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/*************************************************************************** |
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* Copyright (C) 2006 by pamelaprod * |
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* pamelaprod@P1.pamela * |
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* * |
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* This program is free software; you can redistribute it and/or modify * |
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* it under the terms of the GNU General Public License as published by * |
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* the Free Software Foundation; either version 2 of the License, or * |
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* (at your option) any later version. * |
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* * |
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* This program is distributed in the hope that it will be useful, * |
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* but WITHOUT ANY WARRANTY; without even the implied warranty of * |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * |
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* GNU General Public License for more details. * |
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* * |
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* You should have received a copy of the GNU General Public License * |
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* along with this program; if not, write to the * |
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* Free Software Foundation, Inc., * |
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* 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * |
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***************************************************************************/ |
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#include <InclinationInfo.h> |
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|
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using namespace std; |
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|
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// InclinationInfoI()::InclinationInfoI() { |
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// // memset(time,0,6*sizeof(double)); |
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// // memset(quad,0,6*4*sizeof(double)); |
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// }; |
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|
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void InclinationInfoI::fill(TArrayC* data){ |
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short extIndex = 0; |
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short innIndex = 0; |
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long tempData = 0; |
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for (int i = 0; i < 6; i++){ |
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extIndex = 20*i; |
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time[i] = (((data->At(extIndex) << 24) & 0xFF000000) + |
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((data->At(extIndex + 1) << 16) & 0x00FF0000) + ((data->At(extIndex + 2) << 8) & 0x0000FF00) + |
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(data->At(extIndex + 3) & 0x000000FF))/128.0; |
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for (int j = 0; j < 4; j++){ |
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innIndex = extIndex + 4*j; |
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tempData = ((data->At(innIndex + 4) << 24) & 0xFF000000) + ((data->At(innIndex + 5) << 16) & 0x00FF0000) + ((data->At(innIndex + 6) << 8) & 0x0000FF00) + (data->At(innIndex + 7) & 0x000000FF); |
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if (data->At(innIndex + 4) >> 8) { |
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quat[i][j] = (~tempData * -1.0)/1073741824.0; |
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} else { |
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quat[i][j] = tempData / 1073741824.0; |
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} |
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} |
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} |
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} |
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|
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void InclinationInfoI::clear() { |
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for(UInt_t i = 0; i < 6; i++){ |
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time[i]=0; |
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for(UInt_t j = 0; j < 4; j++) quat[i][j]=0; |
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} |
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return ; |
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} |
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|
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|
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Quaternions::Quaternions() |
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: InclinationInfoI() |
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{ |
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} |
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|
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|
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Quaternions::~Quaternions() |
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{ |
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} |
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|
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InclinationInfo::InclinationInfo() |
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: TObject() |
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{ |
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} |
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|
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InclinationInfo::~InclinationInfo() |
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{ |
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} |
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|
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/*Sine::Sine() |
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: TObject() |
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{ |
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} |
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|
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Sine::~Sine() |
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{ |
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}*/ |
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|
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short int Sign_1(double_t a, Int_t b){ |
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if(a>0){b=1;} |
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if(a<0){b=-1;} |
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else{b=0;} |
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return b; |
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} |
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|
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|
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/******************************************************************************************************************/ |
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/******************************************************************************************************************/ |
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//********************* ***************************************************************/ |
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//********************* COORDINATE SYSTEMS ***************************************************************/ |
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//********************* ***************************************************************/ |
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//*****************************************************************************************************************/ |
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//*****************************************************************************************************************/ |
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// |
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// ZISK |
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// + |
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// / \ YOSK ZOSK (Directed by Radius) |
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// | _ _. |
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// | |\ /| |
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// | \ / |
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// | \ / |
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// |.__..__ \ / |
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// Orbit _._.***| **.\/_ XOSK (Directed by velocity) |
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// .* | (X0,Y0,Z0) **--.___| |
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// _** | / *. / |
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// .* | * * |
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// * ..****|***.. / R * |
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// .* | .*. |
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// .* | / *. |
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// * EARTH | / * YISK |
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// * | /_ _ _*_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _| |
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// * / * / |
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// * / .* |
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// *. / .* |
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// **/******* |
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// / |
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// / |
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// / |
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// / |
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// / |
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// / |
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// |/ |
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// *-- |
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// XISK |
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// |
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//****************************************************************************************************/ |
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//****************************************************************************************************/ |
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|
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|
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void InclinationInfo::TransAngle(Double_t x0, Double_t y0, Double_t z0, Double_t Vx0, Double_t Vy0, Double_t Vz0, Double_t q0, Double_t q1, Double_t q2, Double_t q3){ |
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|
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cout.precision(12); |
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|
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double_t a = 360/(2*TMath::Pi()); |
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|
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TMatrixD Xij(3,3); |
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Xij(0,0) = 1; Xij(0,1) = 0; Xij(0,2) = 0; |
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Xij(1,0) = 0; Xij(1,1) = 0; Xij(1,2) = 1; |
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Xij(2,0) = 0; Xij(2,1) = -1; Xij(2,2) = 0; |
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|
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TMatrixD Zij(3,3); |
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Zij(0,0) = 0.0; Zij(0,1) = 0.0; Zij(0,2) = -1.0; |
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Zij(1,0) = -1.0; Zij(1,1) = 0.0; Zij(1,2) = 0.0; |
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Zij(2,0) = 0.0; Zij(2,1) = 1.0; Zij(2,2) = 0.0; |
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|
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TMatrixD Pij(3,3); |
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Pij(0,0) = pow(q0,2)+pow(q1,2)-pow(q2,2)-pow(q3,2); |
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Pij(0,1) = /*2*(q1*q2+q0*q3);/*/ 2*(q1*q2-q0*q3); |
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Pij(0,2) = /*2*(q1*q3-q0*q2);/*/ 2*(q1*q3+q0*q2); |
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Pij(1,0) = /*2*(q1*q2-q0*q3);/*/ 2*(q1*q2+q0*q3); |
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Pij(1,1) = pow(q0,2)-pow(q1,2)+pow(q2,2)-pow(q3,2); |
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Pij(1,2) = /*2*(q2*q3+q0*q1);/*/ 2*(q2*q3-q0*q1); |
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Pij(2,0) = /*2*(q1*q3+q0*q2);/*/ 2*(q1*q3-q0*q2); |
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Pij(2,1) = /*2*(q2*q3-q0*q1);/*/ 2*(q2*q3+q0*q1); |
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Pij(2,2) = pow(q0,2)-pow(q1,2)-pow(q2,2)+pow(q3,2); |
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|
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TMatrixD Aij(3,3); |
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|
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Double_t C1 = y0*Vz0 - z0*Vy0; |
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Double_t C2 = z0*Vx0 - x0*Vz0; |
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Double_t C3 = x0*Vy0 - y0*Vx0; |
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Double_t C = sqrt(pow(C1,2) + pow(C2,2) + pow(C3,2)); |
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Double_t V0 = sqrt(pow(Vx0,2)+pow(Vy0,2) + pow(Vz0,2)); |
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// Double_t R0 = sqrt(pow(x0,2)+pow(y0,2) + pow(z0,2)); |
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Aij(0,0) = Vx0/V0; |
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Aij(0,1) = C1/C; |
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Aij(0,2) = (Vy0*C3-Vz0*C2)/(V0*C); |
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Aij(1,0) = Vy0/V0; |
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Aij(1,1) = C2/C; |
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Aij(1,2) = (Vz0*C1-Vx0*C3)/(V0*C); |
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Aij(2,0) = Vz0/V0; |
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Aij(2,1) = C3/C; |
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Aij(2,2) = (Vx0*C2-Vy0*C1)/(V0*C); |
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|
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TMatrixD Bij(3,3); |
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Bij(0,0) = Vx0/V0; |
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Bij(1,0) = C1/C; |
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Bij(2,0) = (Vy0*C3-Vz0*C2)/(V0*C); |
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Bij(0,1) = Vy0/V0; |
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Bij(1,1) = C2/C; |
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Bij(2,1) = (Vz0*C1-Vx0*C3)/(V0*C); |
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Bij(0,2) = Vz0/V0; |
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Bij(1,2) = C3/C; |
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Bij(2,2) = (Vx0*C2-Vy0*C1)/(V0*C); |
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/* |
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cout<<"Coordinates:"<<endl; |
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cout<<x0<<"\t"<<y0<<"\t"<<z0<<"\t"<<Vx0/V0<<"\t"<<Vy0/V0<<"\t"<<Vz0/V0<<endl; |
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|
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cout<<"Pij"<<endl; |
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cout<<Pij(0,0)<<"\t"<<Pij(0,1)<<"\t"<<Pij(0,2)<<endl; |
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cout<<Pij(1,0)<<"\t"<<Pij(1,1)<<"\t"<<Pij(1,2)<<endl; |
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cout<<Pij(2,0)<<"\t"<<Pij(2,1)<<"\t"<<Pij(2,2)<<endl; |
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*/ |
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//Aij.Invert(); |
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|
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TMatrixD Full_(3,3); |
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|
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Full_ = Bij*(Pij*Zij); |
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/*/temprary |
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TMatrixD Tmp(3,3); |
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Tmp=Pij*Zij; |
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|
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cout<<"Quaternion matrix (Tmp)"<<endl; |
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cout<<Tmp(0,0)<<"\t"<<Tmp(0,1)<<"\t"<<Tmp(0,2)<<endl; |
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cout<<Tmp(1,0)<<"\t"<<Tmp(1,1)<<"\t"<<Tmp(1,2)<<endl; |
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cout<<Tmp(2,0)<<"\t"<<Tmp(2,1)<<"\t"<<Tmp(2,2)<<endl; |
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|
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cout<<"Orientation based on Velocity"<<endl; |
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cout<<Aij(0,0)<<"\t"<<Aij(0,1)<<"\t"<<Aij(0,2)<<endl; |
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cout<<Aij(1,0)<<"\t"<<Aij(1,1)<<"\t"<<Aij(1,2)<<endl; |
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cout<<Aij(2,0)<<"\t"<<Aij(2,1)<<"\t"<<Aij(2,2)<<endl; |
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|
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cout<<"Satellite Axis in Velocity Reference frame (Full_):"<<endl; |
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cout<<Full_(0,0)<<"\t"<<Full_(0,1)<<"\t"<<Full_(0,2)<<endl; |
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cout<<Full_(1,0)<<"\t"<<Full_(1,1)<<"\t"<<Full_(1,2)<<endl; |
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cout<<Full_(2,0)<<"\t"<<Full_(2,1)<<"\t"<<Full_(2,2)<<endl; |
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*/ |
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Double_t u00 = Full_(0,0); |
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Double_t u10 = Full_(1,0); |
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Double_t u11 = Full_(1,1); |
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Double_t u20 = Full_(2,0); |
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Double_t u12 = Full_(1,2); |
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|
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//Double_t u13 = Full_(0,0); |
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//Double_t u23 = -Full_(1,0); |
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//Double_t u22 = Full_(1,1); |
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//Double_t u33 = Full_(2,0); |
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//Double_t u21 = Full_(1,2); |
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|
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Tangazh = a*atan(-u00/u20); |
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Kren = a*atan(u10/sqrt(1 - pow(u10,2))); |
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Ryskanie = a*atan(u12/u11); |
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|
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//Tangazh = a*atan(-u13/u33); |
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//Kren = a*atan(-u23/sqrt(1 - pow(u23,2))); |
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//Ryskanie = a*atan(u21/u22); |
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// end temprary |
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|
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//10RED CHECK |
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/* |
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u10 = tan(Kren*TMath::DegToRad())/sqrt(pow(tan(Kren*TMath::DegToRad()),2)+1); |
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u11 = -sqrt((1-pow(u10,2))/(1+pow(tan(Ryskanie*TMath::DegToRad()),2))); |
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u12 = u11*tan(Ryskanie*TMath::DegToRad()); |
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u20 = -sqrt((1-pow(u10,2))/(1+pow(tan(Tangazh*TMath::DegToRad()),2))); |
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u00 = -u20*tan(Tangazh*TMath::DegToRad()); |
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|
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Double_t aa = 1+pow((u20/u00),2); |
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Double_t by = 2*u10*u11*u20/pow(u00,2); |
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Double_t cy = (1+pow(u10/u00,2))*pow(u11,2)-1; |
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Double_t bz = 2*u10*u12*u20/pow(u00,2); |
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Double_t cz = (1+pow(u10/u00,2))*pow(u12,2)-1; |
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|
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Int_t uj = TMath::Sign(1.,Ryskanie)*TMath::Sign(1.,Tangazh); |
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Double_t u21 = (-by+uj*sqrt(pow(by,2)-4*aa*cy))/(2*aa); |
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Double_t u21s = -TMath::Sign(1.,Kren)*TMath::Abs(u21); |
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Double_t u01 = TMath::Sign(1.,Ryskanie)*TMath::Abs((u10*u11+u20*u21)/u00); |
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|
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Int_t fj=1; |
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if(TMath::Sign(1.,Tangazh)>0 && TMath::Sign(1.,Ryskanie)>0) fj=-1; |
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|
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Double_t u22 = (-bz+fj*sqrt(pow(bz,2)-4*aa*cz))/(2*aa); |
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Double_t u22s = -TMath::Sign(1.,Tangazh)*TMath::Abs(u22); |
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Double_t u02 = -TMath::Abs((u10*u12+u20*u22)/u00); |
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|
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TMatrixD Dij(3,3); |
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Dij(0,0) = u00; Dij(0,1) = u01; Dij(0,2) = u02; |
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Dij(1,0) = u10; Dij(1,1) = u11; Dij(1,2) = u12; |
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Dij(2,0) = u20; Dij(2,1) = u21s; Dij(2,2) = u22s; |
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|
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//cout<<"Dij"<<endl; |
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//cout<<Dij(0,0)<<"\t"<<Dij(0,1)<<"\t"<<Dij(0,2)<<endl; |
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//cout<<Dij(1,0)<<"\t"<<Dij(1,1)<<"\t"<<Dij(1,2)<<endl; |
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//cout<<Dij(2,0)<<"\t"<<Dij(2,1)<<"\t"<<Dij(2,2)<<endl; |
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|
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//Aij.Invert(); |
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//Zij.Invert(); |
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TMatrixD Shij(3,3); |
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TMatrixD Usij(3,3); |
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Usij = (Aij*Dij); |
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Usij.Invert(); |
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Shij = Zij*Usij; |
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Shij.Invert(); |
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|
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cout<<"Full_ matrix having got from Euler angles"<<endl; |
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cout<<Shij(0,0)<<"\t"<<Shij(0,1)<<"\t"<<Shij(0,2)<<endl; |
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cout<<Shij(1,0)<<"\t"<<Shij(1,1)<<"\t"<<Shij(1,2)<<endl; |
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cout<<Shij(2,0)<<"\t"<<Shij(2,1)<<"\t"<<Shij(2,2)<<endl; |
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|
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cout<<"Bank = "<<Kren<<"\tSPitch = "<<Tangazh<<"\tYaw = "<<Ryskanie<<endl; |
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if(TMath::Abs(Kren)>10.0){ |
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// if(Vz0/V0>0.99){ |
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Int_t Fer; |
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cin>>Fer; |
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} |
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|
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Full_.Delete(); |
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Aij.Delete(); |
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Pij.Delete(); |
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Zij.Delete(); |
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Xij.Delete(); |
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Dij.Delete(); |
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Shij.Delete(); |
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Usij.Delete(); |
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|
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// END 10RED CHECK |
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*/ |
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return ; |
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} |
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|
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|
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void InclinationInfo::Clear(Option_t *t){ |
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//Int_t gyh = 0; |
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} |
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|
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|
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//ClassImp(McmdItem) |
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ClassImp(InclinationInfoI) |
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ClassImp(Quaternions) |
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ClassImp(InclinationInfo) |
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//ClassImp(Sine) |
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