation using time series file }; diff --git a/src/dynamics/orbit/time_series_file_orbit_propagation.cpp b/src/dynamics/orbit/time_series_file_orbit_propagation.cpp index 709b23335..8fe9893a0 100644 --- a/src/dynamics/orbit/time_series_file_orbit_propagation.cpp +++ b/src/dynamics/orbit/time_series_file_orbit_propagation.cpp @@ -152,4 +152,3 @@ bool TimeSeriesFileOrbitPropagation::UpdateInterpolationInformation() { return true; } - diff --git a/src/dynamics/orbit/time_series_file_orbit_propagation.hpp b/src/dynamics/orbit/time_series_file_orbit_propagation.hpp index 0db88a7de..0de5a7278 100644 --- a/src/dynamics/orbit/time_series_file_orbit_propagation.hpp +++ b/src/dynamics/orbit/time_series_file_orbit_propagation.hpp @@ -85,4 +85,3 @@ class TimeSeriesFileOrbitPropagation : public Orbit { }; #endif // S2E_DYNAMICS_ORBIT_TIME_SERIES_FILE_ORBIT_PROPAGATION_HPP_ - diff --git a/src/environment/local/local_environment.hpp b/src/environment/local/local_environment.hpp index ef671a499..b486d4226 100644 --- a/src/environment/local/local_environment.hpp +++ b/src/environment/local/local_environment.hpp @@ -15,6 +15,10 @@ #include "simulation/simulation_configuration.hpp" #include "solar_radiation_pressure_environment.hpp" +namespace s2e::math { +class Dynamics; +} + namespace s2e::environment { /** diff --git a/src/setting_file_reader/wings_operation_file.hpp b/src/setting_file_reader/wings_operation_file.hpp index 848010aac..51ed0d1d5 100644 --- a/src/setting_file_reader/wings_operation_file.hpp +++ b/src/setting_file_reader/wings_operation_file.hpp @@ -37,6 +37,6 @@ class WingsOperationFile { size_t line_pointer_ = 0; //!< Line pointer }; -} // namespace s2e::setting_file_reader +} // namespace s2e::setting_file_reader #endif // S2E_LIBRARY_INITIALIZE_WINGS_OPERATION_FILE_HPP_ diff --git a/src/simulation/multiple_spacecraft/relative_information.hpp b/src/simulation/multiple_spacecraft/relative_information.hpp index 9e77403d0..d49f4c74a 100644 --- a/src/simulation/multiple_spacecraft/relative_information.hpp +++ b/src/simulation/multiple_spacecraft/relative_information.hpp @@ -6,12 +6,17 @@ #ifndef S2E_MULTIPLE_SPACECRAFT_RELATIVE_INFORMATION_HPP_ #define S2E_MULTIPLE_SPACECRAFT_RELATIVE_INFORMATION_HPP_ +#include #include #include "../../dynamics/dynamics.hpp" #include "../../logger/loggable.hpp" #include "../../logger/logger.hpp" +namespace s2e::dynamics { +class Dynamics; +} + namespace s2e::simulation { /** @@ -42,7 +47,7 @@ class RelativeInformation : public logger::ILoggable { * @param [in] spacecraft_id: ID of target spacecraft * @param [in] dynamics: Dynamics information of the target spacecraft */ - void RegisterDynamicsInfo(const size_t spacecraft_id, const dynamics::dynamics::Dynamics* dynamics); + void RegisterDynamicsInfo(const size_t spacecraft_id, const dynamics::Dynamics* dynamics); /** * @fn RegisterDynamicsInfo * @brief Remove dynamics information of target spacecraft @@ -129,12 +134,12 @@ class RelativeInformation : public logger::ILoggable { * @brief Return the dynamics information of a spacecraft * @param [in] target_spacecraft_id: ID of the spacecraft */ - inline const dynamics::dynamics::Dynamics* GetReferenceSatDynamics(const size_t reference_spacecraft_id) const { + inline const dynamics::Dynamics* GetReferenceSatDynamics(const size_t reference_spacecraft_id) const { return dynamics_database_.at(reference_spacecraft_id); }; private: - std::map dynamics_database_; //!< Dynamics database of all spacecraft + std::map dynamics_database_; //!< Dynamics database of all spacecraft std::vector>> relative_position_list_i_m_; //!< Relative position list in the inertial frame in unit [m] std::vector>> relative_velocity_list_i_m_s_; //!< Relative velocity list in the inertial frame in unit [m/s] diff --git a/src/utilities/com_port_interface.cpp b/src/utilities/com_port_interface.cpp index 70209cde8..4644fa5c9 100644 --- a/src/utilities/com_port_interface.cpp +++ b/src/utilities/com_port_interface.cpp @@ -117,4 +117,4 @@ int ComPortInterface::DiscardInBuffer() { return 0; } -} // namespace s2e::utilities +} // namespace s2e::utilities diff --git a/src/utilities/quantization.cpp b/src/utilities/quantization.cpp index 9b8aa00d5..1cfd3268e 100644 --- a/src/utilities/quantization.cpp +++ b/src/utilities/quantization.cpp @@ -14,4 +14,4 @@ double quantization(const double continuous_number, const double resolution) { float quantization_float(const double continuous_number, const double resolution) { return (float)quantization(continuous_number, resolution); } -} // namespace s2e::utilities +} // namespace s2e::utilities From e7539781844ca081986cbc9bcce107758e1bc4f7 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 1 Oct 2024 13:19:48 +0900 Subject: [PATCH 446/456] Fix format --- src/components/base/component.hpp | 4 ++-- src/components/base/interface_gpio_component.hpp | 2 +- .../numerical_integration/numerical_integrator.hpp | 2 +- src/math_physics/numerical_integration/runge_kutta.hpp | 2 +- src/simulation/spacecraft/structure/kinematics_parameters.hpp | 2 +- .../spacecraft/structure/residual_magnetic_moment.hpp | 2 +- src/simulation/spacecraft/structure/surface.hpp | 2 +- 7 files changed, 8 insertions(+), 8 deletions(-) diff --git a/src/components/base/component.hpp b/src/components/base/component.hpp index 2cfc64db5..2b541dffd 100644 --- a/src/components/base/component.hpp +++ b/src/components/base/component.hpp @@ -78,13 +78,13 @@ class Component : public ITickable { * @brief Pure virtual function used to calculate high-frequency disturbances(e.g. RW jitter) * @note Override only when high-frequency disturbances need to be calculated. */ - virtual void FastUpdate() {}; + virtual void FastUpdate(){}; /** * @fn PowerOffRoutine * @brief Pure virtual function executed when the power switch is off. */ - virtual void PowerOffRoutine() {}; + virtual void PowerOffRoutine(){}; environment::ClockGenerator* clock_generator_; //!< Clock generator PowerPort* power_port_; //!< Power port diff --git a/src/components/base/interface_gpio_component.hpp b/src/components/base/interface_gpio_component.hpp index 6a5d3bb75..9df3db260 100644 --- a/src/components/base/interface_gpio_component.hpp +++ b/src/components/base/interface_gpio_component.hpp @@ -18,7 +18,7 @@ class IGPIOCompo { * @fn ~IGPIOCompo * @brief Destructor */ - virtual ~IGPIOCompo() {}; + virtual ~IGPIOCompo(){}; /** * @fn GpioStateChanged diff --git a/src/math_physics/numerical_integration/numerical_integrator.hpp b/src/math_physics/numerical_integration/numerical_integrator.hpp index ae708a753..461bfa225 100644 --- a/src/math_physics/numerical_integration/numerical_integrator.hpp +++ b/src/math_physics/numerical_integration/numerical_integrator.hpp @@ -32,7 +32,7 @@ class NumericalIntegrator { * @fn ~NumericalIntegrator * @brief Destructor */ - inline virtual ~NumericalIntegrator() {}; + inline virtual ~NumericalIntegrator(){}; /** * @fn Integrate diff --git a/src/math_physics/numerical_integration/runge_kutta.hpp b/src/math_physics/numerical_integration/runge_kutta.hpp index a24b4f53b..d2072d4cb 100644 --- a/src/math_physics/numerical_integration/runge_kutta.hpp +++ b/src/math_physics/numerical_integration/runge_kutta.hpp @@ -29,7 +29,7 @@ class RungeKutta : public NumericalIntegrator { * @fn ~RungeKutta * @brief Destructor */ - inline virtual ~RungeKutta() {}; + inline virtual ~RungeKutta(){}; /** * @fn Integrate diff --git a/src/simulation/spacecraft/structure/kinematics_parameters.hpp b/src/simulation/spacecraft/structure/kinematics_parameters.hpp index c4dfadeb2..b97209727 100644 --- a/src/simulation/spacecraft/structure/kinematics_parameters.hpp +++ b/src/simulation/spacecraft/structure/kinematics_parameters.hpp @@ -26,7 +26,7 @@ class KinematicsParameters { * @fn ~KinematicsParameters * @brief Destructor */ - ~KinematicsParameters() {}; + ~KinematicsParameters(){}; // Getter /** diff --git a/src/simulation/spacecraft/structure/residual_magnetic_moment.hpp b/src/simulation/spacecraft/structure/residual_magnetic_moment.hpp index ae06bb85d..1e00b7e89 100644 --- a/src/simulation/spacecraft/structure/residual_magnetic_moment.hpp +++ b/src/simulation/spacecraft/structure/residual_magnetic_moment.hpp @@ -26,7 +26,7 @@ class ResidualMagneticMoment { * @fn ~ResidualMagneticMoment * @brief Destructor */ - ~ResidualMagneticMoment() {}; + ~ResidualMagneticMoment(){}; // Getter /** diff --git a/src/simulation/spacecraft/structure/surface.hpp b/src/simulation/spacecraft/structure/surface.hpp index 73a09d6e6..c98386bae 100644 --- a/src/simulation/spacecraft/structure/surface.hpp +++ b/src/simulation/spacecraft/structure/surface.hpp @@ -26,7 +26,7 @@ class Surface { * @fn ~Surface * @brief Destructor */ - ~Surface() {}; + ~Surface(){}; // Getter /** From 31b8fd5ccb81db7041b36bd9f637f247be14fabc Mon Sep 17 00:00:00 2001 From: fukudakazuya Date: Tue, 1 Oct 2024 13:41:44 +0900 Subject: [PATCH 447/456] delete space --- src/dynamics/orbit/orbit.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/dynamics/orbit/orbit.hpp b/src/dynamics/orbit/orbit.hpp index caf4ddf25..7f99ba3af 100644 --- a/src/dynamics/orbit/orbit.hpp +++ b/src/dynamics/orbit/orbit.hpp @@ -25,7 +25,7 @@ enum class OrbitPropagateMode { kSgp4, //!< SGP4 propagation using TLE without thruster maneuver kRelativeOrbit, //!< Relative dynamics (for formation flying simulation) kKepler, //!< Kepler orbit propagation without disturbances and thruster maneuver - kEncke, //!< Encke orbit propagation with disturbances and thruster maneuver + kEncke, //!< Encke orbit propagation with disturbances and thruster maneuver kTimeSeriesFile //!< Orbit propagation using time series file }; From af60184a44c5243c633122256baf29b73b4520b3 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 1 Oct 2024 14:39:20 +0900 Subject: [PATCH 448/456] Fix small --- src/environment/global/celestial_information.hpp | 4 ++-- src/math_physics/math/vector.hpp | 3 ++- 2 files changed, 4 insertions(+), 3 deletions(-) diff --git a/src/environment/global/celestial_information.hpp b/src/environment/global/celestial_information.hpp index dbb9777d9..ea04e562d 100644 --- a/src/environment/global/celestial_information.hpp +++ b/src/environment/global/celestial_information.hpp @@ -15,10 +15,10 @@ #include "moon_rotation.hpp" #include "simulation_time.hpp" -class MoonRotation; - namespace s2e::environment { +class MoonRotation; + /** * @class CelestialInformation * @brief Class to manage the information related with the celestial bodies diff --git a/src/math_physics/math/vector.hpp b/src/math_physics/math/vector.hpp index 333c62056..b210759e6 100644 --- a/src/math_physics/math/vector.hpp +++ b/src/math_physics/math/vector.hpp @@ -9,10 +9,11 @@ #include // for size_t #include // for ostream, cout +namespace s2e::math { + #define dot InnerProduct #define cross OuterProduct -namespace s2e::math { /** * @class Vector * @brief Class for mathematical vector From 7875268dccc9b56538875a79d1803f230045491e Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 1 Oct 2024 23:09:35 +0900 Subject: [PATCH 449/456] Fix bugs --- src/components/base/component.hpp | 4 +- .../base/interface_gpio_component.hpp | 2 +- src/components/base/sensor.hpp | 10 ++-- src/components/ideal/force_generator.hpp | 8 ++-- src/components/ideal/orbit_observer.cpp | 5 +- src/components/ideal/orbit_observer.hpp | 6 +-- src/components/ideal/torque_generator.hpp | 2 +- src/components/ports/uart_port.cpp | 4 +- src/components/ports/uart_port.hpp | 4 +- src/components/real/aocs/gnss_receiver.cpp | 13 ++--- src/components/real/aocs/gnss_receiver.hpp | 24 +++++----- src/components/real/aocs/magnetometer.cpp | 9 ++-- src/components/real/aocs/magnetometer.hpp | 10 ++-- src/components/real/aocs/magnetorquer.cpp | 10 ++-- src/components/real/aocs/magnetorquer.hpp | 12 ++--- src/components/real/aocs/star_sensor.cpp | 16 ++++--- src/components/real/aocs/star_sensor.hpp | 18 +++---- src/components/real/aocs/sun_sensor.cpp | 12 +++-- src/components/real/aocs/sun_sensor.hpp | 17 ++++--- src/components/real/communication/antenna.cpp | 4 +- src/components/real/communication/antenna.hpp | 16 +++---- .../ground_station_calculator.cpp | 28 +++++------ .../ground_station_calculator.hpp | 10 ++-- src/components/real/mission/telescope.cpp | 35 +++++++------- src/components/real/mission/telescope.hpp | 19 ++++---- .../real/power/solar_array_panel.cpp | 16 +++---- .../real/power/solar_array_panel.hpp | 19 ++++---- .../real/propulsion/simple_thruster.cpp | 20 ++++---- .../real/propulsion/simple_thruster.hpp | 47 ++++++++++--------- src/disturbances/air_drag.cpp | 9 ++-- src/disturbances/air_drag.hpp | 7 +-- src/disturbances/disturbance.hpp | 4 +- src/disturbances/disturbances.cpp | 19 ++++---- src/disturbances/disturbances.hpp | 19 ++++---- src/disturbances/geopotential.cpp | 2 +- src/disturbances/geopotential.hpp | 10 ++-- src/disturbances/gravity_gradient.cpp | 2 +- src/disturbances/gravity_gradient.hpp | 2 +- src/disturbances/lunar_gravity_field.cpp | 4 +- src/disturbances/lunar_gravity_field.hpp | 10 ++-- src/disturbances/magnetic_disturbance.cpp | 12 ++--- src/disturbances/magnetic_disturbance.hpp | 10 ++-- .../solar_radiation_pressure_disturbance.cpp | 9 ++-- .../solar_radiation_pressure_disturbance.hpp | 9 ++-- src/disturbances/surface_force.cpp | 3 +- src/disturbances/surface_force.hpp | 7 +-- src/disturbances/third_body_gravity.cpp | 2 +- src/disturbances/third_body_gravity.hpp | 2 +- src/dynamics/attitude/attitude.cpp | 2 +- src/dynamics/attitude/attitude_rk4.cpp | 2 +- .../attitude_with_cantilever_vibration.cpp | 2 +- src/dynamics/attitude/controlled_attitude.cpp | 5 +- src/dynamics/attitude/initialize_attitude.cpp | 2 +- src/dynamics/dynamics.cpp | 33 ++++++------- src/dynamics/dynamics.hpp | 2 +- .../orbit/encke_orbit_propagation.cpp | 2 +- .../orbit/encke_orbit_propagation.hpp | 6 +-- src/dynamics/orbit/initialize_orbit.cpp | 4 +- src/dynamics/orbit/initialize_orbit.hpp | 4 +- .../orbit/kepler_orbit_propagation.cpp | 2 +- .../orbit/kepler_orbit_propagation.hpp | 3 +- src/dynamics/orbit/relative_orbit.cpp | 4 +- src/dynamics/orbit/relative_orbit.hpp | 12 ++--- src/dynamics/orbit/rk4_orbit_propagation.cpp | 4 +- src/dynamics/orbit/rk4_orbit_propagation.hpp | 2 +- src/dynamics/orbit/sgp4_orbit_propagation.cpp | 4 +- src/dynamics/orbit/sgp4_orbit_propagation.hpp | 2 +- .../time_series_file_orbit_propagation.cpp | 17 ++++--- .../time_series_file_orbit_propagation.hpp | 9 ++-- src/dynamics/thermal/node.hpp | 1 - src/dynamics/thermal/temperature.cpp | 15 +++--- src/environment/local/local_environment.cpp | 8 ++-- src/environment/local/local_environment.hpp | 6 +-- .../numerical_integrator.hpp | 2 +- .../numerical_integration/runge_kutta.hpp | 2 +- src/simulation/spacecraft/spacecraft.cpp | 6 +-- src/simulation/spacecraft/spacecraft.hpp | 8 ++-- .../structure/initialize_structure.cpp | 8 ++-- .../structure/initialize_structure.hpp | 2 +- .../structure/kinematics_parameters.hpp | 2 +- .../structure/residual_magnetic_moment.hpp | 2 +- .../spacecraft/structure/structure.hpp | 6 +-- .../spacecraft/structure/surface.hpp | 2 +- .../ground_station/sample_ground_station.cpp | 2 +- .../ground_station/sample_ground_station.hpp | 2 +- .../sample_ground_station_components.hpp | 2 +- .../spacecraft/sample_components.cpp | 2 +- .../spacecraft/sample_components.hpp | 43 ++++++++--------- 88 files changed, 411 insertions(+), 375 deletions(-) diff --git a/src/components/base/component.hpp b/src/components/base/component.hpp index 2b541dffd..2cfc64db5 100644 --- a/src/components/base/component.hpp +++ b/src/components/base/component.hpp @@ -78,13 +78,13 @@ class Component : public ITickable { * @brief Pure virtual function used to calculate high-frequency disturbances(e.g. RW jitter) * @note Override only when high-frequency disturbances need to be calculated. */ - virtual void FastUpdate(){}; + virtual void FastUpdate() {}; /** * @fn PowerOffRoutine * @brief Pure virtual function executed when the power switch is off. */ - virtual void PowerOffRoutine(){}; + virtual void PowerOffRoutine() {}; environment::ClockGenerator* clock_generator_; //!< Clock generator PowerPort* power_port_; //!< Power port diff --git a/src/components/base/interface_gpio_component.hpp b/src/components/base/interface_gpio_component.hpp index 9df3db260..6a5d3bb75 100644 --- a/src/components/base/interface_gpio_component.hpp +++ b/src/components/base/interface_gpio_component.hpp @@ -18,7 +18,7 @@ class IGPIOCompo { * @fn ~IGPIOCompo * @brief Destructor */ - virtual ~IGPIOCompo(){}; + virtual ~IGPIOCompo() {}; /** * @fn GpioStateChanged diff --git a/src/components/base/sensor.hpp b/src/components/base/sensor.hpp index 351a1275d..3204a1783 100644 --- a/src/components/base/sensor.hpp +++ b/src/components/base/sensor.hpp @@ -54,11 +54,11 @@ class Sensor { math::Vector Measure(const math::Vector true_value_c); private: - math::Matrix scale_factor_; //!< Scale factor matrix - math::Vector range_to_const_c_; //!< Output range limit to be constant output value at the component frame - math::Vector range_to_zero_c_; //!< Output range limit to be zero output value at the component frame - s2e::randomization::NormalRand normal_random_noise_c_[N]; //!< Normal random - RandomWalk random_walk_noise_c_; //!< Random Walk + math::Matrix scale_factor_; //!< Scale factor matrix + math::Vector range_to_const_c_; //!< Output range limit to be constant output value at the component frame + math::Vector range_to_zero_c_; //!< Output range limit to be zero output value at the component frame + randomization::NormalRand normal_random_noise_c_[N]; //!< Normal random + randomization::RandomWalk random_walk_noise_c_; //!< Random Walk /** * @fn Clip diff --git a/src/components/ideal/force_generator.hpp b/src/components/ideal/force_generator.hpp index b5d254414..ac781993d 100644 --- a/src/components/ideal/force_generator.hpp +++ b/src/components/ideal/force_generator.hpp @@ -30,7 +30,7 @@ class ForceGenerator : public Component, public logger::ILoggable { * @param [in] dynamics: Dynamics information */ ForceGenerator(const int prescaler, environment::ClockGenerator* clock_generator, const double magnitude_error_standard_deviation_N, - const double direction_error_standard_deviation_rad, const Dynamics* dynamics); + const double direction_error_standard_deviation_rad, const dynamics::Dynamics* dynamics); /** * @fn ~ForceGenerator * @brief Destructor @@ -66,17 +66,17 @@ class ForceGenerator : public Component, public logger::ILoggable { * @fn GetGeneratedForce_b_N * @brief Return generated force in the body fixed frame [N] */ - inline const Vector<3> GetGeneratedForce_b_N() const { return generated_force_b_N_; }; + inline const math::Vector<3> GetGeneratedForce_b_N() const { return generated_force_b_N_; }; /** * @fn GetGeneratedForce_i_N * @brief Return generated force in the inertial frame [N] */ - inline const Vector<3> GetGeneratedForce_i_N() const { return generated_force_i_N_; }; + inline const math::Vector<3> GetGeneratedForce_i_N() const { return generated_force_i_N_; }; /** * @fn GetGeneratedForce_rtn_N * @brief Return generated force in the RTN frame [N] */ - inline const Vector<3> GetGeneratedForce_rtn_N() const { return generated_force_rtn_N_; }; + inline const math::Vector<3> GetGeneratedForce_rtn_N() const { return generated_force_rtn_N_; }; // Setter /** diff --git a/src/components/ideal/orbit_observer.cpp b/src/components/ideal/orbit_observer.cpp index 37e5c4dc3..ca3fa09bc 100644 --- a/src/components/ideal/orbit_observer.cpp +++ b/src/components/ideal/orbit_observer.cpp @@ -11,7 +11,7 @@ namespace s2e::components { OrbitObserver::OrbitObserver(const int prescaler, environment::ClockGenerator* clock_generator, const NoiseFrame noise_frame, - const math::Vector<6> error_standard_deviation, const Orbit& orbit) + const math::Vector<6> error_standard_deviation, const dynamics::orbit::Orbit& orbit) : Component(prescaler, clock_generator), noise_frame_(noise_frame), orbit_(orbit) { for (size_t i = 0; i < 6; i++) { normal_random_noise_[i].SetParameters(0.0, error_standard_deviation[i], s2e::randomization::global_randomization.MakeSeed()); @@ -85,7 +85,8 @@ NoiseFrame SetNoiseFrame(const std::string noise_frame) { } } -OrbitObserver InitializeOrbitObserver(environment::ClockGenerator* clock_generator, const std::string file_name, const Orbit& orbit) { +OrbitObserver InitializeOrbitObserver(environment::ClockGenerator* clock_generator, const std::string file_name, + const dynamics::orbit::Orbit& orbit) { // General setting_file_reader::IniAccess ini_file(file_name); diff --git a/src/components/ideal/orbit_observer.hpp b/src/components/ideal/orbit_observer.hpp index 6e56fdd59..a9216dde2 100644 --- a/src/components/ideal/orbit_observer.hpp +++ b/src/components/ideal/orbit_observer.hpp @@ -40,7 +40,7 @@ class OrbitObserver : public Component, public logger::ILoggable { * @param [in] orbit: Orbit information */ OrbitObserver(const int prescaler, environment::ClockGenerator* clock_generator, const NoiseFrame noise_frame, - const math::Vector<6> error_standard_deviation, const Orbit& orbit); + const math::Vector<6> error_standard_deviation, const dynamics::orbit::Orbit& orbit); /** * @fn ~AttitudeObserver @@ -87,7 +87,7 @@ class OrbitObserver : public Component, public logger::ILoggable { s2e::randomization::NormalRand normal_random_noise_[6]; //!< Position and Velocity noise [m, m/s] // Observed variables - const Orbit& orbit_; //!< Orbit information + const dynamics::orbit::Orbit& orbit_; //!< Orbit information }; /** @@ -105,7 +105,7 @@ NoiseFrame SetNoiseFrame(const std::string noise_frame); * @param [in] file_name: Path to the initialize file * @param [in] orbit: Orbit information */ -OrbitObserver InitializeOrbitObserver(environment::ClockGenerator* clock_generator, const std::string file_name, const Orbit& orbit); +OrbitObserver InitializeOrbitObserver(environment::ClockGenerator* clock_generator, const std::string file_name, const dynamics::orbit::Orbit& orbit); } // namespace s2e::components diff --git a/src/components/ideal/torque_generator.hpp b/src/components/ideal/torque_generator.hpp index b94a54919..4ea760c30 100644 --- a/src/components/ideal/torque_generator.hpp +++ b/src/components/ideal/torque_generator.hpp @@ -66,7 +66,7 @@ class TorqueGenerator : public Component, public logger::ILoggable { * @fn GetGeneratedTorque_b_Nm * @brief Return generated torque in the body fixed frame [Nm] */ - inline const Vector<3> GetGeneratedTorque_b_Nm() const { return generated_torque_b_Nm_; }; + inline const math::Vector<3> GetGeneratedTorque_b_Nm() const { return generated_torque_b_Nm_; }; // Setter /** diff --git a/src/components/ports/uart_port.cpp b/src/components/ports/uart_port.cpp index 6969b9361..070bd59ad 100644 --- a/src/components/ports/uart_port.cpp +++ b/src/components/ports/uart_port.cpp @@ -14,8 +14,8 @@ UartPort::UartPort(const unsigned int rx_buffer_size, const unsigned int tx_buff unsigned int checked_tx_buffer_size = tx_buffer_size; if (rx_buffer_size <= 0) checked_rx_buffer_size = kDefaultBufferSize; if (tx_buffer_size <= 0) checked_tx_buffer_size = kDefaultBufferSize; - rx_buffer_ = new RingBuffer(checked_rx_buffer_size); - tx_buffer_ = new RingBuffer(checked_tx_buffer_size); + rx_buffer_ = new utilities::RingBuffer(checked_rx_buffer_size); + tx_buffer_ = new utilities::RingBuffer(checked_tx_buffer_size); } UartPort::~UartPort() { diff --git a/src/components/ports/uart_port.hpp b/src/components/ports/uart_port.hpp index 2d00a0101..c83ddc456 100644 --- a/src/components/ports/uart_port.hpp +++ b/src/components/ports/uart_port.hpp @@ -76,8 +76,8 @@ class UartPort { private: const static unsigned int kDefaultBufferSize = 1024; //!< Default buffer size - RingBuffer* rx_buffer_; //!< Receive buffer (Component -> OBC) - RingBuffer* tx_buffer_; //!< Transmit buffer (OBC-> Component) + utilities::RingBuffer* rx_buffer_; //!< Receive buffer (Component -> OBC) + utilities::RingBuffer* tx_buffer_; //!< Transmit buffer (OBC-> Component) }; } // namespace s2e::components diff --git a/src/components/real/aocs/gnss_receiver.cpp b/src/components/real/aocs/gnss_receiver.cpp index e6b528f94..330844dd9 100644 --- a/src/components/real/aocs/gnss_receiver.cpp +++ b/src/components/real/aocs/gnss_receiver.cpp @@ -17,7 +17,7 @@ GnssReceiver::GnssReceiver(const int prescaler, environment::ClockGenerator* clo const AntennaModel antenna_model, const math::Vector<3> antenna_position_b_m, const math::Quaternion quaternion_b2c, const double half_width_deg, const math::Vector<3> position_noise_standard_deviation_ecef_m, const math::Vector<3> velocity_noise_standard_deviation_ecef_m_s, const dynamics::Dynamics* dynamics, - const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time) + const environment::GnssSatellites* gnss_satellites, const environment::SimulationTime* simulation_time) : Component(prescaler, clock_generator), component_id_(component_id), antenna_position_b_m_(antenna_position_b_m), @@ -39,7 +39,7 @@ GnssReceiver::GnssReceiver(const int prescaler, environment::ClockGenerator* clo const AntennaModel antenna_model, const math::Vector<3> antenna_position_b_m, const math::Quaternion quaternion_b2c, const double half_width_deg, const math::Vector<3> position_noise_standard_deviation_ecef_m, const math::Vector<3> velocity_noise_standard_deviation_ecef_m_s, const dynamics::Dynamics* dynamics, - const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time) + const environment::GnssSatellites* gnss_satellites, const environment::SimulationTime* simulation_time) : Component(prescaler, clock_generator, power_port), component_id_(component_id), antenna_position_b_m_(antenna_position_b_m), @@ -265,7 +265,7 @@ typedef struct _gnss_receiver_param { math::Vector<3> velocity_noise_standard_deviation_ecef_m_s; } GnssReceiverParam; -GnssReceiverParam ReadGnssReceiverIni(const std::string file_name, const GnssSatellites* gnss_satellites, const size_t component_id) { +GnssReceiverParam ReadGnssReceiverIni(const std::string file_name, const environment::GnssSatellites* gnss_satellites, const size_t component_id) { GnssReceiverParam gnss_receiver_param; setting_file_reader::IniAccess gnssr_conf(file_name); @@ -296,7 +296,8 @@ GnssReceiverParam ReadGnssReceiverIni(const std::string file_name, const GnssSat } GnssReceiver InitGnssReceiver(environment::ClockGenerator* clock_generator, const size_t component_id, const std::string file_name, - const dynamics::Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time) { + const dynamics::Dynamics* dynamics, const environment::GnssSatellites* gnss_satellites, + const environment::SimulationTime* simulation_time) { GnssReceiverParam gr_param = ReadGnssReceiverIni(file_name, gnss_satellites, component_id); GnssReceiver gnss_r(gr_param.prescaler, clock_generator, component_id, gr_param.antenna_model, gr_param.antenna_pos_b, gr_param.quaternion_b2c, @@ -306,8 +307,8 @@ GnssReceiver InitGnssReceiver(environment::ClockGenerator* clock_generator, cons } GnssReceiver InitGnssReceiver(environment::ClockGenerator* clock_generator, PowerPort* power_port, const size_t component_id, - const std::string file_name, const dynamics::Dynamics* dynamics, const GnssSatellites* gnss_satellites, - const SimulationTime* simulation_time) { + const std::string file_name, const dynamics::Dynamics* dynamics, const environment::GnssSatellites* gnss_satellites, + const environment::SimulationTime* simulation_time) { GnssReceiverParam gr_param = ReadGnssReceiverIni(file_name, gnss_satellites, component_id); // PowerPort diff --git a/src/components/real/aocs/gnss_receiver.hpp b/src/components/real/aocs/gnss_receiver.hpp index 2661d856b..604b11927 100644 --- a/src/components/real/aocs/gnss_receiver.hpp +++ b/src/components/real/aocs/gnss_receiver.hpp @@ -63,7 +63,8 @@ class GnssReceiver : public Component, public logger::ILoggable { GnssReceiver(const int prescaler, environment::ClockGenerator* clock_generator, const size_t component_id, const AntennaModel antenna_model, const math::Vector<3> antenna_position_b_m, const math::Quaternion quaternion_b2c, const double half_width_deg, const math::Vector<3> position_noise_standard_deviation_ecef_m, const math::Vector<3> velocity_noise_standard_deviation_ecef_m_s, - const dynamics::Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time); + const dynamics::Dynamics* dynamics, const environment::GnssSatellites* gnss_satellites, + const environment::SimulationTime* simulation_time); /** * @fn GnssReceiver * @brief Constructor with power port @@ -84,7 +85,7 @@ class GnssReceiver : public Component, public logger::ILoggable { const AntennaModel antenna_model, const math::Vector<3> antenna_position_b_m, const math::Quaternion quaternion_b2c, const double half_width_deg, const math::Vector<3> position_noise_standard_deviation_ecef_m, const math::Vector<3> velocity_noise_standard_deviation_ecef_m_s, const dynamics::Dynamics* dynamics, - const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time); + const environment::GnssSatellites* gnss_satellites, const environment::SimulationTime* simulation_time); // Override functions for Component /** @@ -146,9 +147,9 @@ class GnssReceiver : public Component, public logger::ILoggable { s2e::geodesy::GeodeticPosition geodetic_position_; //!< Observed position in the geodetic frame // Time observation - UTC utc_ = {2000, 1, 1, 0, 0, 0.0}; //!< Observed time in UTC [year, month, day, hour, min, sec] - unsigned int gps_time_week_ = 0; //!< Observed GPS time week part - double gps_time_s_ = 0.0; //!< Observed GPS time second part + environment::UTC utc_ = {2000, 1, 1, 0, 0, 0.0}; //!< Observed time in UTC [year, month, day, hour, min, sec] + unsigned int gps_time_week_ = 0; //!< Observed GPS time week part + double gps_time_s_ = 0.0; //!< Observed GPS time second part // Satellite visibility bool is_gnss_visible_ = false; //!< Flag for GNSS satellite is visible or not @@ -156,9 +157,9 @@ class GnssReceiver : public Component, public logger::ILoggable { std::vector gnss_information_list_; //!< Information List of visible GNSS satellites // References - const dynamics::Dynamics* dynamics_; //!< Dynamics of spacecraft - const GnssSatellites* gnss_satellites_; //!< Information of GNSS satellites - const SimulationTime* simulation_time_; //!< Simulation time + const dynamics::Dynamics* dynamics_; //!< Dynamics of spacecraft + const environment::GnssSatellites* gnss_satellites_; //!< Information of GNSS satellites + const environment::SimulationTime* simulation_time_; //!< Simulation time // Internal Functions /** @@ -227,7 +228,8 @@ AntennaModel SetAntennaModel(const std::string antenna_model); * @param [in] simulation_time: Simulation time information */ GnssReceiver InitGnssReceiver(environment::ClockGenerator* clock_generator, const size_t component_id, const std::string file_name, - const dynamics::Dynamics* dynamics, const GnssSatellites* gnss_satellites, const SimulationTime* simulation_time); + const dynamics::Dynamics* dynamics, const environment::GnssSatellites* gnss_satellites, + const environment::SimulationTime* simulation_time); /** * @fn InitGnssReceiver * @brief Initialize functions for GNSS Receiver with power port @@ -240,8 +242,8 @@ GnssReceiver InitGnssReceiver(environment::ClockGenerator* clock_generator, cons * @param [in] simulation_time: Simulation time information */ GnssReceiver InitGnssReceiver(environment::ClockGenerator* clock_generator, PowerPort* power_port, const size_t component_id, - const std::string file_name, const dynamics::Dynamics* dynamics, const GnssSatellites* gnss_satellites, - const SimulationTime* simulation_time); + const std::string file_name, const dynamics::Dynamics* dynamics, const environment::GnssSatellites* gnss_satellites, + const environment::SimulationTime* simulation_time); } // namespace s2e::components diff --git a/src/components/real/aocs/magnetometer.cpp b/src/components/real/aocs/magnetometer.cpp index a709c91b1..0958e312c 100644 --- a/src/components/real/aocs/magnetometer.cpp +++ b/src/components/real/aocs/magnetometer.cpp @@ -10,14 +10,15 @@ namespace s2e::components { Magnetometer::Magnetometer(int prescaler, environment::ClockGenerator* clock_generator, Sensor& sensor_base, const unsigned int sensor_id, - const math::Quaternion& quaternion_b2c, const GeomagneticField* geomagnetic_field) + const math::Quaternion& quaternion_b2c, const environment::GeomagneticField* geomagnetic_field) : Component(prescaler, clock_generator), Sensor(sensor_base), sensor_id_(sensor_id), quaternion_b2c_(quaternion_b2c), geomagnetic_field_(geomagnetic_field) {} Magnetometer::Magnetometer(int prescaler, environment::ClockGenerator* clock_generator, PowerPort* power_port, Sensor& sensor_base, - const unsigned int sensor_id, const math::Quaternion& quaternion_b2c, const GeomagneticField* geomagnetic_field) + const unsigned int sensor_id, const math::Quaternion& quaternion_b2c, + const environment::GeomagneticField* geomagnetic_field) : Component(prescaler, clock_generator, power_port), Sensor(sensor_base), sensor_id_(sensor_id), @@ -50,7 +51,7 @@ std::string Magnetometer::GetLogValue() const { } Magnetometer InitMagnetometer(environment::ClockGenerator* clock_generator, int sensor_id, const std::string file_name, double component_step_time_s, - const GeomagneticField* geomagnetic_field) { + const environment::GeomagneticField* geomagnetic_field) { setting_file_reader::IniAccess magsensor_conf(file_name); const char* sensor_name = "MAGNETOMETER_"; const std::string section_name = sensor_name + std::to_string(static_cast(sensor_id)); @@ -71,7 +72,7 @@ Magnetometer InitMagnetometer(environment::ClockGenerator* clock_generator, int } Magnetometer InitMagnetometer(environment::ClockGenerator* clock_generator, PowerPort* power_port, int sensor_id, const std::string file_name, - double component_step_time_s, const GeomagneticField* geomagnetic_field) { + double component_step_time_s, const environment::GeomagneticField* geomagnetic_field) { setting_file_reader::IniAccess magsensor_conf(file_name); const char* sensor_name = "MAGNETOMETER_"; const std::string section_name = sensor_name + std::to_string(static_cast(sensor_id)); diff --git a/src/components/real/aocs/magnetometer.hpp b/src/components/real/aocs/magnetometer.hpp index 7a52c30cd..2d788b366 100644 --- a/src/components/real/aocs/magnetometer.hpp +++ b/src/components/real/aocs/magnetometer.hpp @@ -34,7 +34,7 @@ class Magnetometer : public Component, public Sensor, pu * @param [in] geomagnetic_field: Geomagnetic environment */ Magnetometer(const int prescaler, environment::ClockGenerator* clock_generator, Sensor& sensor_base, const unsigned int sensor_id, - const math::Quaternion& quaternion_b2c, const GeomagneticField* geomagnetic_field); + const math::Quaternion& quaternion_b2c, const environment::GeomagneticField* geomagnetic_field); /** * @fn Magnetometer * @brief Constructor with power port @@ -47,7 +47,7 @@ class Magnetometer : public Component, public Sensor, pu * @param [in] geomagnetic_field: Geomagnetic environment */ Magnetometer(const int prescaler, environment::ClockGenerator* clock_generator, PowerPort* power_port, Sensor& sensor_base, - const unsigned int sensor_id, const math::Quaternion& quaternion_b2c, const GeomagneticField* geomagnetic_field); + const unsigned int sensor_id, const math::Quaternion& quaternion_b2c, const environment::GeomagneticField* geomagnetic_field); /** * @fn ~Magnetometer * @brief Destructor @@ -104,7 +104,7 @@ class Magnetometer : public Component, public Sensor, pu unsigned int sensor_id_ = 0; //!< Sensor ID math::Quaternion quaternion_b2c_{0.0, 0.0, 0.0, 1.0}; //!< Quaternion from body frame to component frame - const GeomagneticField* geomagnetic_field_; //!< Geomagnetic environment + const environment::GeomagneticField* geomagnetic_field_; //!< Geomagnetic environment }; /** @@ -117,7 +117,7 @@ class Magnetometer : public Component, public Sensor, pu * @param [in] geomagnetic_field: Geomegnetic environment */ Magnetometer InitMagnetometer(environment::ClockGenerator* clock_generator, int sensor_id, const std::string file_name, double component_step_time_s, - const GeomagneticField* geomagnetic_field); + const environment::GeomagneticField* geomagnetic_field); /** * @fn InitMagnetometer * @brief Initialize functions for magnetometer with power port @@ -129,7 +129,7 @@ Magnetometer InitMagnetometer(environment::ClockGenerator* clock_generator, int * @param [in] geomagnetic_field: Geomegnetic environment */ Magnetometer InitMagnetometer(environment::ClockGenerator* clock_generator, PowerPort* power_port, int sensor_id, const std::string file_name, - double component_step_time_s, const GeomagneticField* geomagnetic_field); + double component_step_time_s, const environment::GeomagneticField* geomagnetic_field); } // namespace s2e::components diff --git a/src/components/real/aocs/magnetorquer.cpp b/src/components/real/aocs/magnetorquer.cpp index 2dcbe762a..0ee096e5e 100644 --- a/src/components/real/aocs/magnetorquer.cpp +++ b/src/components/real/aocs/magnetorquer.cpp @@ -19,7 +19,8 @@ Magnetorquer::Magnetorquer(const int prescaler, environment::ClockGenerator* clo const math::Vector& bias_noise_c_Am2_, double random_walk_step_width_s, const math::Vector& random_walk_standard_deviation_c_Am2, const math::Vector& random_walk_limit_c_Am2, - const math::Vector& normal_random_standard_deviation_c_Am2, const GeomagneticField* geomagnetic_field) + const math::Vector& normal_random_standard_deviation_c_Am2, + const environment::GeomagneticField* geomagnetic_field) : Component(prescaler, clock_generator), component_id_(component_id), quaternion_b2c_(quaternion_b2c), @@ -41,7 +42,8 @@ Magnetorquer::Magnetorquer(const int prescaler, environment::ClockGenerator* clo const math::Vector& bias_noise_c_Am2_, double random_walk_step_width_s, const math::Vector& random_walk_standard_deviation_c_Am2, const math::Vector& random_walk_limit_c_Am2, - const math::Vector& normal_random_standard_deviation_c_Am2, const GeomagneticField* geomagnetic_field) + const math::Vector& normal_random_standard_deviation_c_Am2, + const environment::GeomagneticField* geomagnetic_field) : Component(prescaler, clock_generator, power_port), component_id_(component_id), quaternion_b2c_(quaternion_b2c), @@ -114,7 +116,7 @@ std::string Magnetorquer::GetLogValue() const { } Magnetorquer InitMagnetorquer(environment::ClockGenerator* clock_generator, int actuator_id, const std::string file_name, - double component_step_time_s, const GeomagneticField* geomagnetic_field) { + double component_step_time_s, const environment::GeomagneticField* geomagnetic_field) { setting_file_reader::IniAccess magtorquer_conf(file_name); const char* sensor_name = "MAGNETORQUER_"; const std::string section_name = sensor_name + std::to_string(static_cast(actuator_id)); @@ -159,7 +161,7 @@ Magnetorquer InitMagnetorquer(environment::ClockGenerator* clock_generator, int } Magnetorquer InitMagnetorquer(environment::ClockGenerator* clock_generator, PowerPort* power_port, int actuator_id, const std::string file_name, - double component_step_time_s, const GeomagneticField* geomagnetic_field) { + double component_step_time_s, const environment::GeomagneticField* geomagnetic_field) { setting_file_reader::IniAccess magtorquer_conf(file_name); const char* sensor_name = "MAGNETORQUER_"; const std::string section_name = sensor_name + std::to_string(static_cast(actuator_id)); diff --git a/src/components/real/aocs/magnetorquer.hpp b/src/components/real/aocs/magnetorquer.hpp index f18dec450..b3f0b6ff1 100644 --- a/src/components/real/aocs/magnetorquer.hpp +++ b/src/components/real/aocs/magnetorquer.hpp @@ -48,7 +48,7 @@ class Magnetorquer : public Component, public logger::ILoggable { const math::Vector& min_magnetic_moment_c_Am2, const math::Vector& bias_noise_c_Am2_, double random_walk_step_width_s, const math::Vector& random_walk_standard_deviation_c_Am2, const math::Vector& random_walk_limit_c_Am2, const math::Vector& normal_random_standard_deviation_c_Am2, - const GeomagneticField* geomagnetic_field); + const environment::GeomagneticField* geomagnetic_field); /** * @fn Magnetorquer * @brief Constructor with power port @@ -72,7 +72,7 @@ class Magnetorquer : public Component, public logger::ILoggable { const math::Vector& max_magnetic_moment_c_Am2, const math::Vector& min_magnetic_moment_c_Am2, const math::Vector& bias_noise_c_Am2_, double random_walk_step_width_s, const math::Vector& random_walk_standard_deviation_c_Am2, const math::Vector& random_walk_limit_c_Am2, - const math::Vector& normal_random_standard_deviation_c_Am2, const GeomagneticField* geomagnetic_field); + const math::Vector& normal_random_standard_deviation_c_Am2, const environment::GeomagneticField* geomagnetic_field); // Override functions for Component /** @@ -135,10 +135,10 @@ class Magnetorquer : public Component, public logger::ILoggable { math::Vector min_magnetic_moment_c_Am2_{-100.0}; //!< Minimum magnetic moment in the component frame [Am2] math::Vector bias_noise_c_Am2_{0.0}; //!< Constant bias noise in the component frame [Am2] - RandomWalk random_walk_c_Am2_; //!< Random walk noise + randomization::RandomWalk random_walk_c_Am2_; //!< Random walk noise s2e::randomization::NormalRand random_noise_c_Am2_[kMtqDimension]; //!< Normal random noise - const GeomagneticField* geomagnetic_field_; //!< Geomagnetic environment + const environment::GeomagneticField* geomagnetic_field_; //!< Geomagnetic environment /** * @fn CalcOutputTorque @@ -158,7 +158,7 @@ class Magnetorquer : public Component, public logger::ILoggable { * @param [in] geomagnetic_field: Geomegnetic environment */ Magnetorquer InitMagnetorquer(environment::ClockGenerator* clock_generator, int actuator_id, const std::string file_name, - double component_step_time_s, const GeomagneticField* geomagnetic_field); + double component_step_time_s, const environment::GeomagneticField* geomagnetic_field); /** * @fn InitMagnetorquer * @brief Initialize functions for magnetometer with power port @@ -170,7 +170,7 @@ Magnetorquer InitMagnetorquer(environment::ClockGenerator* clock_generator, int * @param [in] geomagnetic_field: Geomegnetic environment */ Magnetorquer InitMagnetorquer(environment::ClockGenerator* clock_generator, PowerPort* power_port, int actuator_id, const std::string file_name, - double component_step_time_s, const GeomagneticField* geomagnetic_field); + double component_step_time_s, const environment::GeomagneticField* geomagnetic_field); } // namespace s2e::components diff --git a/src/components/real/aocs/star_sensor.cpp b/src/components/real/aocs/star_sensor.cpp index be7ddd363..1e57e269b 100644 --- a/src/components/real/aocs/star_sensor.cpp +++ b/src/components/real/aocs/star_sensor.cpp @@ -23,7 +23,7 @@ StarSensor::StarSensor(const int prescaler, environment::ClockGenerator* clock_g const double standard_deviation_sight_direction, const double step_time_s, const unsigned int output_delay, const unsigned int output_interval, const double sun_forbidden_angle_rad, const double earth_forbidden_angle_rad, const double moon_forbidden_angle_rad, const double capture_rate_limit_rad_s, const dynamics::Dynamics* dynamics, - const LocalEnvironment* local_environment) + const environment::LocalEnvironment* local_environment) : Component(prescaler, clock_generator), component_id_(component_id), quaternion_b2c_(quaternion_b2c), @@ -48,7 +48,7 @@ StarSensor::StarSensor(const int prescaler, environment::ClockGenerator* clock_g const double standard_deviation_sight_direction, const double step_time_s, const unsigned int output_delay, const unsigned int output_interval, const double sun_forbidden_angle_rad, const double earth_forbidden_angle_rad, const double moon_forbidden_angle_rad, const double capture_rate_limit_rad_s, const dynamics::Dynamics* dynamics, - const LocalEnvironment* local_environment) + const environment::LocalEnvironment* local_environment) : Component(prescaler, clock_generator, power_port), component_id_(component_id), quaternion_b2c_(quaternion_b2c), @@ -91,7 +91,8 @@ void StarSensor::Initialize() { error_flag_ = true; } -Quaternion StarSensor::Measure(const LocalCelestialInformation* local_celestial_information, const dynamics::attitude::Attitude* attitude) { +Quaternion StarSensor::Measure(const environment::LocalCelestialInformation* local_celestial_information, + const dynamics::attitude::Attitude* attitude) { update(local_celestial_information, attitude); // update delay buffer if (update_count_ == 0) { int hist = buffer_position_ - output_delay_ - 1; @@ -107,7 +108,7 @@ Quaternion StarSensor::Measure(const LocalCelestialInformation* local_celestial_ return measured_quaternion_i2c_; } -void StarSensor::update(const LocalCelestialInformation* local_celestial_information, const dynamics::attitude::Attitude* attitude) { +void StarSensor::update(const environment::LocalCelestialInformation* local_celestial_information, const dynamics::attitude::Attitude* attitude) { Quaternion quaternion_i2b = attitude->GetQuaternion_i2b(); // Read true value Quaternion q_stt_temp = quaternion_i2b * quaternion_b2c_; // Convert to component frame // Add noise on sight direction @@ -128,7 +129,8 @@ void StarSensor::update(const LocalCelestialInformation* local_celestial_informa buffer_position_ %= max_delay_; } -void StarSensor::AllJudgement(const LocalCelestialInformation* local_celestial_information, const dynamics::attitude::Attitude* attitude) { +void StarSensor::AllJudgement(const environment::LocalCelestialInformation* local_celestial_information, + const dynamics::attitude::Attitude* attitude) { int judgement = 0; judgement = SunJudgement(local_celestial_information->GetPositionFromSpacecraft_b_m("SUN")); judgement += EarthJudgement(local_celestial_information->GetPositionFromSpacecraft_b_m("EARTH")); @@ -217,7 +219,7 @@ void StarSensor::MainRoutine(const int time_count) { } StarSensor InitStarSensor(environment::ClockGenerator* clock_generator, int sensor_id, const string file_name, double component_step_time_s, - const dynamics::Dynamics* dynamics, const LocalEnvironment* local_environment) { + const dynamics::Dynamics* dynamics, const environment::LocalEnvironment* local_environment) { setting_file_reader::IniAccess STT_conf(file_name); const char* sensor_name = "STAR_SENSOR_"; const std::string section_name = sensor_name + std::to_string(static_cast(sensor_id)); @@ -250,7 +252,7 @@ StarSensor InitStarSensor(environment::ClockGenerator* clock_generator, int sens } StarSensor InitStarSensor(environment::ClockGenerator* clock_generator, PowerPort* power_port, int sensor_id, const string file_name, - double component_step_time_s, const dynamics::Dynamics* dynamics, const LocalEnvironment* local_environment) { + double component_step_time_s, const dynamics::Dynamics* dynamics, const environment::LocalEnvironment* local_environment) { setting_file_reader::IniAccess STT_conf(file_name); const char* sensor_name = "STAR_SENSOR_"; const std::string section_name = sensor_name + std::to_string(static_cast(sensor_id)); diff --git a/src/components/real/aocs/star_sensor.hpp b/src/components/real/aocs/star_sensor.hpp index 8ad44ae86..99bc47819 100644 --- a/src/components/real/aocs/star_sensor.hpp +++ b/src/components/real/aocs/star_sensor.hpp @@ -49,7 +49,7 @@ class StarSensor : public Component, public logger::ILoggable { const double standard_deviation_orthogonal_direction, const double standard_deviation_sight_direction, const double step_time_s, const unsigned int output_delay, const unsigned int output_interval, const double sun_forbidden_angle_rad, const double earth_forbidden_angle_rad, const double moon_forbidden_angle_rad, const double capture_rate_limit_rad_s, - const dynamics::Dynamics* dynamics, const LocalEnvironment* local_environment); + const dynamics::Dynamics* dynamics, const environment::LocalEnvironment* local_environment); /** * @fn StarSensor * @brief Constructor with power port @@ -75,7 +75,7 @@ class StarSensor : public Component, public logger::ILoggable { const double standard_deviation_sight_direction, const double step_time_s, const unsigned int output_delay, const unsigned int output_interval, const double sun_forbidden_angle_rad, const double earth_forbidden_angle_rad, const double moon_forbidden_angle_rad, const double capture_rate_limit_rad_s, const dynamics::Dynamics* dynamics, - const LocalEnvironment* local_environment); + const environment::LocalEnvironment* local_environment); // Override functions for Component /** @@ -138,8 +138,8 @@ class StarSensor : public Component, public logger::ILoggable { double capture_rate_limit_rad_s_; //!< Angular rate limit to get correct attitude [rad/s] // Observed variables - const dynamics::Dynamics* dynamics_; //!< Dynamics information - const LocalEnvironment* local_environment_; //!< Local environment information + const dynamics::Dynamics* dynamics_; //!< Dynamics information + const environment::LocalEnvironment* local_environment_; //!< Local environment information // Internal functions /** @@ -148,14 +148,14 @@ class StarSensor : public Component, public logger::ILoggable { * @param [in] local_celestial_information: Local celestial information * @param [in] attitude: dynamics::attitude::Attitude information */ - void update(const LocalCelestialInformation* local_celestial_information, const dynamics::attitude::Attitude* attitude); + void update(const environment::LocalCelestialInformation* local_celestial_information, const dynamics::attitude::Attitude* attitude); /** * @fn Measure * @brief Calculate measured quaternion * @param [in] local_celestial_information: Local celestial information * @param [in] attitude: dynamics::attitude::Attitude information */ - math::Quaternion Measure(const LocalCelestialInformation* local_celestial_information, const dynamics::attitude::Attitude* attitude); + math::Quaternion Measure(const environment::LocalCelestialInformation* local_celestial_information, const dynamics::attitude::Attitude* attitude); /** * @fn AllJudgement @@ -163,7 +163,7 @@ class StarSensor : public Component, public logger::ILoggable { * @param [in] local_celestial_information: Local celestial information * @param [in] attitude: dynamics::attitude::Attitude information */ - void AllJudgement(const LocalCelestialInformation* local_celestial_information, const dynamics::attitude::Attitude* attitude); + void AllJudgement(const environment::LocalCelestialInformation* local_celestial_information, const dynamics::attitude::Attitude* attitude); /** * @fn SunJudgement * @brief Judge violation of sun forbidden angle @@ -219,7 +219,7 @@ class StarSensor : public Component, public logger::ILoggable { * @param [in] local_environment: Local environment information */ StarSensor InitStarSensor(environment::ClockGenerator* clock_generator, int sensor_id, const std::string file_name, double component_step_time_s, - const dynamics::Dynamics* dynamics, const LocalEnvironment* local_environment); + const dynamics::Dynamics* dynamics, const environment::LocalEnvironment* local_environment); /** * @fn InitStarSensor * @brief Initialize functions for StarSensor with power port @@ -232,7 +232,7 @@ StarSensor InitStarSensor(environment::ClockGenerator* clock_generator, int sens * @param [in] local_environment: Local environment information */ StarSensor InitStarSensor(environment::ClockGenerator* clock_generator, PowerPort* power_port, int sensor_id, const std::string file_name, - double component_step_time_s, const dynamics::Dynamics* dynamics, const LocalEnvironment* local_environment); + double component_step_time_s, const dynamics::Dynamics* dynamics, const environment::LocalEnvironment* local_environment); } // namespace s2e::components diff --git a/src/components/real/aocs/sun_sensor.cpp b/src/components/real/aocs/sun_sensor.cpp index 63a5ea09d..0ef97c8db 100644 --- a/src/components/real/aocs/sun_sensor.cpp +++ b/src/components/real/aocs/sun_sensor.cpp @@ -19,7 +19,8 @@ namespace s2e::components { SunSensor::SunSensor(const int prescaler, environment::ClockGenerator* clock_generator, const int component_id, const math::Quaternion& quaternion_b2c, const double detectable_angle_rad, const double random_noise_standard_deviation_rad, const double bias_noise_standard_deviation_rad, const double intensity_lower_threshold_percent, - const SolarRadiationPressureEnvironment* srp_environment, const LocalCelestialInformation* local_celestial_information) + const environment::SolarRadiationPressureEnvironment* srp_environment, + const environment::LocalCelestialInformation* local_celestial_information) : Component(prescaler, clock_generator), component_id_(component_id), quaternion_b2c_(quaternion_b2c), @@ -33,7 +34,8 @@ SunSensor::SunSensor(const int prescaler, environment::ClockGenerator* clock_gen SunSensor::SunSensor(const int prescaler, environment::ClockGenerator* clock_generator, PowerPort* power_port, const int component_id, const math::Quaternion& quaternion_b2c, const double detectable_angle_rad, const double random_noise_standard_deviation_rad, const double bias_noise_standard_deviation_rad, const double intensity_lower_threshold_percent, - const SolarRadiationPressureEnvironment* srp_environment, const LocalCelestialInformation* local_celestial_information) + const environment::SolarRadiationPressureEnvironment* srp_environment, + const environment::LocalCelestialInformation* local_celestial_information) : Component(prescaler, clock_generator, power_port), component_id_(component_id), quaternion_b2c_(quaternion_b2c), @@ -154,7 +156,8 @@ string SunSensor::GetLogValue() const { } SunSensor InitSunSensor(environment::ClockGenerator* clock_generator, int ss_id, std::string file_name, - const SolarRadiationPressureEnvironment* srp_environment, const LocalCelestialInformation* local_celestial_information) { + const environment::SolarRadiationPressureEnvironment* srp_environment, + const environment::LocalCelestialInformation* local_celestial_information) { setting_file_reader::IniAccess ss_conf(file_name); const char* sensor_name = "SUN_SENSOR_"; const std::string section_tmp = sensor_name + std::to_string(static_cast(ss_id)); @@ -187,7 +190,8 @@ SunSensor InitSunSensor(environment::ClockGenerator* clock_generator, int ss_id, } SunSensor InitSunSensor(environment::ClockGenerator* clock_generator, PowerPort* power_port, int ss_id, std::string file_name, - const SolarRadiationPressureEnvironment* srp_environment, const LocalCelestialInformation* local_celestial_information) { + const environment::SolarRadiationPressureEnvironment* srp_environment, + const environment::LocalCelestialInformation* local_celestial_information) { setting_file_reader::IniAccess ss_conf(file_name); const char* sensor_name = "SUN_SENSOR_"; const std::string section_tmp = sensor_name + std::to_string(static_cast(ss_id)); diff --git a/src/components/real/aocs/sun_sensor.hpp b/src/components/real/aocs/sun_sensor.hpp index 4d988d7ac..e235bc618 100644 --- a/src/components/real/aocs/sun_sensor.hpp +++ b/src/components/real/aocs/sun_sensor.hpp @@ -39,8 +39,8 @@ class SunSensor : public Component, public logger::ILoggable { */ SunSensor(const int prescaler, environment::ClockGenerator* clock_generator, const int component_id, const math::Quaternion& quaternion_b2c, const double detectable_angle_rad, const double random_noise_standard_deviation_rad, const double bias_noise_standard_deviation_rad, - const double intensity_lower_threshold_percent, const SolarRadiationPressureEnvironment* srp_environment, - const LocalCelestialInformation* local_celestial_information); + const double intensity_lower_threshold_percent, const environment::SolarRadiationPressureEnvironment* srp_environment, + const environment::LocalCelestialInformation* local_celestial_information); /** * @fn SunSensor * @brief Constructor with power port @@ -59,7 +59,8 @@ class SunSensor : public Component, public logger::ILoggable { SunSensor(const int prescaler, environment::ClockGenerator* clock_generator, PowerPort* power_port, const int component_id, const math::Quaternion& quaternion_b2c, const double detectable_angle_rad, const double random_noise_standard_deviation_rad, const double bias_noise_standard_deviation_rad, const double intensity_lower_threshold_percent, - const SolarRadiationPressureEnvironment* srp_environment, const LocalCelestialInformation* local_celestial_information); + const environment::SolarRadiationPressureEnvironment* srp_environment, + const environment::LocalCelestialInformation* local_celestial_information); // Override functions for Component /** @@ -108,8 +109,8 @@ class SunSensor : public Component, public logger::ILoggable { double bias_noise_beta_rad_ = 0.0; //!< Constant bias for beta angle (Value is calculated by random number generator) // Measured variables - const SolarRadiationPressureEnvironment* srp_environment_; //!< Solar Radiation Pressure environment - const LocalCelestialInformation* local_celestial_information_; //!< Local celestial information + const environment::SolarRadiationPressureEnvironment* srp_environment_; //!< Solar Radiation Pressure environment + const environment::LocalCelestialInformation* local_celestial_information_; //!< Local celestial information // functions /** @@ -153,7 +154,8 @@ class SunSensor : public Component, public logger::ILoggable { * @param [in] local_environment: Local environment information */ SunSensor InitSunSensor(environment::ClockGenerator* clock_generator, int sensor_id, const std::string file_name, - const SolarRadiationPressureEnvironment* srp_environment, const LocalCelestialInformation* local_celestial_information); + const environment::SolarRadiationPressureEnvironment* srp_environment, + const environment::LocalCelestialInformation* local_celestial_information); /** * @fn InitSunSensor * @brief Initialize functions for sun sensor with power port @@ -165,7 +167,8 @@ SunSensor InitSunSensor(environment::ClockGenerator* clock_generator, int sensor * @param [in] local_environment: Local environment information */ SunSensor InitSunSensor(environment::ClockGenerator* clock_generator, PowerPort* power_port, int sensor_id, const std::string file_name, - const SolarRadiationPressureEnvironment* srp_environment, const LocalCelestialInformation* local_celestial_information); + const environment::SolarRadiationPressureEnvironment* srp_environment, + const environment::LocalCelestialInformation* local_celestial_information); } // namespace s2e::components diff --git a/src/components/real/communication/antenna.cpp b/src/components/real/communication/antenna.cpp index 9bb535a61..9d9fec92d 100644 --- a/src/components/real/communication/antenna.cpp +++ b/src/components/real/communication/antenna.cpp @@ -14,7 +14,7 @@ namespace s2e::components { Antenna::Antenna(const int component_id, const math::Quaternion& quaternion_b2c, const bool is_transmitter, const bool is_receiver, - const double frequency_MHz, const Vector<5> tx_parameters, const Vector<4> rx_parameters) + const double frequency_MHz, const math::Vector<5> tx_parameters, const math::Vector<4> rx_parameters) : component_id_(component_id), is_transmitter_(is_transmitter), is_receiver_(is_receiver), frequency_MHz_(frequency_MHz) { quaternion_b2c_ = quaternion_b2c; @@ -112,7 +112,7 @@ Antenna InitAntenna(const int antenna_id, const std::string file_name) { const std::string section_name = "ANTENNA_" + std::to_string(static_cast(antenna_id)); - Quaternion quaternion_b2c; + math::Quaternion quaternion_b2c; antenna_conf.ReadQuaternion(section_name.c_str(), "quaternion_b2c", quaternion_b2c); bool is_transmitter = antenna_conf.ReadBoolean(section_name.c_str(), "is_transmitter"); diff --git a/src/components/real/communication/antenna.hpp b/src/components/real/communication/antenna.hpp index 841fb55d0..1d317140e 100644 --- a/src/components/real/communication/antenna.hpp +++ b/src/components/real/communication/antenna.hpp @@ -8,8 +8,6 @@ #include #include -using math::Quaternion; -using math::Vector; #include #include "./antenna_radiation_pattern.hpp" @@ -57,7 +55,7 @@ class Antenna { * @param [in] rx_parameters: gain, loss_feeder, loss_pointing, system_temperature for RX */ Antenna(const int component_id, const math::Quaternion& quaternion_b2c, const bool is_transmitter, const bool is_receiver, - const double frequency_MHz, const Vector<5> tx_parameters, const Vector<4> rx_parameters); + const double frequency_MHz, const math::Vector<5> tx_parameters, const math::Vector<4> rx_parameters); /** * @fn Antenna @@ -115,7 +113,7 @@ class Antenna { * @fn GetQuaternion_b2c * @brief Return quaternion from body to component */ - inline Quaternion GetQuaternion_b2c() const { return quaternion_b2c_; } + inline math::Quaternion GetQuaternion_b2c() const { return quaternion_b2c_; } /** * @fn IsTransmitter @@ -130,11 +128,11 @@ class Antenna { protected: // General info - int component_id_; //!< Antenna ID - Quaternion quaternion_b2c_; //!< Coordinate transform from body to component - bool is_transmitter_; //!< Antenna for transmitter or not - bool is_receiver_; //!< Antenna for receiver or not - double frequency_MHz_; //!< Center Frequency [MHz] + int component_id_; //!< Antenna ID + math::Quaternion quaternion_b2c_; //!< Coordinate transform from body to component + bool is_transmitter_; //!< Antenna for transmitter or not + bool is_receiver_; //!< Antenna for receiver or not + double frequency_MHz_; //!< Center Frequency [MHz] // Tx info double tx_bitrate_bps_; //!< Transmit bitrate [bps] diff --git a/src/components/real/communication/ground_station_calculator.cpp b/src/components/real/communication/ground_station_calculator.cpp index 8e00eeb82..9c83ae730 100644 --- a/src/components/real/communication/ground_station_calculator.cpp +++ b/src/components/real/communication/ground_station_calculator.cpp @@ -29,8 +29,8 @@ GroundStationCalculator::GroundStationCalculator(const double loss_polarization_ GroundStationCalculator::~GroundStationCalculator() {} -void GroundStationCalculator::Update(const Spacecraft& spacecraft, const Antenna& spacecraft_tx_antenna, const GroundStation& ground_station, - const Antenna& ground_station_rx_antenna) { +void GroundStationCalculator::Update(const simulation::Spacecraft& spacecraft, const Antenna& spacecraft_tx_antenna, + const simulation::GroundStation& ground_station, const Antenna& ground_station_rx_antenna) { bool is_visible = ground_station.IsVisible(spacecraft.GetSpacecraftId()); if (is_visible) { max_bitrate_Mbps_ = CalcMaxBitrate(spacecraft.GetDynamics(), spacecraft_tx_antenna, ground_station, ground_station_rx_antenna); @@ -43,7 +43,7 @@ void GroundStationCalculator::Update(const Spacecraft& spacecraft, const Antenna // Private functions double GroundStationCalculator::CalcMaxBitrate(const dynamics::Dynamics& dynamics, const Antenna& spacecraft_tx_antenna, - const GroundStation& ground_station, const Antenna& ground_station_rx_antenna) { + const simulation::GroundStation& ground_station, const Antenna& ground_station_rx_antenna) { double cn0_dBHz = CalcCn0OnGs(dynamics, spacecraft_tx_antenna, ground_station, ground_station_rx_antenna); double margin_for_bitrate_dB = cn0_dBHz - (ebn0_dB_ + hardware_deterioration_dB_ + coding_gain_dB_) - margin_requirement_dB_; @@ -56,39 +56,39 @@ double GroundStationCalculator::CalcMaxBitrate(const dynamics::Dynamics& dynamic } double GroundStationCalculator::CalcReceiveMarginOnGs(const dynamics::Dynamics& dynamics, const Antenna& spacecraft_tx_antenna, - const GroundStation& ground_station, const Antenna& ground_station_rx_antenna) { + const simulation::GroundStation& ground_station, const Antenna& ground_station_rx_antenna) { double cn0_dB = CalcCn0OnGs(dynamics, spacecraft_tx_antenna, ground_station, ground_station_rx_antenna); double cn0_requirement_dB = ebn0_dB_ + hardware_deterioration_dB_ + coding_gain_dB_ + 10.0 * log10(spacecraft_tx_antenna.GetBitrate_bps()); return cn0_dB - cn0_requirement_dB; } double GroundStationCalculator::CalcCn0OnGs(const dynamics::Dynamics& dynamics, const Antenna& spacecraft_tx_antenna, - const GroundStation& ground_station, const Antenna& ground_station_rx_antenna) { + const simulation::GroundStation& ground_station, const Antenna& ground_station_rx_antenna) { if (!spacecraft_tx_antenna.IsTransmitter() || !ground_station_rx_antenna.IsReceiver()) { // Check compatibility of transmitter and receiver return 0.0f; } // Free space path loss - Vector<3> sc_pos_i = dynamics.GetOrbit().GetPosition_i_m(); - Vector<3> gs_pos_i = ground_station.GetPosition_i_m(); - Vector<3> pos_gs2sc_i = sc_pos_i - gs_pos_i; + math::Vector<3> sc_pos_i = dynamics.GetOrbit().GetPosition_i_m(); + math::Vector<3> gs_pos_i = ground_station.GetPosition_i_m(); + math::Vector<3> pos_gs2sc_i = sc_pos_i - gs_pos_i; double dist_sc_gs_km = pos_gs2sc_i.CalcNorm() / 1000.0; double loss_space_dB = -20.0 * log10(4.0 * math::pi * dist_sc_gs_km / (300.0 / spacecraft_tx_antenna.GetFrequency_MHz() / 1000.0)); // GS direction on SC TX antenna frame - Vector<3> sc_to_gs_i = gs_pos_i - sc_pos_i; + math::Vector<3> sc_to_gs_i = gs_pos_i - sc_pos_i; sc_to_gs_i = sc_to_gs_i.CalcNormalizedVector(); - Quaternion q_i_to_sc_ant = spacecraft_tx_antenna.GetQuaternion_b2c() * dynamics.GetAttitude().GetQuaternion_i2b(); - Vector<3> gs_direction_on_sc_frame = q_i_to_sc_ant.FrameConversion(sc_to_gs_i); + math::Quaternion q_i_to_sc_ant = spacecraft_tx_antenna.GetQuaternion_b2c() * dynamics.GetAttitude().GetQuaternion_i2b(); + math::Vector<3> gs_direction_on_sc_frame = q_i_to_sc_ant.FrameConversion(sc_to_gs_i); double theta_on_sc_antenna_rad = acos(gs_direction_on_sc_frame[2]); double phi_on_sc_antenna_rad = atan2(gs_direction_on_sc_frame[1], gs_direction_on_sc_frame[0]); // SC direction on GS RX antenna frame - Vector<3> gs_to_sc_ecef = dynamics.GetOrbit().GetPosition_ecef_m() - ground_station.GetPosition_ecef_m(); + math::Vector<3> gs_to_sc_ecef = dynamics.GetOrbit().GetPosition_ecef_m() - ground_station.GetPosition_ecef_m(); gs_to_sc_ecef = gs_to_sc_ecef.CalcNormalizedVector(); - Quaternion q_ecef_to_gs_ant = ground_station_rx_antenna.GetQuaternion_b2c() * ground_station.GetGeodeticPosition().GetQuaternionXcxfToLtc(); - Vector<3> sc_direction_on_gs_frame = q_ecef_to_gs_ant.FrameConversion(gs_to_sc_ecef); + math::Quaternion q_ecef_to_gs_ant = ground_station_rx_antenna.GetQuaternion_b2c() * ground_station.GetGeodeticPosition().GetQuaternionXcxfToLtc(); + math::Vector<3> sc_direction_on_gs_frame = q_ecef_to_gs_ant.FrameConversion(gs_to_sc_ecef); double theta_on_gs_antenna_rad = acos(sc_direction_on_gs_frame[2]); double phi_on_gs_antenna_rad = atan2(sc_direction_on_gs_frame[1], sc_direction_on_gs_frame[0]); diff --git a/src/components/real/communication/ground_station_calculator.hpp b/src/components/real/communication/ground_station_calculator.hpp index dbda8d681..bc5f8c0f4 100644 --- a/src/components/real/communication/ground_station_calculator.hpp +++ b/src/components/real/communication/ground_station_calculator.hpp @@ -51,7 +51,7 @@ class GroundStationCalculator : public logger::ILoggable { * @param [in] ground_station: Ground station information * @param [in] ground_station_rx_antenna: Antenna mounted on ground station */ - void Update(const Spacecraft& spacecraft, const Antenna& spacecraft_tx_antenna, const GroundStation& ground_station, + void Update(const simulation::Spacecraft& spacecraft, const Antenna& spacecraft_tx_antenna, const simulation::GroundStation& ground_station, const Antenna& ground_station_rx_antenna); // Override logger::ILoggable TODO: Maybe we don't need logabble, and this class should be used as library. @@ -111,7 +111,7 @@ class GroundStationCalculator : public logger::ILoggable { * @param [in] ground_station_rx_antenna: Rx Antenna mounted on ground station * @return Max bitrate [Mbps] */ - double CalcMaxBitrate(const dynamics::Dynamics& dynamics, const Antenna& spacecraft_tx_antenna, const GroundStation& ground_station, + double CalcMaxBitrate(const dynamics::Dynamics& dynamics, const Antenna& spacecraft_tx_antenna, const simulation::GroundStation& ground_station, const Antenna& ground_station_rx_antenna); /** * @fn CalcReceiveMarginOnGs @@ -122,8 +122,8 @@ class GroundStationCalculator : public logger::ILoggable { * @param [in] ground_station_rx_antenna: Rx Antenna mounted on ground station * @return Receive margin [dB] */ - double CalcReceiveMarginOnGs(const dynamics::Dynamics& dynamics, const Antenna& spacecraft_tx_antenna, const GroundStation& ground_station, - const Antenna& ground_station_rx_antenna); + double CalcReceiveMarginOnGs(const dynamics::Dynamics& dynamics, const Antenna& spacecraft_tx_antenna, + const simulation::GroundStation& ground_station, const Antenna& ground_station_rx_antenna); /** * @fn CalcCn0 @@ -134,7 +134,7 @@ class GroundStationCalculator : public logger::ILoggable { * @param [in] ground_station_rx_antenna: Rx Antenna mounted on ground station * @return CN0 [dB] */ - double CalcCn0OnGs(const dynamics::Dynamics& dynamics, const Antenna& spacecraft_tx_antenna, const GroundStation& ground_station, + double CalcCn0OnGs(const dynamics::Dynamics& dynamics, const Antenna& spacecraft_tx_antenna, const simulation::GroundStation& ground_station, const Antenna& ground_station_rx_antenna); }; diff --git a/src/components/real/mission/telescope.cpp b/src/components/real/mission/telescope.cpp index 7b704ba75..cf17359e4 100644 --- a/src/components/real/mission/telescope.cpp +++ b/src/components/real/mission/telescope.cpp @@ -10,16 +10,13 @@ #include #include -using namespace std; -using namespace s2e::math; - namespace s2e::components { Telescope::Telescope(environment::ClockGenerator* clock_generator, const math::Quaternion& quaternion_b2c, const double sun_forbidden_angle_rad, const double earth_forbidden_angle_rad, const double moon_forbidden_angle_rad, const int x_number_of_pix, const int y_number_of_pix, const double x_fov_per_pix, const double y_fov_per_pix, size_t number_of_logged_stars, - const dynamics::attitude::Attitude* attitude, const HipparcosCatalogue* hipparcos, - const LocalCelestialInformation* local_celestial_information, const Orbit* orbit) + const dynamics::attitude::Attitude* attitude, const environment::HipparcosCatalogue* hipparcos, + const environment::LocalCelestialInformation* local_celestial_information, const dynamics::orbit::Orbit* orbit) : Component(1, clock_generator), quaternion_b2c_(quaternion_b2c), sun_forbidden_angle_rad_(sun_forbidden_angle_rad), @@ -43,7 +40,7 @@ Telescope::Telescope(environment::ClockGenerator* clock_generator, const math::Q assert(x_field_of_view_rad < math::pi_2); // Avoid the case that the field of view is over 90 degrees assert(y_field_of_view_rad < math::pi_2); - sight_direction_c_ = Vector<3>(0); + sight_direction_c_ = math::Vector<3>(0); sight_direction_c_[0] = 1; // (1,0,0) at component frame, Sight direction vector // Set 0 when t=0 @@ -118,7 +115,7 @@ void Telescope::Observe(math::Vector<2>& position_image_sensor, const math::Vect } void Telescope::ObserveStars() { - Quaternion quaternion_i2b = attitude_->GetQuaternion_i2b(); + math::Quaternion quaternion_i2b = attitude_->GetQuaternion_i2b(); star_list_in_sight.clear(); // Clear first size_t count = 0; // Counter for while loop @@ -175,7 +172,7 @@ void Telescope::ObserveGroundPositionDeviation() { return; } - Quaternion quaternion_i2b = attitude_->GetQuaternion_i2b(); + math::Quaternion quaternion_i2b = attitude_->GetQuaternion_i2b(); math::Vector<3> spacecraft_position_ecef_m = orbit_->GetPosition_ecef_m(); math::Vector<3> direction_ecef = (initial_ground_position_ecef_m_ - spacecraft_position_ecef_m).CalcNormalizedVector(); math::Matrix<3, 3> dcm_ecef_to_i = local_celestial_information_->GetGlobalInformation().GetEarthRotation().GetDcmJ2000ToEcef().Transpose(); @@ -190,8 +187,8 @@ void Telescope::ObserveGroundPositionDeviation() { ground_position_y_image_sensor_ = ground_angle_y_rad / y_fov_per_pix_; } -string Telescope::GetLogHeader() const { - string str_tmp = ""; +std::string Telescope::GetLogHeader() const { + std::string str_tmp = ""; std::string component_name = "telescope_"; @@ -206,9 +203,9 @@ string Telescope::GetLogHeader() const { // When Hipparcos Catalogue was not read, no output of ObserveStars if (hipparcos_->IsCalcEnabled) { for (size_t i = 0; i < number_of_logged_stars_; i++) { - str_tmp += logger::WriteScalar(component_name + "hipparcos_id (" + to_string(i) + ")", " "); - str_tmp += logger::WriteScalar(component_name + "visible_magnitude (" + to_string(i) + ")", " "); - str_tmp += logger::WriteVector(component_name + "star_position (" + to_string(i) + ")", "img", "pix", 2); + str_tmp += logger::WriteScalar(component_name + "hipparcos_id (" + std::to_string(i) + ")", " "); + str_tmp += logger::WriteScalar(component_name + "visible_magnitude (" + std::to_string(i) + ")", " "); + str_tmp += logger::WriteVector(component_name + "star_position (" + std::to_string(i) + ")", "img", "pix", 2); } } @@ -220,8 +217,8 @@ string Telescope::GetLogHeader() const { return str_tmp; } -string Telescope::GetLogValue() const { - string str_tmp = ""; +std::string Telescope::GetLogValue() const { + std::string str_tmp = ""; str_tmp += logger::WriteScalar(is_sun_in_forbidden_angle); str_tmp += logger::WriteScalar(is_earth_in_forbidden_angle); str_tmp += logger::WriteScalar(is_moon_in_forbidden_angle); @@ -247,13 +244,13 @@ string Telescope::GetLogValue() const { return str_tmp; } -Telescope InitTelescope(environment::ClockGenerator* clock_generator, int sensor_id, const string file_name, - const dynamics::attitude::Attitude* attitude, const HipparcosCatalogue* hipparcos, - const LocalCelestialInformation* local_celestial_information, const Orbit* orbit) { +Telescope InitTelescope(environment::ClockGenerator* clock_generator, int sensor_id, const std::string file_name, + const dynamics::attitude::Attitude* attitude, const environment::HipparcosCatalogue* hipparcos, + const environment::LocalCelestialInformation* local_celestial_information, const dynamics::orbit::Orbit* orbit) { using math::pi; setting_file_reader::IniAccess Telescope_conf(file_name); - const string st_sensor_id = std::to_string(static_cast(sensor_id)); + const std::string st_sensor_id = std::to_string(static_cast(sensor_id)); const char* cs = st_sensor_id.data(); char TelescopeSection[30] = "TELESCOPE_"; diff --git a/src/components/real/mission/telescope.hpp b/src/components/real/mission/telescope.hpp index c39a46854..dc663de90 100644 --- a/src/components/real/mission/telescope.hpp +++ b/src/components/real/mission/telescope.hpp @@ -24,8 +24,8 @@ namespace s2e::components { * @brief Information of stars in the telescope's field of view */ struct Star { - HipparcosData hipparcos_data; //!< Hipparcos data - math::Vector<2> position_image_sensor; //!< Position of image sensor + environment::HipparcosData hipparcos_data; //!< Hipparcos data + math::Vector<2> position_image_sensor; //!< Position of image sensor }; /* @@ -55,7 +55,8 @@ class Telescope : public Component, public logger::ILoggable { Telescope(environment::ClockGenerator* clock_generator, const math::Quaternion& quaternion_b2c, const double sun_forbidden_angle_rad, const double earth_forbidden_angle_rad, const double moon_forbidden_angle_rad, const int x_number_of_pix, const int y_number_of_pix, const double x_fov_per_pix, const double y_fov_per_pix, size_t number_of_logged_stars, const dynamics::attitude::Attitude* attitude, - const HipparcosCatalogue* hipparcos, const LocalCelestialInformation* local_celestial_information, const Orbit* orbit = nullptr); + const environment::HipparcosCatalogue* hipparcos, const environment::LocalCelestialInformation* local_celestial_information, + const dynamics::orbit::Orbit* orbit = nullptr); /** * @fn ~Telescope * @brief Destructor @@ -126,16 +127,16 @@ class Telescope : public Component, public logger::ILoggable { */ void ObserveStars(); - const dynamics::attitude::Attitude* attitude_; //!< dynamics::attitude::Attitude information - const HipparcosCatalogue* hipparcos_; //!< Star information - const LocalCelestialInformation* local_celestial_information_; //!< Local celestial information + const dynamics::attitude::Attitude* attitude_; //!< dynamics::attitude::Attitude information + const environment::HipparcosCatalogue* hipparcos_; //!< Star information + const environment::LocalCelestialInformation* local_celestial_information_; //!< Local celestial information /** * @fn ObserveGroundPositionDeviation * @brief Calculate the deviation of the ground position from its initial value in the image sensor */ void ObserveGroundPositionDeviation(); - const Orbit* orbit_; //!< Orbit information + const dynamics::orbit::Orbit* orbit_; //!< Orbit information // Override logger::ILoggable /** * @fn GetLogHeader @@ -169,8 +170,8 @@ class Telescope : public Component, public logger::ILoggable { * @param [in] local_celestial_information: Local celestial information */ Telescope InitTelescope(environment::ClockGenerator* clock_generator, int sensor_id, const std::string file_name, - const dynamics::attitude::Attitude* attitude, const HipparcosCatalogue* hipparcos, - const LocalCelestialInformation* local_celestial_information, const Orbit* orbit = nullptr); + const dynamics::attitude::Attitude* attitude, const environment::HipparcosCatalogue* hipparcos, + const environment::LocalCelestialInformation* local_celestial_information, const dynamics::orbit::Orbit* orbit = nullptr); } // namespace s2e::components diff --git a/src/components/real/power/solar_array_panel.cpp b/src/components/real/power/solar_array_panel.cpp index f50959a07..2bd8632b4 100644 --- a/src/components/real/power/solar_array_panel.cpp +++ b/src/components/real/power/solar_array_panel.cpp @@ -13,8 +13,8 @@ namespace s2e::components { SolarArrayPanel::SolarArrayPanel(const int prescaler, environment::ClockGenerator* clock_generator, int component_id, int number_of_series, int number_of_parallel, double cell_area_m2, math::Vector<3> normal_vector, double cell_efficiency, - double transmission_efficiency, const SolarRadiationPressureEnvironment* srp_environment, - const LocalCelestialInformation* local_celestial_information, double component_step_time_s) + double transmission_efficiency, const environment::SolarRadiationPressureEnvironment* srp_environment, + const environment::LocalCelestialInformation* local_celestial_information, double component_step_time_s) : Component(prescaler, clock_generator), component_id_(component_id), number_of_series_(number_of_series), @@ -32,7 +32,7 @@ SolarArrayPanel::SolarArrayPanel(const int prescaler, environment::ClockGenerato SolarArrayPanel::SolarArrayPanel(const int prescaler, environment::ClockGenerator* clock_generator, int component_id, int number_of_series, int number_of_parallel, double cell_area_m2, math::Vector<3> normal_vector, double cell_efficiency, - double transmission_efficiency, const SolarRadiationPressureEnvironment* srp_environment, + double transmission_efficiency, const environment::SolarRadiationPressureEnvironment* srp_environment, double component_step_time_s) : Component(prescaler, clock_generator), component_id_(component_id), @@ -50,8 +50,8 @@ SolarArrayPanel::SolarArrayPanel(const int prescaler, environment::ClockGenerato SolarArrayPanel::SolarArrayPanel(environment::ClockGenerator* clock_generator, int component_id, int number_of_series, int number_of_parallel, double cell_area_m2, math::Vector<3> normal_vector, double cell_efficiency, double transmission_efficiency, - const SolarRadiationPressureEnvironment* srp_environment, - const LocalCelestialInformation* local_celestial_information) + const environment::SolarRadiationPressureEnvironment* srp_environment, + const environment::LocalCelestialInformation* local_celestial_information) : Component(10, clock_generator), component_id_(component_id), number_of_series_(number_of_series), @@ -118,8 +118,8 @@ void SolarArrayPanel::MainRoutine(const int time_count) { } SolarArrayPanel InitSAP(environment::ClockGenerator* clock_generator, int sap_id, const std::string file_name, - const SolarRadiationPressureEnvironment* srp_environment, const LocalCelestialInformation* local_celestial_information, - double component_step_time_s) { + const environment::SolarRadiationPressureEnvironment* srp_environment, + const environment::LocalCelestialInformation* local_celestial_information, double component_step_time_s) { setting_file_reader::IniAccess sap_conf(file_name); const std::string section_name = "SOLAR_ARRAY_PANEL_" + std::to_string(static_cast(sap_id)); @@ -152,7 +152,7 @@ SolarArrayPanel InitSAP(environment::ClockGenerator* clock_generator, int sap_id } SolarArrayPanel InitSAP(environment::ClockGenerator* clock_generator, int sap_id, const std::string file_name, - const SolarRadiationPressureEnvironment* srp_environment, double component_step_time_s) { + const environment::SolarRadiationPressureEnvironment* srp_environment, double component_step_time_s) { setting_file_reader::IniAccess sap_conf(file_name); const std::string section_name = "SOLAR_ARRAY_PANEL_" + std::to_string(static_cast(sap_id)); diff --git a/src/components/real/power/solar_array_panel.hpp b/src/components/real/power/solar_array_panel.hpp index e684062cf..63e7d796f 100644 --- a/src/components/real/power/solar_array_panel.hpp +++ b/src/components/real/power/solar_array_panel.hpp @@ -35,8 +35,8 @@ class SolarArrayPanel : public Component, public logger::ILoggable { */ SolarArrayPanel(const int prescaler, environment::ClockGenerator* clock_generator, int component_id, int number_of_series, int number_of_parallel, double cell_area_m2, math::Vector<3> normal_vector, double cell_efficiency, double transmission_efficiency, - const SolarRadiationPressureEnvironment* srp_environment, const LocalCelestialInformation* local_celestial_information, - double component_step_time_s); + const environment::SolarRadiationPressureEnvironment* srp_environment, + const environment::LocalCelestialInformation* local_celestial_information, double component_step_time_s); /** * @fn SolarArrayPanel * @brief Constructor with prescaler @@ -54,7 +54,7 @@ class SolarArrayPanel : public Component, public logger::ILoggable { */ SolarArrayPanel(const int prescaler, environment::ClockGenerator* clock_generator, int component_id, int number_of_series, int number_of_parallel, double cell_area_m2, math::Vector<3> normal_vector, double cell_efficiency, double transmission_efficiency, - const SolarRadiationPressureEnvironment* srp_environment, double component_step_time_s); + const environment::SolarRadiationPressureEnvironment* srp_environment, double component_step_time_s); /** * @fn SolarArrayPanel * @brief Constructor without prescaler @@ -72,7 +72,8 @@ class SolarArrayPanel : public Component, public logger::ILoggable { */ SolarArrayPanel(environment::ClockGenerator* clock_generator, int component_id, int number_of_series, int number_of_parallel, double cell_area_m2, math::Vector<3> normal_vector, double cell_efficiency, double transmission_efficiency, - const SolarRadiationPressureEnvironment* srp_environment, const LocalCelestialInformation* local_celestial_information); + const environment::SolarRadiationPressureEnvironment* srp_environment, + const environment::LocalCelestialInformation* local_celestial_information); /** * @fn SolarArrayPanel * @brief Copy constructor @@ -117,8 +118,8 @@ class SolarArrayPanel : public Component, public logger::ILoggable { const double cell_efficiency_; //!< Power generation efficiency of solar cell const double transmission_efficiency_; //!< Efficiency of transmission to PCU - const SolarRadiationPressureEnvironment* const srp_environment_; //!< Solar Radiation Pressure environment - const LocalCelestialInformation* local_celestial_information_; //!< Local celestial information + const environment::SolarRadiationPressureEnvironment* const srp_environment_; //!< Solar Radiation Pressure environment + const environment::LocalCelestialInformation* local_celestial_information_; //!< Local celestial information double voltage_V_; //!< Voltage [V] double power_generation_W_; //!< Generated power [W] @@ -144,8 +145,8 @@ class SolarArrayPanel : public Component, public logger::ILoggable { * @param [in] component_step_time_s: Component step time [sec] */ SolarArrayPanel InitSAP(environment::ClockGenerator* clock_generator, int sap_id, const std::string file_name, - const SolarRadiationPressureEnvironment* srp_environment, const LocalCelestialInformation* local_celestial_information, - double component_step_time_s); + const environment::SolarRadiationPressureEnvironment* srp_environment, + const environment::LocalCelestialInformation* local_celestial_information, double component_step_time_s); /* * @fn InitSAP @@ -157,7 +158,7 @@ SolarArrayPanel InitSAP(environment::ClockGenerator* clock_generator, int sap_id * @param [in] component_step_time_s: Component step time [sec] */ SolarArrayPanel InitSAP(environment::ClockGenerator* clock_generator, int sap_id, const std::string file_name, - const SolarRadiationPressureEnvironment* srp_environment, double component_step_time_s); + const environment::SolarRadiationPressureEnvironment* srp_environment, double component_step_time_s); } // namespace s2e::components diff --git a/src/components/real/propulsion/simple_thruster.cpp b/src/components/real/propulsion/simple_thruster.cpp index dc07d7007..9bde027e3 100644 --- a/src/components/real/propulsion/simple_thruster.cpp +++ b/src/components/real/propulsion/simple_thruster.cpp @@ -14,8 +14,8 @@ namespace s2e::components { // Constructor SimpleThruster::SimpleThruster(const int prescaler, environment::ClockGenerator* clock_generator, const int component_id, const math::Vector<3> thruster_position_b_m, const math::Vector<3> thrust_direction_b, const double max_magnitude_N, - const double magnitude_standard_deviation_N, const double direction_standard_deviation_rad, const Structure* structure, - const dynamics::Dynamics* dynamics) + const double magnitude_standard_deviation_N, const double direction_standard_deviation_rad, + const simulation::Structure* structure, const dynamics::Dynamics* dynamics) : Component(prescaler, clock_generator), component_id_(component_id), thruster_position_b_m_(thruster_position_b_m), @@ -29,8 +29,8 @@ SimpleThruster::SimpleThruster(const int prescaler, environment::ClockGenerator* SimpleThruster::SimpleThruster(const int prescaler, environment::ClockGenerator* clock_generator, PowerPort* power_port, const int component_id, const math::Vector<3> thruster_position_b_m, const math::Vector<3> thrust_direction_b, const double max_magnitude_N, - const double magnitude_standard_deviation_N, const double direction_standard_deviation_rad, const Structure* structure, - const dynamics::Dynamics* dynamics) + const double magnitude_standard_deviation_N, const double direction_standard_deviation_rad, + const simulation::Structure* structure, const dynamics::Dynamics* dynamics) : Component(prescaler, clock_generator, power_port), component_id_(component_id), thruster_position_b_m_(thruster_position_b_m), @@ -123,7 +123,7 @@ math::Vector<3> SimpleThruster::CalcThrustDirection() { } SimpleThruster InitSimpleThruster(environment::ClockGenerator* clock_generator, int thruster_id, const std::string file_name, - const Structure* structure, const dynamics::Dynamics* dynamics) { + const simulation::Structure* structure, const dynamics::Dynamics* dynamics) { setting_file_reader::IniAccess thruster_conf(file_name); std::string section_str = "THRUSTER_" + std::to_string(thruster_id); auto* Section = section_str.c_str(); @@ -131,10 +131,10 @@ SimpleThruster InitSimpleThruster(environment::ClockGenerator* clock_generator, int prescaler = thruster_conf.ReadInt(Section, "prescaler"); if (prescaler <= 1) prescaler = 1; - Vector<3> thruster_pos; + math::Vector<3> thruster_pos; thruster_conf.ReadVector(Section, "thruster_position_b_m", thruster_pos); - Vector<3> thruster_dir; + math::Vector<3> thruster_dir; thruster_conf.ReadVector(Section, "thruster_direction_b", thruster_dir); double max_magnitude_N = thruster_conf.ReadDouble(Section, "thrust_magnitude_N"); @@ -151,7 +151,7 @@ SimpleThruster InitSimpleThruster(environment::ClockGenerator* clock_generator, } SimpleThruster InitSimpleThruster(environment::ClockGenerator* clock_generator, PowerPort* power_port, int thruster_id, const std::string file_name, - const Structure* structure, const dynamics::Dynamics* dynamics) { + const simulation::Structure* structure, const dynamics::Dynamics* dynamics) { setting_file_reader::IniAccess thruster_conf(file_name); std::string section_str = "THRUSTER_" + std::to_string(thruster_id); auto* Section = section_str.c_str(); @@ -159,10 +159,10 @@ SimpleThruster InitSimpleThruster(environment::ClockGenerator* clock_generator, int prescaler = thruster_conf.ReadInt(Section, "prescaler"); if (prescaler <= 1) prescaler = 1; - Vector<3> thruster_pos; + math::Vector<3> thruster_pos; thruster_conf.ReadVector(Section, "thruster_position_b_m", thruster_pos); - Vector<3> thruster_dir; + math::Vector<3> thruster_dir; thruster_conf.ReadVector(Section, "thruster_direction_b", thruster_dir); double max_magnitude_N = thruster_conf.ReadDouble(Section, "thrust_magnitude_N"); diff --git a/src/components/real/propulsion/simple_thruster.hpp b/src/components/real/propulsion/simple_thruster.hpp index ca0476e04..c1e30b2e4 100644 --- a/src/components/real/propulsion/simple_thruster.hpp +++ b/src/components/real/propulsion/simple_thruster.hpp @@ -37,9 +37,10 @@ class SimpleThruster : public Component, public logger::ILoggable { * @param [in] structure: Spacecraft structure information * @param [in] dynamics: Spacecraft dynamics information */ - SimpleThruster(const int prescaler, environment::ClockGenerator* clock_generator, const int component_id, const Vector<3> thruster_position_b_m, - const Vector<3> thrust_direction_b, const double max_magnitude_N, const double magnitude_standard_deviation_N, - const double direction_standard_deviation_rad, const Structure* structure, const dynamics::Dynamics* dynamics); + SimpleThruster(const int prescaler, environment::ClockGenerator* clock_generator, const int component_id, + const math::Vector<3> thruster_position_b_m, const math::Vector<3> thrust_direction_b, const double max_magnitude_N, + const double magnitude_standard_deviation_N, const double direction_standard_deviation_rad, const simulation::Structure* structure, + const dynamics::Dynamics* dynamics); /** * @fn SimpleThruster * @brief Constructor with power port @@ -56,8 +57,8 @@ class SimpleThruster : public Component, public logger::ILoggable { * @param [in] dynamics: Spacecraft dynamics information */ SimpleThruster(const int prescaler, environment::ClockGenerator* clock_generator, PowerPort* power_port, const int component_id, - const Vector<3> thruster_position_b_m, const Vector<3> thrust_direction_b, const double max_magnitude_N, - const double magnitude_standard_deviation_N, const double direction_standard_deviation_rad, const Structure* structure, + const math::Vector<3> thruster_position_b_m, const math::Vector<3> thrust_direction_b, const double max_magnitude_N, + const double magnitude_standard_deviation_N, const double direction_standard_deviation_rad, const simulation::Structure* structure, const dynamics::Dynamics* dynamics); /** * @fn ~SimpleThruster @@ -94,12 +95,12 @@ class SimpleThruster : public Component, public logger::ILoggable { * @fn GetOutputThrust_b_N * @brief Return generated thrust on the body fixed frame [N] */ - inline const Vector<3> GetOutputThrust_b_N() const { return output_thrust_b_N_; }; + inline const math::Vector<3> GetOutputThrust_b_N() const { return output_thrust_b_N_; }; /** * @fn GetOutputTorque_b_Nm * @brief Return generated torque on the body fixed frame [Nm] */ - inline const Vector<3> GetOutputTorque_b_Nm() const { return output_torque_b_Nm_; }; + inline const math::Vector<3> GetOutputTorque_b_Nm() const { return output_torque_b_Nm_; }; // Setter /** @@ -110,17 +111,17 @@ class SimpleThruster : public Component, public logger::ILoggable { protected: // parameters - const int component_id_; //!< Thruster ID - Vector<3> thruster_position_b_m_{0.0}; //!< Thruster position @ body frame [m] - Vector<3> thrust_direction_b_{0.0}; //!< Thrust direction @ body frame - double duty_ = 0.0; //!< PWM Duty [0.0 : 1.0] - double thrust_magnitude_max_N_ = 0.0; //!< Maximum thrust magnitude [N] - double direction_noise_standard_deviation_rad_ = 0.0; //!< Standard deviation of thrust direction error [rad] - s2e::randomization::NormalRand magnitude_random_noise_; //!< Normal random for thrust magnitude error - s2e::randomization::NormalRand direction_random_noise_; //!< Normal random for thrust direction error + const int component_id_; //!< Thruster ID + math::Vector<3> thruster_position_b_m_{0.0}; //!< Thruster position @ body frame [m] + math::Vector<3> thrust_direction_b_{0.0}; //!< Thrust direction @ body frame + double duty_ = 0.0; //!< PWM Duty [0.0 : 1.0] + double thrust_magnitude_max_N_ = 0.0; //!< Maximum thrust magnitude [N] + double direction_noise_standard_deviation_rad_ = 0.0; //!< Standard deviation of thrust direction error [rad] + randomization::NormalRand magnitude_random_noise_; //!< Normal random for thrust magnitude error + randomization::NormalRand direction_random_noise_; //!< Normal random for thrust direction error // outputs - Vector<3> output_thrust_b_N_{0.0}; //!< Generated thrust on the body fixed frame [N] - Vector<3> output_torque_b_Nm_{0.0}; //!< Generated torque on the body fixed frame [Nm] + math::Vector<3> output_thrust_b_N_{0.0}; //!< Generated thrust on the body fixed frame [N] + math::Vector<3> output_torque_b_Nm_{0.0}; //!< Generated torque on the body fixed frame [Nm] /** * @fn CalcThrust @@ -132,7 +133,7 @@ class SimpleThruster : public Component, public logger::ILoggable { * @brief Calculate generated torque * @param [in] center_of_mass_b_m: Center of mass_kg position at body frame [m] */ - void CalcTorque(const Vector<3> center_of_mass_b_m); + void CalcTorque(const math::Vector<3> center_of_mass_b_m); /** * @fn CalcThrustMagnitude * @brief Calculate thrust magnitude @@ -144,7 +145,7 @@ class SimpleThruster : public Component, public logger::ILoggable { * @brief Calculate thrust direction * @return Thrust direction */ - Vector<3> CalcThrustDirection(); + math::Vector<3> CalcThrustDirection(); /** * @fn Initialize * @brief Initialize function @@ -153,8 +154,8 @@ class SimpleThruster : public Component, public logger::ILoggable { */ void Initialize(const double magnitude_standard_deviation_N, const double direction_standard_deviation_rad); - const Structure* structure_; //!< Spacecraft structure information - const dynamics::Dynamics* dynamics_; //!< Spacecraft dynamics information + const simulation::Structure* structure_; //!< Spacecraft structure information + const dynamics::Dynamics* dynamics_; //!< Spacecraft dynamics information }; /** @@ -167,7 +168,7 @@ class SimpleThruster : public Component, public logger::ILoggable { * @param [in] dynamics: Spacecraft dynamics information */ SimpleThruster InitSimpleThruster(environment::ClockGenerator* clock_generator, int thruster_id, const std::string file_name, - const Structure* structure, const dynamics::Dynamics* dynamics); + const simulation::Structure* structure, const dynamics::Dynamics* dynamics); /** * @fn InitSimpleThruster * @brief Initialize function os SimpleThruster @@ -179,7 +180,7 @@ SimpleThruster InitSimpleThruster(environment::ClockGenerator* clock_generator, * @param [in] dynamics: Spacecraft dynamics information */ SimpleThruster InitSimpleThruster(environment::ClockGenerator* clock_generator, PowerPort* power_port, int thruster_id, const std::string file_name, - const Structure* structure, const dynamics::Dynamics* dynamics); + const simulation::Structure* structure, const dynamics::Dynamics* dynamics); } // namespace s2e::components diff --git a/src/disturbances/air_drag.cpp b/src/disturbances/air_drag.cpp index 8b7503776..001422dbc 100644 --- a/src/disturbances/air_drag.cpp +++ b/src/disturbances/air_drag.cpp @@ -14,7 +14,7 @@ namespace s2e::disturbances { -AirDrag::AirDrag(const std::vector& surfaces, const math::Vector<3>& center_of_gravity_b_m, const double wall_temperature_K, +AirDrag::AirDrag(const std::vector& surfaces, const math::Vector<3>& center_of_gravity_b_m, const double wall_temperature_K, const double molecular_temperature_K, const double molecular_weight_g_mol, const bool is_calculation_enabled) : SurfaceForce(surfaces, center_of_gravity_b_m, is_calculation_enabled), wall_temperature_K_(wall_temperature_K), @@ -25,7 +25,7 @@ AirDrag::AirDrag(const std::vector& surfaces, const math::Vector<3>& ce cn_.assign(num, 0.0); } -void AirDrag::Update(const LocalEnvironment& local_environment, const dynamics::Dynamics& dynamics) { +void AirDrag::Update(const environment::LocalEnvironment& local_environment, const dynamics::Dynamics& dynamics) { double air_density_kg_m3 = local_environment.GetAtmosphere().GetAirDensity_kg_m3(); math::Matrix<3, 3> dcm_ecef2eci = @@ -60,7 +60,7 @@ double AirDrag::CalcFunctionChi(const double s) { return x; } -void AirDrag::CalcCnCt(const Vector<3>& velocity_b_m_s) { +void AirDrag::CalcCnCt(const math::Vector<3>& velocity_b_m_s) { double velocity_norm_m_s = velocity_b_m_s.CalcNorm(); // Re-emitting speed @@ -95,7 +95,8 @@ std::string AirDrag::GetLogValue() const { return str_tmp; } -AirDrag InitAirDrag(const std::string initialize_file_path, const std::vector& surfaces, const Vector<3>& center_of_gravity_b_m) { +AirDrag InitAirDrag(const std::string initialize_file_path, const std::vector& surfaces, + const math::Vector<3>& center_of_gravity_b_m) { auto conf = setting_file_reader::IniAccess(initialize_file_path); const char* section = "AIR_DRAG"; diff --git a/src/disturbances/air_drag.hpp b/src/disturbances/air_drag.hpp index 483c388f3..73d5cbd9b 100644 --- a/src/disturbances/air_drag.hpp +++ b/src/disturbances/air_drag.hpp @@ -32,7 +32,7 @@ class AirDrag : public SurfaceForce { * @param [in] molecular_weight_g_mol: Molecular weight [g/mol] * @param [in] is_calculation_enabled: Calculation flag */ - AirDrag(const std::vector& surfaces, const math::Vector<3>& center_of_gravity_b_m, const double wall_temperature_K, + AirDrag(const std::vector& surfaces, const math::Vector<3>& center_of_gravity_b_m, const double wall_temperature_K, const double molecular_temperature_K, const double molecular_weight_g_mol, const bool is_calculation_enabled = true); /** @@ -41,7 +41,7 @@ class AirDrag : public SurfaceForce { * @param [in] local_environment: Local environment information * @param [in] dynamics: dynamics::Dynamics information */ - virtual void Update(const LocalEnvironment& local_environment, const dynamics::Dynamics& dynamics); + virtual void Update(const environment::LocalEnvironment& local_environment, const dynamics::Dynamics& dynamics); // Override logger::ILoggable /** @@ -98,7 +98,8 @@ class AirDrag : public SurfaceForce { * @param [in] surfaces: surface information of the spacecraft * @param [in] center_of_gravity_b_m: Center of gravity position vector at body frame [m] */ -AirDrag InitAirDrag(const std::string initialize_file_path, const std::vector& surfaces, const Vector<3>& center_of_gravity_b_m); +AirDrag InitAirDrag(const std::string initialize_file_path, const std::vector& surfaces, + const math::Vector<3>& center_of_gravity_b_m); } // namespace s2e::disturbances diff --git a/src/disturbances/disturbance.hpp b/src/disturbances/disturbance.hpp index 274517736..d9de38dd9 100644 --- a/src/disturbances/disturbance.hpp +++ b/src/disturbances/disturbance.hpp @@ -41,7 +41,7 @@ class Disturbance : public logger::ILoggable { * @fn UpdateIfEnabled * @brief Update calculated disturbance when the calculation flag is true */ - virtual inline void UpdateIfEnabled(const LocalEnvironment& local_environment, const dynamics::Dynamics& dynamics) { + virtual inline void UpdateIfEnabled(const environment::LocalEnvironment& local_environment, const dynamics::Dynamics& dynamics) { if (is_calculation_enabled_) { Update(local_environment, dynamics); } else { @@ -56,7 +56,7 @@ class Disturbance : public logger::ILoggable { * @fn Update * @brief Pure virtual function to define the disturbance calculation */ - virtual void Update(const LocalEnvironment& local_environment, const dynamics::Dynamics& dynamics) = 0; + virtual void Update(const environment::LocalEnvironment& local_environment, const dynamics::Dynamics& dynamics) = 0; /** * @fn GetTorque_b_Nm diff --git a/src/disturbances/disturbances.cpp b/src/disturbances/disturbances.cpp index e3351d989..86e7da768 100644 --- a/src/disturbances/disturbances.cpp +++ b/src/disturbances/disturbances.cpp @@ -17,8 +17,8 @@ namespace s2e::disturbances { -Disturbances::Disturbances(const SimulationConfiguration* simulation_configuration, const int spacecraft_id, const Structure* structure, - const GlobalEnvironment* global_environment) { +Disturbances::Disturbances(const simulation::SimulationConfiguration* simulation_configuration, const int spacecraft_id, + const simulation::Structure* structure, const environment::GlobalEnvironment* global_environment) { InitializeInstances(simulation_configuration, spacecraft_id, structure, global_environment); InitializeForceAndTorque(); InitializeAcceleration(); @@ -30,7 +30,8 @@ Disturbances::~Disturbances() { } } -void Disturbances::Update(const LocalEnvironment& local_environment, const dynamics::Dynamics& dynamics, const SimulationTime* simulation_time) { +void Disturbances::Update(const environment::LocalEnvironment& local_environment, const dynamics::Dynamics& dynamics, + const environment::SimulationTime* simulation_time) { InitializeForceAndTorque(); InitializeAcceleration(); @@ -50,15 +51,15 @@ void Disturbances::Update(const LocalEnvironment& local_environment, const dynam } } -void Disturbances::LogSetup(Logger& logger) { +void Disturbances::LogSetup(logger::Logger& logger) { for (auto disturbance : disturbances_list_) { logger.AddLogList(disturbance); } logger.CopyFileToLogDirectory(initialize_file_name_); } -void Disturbances::InitializeInstances(const SimulationConfiguration* simulation_configuration, const int spacecraft_id, const Structure* structure, - const GlobalEnvironment* global_environment) { +void Disturbances::InitializeInstances(const simulation::SimulationConfiguration* simulation_configuration, const int spacecraft_id, + const simulation::Structure* structure, const environment::GlobalEnvironment* global_environment) { setting_file_reader::IniAccess ini_access = setting_file_reader::IniAccess(simulation_configuration->spacecraft_file_list_[spacecraft_id]); initialize_file_name_ = ini_access.ReadString("SETTING_FILES", "disturbance_file"); @@ -93,10 +94,10 @@ void Disturbances::InitializeInstances(const SimulationConfiguration* simulation } void Disturbances::InitializeForceAndTorque() { - total_torque_b_Nm_ = Vector<3>(0.0); - total_force_b_N_ = Vector<3>(0.0); + total_torque_b_Nm_ = math::Vector<3>(0.0); + total_force_b_N_ = math::Vector<3>(0.0); } -void Disturbances::InitializeAcceleration() { total_acceleration_i_m_s2_ = Vector<3>(0.0); } +void Disturbances::InitializeAcceleration() { total_acceleration_i_m_s2_ = math::Vector<3>(0.0); } } // namespace s2e::disturbances diff --git a/src/disturbances/disturbances.hpp b/src/disturbances/disturbances.hpp index 67d1f473d..243f446b1 100644 --- a/src/disturbances/disturbances.hpp +++ b/src/disturbances/disturbances.hpp @@ -30,8 +30,8 @@ class Disturbances { * @param [in] structure: Structure information of spacecraft * @param [in] global_environment: Global environment information */ - Disturbances(const SimulationConfiguration* simulation_configuration, const int spacecraft_id, const Structure* structure, - const GlobalEnvironment* global_environment); + Disturbances(const simulation::SimulationConfiguration* simulation_configuration, const int spacecraft_id, const simulation::Structure* structure, + const environment::GlobalEnvironment* global_environment); /** * @fn ~Disturbances * @brief Destructor @@ -45,13 +45,14 @@ class Disturbances { * @param [in] dynamics: dynamics::Dynamics information * @param [in] simulation_time: Simulation time */ - void Update(const LocalEnvironment& local_environment, const dynamics::Dynamics& dynamics, const SimulationTime* simulation_time); + void Update(const environment::LocalEnvironment& local_environment, const dynamics::Dynamics& dynamics, + const environment::SimulationTime* simulation_time); /** * @fn LogSetup * @brief log setup for all disturbances * @param [in] logger: Logger */ - void LogSetup(Logger& logger); + void LogSetup(logger::Logger& logger); /** * @fn GetTorque @@ -75,9 +76,9 @@ class Disturbances { std::string initialize_file_name_; //!< Initialization file name std::vector disturbances_list_; //!< List of disturbances - Vector<3> total_torque_b_Nm_; //!< Total disturbance torque in the body frame [Nm] - Vector<3> total_force_b_N_; //!< Total disturbance force in the body frame [N] - Vector<3> total_acceleration_i_m_s2_; //!< Total disturbance acceleration in the inertial frame [m/s2] + math::Vector<3> total_torque_b_Nm_; //!< Total disturbance torque in the body frame [Nm] + math::Vector<3> total_force_b_N_; //!< Total disturbance force in the body frame [N] + math::Vector<3> total_acceleration_i_m_s2_; //!< Total disturbance acceleration in the inertial frame [m/s2] /** * @fn InitializeInstances @@ -87,8 +88,8 @@ class Disturbances { * @param [in] structure: Structure information of spacecraft * @param [in] global_environment: Global environment information */ - void InitializeInstances(const SimulationConfiguration* simulation_configuration, const int spacecraft_id, const Structure* structure, - const GlobalEnvironment* global_environment); + void InitializeInstances(const simulation::SimulationConfiguration* simulation_configuration, const int spacecraft_id, + const simulation::Structure* structure, const environment::GlobalEnvironment* global_environment); /** * @fn InitializeForceAndTorque * @brief Initialize disturbance force and torque diff --git a/src/disturbances/geopotential.cpp b/src/disturbances/geopotential.cpp index 382a10dc4..966a5497f 100644 --- a/src/disturbances/geopotential.cpp +++ b/src/disturbances/geopotential.cpp @@ -70,7 +70,7 @@ bool Geopotential::ReadCoefficientsEgm96(std::string file_name) { return true; } -void Geopotential::Update(const LocalEnvironment &local_environment, const dynamics::Dynamics &dynamics) { +void Geopotential::Update(const environment::LocalEnvironment &local_environment, const dynamics::Dynamics &dynamics) { #ifdef DEBUG_GEOPOTENTIAL chrono::system_clock::time_point start, end; start = chrono::system_clock::now(); diff --git a/src/disturbances/geopotential.hpp b/src/disturbances/geopotential.hpp index 235c1fef8..13be1f20c 100644 --- a/src/disturbances/geopotential.hpp +++ b/src/disturbances/geopotential.hpp @@ -48,7 +48,7 @@ class Geopotential : public Disturbance { * @param [in] local_environment: Local environment information * @param [in] dynamics: dynamics::Dynamics information */ - virtual void Update(const LocalEnvironment &local_environment, const dynamics::Dynamics &dynamics); + virtual void Update(const environment::LocalEnvironment &local_environment, const dynamics::Dynamics &dynamics); // Override logger::ILoggable /** @@ -64,10 +64,10 @@ class Geopotential : public Disturbance { private: s2e::gravity::GravityPotential geopotential_; - size_t degree_; //!< Maximum degree setting to calculate the geo-potential - std::vector> c_; //!< Cosine coefficients - std::vector> s_; //!< Sine coefficients - Vector<3> acceleration_ecef_m_s2_; //!< Calculated acceleration in the ECEF frame [m/s2] + size_t degree_; //!< Maximum degree setting to calculate the geo-potential + std::vector> c_; //!< Cosine coefficients + std::vector> s_; //!< Sine coefficients + math::Vector<3> acceleration_ecef_m_s2_; //!< Calculated acceleration in the ECEF frame [m/s2] // debug math::Vector<3> debug_pos_ecef_m_; //!< Spacecraft position in ECEF frame [m] diff --git a/src/disturbances/gravity_gradient.cpp b/src/disturbances/gravity_gradient.cpp index 4bb880cc1..bf1b0ff1a 100644 --- a/src/disturbances/gravity_gradient.cpp +++ b/src/disturbances/gravity_gradient.cpp @@ -19,7 +19,7 @@ GravityGradient::GravityGradient(const bool is_calculation_enabled) GravityGradient::GravityGradient(const double gravity_constant_m3_s2, const bool is_calculation_enabled) : Disturbance(is_calculation_enabled, true), gravity_constant_m3_s2_(gravity_constant_m3_s2) {} -void GravityGradient::Update(const LocalEnvironment& local_environment, const dynamics::Dynamics& dynamics) { +void GravityGradient::Update(const environment::LocalEnvironment& local_environment, const dynamics::Dynamics& dynamics) { // TODO: use structure information to get inertia tensor CalcTorque_b_Nm(local_environment.GetCelestialInformation().GetCenterBodyPositionFromSpacecraft_b_m(), dynamics.GetAttitude().GetInertiaTensor_b_kgm2()); diff --git a/src/disturbances/gravity_gradient.hpp b/src/disturbances/gravity_gradient.hpp index ad5e6fcea..4a5f99e65 100644 --- a/src/disturbances/gravity_gradient.hpp +++ b/src/disturbances/gravity_gradient.hpp @@ -43,7 +43,7 @@ class GravityGradient : public Disturbance { * @param [in] local_environment: Local environment information * @param [in] dynamics: dynamics::Dynamics information */ - virtual void Update(const LocalEnvironment& local_environment, const dynamics::Dynamics& dynamics); + virtual void Update(const environment::LocalEnvironment& local_environment, const dynamics::Dynamics& dynamics); // Override logger::ILoggable /** diff --git a/src/disturbances/lunar_gravity_field.cpp b/src/disturbances/lunar_gravity_field.cpp index 7d37794e4..dd94cc74c 100644 --- a/src/disturbances/lunar_gravity_field.cpp +++ b/src/disturbances/lunar_gravity_field.cpp @@ -88,8 +88,8 @@ bool LunarGravityField::ReadCoefficientsGrgm1200a(std::string file_name) { return true; } -void LunarGravityField::Update(const LocalEnvironment &local_environment, const dynamics::Dynamics &dynamics) { - const CelestialInformation global_celestial_information = local_environment.GetCelestialInformation().GetGlobalInformation(); +void LunarGravityField::Update(const environment::LocalEnvironment &local_environment, const dynamics::Dynamics &dynamics) { + const environment::CelestialInformation global_celestial_information = local_environment.GetCelestialInformation().GetGlobalInformation(); math::Matrix<3, 3> dcm_mci2mcmf_ = global_celestial_information.GetMoonRotation().GetDcmJ2000ToMcmf(); math::Vector<3> spacecraft_position_mci_m = dynamics.GetOrbit().GetPosition_i_m(); diff --git a/src/disturbances/lunar_gravity_field.hpp b/src/disturbances/lunar_gravity_field.hpp index a117464f5..2faf53420 100644 --- a/src/disturbances/lunar_gravity_field.hpp +++ b/src/disturbances/lunar_gravity_field.hpp @@ -50,7 +50,7 @@ class LunarGravityField : public Disturbance { * @param [in] local_environment: Local environment information * @param [in] dynamics: dynamics::Dynamics information */ - virtual void Update(const LocalEnvironment &local_environment, const dynamics::Dynamics &dynamics); + virtual void Update(const environment::LocalEnvironment &local_environment, const dynamics::Dynamics &dynamics); // Override logger::ILoggable /** @@ -68,10 +68,10 @@ class LunarGravityField : public Disturbance { s2e::gravity::GravityPotential lunar_potential_; double reference_radius_km_; double gravity_constants_km3_s2_; - size_t degree_; //!< Maximum degree setting to calculate the geo-potential - std::vector> c_; //!< Cosine coefficients - std::vector> s_; //!< Sine coefficients - Vector<3> acceleration_mcmf_m_s2_; //!< Calculated acceleration in the MCMF(Moon Centered Moon Fixed) frame [m/s2] + size_t degree_; //!< Maximum degree setting to calculate the geo-potential + std::vector> c_; //!< Cosine coefficients + std::vector> s_; //!< Sine coefficients + math::Vector<3> acceleration_mcmf_m_s2_; //!< Calculated acceleration in the MCMF(Moon Centered Moon Fixed) frame [m/s2] // debug math::Vector<3> debug_pos_mcmf_m_; //!< Spacecraft position in MCMF frame [m] diff --git a/src/disturbances/magnetic_disturbance.cpp b/src/disturbances/magnetic_disturbance.cpp index 6165965f0..f39f3539b 100644 --- a/src/disturbances/magnetic_disturbance.cpp +++ b/src/disturbances/magnetic_disturbance.cpp @@ -15,18 +15,18 @@ namespace s2e::disturbances { -MagneticDisturbance::MagneticDisturbance(const ResidualMagneticMoment& rmm_params, const bool is_calculation_enabled) +MagneticDisturbance::MagneticDisturbance(const simulation::ResidualMagneticMoment& rmm_params, const bool is_calculation_enabled) : Disturbance(is_calculation_enabled, true), residual_magnetic_moment_(rmm_params) { rmm_b_Am2_ = residual_magnetic_moment_.GetConstantValue_b_Am2(); } -Vector<3> MagneticDisturbance::CalcTorque_b_Nm(const Vector<3>& magnetic_field_b_nT) { +math::Vector<3> MagneticDisturbance::CalcTorque_b_Nm(const math::Vector<3>& magnetic_field_b_nT) { CalcRMM(); - torque_b_Nm_ = kMagUnit_ * OuterProduct(rmm_b_Am2_, magnetic_field_b_nT); + torque_b_Nm_ = kMagUnit_ * math::OuterProduct(rmm_b_Am2_, magnetic_field_b_nT); return torque_b_Nm_; } -void MagneticDisturbance::Update(const LocalEnvironment& local_environment, const dynamics::Dynamics& dynamics) { +void MagneticDisturbance::Update(const environment::LocalEnvironment& local_environment, const dynamics::Dynamics& dynamics) { UNUSED(dynamics); CalcTorque_b_Nm(local_environment.GetGeomagneticField().GetGeomagneticField_b_nT()); @@ -35,7 +35,7 @@ void MagneticDisturbance::Update(const LocalEnvironment& local_environment, cons void MagneticDisturbance::CalcRMM() { static math::Vector<3> random_walk_std_dev(residual_magnetic_moment_.GetRandomWalkStandardDeviation_Am2()); static math::Vector<3> random_walk_limit(residual_magnetic_moment_.GetRandomWalkLimit_Am2()); - static RandomWalk<3> random_walk(0.1, random_walk_std_dev, random_walk_limit); // [FIXME] step width is constant + static randomization::RandomWalk<3> random_walk(0.1, random_walk_std_dev, random_walk_limit); // [FIXME] step width is constant static s2e::randomization::NormalRand normal_random(0.0, residual_magnetic_moment_.GetRandomNoiseStandardDeviation_Am2(), s2e::randomization::global_randomization.MakeSeed()); @@ -64,7 +64,7 @@ std::string MagneticDisturbance::GetLogValue() const { return str_tmp; } -MagneticDisturbance InitMagneticDisturbance(const std::string initialize_file_path, const ResidualMagneticMoment& rmm_params) { +MagneticDisturbance InitMagneticDisturbance(const std::string initialize_file_path, const simulation::ResidualMagneticMoment& rmm_params) { auto conf = setting_file_reader::IniAccess(initialize_file_path); const char* section = "MAGNETIC_DISTURBANCE"; diff --git a/src/disturbances/magnetic_disturbance.hpp b/src/disturbances/magnetic_disturbance.hpp index f618f9de3..166060674 100644 --- a/src/disturbances/magnetic_disturbance.hpp +++ b/src/disturbances/magnetic_disturbance.hpp @@ -27,7 +27,7 @@ class MagneticDisturbance : public Disturbance { * @param [in] rmm_parameters: RMM parameters of the spacecraft * @param [in] is_calculation_enabled: Calculation flag */ - MagneticDisturbance(const ResidualMagneticMoment& rmm_parameters, const bool is_calculation_enabled = true); + MagneticDisturbance(const simulation::ResidualMagneticMoment& rmm_parameters, const bool is_calculation_enabled = true); /** * @fn Update @@ -35,7 +35,7 @@ class MagneticDisturbance : public Disturbance { * @param [in] local_environment: Local environment information * @param [in] dynamics: dynamics::Dynamics information */ - virtual void Update(const LocalEnvironment& local_environment, const dynamics::Dynamics& dynamics); + virtual void Update(const environment::LocalEnvironment& local_environment, const dynamics::Dynamics& dynamics); // Override logger::ILoggable /** @@ -52,8 +52,8 @@ class MagneticDisturbance : public Disturbance { private: const double kMagUnit_ = 1.0e-9; //!< Constant value to change the unit [nT] -> [T] - math::Vector<3> rmm_b_Am2_; //!< True RMM of the spacecraft in the body frame [Am2] - const ResidualMagneticMoment& residual_magnetic_moment_; //!< RMM parameters + math::Vector<3> rmm_b_Am2_; //!< True RMM of the spacecraft in the body frame [Am2] + const simulation::ResidualMagneticMoment& residual_magnetic_moment_; //!< RMM parameters /** * @fn CalcRMM @@ -75,7 +75,7 @@ class MagneticDisturbance : public Disturbance { * @param [in] initialize_file_path: Initialize file path * @param [in] rmm_params: RMM parameters */ -MagneticDisturbance InitMagneticDisturbance(const std::string initialize_file_path, const ResidualMagneticMoment& rmm_params); +MagneticDisturbance InitMagneticDisturbance(const std::string initialize_file_path, const simulation::ResidualMagneticMoment& rmm_params); } // namespace s2e::disturbances diff --git a/src/disturbances/solar_radiation_pressure_disturbance.cpp b/src/disturbances/solar_radiation_pressure_disturbance.cpp index bd26dec2a..c5f6b7af1 100644 --- a/src/disturbances/solar_radiation_pressure_disturbance.cpp +++ b/src/disturbances/solar_radiation_pressure_disturbance.cpp @@ -12,11 +12,11 @@ namespace s2e::disturbances { -SolarRadiationPressureDisturbance::SolarRadiationPressureDisturbance(const std::vector& surfaces, +SolarRadiationPressureDisturbance::SolarRadiationPressureDisturbance(const std::vector& surfaces, const math::Vector<3>& center_of_gravity_b_m, const bool is_calculation_enabled) : SurfaceForce(surfaces, center_of_gravity_b_m, is_calculation_enabled) {} -void SolarRadiationPressureDisturbance::Update(const LocalEnvironment& local_environment, const dynamics::Dynamics& dynamics) { +void SolarRadiationPressureDisturbance::Update(const environment::LocalEnvironment& local_environment, const dynamics::Dynamics& dynamics) { UNUSED(dynamics); math::Vector<3> sun_position_from_sc_b_m = local_environment.GetCelestialInformation().GetPositionFromSpacecraft_b_m("SUN"); @@ -54,8 +54,9 @@ std::string SolarRadiationPressureDisturbance::GetLogValue() const { return str_tmp; } -SolarRadiationPressureDisturbance InitSolarRadiationPressureDisturbance(const std::string initialize_file_path, const std::vector& surfaces, - const Vector<3>& center_of_gravity_b_m) { +SolarRadiationPressureDisturbance InitSolarRadiationPressureDisturbance(const std::string initialize_file_path, + const std::vector& surfaces, + const math::Vector<3>& center_of_gravity_b_m) { auto conf = setting_file_reader::IniAccess(initialize_file_path); const char* section = "SOLAR_RADIATION_PRESSURE_DISTURBANCE"; diff --git a/src/disturbances/solar_radiation_pressure_disturbance.hpp b/src/disturbances/solar_radiation_pressure_disturbance.hpp index 8cfcc3df1..73daceccd 100644 --- a/src/disturbances/solar_radiation_pressure_disturbance.hpp +++ b/src/disturbances/solar_radiation_pressure_disturbance.hpp @@ -27,7 +27,7 @@ class SolarRadiationPressureDisturbance : public SurfaceForce { * @param [in] center_of_gravity_b_m: Center of gravity position at the body frame [m] * @param [in] is_calculation_enabled: Calculation flag */ - SolarRadiationPressureDisturbance(const std::vector& surfaces, const math::Vector<3>& center_of_gravity_b_m, + SolarRadiationPressureDisturbance(const std::vector& surfaces, const math::Vector<3>& center_of_gravity_b_m, const bool is_calculation_enabled = true); /** @@ -36,7 +36,7 @@ class SolarRadiationPressureDisturbance : public SurfaceForce { * @param [in] local_environment: Local environment information * @param [in] dynamics: dynamics::Dynamics information */ - virtual void Update(const LocalEnvironment& local_environment, const dynamics::Dynamics& dynamics); + virtual void Update(const environment::LocalEnvironment& local_environment, const dynamics::Dynamics& dynamics); // Override logger::ILoggable /** @@ -67,8 +67,9 @@ class SolarRadiationPressureDisturbance : public SurfaceForce { * @param [in] surfaces: surface information of the spacecraft * @param [in] center_of_gravity_b_m: Center of gravity position vector at body frame [m] */ -SolarRadiationPressureDisturbance InitSolarRadiationPressureDisturbance(const std::string initialize_file_path, const std::vector& surfaces, - const Vector<3>& center_of_gravity_b_m); +SolarRadiationPressureDisturbance InitSolarRadiationPressureDisturbance(const std::string initialize_file_path, + const std::vector& surfaces, + const math::Vector<3>& center_of_gravity_b_m); } // namespace s2e::disturbances diff --git a/src/disturbances/surface_force.cpp b/src/disturbances/surface_force.cpp index 80ec260cf..4825640b7 100644 --- a/src/disturbances/surface_force.cpp +++ b/src/disturbances/surface_force.cpp @@ -9,7 +9,8 @@ namespace s2e::disturbances { -SurfaceForce::SurfaceForce(const std::vector& surfaces, const math::Vector<3>& center_of_gravity_b_m, const bool is_calculation_enabled) +SurfaceForce::SurfaceForce(const std::vector& surfaces, const math::Vector<3>& center_of_gravity_b_m, + const bool is_calculation_enabled) : Disturbance(is_calculation_enabled, true), surfaces_(surfaces), center_of_gravity_b_m_(center_of_gravity_b_m) { // Initialize vectors size_t num = surfaces_.size(); diff --git a/src/disturbances/surface_force.hpp b/src/disturbances/surface_force.hpp index 61eb8edba..53d145557 100644 --- a/src/disturbances/surface_force.hpp +++ b/src/disturbances/surface_force.hpp @@ -30,7 +30,8 @@ class SurfaceForce : public Disturbance { * @param [in] center_of_gravity_b_m: Center of gravity position at the body frame [m] * @param [in] is_calculation_enabled: Calculation flag */ - SurfaceForce(const std::vector& surfaces, const math::Vector<3>& center_of_gravity_b_m, const bool is_calculation_enabled = true); + SurfaceForce(const std::vector& surfaces, const math::Vector<3>& center_of_gravity_b_m, + const bool is_calculation_enabled = true); /** * @fn ~SurfaceForce * @brief Destructor @@ -39,8 +40,8 @@ class SurfaceForce : public Disturbance { protected: // Spacecraft Structure parameters - const std::vector& surfaces_; //!< List of surfaces - const math::Vector<3>& center_of_gravity_b_m_; //!< Position vector of the center of mass_kg at body frame [m] + const std::vector& surfaces_; //!< List of surfaces + const math::Vector<3>& center_of_gravity_b_m_; //!< Position vector of the center of mass_kg at body frame [m] // Internal calculated variables std::vector normal_coefficients_; //!< coefficients for out-plane force for each surface diff --git a/src/disturbances/third_body_gravity.cpp b/src/disturbances/third_body_gravity.cpp index 205c129fa..9e2d6881c 100644 --- a/src/disturbances/third_body_gravity.cpp +++ b/src/disturbances/third_body_gravity.cpp @@ -16,7 +16,7 @@ ThirdBodyGravity::ThirdBodyGravity(std::set third_body_list, const ThirdBodyGravity::~ThirdBodyGravity() {} -void ThirdBodyGravity::Update(const LocalEnvironment& local_environment, const dynamics::Dynamics& dynamics) { +void ThirdBodyGravity::Update(const environment::LocalEnvironment& local_environment, const dynamics::Dynamics& dynamics) { acceleration_i_m_s2_ = math::Vector<3>(0.0); // initialize math::Vector<3> sc_position_i_m = dynamics.GetOrbit().GetPosition_i_m(); diff --git a/src/disturbances/third_body_gravity.hpp b/src/disturbances/third_body_gravity.hpp index c55d5f2e3..bb45bec30 100644 --- a/src/disturbances/third_body_gravity.hpp +++ b/src/disturbances/third_body_gravity.hpp @@ -41,7 +41,7 @@ class ThirdBodyGravity : public Disturbance { * @param [in] local_environment: Local environment information * @param [in] dynamics: dynamics::Dynamics information */ - virtual void Update(const LocalEnvironment& local_environment, const dynamics::Dynamics& dynamics); + virtual void Update(const environment::LocalEnvironment& local_environment, const dynamics::Dynamics& dynamics); private: std::set third_body_list_; //!< List of celestial bodies to calculate the third body disturbances diff --git a/src/dynamics/attitude/attitude.cpp b/src/dynamics/attitude/attitude.cpp index b079c68b8..86a6b2443 100644 --- a/src/dynamics/attitude/attitude.cpp +++ b/src/dynamics/attitude/attitude.cpp @@ -45,7 +45,7 @@ std::string Attitude::GetLogValue() const { return str_tmp; } -void Attitude::SetParameters(const MonteCarloSimulationExecutor& mc_simulator) { +void Attitude::SetParameters(const simulation::MonteCarloSimulationExecutor& mc_simulator) { GetInitializedMonteCarloParameterQuaternion(mc_simulator, "quaternion_i2b", quaternion_i2b_); } diff --git a/src/dynamics/attitude/attitude_rk4.cpp b/src/dynamics/attitude/attitude_rk4.cpp index f7cca9b68..e432e665c 100644 --- a/src/dynamics/attitude/attitude_rk4.cpp +++ b/src/dynamics/attitude/attitude_rk4.cpp @@ -28,7 +28,7 @@ AttitudeRk4::AttitudeRk4(const math::Vector<3>& angular_velocity_b_rad_s, const AttitudeRk4::~AttitudeRk4() {} -void AttitudeRk4::SetParameters(const MonteCarloSimulationExecutor& mc_simulator) { +void AttitudeRk4::SetParameters(const simulation::MonteCarloSimulationExecutor& mc_simulator) { Attitude::SetParameters(mc_simulator); GetInitializedMonteCarloParameterVector(mc_simulator, "angular_velocity_b_rad_s", angular_velocity_b_rad_s_); diff --git a/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp b/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp index a43ba941d..dbfd569d4 100644 --- a/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp +++ b/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp @@ -61,7 +61,7 @@ std::string AttitudeWithCantileverVibration::GetLogValue() const { return str_tmp; } -void AttitudeWithCantileverVibration::SetParameters(const MonteCarloSimulationExecutor& mc_simulator) { +void AttitudeWithCantileverVibration::SetParameters(const simulation::MonteCarloSimulationExecutor& mc_simulator) { Attitude::SetParameters(mc_simulator); GetInitializedMonteCarloParameterVector(mc_simulator, "angular_velocity_b_rad_s", angular_velocity_b_rad_s_); diff --git a/src/dynamics/attitude/controlled_attitude.cpp b/src/dynamics/attitude/controlled_attitude.cpp index f564ebd21..d852dc9e3 100644 --- a/src/dynamics/attitude/controlled_attitude.cpp +++ b/src/dynamics/attitude/controlled_attitude.cpp @@ -11,8 +11,9 @@ namespace s2e::dynamics::attitude { ControlledAttitude::ControlledAttitude(const AttitudeControlMode main_mode, const AttitudeControlMode sub_mode, const math::Quaternion quaternion_i2b, const math::Vector<3> main_target_direction_b, const math::Vector<3> sub_target_direction_b, - const math::Matrix<3, 3>& inertia_tensor_kgm2, const LocalCelestialInformation* local_celestial_information, - const Orbit* orbit, const std::string& simulation_object_name) + const math::Matrix<3, 3>& inertia_tensor_kgm2, + const environment::LocalCelestialInformation* local_celestial_information, const orbit::Orbit* orbit, + const std::string& simulation_object_name) : Attitude(inertia_tensor_kgm2, simulation_object_name), main_mode_(main_mode), sub_mode_(sub_mode), diff --git a/src/dynamics/attitude/initialize_attitude.cpp b/src/dynamics/attitude/initialize_attitude.cpp index 0aea27194..f5dbb7b82 100644 --- a/src/dynamics/attitude/initialize_attitude.cpp +++ b/src/dynamics/attitude/initialize_attitude.cpp @@ -8,7 +8,7 @@ namespace s2e::dynamics::attitude { -Attitude* InitAttitude(std::string file_name, const Orbit* orbit, const LocalCelestialInformation* local_celestial_information, +Attitude* InitAttitude(std::string file_name, const orbit::Orbit* orbit, const environment::LocalCelestialInformation* local_celestial_information, const double step_width_s, const math::Matrix<3, 3>& inertia_tensor_kgm2, const int spacecraft_id) { setting_file_reader::IniAccess ini_file(file_name); const char* section_ = "ATTITUDE"; diff --git a/src/dynamics/dynamics.cpp b/src/dynamics/dynamics.cpp index 1a9da635e..30f5379ba 100644 --- a/src/dynamics/dynamics.cpp +++ b/src/dynamics/dynamics.cpp @@ -7,36 +7,37 @@ namespace s2e::dynamics { -Dynamics(const simulation::SimulationConfiguration* simulation_configuration, const environment::SimulationTime* simulation_time, - const environment::LocalEnvironment* local_environment, const int spacecraft_id, simulation::Structure* structure, - simulation::RelativeInformation* relative_information) +Dynamics::Dynamics(const simulation::SimulationConfiguration* simulation_configuration, const environment::SimulationTime* simulation_time, + const environment::LocalEnvironment* local_environment, const int spacecraft_id, simulation::Structure* structure, + simulation::RelativeInformation* relative_information) : structure_(structure), local_environment_(local_environment) { Initialize(simulation_configuration, simulation_time, spacecraft_id, structure, relative_information); } -Dynamics::~dynamics::Dynamics() { +Dynamics::~Dynamics() { delete attitude_; delete orbit_; delete temperature_; } -void Dynamics::Initialize(const SimulationConfiguration* simulation_configuration, const SimulationTime* simulation_time, const int spacecraft_id, - Structure* structure, RelativeInformation* relative_information) { - const LocalCelestialInformation& local_celestial_information = local_environment_->GetCelestialInformation(); +void Dynamics::Initialize(const simulation::SimulationConfiguration* simulation_configuration, const environment::SimulationTime* simulation_time, + const int spacecraft_id, simulation::Structure* structure, simulation::RelativeInformation* relative_information) { + const environment::LocalCelestialInformation& local_celestial_information = local_environment_->GetCelestialInformation(); // Initialize - orbit_ = InitOrbit(&(local_celestial_information.GetGlobalInformation()), simulation_configuration->spacecraft_file_list_[spacecraft_id], - simulation_time->GetOrbitRkStepTime_s(), simulation_time->GetCurrentTime_jd(), - local_celestial_information.GetGlobalInformation().GetCenterBodyGravityConstant_m3_s2(), "ORBIT", relative_information); - attitude_ = InitAttitude(simulation_configuration->spacecraft_file_list_[spacecraft_id], orbit_, &local_celestial_information, - simulation_time->GetAttitudeRkStepTime_s(), structure->GetKinematicsParameters().GetInertiaTensor_b_kgm2(), spacecraft_id); - temperature_ = InitTemperature(simulation_configuration->spacecraft_file_list_[spacecraft_id], simulation_time->GetThermalRkStepTime_s(), - &(local_environment_->GetSolarRadiationPressure()), &(local_environment_->GetEarthAlbedo())); + orbit_ = orbit::InitOrbit(&(local_celestial_information.GetGlobalInformation()), simulation_configuration->spacecraft_file_list_[spacecraft_id], + simulation_time->GetOrbitRkStepTime_s(), simulation_time->GetCurrentTime_jd(), + local_celestial_information.GetGlobalInformation().GetCenterBodyGravityConstant_m3_s2(), "ORBIT", relative_information); + attitude_ = attitude::InitAttitude(simulation_configuration->spacecraft_file_list_[spacecraft_id], orbit_, &local_celestial_information, + simulation_time->GetAttitudeRkStepTime_s(), structure->GetKinematicsParameters().GetInertiaTensor_b_kgm2(), + spacecraft_id); + temperature_ = thermal::InitTemperature(simulation_configuration->spacecraft_file_list_[spacecraft_id], simulation_time->GetThermalRkStepTime_s(), + &(local_environment_->GetSolarRadiationPressure()), &(local_environment_->GetEarthAlbedo())); // To get initial value orbit_->UpdateByAttitude(attitude_->GetQuaternion_i2b()); } -void Dynamics::Update(const SimulationTime* simulation_time, const LocalCelestialInformation* local_celestial_information) { +void Dynamics::Update(const environment::SimulationTime* simulation_time, const environment::LocalCelestialInformation* local_celestial_information) { // Attitude propagation if (simulation_time->GetAttitudePropagateFlag()) { attitude_->Propagate(simulation_time->GetElapsedTime_s()); @@ -60,7 +61,7 @@ void Dynamics::ClearForceTorque(void) { orbit_->SetAcceleration_i_m_s2(zero); } -void Dynamics::LogSetup(Logger& logger) { +void Dynamics::LogSetup(logger::Logger& logger) { logger.AddLogList(attitude_); logger.AddLogList(orbit_); logger.AddLogList(temperature_); diff --git a/src/dynamics/dynamics.hpp b/src/dynamics/dynamics.hpp index be8534181..05f986807 100644 --- a/src/dynamics/dynamics.hpp +++ b/src/dynamics/dynamics.hpp @@ -40,7 +40,7 @@ class Dynamics { * @param [in] simulation_time: Simulation time * @param [in] local_celestial_information: Local celestial information * @param [in] spacecraft_id: Spacecraft ID of the spacecraft - * @param [in] structure: Structure of the spacecraft + * @param [in] structure: simulation::Structure of the spacecraft * @param [in] relative_information: Relative information */ Dynamics(const simulation::SimulationConfiguration* simulation_configuration, const environment::SimulationTime* simulation_time, diff --git a/src/dynamics/orbit/encke_orbit_propagation.cpp b/src/dynamics/orbit/encke_orbit_propagation.cpp index adf102ceb..5a1ae0d0b 100644 --- a/src/dynamics/orbit/encke_orbit_propagation.cpp +++ b/src/dynamics/orbit/encke_orbit_propagation.cpp @@ -11,7 +11,7 @@ namespace s2e::dynamics::orbit { -EnckeOrbitPropagation::EnckeOrbitPropagation(const CelestialInformation* celestial_information, const double gravity_constant_m3_s2, +EnckeOrbitPropagation::EnckeOrbitPropagation(const environment::CelestialInformation* celestial_information, const double gravity_constant_m3_s2, const double propagation_step_s, const double current_time_jd, const math::Vector<3> position_i_m, const math::Vector<3> velocity_i_m_s, const double error_tolerance) : Orbit(celestial_information), diff --git a/src/dynamics/orbit/encke_orbit_propagation.hpp b/src/dynamics/orbit/encke_orbit_propagation.hpp index 4101b6b71..68542f198 100644 --- a/src/dynamics/orbit/encke_orbit_propagation.hpp +++ b/src/dynamics/orbit/encke_orbit_propagation.hpp @@ -29,9 +29,9 @@ class EnckeOrbitPropagation : public Orbit, public math::OrdinaryDifferentialEqu * @param [in] velocity_i_m_s: Initial value of velocity in the inertial frame [m/s] * @param [in] error_tolerance: Error tolerance threshold */ - EnckeOrbitPropagation(const CelestialInformation* celestial_information, const double gravity_constant_m3_s2, const double propagation_step_s, - const double current_time_jd, const math::Vector<3> position_i_m, const math::Vector<3> velocity_i_m_s, - const double error_tolerance); + EnckeOrbitPropagation(const environment::CelestialInformation* celestial_information, const double gravity_constant_m3_s2, + const double propagation_step_s, const double current_time_jd, const math::Vector<3> position_i_m, + const math::Vector<3> velocity_i_m_s, const double error_tolerance); /** * @fn ~EnckeOrbitPropagation * @brief Destructor diff --git a/src/dynamics/orbit/initialize_orbit.cpp b/src/dynamics/orbit/initialize_orbit.cpp index 7daf57ec6..e039adb98 100644 --- a/src/dynamics/orbit/initialize_orbit.cpp +++ b/src/dynamics/orbit/initialize_orbit.cpp @@ -15,8 +15,8 @@ namespace s2e::dynamics::orbit { -Orbit* InitOrbit(const CelestialInformation* celestial_information, std::string initialize_file, double step_width_s, double current_time_jd, - double gravity_constant_m3_s2, std::string section, RelativeInformation* relative_information) { +Orbit* InitOrbit(const environment::CelestialInformation* celestial_information, std::string initialize_file, double step_width_s, + double current_time_jd, double gravity_constant_m3_s2, std::string section, simulation::RelativeInformation* relative_information) { auto conf = setting_file_reader::IniAccess(initialize_file); const char* section_ = section.c_str(); Orbit* orbit; diff --git a/src/dynamics/orbit/initialize_orbit.hpp b/src/dynamics/orbit/initialize_orbit.hpp index a006fe204..dd38c127c 100644 --- a/src/dynamics/orbit/initialize_orbit.hpp +++ b/src/dynamics/orbit/initialize_orbit.hpp @@ -10,7 +10,9 @@ #include "orbit.hpp" +namespace s2e::simulation { class RelativeInformation; +} namespace s2e::dynamics::orbit { @@ -27,7 +29,7 @@ namespace s2e::dynamics::orbit { */ Orbit* InitOrbit(const environment::CelestialInformation* celestial_information, std::string initialize_file, double step_width_s, double current_time_jd, double gravity_constant_m3_s2, std::string section = "ORBIT", - RelativeInformation* relative_information = (RelativeInformation*)nullptr); + simulation::RelativeInformation* relative_information = (simulation::RelativeInformation*)nullptr); /** * @fn InitializePosVel diff --git a/src/dynamics/orbit/kepler_orbit_propagation.cpp b/src/dynamics/orbit/kepler_orbit_propagation.cpp index dadb5ef50..4e9050844 100644 --- a/src/dynamics/orbit/kepler_orbit_propagation.cpp +++ b/src/dynamics/orbit/kepler_orbit_propagation.cpp @@ -10,7 +10,7 @@ namespace s2e::dynamics::orbit { -KeplerOrbitPropagation::KeplerOrbitPropagation(const CelestialInformation* celestial_information, const double current_time_jd, +KeplerOrbitPropagation::KeplerOrbitPropagation(const environment::CelestialInformation* celestial_information, const double current_time_jd, KeplerOrbit kepler_orbit) : Orbit(celestial_information), KeplerOrbit(kepler_orbit) { UpdateState(current_time_jd); diff --git a/src/dynamics/orbit/kepler_orbit_propagation.hpp b/src/dynamics/orbit/kepler_orbit_propagation.hpp index cd18bab8c..a43aff5c4 100644 --- a/src/dynamics/orbit/kepler_orbit_propagation.hpp +++ b/src/dynamics/orbit/kepler_orbit_propagation.hpp @@ -25,7 +25,8 @@ class KeplerOrbitPropagation : public Orbit, public s2e::orbit::KeplerOrbit { * @param [in] current_time_jd: Current Julian day [day] * @param [in] kepler_orbit: Kepler orbit */ - KeplerOrbitPropagation(const CelestialInformation* celestial_information, const double current_time_jd, s2e::orbit::KeplerOrbit kepler_orbit); + KeplerOrbitPropagation(const environment::CelestialInformation* celestial_information, const double current_time_jd, + s2e::orbit::KeplerOrbit kepler_orbit); /** * @fn ~KeplerOrbitPropagation * @brief Destructor diff --git a/src/dynamics/orbit/relative_orbit.cpp b/src/dynamics/orbit/relative_orbit.cpp index af1ee1d88..6f4b2608d 100644 --- a/src/dynamics/orbit/relative_orbit.cpp +++ b/src/dynamics/orbit/relative_orbit.cpp @@ -10,10 +10,10 @@ namespace s2e::dynamics::orbit { -RelativeOrbit::RelativeOrbit(const CelestialInformation* celestial_information, double gravity_constant_m3_s2, double time_step_s, +RelativeOrbit::RelativeOrbit(const environment::CelestialInformation* celestial_information, double gravity_constant_m3_s2, double time_step_s, int reference_spacecraft_id, math::Vector<3> relative_position_lvlh_m, math::Vector<3> relative_velocity_lvlh_m_s, RelativeOrbitUpdateMethod update_method, s2e::orbit::RelativeOrbitModel relative_dynamics_model_type, - s2e::orbit::StmModel stm_model_type, RelativeInformation* relative_information) + s2e::orbit::StmModel stm_model_type, simulation::RelativeInformation* relative_information) : Orbit(celestial_information), math::OrdinaryDifferentialEquation<6>(time_step_s), gravity_constant_m3_s2_(gravity_constant_m3_s2), diff --git a/src/dynamics/orbit/relative_orbit.hpp b/src/dynamics/orbit/relative_orbit.hpp index 5abf101cb..313ac9429 100644 --- a/src/dynamics/orbit/relative_orbit.hpp +++ b/src/dynamics/orbit/relative_orbit.hpp @@ -41,10 +41,10 @@ class RelativeOrbit : public Orbit, public math::OrdinaryDifferentialEquation<6> * @param [in] stm_model_type: State transition matrix type * @param [in] relative_information: Relative information */ - RelativeOrbit(const CelestialInformation* celestial_information, double gravity_constant_m3_s2, double time_step_s, int reference_spacecraft_id, - math::Vector<3> relative_position_lvlh_m, math::Vector<3> relative_velocity_lvlh_m_s, RelativeOrbitUpdateMethod update_method, - s2e::orbit::RelativeOrbitModel relative_dynamics_model_type, s2e::orbit::StmModel stm_model_type, - RelativeInformation* relative_information); + RelativeOrbit(const environment::CelestialInformation* celestial_information, double gravity_constant_m3_s2, double time_step_s, + int reference_spacecraft_id, math::Vector<3> relative_position_lvlh_m, math::Vector<3> relative_velocity_lvlh_m_s, + RelativeOrbitUpdateMethod update_method, s2e::orbit::RelativeOrbitModel relative_dynamics_model_type, + s2e::orbit::StmModel stm_model_type, simulation::RelativeInformation* relative_information); /** * @fn ~RelativeOrbit * @brief Destructor @@ -68,7 +68,7 @@ class RelativeOrbit : public Orbit, public math::OrdinaryDifferentialEquation<6> * @param [in] state: Position and velocity as state vector * @param [out] rhs: Output of the function */ - virtual void DerivativeFunction(double t, const Vector<6>& state, Vector<6>& rhs); + virtual void DerivativeFunction(double t, const math::Vector<6>& state, math::Vector<6>& rhs); private: double gravity_constant_m3_s2_; //!< Gravity constant of the center body [m3/s2] @@ -86,7 +86,7 @@ class RelativeOrbit : public Orbit, public math::OrdinaryDifferentialEquation<6> RelativeOrbitUpdateMethod update_method_; //!< Update method s2e::orbit::RelativeOrbitModel relative_dynamics_model_type_; //!< Relative dynamics model type s2e::orbit::StmModel stm_model_type_; //!< State Transition Matrix model type - RelativeInformation* relative_information_; //!< Relative information + simulation::RelativeInformation* relative_information_; //!< Relative information /** * @fn InitializeState diff --git a/src/dynamics/orbit/rk4_orbit_propagation.cpp b/src/dynamics/orbit/rk4_orbit_propagation.cpp index b9fea10c7..930677292 100644 --- a/src/dynamics/orbit/rk4_orbit_propagation.cpp +++ b/src/dynamics/orbit/rk4_orbit_propagation.cpp @@ -10,8 +10,8 @@ namespace s2e::dynamics::orbit { -Rk4OrbitPropagation::Rk4OrbitPropagation(const CelestialInformation* celestial_information, double gravity_constant_m3_s2, double time_step_s, - math::Vector<3> position_i_m, math::Vector<3> velocity_i_m_s, double initial_time_s) +Rk4OrbitPropagation::Rk4OrbitPropagation(const environment::CelestialInformation* celestial_information, double gravity_constant_m3_s2, + double time_step_s, math::Vector<3> position_i_m, math::Vector<3> velocity_i_m_s, double initial_time_s) : Orbit(celestial_information), OrdinaryDifferentialEquation<6>(time_step_s), gravity_constant_m3_s2_(gravity_constant_m3_s2) { propagate_mode_ = OrbitPropagateMode::kRk4; diff --git a/src/dynamics/orbit/rk4_orbit_propagation.hpp b/src/dynamics/orbit/rk4_orbit_propagation.hpp index dbda96d86..30be7b161 100644 --- a/src/dynamics/orbit/rk4_orbit_propagation.hpp +++ b/src/dynamics/orbit/rk4_orbit_propagation.hpp @@ -29,7 +29,7 @@ class Rk4OrbitPropagation : public Orbit, public math::OrdinaryDifferentialEquat * @param [in] velocity_i_m_s: Initial value of velocity in the inertial frame [m/s] * @param [in] initial_time_s: Initial time [sec] */ - Rk4OrbitPropagation(const CelestialInformation* celestial_information, double gravity_constant_m3_s2, double time_step_s, + Rk4OrbitPropagation(const environment::CelestialInformation* celestial_information, double gravity_constant_m3_s2, double time_step_s, math::Vector<3> position_i_m, math::Vector<3> velocity_i_m_s, double initial_time_s = 0); /** * @fn ~Rk4OrbitPropagation diff --git a/src/dynamics/orbit/sgp4_orbit_propagation.cpp b/src/dynamics/orbit/sgp4_orbit_propagation.cpp index 1322cbeb6..691644184 100644 --- a/src/dynamics/orbit/sgp4_orbit_propagation.cpp +++ b/src/dynamics/orbit/sgp4_orbit_propagation.cpp @@ -11,8 +11,8 @@ namespace s2e::dynamics::orbit { -Sgp4OrbitPropagation::Sgp4OrbitPropagation(const CelestialInformation* celestial_information, char* tle1, char* tle2, const int wgs_setting, - const double current_time_jd) +Sgp4OrbitPropagation::Sgp4OrbitPropagation(const environment::CelestialInformation* celestial_information, char* tle1, char* tle2, + const int wgs_setting, const double current_time_jd) : Orbit(celestial_information) { propagate_mode_ = OrbitPropagateMode::kSgp4; diff --git a/src/dynamics/orbit/sgp4_orbit_propagation.hpp b/src/dynamics/orbit/sgp4_orbit_propagation.hpp index 0bd59bfd3..5ccfea6ed 100644 --- a/src/dynamics/orbit/sgp4_orbit_propagation.hpp +++ b/src/dynamics/orbit/sgp4_orbit_propagation.hpp @@ -30,7 +30,7 @@ class Sgp4OrbitPropagation : public Orbit { * @param [in] wgs_setting: Wold Geodetic System * @param [in] current_time_jd: Current Julian day [day] */ - Sgp4OrbitPropagation(const CelestialInformation* celestial_information, char* tle1, char* tle2, const int wgs_setting, + Sgp4OrbitPropagation(const environment::CelestialInformation* celestial_information, char* tle1, char* tle2, const int wgs_setting, const double current_time_jd); // Override Orbit diff --git a/src/dynamics/orbit/time_series_file_orbit_propagation.cpp b/src/dynamics/orbit/time_series_file_orbit_propagation.cpp index 8fe9893a0..5230a18c2 100644 --- a/src/dynamics/orbit/time_series_file_orbit_propagation.cpp +++ b/src/dynamics/orbit/time_series_file_orbit_propagation.cpp @@ -14,9 +14,12 @@ #include "math_physics/math/constants.hpp" #include "setting_file_reader/initialize_file_access.hpp" -TimeSeriesFileOrbitPropagation::TimeSeriesFileOrbitPropagation(const CelestialInformation* celestial_information, std::string time_series_file_path, - int number_of_interpolation, int interpolation_method, - double orbital_period_correction_s, const double current_time_jd) +namespace s2e::dynamics::orbit { + +TimeSeriesFileOrbitPropagation::TimeSeriesFileOrbitPropagation(const environment::CelestialInformation* celestial_information, + std::string time_series_file_path, int number_of_interpolation, + int interpolation_method, double orbital_period_correction_s, + const double current_time_jd) : Orbit(celestial_information), is_time_range_warning_displayed_(false), is_interpolation_method_error_displayed_(false), @@ -27,7 +30,7 @@ TimeSeriesFileOrbitPropagation::TimeSeriesFileOrbitPropagation(const CelestialIn propagate_mode_ = OrbitPropagateMode::kTimeSeriesFile; // Read time series file - IniAccess time_series_file(time_series_file_path); + setting_file_reader::IniAccess time_series_file(time_series_file_path); time_series_file.ReadCsvDoubleWithHeader(time_series_data_, 7, 1, 0); // Get general info @@ -41,8 +44,8 @@ TimeSeriesFileOrbitPropagation::TimeSeriesFileOrbitPropagation(const CelestialIn reference_time_ = CalcEphemerisTimeData(reference_interpolation_id_); // Initialize orbit - orbit_position_i_m_.assign(1, orbit::InterpolationOrbit(number_of_interpolation)); - orbit_velocity_i_m_s_.assign(1, orbit::InterpolationOrbit(number_of_interpolation)); + orbit_position_i_m_.assign(1, s2e::orbit::InterpolationOrbit(number_of_interpolation)); + orbit_velocity_i_m_s_.assign(1, s2e::orbit::InterpolationOrbit(number_of_interpolation)); // Initialize interpolation for (int i = 0; i < number_of_interpolation; i++) { @@ -152,3 +155,5 @@ bool TimeSeriesFileOrbitPropagation::UpdateInterpolationInformation() { return true; } + +} // namespace s2e::dynamics::orbit diff --git a/src/dynamics/orbit/time_series_file_orbit_propagation.hpp b/src/dynamics/orbit/time_series_file_orbit_propagation.hpp index 0de5a7278..722796b00 100644 --- a/src/dynamics/orbit/time_series_file_orbit_propagation.hpp +++ b/src/dynamics/orbit/time_series_file_orbit_propagation.hpp @@ -12,6 +12,7 @@ #include "orbit.hpp" +namespace s2e::dynamics::orbit { /** * @class TimeSeriesFileOrbitPropagation * @brief Class to calculate satellite orbit using interpolation with orbit time series input @@ -28,7 +29,7 @@ class TimeSeriesFileOrbitPropagation : public Orbit { * @param [in] orbital_period_correction_s: Orbital period correction [s] * @param [in] current_time_jd: Current Julian day [day] */ - TimeSeriesFileOrbitPropagation(const CelestialInformation* celestial_information, const std::string time_series_file_path, + TimeSeriesFileOrbitPropagation(const environment::CelestialInformation* celestial_information, const std::string time_series_file_path, const int number_of_interpolation, const int interpolation_method, const double orbital_period_correction_s, const double current_time_jd); @@ -73,8 +74,8 @@ class TimeSeriesFileOrbitPropagation : public Orbit { double reference_time_; //!< Reference start time of the time series data handling size_t reference_interpolation_id_; //!< Reference EphemerisTime ID of the interpolation - std::vector orbit_position_i_m_; //!< Position with interpolation - std::vector orbit_velocity_i_m_s_; //!< Velocity with interpolation + std::vector orbit_position_i_m_; //!< Position with interpolation + std::vector orbit_velocity_i_m_s_; //!< Velocity with interpolation /** * @fn UpdateInterpolationInformation @@ -84,4 +85,6 @@ class TimeSeriesFileOrbitPropagation : public Orbit { bool UpdateInterpolationInformation(); }; +} // namespace s2e::dynamics::orbit + #endif // S2E_DYNAMICS_ORBIT_TIME_SERIES_FILE_ORBIT_PROPAGATION_HPP_ diff --git a/src/dynamics/thermal/node.hpp b/src/dynamics/thermal/node.hpp index 6d9cb0434..6c9da2660 100644 --- a/src/dynamics/thermal/node.hpp +++ b/src/dynamics/thermal/node.hpp @@ -173,6 +173,5 @@ class Node { Node InitNode(const std::vector& node_str); } // namespace s2e::dynamics::thermal -namespace s2e::dynamics::thermal #endif // S2E_DYNAMICS_THERMAL_NODE_HPP_ diff --git a/src/dynamics/thermal/temperature.cpp b/src/dynamics/thermal/temperature.cpp index fecd97cd4..4fd6cc251 100644 --- a/src/dynamics/thermal/temperature.cpp +++ b/src/dynamics/thermal/temperature.cpp @@ -18,8 +18,9 @@ namespace s2e::dynamics::thermal { Temperature::Temperature(const vector> conductance_matrix_W_K, const vector> radiation_matrix_m2, vector nodes, vector heatloads, vector heaters, vector heater_controllers, const size_t node_num, - const double propagation_step_s, const SolarRadiationPressureEnvironment* srp_environment, const EarthAlbedo* earth_albedo, - const bool is_calc_enabled, const SolarCalcSetting solar_calc_setting, const bool debug) + const double propagation_step_s, const environment::SolarRadiationPressureEnvironment* srp_environment, + const environment::EarthAlbedo* earth_albedo, const bool is_calc_enabled, const SolarCalcSetting solar_calc_setting, + const bool debug) : conductance_matrix_W_K_(conductance_matrix_W_K), radiation_matrix_m2_(radiation_matrix_m2), nodes_(nodes), @@ -50,7 +51,7 @@ Temperature::Temperature() { Temperature::~Temperature() {} -void Temperature::Propagate(const LocalCelestialInformation* local_celestial_information, const double time_end_s) { +void Temperature::Propagate(const environment::LocalCelestialInformation* local_celestial_information, const double time_end_s) { if (!is_calc_enabled_) return; while (time_end_s - propagation_time_s_ - propagation_step_s_ > 1.0e-6) { CalcRungeOneStep(propagation_time_s_, propagation_step_s_, local_celestial_information, node_num_); @@ -93,7 +94,7 @@ void Temperature::Propagate(const LocalCelestialInformation* local_celestial_inf } } -void Temperature::CalcRungeOneStep(double time_now_s, double time_step_s, const LocalCelestialInformation* local_celestial_information, +void Temperature::CalcRungeOneStep(double time_now_s, double time_step_s, const environment::LocalCelestialInformation* local_celestial_information, size_t node_num) { vector temperatures_now_K(node_num); for (size_t i = 0; i < node_num; i++) { @@ -131,7 +132,7 @@ void Temperature::CalcRungeOneStep(double time_now_s, double time_step_s, const } vector Temperature::CalcTemperatureDifferentials(vector temperatures_K, double t, - const LocalCelestialInformation* local_celestial_information, size_t node_num) { + const environment::LocalCelestialInformation* local_celestial_information, size_t node_num) { // TODO: consider the following unused arguments are really needed UNUSED(temperatures_K); @@ -291,8 +292,8 @@ First row is time data using std::string; using std::vector; -Temperature* InitTemperature(const std::string file_name, const double rk_prop_step_s, const SolarRadiationPressureEnvironment* srp_environment, - const EarthAlbedo* earth_albedo) { +Temperature* InitTemperature(const std::string file_name, const double rk_prop_step_s, + const environment::SolarRadiationPressureEnvironment* srp_environment, const environment::EarthAlbedo* earth_albedo) { auto mainIni = setting_file_reader::IniAccess(file_name); vector node_list; diff --git a/src/environment/local/local_environment.cpp b/src/environment/local/local_environment.cpp index 3f53239d1..7be568bce 100644 --- a/src/environment/local/local_environment.cpp +++ b/src/environment/local/local_environment.cpp @@ -10,8 +10,8 @@ namespace s2e::environment { -LocalEnvironment::LocalEnvironment(const simulation::SimulationConfiguration* simulation_configuration, const GlobalEnvironment* global_environment, - const int spacecraft_id) { +LocalEnvironment::LocalEnvironment(const simulation::SimulationConfiguration* simulation_configuration, + const environment::GlobalEnvironment* global_environment, const int spacecraft_id) { Initialize(simulation_configuration, global_environment, spacecraft_id); } @@ -23,8 +23,8 @@ LocalEnvironment::~LocalEnvironment() { delete celestial_information_; } -void LocalEnvironment::Initialize(const simulation::SimulationConfiguration* simulation_configuration, const GlobalEnvironment* global_environment, - const int spacecraft_id) { +void LocalEnvironment::Initialize(const simulation::SimulationConfiguration* simulation_configuration, + const environment::GlobalEnvironment* global_environment, const int spacecraft_id) { // Read file name setting_file_reader::IniAccess iniAccess = setting_file_reader::IniAccess(simulation_configuration->spacecraft_file_list_[spacecraft_id]); std::string ini_fname = iniAccess.ReadString("SETTING_FILES", "local_environment_file"); diff --git a/src/environment/local/local_environment.hpp b/src/environment/local/local_environment.hpp index b486d4226..e35b4973d 100644 --- a/src/environment/local/local_environment.hpp +++ b/src/environment/local/local_environment.hpp @@ -15,7 +15,7 @@ #include "simulation/simulation_configuration.hpp" #include "solar_radiation_pressure_environment.hpp" -namespace s2e::math { +namespace s2e::dynamics { class Dynamics; } @@ -34,7 +34,7 @@ class LocalEnvironment { * @param [in] global_environment: Global environment * @param [in] spacecraft_id: Satellite ID */ - LocalEnvironment(const simulation::SimulationConfiguration* simulation_configuration, const GlobalEnvironment* global_environment, + LocalEnvironment(const simulation::SimulationConfiguration* simulation_configuration, const environment::GlobalEnvironment* global_environment, const int spacecraft_id); /** * @fn ~LocalEnvironment @@ -96,7 +96,7 @@ class LocalEnvironment { * @param [in] global_environment: Global environment * @param [in] spacecraft_id: Satellite ID */ - void Initialize(const simulation::SimulationConfiguration* simulation_configuration, const GlobalEnvironment* global_environment, + void Initialize(const simulation::SimulationConfiguration* simulation_configuration, const environment::GlobalEnvironment* global_environment, const int spacecraft_id); }; diff --git a/src/math_physics/numerical_integration/numerical_integrator.hpp b/src/math_physics/numerical_integration/numerical_integrator.hpp index 461bfa225..ae708a753 100644 --- a/src/math_physics/numerical_integration/numerical_integrator.hpp +++ b/src/math_physics/numerical_integration/numerical_integrator.hpp @@ -32,7 +32,7 @@ class NumericalIntegrator { * @fn ~NumericalIntegrator * @brief Destructor */ - inline virtual ~NumericalIntegrator(){}; + inline virtual ~NumericalIntegrator() {}; /** * @fn Integrate diff --git a/src/math_physics/numerical_integration/runge_kutta.hpp b/src/math_physics/numerical_integration/runge_kutta.hpp index d2072d4cb..a24b4f53b 100644 --- a/src/math_physics/numerical_integration/runge_kutta.hpp +++ b/src/math_physics/numerical_integration/runge_kutta.hpp @@ -29,7 +29,7 @@ class RungeKutta : public NumericalIntegrator { * @fn ~RungeKutta * @brief Destructor */ - inline virtual ~RungeKutta(){}; + inline virtual ~RungeKutta() {}; /** * @fn Integrate diff --git a/src/simulation/spacecraft/spacecraft.cpp b/src/simulation/spacecraft/spacecraft.cpp index 36a6f91a8..19f4db5c5 100644 --- a/src/simulation/spacecraft/spacecraft.cpp +++ b/src/simulation/spacecraft/spacecraft.cpp @@ -30,10 +30,10 @@ Spacecraft::~Spacecraft() { void Spacecraft::Initialize(const SimulationConfiguration* simulation_configuration, const environment::GlobalEnvironment* global_environment, const int spacecraft_id, RelativeInformation* relative_information) { clock_generator_.ClearTimerCount(); - structure_ = new Structure(simulation_configuration, spacecraft_id); + structure_ = new simulation::Structure(simulation_configuration, spacecraft_id); local_environment_ = new environment::LocalEnvironment(simulation_configuration, global_environment, spacecraft_id); - dynamics_ = new dynamics::dynamics::Dynamics(simulation_configuration, &(global_environment->GetSimulationTime()), local_environment_, - spacecraft_id, structure_, relative_information); + dynamics_ = new dynamics::Dynamics(simulation_configuration, &(global_environment->GetSimulationTime()), local_environment_, spacecraft_id, + structure_, relative_information); disturbances_ = new disturbances::Disturbances(simulation_configuration, spacecraft_id, structure_, global_environment); simulation_configuration->main_logger_->CopyFileToLogDirectory(simulation_configuration->spacecraft_file_list_[spacecraft_id]); diff --git a/src/simulation/spacecraft/spacecraft.hpp b/src/simulation/spacecraft/spacecraft.hpp index d1e99a444..dc673105b 100644 --- a/src/simulation/spacecraft/spacecraft.hpp +++ b/src/simulation/spacecraft/spacecraft.hpp @@ -71,7 +71,7 @@ class Spacecraft { * @fn GetDynamics * @brief Get dynamics of the spacecraft */ - inline const dynamics::dynamics::Dynamics& GetDynamics() const { return *dynamics_; } + inline const dynamics::Dynamics& GetDynamics() const { return *dynamics_; } /** * @fn GetLocalEnvironment * @brief Get local environment around the spacecraft @@ -86,7 +86,7 @@ class Spacecraft { * @fn GetStructure * @brief Get structure of the spacecraft */ - inline const Structure& GetStructure() const { return *structure_; } + inline const simulation::Structure& GetStructure() const { return *structure_; } /** * @fn GetInstalledComponents * @brief Get components installed on the spacecraft @@ -100,11 +100,11 @@ class Spacecraft { protected: environment::ClockGenerator clock_generator_; //!< Origin of clock for the spacecraft - dynamics::dynamics::Dynamics* dynamics_; //!< Dynamics information of the spacecraft + dynamics::Dynamics* dynamics_; //!< Dynamics information of the spacecraft RelativeInformation* relative_information_; //!< Relative information with respect to the other spacecraft environment::LocalEnvironment* local_environment_; //!< Local environment information around the spacecraft disturbances::Disturbances* disturbances_; //!< Disturbance information acting on the spacecraft - Structure* structure_; //!< Structure information of the spacecraft + simulation::Structure* structure_; //!< Structure information of the spacecraft InstalledComponents* components_; //!< Components information installed on the spacecraft const unsigned int spacecraft_id_; //!< ID of the spacecraft }; diff --git a/src/simulation/spacecraft/structure/initialize_structure.cpp b/src/simulation/spacecraft/structure/initialize_structure.cpp index 44ed97d14..bfdea9145 100644 --- a/src/simulation/spacecraft/structure/initialize_structure.cpp +++ b/src/simulation/spacecraft/structure/initialize_structure.cpp @@ -31,14 +31,14 @@ KinematicsParameters InitKinematicsParameters(std::string file_name) { return kinematics_params; } -std::vector InitSurfaces(std::string file_name) { +std::vector InitSurfaces(std::string file_name) { using std::cout; auto conf = setting_file_reader::IniAccess(file_name); const char* section = "SURFACES"; const int num_surface = conf.ReadInt(section, "number_of_surfaces"); - std::vector surfaces; + std::vector surfaces; for (int i = 0; i < num_surface; i++) { std::string idx = std::to_string(i); @@ -89,7 +89,7 @@ std::vector InitSurfaces(std::string file_name) { break; } - Vector<3> position, normal; + math::Vector<3> position, normal; keyword = "position" + idx + "_b_m"; conf.ReadVector(section, keyword.c_str(), position); @@ -103,7 +103,7 @@ std::vector InitSurfaces(std::string file_name) { } // Add a surface - surfaces.push_back(Surface(position, normal, area, ref, spe, air_spe)); + surfaces.push_back(simulation::Surface(position, normal, area, ref, spe, air_spe)); } return surfaces; } diff --git a/src/simulation/spacecraft/structure/initialize_structure.hpp b/src/simulation/spacecraft/structure/initialize_structure.hpp index 0ab741839..34a58888e 100644 --- a/src/simulation/spacecraft/structure/initialize_structure.hpp +++ b/src/simulation/spacecraft/structure/initialize_structure.hpp @@ -21,7 +21,7 @@ KinematicsParameters InitKinematicsParameters(std::string file_name); * @fn InitSurfaces * @brief Initialize the multiple surfaces with an ini file */ -std::vector InitSurfaces(std::string file_name); +std::vector InitSurfaces(std::string file_name); /** * @fn InitResidualMagneticMoment * @brief Initialize the RMM(Residual Magnetic Moment) parameters with an ini file diff --git a/src/simulation/spacecraft/structure/kinematics_parameters.hpp b/src/simulation/spacecraft/structure/kinematics_parameters.hpp index b97209727..c4dfadeb2 100644 --- a/src/simulation/spacecraft/structure/kinematics_parameters.hpp +++ b/src/simulation/spacecraft/structure/kinematics_parameters.hpp @@ -26,7 +26,7 @@ class KinematicsParameters { * @fn ~KinematicsParameters * @brief Destructor */ - ~KinematicsParameters(){}; + ~KinematicsParameters() {}; // Getter /** diff --git a/src/simulation/spacecraft/structure/residual_magnetic_moment.hpp b/src/simulation/spacecraft/structure/residual_magnetic_moment.hpp index 1e00b7e89..ae06bb85d 100644 --- a/src/simulation/spacecraft/structure/residual_magnetic_moment.hpp +++ b/src/simulation/spacecraft/structure/residual_magnetic_moment.hpp @@ -26,7 +26,7 @@ class ResidualMagneticMoment { * @fn ~ResidualMagneticMoment * @brief Destructor */ - ~ResidualMagneticMoment(){}; + ~ResidualMagneticMoment() {}; // Getter /** diff --git a/src/simulation/spacecraft/structure/structure.hpp b/src/simulation/spacecraft/structure/structure.hpp index fe099cd04..6a1b87ae0 100644 --- a/src/simulation/spacecraft/structure/structure.hpp +++ b/src/simulation/spacecraft/structure/structure.hpp @@ -42,7 +42,7 @@ class Structure { * @fn GetSurfaces * @brief Return surface information */ - inline const std::vector& GetSurfaces() const { return surfaces_; } + inline const std::vector& GetSurfaces() const { return surfaces_; } /** * @fn GetKinematicsParameters * @brief Return kinematics information @@ -58,7 +58,7 @@ class Structure { * @fn GetToSetSurfaces * @brief Return surface information */ - inline std::vector& GetToSetSurfaces() { return surfaces_; } + inline std::vector& GetToSetSurfaces() { return surfaces_; } /** * @fn GetToSetKinematicsParameters * @brief Return kinematics information @@ -72,7 +72,7 @@ class Structure { private: KinematicsParameters* kinematics_parameters_; //!< Kinematics parameters - std::vector surfaces_; //!< Surface information + std::vector surfaces_; //!< Surface information ResidualMagneticMoment* residual_magnetic_moment_; //!< Residual Magnetic Moment }; diff --git a/src/simulation/spacecraft/structure/surface.hpp b/src/simulation/spacecraft/structure/surface.hpp index c98386bae..73a09d6e6 100644 --- a/src/simulation/spacecraft/structure/surface.hpp +++ b/src/simulation/spacecraft/structure/surface.hpp @@ -26,7 +26,7 @@ class Surface { * @fn ~Surface * @brief Destructor */ - ~Surface(){}; + ~Surface() {}; // Getter /** diff --git a/src/simulation_sample/ground_station/sample_ground_station.cpp b/src/simulation_sample/ground_station/sample_ground_station.cpp index 4ec523260..d75acb258 100644 --- a/src/simulation_sample/ground_station/sample_ground_station.cpp +++ b/src/simulation_sample/ground_station/sample_ground_station.cpp @@ -16,7 +16,7 @@ SampleGroundStation::SampleGroundStation(const simulation::SimulationConfigurati SampleGroundStation::~SampleGroundStation() { delete components_; } -void SampleGroundStation::LogSetup(Logger& logger) { +void SampleGroundStation::LogSetup(logger::Logger& logger) { simulation::GroundStation::LogSetup(logger); components_->CompoLogSetUp(logger); } diff --git a/src/simulation_sample/ground_station/sample_ground_station.hpp b/src/simulation_sample/ground_station/sample_ground_station.hpp index aafafada0..bee3024f9 100644 --- a/src/simulation_sample/ground_station/sample_ground_station.hpp +++ b/src/simulation_sample/ground_station/sample_ground_station.hpp @@ -39,7 +39,7 @@ class SampleGroundStation : public simulation::GroundStation { * @fn LogSetup * @brief Override function of LogSetup in GroundStation class */ - virtual void LogSetup(Logger& logger); + virtual void LogSetup(logger::Logger& logger); /** * @fn Update * @brief Override function of Update in GroundStation class diff --git a/src/simulation_sample/ground_station/sample_ground_station_components.hpp b/src/simulation_sample/ground_station/sample_ground_station_components.hpp index 35d5571da..35df9ce22 100644 --- a/src/simulation_sample/ground_station/sample_ground_station_components.hpp +++ b/src/simulation_sample/ground_station/sample_ground_station_components.hpp @@ -31,7 +31,7 @@ class SampleGsComponents { * @fn CompoLogSetUp * @brief Log setup for ground station components */ - void CompoLogSetUp(Logger& logger); + void CompoLogSetUp(logger::Logger& logger); // Getter /** diff --git a/src/simulation_sample/spacecraft/sample_components.cpp b/src/simulation_sample/spacecraft/sample_components.cpp index 1554f6ccb..2226ce032 100644 --- a/src/simulation_sample/spacecraft/sample_components.cpp +++ b/src/simulation_sample/spacecraft/sample_components.cpp @@ -13,7 +13,7 @@ namespace s2e::sample { using namespace components; -SampleComponents::SampleComponents(const dynamics::dynamics::Dynamics* dynamics, simulation::Structure* structure, +SampleComponents::SampleComponents(const dynamics::Dynamics* dynamics, simulation::Structure* structure, const environment::LocalEnvironment* local_environment, const environment::GlobalEnvironment* global_environment, const simulation::SimulationConfiguration* configuration, environment::ClockGenerator* clock_generator, const unsigned int spacecraft_id) diff --git a/src/simulation_sample/spacecraft/sample_components.hpp b/src/simulation_sample/spacecraft/sample_components.hpp index 428ec9645..b15bc5b2c 100644 --- a/src/simulation_sample/spacecraft/sample_components.hpp +++ b/src/simulation_sample/spacecraft/sample_components.hpp @@ -34,23 +34,25 @@ #include #include -namespace s2e::sample { +namespace s2e::components { +class OnBoardComputer; +class PowerControlUnit; +class GyroSensor; +class Magnetometer; +class StarSensor; +class SunSensor; +class GnssReceiver; +class Magnetorquer; +class ReactionWheel; +class SimpleThruster; +class ForceGenerator; +class TorqueGenerator; +class AngularVelocityObserver; +class AttitudeObserver; +class Telescope; +} // namespace s2e::components -class components::OnBoardComputer; -class components::PowerControlUnit; -class components::GyroSensor; -class components::Magnetometer; -class components::StarSensor; -class components::SunSensor; -class components::GnssReceiver; -class components::Magnetorquer; -class components::ReactionWheel; -class components::SimpleThruster; -class components::ForceGenerator; -class components::TorqueGenerator; -class components::AngularVelocityObserver; -class components::AttitudeObserver; -class components::Telescope; +namespace s2e::sample { /** * @class SampleComponents @@ -62,10 +64,9 @@ class SampleComponents : public simulation::InstalledComponents { * @fn SampleComponents * @brief Constructor */ - SampleComponents(const dynamics::dynamics::Dynamics* dynamics, simulation::Structure* structure, - const environment::LocalEnvironment* local_environment, const environment::GlobalEnvironment* global_environment, - const simulation::SimulationConfiguration* configuration, environment::ClockGenerator* clock_generator, - const unsigned int spacecraft_id); + SampleComponents(const dynamics::Dynamics* dynamics, simulation::Structure* structure, const environment::LocalEnvironment* local_environment, + const environment::GlobalEnvironment* global_environment, const simulation::SimulationConfiguration* configuration, + environment::ClockGenerator* clock_generator, const unsigned int spacecraft_id); /** * @fn ~SampleComponents * @brief Destructor @@ -140,7 +141,7 @@ class SampleComponents : public simulation::InstalledComponents { // States const simulation::SimulationConfiguration* configuration_; //!< Simulation settings - const dynamics::dynamics::Dynamics* dynamics_; //!< Dynamics information of the spacecraft + const dynamics::Dynamics* dynamics_; //!< Dynamics information of the spacecraft simulation::Structure* structure_; //!< Structure information of the spacecraft const environment::LocalEnvironment* local_environment_; //!< Local environment information around the spacecraft const environment::GlobalEnvironment* global_environment_; //!< Global environment information From b50e583508222a56d0bcd234413c8b45cdbe8465 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 1 Oct 2024 23:35:54 +0900 Subject: [PATCH 450/456] Fix bug --- .../base/sensor_template_functions.hpp | 2 +- src/components/ideal/attitude_observer.hpp | 4 +-- src/components/ideal/force_generator.hpp | 6 ++-- src/components/ideal/orbit_observer.cpp | 2 +- src/components/ideal/orbit_observer.hpp | 4 +-- src/components/ideal/torque_generator.hpp | 6 ++-- src/components/real/aocs/gnss_receiver.cpp | 10 +++--- src/components/real/aocs/gnss_receiver.hpp | 12 +++---- src/components/real/aocs/magnetorquer.hpp | 6 ++-- src/components/real/aocs/reaction_wheel.hpp | 8 ++--- src/components/real/aocs/star_sensor.cpp | 12 +++---- src/components/real/aocs/star_sensor.hpp | 6 ++-- src/components/real/aocs/sun_sensor.cpp | 7 ++-- src/components/real/aocs/sun_sensor.hpp | 8 ++--- src/disturbances/geopotential.cpp | 2 +- src/disturbances/lunar_gravity_field.cpp | 2 +- src/disturbances/lunar_gravity_field.hpp | 2 +- src/disturbances/magnetic_disturbance.cpp | 4 +-- .../attitude_with_cantilever_vibration.cpp | 2 +- .../attitude_with_cantilever_vibration.hpp | 2 +- src/environment/global/gnss_satellites.cpp | 34 +++++++++---------- src/environment/global/gnss_satellites.hpp | 25 +++++++------- src/environment/global/moon_rotation.cpp | 2 +- src/environment/local/atmosphere.cpp | 6 ++-- src/environment/local/geomagnetic_field.cpp | 4 +-- src/environment/local/geomagnetic_field.hpp | 2 +- .../atmosphere/harris_priester_model.cpp | 2 +- .../atmosphere/harris_priester_model.hpp | 2 +- src/math_physics/gnss/antex_file_reader.cpp | 4 +-- src/math_physics/gnss/antex_file_reader.hpp | 14 ++++---- src/math_physics/gnss/sp3_file_reader.cpp | 18 +++++----- src/math_physics/gnss/sp3_file_reader.hpp | 28 +++++++-------- .../randomization/global_randomization.hpp | 6 ++-- src/s2e.cpp | 6 +--- .../ground_station/ground_station.cpp | 2 +- .../initialize_monte_carlo_parameters.hpp | 2 +- 36 files changed, 128 insertions(+), 136 deletions(-) diff --git a/src/components/base/sensor_template_functions.hpp b/src/components/base/sensor_template_functions.hpp index 89bcd73ab..469a3e2b1 100644 --- a/src/components/base/sensor_template_functions.hpp +++ b/src/components/base/sensor_template_functions.hpp @@ -22,7 +22,7 @@ Sensor::Sensor(const math::Matrix& scale_factor, const math::Vector& range_to_zero_c_(range_to_zero_c), random_walk_noise_c_(random_walk_step_width_s, random_walk_standard_deviation_c, random_walk_limit_c) { for (size_t i = 0; i < N; i++) { - normal_random_noise_c_[i].SetParameters(0.0, normal_random_standard_deviation_c[i], s2e::randomization::global_randomization.MakeSeed()); + normal_random_noise_c_[i].SetParameters(0.0, normal_random_standard_deviation_c[i], randomization::global_randomization.MakeSeed()); } RangeCheck(); } diff --git a/src/components/ideal/attitude_observer.hpp b/src/components/ideal/attitude_observer.hpp index 0dfd29fe7..410913884 100644 --- a/src/components/ideal/attitude_observer.hpp +++ b/src/components/ideal/attitude_observer.hpp @@ -65,8 +65,8 @@ class AttitudeObserver : public Component, public logger::ILoggable { protected: math::Quaternion observed_quaternion_i2b_ = {0.0, 0.0, 0.0, 1.0}; //!< Observed quaternion - s2e::randomization::NormalRand angle_noise_; //!< Normal random for magnitude noise - s2e::randomization::NormalRand direction_noise_; //!< Normal random for direction noise + randomization::NormalRand angle_noise_; //!< Normal random for magnitude noise + randomization::NormalRand direction_noise_; //!< Normal random for direction noise const dynamics::attitude::Attitude& attitude_; //!< dynamics::attitude::Attitude information }; diff --git a/src/components/ideal/force_generator.hpp b/src/components/ideal/force_generator.hpp index ac781993d..66fdcadea 100644 --- a/src/components/ideal/force_generator.hpp +++ b/src/components/ideal/force_generator.hpp @@ -102,9 +102,9 @@ class ForceGenerator : public Component, public logger::ILoggable { math::Vector<3> generated_force_rtn_N_{0.0}; //!< Generated force in the RTN frame [N] // Noise - s2e::randomization::NormalRand magnitude_noise_; //!< Normal random for magnitude noise - s2e::randomization::NormalRand direction_noise_; //!< Normal random for direction noise - double direction_error_standard_deviation_rad_; //!< Standard deviation of direction error [rad] + randomization::NormalRand magnitude_noise_; //!< Normal random for magnitude noise + randomization::NormalRand direction_noise_; //!< Normal random for direction noise + double direction_error_standard_deviation_rad_; //!< Standard deviation of direction error [rad] /** * @fn GenerateDirectionNoiseQuaternion diff --git a/src/components/ideal/orbit_observer.cpp b/src/components/ideal/orbit_observer.cpp index ca3fa09bc..ce68afc76 100644 --- a/src/components/ideal/orbit_observer.cpp +++ b/src/components/ideal/orbit_observer.cpp @@ -14,7 +14,7 @@ OrbitObserver::OrbitObserver(const int prescaler, environment::ClockGenerator* c const math::Vector<6> error_standard_deviation, const dynamics::orbit::Orbit& orbit) : Component(prescaler, clock_generator), noise_frame_(noise_frame), orbit_(orbit) { for (size_t i = 0; i < 6; i++) { - normal_random_noise_[i].SetParameters(0.0, error_standard_deviation[i], s2e::randomization::global_randomization.MakeSeed()); + normal_random_noise_[i].SetParameters(0.0, error_standard_deviation[i], randomization::global_randomization.MakeSeed()); } } diff --git a/src/components/ideal/orbit_observer.hpp b/src/components/ideal/orbit_observer.hpp index a9216dde2..17997925b 100644 --- a/src/components/ideal/orbit_observer.hpp +++ b/src/components/ideal/orbit_observer.hpp @@ -83,8 +83,8 @@ class OrbitObserver : public Component, public logger::ILoggable { math::Vector<3> observed_position_i_m_{0.0}; //!< Observed position @ inertial frame [m] math::Vector<3> observed_velocity_i_m_s_{0.0}; //!< Observed velocity @ inertial frame [m/s] - NoiseFrame noise_frame_; //!< Noise definition frame - s2e::randomization::NormalRand normal_random_noise_[6]; //!< Position and Velocity noise [m, m/s] + NoiseFrame noise_frame_; //!< Noise definition frame + randomization::NormalRand normal_random_noise_[6]; //!< Position and Velocity noise [m, m/s] // Observed variables const dynamics::orbit::Orbit& orbit_; //!< Orbit information diff --git a/src/components/ideal/torque_generator.hpp b/src/components/ideal/torque_generator.hpp index 4ea760c30..726f7aed8 100644 --- a/src/components/ideal/torque_generator.hpp +++ b/src/components/ideal/torque_generator.hpp @@ -80,9 +80,9 @@ class TorqueGenerator : public Component, public logger::ILoggable { math::Vector<3> generated_torque_b_Nm_{0.0}; //!< Generated torque in the body fixed frame [Nm] // Noise - s2e::randomization::NormalRand magnitude_noise_; //!< Normal random for magnitude noise - s2e::randomization::NormalRand direction_noise_; //!< Normal random for direction noise - double direction_error_standard_deviation_rad_; //!< Standard deviation of direction error [rad] + randomization::NormalRand magnitude_noise_; //!< Normal random for magnitude noise + randomization::NormalRand direction_noise_; //!< Normal random for direction noise + double direction_error_standard_deviation_rad_; //!< Standard deviation of direction error [rad] /** * @fn GenerateDirectionNoiseQuaternion diff --git a/src/components/real/aocs/gnss_receiver.cpp b/src/components/real/aocs/gnss_receiver.cpp index 330844dd9..8acf57890 100644 --- a/src/components/real/aocs/gnss_receiver.cpp +++ b/src/components/real/aocs/gnss_receiver.cpp @@ -28,10 +28,9 @@ GnssReceiver::GnssReceiver(const int prescaler, environment::ClockGenerator* clo gnss_satellites_(gnss_satellites), simulation_time_(simulation_time) { for (size_t i = 0; i < 3; i++) { - position_random_noise_ecef_m_[i].SetParameters(0.0, position_noise_standard_deviation_ecef_m[i], - s2e::randomization::global_randomization.MakeSeed()); + position_random_noise_ecef_m_[i].SetParameters(0.0, position_noise_standard_deviation_ecef_m[i], randomization::global_randomization.MakeSeed()); velocity_random_noise_ecef_m_s_[i].SetParameters(0.0, velocity_noise_standard_deviation_ecef_m_s[i], - s2e::randomization::global_randomization.MakeSeed()); + randomization::global_randomization.MakeSeed()); } } @@ -50,10 +49,9 @@ GnssReceiver::GnssReceiver(const int prescaler, environment::ClockGenerator* clo gnss_satellites_(gnss_satellites), simulation_time_(simulation_time) { for (size_t i = 0; i < 3; i++) { - position_random_noise_ecef_m_[i].SetParameters(0.0, position_noise_standard_deviation_ecef_m[i], - s2e::randomization::global_randomization.MakeSeed()); + position_random_noise_ecef_m_[i].SetParameters(0.0, position_noise_standard_deviation_ecef_m[i], randomization::global_randomization.MakeSeed()); velocity_random_noise_ecef_m_s_[i].SetParameters(0.0, velocity_noise_standard_deviation_ecef_m_s[i], - s2e::randomization::global_randomization.MakeSeed()); + randomization::global_randomization.MakeSeed()); } } diff --git a/src/components/real/aocs/gnss_receiver.hpp b/src/components/real/aocs/gnss_receiver.hpp index 604b11927..7c1b586d0 100644 --- a/src/components/real/aocs/gnss_receiver.hpp +++ b/src/components/real/aocs/gnss_receiver.hpp @@ -110,7 +110,7 @@ class GnssReceiver : public Component, public logger::ILoggable { * @fn GetMeasuredGeodeticPosition * @brief Return Observed position in the LLH frame [m] */ - inline const s2e::geodesy::GeodeticPosition GetMeasuredGeodeticPosition(void) const { return geodetic_position_; } + inline const geodesy::GeodeticPosition GetMeasuredGeodeticPosition(void) const { return geodetic_position_; } /** * @fn GetMeasuredVelocity_ecef_m_s * @brief Return Observed velocity in the ECEF frame [m/s] @@ -140,11 +140,11 @@ class GnssReceiver : public Component, public logger::ILoggable { AntennaModel antenna_model_; //!< Antenna model // Simple position observation - s2e::randomization::NormalRand position_random_noise_ecef_m_[3]; //!< Random noise for position at the ECEF frame [m] - s2e::randomization::NormalRand velocity_random_noise_ecef_m_s_[3]; //!< Random noise for velocity at the ECEF frame [m] - math::Vector<3> position_ecef_m_{0.0}; //!< Observed position in the ECEF frame [m] - math::Vector<3> velocity_ecef_m_s_{0.0}; //!< Observed velocity in the ECEF frame [m/s] - s2e::geodesy::GeodeticPosition geodetic_position_; //!< Observed position in the geodetic frame + randomization::NormalRand position_random_noise_ecef_m_[3]; //!< Random noise for position at the ECEF frame [m] + randomization::NormalRand velocity_random_noise_ecef_m_s_[3]; //!< Random noise for velocity at the ECEF frame [m] + math::Vector<3> position_ecef_m_{0.0}; //!< Observed position in the ECEF frame [m] + math::Vector<3> velocity_ecef_m_s_{0.0}; //!< Observed velocity in the ECEF frame [m/s] + geodesy::GeodeticPosition geodetic_position_; //!< Observed position in the geodetic frame // Time observation environment::UTC utc_ = {2000, 1, 1, 0, 0, 0.0}; //!< Observed time in UTC [year, month, day, hour, min, sec] diff --git a/src/components/real/aocs/magnetorquer.hpp b/src/components/real/aocs/magnetorquer.hpp index b3f0b6ff1..0ef0a5e4b 100644 --- a/src/components/real/aocs/magnetorquer.hpp +++ b/src/components/real/aocs/magnetorquer.hpp @@ -134,9 +134,9 @@ class Magnetorquer : public Component, public logger::ILoggable { math::Vector max_magnetic_moment_c_Am2_{100.0}; //!< Maximum magnetic moment in the component frame [Am2] math::Vector min_magnetic_moment_c_Am2_{-100.0}; //!< Minimum magnetic moment in the component frame [Am2] - math::Vector bias_noise_c_Am2_{0.0}; //!< Constant bias noise in the component frame [Am2] - randomization::RandomWalk random_walk_c_Am2_; //!< Random walk noise - s2e::randomization::NormalRand random_noise_c_Am2_[kMtqDimension]; //!< Normal random noise + math::Vector bias_noise_c_Am2_{0.0}; //!< Constant bias noise in the component frame [Am2] + randomization::RandomWalk random_walk_c_Am2_; //!< Random walk noise + randomization::NormalRand random_noise_c_Am2_[kMtqDimension]; //!< Normal random noise const environment::GeomagneticField* geomagnetic_field_; //!< Geomagnetic environment diff --git a/src/components/real/aocs/reaction_wheel.hpp b/src/components/real/aocs/reaction_wheel.hpp index e59f704b2..39965a692 100644 --- a/src/components/real/aocs/reaction_wheel.hpp +++ b/src/components/real/aocs/reaction_wheel.hpp @@ -182,10 +182,10 @@ class ReactionWheel : public Component, public logger::ILoggable { math::Vector<3> rotation_axis_b_; //!< Wheel rotation vector in the body fixed frame. // Parameters for control delay - const double step_width_s_; //!< step width for ReactionWheelOde [sec] - const double dead_time_s_; //!< dead time [sec] - std::vector acceleration_delay_buffer_; //!< Delay buffer for acceleration - s2e::control_utilities::FirstOrderLag delayed_acceleration_rad_s2_; //!< Delayed acceleration [rad/s2] + const double step_width_s_; //!< step width for ReactionWheelOde [sec] + const double dead_time_s_; //!< dead time [sec] + std::vector acceleration_delay_buffer_; //!< Delay buffer for acceleration + control_utilities::FirstOrderLag delayed_acceleration_rad_s2_; //!< Delayed acceleration [rad/s2] // Coasting friction // f_rad_s2 = v_rad_s * coefficients(0) + (v_rad_s)^2 * coefficients(1) + ... diff --git a/src/components/real/aocs/star_sensor.cpp b/src/components/real/aocs/star_sensor.cpp index 1e57e269b..1ce9315a3 100644 --- a/src/components/real/aocs/star_sensor.cpp +++ b/src/components/real/aocs/star_sensor.cpp @@ -27,9 +27,9 @@ StarSensor::StarSensor(const int prescaler, environment::ClockGenerator* clock_g : Component(prescaler, clock_generator), component_id_(component_id), quaternion_b2c_(quaternion_b2c), - rotation_noise_(s2e::randomization::global_randomization.MakeSeed()), - orthogonal_direction_noise_(0.0, standard_deviation_orthogonal_direction, s2e::randomization::global_randomization.MakeSeed()), - sight_direction_noise_(0.0, standard_deviation_sight_direction, s2e::randomization::global_randomization.MakeSeed()), + rotation_noise_(randomization::global_randomization.MakeSeed()), + orthogonal_direction_noise_(0.0, standard_deviation_orthogonal_direction, randomization::global_randomization.MakeSeed()), + sight_direction_noise_(0.0, standard_deviation_sight_direction, randomization::global_randomization.MakeSeed()), buffer_position_(0), step_time_s_(step_time_s), output_delay_(output_delay), @@ -52,9 +52,9 @@ StarSensor::StarSensor(const int prescaler, environment::ClockGenerator* clock_g : Component(prescaler, clock_generator, power_port), component_id_(component_id), quaternion_b2c_(quaternion_b2c), - rotation_noise_(s2e::randomization::global_randomization.MakeSeed()), - orthogonal_direction_noise_(0.0, standard_deviation_orthogonal_direction, s2e::randomization::global_randomization.MakeSeed()), - sight_direction_noise_(0.0, standard_deviation_sight_direction, s2e::randomization::global_randomization.MakeSeed()), + rotation_noise_(randomization::global_randomization.MakeSeed()), + orthogonal_direction_noise_(0.0, standard_deviation_orthogonal_direction, randomization::global_randomization.MakeSeed()), + sight_direction_noise_(0.0, standard_deviation_sight_direction, randomization::global_randomization.MakeSeed()), buffer_position_(0), step_time_s_(step_time_s), output_delay_(output_delay), diff --git a/src/components/real/aocs/star_sensor.hpp b/src/components/real/aocs/star_sensor.hpp index 99bc47819..0f3f7e321 100644 --- a/src/components/real/aocs/star_sensor.hpp +++ b/src/components/real/aocs/star_sensor.hpp @@ -117,9 +117,9 @@ class StarSensor : public Component, public logger::ILoggable { math::Vector<3> second_orthogonal_direction_c; //!< The second orthogonal direction of sight at component frame // Noise parameters - s2e::randomization::MinimalStandardLcgWithShuffle rotation_noise_; //!< Randomize object for orthogonal direction - s2e::randomization::NormalRand orthogonal_direction_noise_; //!< Random noise for orthogonal direction of sight - s2e::randomization::NormalRand sight_direction_noise_; //!< Random noise for sight direction + randomization::MinimalStandardLcgWithShuffle rotation_noise_; //!< Randomize object for orthogonal direction + randomization::NormalRand orthogonal_direction_noise_; //!< Random noise for orthogonal direction of sight + randomization::NormalRand sight_direction_noise_; //!< Random noise for sight direction // Delay emulation parameters int max_delay_; //!< Max delay diff --git a/src/components/real/aocs/sun_sensor.cpp b/src/components/real/aocs/sun_sensor.cpp index 0ef97c8db..3745d99b7 100644 --- a/src/components/real/aocs/sun_sensor.cpp +++ b/src/components/real/aocs/sun_sensor.cpp @@ -5,11 +5,10 @@ #include "sun_sensor.hpp" -#include -#include -using s2e::randomization::NormalRand; #include +#include #include +#include #include using namespace std; @@ -48,7 +47,7 @@ SunSensor::SunSensor(const int prescaler, environment::ClockGenerator* clock_gen void SunSensor::Initialize(const double random_noise_standard_deviation_rad, const double bias_noise_standard_deviation_rad) { // Bias - NormalRand nr(0.0, bias_noise_standard_deviation_rad, s2e::randomization::global_randomization.MakeSeed()); + randomization::NormalRand nr(0.0, bias_noise_standard_deviation_rad, randomization::global_randomization.MakeSeed()); bias_noise_alpha_rad_ += nr; bias_noise_beta_rad_ += nr; diff --git a/src/components/real/aocs/sun_sensor.hpp b/src/components/real/aocs/sun_sensor.hpp index e235bc618..33dd9c5fd 100644 --- a/src/components/real/aocs/sun_sensor.hpp +++ b/src/components/real/aocs/sun_sensor.hpp @@ -103,10 +103,10 @@ class SunSensor : public Component, public logger::ILoggable { double detectable_angle_rad_; //!< half angle (>0) [rad] bool sun_detected_flag_ = false; //!< Sun detected flag // Noise parameters - s2e::randomization::NormalRand random_noise_alpha_; //!< Normal random for alpha angle - s2e::randomization::NormalRand random_noise_beta_; //!< Normal random for beta angle - double bias_noise_alpha_rad_ = 0.0; //!< Constant bias for alpha angle (Value is calculated by random number generator) - double bias_noise_beta_rad_ = 0.0; //!< Constant bias for beta angle (Value is calculated by random number generator) + randomization::NormalRand random_noise_alpha_; //!< Normal random for alpha angle + randomization::NormalRand random_noise_beta_; //!< Normal random for beta angle + double bias_noise_alpha_rad_ = 0.0; //!< Constant bias for alpha angle (Value is calculated by random number generator) + double bias_noise_beta_rad_ = 0.0; //!< Constant bias for beta angle (Value is calculated by random number generator) // Measured variables const environment::SolarRadiationPressureEnvironment* srp_environment_; //!< Solar Radiation Pressure environment diff --git a/src/disturbances/geopotential.cpp b/src/disturbances/geopotential.cpp index 966a5497f..cb6ba222c 100644 --- a/src/disturbances/geopotential.cpp +++ b/src/disturbances/geopotential.cpp @@ -45,7 +45,7 @@ Geopotential::Geopotential(const int degree, const std::string file_path, const } } // Initialize GravityPotential - geopotential_ = s2e::gravity::GravityPotential(degree, c_, s_); + geopotential_ = gravity::GravityPotential(degree, c_, s_); } bool Geopotential::ReadCoefficientsEgm96(std::string file_name) { diff --git a/src/disturbances/lunar_gravity_field.cpp b/src/disturbances/lunar_gravity_field.cpp index dd94cc74c..182b4472d 100644 --- a/src/disturbances/lunar_gravity_field.cpp +++ b/src/disturbances/lunar_gravity_field.cpp @@ -48,7 +48,7 @@ LunarGravityField::LunarGravityField(const int degree, const std::string file_pa } } // Initialize GravityPotential - lunar_potential_ = s2e::gravity::GravityPotential(degree, c_, s_, gravity_constants_km3_s2_ * 1e9, reference_radius_km_ * 1e3); + lunar_potential_ = gravity::GravityPotential(degree, c_, s_, gravity_constants_km3_s2_ * 1e9, reference_radius_km_ * 1e3); } bool LunarGravityField::ReadCoefficientsGrgm1200a(std::string file_name) { diff --git a/src/disturbances/lunar_gravity_field.hpp b/src/disturbances/lunar_gravity_field.hpp index 2faf53420..04727d670 100644 --- a/src/disturbances/lunar_gravity_field.hpp +++ b/src/disturbances/lunar_gravity_field.hpp @@ -65,7 +65,7 @@ class LunarGravityField : public Disturbance { virtual std::string GetLogValue() const; private: - s2e::gravity::GravityPotential lunar_potential_; + gravity::GravityPotential lunar_potential_; double reference_radius_km_; double gravity_constants_km3_s2_; size_t degree_; //!< Maximum degree setting to calculate the geo-potential diff --git a/src/disturbances/magnetic_disturbance.cpp b/src/disturbances/magnetic_disturbance.cpp index f39f3539b..ad48b6bed 100644 --- a/src/disturbances/magnetic_disturbance.cpp +++ b/src/disturbances/magnetic_disturbance.cpp @@ -36,8 +36,8 @@ void MagneticDisturbance::CalcRMM() { static math::Vector<3> random_walk_std_dev(residual_magnetic_moment_.GetRandomWalkStandardDeviation_Am2()); static math::Vector<3> random_walk_limit(residual_magnetic_moment_.GetRandomWalkLimit_Am2()); static randomization::RandomWalk<3> random_walk(0.1, random_walk_std_dev, random_walk_limit); // [FIXME] step width is constant - static s2e::randomization::NormalRand normal_random(0.0, residual_magnetic_moment_.GetRandomNoiseStandardDeviation_Am2(), - s2e::randomization::global_randomization.MakeSeed()); + static randomization::NormalRand normal_random(0.0, residual_magnetic_moment_.GetRandomNoiseStandardDeviation_Am2(), + randomization::global_randomization.MakeSeed()); rmm_b_Am2_ = residual_magnetic_moment_.GetConstantValue_b_Am2(); for (int i = 0; i < 3; ++i) { diff --git a/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp b/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp index dbfd569d4..bcda0d5c2 100644 --- a/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp +++ b/src/dynamics/attitude/attitude_with_cantilever_vibration.cpp @@ -17,7 +17,7 @@ AttitudeWithCantileverVibration::AttitudeWithCantileverVibration( const std::string& simulation_object_name) : Attitude(inertia_tensor_kgm2, simulation_object_name), numerical_integrator_(propagation_step_s, attitude_ode_, - s2e::numerical_integration::NumericalIntegrationMethod::kRk4) { //!< TODO: Set NumericalIntegrationMethod in *.ini file + numerical_integration::NumericalIntegrationMethod::kRk4) { //!< TODO: Set NumericalIntegrationMethod in *.ini file angular_velocity_b_rad_s_ = angular_velocity_b_rad_s; quaternion_i2b_ = quaternion_i2b; torque_b_Nm_ = torque_b_Nm; diff --git a/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp b/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp index 0484e7c54..f5f7747fa 100644 --- a/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp +++ b/src/dynamics/attitude/attitude_with_cantilever_vibration.hpp @@ -76,7 +76,7 @@ class AttitudeWithCantileverVibration : public Attitude { math::Vector<3> euler_angular_cantilever_rad_{0.0}; //!< Euler angle of the cantilever with respect to the body frame [rad/s] AttitudeWithCantileverVibrationOde attitude_ode_; - s2e::numerical_integration::NumericalIntegratorManager<13> numerical_integrator_; + numerical_integration::NumericalIntegratorManager<13> numerical_integrator_; }; } // namespace s2e::dynamics::attitude diff --git a/src/environment/global/gnss_satellites.cpp b/src/environment/global/gnss_satellites.cpp index 17219887c..25724b5e2 100644 --- a/src/environment/global/gnss_satellites.cpp +++ b/src/environment/global/gnss_satellites.cpp @@ -21,7 +21,7 @@ namespace s2e::environment { const size_t kNumberOfInterpolation = 9; -void GnssSatellites::Initialize(const std::vector& sp3_files, const s2e::time_system::EpochTime start_time) { +void GnssSatellites::Initialize(const std::vector& sp3_files, const time_system::EpochTime start_time) { sp3_files_ = sp3_files; current_epoch_time_ = start_time; @@ -39,10 +39,10 @@ void GnssSatellites::Initialize(const std::vector& sp3_files, con if (nearest_epoch_id >= half_interpolation_number) { reference_interpolation_id_ = nearest_epoch_id - half_interpolation_number; } - reference_time_ = s2e::time_system::EpochTime(initial_sp3_file.GetEpochData(reference_interpolation_id_)); + reference_time_ = time_system::EpochTime(initial_sp3_file.GetEpochData(reference_interpolation_id_)); // Initialize orbit - orbit_.assign(number_of_calculated_gnss_satellites_, s2e::orbit::InterpolationOrbit(kNumberOfInterpolation)); + orbit_.assign(number_of_calculated_gnss_satellites_, orbit::InterpolationOrbit(kNumberOfInterpolation)); // Initialize clock std::vector temp; @@ -62,9 +62,9 @@ void GnssSatellites::Update(const SimulationTime& simulation_time) { // Get time UTC current_utc = simulation_time.GetCurrentUtc(); - s2e::time_system::DateTime current_date_time((size_t)current_utc.year, (size_t)current_utc.month, (size_t)current_utc.day, (size_t)current_utc.hour, - (size_t)current_utc.minute, current_utc.second); - current_epoch_time_ = s2e::time_system::EpochTime(current_date_time); + time_system::DateTime current_date_time((size_t)current_utc.year, (size_t)current_utc.month, (size_t)current_utc.day, (size_t)current_utc.hour, + (size_t)current_utc.minute, current_utc.second); + current_epoch_time_ = time_system::EpochTime(current_date_time); // Check interpolation update double diff_s = current_epoch_time_.GetTimeWithFraction_s() - reference_time_.GetTimeWithFraction_s(); @@ -76,10 +76,10 @@ void GnssSatellites::Update(const SimulationTime& simulation_time) { return; } -math::Vector<3> GnssSatellites::GetPosition_ecef_m(const size_t gnss_satellite_id, const s2e::time_system::EpochTime time) const { +math::Vector<3> GnssSatellites::GetPosition_ecef_m(const size_t gnss_satellite_id, const time_system::EpochTime time) const { if (gnss_satellite_id > number_of_calculated_gnss_satellites_) return math::Vector<3>(0.0); - s2e::time_system::EpochTime target_time; + time_system::EpochTime target_time; if (time.GetTime_s() == 0) { target_time = current_epoch_time_; @@ -94,10 +94,10 @@ math::Vector<3> GnssSatellites::GetPosition_ecef_m(const size_t gnss_satellite_i return orbit_[gnss_satellite_id].CalcPositionWithTrigonometric(diff_s, math::tau / kOrbitalPeriodCorrection_s); } -double GnssSatellites::GetClock_s(const size_t gnss_satellite_id, const s2e::time_system::EpochTime time) const { +double GnssSatellites::GetClock_s(const size_t gnss_satellite_id, const time_system::EpochTime time) const { if (gnss_satellite_id > number_of_calculated_gnss_satellites_) return 0.0; - s2e::time_system::EpochTime target_time; + time_system::EpochTime target_time; if (time.GetTime_s() == 0) { target_time = current_epoch_time_; @@ -111,9 +111,9 @@ double GnssSatellites::GetClock_s(const size_t gnss_satellite_id, const s2e::tim return clock_[gnss_satellite_id].CalcPolynomial(diff_s) * 1e-6; } -bool GnssSatellites::GetCurrentSp3File(Sp3FileReader& current_sp3_file, const s2e::time_system::EpochTime current_time) { +bool GnssSatellites::GetCurrentSp3File(Sp3FileReader& current_sp3_file, const time_system::EpochTime current_time) { for (size_t i = 0; i < sp3_files_.size(); i++) { - s2e::time_system::EpochTime sp3_start_time(sp3_files_[i].GetStartEpochDateTime()); + time_system::EpochTime sp3_start_time(sp3_files_[i].GetStartEpochDateTime()); double diff_s = current_time.GetTimeWithFraction_s() - sp3_start_time.GetTimeWithFraction_s(); if (diff_s < 0.0) { // Error @@ -131,7 +131,7 @@ bool GnssSatellites::UpdateInterpolationInformation() { Sp3FileReader sp3_file = sp3_files_[sp3_file_id_]; for (size_t gnss_id = 0; gnss_id < number_of_calculated_gnss_satellites_; gnss_id++) { - s2e::time_system::EpochTime sp3_time = s2e::time_system::EpochTime(sp3_file.GetEpochData(reference_interpolation_id_)); + time_system::EpochTime sp3_time = time_system::EpochTime(sp3_file.GetEpochData(reference_interpolation_id_)); double time_diff_s = sp3_time.GetTimeWithFraction_s() - reference_time_.GetTimeWithFraction_s(); math::Vector<3> sp3_position_m = 1000.0 * sp3_file.GetSatellitePosition_km(reference_interpolation_id_, gnss_id); @@ -228,10 +228,10 @@ GnssSatellites* InitGnssSatellites(const std::string file_name, const EarthRotat } // - s2e::time_system::DateTime start_date_time((size_t)simulation_time.GetStartYear(), (size_t)simulation_time.GetStartMonth(), - (size_t)simulation_time.GetStartDay(), (size_t)simulation_time.GetStartHour(), - (size_t)simulation_time.GetStartMinute(), simulation_time.GetStartSecond()); - s2e::time_system::EpochTime start_epoch_time(start_date_time); + time_system::DateTime start_date_time((size_t)simulation_time.GetStartYear(), (size_t)simulation_time.GetStartMonth(), + (size_t)simulation_time.GetStartDay(), (size_t)simulation_time.GetStartHour(), + (size_t)simulation_time.GetStartMinute(), simulation_time.GetStartSecond()); + time_system::EpochTime start_epoch_time(start_date_time); gnss_satellites->Initialize(sp3_file_readers, start_epoch_time); return gnss_satellites; diff --git a/src/environment/global/gnss_satellites.hpp b/src/environment/global/gnss_satellites.hpp index c88f86a69..065dc5840 100644 --- a/src/environment/global/gnss_satellites.hpp +++ b/src/environment/global/gnss_satellites.hpp @@ -56,7 +56,7 @@ class GnssSatellites : public logger::ILoggable { * @param [in] sp3_files: List of SP3 files * @param [in] start_time: The simulation start time */ - void Initialize(const std::vector& sp3_files, const s2e::time_system::EpochTime start_time); + void Initialize(const std::vector& sp3_files, const time_system::EpochTime start_time); /** * @fn IsCalcEnabled @@ -89,8 +89,7 @@ class GnssSatellites : public logger::ILoggable { * @param [in] time: Target time to get the GNSS satellite. When the argument is not set, the last updated time is used for the calculation. * @return GNSS satellite position at ECEF frame at the time. Or return zero vector when the arguments are out of range. */ - math::Vector<3> GetPosition_ecef_m(const size_t gnss_satellite_id, - const s2e::time_system::EpochTime time = s2e::time_system::EpochTime(0, 0.0)) const; + math::Vector<3> GetPosition_ecef_m(const size_t gnss_satellite_id, const time_system::EpochTime time = time_system::EpochTime(0, 0.0)) const; /** * @fn GetGetClock_s @@ -99,7 +98,7 @@ class GnssSatellites : public logger::ILoggable { * @param [in] time: Target time to get the GNSS satellite. When the argument is not set, the last updated time is used for the calculation. * @return GNSS satellite clock offset at the time. Or return zero when the arguments are out of range. */ - double GetClock_s(const size_t gnss_satellite_id, const s2e::time_system::EpochTime time = s2e::time_system::EpochTime(0, 0.0)) const; + double GetClock_s(const size_t gnss_satellite_id, const time_system::EpochTime time = time_system::EpochTime(0, 0.0)) const; // Override logger::ILoggable /** @@ -116,15 +115,15 @@ class GnssSatellites : public logger::ILoggable { private: bool is_calc_enabled_ = false; //!< Flag to manage the GNSS satellite position calculation - std::vector sp3_files_; //!< List of SP3 files - size_t number_of_calculated_gnss_satellites_; //!< Number of calculated GNSS satellites - size_t sp3_file_id_; //!< Current SP3 file ID - s2e::time_system::EpochTime reference_time_; //!< Reference start time of the SP3 handling - size_t reference_interpolation_id_ = 0; //!< Reference epoch ID of the interpolation - s2e::time_system::EpochTime current_epoch_time_; //!< The last updated time + std::vector sp3_files_; //!< List of SP3 files + size_t number_of_calculated_gnss_satellites_; //!< Number of calculated GNSS satellites + size_t sp3_file_id_; //!< Current SP3 file ID + time_system::EpochTime reference_time_; //!< Reference start time of the SP3 handling + size_t reference_interpolation_id_ = 0; //!< Reference epoch ID of the interpolation + time_system::EpochTime current_epoch_time_; //!< The last updated time - std::vector orbit_; //!< GNSS satellite orbit with interpolation - std::vector clock_; //!< GNSS satellite clock offset with interpolation + std::vector orbit_; //!< GNSS satellite orbit with interpolation + std::vector clock_; //!< GNSS satellite clock offset with interpolation // References const EarthRotation& earth_rotation_; //!< Earth rotation @@ -136,7 +135,7 @@ class GnssSatellites : public logger::ILoggable { * @param [in] current_time: Target time * @return true means no error, false means the time argument is out of range */ - bool GetCurrentSp3File(s2e::gnss::Sp3FileReader& current_sp3_file, const s2e::time_system::EpochTime current_time); + bool GetCurrentSp3File(gnss::Sp3FileReader& current_sp3_file, const time_system::EpochTime current_time); /** * @fn UpdateInterpolationInformation diff --git a/src/environment/global/moon_rotation.cpp b/src/environment/global/moon_rotation.cpp index d2f93c659..c2b107b63 100644 --- a/src/environment/global/moon_rotation.cpp +++ b/src/environment/global/moon_rotation.cpp @@ -21,7 +21,7 @@ void MoonRotation::Update(const SimulationTime& simulation_time) { if (mode_ == MoonRotationMode::kSimple) { math::Vector<3> moon_position_eci_m = celestial_information_.GetPositionFromSelectedBody_i_m("MOON", "EARTH"); math::Vector<3> moon_velocity_eci_m_s = celestial_information_.GetVelocityFromSelectedBody_i_m_s("MOON", "EARTH"); - dcm_j2000_to_mcmf_ = s2e::planet_rotation::CalcDcmEciToPrincipalAxis(moon_position_eci_m, moon_velocity_eci_m_s); + dcm_j2000_to_mcmf_ = planet_rotation::CalcDcmEciToPrincipalAxis(moon_position_eci_m, moon_velocity_eci_m_s); } else if (mode_ == MoonRotationMode::kIauMoon) { ConstSpiceChar from[] = "J2000"; ConstSpiceChar to[] = "IAU_MOON"; diff --git a/src/environment/local/atmosphere.cpp b/src/environment/local/atmosphere.cpp index 0e31d6b17..74b232364 100644 --- a/src/environment/local/atmosphere.cpp +++ b/src/environment/local/atmosphere.cpp @@ -58,7 +58,7 @@ double Atmosphere::CalcAirDensity_kg_m3(const double decimal_year, const dynamic if (model_ == "STANDARD") { // Standard model double altitude_m = orbit.GetGeodeticPosition().GetAltitude_m(); - air_density_kg_m3_ = s2e::atmosphere::CalcAirDensityWithSimpleModel(altitude_m); + air_density_kg_m3_ = atmosphere::CalcAirDensityWithSimpleModel(altitude_m); } else if (model_ == "NRLMSISE00") { // NRLMSISE00 model double lat_rad = orbit.GetGeodeticPosition().GetLatitude_rad(); @@ -69,7 +69,7 @@ double Atmosphere::CalcAirDensity_kg_m3(const double decimal_year, const dynamic } else if (model_ == "HARRIS_PRIESTER") { // Harris-Priester math::Vector<3> sun_direction_eci = local_celestial_information_->GetGlobalInformation().GetPositionFromCenter_i_m("SUN").CalcNormalizedVector(); - air_density_kg_m3_ = s2e::atmosphere::CalcAirDensityWithHarrisPriester_kg_m3(orbit.GetGeodeticPosition(), sun_direction_eci); + air_density_kg_m3_ = atmosphere::CalcAirDensityWithHarrisPriester_kg_m3(orbit.GetGeodeticPosition(), sun_direction_eci); } else { // No suitable model return air_density_kg_m3_ = 0.0; @@ -80,7 +80,7 @@ double Atmosphere::CalcAirDensity_kg_m3(const double decimal_year, const dynamic double Atmosphere::AddNoise(const double rho_kg_m3) { // RandomWalk rw(rho_kg_m3*rw_stepwidth_,rho_kg_m3*rw_stddev_,rho_kg_m3*rw_limit_); - s2e::randomization::NormalRand nr(0.0, rho_kg_m3 * gauss_standard_deviation_rate_, s2e::randomization::global_randomization.MakeSeed()); + randomization::NormalRand nr(0.0, rho_kg_m3 * gauss_standard_deviation_rate_, randomization::global_randomization.MakeSeed()); double nrd = nr; return rho_kg_m3 + nrd; diff --git a/src/environment/local/geomagnetic_field.cpp b/src/environment/local/geomagnetic_field.cpp index ba49d575d..8fff876a9 100644 --- a/src/environment/local/geomagnetic_field.cpp +++ b/src/environment/local/geomagnetic_field.cpp @@ -24,7 +24,7 @@ GeomagneticField::GeomagneticField(const std::string igrf_file_name, const doubl set_file_path(igrf_file_name_.c_str()); } -void GeomagneticField::CalcMagneticField(const double decimal_year, const double sidereal_day, const s2e::geodesy::GeodeticPosition position, +void GeomagneticField::CalcMagneticField(const double decimal_year, const double sidereal_day, const geodesy::GeodeticPosition position, const math::Quaternion quaternion_i2b) { if (!IsCalcEnabled) return; @@ -46,7 +46,7 @@ void GeomagneticField::AddNoise(double* magnetic_field_array_i_nT) { static math::Vector<3> limit(random_walk_limit_nT_); static randomization::RandomWalk<3> random_walk(0.1, standard_deviation, limit); - static s2e::randomization::NormalRand white_noise(0.0, white_noise_standard_deviation_nT_, s2e::randomization::global_randomization.MakeSeed()); + static randomization::NormalRand white_noise(0.0, white_noise_standard_deviation_nT_, randomization::global_randomization.MakeSeed()); for (int i = 0; i < 3; ++i) { magnetic_field_array_i_nT[i] += random_walk[i] + white_noise; diff --git a/src/environment/local/geomagnetic_field.hpp b/src/environment/local/geomagnetic_field.hpp index 0317952f3..1f38c03c6 100644 --- a/src/environment/local/geomagnetic_field.hpp +++ b/src/environment/local/geomagnetic_field.hpp @@ -45,7 +45,7 @@ class GeomagneticField : public logger::ILoggable { * @param [in] position: Position of target point to calculate the magnetic field * @param [in] quaternion_i2b: Spacecraft attitude quaternion from the inertial frame to the body fixed frame */ - void CalcMagneticField(const double decimal_year, const double sidereal_day, const s2e::geodesy::GeodeticPosition position, + void CalcMagneticField(const double decimal_year, const double sidereal_day, const geodesy::GeodeticPosition position, const math::Quaternion quaternion_i2b); /** diff --git a/src/math_physics/atmosphere/harris_priester_model.cpp b/src/math_physics/atmosphere/harris_priester_model.cpp index 09d7a2143..6973caf98 100644 --- a/src/math_physics/atmosphere/harris_priester_model.cpp +++ b/src/math_physics/atmosphere/harris_priester_model.cpp @@ -28,7 +28,7 @@ double CalcScaleHeight_km(const std::map::const_iterator density */ double CalcApexDensity_g_km3(const std::map::const_iterator density_itr, const double altitude_km); -double CalcAirDensityWithHarrisPriester_kg_m3(const s2e::geodesy::GeodeticPosition geodetic_position, const math::Vector<3> sun_direction_eci, +double CalcAirDensityWithHarrisPriester_kg_m3(const geodesy::GeodeticPosition geodetic_position, const math::Vector<3> sun_direction_eci, const double f10_7, const double exponent_parameter) { // Altitude double altitude_km = geodetic_position.GetAltitude_m() / 1000.0; diff --git a/src/math_physics/atmosphere/harris_priester_model.hpp b/src/math_physics/atmosphere/harris_priester_model.hpp index 266682c88..8b64550ad 100644 --- a/src/math_physics/atmosphere/harris_priester_model.hpp +++ b/src/math_physics/atmosphere/harris_priester_model.hpp @@ -20,7 +20,7 @@ namespace s2e::atmosphere { * @param [in] exponent_parameter: n in the equation. n=2 for low inclination orbit and n=6 for polar orbit. * @return Atmospheric density [kg/m^3] */ -double CalcAirDensityWithHarrisPriester_kg_m3(const s2e::geodesy::GeodeticPosition geodetic_position, const math::Vector<3> sun_direction_eci, +double CalcAirDensityWithHarrisPriester_kg_m3(const geodesy::GeodeticPosition geodetic_position, const math::Vector<3> sun_direction_eci, const double f10_7 = 100.0, const double exponent_parameter = 4); } // namespace s2e::atmosphere diff --git a/src/math_physics/gnss/antex_file_reader.cpp b/src/math_physics/gnss/antex_file_reader.cpp index e3008d6b0..4a3c74f23 100644 --- a/src/math_physics/gnss/antex_file_reader.cpp +++ b/src/math_physics/gnss/antex_file_reader.cpp @@ -192,11 +192,11 @@ AntexPhaseCenterData AntexFileReader::ReadPhaseCenterData(std::ifstream& antex_f return phase_center_data; } -s2e::time_system::DateTime AntexFileReader::ReadDateTime(std::string line) { +time_system::DateTime AntexFileReader::ReadDateTime(std::string line) { size_t year, month, day, hour, minute; double second; sscanf(line.c_str(), "%zu %2zu %2zu %2zu %2zu %10lf", &year, &month, &day, &hour, &minute, &second); - return s2e::time_system::DateTime(year, month, day, hour, minute, second); + return time_system::DateTime(year, month, day, hour, minute, second); } } // namespace s2e::gnss diff --git a/src/math_physics/gnss/antex_file_reader.hpp b/src/math_physics/gnss/antex_file_reader.hpp index 67efe3133..b463c5f4d 100644 --- a/src/math_physics/gnss/antex_file_reader.hpp +++ b/src/math_physics/gnss/antex_file_reader.hpp @@ -203,12 +203,12 @@ class AntexSatelliteData { * @fn SetValidStartTime * @param[in] valid_start_time: Valid start time */ - inline void SetValidStartTime(const s2e::time_system::DateTime valid_start_time) { valid_start_time_ = valid_start_time; }; + inline void SetValidStartTime(const time_system::DateTime valid_start_time) { valid_start_time_ = valid_start_time; }; /** * @fn SetValidEndTime * @param[in] valid_end_time: Valid end time */ - inline void SetValidEndTime(const s2e::time_system::DateTime valid_end_time) { valid_end_time_ = valid_end_time; }; + inline void SetValidEndTime(const time_system::DateTime valid_end_time) { valid_end_time_ = valid_end_time; }; /** * @fn SetNumberOfFrequency * @param[in] number_of_frequency: Number of frequency @@ -235,12 +235,12 @@ class AntexSatelliteData { * @fn GetValidStartTime * @return Valid start time */ - inline s2e::time_system::DateTime GetValidStartTime() const { return valid_start_time_; }; + inline time_system::DateTime GetValidStartTime() const { return valid_start_time_; }; /** * @fn GetValidEndTime * @return Valid end time */ - inline s2e::time_system::DateTime GetValidEndTime() const { return valid_end_time_; }; + inline time_system::DateTime GetValidEndTime() const { return valid_end_time_; }; /** * @fn GetNumberOfFrequency * @return Number of frequency @@ -256,8 +256,8 @@ class AntexSatelliteData { private: std::string antenna_type_; //!< Antenna type std::string serial_number_; //!< Serial number or satellite code - s2e::time_system::DateTime valid_start_time_; //!< Valid start time - s2e::time_system::DateTime valid_end_time_; //!< Valid end time (The latest data does not have the end time) + time_system::DateTime valid_start_time_; //!< Valid start time + time_system::DateTime valid_end_time_; //!< Valid end time (The latest data does not have the end time) size_t number_of_frequency_ = 1; //!< Number of frequency std::vector phase_center_data_; //!< Phase center data for each frequency }; @@ -342,7 +342,7 @@ class AntexFileReader { * @param[in] line: A single line in ANTEX file * @return Read date time */ - s2e::time_system::DateTime ReadDateTime(std::string line); + time_system::DateTime ReadDateTime(std::string line); }; } // namespace s2e::gnss diff --git a/src/math_physics/gnss/sp3_file_reader.cpp b/src/math_physics/gnss/sp3_file_reader.cpp index aa857965a..2ae136626 100644 --- a/src/math_physics/gnss/sp3_file_reader.cpp +++ b/src/math_physics/gnss/sp3_file_reader.cpp @@ -15,9 +15,9 @@ namespace s2e::gnss { Sp3FileReader::Sp3FileReader(const std::string file_name) { ReadFile(file_name); } -s2e::time_system::DateTime Sp3FileReader::GetEpochData(const size_t epoch_id) const { +time_system::DateTime Sp3FileReader::GetEpochData(const size_t epoch_id) const { if (epoch_id > epoch_.size()) { - s2e::time_system::DateTime zero; + time_system::DateTime zero; return zero; } return epoch_[epoch_id]; @@ -69,7 +69,7 @@ bool Sp3FileReader::ReadFile(const std::string file_name) { size_t year, month, day, hour, minute; double second; sscanf(line.substr(3, 28).c_str(), "%zu %2zu %2zu %2zu %2zu %12lf", &year, &month, &day, &hour, &minute, &second); - epoch_.push_back(s2e::time_system::DateTime(year, month, day, hour, minute, second)); + epoch_.push_back(time_system::DateTime(year, month, day, hour, minute, second)); // Orbit and Clock information for (size_t satellite_id = 0; satellite_id < header_.number_of_satellites_; satellite_id++) { @@ -117,7 +117,7 @@ bool Sp3FileReader::ReadFile(const std::string file_name) { } // Test - s2e::time_system::DateTime test = epoch_[0]; + time_system::DateTime test = epoch_[0]; test = epoch_[1]; std::vector test_p = position_clock_[0]; test_p = position_clock_[1]; @@ -126,7 +126,7 @@ bool Sp3FileReader::ReadFile(const std::string file_name) { return true; } -size_t Sp3FileReader::SearchNearestEpochId(const s2e::time_system::EpochTime time) { +size_t Sp3FileReader::SearchNearestEpochId(const time_system::EpochTime time) { size_t nearest_epoch_id = 0; // Get header info @@ -134,10 +134,10 @@ size_t Sp3FileReader::SearchNearestEpochId(const s2e::time_system::EpochTime tim const double interval_s = header_.epoch_interval_s_; // Check range - s2e::time_system::EpochTime start_epoch(epoch_[0]); + time_system::EpochTime start_epoch(epoch_[0]); if (start_epoch > time) { nearest_epoch_id = 0; - } else if ((s2e::time_system::EpochTime)(epoch_[num_epoch - 1]) < time) { + } else if ((time_system::EpochTime)(epoch_[num_epoch - 1]) < time) { nearest_epoch_id = num_epoch - 1; } else { // Calc nearest point double diff_s = time.GetTimeWithFraction_s() - start_epoch.GetTimeWithFraction_s(); @@ -171,7 +171,7 @@ size_t Sp3FileReader::ReadHeader(std::ifstream& sp3_file) { size_t year, month, day, hour, minute; double second; sscanf(line.substr(3, 28).c_str(), "%zu %2zu %2zu %2zu %2zu %12lf", &year, &month, &day, &hour, &minute, &second); - header_.start_epoch_ = s2e::time_system::DateTime(year, month, day, hour, minute, second); + header_.start_epoch_ = time_system::DateTime(year, month, day, hour, minute, second); header_.number_of_epoch_ = std::stoi(line.substr(32, 7)); header_.used_data_ = line.substr(40, 5); header_.coordinate_system_ = line.substr(46, 5); @@ -199,7 +199,7 @@ size_t Sp3FileReader::ReadHeader(std::ifstream& sp3_file) { return 0; } // Read contents - header_.start_gps_time_ = s2e::time_system::GpsTime(std::stoi(line.substr(3, 4)), std::stod(line.substr(8, 15))); + header_.start_gps_time_ = time_system::GpsTime(std::stoi(line.substr(3, 4)), std::stod(line.substr(8, 15))); header_.epoch_interval_s_ = std::stod(line.substr(24, 14)); header_.start_time_mjday_ = std::stoi(line.substr(39, 5)); header_.start_time_mjday_fractional_day_ = std::stod(line.substr(45, 15)); diff --git a/src/math_physics/gnss/sp3_file_reader.hpp b/src/math_physics/gnss/sp3_file_reader.hpp index e551e186d..4e98933aa 100644 --- a/src/math_physics/gnss/sp3_file_reader.hpp +++ b/src/math_physics/gnss/sp3_file_reader.hpp @@ -51,16 +51,16 @@ enum class Sp3OrbitType { struct Sp3Header { // 1st line information // version -> not implemented yet - Sp3Mode mode_; //!< position or velocity - s2e::time_system::DateTime start_epoch_; //!< Time of start epoch - size_t number_of_epoch_ = 0; //!< Number of epoch in the SP3 file - std::string used_data_; //!< Used data to generate the SP3 file - std::string coordinate_system_; //!< Coordinate system for the position and velocity data - Sp3OrbitType orbit_type_; //!< Orbit type - std::string agency_name_; //!< Agency name who generates the SP3 file + Sp3Mode mode_; //!< position or velocity + time_system::DateTime start_epoch_; //!< Time of start epoch + size_t number_of_epoch_ = 0; //!< Number of epoch in the SP3 file + std::string used_data_; //!< Used data to generate the SP3 file + std::string coordinate_system_; //!< Coordinate system for the position and velocity data + Sp3OrbitType orbit_type_; //!< Orbit type + std::string agency_name_; //!< Agency name who generates the SP3 file // 2nd line information - s2e::time_system::GpsTime start_gps_time_; //!< Start time of orbit + time_system::GpsTime start_gps_time_; //!< Start time of orbit double epoch_interval_s_ = 1.0; //!< Epoch interval (0.0, 100000.0) size_t start_time_mjday_; //!< Start time of the orbit data (44244 = 6th Jan. 1980) [Modified Julian day] double start_time_mjday_fractional_day_ = 0.0; //!< Fractional part of the start time [0.0, 1.0) [day] @@ -172,19 +172,19 @@ class Sp3FileReader { inline Sp3Header GetHeader() const { return header_; } inline size_t GetNumberOfEpoch() const { return header_.number_of_epoch_; } inline size_t GetNumberOfSatellites() const { return header_.number_of_satellites_; } - inline s2e::time_system::DateTime GetStartEpochDateTime() const { return header_.start_epoch_; } - inline s2e::time_system::GpsTime GetStartEpochGpsTime() const { return header_.start_gps_time_; } + inline time_system::DateTime GetStartEpochDateTime() const { return header_.start_epoch_; } + inline time_system::GpsTime GetStartEpochGpsTime() const { return header_.start_gps_time_; } // Data - s2e::time_system::DateTime GetEpochData(const size_t epoch_id) const; + time_system::DateTime GetEpochData(const size_t epoch_id) const; Sp3PositionClock GetPositionClock(const size_t epoch_id, const size_t satellite_id); double GetSatelliteClockOffset(const size_t epoch_id, const size_t satellite_id); math::Vector<3> GetSatellitePosition_km(const size_t epoch_id, const size_t satellite_id); - size_t SearchNearestEpochId(const s2e::time_system::EpochTime time); + size_t SearchNearestEpochId(const time_system::EpochTime time); private: - Sp3Header header_; //!< SP3 header information - std::vector epoch_; //!< Epoch data list + Sp3Header header_; //!< SP3 header information + std::vector epoch_; //!< Epoch data list // Orbit and clock data (Use as position_clock_[satellite_id][epoch_id]) std::map> position_clock_; //!< Position and Clock data diff --git a/src/math_physics/randomization/global_randomization.hpp b/src/math_physics/randomization/global_randomization.hpp index df464b974..5220420cf 100644 --- a/src/math_physics/randomization/global_randomization.hpp +++ b/src/math_physics/randomization/global_randomization.hpp @@ -34,9 +34,9 @@ class GlobalRandomization { long MakeSeed(); private: - static const unsigned int kMaxSeed = 0xffffffff; //!< Maximum value of seed - s2e::randomization::MinimalStandardLcg base_randomizer_; //!< Base of global randomization - long seed_; //!< Seed of global randomization + static const unsigned int kMaxSeed = 0xffffffff; //!< Maximum value of seed + MinimalStandardLcg base_randomizer_; //!< Base of global randomization + long seed_; //!< Seed of global randomization }; extern GlobalRandomization global_randomization; //!< Global randomization diff --git a/src/s2e.cpp b/src/s2e.cpp index 3c9da8fa6..f0d19356e 100644 --- a/src/s2e.cpp +++ b/src/s2e.cpp @@ -23,8 +23,6 @@ // #include "interface/hils/COSMOSWrapper.h" // #include "interface/hils/HardwareMessage.h" -namespace s2e { - void print_path(std::string path) { #ifdef WIN32 std::cout << path << std::endl; @@ -71,7 +69,7 @@ int main(int argc, char *argv[]) std::cout << "\tIni file: "; print_path(ini_file); - auto simulation_case = sample::SampleCase(ini_file); + auto simulation_case = s2e::sample::SampleCase(ini_file); simulation_case.Initialize(); simulation_case.Main(); @@ -81,5 +79,3 @@ int main(int argc, char *argv[]) return EXIT_SUCCESS; } - -} // namespace s2e diff --git a/src/simulation/ground_station/ground_station.cpp b/src/simulation/ground_station/ground_station.cpp index f0d233936..f03e018eb 100644 --- a/src/simulation/ground_station/ground_station.cpp +++ b/src/simulation/ground_station/ground_station.cpp @@ -37,7 +37,7 @@ void GroundStation::Initialize(const SimulationConfiguration* configuration, con double latitude_deg = conf.ReadDouble(Section, "latitude_deg"); double longitude_deg = conf.ReadDouble(Section, "longitude_deg"); double height_m = conf.ReadDouble(Section, "height_m"); - geodetic_position_ = s2e::geodesy::GeodeticPosition(latitude_deg * math::deg_to_rad, longitude_deg * math::deg_to_rad, height_m); + geodetic_position_ = geodesy::GeodeticPosition(latitude_deg * math::deg_to_rad, longitude_deg * math::deg_to_rad, height_m); position_ecef_m_ = geodetic_position_.CalcEcefPosition(); elevation_limit_angle_deg_ = conf.ReadDouble(Section, "elevation_limit_angle_deg"); diff --git a/src/simulation/monte_carlo_simulation/initialize_monte_carlo_parameters.hpp b/src/simulation/monte_carlo_simulation/initialize_monte_carlo_parameters.hpp index c44529766..e4bc3469f 100644 --- a/src/simulation/monte_carlo_simulation/initialize_monte_carlo_parameters.hpp +++ b/src/simulation/monte_carlo_simulation/initialize_monte_carlo_parameters.hpp @@ -33,7 +33,7 @@ class InitializedMonteCarloParameters { kCircularNormalNormal, //!< r and θ follow normal distribution in Circular frame kSphericalNormalUniformUniform, //!< r follows normal distribution, and θ and φ follow uniform distribution in Spherical frame kSphericalNormalNormal, //!< r and θ follow normal distribution, and mean vector angle φ follows uniform distribution [0,2*pi] - kQuaternionUniform, //!< Perfectly Randomized s2e::math::Quaternion + kQuaternionUniform, //!< Perfectly Randomized Quaternion kQuaternionNormal, //!< Angle from the default quaternion θ follows normal distribution }; From 30b06647f7bfeb5b67db4bbb1d0c38ae494fd80d Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Tue, 1 Oct 2024 23:51:43 +0900 Subject: [PATCH 451/456] Fix namespace in test --- .../gravity/test_gravity_potential.cpp | 48 +++---- src/math_physics/math/test_interpolation.cpp | 30 ++-- src/math_physics/math/test_matrix.cpp | 60 ++++---- src/math_physics/math/test_matrix_vector.cpp | 10 +- src/math_physics/math/test_quaternion.cpp | 134 +++++++++--------- src/math_physics/math/test_s2e_math.cpp | 14 +- src/math_physics/math/test_vector.cpp | 94 ++++++------ .../test_runge_kutta.cpp | 86 +++++------ .../orbit/test_interpolation_orbit.cpp | 4 +- 9 files changed, 239 insertions(+), 241 deletions(-) diff --git a/src/math_physics/gravity/test_gravity_potential.cpp b/src/math_physics/gravity/test_gravity_potential.cpp index 0ac2fa038..0dd54376e 100644 --- a/src/math_physics/gravity/test_gravity_potential.cpp +++ b/src/math_physics/gravity/test_gravity_potential.cpp @@ -6,8 +6,6 @@ #include "gravity_potential.hpp" -using namespace s2e::gravity; - /** * @brief Test for Acceleration calculation */ @@ -22,11 +20,11 @@ TEST(GravityPotential, Acceleration) { s_.assign(degree + 1, std::vector(degree + 1, 1.0)); // Initialize GravityPotential - GravityPotential gravity_potential_(degree, c_, s_, 1.0, 1.0); + s2e::gravity::GravityPotential gravity_potential_(degree, c_, s_, 1.0, 1.0); // Acceleration Calculation check - math::Vector<3> position_xcxf_m; - math::Vector<3> acceleration_xcxf_m_s2; + s2e::math::Vector<3> position_xcxf_m; + s2e::math::Vector<3> acceleration_xcxf_m_s2; const double accuracy = 1.0e-3; // Calc Acceleration @@ -64,11 +62,11 @@ TEST(GravityPotential, PartialDerivative1) { s_.assign(degree + 1, std::vector(degree + 1, 1.0)); // Initialize GravityPotential - GravityPotential gravity_potential_(degree, c_, s_, 1.0, 1.0); + s2e::gravity::GravityPotential gravity_potential_(degree, c_, s_, 1.0, 1.0); // Calculation check - math::Vector<3> position_xcxf_m; - math::Matrix<3, 3> partial_derivative_xcxf_s2; + s2e::math::Vector<3> position_xcxf_m; + s2e::math::Matrix<3, 3> partial_derivative_xcxf_s2; const double accuracy = 1.0e-3; // Calc Partial Derivative @@ -79,22 +77,22 @@ TEST(GravityPotential, PartialDerivative1) { // Calc Acceleration and numerical partial derivatives double d_r = 1e-9; - math::Matrix<3, 3> numerical_partial_derivative_xcxf_s2; + s2e::math::Matrix<3, 3> numerical_partial_derivative_xcxf_s2; for (size_t i = 0; i < 3; i++) { - math::Vector<3> position_1_xcxf_m = position_xcxf_m; - math::Vector<3> position_2_xcxf_m = position_xcxf_m; + s2e::math::Vector<3> position_1_xcxf_m = position_xcxf_m; + s2e::math::Vector<3> position_2_xcxf_m = position_xcxf_m; position_1_xcxf_m[i] = position_xcxf_m[i] - d_r / 2.0; position_2_xcxf_m[i] = position_xcxf_m[i] + d_r / 2.0; - math::Vector<3> acceleration_1_xcxf_m_s2 = gravity_potential_.CalcAcceleration_xcxf_m_s2(position_1_xcxf_m); - math::Vector<3> acceleration_2_xcxf_m_s2 = gravity_potential_.CalcAcceleration_xcxf_m_s2(position_2_xcxf_m); - math::Vector<3> diff_acceleration_xcxf_m_s2 = acceleration_2_xcxf_m_s2 - acceleration_1_xcxf_m_s2; + s2e::math::Vector<3> acceleration_1_xcxf_m_s2 = gravity_potential_.CalcAcceleration_xcxf_m_s2(position_1_xcxf_m); + s2e::math::Vector<3> acceleration_2_xcxf_m_s2 = gravity_potential_.CalcAcceleration_xcxf_m_s2(position_2_xcxf_m); + s2e::math::Vector<3> diff_acceleration_xcxf_m_s2 = acceleration_2_xcxf_m_s2 - acceleration_1_xcxf_m_s2; for (size_t j = 0; j < 3; j++) { numerical_partial_derivative_xcxf_s2[i][j] = diff_acceleration_xcxf_m_s2[j] / d_r; } } // Compare numerical and analytical calculation - math::Matrix<3, 3> diff; + s2e::math::Matrix<3, 3> diff; for (size_t i = 0; i < 3; i++) { for (size_t j = 0; j < 3; j++) { EXPECT_NEAR(numerical_partial_derivative_xcxf_s2[i][j], partial_derivative_xcxf_s2[i][j], accuracy); @@ -117,11 +115,11 @@ TEST(GravityPotential, PartialDerivative2) { s_.assign(degree + 1, std::vector(degree + 1, 1.0)); // Initialize GravityPotential - GravityPotential gravity_potential_(degree, c_, s_, 1.0, 1.0); + s2e::gravity::GravityPotential gravity_potential_(degree, c_, s_, 1.0, 1.0); // Calculation check - math::Vector<3> position_xcxf_m; - math::Matrix<3, 3> partial_derivative_xcxf_s2; + s2e::math::Vector<3> position_xcxf_m; + s2e::math::Matrix<3, 3> partial_derivative_xcxf_s2; const double accuracy = 1.0e-3; // Calc Partial Derivative @@ -132,22 +130,22 @@ TEST(GravityPotential, PartialDerivative2) { // Calc Acceleration and numerical partial derivatives double d_r = 1e-9; - math::Matrix<3, 3> numerical_partial_derivative_xcxf_s2; + s2e::math::Matrix<3, 3> numerical_partial_derivative_xcxf_s2; for (size_t i = 0; i < 3; i++) { - math::Vector<3> position_1_xcxf_m = position_xcxf_m; - math::Vector<3> position_2_xcxf_m = position_xcxf_m; + s2e::math::Vector<3> position_1_xcxf_m = position_xcxf_m; + s2e::math::Vector<3> position_2_xcxf_m = position_xcxf_m; position_1_xcxf_m[i] = position_xcxf_m[i] - d_r / 2.0; position_2_xcxf_m[i] = position_xcxf_m[i] + d_r / 2.0; - math::Vector<3> acceleration_1_xcxf_m_s2 = gravity_potential_.CalcAcceleration_xcxf_m_s2(position_1_xcxf_m); - math::Vector<3> acceleration_2_xcxf_m_s2 = gravity_potential_.CalcAcceleration_xcxf_m_s2(position_2_xcxf_m); - math::Vector<3> diff_acceleration_xcxf_m_s2 = acceleration_2_xcxf_m_s2 - acceleration_1_xcxf_m_s2; + s2e::math::Vector<3> acceleration_1_xcxf_m_s2 = gravity_potential_.CalcAcceleration_xcxf_m_s2(position_1_xcxf_m); + s2e::math::Vector<3> acceleration_2_xcxf_m_s2 = gravity_potential_.CalcAcceleration_xcxf_m_s2(position_2_xcxf_m); + s2e::math::Vector<3> diff_acceleration_xcxf_m_s2 = acceleration_2_xcxf_m_s2 - acceleration_1_xcxf_m_s2; for (size_t j = 0; j < 3; j++) { numerical_partial_derivative_xcxf_s2[i][j] = diff_acceleration_xcxf_m_s2[j] / d_r; } } // Compare numerical and analytical calculation - math::Matrix<3, 3> diff; + s2e::math::Matrix<3, 3> diff; for (size_t i = 0; i < 3; i++) { for (size_t j = 0; j < 3; j++) { EXPECT_NEAR(numerical_partial_derivative_xcxf_s2[i][j], partial_derivative_xcxf_s2[i][j], accuracy); diff --git a/src/math_physics/math/test_interpolation.cpp b/src/math_physics/math/test_interpolation.cpp index 674b12419..a29f3b330 100644 --- a/src/math_physics/math/test_interpolation.cpp +++ b/src/math_physics/math/test_interpolation.cpp @@ -15,7 +15,7 @@ TEST(Interpolation, PolynomialLinearFunction) { std::vector x{0.0, 1.0, 2.0, 3.0, 4.0}; std::vector y{0.0, 2.0, 4.0, 6.0, 8.0}; - math::Interpolation interpolation(x, y); + s2e::math::Interpolation interpolation(x, y); double xx = 0.4; EXPECT_DOUBLE_EQ(2.0 * xx, interpolation.CalcPolynomial(xx)); @@ -31,7 +31,7 @@ TEST(Interpolation, PolynomialLinearFunction) { TEST(Interpolation, PolynomialQuadraticFunction) { std::vector x{0.0, 1.0, 2.0, 3.0, 4.0}; std::vector y{0.0, 1.0, 4.0, 9.0, 16.0}; - math::Interpolation interpolation(x, y); + s2e::math::Interpolation interpolation(x, y); double xx = 0.4; EXPECT_DOUBLE_EQ(pow(xx, 2.0), interpolation.CalcPolynomial(xx)); @@ -45,16 +45,16 @@ TEST(Interpolation, PolynomialQuadraticFunction) { * @brief Test for sin function with trigonometric interpolation */ TEST(Interpolation, TrigonometricSinFunction) { - std::vector x{0.0, math::pi_2, math::pi, math::pi * 3.0 / 2.0, math::tau}; + std::vector x{0.0, s2e::math::pi_2, s2e::math::pi, s2e::math::pi * 3.0 / 2.0, s2e::math::tau}; std::vector y; for (size_t i = 0; i < x.size(); i++) { y.push_back(sin(x[i])); } - math::Interpolation interpolation(x, y); + s2e::math::Interpolation interpolation(x, y); - double xx = 0.4 * math::pi; + double xx = 0.4 * s2e::math::pi; EXPECT_DOUBLE_EQ(sin(xx), interpolation.CalcTrigonometric(xx)); - xx = 1.4 * math::pi; + xx = 1.4 * s2e::math::pi; EXPECT_DOUBLE_EQ(sin(xx), interpolation.CalcTrigonometric(xx)); } @@ -62,16 +62,16 @@ TEST(Interpolation, TrigonometricSinFunction) { * @brief Test for cos function with trigonometric interpolation */ TEST(Interpolation, TrigonometricCosFunction) { - std::vector x{0.0, 0.3 * math::pi_2, 0.6 * math::pi_2, 0.9 * math::pi_2, 1.2 * math::pi_2}; + std::vector x{0.0, 0.3 * s2e::math::pi_2, 0.6 * s2e::math::pi_2, 0.9 * s2e::math::pi_2, 1.2 * s2e::math::pi_2}; std::vector y; for (size_t i = 0; i < x.size(); i++) { y.push_back(cos(x[i])); } - math::Interpolation interpolation(x, y); + s2e::math::Interpolation interpolation(x, y); - double xx = 0.1 * math::pi_2; + double xx = 0.1 * s2e::math::pi_2; EXPECT_NEAR(cos(xx), interpolation.CalcTrigonometric(xx), 1e-6); - xx = 0.8 * math::pi_2; + xx = 0.8 * s2e::math::pi_2; EXPECT_NEAR(cos(xx), interpolation.CalcTrigonometric(xx), 1e-6); } @@ -79,16 +79,16 @@ TEST(Interpolation, TrigonometricCosFunction) { * @brief Test for cos function with trigonometric interpolation */ TEST(Interpolation, TrigonometricCosSinFunctionOddDegree) { - std::vector x{0.0, 0.3 * math::pi_2, 0.6 * math::pi_2, 0.9 * math::pi_2, 1.2 * math::pi_2, 1.5 * math::pi_2}; + std::vector x{0.0, 0.3 * s2e::math::pi_2, 0.6 * s2e::math::pi_2, 0.9 * s2e::math::pi_2, 1.2 * s2e::math::pi_2, 1.5 * s2e::math::pi_2}; std::vector y; for (size_t i = 0; i < x.size(); i++) { y.push_back(cos(x[i]) + sin(x[i])); } - math::Interpolation interpolation(x, y); + s2e::math::Interpolation interpolation(x, y); - double xx = 0.1 * math::pi_2; + double xx = 0.1 * s2e::math::pi_2; EXPECT_NEAR(cos(xx) + sin(xx), interpolation.CalcTrigonometric(xx), 1e-6); - xx = 0.8 * math::pi_2; + xx = 0.8 * s2e::math::pi_2; EXPECT_NEAR(cos(xx) + sin(xx), interpolation.CalcTrigonometric(xx), 1e-6); } @@ -98,7 +98,7 @@ TEST(Interpolation, TrigonometricCosSinFunctionOddDegree) { TEST(Interpolation, PushAndPop) { std::vector x{0.0, 1.0, 2.0, 3.0, 4.0}; std::vector y{0.0, 2.0, 4.0, 6.0, 8.0}; - math::Interpolation interpolation(x, y); + s2e::math::Interpolation interpolation(x, y); EXPECT_EQ(x.size(), interpolation.GetDegree()); for (size_t i = 0; i < x.size(); i++) { diff --git a/src/math_physics/math/test_matrix.cpp b/src/math_physics/math/test_matrix.cpp index 53dee0b75..9b23c15d5 100644 --- a/src/math_physics/math/test_matrix.cpp +++ b/src/math_physics/math/test_matrix.cpp @@ -14,7 +14,7 @@ TEST(Matrix, ConstructorWithNumber) { const size_t R = 6; const size_t C = 3; double initialize_value = 2.0; - math::Matrix m(initialize_value); + s2e::math::Matrix m(initialize_value); for (size_t r = 0; r < R; r++) { for (size_t c = 0; c < C; c++) { @@ -30,7 +30,7 @@ TEST(Matrix, ConstructorWithNumber) { TEST(Matrix, GetLength) { const size_t R = 6; const size_t C = 3; - math::Matrix m; + s2e::math::Matrix m; EXPECT_EQ(R, m.GetRowLength()); EXPECT_EQ(C, m.GetColumnLength()); @@ -43,8 +43,8 @@ TEST(Matrix, OperatorPlusEqual) { const size_t R = 6; const size_t C = 3; double initialize_value = 2.0; - math::Matrix m(initialize_value); - math::Matrix adding; + s2e::math::Matrix m(initialize_value); + s2e::math::Matrix adding; for (size_t r = 0; r < R; r++) { for (size_t c = 0; c < C; c++) { @@ -71,8 +71,8 @@ TEST(Matrix, OperatorMinusEqual) { const size_t R = 6; const size_t C = 3; double initialize_value = 2.0; - math::Matrix m(initialize_value); - math::Matrix subtracting; + s2e::math::Matrix m(initialize_value); + s2e::math::Matrix subtracting; for (size_t r = 0; r < R; r++) { for (size_t c = 0; c < C; c++) { @@ -99,7 +99,7 @@ TEST(Matrix, OperatorMultiplyEqual) { const size_t R = 6; const size_t C = 3; - math::Matrix m; + s2e::math::Matrix m; double multiplying = 2.0; for (size_t r = 0; r < R; r++) { @@ -125,7 +125,7 @@ TEST(Matrix, OperatorDivideEqual) { const size_t R = 6; const size_t C = 3; - math::Matrix m; + s2e::math::Matrix m; double dividing = 2.0; for (size_t r = 0; r < R; r++) { @@ -152,7 +152,7 @@ TEST(Matrix, FillUp) { const size_t C = 3; double value = 3.0; - math::Matrix m; + s2e::math::Matrix m; m.FillUp(value); @@ -169,7 +169,7 @@ TEST(Matrix, FillUp) { */ TEST(Matrix, CalcTrace) { const size_t N = 6; - math::Matrix m; + s2e::math::Matrix m; for (size_t r = 0; r < N; r++) { for (size_t c = 0; c < N; c++) { @@ -201,8 +201,8 @@ TEST(Matrix, OperatorPlus) { const size_t R = 6; const size_t C = 3; double initialize_value = -2.0; - math::Matrix m(initialize_value); - math::Matrix adding; + s2e::math::Matrix m(initialize_value); + s2e::math::Matrix adding; for (size_t r = 0; r < R; r++) { for (size_t c = 0; c < C; c++) { @@ -210,7 +210,7 @@ TEST(Matrix, OperatorPlus) { } } - math::Matrix added = m + adding; + s2e::math::Matrix added = m + adding; for (size_t r = 0; r < R; r++) { for (size_t c = 0; c < C; c++) { @@ -230,8 +230,8 @@ TEST(Matrix, OperatorMinus) { const size_t R = 6; const size_t C = 3; double initialize_value = 0.6; - math::Matrix m(initialize_value); - math::Matrix subtracting; + s2e::math::Matrix m(initialize_value); + s2e::math::Matrix subtracting; for (size_t r = 0; r < R; r++) { for (size_t c = 0; c < C; c++) { @@ -239,7 +239,7 @@ TEST(Matrix, OperatorMinus) { } } - math::Matrix subtracted = m - subtracting; + s2e::math::Matrix subtracted = m - subtracting; for (size_t r = 0; r < R; r++) { for (size_t c = 0; c < C; c++) { @@ -259,7 +259,7 @@ TEST(Matrix, OperatorMultiplyScalar) { const size_t R = 6; const size_t C = 3; - math::Matrix m; + s2e::math::Matrix m; double multiplying = 0.3; for (size_t r = 0; r < R; r++) { @@ -268,7 +268,7 @@ TEST(Matrix, OperatorMultiplyScalar) { } } - math::Matrix subtracted = multiplying * m; + s2e::math::Matrix subtracted = multiplying * m; for (size_t r = 0; r < R; r++) { for (size_t c = 0; c < C; c++) { @@ -287,8 +287,8 @@ TEST(Matrix, OperatorMultiplyMatrix) { const size_t R = 2; const size_t C = 3; - math::Matrix a; - math::Matrix b; + s2e::math::Matrix a; + s2e::math::Matrix b; a[0][0] = 1.0; a[0][1] = 2.0; @@ -304,7 +304,7 @@ TEST(Matrix, OperatorMultiplyMatrix) { b[2][0] = 5.0; b[2][1] = 6.0; - math::Matrix result = a * b; + s2e::math::Matrix result = a * b; EXPECT_DOUBLE_EQ(22.0, result[0][0]); EXPECT_DOUBLE_EQ(28.0, result[0][1]); @@ -319,14 +319,14 @@ TEST(Matrix, Transpose) { const size_t R = 6; const size_t C = 3; - math::Matrix m; + s2e::math::Matrix m; for (size_t r = 0; r < R; r++) { for (size_t c = 0; c < C; c++) { m[r][c] = r * c; } } - math::Matrix transposed = m.Transpose(); + s2e::math::Matrix transposed = m.Transpose(); for (size_t r = 0; r < R; r++) { for (size_t c = 0; c < C; c++) { @@ -344,7 +344,7 @@ TEST(Matrix, Transpose) { TEST(Matrix, MakeIdentityMatrix) { const size_t N = 6; - math::Matrix m = math::MakeIdentityMatrix(); + s2e::math::Matrix m = s2e::math::MakeIdentityMatrix(); for (size_t r = 0; r < N; r++) { for (size_t c = 0; c < N; c++) { @@ -362,9 +362,9 @@ TEST(Matrix, MakeIdentityMatrix) { */ TEST(Matrix, MakeRotationMatrixX) { const size_t N = 3; - double theta_rad = -45.0 * math::deg_to_rad; + double theta_rad = -45.0 * s2e::math::deg_to_rad; - math::Matrix m = math::MakeRotationMatrixX(theta_rad); + s2e::math::Matrix m = s2e::math::MakeRotationMatrixX(theta_rad); EXPECT_DOUBLE_EQ(1.0, m[0][0]); EXPECT_DOUBLE_EQ(0.0, m[0][1]); @@ -382,9 +382,9 @@ TEST(Matrix, MakeRotationMatrixX) { */ TEST(Matrix, MakeRotationMatrixY) { const size_t N = 3; - double theta_rad = 120.0 * math::deg_to_rad; + double theta_rad = 120.0 * s2e::math::deg_to_rad; - math::Matrix m = math::MakeRotationMatrixY(theta_rad); + s2e::math::Matrix m = s2e::math::MakeRotationMatrixY(theta_rad); EXPECT_DOUBLE_EQ(cos(theta_rad), m[0][0]); EXPECT_DOUBLE_EQ(0.0, m[0][1]); @@ -402,9 +402,9 @@ TEST(Matrix, MakeRotationMatrixY) { */ TEST(Matrix, MakeRotationMatrixZ) { const size_t N = 3; - double theta_rad = 30.0 * math::deg_to_rad; + double theta_rad = 30.0 * s2e::math::deg_to_rad; - math::Matrix m = math::MakeRotationMatrixZ(theta_rad); + s2e::math::Matrix m = s2e::math::MakeRotationMatrixZ(theta_rad); EXPECT_DOUBLE_EQ(cos(theta_rad), m[0][0]); EXPECT_DOUBLE_EQ(sin(theta_rad), m[0][1]); diff --git a/src/math_physics/math/test_matrix_vector.cpp b/src/math_physics/math/test_matrix_vector.cpp index 78fc9babf..958a409b6 100644 --- a/src/math_physics/math/test_matrix_vector.cpp +++ b/src/math_physics/math/test_matrix_vector.cpp @@ -14,8 +14,8 @@ TEST(MatrixVector, MultiplyMatrixVector) { const size_t R = 3; const size_t C = 2; - math::Matrix m; - math::Vector v; + s2e::math::Matrix m; + s2e::math::Vector v; m[0][0] = 1.0; m[0][1] = 2.0; @@ -27,7 +27,7 @@ TEST(MatrixVector, MultiplyMatrixVector) { v[0] = 7.0; v[1] = 1.0; - math::Vector result = m * v; + s2e::math::Vector result = m * v; EXPECT_DOUBLE_EQ(9.0, result[0]); EXPECT_DOUBLE_EQ(-7.0, result[1]); @@ -40,7 +40,7 @@ TEST(MatrixVector, MultiplyMatrixVector) { TEST(MatrixVector, CalcInverseMatrix) { const size_t N = 3; - math::Matrix m; + s2e::math::Matrix m; m[0][0] = 1.0; m[0][1] = 1.0; @@ -52,7 +52,7 @@ TEST(MatrixVector, CalcInverseMatrix) { m[2][1] = -2.0; m[2][2] = 1.0; - math::Matrix inverse = math::CalcInverseMatrix(m); + s2e::math::Matrix inverse = s2e::math::CalcInverseMatrix(m); EXPECT_NEAR(-1.0, inverse[0][0], 1e-10); EXPECT_NEAR(-1.0, inverse[0][1], 1e-10); diff --git a/src/math_physics/math/test_quaternion.cpp b/src/math_physics/math/test_quaternion.cpp index 4995afccc..2821eccee 100644 --- a/src/math_physics/math/test_quaternion.cpp +++ b/src/math_physics/math/test_quaternion.cpp @@ -11,7 +11,7 @@ * @brief Test for constructor from four numbers */ TEST(Quaternion, ConstructorFourNumber) { - math::Quaternion q(0.5, 0.5, 0.5, 0.5); + s2e::math::Quaternion q(0.5, 0.5, 0.5, 0.5); EXPECT_DOUBLE_EQ(0.5, q[0]); EXPECT_DOUBLE_EQ(0.5, q[1]); @@ -23,8 +23,8 @@ TEST(Quaternion, ConstructorFourNumber) { * @brief Test for constructor from Vector */ TEST(Quaternion, ConstructorVector) { - math::Vector<4> v(0.5); - math::Quaternion q(v); + s2e::math::Vector<4> v(0.5); + s2e::math::Quaternion q(v); EXPECT_DOUBLE_EQ(0.5, q[0]); EXPECT_DOUBLE_EQ(0.5, q[1]); @@ -36,12 +36,12 @@ TEST(Quaternion, ConstructorVector) { * @brief Test for constructor from axis and rotation angle X rotation */ TEST(Quaternion, ConstructorAxisAndAngleX) { - math::Vector<3> axis; + s2e::math::Vector<3> axis; axis[0] = 1.0; axis[1] = 0.0; axis[2] = 0.0; - double theta_rad = 90 * math::deg_to_rad; - math::Quaternion q(axis, theta_rad); + double theta_rad = 90 * s2e::math::deg_to_rad; + s2e::math::Quaternion q(axis, theta_rad); EXPECT_NEAR(axis[0] * sin(theta_rad / 2.0), q[0], 1e-5); EXPECT_NEAR(axis[1] * sin(theta_rad / 2.0), q[1], 1e-5); @@ -53,12 +53,12 @@ TEST(Quaternion, ConstructorAxisAndAngleX) { * @brief Test for constructor from axis and rotation angle Y rotation */ TEST(Quaternion, ConstructorAxisAndAngleY) { - math::Vector<3> axis; + s2e::math::Vector<3> axis; axis[0] = 0.0; axis[1] = 1.0; axis[2] = 0.0; - double theta_rad = 45 * math::deg_to_rad; - math::Quaternion q(axis, theta_rad); + double theta_rad = 45 * s2e::math::deg_to_rad; + s2e::math::Quaternion q(axis, theta_rad); EXPECT_NEAR(axis[0] * sin(theta_rad / 2.0), q[0], 1e-5); EXPECT_NEAR(axis[1] * sin(theta_rad / 2.0), q[1], 1e-5); @@ -70,12 +70,12 @@ TEST(Quaternion, ConstructorAxisAndAngleY) { * @brief Test for constructor from axis and rotation angle Z rotation */ TEST(Quaternion, ConstructorAxisAndAngleZ) { - math::Vector<3> axis; + s2e::math::Vector<3> axis; axis[0] = 0.0; axis[1] = 0.0; axis[2] = 1.0; - double theta_rad = -60 * math::deg_to_rad; - math::Quaternion q(axis, theta_rad); + double theta_rad = -60 * s2e::math::deg_to_rad; + s2e::math::Quaternion q(axis, theta_rad); EXPECT_NEAR(axis[0] * sin(theta_rad / 2.0), q[0], 1e-5); EXPECT_NEAR(axis[1] * sin(theta_rad / 2.0), q[1], 1e-5); @@ -87,12 +87,12 @@ TEST(Quaternion, ConstructorAxisAndAngleZ) { * @brief Test for constructor from axis and rotation angle All axes rotation */ TEST(Quaternion, ConstructorAxisAndAngleAll) { - math::Vector<3> axis; + s2e::math::Vector<3> axis; axis[0] = 1.0; axis[1] = 1.0; axis[2] = 1.0; - double theta_rad = 180 * math::deg_to_rad; - math::Quaternion q(axis, theta_rad); + double theta_rad = 180 * s2e::math::deg_to_rad; + s2e::math::Quaternion q(axis, theta_rad); EXPECT_NEAR(axis[0] * sin(theta_rad / 2.0), q[0], 1e-5); EXPECT_NEAR(axis[1] * sin(theta_rad / 2.0), q[1], 1e-5); @@ -104,16 +104,16 @@ TEST(Quaternion, ConstructorAxisAndAngleAll) { * @brief Test for constructor from two vectors: No rotation */ TEST(Quaternion, ConstructorTwoVectorsNoRotation) { - math::Vector<3> before; + s2e::math::Vector<3> before; before[0] = 0.0; before[1] = 0.0; before[2] = 2.0; // To check normalization - math::Vector<3> after; + s2e::math::Vector<3> after; after[0] = 0.0; after[1] = 0.0; after[2] = 1.0; - math::Quaternion q(before, after); + s2e::math::Quaternion q(before, after); EXPECT_NEAR(0.0, q[0], 1e-5); EXPECT_NEAR(0.0, q[1], 1e-5); @@ -125,18 +125,18 @@ TEST(Quaternion, ConstructorTwoVectorsNoRotation) { * @brief Test for constructor from two vectors: X rotation */ TEST(Quaternion, ConstructorTwoVectorsX) { - math::Vector<3> before; + s2e::math::Vector<3> before; before[0] = 0.0; before[1] = 0.0; before[2] = 1.0; - math::Vector<3> after; + s2e::math::Vector<3> after; after[0] = 0.0; after[1] = 1.0; after[2] = 0.0; - math::Quaternion q(before, after); + s2e::math::Quaternion q(before, after); - double theta_rad = -90 * math::deg_to_rad; + double theta_rad = -90 * s2e::math::deg_to_rad; EXPECT_NEAR(sin(theta_rad / 2.0), q[0], 1e-5); EXPECT_NEAR(0.0, q[1], 1e-5); EXPECT_NEAR(0.0, q[2], 1e-5); @@ -147,18 +147,18 @@ TEST(Quaternion, ConstructorTwoVectorsX) { * @brief Test for constructor from two vectors: Y rotation */ TEST(Quaternion, ConstructorTwoVectorsY) { - math::Vector<3> before; + s2e::math::Vector<3> before; before[0] = 0.0; before[1] = 0.0; before[2] = 1.0; - math::Vector<3> after; + s2e::math::Vector<3> after; after[0] = 1.0; after[1] = 0.0; after[2] = 0.0; - math::Quaternion q(before, after); + s2e::math::Quaternion q(before, after); - double theta_rad = 90 * math::deg_to_rad; + double theta_rad = 90 * s2e::math::deg_to_rad; EXPECT_NEAR(0.0, q[0], 1e-5); EXPECT_NEAR(sin(theta_rad / 2.0), q[1], 1e-5); EXPECT_NEAR(0.0, q[2], 1e-5); @@ -169,18 +169,18 @@ TEST(Quaternion, ConstructorTwoVectorsY) { * @brief Test for constructor from two vectors: Z rotation */ TEST(Quaternion, ConstructorTwoVectorsZ) { - math::Vector<3> before; + s2e::math::Vector<3> before; before[0] = 1.0; before[1] = 0.0; before[2] = 0.0; - math::Vector<3> after; + s2e::math::Vector<3> after; after[0] = 0.0; after[1] = 1.0; after[2] = 0.0; - math::Quaternion q(before, after); + s2e::math::Quaternion q(before, after); - double theta_rad = 90 * math::deg_to_rad; + double theta_rad = 90 * s2e::math::deg_to_rad; EXPECT_NEAR(0.0, q[0], 1e-5); EXPECT_NEAR(0.0, q[1], 1e-5); EXPECT_NEAR(sin(theta_rad / 2.0), q[2], 1e-5); @@ -192,7 +192,7 @@ TEST(Quaternion, ConstructorTwoVectorsZ) { * @note TODO: Fix to nondestructive function */ TEST(Quaternion, Normalize) { - math::Quaternion q(1.0, 1.0, 1.0, 1.0); + s2e::math::Quaternion q(1.0, 1.0, 1.0, 1.0); EXPECT_DOUBLE_EQ(1.0, q[0]); EXPECT_DOUBLE_EQ(1.0, q[1]); EXPECT_DOUBLE_EQ(1.0, q[2]); @@ -209,9 +209,9 @@ TEST(Quaternion, Normalize) { * @brief Test for Conjugate */ TEST(Quaternion, Conjugate) { - math::Quaternion q(0.5, 0.5, 0.5, 0.5); + s2e::math::Quaternion q(0.5, 0.5, 0.5, 0.5); - math::Quaternion q_conjugate = q.Conjugate(); + s2e::math::Quaternion q_conjugate = q.Conjugate(); // Check nondestructive function EXPECT_DOUBLE_EQ(0.5, q[0]); @@ -229,10 +229,10 @@ TEST(Quaternion, Conjugate) { * @brief Test for ConvertToDcm Y rotation */ TEST(Quaternion, ConvertToDcmY) { - math::Quaternion q(0.0, 1.0, 0.0, 1.0); + s2e::math::Quaternion q(0.0, 1.0, 0.0, 1.0); q.Normalize(); - math::Matrix<3, 3> dcm = q.ConvertToDcm(); + s2e::math::Matrix<3, 3> dcm = q.ConvertToDcm(); // Check nondestructive function EXPECT_DOUBLE_EQ(0.0, q[0]); @@ -253,7 +253,7 @@ TEST(Quaternion, ConvertToDcmY) { EXPECT_NEAR(0.0, dcm[2][2], accuracy); // Inverse Conversion - math::Quaternion q_from_dcm = math::Quaternion::ConvertFromDcm(dcm); + s2e::math::Quaternion q_from_dcm = s2e::math::Quaternion::ConvertFromDcm(dcm); for (size_t i = 0; i < 4; i++) { EXPECT_NEAR(q[i], q_from_dcm[i], accuracy); } @@ -263,10 +263,10 @@ TEST(Quaternion, ConvertToDcmY) { * @brief Test for ConvertToDcm */ TEST(Quaternion, ConvertToDcm) { - math::Quaternion q(0.5, 0.3, 0.1, 1.0); + s2e::math::Quaternion q(0.5, 0.3, 0.1, 1.0); q.Normalize(); - math::Matrix<3, 3> dcm = q.ConvertToDcm(); + s2e::math::Matrix<3, 3> dcm = q.ConvertToDcm(); // Check nondestructive function const double accuracy = 1.0e-5; @@ -281,7 +281,7 @@ TEST(Quaternion, ConvertToDcm) { EXPECT_NEAR(0.4962963, dcm[2][2], accuracy); // Inverse Conversion - math::Quaternion q_from_dcm = math::Quaternion::ConvertFromDcm(dcm); + s2e::math::Quaternion q_from_dcm = s2e::math::Quaternion::ConvertFromDcm(dcm); for (size_t i = 0; i < 4; i++) { EXPECT_NEAR(q[i], q_from_dcm[i], accuracy); } @@ -291,10 +291,10 @@ TEST(Quaternion, ConvertToDcm) { * @brief Test for ConvertToEuler X rotation */ TEST(Quaternion, ConvertToEulerX) { - math::Quaternion q(1.0, 0.0, 0.0, 1.0); + s2e::math::Quaternion q(1.0, 0.0, 0.0, 1.0); q.Normalize(); - math::Vector<3> euler = q.ConvertToEuler(); + s2e::math::Vector<3> euler = q.ConvertToEuler(); // Check nondestructive function EXPECT_DOUBLE_EQ(1.0 / sqrt(2.0), q[0]); @@ -304,12 +304,12 @@ TEST(Quaternion, ConvertToEulerX) { // Check nondestructive function const double accuracy = 1.0e-7; - EXPECT_NEAR(90 * math::deg_to_rad, euler[0], accuracy); + EXPECT_NEAR(90 * s2e::math::deg_to_rad, euler[0], accuracy); EXPECT_NEAR(0.0, euler[1], accuracy); EXPECT_NEAR(0.0, euler[2], accuracy); // Inverse Conversion - math::Quaternion q_from_euler = math::Quaternion::ConvertFromEuler(euler); + s2e::math::Quaternion q_from_euler = s2e::math::Quaternion::ConvertFromEuler(euler); for (size_t i = 0; i < 4; i++) { EXPECT_NEAR(q[i], q_from_euler[i], accuracy); } @@ -319,10 +319,10 @@ TEST(Quaternion, ConvertToEulerX) { * @brief Test for ConvertToEuler */ TEST(Quaternion, ConvertToEuler) { - math::Quaternion q(0.5, 0.3, 0.1, 1.0); + s2e::math::Quaternion q(0.5, 0.3, 0.1, 1.0); q.Normalize(); - math::Vector<3> euler = q.ConvertToEuler(); + s2e::math::Vector<3> euler = q.ConvertToEuler(); // Check nondestructive function const double accuracy = 1.0e-7; @@ -331,7 +331,7 @@ TEST(Quaternion, ConvertToEuler) { EXPECT_NEAR(0.41012734, euler[2], accuracy); // Inverse Conversion - math::Quaternion q_from_euler = math::Quaternion::ConvertFromEuler(euler); + s2e::math::Quaternion q_from_euler = s2e::math::Quaternion::ConvertFromEuler(euler); for (size_t i = 0; i < 4; i++) { EXPECT_NEAR(q[i], q_from_euler[i], accuracy); } @@ -341,22 +341,22 @@ TEST(Quaternion, ConvertToEuler) { * @brief Test for FrameConversion Z rotation */ TEST(Quaternion, FrameConversionZ) { - math::Quaternion q(0.0, 0.0, 1.0, 1.0); + s2e::math::Quaternion q(0.0, 0.0, 1.0, 1.0); q.Normalize(); - math::Vector<3> v; + s2e::math::Vector<3> v; v[0] = 1.0; v[1] = 0.0; v[2] = 0.0; - math::Vector<3> v_frame_conv = q.FrameConversion(v); + s2e::math::Vector<3> v_frame_conv = q.FrameConversion(v); const double accuracy = 1.0e-7; EXPECT_NEAR(0.0, v_frame_conv[0], accuracy); EXPECT_NEAR(-1.0, v_frame_conv[1], accuracy); EXPECT_NEAR(0.0, v_frame_conv[2], accuracy); - math::Vector<3> v_frame_conv_inv = q.InverseFrameConversion(v_frame_conv); + s2e::math::Vector<3> v_frame_conv_inv = q.InverseFrameConversion(v_frame_conv); for (size_t i = 0; i < 3; i++) { EXPECT_NEAR(v[i], v_frame_conv_inv[i], accuracy); @@ -367,15 +367,15 @@ TEST(Quaternion, FrameConversionZ) { * @brief Test for FrameConversion */ TEST(Quaternion, FrameConversion) { - math::Quaternion q(0.5, 0.3, 0.1, 1.0); + s2e::math::Quaternion q(0.5, 0.3, 0.1, 1.0); q.Normalize(); - math::Vector<3> v; + s2e::math::Vector<3> v; v[0] = 1.0; v[1] = 0.0; v[2] = 0.0; - math::Vector<3> v_frame_conv = q.FrameConversion(v); - math::Vector<3> v_frame_conv_inv = q.InverseFrameConversion(v_frame_conv); + s2e::math::Vector<3> v_frame_conv = q.FrameConversion(v); + s2e::math::Vector<3> v_frame_conv_inv = q.InverseFrameConversion(v_frame_conv); const double accuracy = 1.0e-7; for (size_t i = 0; i < 3; i++) { @@ -387,9 +387,9 @@ TEST(Quaternion, FrameConversion) { * @brief Test for ConvertToVector */ TEST(Quaternion, ConvertToVector) { - math::Quaternion q(0.5, 0.3, 0.1, 1.0); + s2e::math::Quaternion q(0.5, 0.3, 0.1, 1.0); - math::Vector<4> v = q.ConvertToVector(); + s2e::math::Vector<4> v = q.ConvertToVector(); for (size_t i = 0; i < 4; i++) { EXPECT_DOUBLE_EQ(q[i], v[i]); @@ -400,10 +400,10 @@ TEST(Quaternion, ConvertToVector) { * @brief Test for operator+ */ TEST(Quaternion, OperatorPlus) { - math::Quaternion q1(0.5, 0.3, 0.1, 1.0); - math::Quaternion q2(-0.3, 0.1, -1.0, 0.4); + s2e::math::Quaternion q1(0.5, 0.3, 0.1, 1.0); + s2e::math::Quaternion q2(-0.3, 0.1, -1.0, 0.4); - math::Quaternion result = q1 + q2; + s2e::math::Quaternion result = q1 + q2; EXPECT_DOUBLE_EQ(0.2, result[0]); EXPECT_DOUBLE_EQ(0.4, result[1]); @@ -415,10 +415,10 @@ TEST(Quaternion, OperatorPlus) { * @brief Test for operator- */ TEST(Quaternion, OperatorMinus) { - math::Quaternion q1(0.5, 0.3, 0.1, 1.0); - math::Quaternion q2(-0.3, 0.1, -1.0, 0.4); + s2e::math::Quaternion q1(0.5, 0.3, 0.1, 1.0); + s2e::math::Quaternion q2(-0.3, 0.1, -1.0, 0.4); - math::Quaternion result = q1 - q2; + s2e::math::Quaternion result = q1 - q2; EXPECT_DOUBLE_EQ(0.8, result[0]); EXPECT_DOUBLE_EQ(0.2, result[1]); @@ -430,10 +430,10 @@ TEST(Quaternion, OperatorMinus) { * @brief Test for operator* quaternion */ TEST(Quaternion, OperatorQuaternionMultiply) { - math::Quaternion q1(0.289271, -0.576012, -0.420972, 0.638212); - math::Quaternion q2(-0.0821846, 0.501761, 0.721995, -0.469259); + s2e::math::Quaternion q1(0.289271, -0.576012, -0.420972, 0.638212); + s2e::math::Quaternion q2(-0.0821846, 0.501761, 0.721995, -0.469259); - math::Quaternion result = q1 * q2; + s2e::math::Quaternion result = q1 * q2; const double accuracy = 1.0e-7; EXPECT_NEAR(-0.3928446703722, result[0], accuracy); @@ -446,10 +446,10 @@ TEST(Quaternion, OperatorQuaternionMultiply) { * @brief Test for operator* scalar */ TEST(Quaternion, OperatorScalarMultiply) { - math::Quaternion q(0.289271, -0.576012, -0.420972, 0.638212); + s2e::math::Quaternion q(0.289271, -0.576012, -0.420972, 0.638212); double scalar = 2.3; - math::Quaternion result = scalar * q; + s2e::math::Quaternion result = scalar * q; const double accuracy = 1.0e-7; EXPECT_NEAR(q[0] * 2.3, result[0], accuracy); diff --git a/src/math_physics/math/test_s2e_math.cpp b/src/math_physics/math/test_s2e_math.cpp index 949751a3b..7a293b967 100644 --- a/src/math_physics/math/test_s2e_math.cpp +++ b/src/math_physics/math/test_s2e_math.cpp @@ -14,18 +14,18 @@ TEST(S2eMath, WrapTo2Pi) { const double accuracy = 1.0e-7; double input_angle_rad = 0.0; - double wrapped_angle_rad = math::WrapTo2Pi(input_angle_rad); + double wrapped_angle_rad = s2e::math::WrapTo2Pi(input_angle_rad); EXPECT_NEAR(0.0, wrapped_angle_rad, accuracy); input_angle_rad = -1.0e-5; - wrapped_angle_rad = math::WrapTo2Pi(input_angle_rad); - EXPECT_NEAR(math::tau + input_angle_rad, wrapped_angle_rad, accuracy); + wrapped_angle_rad = s2e::math::WrapTo2Pi(input_angle_rad); + EXPECT_NEAR(s2e::math::tau + input_angle_rad, wrapped_angle_rad, accuracy); - input_angle_rad = math::tau + 1.0e-5; - wrapped_angle_rad = math::WrapTo2Pi(input_angle_rad); + input_angle_rad = s2e::math::tau + 1.0e-5; + wrapped_angle_rad = s2e::math::WrapTo2Pi(input_angle_rad); EXPECT_NEAR(1.0e-5, wrapped_angle_rad, accuracy); - input_angle_rad = 10 * math::tau + 1.0e-5; - wrapped_angle_rad = math::WrapTo2Pi(input_angle_rad); + input_angle_rad = 10 * s2e::math::tau + 1.0e-5; + wrapped_angle_rad = s2e::math::WrapTo2Pi(input_angle_rad); EXPECT_NEAR(1.0e-5, wrapped_angle_rad, accuracy); } diff --git a/src/math_physics/math/test_vector.cpp b/src/math_physics/math/test_vector.cpp index 5f636960d..e920dc0b8 100644 --- a/src/math_physics/math/test_vector.cpp +++ b/src/math_physics/math/test_vector.cpp @@ -13,7 +13,7 @@ TEST(Vector, ConstructorWithNumber) { const size_t N = 6; double initialize_value = 2.0; - math::Vector v(initialize_value); + s2e::math::Vector v(initialize_value); for (size_t i = 0; i < N; i++) { EXPECT_DOUBLE_EQ(initialize_value, v[i]); @@ -26,7 +26,7 @@ TEST(Vector, ConstructorWithNumber) { */ TEST(Vector, GetLength) { const size_t N = 6; - math::Vector v; + s2e::math::Vector v; EXPECT_EQ(N, v.GetLength()); } @@ -37,8 +37,8 @@ TEST(Vector, GetLength) { TEST(Vector, OperatorPlusEqual) { const size_t N = 6; double initialize_value = 2.0; - math::Vector v(initialize_value); - math::Vector adding; + s2e::math::Vector v(initialize_value); + s2e::math::Vector adding; for (size_t i = 0; i < N; i++) { adding[i] = double(i); @@ -60,8 +60,8 @@ TEST(Vector, OperatorPlusEqual) { TEST(Vector, OperatorMinusEqual) { const size_t N = 6; double initialize_value = 2.0; - math::Vector v(initialize_value); - math::Vector subtracting; + s2e::math::Vector v(initialize_value); + s2e::math::Vector subtracting; for (size_t i = 0; i < N; i++) { subtracting[i] = double(i); @@ -82,7 +82,7 @@ TEST(Vector, OperatorMinusEqual) { */ TEST(Vector, OperatorMultiplyEqual) { const size_t N = 6; - math::Vector v; + s2e::math::Vector v; double multiplying = 2.0; for (size_t i = 0; i < N; i++) { @@ -104,7 +104,7 @@ TEST(Vector, OperatorMultiplyEqual) { */ TEST(Vector, OperatorDivideEqual) { const size_t N = 6; - math::Vector v; + s2e::math::Vector v; double dividing = 3.0; for (size_t i = 0; i < N; i++) { @@ -126,13 +126,13 @@ TEST(Vector, OperatorDivideEqual) { */ TEST(Vector, OperatorNegative) { const size_t N = 6; - math::Vector v; + s2e::math::Vector v; for (size_t i = 0; i < N; i++) { v[i] = double(i); } - math::Vector v_negative = -v; + s2e::math::Vector v_negative = -v; for (size_t i = 0; i < N; i++) { // Check nondestructive @@ -147,7 +147,7 @@ TEST(Vector, OperatorNegative) { */ TEST(Vector, FillUp) { const size_t N = 6; - math::Vector v; + s2e::math::Vector v; for (size_t i = 0; i < N; i++) { v[i] = double(i); @@ -171,14 +171,14 @@ TEST(Vector, FillUp) { TEST(Vector, OperatorPlus) { const size_t N = 6; double initialize_value = 2.0; - math::Vector v(initialize_value); - math::Vector adding; + s2e::math::Vector v(initialize_value); + s2e::math::Vector adding; for (size_t i = 0; i < N; i++) { adding[i] = double(i); } - math::Vector added = v + adding; + s2e::math::Vector added = v + adding; for (size_t i = 0; i < N; i++) { // Check nondestructive @@ -195,14 +195,14 @@ TEST(Vector, OperatorPlus) { TEST(Vector, OperatorMinus) { const size_t N = 6; double initialize_value = 2.0; - math::Vector v(initialize_value); - math::Vector subtracting; + s2e::math::Vector v(initialize_value); + s2e::math::Vector subtracting; for (size_t i = 0; i < N; i++) { subtracting[i] = double(i); } - math::Vector subtracted = v - subtracting; + s2e::math::Vector subtracted = v - subtracting; for (size_t i = 0; i < N; i++) { // Check nondestructive @@ -218,8 +218,8 @@ TEST(Vector, OperatorMinus) { */ TEST(Vector, InnerProduct) { const size_t N = 3; - math::Vector a; - math::Vector b; + s2e::math::Vector a; + s2e::math::Vector b; for (size_t i = 0; i < N; i++) { a[i] = double(i + 1); @@ -235,8 +235,8 @@ TEST(Vector, InnerProduct) { */ TEST(Vector, InnerProductZero) { const size_t N = 3; - math::Vector a; - math::Vector b; + s2e::math::Vector a; + s2e::math::Vector b; a[0] = 1.0; a[1] = 0.0; @@ -255,8 +255,8 @@ TEST(Vector, InnerProductZero) { */ TEST(Vector, OuterProductZero) { const size_t N = 3; - math::Vector a; - math::Vector b; + s2e::math::Vector a; + s2e::math::Vector b; a[0] = 1.0; a[1] = 0.0; @@ -266,7 +266,7 @@ TEST(Vector, OuterProductZero) { b[1] = 0.0; b[2] = 0.0; - math::Vector<3> result = OuterProduct(a, b); + s2e::math::Vector<3> result = OuterProduct(a, b); for (size_t i = 0; i < N; i++) { EXPECT_DOUBLE_EQ(0.0, result[i]); @@ -278,8 +278,8 @@ TEST(Vector, OuterProductZero) { */ TEST(Vector, OuterProductX) { const size_t N = 3; - math::Vector a; - math::Vector b; + s2e::math::Vector a; + s2e::math::Vector b; a[0] = 0.0; a[1] = 0.0; @@ -289,7 +289,7 @@ TEST(Vector, OuterProductX) { b[1] = 1.0; b[2] = 0.0; - math::Vector<3> result = OuterProduct(a, b); + s2e::math::Vector<3> result = OuterProduct(a, b); EXPECT_DOUBLE_EQ(-1.0, result[0]); EXPECT_DOUBLE_EQ(0.0, result[1]); @@ -301,8 +301,8 @@ TEST(Vector, OuterProductX) { */ TEST(Vector, OuterProductY) { const size_t N = 3; - math::Vector a; - math::Vector b; + s2e::math::Vector a; + s2e::math::Vector b; a[0] = 0.0; a[1] = 0.0; @@ -312,7 +312,7 @@ TEST(Vector, OuterProductY) { b[1] = 0.0; b[2] = 0.0; - math::Vector<3> result = OuterProduct(a, b); + s2e::math::Vector<3> result = OuterProduct(a, b); EXPECT_DOUBLE_EQ(0.0, result[0]); EXPECT_DOUBLE_EQ(1.0, result[1]); @@ -324,8 +324,8 @@ TEST(Vector, OuterProductY) { */ TEST(Vector, OuterProductZ) { const size_t N = 3; - math::Vector a; - math::Vector b; + s2e::math::Vector a; + s2e::math::Vector b; a[0] = 1.0; a[1] = 0.0; @@ -335,7 +335,7 @@ TEST(Vector, OuterProductZ) { b[1] = 1.0; b[2] = 0.0; - math::Vector<3> result = OuterProduct(a, b); + s2e::math::Vector<3> result = OuterProduct(a, b); EXPECT_DOUBLE_EQ(0.0, result[0]); EXPECT_DOUBLE_EQ(0.0, result[1]); @@ -347,7 +347,7 @@ TEST(Vector, OuterProductZ) { */ TEST(Vector, CalcNorm) { const size_t N = 10; - math::Vector v(1.0); + s2e::math::Vector v(1.0); double norm = v.CalcNorm(); @@ -364,9 +364,9 @@ TEST(Vector, CalcNorm) { */ TEST(Vector, Normalize) { const size_t N = 5; - math::Vector v(1.0); + s2e::math::Vector v(1.0); - math::Vector normalized = v.CalcNormalizedVector(); + s2e::math::Vector normalized = v.CalcNormalizedVector(); for (size_t i = 0; i < N; i++) { // Check nondestructive @@ -381,8 +381,8 @@ TEST(Vector, Normalize) { */ TEST(Vector, CalcAngleTwoVectors90deg) { const size_t N = 3; - math::Vector a; - math::Vector b; + s2e::math::Vector a; + s2e::math::Vector b; a[0] = 1.0; a[1] = 0.0; @@ -394,7 +394,7 @@ TEST(Vector, CalcAngleTwoVectors90deg) { double angle_rad = CalcAngleTwoVectors_rad(a, b); - EXPECT_DOUBLE_EQ(90.0 * math::deg_to_rad, angle_rad); + EXPECT_DOUBLE_EQ(90.0 * s2e::math::deg_to_rad, angle_rad); } /** @@ -402,7 +402,7 @@ TEST(Vector, CalcAngleTwoVectors90deg) { */ TEST(Vector, CalcAngleTwoVectors0deg) { const size_t N = 3; - math::Vector a; + s2e::math::Vector a; a[0] = 1.0; a[1] = 0.0; @@ -410,7 +410,7 @@ TEST(Vector, CalcAngleTwoVectors0deg) { double angle_rad = CalcAngleTwoVectors_rad(a, a); - EXPECT_DOUBLE_EQ(0.0 * math::deg_to_rad, angle_rad); + EXPECT_DOUBLE_EQ(0.0 * s2e::math::deg_to_rad, angle_rad); } /** @@ -418,8 +418,8 @@ TEST(Vector, CalcAngleTwoVectors0deg) { */ TEST(Vector, CalcAngleTwoVectors45deg) { const size_t N = 3; - math::Vector a; - math::Vector b; + s2e::math::Vector a; + s2e::math::Vector b; a[0] = 0.0; a[1] = 1.0; @@ -431,7 +431,7 @@ TEST(Vector, CalcAngleTwoVectors45deg) { double angle_rad = CalcAngleTwoVectors_rad(a, b); - EXPECT_DOUBLE_EQ(45.0 * math::deg_to_rad, angle_rad); + EXPECT_DOUBLE_EQ(45.0 * s2e::math::deg_to_rad, angle_rad); } /** @@ -439,11 +439,11 @@ TEST(Vector, CalcAngleTwoVectors45deg) { */ TEST(Vector, GenerateOrthogonalUnitVector) { const size_t N = 3; - math::Vector a(1.0); + s2e::math::Vector a(1.0); - math::Vector b = GenerateOrthogonalUnitVector(a); + s2e::math::Vector b = GenerateOrthogonalUnitVector(a); double angle_rad = CalcAngleTwoVectors_rad(a, b); - EXPECT_DOUBLE_EQ(90.0 * math::deg_to_rad, angle_rad); + EXPECT_DOUBLE_EQ(90.0 * s2e::math::deg_to_rad, angle_rad); } diff --git a/src/math_physics/numerical_integration/test_runge_kutta.cpp b/src/math_physics/numerical_integration/test_runge_kutta.cpp index 60293ab18..d544caae3 100644 --- a/src/math_physics/numerical_integration/test_runge_kutta.cpp +++ b/src/math_physics/numerical_integration/test_runge_kutta.cpp @@ -18,7 +18,7 @@ TEST(NUMERICAL_INTEGRATION, Constructor) { s2e::numerical_integration::ExampleLinearOde ode; s2e::numerical_integration::RungeKutta4<1> linear_ode(0.1, ode); - math::Vector<1> state = linear_ode.GetState(); + s2e::math::Vector<1> state = linear_ode.GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); } @@ -30,7 +30,7 @@ TEST(NUMERICAL_INTEGRATION, IntegrateLinearRk4) { s2e::numerical_integration::ExampleLinearOde ode; s2e::numerical_integration::RungeKutta4<1> rk4_ode(step_width_s, ode); - math::Vector<1> state = rk4_ode.GetState(); + s2e::math::Vector<1> state = rk4_ode.GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); size_t step_num = 10000; @@ -51,7 +51,7 @@ TEST(NUMERICAL_INTEGRATION, IntegrateLinearRkf) { s2e::numerical_integration::ExampleLinearOde ode; s2e::numerical_integration::RungeKuttaFehlberg<1> rkf_ode(step_width_s, ode); - math::Vector<1> state = rkf_ode.GetState(); + s2e::math::Vector<1> state = rkf_ode.GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); size_t step_num = 10000; @@ -72,7 +72,7 @@ TEST(NUMERICAL_INTEGRATION, IntegrateLinearDp5) { s2e::numerical_integration::ExampleLinearOde ode; s2e::numerical_integration::DormandPrince5<1> dp5_ode(step_width_s, ode); - math::Vector<1> state = dp5_ode.GetState(); + s2e::math::Vector<1> state = dp5_ode.GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); size_t step_num = 10000; @@ -93,7 +93,7 @@ TEST(NUMERICAL_INTEGRATION, IntegrateLinearNumericalIntegratorManagerRk4) { s2e::numerical_integration::ExampleLinearOde ode; s2e::numerical_integration::NumericalIntegratorManager<1> numerical_integrator(step_width_s, ode); - math::Vector<1> state = numerical_integrator.GetIntegrator()->GetState(); + s2e::math::Vector<1> state = numerical_integrator.GetIntegrator()->GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); size_t step_num = 10000; @@ -115,7 +115,7 @@ TEST(NUMERICAL_INTEGRATION, IntegrateLinearNumericalIntegratorManagerRkf) { s2e::numerical_integration::NumericalIntegratorManager<1> numerical_integrator(step_width_s, ode, s2e::numerical_integration::NumericalIntegrationMethod::kRkf); - math::Vector<1> state = numerical_integrator.GetIntegrator()->GetState(); + s2e::math::Vector<1> state = numerical_integrator.GetIntegrator()->GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); size_t step_num = 10000; @@ -141,7 +141,7 @@ TEST(NUMERICAL_INTEGRATION, IntegrateLinearNumericalIntegratorManagerDp5) { s2e::numerical_integration::NumericalIntegratorManager<1> numerical_integrator(step_width_s, ode, s2e::numerical_integration::NumericalIntegrationMethod::kDp5); - math::Vector<1> state = numerical_integrator.GetIntegrator()->GetState(); + s2e::math::Vector<1> state = numerical_integrator.GetIntegrator()->GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); size_t step_num = 10000; @@ -166,7 +166,7 @@ TEST(NUMERICAL_INTEGRATION, IntegrateQuadraticRk4) { s2e::numerical_integration::ExampleQuadraticOde ode; s2e::numerical_integration::RungeKutta4<1> rk4_ode(step_width_s, ode); - math::Vector<1> state = rk4_ode.GetState(); + s2e::math::Vector<1> state = rk4_ode.GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); size_t step_num = 10000; @@ -187,7 +187,7 @@ TEST(NUMERICAL_INTEGRATION, IntegrateQuadraticRkf) { s2e::numerical_integration::ExampleQuadraticOde ode; s2e::numerical_integration::RungeKuttaFehlberg<1> rkf_ode(step_width_s, ode); - math::Vector<1> state = rkf_ode.GetState(); + s2e::math::Vector<1> state = rkf_ode.GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); size_t step_num = 10000; @@ -208,7 +208,7 @@ TEST(NUMERICAL_INTEGRATION, InterpolationQuadraticRkf) { s2e::numerical_integration::ExampleQuadraticOde ode; s2e::numerical_integration::RungeKuttaFehlberg<1> rkf_ode(step_width_s, ode); - math::Vector<1> state = rkf_ode.GetState(); + s2e::math::Vector<1> state = rkf_ode.GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); rkf_ode.Integrate(); @@ -237,7 +237,7 @@ TEST(NUMERICAL_INTEGRATION, IntegrateQuadraticDp5) { s2e::numerical_integration::ExampleQuadraticOde ode; s2e::numerical_integration::DormandPrince5<1> dp5_ode(step_width_s, ode); - math::Vector<1> state = dp5_ode.GetState(); + s2e::math::Vector<1> state = dp5_ode.GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); size_t step_num = 10000; @@ -258,7 +258,7 @@ TEST(NUMERICAL_INTEGRATION, InterpolationQuadraticDp5) { s2e::numerical_integration::ExampleQuadraticOde ode; s2e::numerical_integration::DormandPrince5<1> dp5_ode(step_width_s, ode); - math::Vector<1> state = dp5_ode.GetState(); + s2e::math::Vector<1> state = dp5_ode.GetState(); EXPECT_DOUBLE_EQ(0.0, state[0]); dp5_ode.Integrate(); @@ -287,12 +287,12 @@ TEST(NUMERICAL_INTEGRATION, Integrate1dPositionVelocityRk4) { s2e::numerical_integration::Example1dPositionVelocityOde ode; s2e::numerical_integration::RungeKutta4<2> rk4_ode(step_width_s, ode); - math::Vector<2> initial_state(0.0); + s2e::math::Vector<2> initial_state(0.0); initial_state[0] = 0.0; initial_state[1] = 0.1; rk4_ode.SetState(0.0, initial_state); - math::Vector<2> state = rk4_ode.GetState(); + s2e::math::Vector<2> state = rk4_ode.GetState(); EXPECT_DOUBLE_EQ(initial_state[0], state[0]); EXPECT_DOUBLE_EQ(initial_state[1], state[1]); @@ -301,7 +301,7 @@ TEST(NUMERICAL_INTEGRATION, Integrate1dPositionVelocityRk4) { rk4_ode.Integrate(); } state = rk4_ode.GetState(); - math::Vector<2> estimated_result(0.0); + s2e::math::Vector<2> estimated_result(0.0); estimated_result[0] = (step_width_s * step_num) * initial_state[1] + initial_state[0]; estimated_result[1] = initial_state[1]; @@ -317,12 +317,12 @@ TEST(NUMERICAL_INTEGRATION, Integrate1dPositionVelocityRkf) { s2e::numerical_integration::Example1dPositionVelocityOde ode; s2e::numerical_integration::RungeKuttaFehlberg<2> rkf_ode(step_width_s, ode); - math::Vector<2> initial_state(0.0); + s2e::math::Vector<2> initial_state(0.0); initial_state[0] = 0.0; initial_state[1] = 0.1; rkf_ode.SetState(0.0, initial_state); - math::Vector<2> state = rkf_ode.GetState(); + s2e::math::Vector<2> state = rkf_ode.GetState(); EXPECT_DOUBLE_EQ(initial_state[0], state[0]); EXPECT_DOUBLE_EQ(initial_state[1], state[1]); @@ -331,7 +331,7 @@ TEST(NUMERICAL_INTEGRATION, Integrate1dPositionVelocityRkf) { rkf_ode.Integrate(); } state = rkf_ode.GetState(); - math::Vector<2> estimated_result(0.0); + s2e::math::Vector<2> estimated_result(0.0); estimated_result[0] = (step_width_s * step_num) * initial_state[1] + initial_state[0]; estimated_result[1] = initial_state[1]; @@ -347,12 +347,12 @@ TEST(NUMERICAL_INTEGRATION, Integrate1dPositionVelocityDp5) { s2e::numerical_integration::Example1dPositionVelocityOde ode; s2e::numerical_integration::DormandPrince5<2> dp5_ode(step_width_s, ode); - math::Vector<2> initial_state(0.0); + s2e::math::Vector<2> initial_state(0.0); initial_state[0] = 0.0; initial_state[1] = 0.1; dp5_ode.SetState(0.0, initial_state); - math::Vector<2> state = dp5_ode.GetState(); + s2e::math::Vector<2> state = dp5_ode.GetState(); EXPECT_DOUBLE_EQ(initial_state[0], state[0]); EXPECT_DOUBLE_EQ(initial_state[1], state[1]); @@ -361,7 +361,7 @@ TEST(NUMERICAL_INTEGRATION, Integrate1dPositionVelocityDp5) { dp5_ode.Integrate(); } state = dp5_ode.GetState(); - math::Vector<2> estimated_result(0.0); + s2e::math::Vector<2> estimated_result(0.0); estimated_result[0] = (step_width_s * step_num) * initial_state[1] + initial_state[0]; estimated_result[1] = initial_state[1]; @@ -379,7 +379,7 @@ TEST(NUMERICAL_INTEGRATION, Integrate2dTwoBodyOrbitSmallEccentricity) { s2e::numerical_integration::RungeKuttaFehlberg<4> rkf_ode(step_width_s, ode); s2e::numerical_integration::DormandPrince5<4> dp5_ode(step_width_s, ode); - math::Vector<4> initial_state(0.0); + s2e::math::Vector<4> initial_state(0.0); const double eccentricity = 0.1; initial_state[0] = 1.0 - eccentricity; initial_state[1] = 0.0; @@ -389,9 +389,9 @@ TEST(NUMERICAL_INTEGRATION, Integrate2dTwoBodyOrbitSmallEccentricity) { rkf_ode.SetState(0.0, initial_state); dp5_ode.SetState(0.0, initial_state); - math::Vector<4> state_rk4 = rk4_ode.GetState(); - math::Vector<4> state_rkf = rkf_ode.GetState(); - math::Vector<4> state_dp5 = dp5_ode.GetState(); + s2e::math::Vector<4> state_rk4 = rk4_ode.GetState(); + s2e::math::Vector<4> state_rkf = rkf_ode.GetState(); + s2e::math::Vector<4> state_dp5 = dp5_ode.GetState(); for (size_t i = 0; i < 4; i++) { EXPECT_DOUBLE_EQ(initial_state[i], state_rk4[i]); EXPECT_DOUBLE_EQ(initial_state[i], state_rkf[i]); @@ -409,8 +409,8 @@ TEST(NUMERICAL_INTEGRATION, Integrate2dTwoBodyOrbitSmallEccentricity) { state_dp5 = dp5_ode.GetState(); // Estimation by Kepler Orbit calculation - math::Vector<3> initial_position(0.0); - math::Vector<3> initial_velocity(0.0); + s2e::math::Vector<3> initial_position(0.0); + s2e::math::Vector<3> initial_velocity(0.0); initial_position[0] = initial_state[0]; initial_position[1] = initial_state[1]; @@ -449,7 +449,7 @@ TEST(NUMERICAL_INTEGRATION, Integrate2dTwoBodyOrbitLargeEccentricity) { s2e::numerical_integration::RungeKuttaFehlberg<4> rkf_ode(step_width_s, ode); s2e::numerical_integration::DormandPrince5<4> dp5_ode(step_width_s, ode); - math::Vector<4> initial_state(0.0); + s2e::math::Vector<4> initial_state(0.0); const double eccentricity = 0.9; initial_state[0] = 1.0 - eccentricity; initial_state[1] = 0.0; @@ -459,9 +459,9 @@ TEST(NUMERICAL_INTEGRATION, Integrate2dTwoBodyOrbitLargeEccentricity) { rkf_ode.SetState(0.0, initial_state); dp5_ode.SetState(0.0, initial_state); - math::Vector<4> state_rk4 = rk4_ode.GetState(); - math::Vector<4> state_rkf = rkf_ode.GetState(); - math::Vector<4> state_dp5 = dp5_ode.GetState(); + s2e::math::Vector<4> state_rk4 = rk4_ode.GetState(); + s2e::math::Vector<4> state_rkf = rkf_ode.GetState(); + s2e::math::Vector<4> state_dp5 = dp5_ode.GetState(); for (size_t i = 0; i < 4; i++) { EXPECT_DOUBLE_EQ(initial_state[i], state_rk4[i]); EXPECT_DOUBLE_EQ(initial_state[i], state_rkf[i]); @@ -479,8 +479,8 @@ TEST(NUMERICAL_INTEGRATION, Integrate2dTwoBodyOrbitLargeEccentricity) { state_dp5 = dp5_ode.GetState(); // Estimation by Kepler Orbit calculation - math::Vector<3> initial_position(0.0); - math::Vector<3> initial_velocity(0.0); + s2e::math::Vector<3> initial_position(0.0); + s2e::math::Vector<3> initial_velocity(0.0); initial_position[0] = initial_state[0]; initial_position[1] = initial_state[1]; @@ -518,7 +518,7 @@ TEST(NUMERICAL_INTEGRATION, Interpolation2dTwoBodyOrbitSmallEccentricity) { s2e::numerical_integration::RungeKuttaFehlberg<4> rkf_ode(step_width_s, ode); s2e::numerical_integration::DormandPrince5<4> dp5_ode(step_width_s, ode); - math::Vector<4> initial_state(0.0); + s2e::math::Vector<4> initial_state(0.0); const double eccentricity = 0.1; initial_state[0] = 1.0 - eccentricity; initial_state[1] = 0.0; @@ -527,8 +527,8 @@ TEST(NUMERICAL_INTEGRATION, Interpolation2dTwoBodyOrbitSmallEccentricity) { rkf_ode.SetState(0.0, initial_state); dp5_ode.SetState(0.0, initial_state); - math::Vector<4> state_rkf = rkf_ode.GetState(); - math::Vector<4> state_dp5 = dp5_ode.GetState(); + s2e::math::Vector<4> state_rkf = rkf_ode.GetState(); + s2e::math::Vector<4> state_dp5 = dp5_ode.GetState(); for (size_t i = 0; i < 4; i++) { EXPECT_DOUBLE_EQ(initial_state[i], state_rkf[i]); EXPECT_DOUBLE_EQ(initial_state[i], state_dp5[i]); @@ -543,8 +543,8 @@ TEST(NUMERICAL_INTEGRATION, Interpolation2dTwoBodyOrbitSmallEccentricity) { state_dp5 = dp5_ode.GetState(); // Estimation by Kepler Orbit calculation - math::Vector<3> initial_position(0.0); - math::Vector<3> initial_velocity(0.0); + s2e::math::Vector<3> initial_position(0.0); + s2e::math::Vector<3> initial_velocity(0.0); // Final value initial_position[0] = initial_state[0]; @@ -613,7 +613,7 @@ TEST(NUMERICAL_INTEGRATION, Interpolation2dTwoBodyOrbitLargeEccentricity) { s2e::numerical_integration::RungeKuttaFehlberg<4> rkf_ode(step_width_s, ode); s2e::numerical_integration::DormandPrince5<4> dp5_ode(step_width_s, ode); - math::Vector<4> initial_state(0.0); + s2e::math::Vector<4> initial_state(0.0); const double eccentricity = 0.8; initial_state[0] = 1.0 - eccentricity; initial_state[1] = 0.0; @@ -622,8 +622,8 @@ TEST(NUMERICAL_INTEGRATION, Interpolation2dTwoBodyOrbitLargeEccentricity) { rkf_ode.SetState(0.0, initial_state); dp5_ode.SetState(0.0, initial_state); - math::Vector<4> state_rkf = rkf_ode.GetState(); - math::Vector<4> state_dp5 = dp5_ode.GetState(); + s2e::math::Vector<4> state_rkf = rkf_ode.GetState(); + s2e::math::Vector<4> state_dp5 = dp5_ode.GetState(); for (size_t i = 0; i < 4; i++) { EXPECT_DOUBLE_EQ(initial_state[i], state_rkf[i]); EXPECT_DOUBLE_EQ(initial_state[i], state_dp5[i]); @@ -638,8 +638,8 @@ TEST(NUMERICAL_INTEGRATION, Interpolation2dTwoBodyOrbitLargeEccentricity) { state_dp5 = dp5_ode.GetState(); // Estimation by Kepler Orbit calculation - math::Vector<3> initial_position(0.0); - math::Vector<3> initial_velocity(0.0); + s2e::math::Vector<3> initial_position(0.0); + s2e::math::Vector<3> initial_velocity(0.0); // Final value initial_position[0] = initial_state[0]; diff --git a/src/math_physics/orbit/test_interpolation_orbit.cpp b/src/math_physics/orbit/test_interpolation_orbit.cpp index 1e05a13fb..f83a3f0cf 100644 --- a/src/math_physics/orbit/test_interpolation_orbit.cpp +++ b/src/math_physics/orbit/test_interpolation_orbit.cpp @@ -33,7 +33,7 @@ TEST(InterpolationOrbit, PushAndPop) { EXPECT_EQ(degree, interpolation_orbit.GetDegree()); for (size_t i = 0; i < degree; i++) { double time = (double)i; - math::Vector<3> position{i * 2.0}; + s2e::math::Vector<3> position{i * 2.0}; bool ret = interpolation_orbit.PushAndPopData(time, position); EXPECT_TRUE(ret); } @@ -46,7 +46,7 @@ TEST(InterpolationOrbit, PushAndPop) { // False test double time = 2.0; - math::Vector<3> position{-100.0}; + s2e::math::Vector<3> position{-100.0}; bool ret = interpolation_orbit.PushAndPopData(time, position); EXPECT_FALSE(ret); } From 2fb5f5270015d90f343d21db25f7dc8f792b2292 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 2 Oct 2024 00:01:38 +0900 Subject: [PATCH 452/456] Rename namespace ground_station --- .../real/communication/ground_station_calculator.cpp | 8 ++++---- .../real/communication/ground_station_calculator.hpp | 8 ++++---- src/simulation/ground_station/ground_station.cpp | 10 +++++----- src/simulation/ground_station/ground_station.hpp | 10 +++++----- .../ground_station/sample_ground_station.cpp | 6 +++--- .../ground_station/sample_ground_station.hpp | 2 +- 6 files changed, 22 insertions(+), 22 deletions(-) diff --git a/src/components/real/communication/ground_station_calculator.cpp b/src/components/real/communication/ground_station_calculator.cpp index 9c83ae730..864cbd10f 100644 --- a/src/components/real/communication/ground_station_calculator.cpp +++ b/src/components/real/communication/ground_station_calculator.cpp @@ -30,7 +30,7 @@ GroundStationCalculator::GroundStationCalculator(const double loss_polarization_ GroundStationCalculator::~GroundStationCalculator() {} void GroundStationCalculator::Update(const simulation::Spacecraft& spacecraft, const Antenna& spacecraft_tx_antenna, - const simulation::GroundStation& ground_station, const Antenna& ground_station_rx_antenna) { + const ground_station::GroundStation& ground_station, const Antenna& ground_station_rx_antenna) { bool is_visible = ground_station.IsVisible(spacecraft.GetSpacecraftId()); if (is_visible) { max_bitrate_Mbps_ = CalcMaxBitrate(spacecraft.GetDynamics(), spacecraft_tx_antenna, ground_station, ground_station_rx_antenna); @@ -43,7 +43,7 @@ void GroundStationCalculator::Update(const simulation::Spacecraft& spacecraft, c // Private functions double GroundStationCalculator::CalcMaxBitrate(const dynamics::Dynamics& dynamics, const Antenna& spacecraft_tx_antenna, - const simulation::GroundStation& ground_station, const Antenna& ground_station_rx_antenna) { + const ground_station::GroundStation& ground_station, const Antenna& ground_station_rx_antenna) { double cn0_dBHz = CalcCn0OnGs(dynamics, spacecraft_tx_antenna, ground_station, ground_station_rx_antenna); double margin_for_bitrate_dB = cn0_dBHz - (ebn0_dB_ + hardware_deterioration_dB_ + coding_gain_dB_) - margin_requirement_dB_; @@ -56,14 +56,14 @@ double GroundStationCalculator::CalcMaxBitrate(const dynamics::Dynamics& dynamic } double GroundStationCalculator::CalcReceiveMarginOnGs(const dynamics::Dynamics& dynamics, const Antenna& spacecraft_tx_antenna, - const simulation::GroundStation& ground_station, const Antenna& ground_station_rx_antenna) { + const ground_station::GroundStation& ground_station, const Antenna& ground_station_rx_antenna) { double cn0_dB = CalcCn0OnGs(dynamics, spacecraft_tx_antenna, ground_station, ground_station_rx_antenna); double cn0_requirement_dB = ebn0_dB_ + hardware_deterioration_dB_ + coding_gain_dB_ + 10.0 * log10(spacecraft_tx_antenna.GetBitrate_bps()); return cn0_dB - cn0_requirement_dB; } double GroundStationCalculator::CalcCn0OnGs(const dynamics::Dynamics& dynamics, const Antenna& spacecraft_tx_antenna, - const simulation::GroundStation& ground_station, const Antenna& ground_station_rx_antenna) { + const ground_station::GroundStation& ground_station, const Antenna& ground_station_rx_antenna) { if (!spacecraft_tx_antenna.IsTransmitter() || !ground_station_rx_antenna.IsReceiver()) { // Check compatibility of transmitter and receiver return 0.0f; diff --git a/src/components/real/communication/ground_station_calculator.hpp b/src/components/real/communication/ground_station_calculator.hpp index bc5f8c0f4..2c91ffeb5 100644 --- a/src/components/real/communication/ground_station_calculator.hpp +++ b/src/components/real/communication/ground_station_calculator.hpp @@ -51,7 +51,7 @@ class GroundStationCalculator : public logger::ILoggable { * @param [in] ground_station: Ground station information * @param [in] ground_station_rx_antenna: Antenna mounted on ground station */ - void Update(const simulation::Spacecraft& spacecraft, const Antenna& spacecraft_tx_antenna, const simulation::GroundStation& ground_station, + void Update(const simulation::Spacecraft& spacecraft, const Antenna& spacecraft_tx_antenna, const ground_station::GroundStation& ground_station, const Antenna& ground_station_rx_antenna); // Override logger::ILoggable TODO: Maybe we don't need logabble, and this class should be used as library. @@ -111,7 +111,7 @@ class GroundStationCalculator : public logger::ILoggable { * @param [in] ground_station_rx_antenna: Rx Antenna mounted on ground station * @return Max bitrate [Mbps] */ - double CalcMaxBitrate(const dynamics::Dynamics& dynamics, const Antenna& spacecraft_tx_antenna, const simulation::GroundStation& ground_station, + double CalcMaxBitrate(const dynamics::Dynamics& dynamics, const Antenna& spacecraft_tx_antenna, const ground_station::GroundStation& ground_station, const Antenna& ground_station_rx_antenna); /** * @fn CalcReceiveMarginOnGs @@ -123,7 +123,7 @@ class GroundStationCalculator : public logger::ILoggable { * @return Receive margin [dB] */ double CalcReceiveMarginOnGs(const dynamics::Dynamics& dynamics, const Antenna& spacecraft_tx_antenna, - const simulation::GroundStation& ground_station, const Antenna& ground_station_rx_antenna); + const ground_station::GroundStation& ground_station, const Antenna& ground_station_rx_antenna); /** * @fn CalcCn0 @@ -134,7 +134,7 @@ class GroundStationCalculator : public logger::ILoggable { * @param [in] ground_station_rx_antenna: Rx Antenna mounted on ground station * @return CN0 [dB] */ - double CalcCn0OnGs(const dynamics::Dynamics& dynamics, const Antenna& spacecraft_tx_antenna, const simulation::GroundStation& ground_station, + double CalcCn0OnGs(const dynamics::Dynamics& dynamics, const Antenna& spacecraft_tx_antenna, const ground_station::GroundStation& ground_station, const Antenna& ground_station_rx_antenna); }; diff --git a/src/simulation/ground_station/ground_station.cpp b/src/simulation/ground_station/ground_station.cpp index f03e018eb..d848115fd 100644 --- a/src/simulation/ground_station/ground_station.cpp +++ b/src/simulation/ground_station/ground_station.cpp @@ -13,9 +13,9 @@ #include #include -namespace s2e::simulation { +namespace s2e::ground_station { -GroundStation::GroundStation(const SimulationConfiguration* configuration, const unsigned int ground_station_id) +GroundStation::GroundStation(const simulation::SimulationConfiguration* configuration, const unsigned int ground_station_id) : ground_station_id_(ground_station_id) { Initialize(configuration, ground_station_id_); number_of_spacecraft_ = configuration->number_of_simulated_spacecraft_; @@ -26,7 +26,7 @@ GroundStation::GroundStation(const SimulationConfiguration* configuration, const GroundStation::~GroundStation() {} -void GroundStation::Initialize(const SimulationConfiguration* configuration, const unsigned int ground_station_id) { +void GroundStation::Initialize(const simulation::SimulationConfiguration* configuration, const unsigned int ground_station_id) { std::string gs_ini_path = configuration->ground_station_file_list_[0]; auto conf = setting_file_reader::IniAccess(gs_ini_path); @@ -47,7 +47,7 @@ void GroundStation::Initialize(const SimulationConfiguration* configuration, con void GroundStation::LogSetup(logger::Logger& logger) { logger.AddLogList(this); } -void GroundStation::Update(const environment::EarthRotation& celestial_rotation, const Spacecraft& spacecraft) { +void GroundStation::Update(const environment::EarthRotation& celestial_rotation, const simulation::Spacecraft& spacecraft) { math::Matrix<3, 3> dcm_ecef2eci = celestial_rotation.GetDcmJ2000ToEcef().Transpose(); position_i_m_ = dcm_ecef2eci * position_ecef_m_; @@ -93,4 +93,4 @@ std::string GroundStation::GetLogValue() const { return str_tmp; } -} // namespace s2e::simulation +} // namespace s2e::ground_station diff --git a/src/simulation/ground_station/ground_station.hpp b/src/simulation/ground_station/ground_station.hpp index c88f96666..b5179ddd3 100644 --- a/src/simulation/ground_station/ground_station.hpp +++ b/src/simulation/ground_station/ground_station.hpp @@ -12,7 +12,7 @@ #include "../simulation_configuration.hpp" -namespace s2e::simulation { +namespace s2e::ground_station { /** * @class GroundStation @@ -24,7 +24,7 @@ class GroundStation : public logger::ILoggable { * @fn GroundStation * @brief Constructor */ - GroundStation(const SimulationConfiguration* configuration, const unsigned int ground_station_id_); + GroundStation(const simulation::SimulationConfiguration* configuration, const unsigned int ground_station_id_); /** * @fn ~GroundStation * @brief Destructor @@ -35,7 +35,7 @@ class GroundStation : public logger::ILoggable { * @fn Initialize * @brief Virtual function to initialize the ground station */ - virtual void Initialize(const SimulationConfiguration* configuration, const unsigned int ground_station_id); + virtual void Initialize(const simulation::SimulationConfiguration* configuration, const unsigned int ground_station_id); /** * @fn LogSetup * @brief Virtual function to log output setting for ground station related components @@ -45,7 +45,7 @@ class GroundStation : public logger::ILoggable { * @fn Update * @brief Virtual function of main routine */ - virtual void Update(const environment::EarthRotation& celestial_rotation, const Spacecraft& spacecraft); + virtual void Update(const environment::EarthRotation& celestial_rotation, const simulation::Spacecraft& spacecraft); // Override functions for ILoggable /** @@ -111,6 +111,6 @@ class GroundStation : public logger::ILoggable { bool CalcIsVisible(const math::Vector<3> spacecraft_position_ecef_m); }; -} // namespace s2e::simulation +} // namespace s2e::ground_station #endif // S2E_SIMULATION_GROUND_STATION_GROUND_STATION_HPP_ diff --git a/src/simulation_sample/ground_station/sample_ground_station.cpp b/src/simulation_sample/ground_station/sample_ground_station.cpp index d75acb258..5ca22e707 100644 --- a/src/simulation_sample/ground_station/sample_ground_station.cpp +++ b/src/simulation_sample/ground_station/sample_ground_station.cpp @@ -10,19 +10,19 @@ namespace s2e::sample { SampleGroundStation::SampleGroundStation(const simulation::SimulationConfiguration* configuration, const unsigned int ground_station_id) - : simulation::GroundStation(configuration, ground_station_id) { + : ground_station::GroundStation(configuration, ground_station_id) { components_ = new SampleGsComponents(configuration); } SampleGroundStation::~SampleGroundStation() { delete components_; } void SampleGroundStation::LogSetup(logger::Logger& logger) { - simulation::GroundStation::LogSetup(logger); + ground_station::GroundStation::LogSetup(logger); components_->CompoLogSetUp(logger); } void SampleGroundStation::Update(const environment::EarthRotation& celestial_rotation, const SampleSpacecraft& spacecraft) { - simulation::GroundStation::Update(celestial_rotation, spacecraft); + ground_station::GroundStation::Update(celestial_rotation, spacecraft); components_->GetGsCalculator()->Update(spacecraft, spacecraft.GetInstalledComponents().GetAntenna(), *this, *(components_->GetAntenna())); } diff --git a/src/simulation_sample/ground_station/sample_ground_station.hpp b/src/simulation_sample/ground_station/sample_ground_station.hpp index bee3024f9..0d45f86f4 100644 --- a/src/simulation_sample/ground_station/sample_ground_station.hpp +++ b/src/simulation_sample/ground_station/sample_ground_station.hpp @@ -22,7 +22,7 @@ class SampleGsComponents; * @class SampleGroundStation * @brief An example of user defined ground station class */ -class SampleGroundStation : public simulation::GroundStation { +class SampleGroundStation : public ground_station::GroundStation { public: /** * @fn SampleGroundStation From 5993e4a9daa1f948479727d962ecd9c25f9db970 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 2 Oct 2024 00:16:18 +0900 Subject: [PATCH 453/456] Rename spacecraft namespace --- .../examples/example_change_structure.cpp | 2 +- .../examples/example_change_structure.hpp | 4 ++-- .../ground_station_calculator.cpp | 2 +- .../ground_station_calculator.hpp | 2 +- .../real/propulsion/simple_thruster.cpp | 8 ++++---- .../real/propulsion/simple_thruster.hpp | 10 +++++----- src/disturbances/air_drag.cpp | 4 ++-- src/disturbances/air_drag.hpp | 4 ++-- src/disturbances/disturbances.cpp | 4 ++-- src/disturbances/disturbances.hpp | 4 ++-- src/disturbances/magnetic_disturbance.cpp | 4 ++-- src/disturbances/magnetic_disturbance.hpp | 6 +++--- .../solar_radiation_pressure_disturbance.cpp | 4 ++-- .../solar_radiation_pressure_disturbance.hpp | 4 ++-- src/disturbances/surface_force.cpp | 2 +- src/disturbances/surface_force.hpp | 4 ++-- src/dynamics/dynamics.cpp | 4 ++-- src/dynamics/dynamics.hpp | 8 ++++---- .../ground_station/ground_station.cpp | 2 +- .../ground_station/ground_station.hpp | 2 +- .../spacecraft/installed_components.cpp | 4 ++-- .../spacecraft/installed_components.hpp | 4 ++-- src/simulation/spacecraft/spacecraft.cpp | 14 +++++++------- src/simulation/spacecraft/spacecraft.hpp | 18 +++++++++--------- .../structure/initialize_structure.cpp | 10 +++++----- .../structure/initialize_structure.hpp | 8 +++----- .../structure/kinematics_parameters.cpp | 4 ++-- .../structure/kinematics_parameters.hpp | 4 ++-- .../structure/residual_magnetic_moment.cpp | 4 ++-- .../structure/residual_magnetic_moment.hpp | 4 ++-- .../spacecraft/structure/structure.cpp | 8 ++++---- .../spacecraft/structure/structure.hpp | 14 +++++++------- .../spacecraft/structure/surface.cpp | 4 ++-- .../spacecraft/structure/surface.hpp | 4 ++-- .../spacecraft/sample_components.cpp | 2 +- .../spacecraft/sample_components.hpp | 6 +++--- .../spacecraft/sample_spacecraft.cpp | 2 +- .../spacecraft/sample_spacecraft.hpp | 2 +- 38 files changed, 99 insertions(+), 101 deletions(-) diff --git a/src/components/examples/example_change_structure.cpp b/src/components/examples/example_change_structure.cpp index 62e2a0cc6..e16ca7ac4 100644 --- a/src/components/examples/example_change_structure.cpp +++ b/src/components/examples/example_change_structure.cpp @@ -9,7 +9,7 @@ namespace s2e::components { -ExampleChangeStructure::ExampleChangeStructure(environment::ClockGenerator* clock_generator, simulation::Structure* structure) +ExampleChangeStructure::ExampleChangeStructure(environment::ClockGenerator* clock_generator, spacecraft::Structure* structure) : Component(1, clock_generator), structure_(structure) {} ExampleChangeStructure::~ExampleChangeStructure() {} diff --git a/src/components/examples/example_change_structure.hpp b/src/components/examples/example_change_structure.hpp index bdc4f74c5..7207ebc73 100644 --- a/src/components/examples/example_change_structure.hpp +++ b/src/components/examples/example_change_structure.hpp @@ -25,7 +25,7 @@ class ExampleChangeStructure : public Component, public logger::ILoggable { * @param [in] clock_generator: Clock generator * @param [in] structure: Structure information */ - ExampleChangeStructure(environment::ClockGenerator* clock_generator, simulation::Structure* structure); + ExampleChangeStructure(environment::ClockGenerator* clock_generator, spacecraft::Structure* structure); /** * @fn ~ChangeStructure * @brief Destructor @@ -52,7 +52,7 @@ class ExampleChangeStructure : public Component, public logger::ILoggable { virtual std::string GetLogValue() const override; protected: - simulation::Structure* structure_; //!< Structure information + spacecraft::Structure* structure_; //!< Structure information }; } // namespace s2e::components diff --git a/src/components/real/communication/ground_station_calculator.cpp b/src/components/real/communication/ground_station_calculator.cpp index 864cbd10f..bec0c2fd7 100644 --- a/src/components/real/communication/ground_station_calculator.cpp +++ b/src/components/real/communication/ground_station_calculator.cpp @@ -29,7 +29,7 @@ GroundStationCalculator::GroundStationCalculator(const double loss_polarization_ GroundStationCalculator::~GroundStationCalculator() {} -void GroundStationCalculator::Update(const simulation::Spacecraft& spacecraft, const Antenna& spacecraft_tx_antenna, +void GroundStationCalculator::Update(const spacecraft::Spacecraft& spacecraft, const Antenna& spacecraft_tx_antenna, const ground_station::GroundStation& ground_station, const Antenna& ground_station_rx_antenna) { bool is_visible = ground_station.IsVisible(spacecraft.GetSpacecraftId()); if (is_visible) { diff --git a/src/components/real/communication/ground_station_calculator.hpp b/src/components/real/communication/ground_station_calculator.hpp index 2c91ffeb5..f0192f2b1 100644 --- a/src/components/real/communication/ground_station_calculator.hpp +++ b/src/components/real/communication/ground_station_calculator.hpp @@ -51,7 +51,7 @@ class GroundStationCalculator : public logger::ILoggable { * @param [in] ground_station: Ground station information * @param [in] ground_station_rx_antenna: Antenna mounted on ground station */ - void Update(const simulation::Spacecraft& spacecraft, const Antenna& spacecraft_tx_antenna, const ground_station::GroundStation& ground_station, + void Update(const spacecraft::Spacecraft& spacecraft, const Antenna& spacecraft_tx_antenna, const ground_station::GroundStation& ground_station, const Antenna& ground_station_rx_antenna); // Override logger::ILoggable TODO: Maybe we don't need logabble, and this class should be used as library. diff --git a/src/components/real/propulsion/simple_thruster.cpp b/src/components/real/propulsion/simple_thruster.cpp index 9bde027e3..e30d4b0ce 100644 --- a/src/components/real/propulsion/simple_thruster.cpp +++ b/src/components/real/propulsion/simple_thruster.cpp @@ -15,7 +15,7 @@ namespace s2e::components { SimpleThruster::SimpleThruster(const int prescaler, environment::ClockGenerator* clock_generator, const int component_id, const math::Vector<3> thruster_position_b_m, const math::Vector<3> thrust_direction_b, const double max_magnitude_N, const double magnitude_standard_deviation_N, const double direction_standard_deviation_rad, - const simulation::Structure* structure, const dynamics::Dynamics* dynamics) + const spacecraft::Structure* structure, const dynamics::Dynamics* dynamics) : Component(prescaler, clock_generator), component_id_(component_id), thruster_position_b_m_(thruster_position_b_m), @@ -30,7 +30,7 @@ SimpleThruster::SimpleThruster(const int prescaler, environment::ClockGenerator* SimpleThruster::SimpleThruster(const int prescaler, environment::ClockGenerator* clock_generator, PowerPort* power_port, const int component_id, const math::Vector<3> thruster_position_b_m, const math::Vector<3> thrust_direction_b, const double max_magnitude_N, const double magnitude_standard_deviation_N, const double direction_standard_deviation_rad, - const simulation::Structure* structure, const dynamics::Dynamics* dynamics) + const spacecraft::Structure* structure, const dynamics::Dynamics* dynamics) : Component(prescaler, clock_generator, power_port), component_id_(component_id), thruster_position_b_m_(thruster_position_b_m), @@ -123,7 +123,7 @@ math::Vector<3> SimpleThruster::CalcThrustDirection() { } SimpleThruster InitSimpleThruster(environment::ClockGenerator* clock_generator, int thruster_id, const std::string file_name, - const simulation::Structure* structure, const dynamics::Dynamics* dynamics) { + const spacecraft::Structure* structure, const dynamics::Dynamics* dynamics) { setting_file_reader::IniAccess thruster_conf(file_name); std::string section_str = "THRUSTER_" + std::to_string(thruster_id); auto* Section = section_str.c_str(); @@ -151,7 +151,7 @@ SimpleThruster InitSimpleThruster(environment::ClockGenerator* clock_generator, } SimpleThruster InitSimpleThruster(environment::ClockGenerator* clock_generator, PowerPort* power_port, int thruster_id, const std::string file_name, - const simulation::Structure* structure, const dynamics::Dynamics* dynamics) { + const spacecraft::Structure* structure, const dynamics::Dynamics* dynamics) { setting_file_reader::IniAccess thruster_conf(file_name); std::string section_str = "THRUSTER_" + std::to_string(thruster_id); auto* Section = section_str.c_str(); diff --git a/src/components/real/propulsion/simple_thruster.hpp b/src/components/real/propulsion/simple_thruster.hpp index c1e30b2e4..c6d1901b7 100644 --- a/src/components/real/propulsion/simple_thruster.hpp +++ b/src/components/real/propulsion/simple_thruster.hpp @@ -39,7 +39,7 @@ class SimpleThruster : public Component, public logger::ILoggable { */ SimpleThruster(const int prescaler, environment::ClockGenerator* clock_generator, const int component_id, const math::Vector<3> thruster_position_b_m, const math::Vector<3> thrust_direction_b, const double max_magnitude_N, - const double magnitude_standard_deviation_N, const double direction_standard_deviation_rad, const simulation::Structure* structure, + const double magnitude_standard_deviation_N, const double direction_standard_deviation_rad, const spacecraft::Structure* structure, const dynamics::Dynamics* dynamics); /** * @fn SimpleThruster @@ -58,7 +58,7 @@ class SimpleThruster : public Component, public logger::ILoggable { */ SimpleThruster(const int prescaler, environment::ClockGenerator* clock_generator, PowerPort* power_port, const int component_id, const math::Vector<3> thruster_position_b_m, const math::Vector<3> thrust_direction_b, const double max_magnitude_N, - const double magnitude_standard_deviation_N, const double direction_standard_deviation_rad, const simulation::Structure* structure, + const double magnitude_standard_deviation_N, const double direction_standard_deviation_rad, const spacecraft::Structure* structure, const dynamics::Dynamics* dynamics); /** * @fn ~SimpleThruster @@ -154,7 +154,7 @@ class SimpleThruster : public Component, public logger::ILoggable { */ void Initialize(const double magnitude_standard_deviation_N, const double direction_standard_deviation_rad); - const simulation::Structure* structure_; //!< Spacecraft structure information + const spacecraft::Structure* structure_; //!< Spacecraft structure information const dynamics::Dynamics* dynamics_; //!< Spacecraft dynamics information }; @@ -168,7 +168,7 @@ class SimpleThruster : public Component, public logger::ILoggable { * @param [in] dynamics: Spacecraft dynamics information */ SimpleThruster InitSimpleThruster(environment::ClockGenerator* clock_generator, int thruster_id, const std::string file_name, - const simulation::Structure* structure, const dynamics::Dynamics* dynamics); + const spacecraft::Structure* structure, const dynamics::Dynamics* dynamics); /** * @fn InitSimpleThruster * @brief Initialize function os SimpleThruster @@ -180,7 +180,7 @@ SimpleThruster InitSimpleThruster(environment::ClockGenerator* clock_generator, * @param [in] dynamics: Spacecraft dynamics information */ SimpleThruster InitSimpleThruster(environment::ClockGenerator* clock_generator, PowerPort* power_port, int thruster_id, const std::string file_name, - const simulation::Structure* structure, const dynamics::Dynamics* dynamics); + const spacecraft::Structure* structure, const dynamics::Dynamics* dynamics); } // namespace s2e::components diff --git a/src/disturbances/air_drag.cpp b/src/disturbances/air_drag.cpp index 001422dbc..2c9254070 100644 --- a/src/disturbances/air_drag.cpp +++ b/src/disturbances/air_drag.cpp @@ -14,7 +14,7 @@ namespace s2e::disturbances { -AirDrag::AirDrag(const std::vector& surfaces, const math::Vector<3>& center_of_gravity_b_m, const double wall_temperature_K, +AirDrag::AirDrag(const std::vector& surfaces, const math::Vector<3>& center_of_gravity_b_m, const double wall_temperature_K, const double molecular_temperature_K, const double molecular_weight_g_mol, const bool is_calculation_enabled) : SurfaceForce(surfaces, center_of_gravity_b_m, is_calculation_enabled), wall_temperature_K_(wall_temperature_K), @@ -95,7 +95,7 @@ std::string AirDrag::GetLogValue() const { return str_tmp; } -AirDrag InitAirDrag(const std::string initialize_file_path, const std::vector& surfaces, +AirDrag InitAirDrag(const std::string initialize_file_path, const std::vector& surfaces, const math::Vector<3>& center_of_gravity_b_m) { auto conf = setting_file_reader::IniAccess(initialize_file_path); const char* section = "AIR_DRAG"; diff --git a/src/disturbances/air_drag.hpp b/src/disturbances/air_drag.hpp index 73d5cbd9b..54e5d3896 100644 --- a/src/disturbances/air_drag.hpp +++ b/src/disturbances/air_drag.hpp @@ -32,7 +32,7 @@ class AirDrag : public SurfaceForce { * @param [in] molecular_weight_g_mol: Molecular weight [g/mol] * @param [in] is_calculation_enabled: Calculation flag */ - AirDrag(const std::vector& surfaces, const math::Vector<3>& center_of_gravity_b_m, const double wall_temperature_K, + AirDrag(const std::vector& surfaces, const math::Vector<3>& center_of_gravity_b_m, const double wall_temperature_K, const double molecular_temperature_K, const double molecular_weight_g_mol, const bool is_calculation_enabled = true); /** @@ -98,7 +98,7 @@ class AirDrag : public SurfaceForce { * @param [in] surfaces: surface information of the spacecraft * @param [in] center_of_gravity_b_m: Center of gravity position vector at body frame [m] */ -AirDrag InitAirDrag(const std::string initialize_file_path, const std::vector& surfaces, +AirDrag InitAirDrag(const std::string initialize_file_path, const std::vector& surfaces, const math::Vector<3>& center_of_gravity_b_m); } // namespace s2e::disturbances diff --git a/src/disturbances/disturbances.cpp b/src/disturbances/disturbances.cpp index 86e7da768..c3e3fd018 100644 --- a/src/disturbances/disturbances.cpp +++ b/src/disturbances/disturbances.cpp @@ -18,7 +18,7 @@ namespace s2e::disturbances { Disturbances::Disturbances(const simulation::SimulationConfiguration* simulation_configuration, const int spacecraft_id, - const simulation::Structure* structure, const environment::GlobalEnvironment* global_environment) { + const spacecraft::Structure* structure, const environment::GlobalEnvironment* global_environment) { InitializeInstances(simulation_configuration, spacecraft_id, structure, global_environment); InitializeForceAndTorque(); InitializeAcceleration(); @@ -59,7 +59,7 @@ void Disturbances::LogSetup(logger::Logger& logger) { } void Disturbances::InitializeInstances(const simulation::SimulationConfiguration* simulation_configuration, const int spacecraft_id, - const simulation::Structure* structure, const environment::GlobalEnvironment* global_environment) { + const spacecraft::Structure* structure, const environment::GlobalEnvironment* global_environment) { setting_file_reader::IniAccess ini_access = setting_file_reader::IniAccess(simulation_configuration->spacecraft_file_list_[spacecraft_id]); initialize_file_name_ = ini_access.ReadString("SETTING_FILES", "disturbance_file"); diff --git a/src/disturbances/disturbances.hpp b/src/disturbances/disturbances.hpp index 243f446b1..6e242e058 100644 --- a/src/disturbances/disturbances.hpp +++ b/src/disturbances/disturbances.hpp @@ -30,7 +30,7 @@ class Disturbances { * @param [in] structure: Structure information of spacecraft * @param [in] global_environment: Global environment information */ - Disturbances(const simulation::SimulationConfiguration* simulation_configuration, const int spacecraft_id, const simulation::Structure* structure, + Disturbances(const simulation::SimulationConfiguration* simulation_configuration, const int spacecraft_id, const spacecraft::Structure* structure, const environment::GlobalEnvironment* global_environment); /** * @fn ~Disturbances @@ -89,7 +89,7 @@ class Disturbances { * @param [in] global_environment: Global environment information */ void InitializeInstances(const simulation::SimulationConfiguration* simulation_configuration, const int spacecraft_id, - const simulation::Structure* structure, const environment::GlobalEnvironment* global_environment); + const spacecraft::Structure* structure, const environment::GlobalEnvironment* global_environment); /** * @fn InitializeForceAndTorque * @brief Initialize disturbance force and torque diff --git a/src/disturbances/magnetic_disturbance.cpp b/src/disturbances/magnetic_disturbance.cpp index ad48b6bed..ea0029218 100644 --- a/src/disturbances/magnetic_disturbance.cpp +++ b/src/disturbances/magnetic_disturbance.cpp @@ -15,7 +15,7 @@ namespace s2e::disturbances { -MagneticDisturbance::MagneticDisturbance(const simulation::ResidualMagneticMoment& rmm_params, const bool is_calculation_enabled) +MagneticDisturbance::MagneticDisturbance(const spacecraft::ResidualMagneticMoment& rmm_params, const bool is_calculation_enabled) : Disturbance(is_calculation_enabled, true), residual_magnetic_moment_(rmm_params) { rmm_b_Am2_ = residual_magnetic_moment_.GetConstantValue_b_Am2(); } @@ -64,7 +64,7 @@ std::string MagneticDisturbance::GetLogValue() const { return str_tmp; } -MagneticDisturbance InitMagneticDisturbance(const std::string initialize_file_path, const simulation::ResidualMagneticMoment& rmm_params) { +MagneticDisturbance InitMagneticDisturbance(const std::string initialize_file_path, const spacecraft::ResidualMagneticMoment& rmm_params) { auto conf = setting_file_reader::IniAccess(initialize_file_path); const char* section = "MAGNETIC_DISTURBANCE"; diff --git a/src/disturbances/magnetic_disturbance.hpp b/src/disturbances/magnetic_disturbance.hpp index 166060674..f51b3924b 100644 --- a/src/disturbances/magnetic_disturbance.hpp +++ b/src/disturbances/magnetic_disturbance.hpp @@ -27,7 +27,7 @@ class MagneticDisturbance : public Disturbance { * @param [in] rmm_parameters: RMM parameters of the spacecraft * @param [in] is_calculation_enabled: Calculation flag */ - MagneticDisturbance(const simulation::ResidualMagneticMoment& rmm_parameters, const bool is_calculation_enabled = true); + MagneticDisturbance(const spacecraft::ResidualMagneticMoment& rmm_parameters, const bool is_calculation_enabled = true); /** * @fn Update @@ -53,7 +53,7 @@ class MagneticDisturbance : public Disturbance { const double kMagUnit_ = 1.0e-9; //!< Constant value to change the unit [nT] -> [T] math::Vector<3> rmm_b_Am2_; //!< True RMM of the spacecraft in the body frame [Am2] - const simulation::ResidualMagneticMoment& residual_magnetic_moment_; //!< RMM parameters + const spacecraft::ResidualMagneticMoment& residual_magnetic_moment_; //!< RMM parameters /** * @fn CalcRMM @@ -75,7 +75,7 @@ class MagneticDisturbance : public Disturbance { * @param [in] initialize_file_path: Initialize file path * @param [in] rmm_params: RMM parameters */ -MagneticDisturbance InitMagneticDisturbance(const std::string initialize_file_path, const simulation::ResidualMagneticMoment& rmm_params); +MagneticDisturbance InitMagneticDisturbance(const std::string initialize_file_path, const spacecraft::ResidualMagneticMoment& rmm_params); } // namespace s2e::disturbances diff --git a/src/disturbances/solar_radiation_pressure_disturbance.cpp b/src/disturbances/solar_radiation_pressure_disturbance.cpp index c5f6b7af1..369048683 100644 --- a/src/disturbances/solar_radiation_pressure_disturbance.cpp +++ b/src/disturbances/solar_radiation_pressure_disturbance.cpp @@ -12,7 +12,7 @@ namespace s2e::disturbances { -SolarRadiationPressureDisturbance::SolarRadiationPressureDisturbance(const std::vector& surfaces, +SolarRadiationPressureDisturbance::SolarRadiationPressureDisturbance(const std::vector& surfaces, const math::Vector<3>& center_of_gravity_b_m, const bool is_calculation_enabled) : SurfaceForce(surfaces, center_of_gravity_b_m, is_calculation_enabled) {} @@ -55,7 +55,7 @@ std::string SolarRadiationPressureDisturbance::GetLogValue() const { } SolarRadiationPressureDisturbance InitSolarRadiationPressureDisturbance(const std::string initialize_file_path, - const std::vector& surfaces, + const std::vector& surfaces, const math::Vector<3>& center_of_gravity_b_m) { auto conf = setting_file_reader::IniAccess(initialize_file_path); const char* section = "SOLAR_RADIATION_PRESSURE_DISTURBANCE"; diff --git a/src/disturbances/solar_radiation_pressure_disturbance.hpp b/src/disturbances/solar_radiation_pressure_disturbance.hpp index 73daceccd..8f2d22f82 100644 --- a/src/disturbances/solar_radiation_pressure_disturbance.hpp +++ b/src/disturbances/solar_radiation_pressure_disturbance.hpp @@ -27,7 +27,7 @@ class SolarRadiationPressureDisturbance : public SurfaceForce { * @param [in] center_of_gravity_b_m: Center of gravity position at the body frame [m] * @param [in] is_calculation_enabled: Calculation flag */ - SolarRadiationPressureDisturbance(const std::vector& surfaces, const math::Vector<3>& center_of_gravity_b_m, + SolarRadiationPressureDisturbance(const std::vector& surfaces, const math::Vector<3>& center_of_gravity_b_m, const bool is_calculation_enabled = true); /** @@ -68,7 +68,7 @@ class SolarRadiationPressureDisturbance : public SurfaceForce { * @param [in] center_of_gravity_b_m: Center of gravity position vector at body frame [m] */ SolarRadiationPressureDisturbance InitSolarRadiationPressureDisturbance(const std::string initialize_file_path, - const std::vector& surfaces, + const std::vector& surfaces, const math::Vector<3>& center_of_gravity_b_m); } // namespace s2e::disturbances diff --git a/src/disturbances/surface_force.cpp b/src/disturbances/surface_force.cpp index 4825640b7..391a78274 100644 --- a/src/disturbances/surface_force.cpp +++ b/src/disturbances/surface_force.cpp @@ -9,7 +9,7 @@ namespace s2e::disturbances { -SurfaceForce::SurfaceForce(const std::vector& surfaces, const math::Vector<3>& center_of_gravity_b_m, +SurfaceForce::SurfaceForce(const std::vector& surfaces, const math::Vector<3>& center_of_gravity_b_m, const bool is_calculation_enabled) : Disturbance(is_calculation_enabled, true), surfaces_(surfaces), center_of_gravity_b_m_(center_of_gravity_b_m) { // Initialize vectors diff --git a/src/disturbances/surface_force.hpp b/src/disturbances/surface_force.hpp index 53d145557..36af265a5 100644 --- a/src/disturbances/surface_force.hpp +++ b/src/disturbances/surface_force.hpp @@ -30,7 +30,7 @@ class SurfaceForce : public Disturbance { * @param [in] center_of_gravity_b_m: Center of gravity position at the body frame [m] * @param [in] is_calculation_enabled: Calculation flag */ - SurfaceForce(const std::vector& surfaces, const math::Vector<3>& center_of_gravity_b_m, + SurfaceForce(const std::vector& surfaces, const math::Vector<3>& center_of_gravity_b_m, const bool is_calculation_enabled = true); /** * @fn ~SurfaceForce @@ -40,7 +40,7 @@ class SurfaceForce : public Disturbance { protected: // Spacecraft Structure parameters - const std::vector& surfaces_; //!< List of surfaces + const std::vector& surfaces_; //!< List of surfaces const math::Vector<3>& center_of_gravity_b_m_; //!< Position vector of the center of mass_kg at body frame [m] // Internal calculated variables diff --git a/src/dynamics/dynamics.cpp b/src/dynamics/dynamics.cpp index 30f5379ba..a096eedad 100644 --- a/src/dynamics/dynamics.cpp +++ b/src/dynamics/dynamics.cpp @@ -8,7 +8,7 @@ namespace s2e::dynamics { Dynamics::Dynamics(const simulation::SimulationConfiguration* simulation_configuration, const environment::SimulationTime* simulation_time, - const environment::LocalEnvironment* local_environment, const int spacecraft_id, simulation::Structure* structure, + const environment::LocalEnvironment* local_environment, const int spacecraft_id, spacecraft::Structure* structure, simulation::RelativeInformation* relative_information) : structure_(structure), local_environment_(local_environment) { Initialize(simulation_configuration, simulation_time, spacecraft_id, structure, relative_information); @@ -21,7 +21,7 @@ Dynamics::~Dynamics() { } void Dynamics::Initialize(const simulation::SimulationConfiguration* simulation_configuration, const environment::SimulationTime* simulation_time, - const int spacecraft_id, simulation::Structure* structure, simulation::RelativeInformation* relative_information) { + const int spacecraft_id, spacecraft::Structure* structure, simulation::RelativeInformation* relative_information) { const environment::LocalCelestialInformation& local_celestial_information = local_environment_->GetCelestialInformation(); // Initialize orbit_ = orbit::InitOrbit(&(local_celestial_information.GetGlobalInformation()), simulation_configuration->spacecraft_file_list_[spacecraft_id], diff --git a/src/dynamics/dynamics.hpp b/src/dynamics/dynamics.hpp index 05f986807..4bfd91673 100644 --- a/src/dynamics/dynamics.hpp +++ b/src/dynamics/dynamics.hpp @@ -40,11 +40,11 @@ class Dynamics { * @param [in] simulation_time: Simulation time * @param [in] local_celestial_information: Local celestial information * @param [in] spacecraft_id: Spacecraft ID of the spacecraft - * @param [in] structure: simulation::Structure of the spacecraft + * @param [in] structure: spacecraft::Structure of the spacecraft * @param [in] relative_information: Relative information */ Dynamics(const simulation::SimulationConfiguration* simulation_configuration, const environment::SimulationTime* simulation_time, - const environment::LocalEnvironment* local_environment, const int spacecraft_id, simulation::Structure* structure, + const environment::LocalEnvironment* local_environment, const int spacecraft_id, spacecraft::Structure* structure, simulation::RelativeInformation* relative_information = (simulation::RelativeInformation*)nullptr); /** * @fn ~Dynamics @@ -118,7 +118,7 @@ class Dynamics { attitude::Attitude* attitude_; //!< Attitude dynamics orbit::Orbit* orbit_; //!< Orbit dynamics thermal::Temperature* temperature_; //!< Thermal dynamics - const simulation::Structure* structure_; //!< Structure information + const spacecraft::Structure* structure_; //!< Structure information const environment::LocalEnvironment* local_environment_; //!< Local environment /** @@ -132,7 +132,7 @@ class Dynamics { * @param [in] relative_information: Relative information */ void Initialize(const simulation::SimulationConfiguration* simulation_configuration, const environment::SimulationTime* simulation_time, - const int spacecraft_id, simulation::Structure* structure, + const int spacecraft_id, spacecraft::Structure* structure, simulation::RelativeInformation* relative_information = (simulation::RelativeInformation*)nullptr); }; diff --git a/src/simulation/ground_station/ground_station.cpp b/src/simulation/ground_station/ground_station.cpp index d848115fd..2c06c7b4c 100644 --- a/src/simulation/ground_station/ground_station.cpp +++ b/src/simulation/ground_station/ground_station.cpp @@ -47,7 +47,7 @@ void GroundStation::Initialize(const simulation::SimulationConfiguration* config void GroundStation::LogSetup(logger::Logger& logger) { logger.AddLogList(this); } -void GroundStation::Update(const environment::EarthRotation& celestial_rotation, const simulation::Spacecraft& spacecraft) { +void GroundStation::Update(const environment::EarthRotation& celestial_rotation, const spacecraft::Spacecraft& spacecraft) { math::Matrix<3, 3> dcm_ecef2eci = celestial_rotation.GetDcmJ2000ToEcef().Transpose(); position_i_m_ = dcm_ecef2eci * position_ecef_m_; diff --git a/src/simulation/ground_station/ground_station.hpp b/src/simulation/ground_station/ground_station.hpp index b5179ddd3..866b31edf 100644 --- a/src/simulation/ground_station/ground_station.hpp +++ b/src/simulation/ground_station/ground_station.hpp @@ -45,7 +45,7 @@ class GroundStation : public logger::ILoggable { * @fn Update * @brief Virtual function of main routine */ - virtual void Update(const environment::EarthRotation& celestial_rotation, const simulation::Spacecraft& spacecraft); + virtual void Update(const environment::EarthRotation& celestial_rotation, const spacecraft::Spacecraft& spacecraft); // Override functions for ILoggable /** diff --git a/src/simulation/spacecraft/installed_components.cpp b/src/simulation/spacecraft/installed_components.cpp index 7302e2ed5..c6a482fce 100644 --- a/src/simulation/spacecraft/installed_components.cpp +++ b/src/simulation/spacecraft/installed_components.cpp @@ -7,7 +7,7 @@ #include -namespace s2e::simulation { +namespace s2e::spacecraft { math::Vector<3> InstalledComponents::GenerateForce_b_N() { math::Vector<3> force_b_N_(0.0); @@ -21,4 +21,4 @@ math::Vector<3> InstalledComponents::GenerateTorque_b_Nm() { void InstalledComponents::LogSetup(logger::Logger& logger) { UNUSED(logger); } -} // namespace s2e::simulation +} // namespace s2e::spacecraft diff --git a/src/simulation/spacecraft/installed_components.hpp b/src/simulation/spacecraft/installed_components.hpp index 5b9f44b8c..096bba236 100644 --- a/src/simulation/spacecraft/installed_components.hpp +++ b/src/simulation/spacecraft/installed_components.hpp @@ -9,7 +9,7 @@ #include #include -namespace s2e::simulation { +namespace s2e::spacecraft { /** * @class InstalledComponents @@ -51,6 +51,6 @@ class InstalledComponents { virtual void LogSetup(logger::Logger& logger); }; -} // namespace s2e::simulation +} // namespace s2e::spacecraft #endif // S2E_SIMULATION_SPACECRAFT_INSTALLED_COMPONENTS_HPP_ diff --git a/src/simulation/spacecraft/spacecraft.cpp b/src/simulation/spacecraft/spacecraft.cpp index 19f4db5c5..24dd7a067 100644 --- a/src/simulation/spacecraft/spacecraft.cpp +++ b/src/simulation/spacecraft/spacecraft.cpp @@ -8,10 +8,10 @@ #include #include -namespace s2e::simulation { +namespace s2e::spacecraft { -Spacecraft::Spacecraft(const SimulationConfiguration* simulation_configuration, const environment::GlobalEnvironment* global_environment, - const int spacecraft_id, RelativeInformation* relative_information) +Spacecraft::Spacecraft(const simulation::SimulationConfiguration* simulation_configuration, const environment::GlobalEnvironment* global_environment, + const int spacecraft_id, simulation::RelativeInformation* relative_information) : spacecraft_id_(spacecraft_id) { Initialize(simulation_configuration, global_environment, spacecraft_id, relative_information); } @@ -27,10 +27,10 @@ Spacecraft::~Spacecraft() { delete components_; } -void Spacecraft::Initialize(const SimulationConfiguration* simulation_configuration, const environment::GlobalEnvironment* global_environment, - const int spacecraft_id, RelativeInformation* relative_information) { +void Spacecraft::Initialize(const simulation::SimulationConfiguration* simulation_configuration, const environment::GlobalEnvironment* global_environment, + const int spacecraft_id, simulation::RelativeInformation* relative_information) { clock_generator_.ClearTimerCount(); - structure_ = new simulation::Structure(simulation_configuration, spacecraft_id); + structure_ = new spacecraft::Structure(simulation_configuration, spacecraft_id); local_environment_ = new environment::LocalEnvironment(simulation_configuration, global_environment, spacecraft_id); dynamics_ = new dynamics::Dynamics(simulation_configuration, &(global_environment->GetSimulationTime()), local_environment_, spacecraft_id, structure_, relative_information); @@ -77,4 +77,4 @@ void Spacecraft::Update(const environment::SimulationTime* simulation_time) { void Spacecraft::Clear(void) { dynamics_->ClearForceTorque(); } -} // namespace s2e::simulation +} // namespace s2e::spacecraft diff --git a/src/simulation/spacecraft/spacecraft.hpp b/src/simulation/spacecraft/spacecraft.hpp index dc673105b..05afc0b96 100644 --- a/src/simulation/spacecraft/spacecraft.hpp +++ b/src/simulation/spacecraft/spacecraft.hpp @@ -15,7 +15,7 @@ #include "installed_components.hpp" #include "structure/structure.hpp" -namespace s2e::simulation { +namespace s2e::spacecraft { /** * @class Spacecraft @@ -27,8 +27,8 @@ class Spacecraft { * @fn Spacecraft * @brief Constructor for single satellite simulation */ - Spacecraft(const SimulationConfiguration* simulation_configuration, const environment::GlobalEnvironment* global_environment, - const int spacecraft_id, RelativeInformation* relative_information = nullptr); + Spacecraft(const simulation::SimulationConfiguration* simulation_configuration, const environment::GlobalEnvironment* global_environment, + const int spacecraft_id, simulation::RelativeInformation* relative_information = nullptr); /** * @fn ~Spacecraft @@ -45,8 +45,8 @@ class Spacecraft { * @fn Initialize * @brief Initialize function for multiple spacecraft simulation */ - virtual void Initialize(const SimulationConfiguration* simulation_configuration, const environment::GlobalEnvironment* global_environment, - const int spacecraft_id, RelativeInformation* relative_information = nullptr); + virtual void Initialize(const simulation::SimulationConfiguration* simulation_configuration, const environment::GlobalEnvironment* global_environment, + const int spacecraft_id, simulation::RelativeInformation* relative_information = nullptr); /** * @fn Update @@ -86,7 +86,7 @@ class Spacecraft { * @fn GetStructure * @brief Get structure of the spacecraft */ - inline const simulation::Structure& GetStructure() const { return *structure_; } + inline const spacecraft::Structure& GetStructure() const { return *structure_; } /** * @fn GetInstalledComponents * @brief Get components installed on the spacecraft @@ -101,14 +101,14 @@ class Spacecraft { protected: environment::ClockGenerator clock_generator_; //!< Origin of clock for the spacecraft dynamics::Dynamics* dynamics_; //!< Dynamics information of the spacecraft - RelativeInformation* relative_information_; //!< Relative information with respect to the other spacecraft + simulation::RelativeInformation* relative_information_; //!< Relative information with respect to the other spacecraft environment::LocalEnvironment* local_environment_; //!< Local environment information around the spacecraft disturbances::Disturbances* disturbances_; //!< Disturbance information acting on the spacecraft - simulation::Structure* structure_; //!< Structure information of the spacecraft + spacecraft::Structure* structure_; //!< Structure information of the spacecraft InstalledComponents* components_; //!< Components information installed on the spacecraft const unsigned int spacecraft_id_; //!< ID of the spacecraft }; -} // namespace s2e::simulation +} // namespace s2e::spacecraft #endif // S2E_SIMULATION_SPACECRAFT_SPACECRAFT_HPP_ diff --git a/src/simulation/spacecraft/structure/initialize_structure.cpp b/src/simulation/spacecraft/structure/initialize_structure.cpp index bfdea9145..4fa2b131c 100644 --- a/src/simulation/spacecraft/structure/initialize_structure.cpp +++ b/src/simulation/spacecraft/structure/initialize_structure.cpp @@ -8,7 +8,7 @@ #include #include -namespace s2e::simulation { +namespace s2e::spacecraft { #define MIN_VAL 1e-6 KinematicsParameters InitKinematicsParameters(std::string file_name) { @@ -31,14 +31,14 @@ KinematicsParameters InitKinematicsParameters(std::string file_name) { return kinematics_params; } -std::vector InitSurfaces(std::string file_name) { +std::vector InitSurfaces(std::string file_name) { using std::cout; auto conf = setting_file_reader::IniAccess(file_name); const char* section = "SURFACES"; const int num_surface = conf.ReadInt(section, "number_of_surfaces"); - std::vector surfaces; + std::vector surfaces; for (int i = 0; i < num_surface; i++) { std::string idx = std::to_string(i); @@ -103,7 +103,7 @@ std::vector InitSurfaces(std::string file_name) { } // Add a surface - surfaces.push_back(simulation::Surface(position, normal, area, ref, spe, air_spe)); + surfaces.push_back(spacecraft::Surface(position, normal, area, ref, spe, air_spe)); } return surfaces; } @@ -122,4 +122,4 @@ ResidualMagneticMoment InitResidualMagneticMoment(std::string file_name) { return rmm_params; } -} // namespace s2e::simulation +} // namespace s2e::spacecraft diff --git a/src/simulation/spacecraft/structure/initialize_structure.hpp b/src/simulation/spacecraft/structure/initialize_structure.hpp index 34a58888e..8995a9689 100644 --- a/src/simulation/spacecraft/structure/initialize_structure.hpp +++ b/src/simulation/spacecraft/structure/initialize_structure.hpp @@ -6,11 +6,9 @@ #ifndef S2E_SIMULATION_SPACECRAFT_STRUCTURE_INITIALIZE_STRUCTURE_HPP_ #define S2E_SIMULATION_SPACECRAFT_STRUCTURE_INITIALIZE_STRUCTURE_HPP_ -#pragma once - #include -namespace s2e::simulation { +namespace s2e::spacecraft { /** * @fn InitKinematicsParameters @@ -21,13 +19,13 @@ KinematicsParameters InitKinematicsParameters(std::string file_name); * @fn InitSurfaces * @brief Initialize the multiple surfaces with an ini file */ -std::vector InitSurfaces(std::string file_name); +std::vector InitSurfaces(std::string file_name); /** * @fn InitResidualMagneticMoment * @brief Initialize the RMM(Residual Magnetic Moment) parameters with an ini file */ ResidualMagneticMoment InitResidualMagneticMoment(std::string file_name); -} // namespace s2e::simulation +} // namespace s2e::spacecraft #endif // S2E_SIMULATION_SPACECRAFT_STRUCTURE_INITIALIZE_STRUCTURE_HPP_ diff --git a/src/simulation/spacecraft/structure/kinematics_parameters.cpp b/src/simulation/spacecraft/structure/kinematics_parameters.cpp index 0734e849d..5768c73e7 100644 --- a/src/simulation/spacecraft/structure/kinematics_parameters.cpp +++ b/src/simulation/spacecraft/structure/kinematics_parameters.cpp @@ -5,9 +5,9 @@ #include "kinematics_parameters.hpp" -namespace s2e::simulation { +namespace s2e::spacecraft { KinematicsParameters::KinematicsParameters(math::Vector<3> center_of_gravity_b_m, double mass_kg, math::Matrix<3, 3> inertia_tensor_b_kgm2) : center_of_gravity_b_m_(center_of_gravity_b_m), mass_kg_(mass_kg), inertia_tensor_b_kgm2_(inertia_tensor_b_kgm2) {} -} // namespace s2e::simulation +} // namespace s2e::spacecraft diff --git a/src/simulation/spacecraft/structure/kinematics_parameters.hpp b/src/simulation/spacecraft/structure/kinematics_parameters.hpp index c4dfadeb2..33cc7cb9b 100644 --- a/src/simulation/spacecraft/structure/kinematics_parameters.hpp +++ b/src/simulation/spacecraft/structure/kinematics_parameters.hpp @@ -9,7 +9,7 @@ #include #include -namespace s2e::simulation { +namespace s2e::spacecraft { /** * @class KinematicsParameters @@ -88,6 +88,6 @@ class KinematicsParameters { math::Matrix<3, 3> inertia_tensor_b_kgm2_; //!< Inertia tensor at body frame [kgm2] }; -} // namespace s2e::simulation +} // namespace s2e::spacecraft #endif // S2E_SIMULATION_SPACECRAFT_STRUCTURE_KINEMATICS_PARAMETERS_HPP_ diff --git a/src/simulation/spacecraft/structure/residual_magnetic_moment.cpp b/src/simulation/spacecraft/structure/residual_magnetic_moment.cpp index 7f7108f61..7e10c5014 100644 --- a/src/simulation/spacecraft/structure/residual_magnetic_moment.cpp +++ b/src/simulation/spacecraft/structure/residual_magnetic_moment.cpp @@ -5,7 +5,7 @@ #include "residual_magnetic_moment.hpp" -namespace s2e::simulation { +namespace s2e::spacecraft { ResidualMagneticMoment::ResidualMagneticMoment(const math::Vector<3> constant_value_b_Am2_, const double random_walk_standard_deviation_Am2, const double random_walk_limit_Am2, const double random_noise_standard_deviation_Am2) @@ -14,4 +14,4 @@ ResidualMagneticMoment::ResidualMagneticMoment(const math::Vector<3> constant_va random_walk_limit_Am2_(random_walk_limit_Am2), random_noise_standard_deviation_Am2_(random_noise_standard_deviation_Am2) {} -} // namespace s2e::simulation +} // namespace s2e::spacecraft diff --git a/src/simulation/spacecraft/structure/residual_magnetic_moment.hpp b/src/simulation/spacecraft/structure/residual_magnetic_moment.hpp index ae06bb85d..7fbb338d6 100644 --- a/src/simulation/spacecraft/structure/residual_magnetic_moment.hpp +++ b/src/simulation/spacecraft/structure/residual_magnetic_moment.hpp @@ -8,7 +8,7 @@ #include -namespace s2e::simulation { +namespace s2e::spacecraft { /** * @class ResidualMagneticMoment @@ -71,6 +71,6 @@ class ResidualMagneticMoment { double random_noise_standard_deviation_Am2_; //!< Standard deviation of white noise of RMM [Am2] }; -} // namespace s2e::simulation +} // namespace s2e::spacecraft #endif // S2E_SIMULATION_SPACECRAFT_STRUCTURE_RESIDUAL_MAGNETIC_MOMENT_HPP_ \ No newline at end of file diff --git a/src/simulation/spacecraft/structure/structure.cpp b/src/simulation/spacecraft/structure/structure.cpp index 72260265d..af7e345d7 100644 --- a/src/simulation/spacecraft/structure/structure.cpp +++ b/src/simulation/spacecraft/structure/structure.cpp @@ -8,9 +8,9 @@ #include #include -namespace s2e::simulation { +namespace s2e::spacecraft { -Structure::Structure(const SimulationConfiguration* simulation_configuration, const int spacecraft_id) { +Structure::Structure(const simulation::SimulationConfiguration* simulation_configuration, const int spacecraft_id) { Initialize(simulation_configuration, spacecraft_id); } @@ -19,7 +19,7 @@ Structure::~Structure() { delete residual_magnetic_moment_; } -void Structure::Initialize(const SimulationConfiguration* simulation_configuration, const int spacecraft_id) { +void Structure::Initialize(const simulation::SimulationConfiguration* simulation_configuration, const int spacecraft_id) { // Read file name setting_file_reader::IniAccess conf = setting_file_reader::IniAccess(simulation_configuration->spacecraft_file_list_[spacecraft_id]); std::string ini_fname = conf.ReadString("SETTING_FILES", "structure_file"); @@ -31,4 +31,4 @@ void Structure::Initialize(const SimulationConfiguration* simulation_configurati residual_magnetic_moment_ = new ResidualMagneticMoment(InitResidualMagneticMoment(ini_fname)); } -} // namespace s2e::simulation +} // namespace s2e::spacecraft diff --git a/src/simulation/spacecraft/structure/structure.hpp b/src/simulation/spacecraft/structure/structure.hpp index 6a1b87ae0..f1bea3580 100644 --- a/src/simulation/spacecraft/structure/structure.hpp +++ b/src/simulation/spacecraft/structure/structure.hpp @@ -13,7 +13,7 @@ #include "residual_magnetic_moment.hpp" #include "surface.hpp" -namespace s2e::simulation { +namespace s2e::spacecraft { /** * @class Structure @@ -25,7 +25,7 @@ class Structure { * @fn Structure * @brief Constructor */ - Structure(const SimulationConfiguration* simulation_configuration, const int spacecraft_id); + Structure(const simulation::SimulationConfiguration* simulation_configuration, const int spacecraft_id); /** * @fn ~Structure * @brief Destructor @@ -35,14 +35,14 @@ class Structure { * @fn Initialize * @brief Initialize function */ - void Initialize(const SimulationConfiguration* simulation_configuration, const int spacecraft_id); + void Initialize(const simulation::SimulationConfiguration* simulation_configuration, const int spacecraft_id); // Getter /** * @fn GetSurfaces * @brief Return surface information */ - inline const std::vector& GetSurfaces() const { return surfaces_; } + inline const std::vector& GetSurfaces() const { return surfaces_; } /** * @fn GetKinematicsParameters * @brief Return kinematics information @@ -58,7 +58,7 @@ class Structure { * @fn GetToSetSurfaces * @brief Return surface information */ - inline std::vector& GetToSetSurfaces() { return surfaces_; } + inline std::vector& GetToSetSurfaces() { return surfaces_; } /** * @fn GetToSetKinematicsParameters * @brief Return kinematics information @@ -72,10 +72,10 @@ class Structure { private: KinematicsParameters* kinematics_parameters_; //!< Kinematics parameters - std::vector surfaces_; //!< Surface information + std::vector surfaces_; //!< Surface information ResidualMagneticMoment* residual_magnetic_moment_; //!< Residual Magnetic Moment }; -} // namespace s2e::simulation +} // namespace s2e::spacecraft #endif // S2E_SIMULATION_SPACECRAFT_STRUCTURE_STRUCTURE_HPP_ diff --git a/src/simulation/spacecraft/structure/surface.cpp b/src/simulation/spacecraft/structure/surface.cpp index 16b8b5f24..316d6165e 100644 --- a/src/simulation/spacecraft/structure/surface.cpp +++ b/src/simulation/spacecraft/structure/surface.cpp @@ -5,7 +5,7 @@ #include "surface.hpp" -namespace s2e::simulation { +namespace s2e::spacecraft { Surface::Surface(const math::Vector<3> position_b_m, const math::Vector<3> normal_b, const double area_m2, const double reflectivity, const double specularity, const double air_specularity) @@ -16,4 +16,4 @@ Surface::Surface(const math::Vector<3> position_b_m, const math::Vector<3> norma specularity_(specularity), air_specularity_(air_specularity) {} -} // namespace s2e::simulation +} // namespace s2e::spacecraft diff --git a/src/simulation/spacecraft/structure/surface.hpp b/src/simulation/spacecraft/structure/surface.hpp index 73a09d6e6..9f5375a29 100644 --- a/src/simulation/spacecraft/structure/surface.hpp +++ b/src/simulation/spacecraft/structure/surface.hpp @@ -8,7 +8,7 @@ #include -namespace s2e::simulation { +namespace s2e::spacecraft { /** * @class Surface @@ -115,6 +115,6 @@ class Surface { double air_specularity_; //!< Specularity for air drag }; -} // namespace s2e::simulation +} // namespace s2e::spacecraft #endif // S2E_SIMULATION_SPACECRAFT_STRUCTURE_SURFACE_HPP_ diff --git a/src/simulation_sample/spacecraft/sample_components.cpp b/src/simulation_sample/spacecraft/sample_components.cpp index 2226ce032..12cd92b38 100644 --- a/src/simulation_sample/spacecraft/sample_components.cpp +++ b/src/simulation_sample/spacecraft/sample_components.cpp @@ -13,7 +13,7 @@ namespace s2e::sample { using namespace components; -SampleComponents::SampleComponents(const dynamics::Dynamics* dynamics, simulation::Structure* structure, +SampleComponents::SampleComponents(const dynamics::Dynamics* dynamics, spacecraft::Structure* structure, const environment::LocalEnvironment* local_environment, const environment::GlobalEnvironment* global_environment, const simulation::SimulationConfiguration* configuration, environment::ClockGenerator* clock_generator, const unsigned int spacecraft_id) diff --git a/src/simulation_sample/spacecraft/sample_components.hpp b/src/simulation_sample/spacecraft/sample_components.hpp index b15bc5b2c..11a534e95 100644 --- a/src/simulation_sample/spacecraft/sample_components.hpp +++ b/src/simulation_sample/spacecraft/sample_components.hpp @@ -58,13 +58,13 @@ namespace s2e::sample { * @class SampleComponents * @brief An example of user side components management class */ -class SampleComponents : public simulation::InstalledComponents { +class SampleComponents : public spacecraft::InstalledComponents { public: /** * @fn SampleComponents * @brief Constructor */ - SampleComponents(const dynamics::Dynamics* dynamics, simulation::Structure* structure, const environment::LocalEnvironment* local_environment, + SampleComponents(const dynamics::Dynamics* dynamics, spacecraft::Structure* structure, const environment::LocalEnvironment* local_environment, const environment::GlobalEnvironment* global_environment, const simulation::SimulationConfiguration* configuration, environment::ClockGenerator* clock_generator, const unsigned int spacecraft_id); /** @@ -142,7 +142,7 @@ class SampleComponents : public simulation::InstalledComponents { // States const simulation::SimulationConfiguration* configuration_; //!< Simulation settings const dynamics::Dynamics* dynamics_; //!< Dynamics information of the spacecraft - simulation::Structure* structure_; //!< Structure information of the spacecraft + spacecraft::Structure* structure_; //!< Structure information of the spacecraft const environment::LocalEnvironment* local_environment_; //!< Local environment information around the spacecraft const environment::GlobalEnvironment* global_environment_; //!< Global environment information }; diff --git a/src/simulation_sample/spacecraft/sample_spacecraft.cpp b/src/simulation_sample/spacecraft/sample_spacecraft.cpp index 13ab3289d..4a4970ab6 100644 --- a/src/simulation_sample/spacecraft/sample_spacecraft.cpp +++ b/src/simulation_sample/spacecraft/sample_spacecraft.cpp @@ -14,7 +14,7 @@ namespace s2e::sample { SampleSpacecraft::SampleSpacecraft(const simulation::SimulationConfiguration* simulation_configuration, const environment::GlobalEnvironment* global_environment, const unsigned int spacecraft_id) - : simulation::Spacecraft(simulation_configuration, global_environment, spacecraft_id) { + : spacecraft::Spacecraft(simulation_configuration, global_environment, spacecraft_id) { sample_components_ = new SampleComponents(dynamics_, structure_, local_environment_, global_environment, simulation_configuration, &clock_generator_, spacecraft_id); components_ = sample_components_; diff --git a/src/simulation_sample/spacecraft/sample_spacecraft.hpp b/src/simulation_sample/spacecraft/sample_spacecraft.hpp index 4a3767acc..d745e1774 100644 --- a/src/simulation_sample/spacecraft/sample_spacecraft.hpp +++ b/src/simulation_sample/spacecraft/sample_spacecraft.hpp @@ -18,7 +18,7 @@ namespace s2e::sample { * @class SampleSpacecraft * @brief An example of user side spacecraft class */ -class SampleSpacecraft : public simulation::Spacecraft { +class SampleSpacecraft : public spacecraft::Spacecraft { public: /** * @fn SampleSpacecraft From a4b50bc1f816687a15ebeb6a2d579b94f7bc281c Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 2 Oct 2024 00:18:01 +0900 Subject: [PATCH 454/456] Fix format --- src/simulation/spacecraft/spacecraft.cpp | 5 +++-- src/simulation/spacecraft/spacecraft.hpp | 21 ++++++++++--------- .../spacecraft/structure/structure.hpp | 2 +- 3 files changed, 15 insertions(+), 13 deletions(-) diff --git a/src/simulation/spacecraft/spacecraft.cpp b/src/simulation/spacecraft/spacecraft.cpp index 24dd7a067..59e060a3a 100644 --- a/src/simulation/spacecraft/spacecraft.cpp +++ b/src/simulation/spacecraft/spacecraft.cpp @@ -27,8 +27,9 @@ Spacecraft::~Spacecraft() { delete components_; } -void Spacecraft::Initialize(const simulation::SimulationConfiguration* simulation_configuration, const environment::GlobalEnvironment* global_environment, - const int spacecraft_id, simulation::RelativeInformation* relative_information) { +void Spacecraft::Initialize(const simulation::SimulationConfiguration* simulation_configuration, + const environment::GlobalEnvironment* global_environment, const int spacecraft_id, + simulation::RelativeInformation* relative_information) { clock_generator_.ClearTimerCount(); structure_ = new spacecraft::Structure(simulation_configuration, spacecraft_id); local_environment_ = new environment::LocalEnvironment(simulation_configuration, global_environment, spacecraft_id); diff --git a/src/simulation/spacecraft/spacecraft.hpp b/src/simulation/spacecraft/spacecraft.hpp index 05afc0b96..b7de8189c 100644 --- a/src/simulation/spacecraft/spacecraft.hpp +++ b/src/simulation/spacecraft/spacecraft.hpp @@ -45,8 +45,9 @@ class Spacecraft { * @fn Initialize * @brief Initialize function for multiple spacecraft simulation */ - virtual void Initialize(const simulation::SimulationConfiguration* simulation_configuration, const environment::GlobalEnvironment* global_environment, - const int spacecraft_id, simulation::RelativeInformation* relative_information = nullptr); + virtual void Initialize(const simulation::SimulationConfiguration* simulation_configuration, + const environment::GlobalEnvironment* global_environment, const int spacecraft_id, + simulation::RelativeInformation* relative_information = nullptr); /** * @fn Update @@ -99,14 +100,14 @@ class Spacecraft { inline unsigned int GetSpacecraftId() const { return spacecraft_id_; } protected: - environment::ClockGenerator clock_generator_; //!< Origin of clock for the spacecraft - dynamics::Dynamics* dynamics_; //!< Dynamics information of the spacecraft - simulation::RelativeInformation* relative_information_; //!< Relative information with respect to the other spacecraft - environment::LocalEnvironment* local_environment_; //!< Local environment information around the spacecraft - disturbances::Disturbances* disturbances_; //!< Disturbance information acting on the spacecraft - spacecraft::Structure* structure_; //!< Structure information of the spacecraft - InstalledComponents* components_; //!< Components information installed on the spacecraft - const unsigned int spacecraft_id_; //!< ID of the spacecraft + environment::ClockGenerator clock_generator_; //!< Origin of clock for the spacecraft + dynamics::Dynamics* dynamics_; //!< Dynamics information of the spacecraft + simulation::RelativeInformation* relative_information_; //!< Relative information with respect to the other spacecraft + environment::LocalEnvironment* local_environment_; //!< Local environment information around the spacecraft + disturbances::Disturbances* disturbances_; //!< Disturbance information acting on the spacecraft + spacecraft::Structure* structure_; //!< Structure information of the spacecraft + InstalledComponents* components_; //!< Components information installed on the spacecraft + const unsigned int spacecraft_id_; //!< ID of the spacecraft }; } // namespace s2e::spacecraft diff --git a/src/simulation/spacecraft/structure/structure.hpp b/src/simulation/spacecraft/structure/structure.hpp index f1bea3580..09001aaeb 100644 --- a/src/simulation/spacecraft/structure/structure.hpp +++ b/src/simulation/spacecraft/structure/structure.hpp @@ -72,7 +72,7 @@ class Structure { private: KinematicsParameters* kinematics_parameters_; //!< Kinematics parameters - std::vector surfaces_; //!< Surface information + std::vector surfaces_; //!< Surface information ResidualMagneticMoment* residual_magnetic_moment_; //!< Residual Magnetic Moment }; From 02309c65dde7b9673a97e70f24906819323f99a8 Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 2 Oct 2024 09:27:37 +0900 Subject: [PATCH 455/456] Major version update to v8 --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 33e7abacd..19144b325 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -4,7 +4,7 @@ cmake_minimum_required(VERSION 3.13) project(S2E LANGUAGES CXX DESCRIPTION "S2E: Spacecraft Simulation Environment" - VERSION 7.2.9 + VERSION 8.0.0 ) # build config From 0babc02114fe163eab5d24a9e8d72f865742a8fa Mon Sep 17 00:00:00 2001 From: Satoshi Ikari Date: Wed, 2 Oct 2024 22:48:36 +0900 Subject: [PATCH 456/456] Fix format --- src/components/base/component.hpp | 4 ++-- src/components/base/interface_gpio_component.hpp | 2 +- .../numerical_integration/numerical_integrator.hpp | 2 +- src/math_physics/numerical_integration/runge_kutta.hpp | 2 +- src/simulation/spacecraft/structure/kinematics_parameters.hpp | 2 +- .../spacecraft/structure/residual_magnetic_moment.hpp | 2 +- src/simulation/spacecraft/structure/surface.hpp | 2 +- 7 files changed, 8 insertions(+), 8 deletions(-) diff --git a/src/components/base/component.hpp b/src/components/base/component.hpp index 2cfc64db5..2b541dffd 100644 --- a/src/components/base/component.hpp +++ b/src/components/base/component.hpp @@ -78,13 +78,13 @@ class Component : public ITickable { * @brief Pure virtual function used to calculate high-frequency disturbances(e.g. RW jitter) * @note Override only when high-frequency disturbances need to be calculated. */ - virtual void FastUpdate() {}; + virtual void FastUpdate(){}; /** * @fn PowerOffRoutine * @brief Pure virtual function executed when the power switch is off. */ - virtual void PowerOffRoutine() {}; + virtual void PowerOffRoutine(){}; environment::ClockGenerator* clock_generator_; //!< Clock generator PowerPort* power_port_; //!< Power port diff --git a/src/components/base/interface_gpio_component.hpp b/src/components/base/interface_gpio_component.hpp index 6a5d3bb75..9df3db260 100644 --- a/src/components/base/interface_gpio_component.hpp +++ b/src/components/base/interface_gpio_component.hpp @@ -18,7 +18,7 @@ class IGPIOCompo { * @fn ~IGPIOCompo * @brief Destructor */ - virtual ~IGPIOCompo() {}; + virtual ~IGPIOCompo(){}; /** * @fn GpioStateChanged diff --git a/src/math_physics/numerical_integration/numerical_integrator.hpp b/src/math_physics/numerical_integration/numerical_integrator.hpp index ae708a753..461bfa225 100644 --- a/src/math_physics/numerical_integration/numerical_integrator.hpp +++ b/src/math_physics/numerical_integration/numerical_integrator.hpp @@ -32,7 +32,7 @@ class NumericalIntegrator { * @fn ~NumericalIntegrator * @brief Destructor */ - inline virtual ~NumericalIntegrator() {}; + inline virtual ~NumericalIntegrator(){}; /** * @fn Integrate diff --git a/src/math_physics/numerical_integration/runge_kutta.hpp b/src/math_physics/numerical_integration/runge_kutta.hpp index a24b4f53b..d2072d4cb 100644 --- a/src/math_physics/numerical_integration/runge_kutta.hpp +++ b/src/math_physics/numerical_integration/runge_kutta.hpp @@ -29,7 +29,7 @@ class RungeKutta : public NumericalIntegrator { * @fn ~RungeKutta * @brief Destructor */ - inline virtual ~RungeKutta() {}; + inline virtual ~RungeKutta(){}; /** * @fn Integrate diff --git a/src/simulation/spacecraft/structure/kinematics_parameters.hpp b/src/simulation/spacecraft/structure/kinematics_parameters.hpp index 33cc7cb9b..4559b3f01 100644 --- a/src/simulation/spacecraft/structure/kinematics_parameters.hpp +++ b/src/simulation/spacecraft/structure/kinematics_parameters.hpp @@ -26,7 +26,7 @@ class KinematicsParameters { * @fn ~KinematicsParameters * @brief Destructor */ - ~KinematicsParameters() {}; + ~KinematicsParameters(){}; // Getter /** diff --git a/src/simulation/spacecraft/structure/residual_magnetic_moment.hpp b/src/simulation/spacecraft/structure/residual_magnetic_moment.hpp index 7fbb338d6..14037ad30 100644 --- a/src/simulation/spacecraft/structure/residual_magnetic_moment.hpp +++ b/src/simulation/spacecraft/structure/residual_magnetic_moment.hpp @@ -26,7 +26,7 @@ class ResidualMagneticMoment { * @fn ~ResidualMagneticMoment * @brief Destructor */ - ~ResidualMagneticMoment() {}; + ~ResidualMagneticMoment(){}; // Getter /** diff --git a/src/simulation/spacecraft/structure/surface.hpp b/src/simulation/spacecraft/structure/surface.hpp index 9f5375a29..3c286ce94 100644 --- a/src/simulation/spacecraft/structure/surface.hpp +++ b/src/simulation/spacecraft/structure/surface.hpp @@ -26,7 +26,7 @@ class Surface { * @fn ~Surface * @brief Destructor */ - ~Surface() {}; + ~Surface(){}; // Getter /**