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* 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * |
* 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * |
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***************************************************************************/ |
***************************************************************************/ |
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#include <InclinationInfo.h> |
#include <InclinationInfo.h> |
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#include <TMath.h> |
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#include <TMatrixD.h> |
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using namespace std; |
using namespace std; |
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time[i] = (((data->At(extIndex) << 24) & 0xFF000000) + |
time[i] = (((data->At(extIndex) << 24) & 0xFF000000) + |
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((data->At(extIndex + 1) << 16) & 0x00FF0000) + ((data->At(extIndex + 2) << 8) & 0x0000FF00) + |
((data->At(extIndex + 1) << 16) & 0x00FF0000) + ((data->At(extIndex + 2) << 8) & 0x0000FF00) + |
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(data->At(extIndex + 3) & 0x000000FF))/128.0; |
(data->At(extIndex + 3) & 0x000000FF))/128.0; |
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for (int j = 0; j < 4; j++){ |
for (int j = 0; j < 4; j++){ |
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innIndex = extIndex + 4*j; |
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); |
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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} |
} |
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} |
} |
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// const char* InclinationInfoItem::toXML(char* tab = ""){ |
void InclinationInfoI::clear() { |
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// stringstream oss; |
for(UInt_t i = 0; i < 6; i++){ |
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// oss.str(""); |
time[i]=0; |
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// for (int i = 0; i < 6; i++){ |
for(UInt_t j = 0; j < 4; j++) quat[i][j]=0; |
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// oss << tab << "<QUATERNION>\n"; |
} |
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// oss << tab << "\t <param name = 'time'>" << time[i] << "</param>\n"; |
return ; |
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// oss << tab << "\t <param name = 'L0'>" << quat[i][0] << "</param>\n"; |
} |
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// oss << tab << "\t <param name = 'L1'>" << quat[i][1] << "</param>\n"; |
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// oss << tab << "\t <param name = 'L2'>" << quat[i][2] << "</param>\n"; |
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// oss << tab << "\t <param name = 'L3'>" << quat[i][3] << "</param>\n"; |
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// oss << tab << "</QUATERNION>\n"; |
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// } |
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// return oss.str().c_str(); |
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// } |
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Quaternions::Quaternions() |
Quaternions::Quaternions() |
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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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Sine::~Sine() |
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{ |
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}*/ |
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short int Sign_1(double_t a, Int_t b){ |
short int Sign_1(double_t a, Int_t b){ |
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if(a>0){b=1;} |
if(a>0){b=1;} |
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if(a<0){b=-1;} |
if(a<0){b=-1;} |
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return b; |
return b; |
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} |
} |
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void InclinationInfo::Clear(){ |
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}; |
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void InclinationInfo::QuaternionstoAngle(Quaternions Qua){ |
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double_t a11 = pow(Qua.quat[0][0],2.)+pow(Qua.quat[0][1],2.)-pow(Qua.quat[0][2],2.)-pow(Qua.quat[0][3],2.); |
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double_t a12 = 2*(Qua.quat[0][1]*Qua.quat[0][2]+Qua.quat[0][0]*Qua.quat[0][3]); |
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double_t a13 = 2*(Qua.quat[0][1]*Qua.quat[0][3]-Qua.quat[0][0]*Qua.quat[0][2]); |
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double_t a21 = 2*(Qua.quat[0][1]*Qua.quat[0][2]-Qua.quat[0][0]*Qua.quat[0][3]); |
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double_t a22 = pow(Qua.quat[0][0],2.)+pow(Qua.quat[0][2],2.)-pow(Qua.quat[0][1],2.)-pow(Qua.quat[0][3],2.); |
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double_t a23 = 2*(Qua.quat[0][2]*Qua.quat[0][3]+Qua.quat[0][0]*Qua.quat[0][1]); |
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double_t a31 = 2*(Qua.quat[0][1]*Qua.quat[0][3]+Qua.quat[0][0]*Qua.quat[0][2]); |
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double_t a32 = 2*(Qua.quat[0][2]*Qua.quat[0][3]-Qua.quat[0][0]*Qua.quat[0][1]); |
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double_t a33 = pow(Qua.quat[0][0],2.)+pow(Qua.quat[0][3],2.)-pow(Qua.quat[0][1],2.)-pow(Qua.quat[0][2],2.); |
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double_t a = 360/(2*TMath::Pi()); |
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double_t eksi = 0.0000001; |
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double_t eteta = 0.0000001; |
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double_t ksteta = a22*a22/(a12*a12+a22*a22); |
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double_t ksksi = a33*a33/(a33*a33+a31*a31); |
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Int_t kj1; |
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if (a33<0){kj1=1; |
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} else {kj1=0;}; |
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Int_t kj2; |
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if (ksksi>eksi){kj2=1; |
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} else {kj2=0;}; |
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Int_t kj3; |
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if (ksksi<=eksi){kj3=1; |
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} else {kj3=0;}; |
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Int_t kj4; |
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if (a22<0){kj4=1; |
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} else {kj4=0;}; |
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Int_t kj5; |
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if (ksteta>eteta){kj5=1; |
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} else {kj5=0;}; |
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Int_t kj6; |
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if (ksteta<=eteta){kj6=1; |
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} else {kj6=0;}; |
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if (abs((int)a32)>1){exit(1);}; |
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Int_t fr; |
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Double_t gamar = -atan(a32/sqrt(1-pow(a32,2.))); |
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Double_t ksir = (-atan(a31/a33)-TMath::Pi()*kj1*Sign_1(a31, fr))*kj2-0.5*TMath::Pi()*kj3*Sign_1(a31, fr); |
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Double_t tetar = -(-atan(a12/a22)-TMath::Pi()*kj4*Sign_1(a12, fr))*kj5+0.5*TMath::Pi()*kj6*Sign_1(a12, fr); |
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// if (gamar<0){A11=gamar*a+360;}else{A11=gamar*a;}; |
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// if (ksir<0){A11=ksir*a+360;}else{A11=ksir*a;}; |
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// if (tetar<0){A13=tetar*a+360;}else{A13=tetar*a;}; |
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// gamar = acos(pow(Qua.quat[0][0],2.)+pow(Qua.quat[0][3],2.)-pow(Qua.quat[0][1],2.)-pow(Qua.quat[0][2],2.)); |
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// tetar = atan((Qua.quat[0][2]*Qua.quat[0][3]+Qua.quat[0][0]*Qua.quat[0][2])/(Qua.quat[0][2]*Qua.quat[0][3]+Qua.quat[0][1]*Qua.quat[0][0])); |
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// ksir = atan((Qua.quat[0][1]*Qua.quat[0][3]-Qua.quat[0][0]*Qua.quat[0][2])/(Qua.quat[0][2]*Qua.quat[0][3]-Qua.quat[0][1]*Qua.quat[0][0])); |
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A13=tetar*a; |
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A12=ksir*a; |
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A11=gamar*a; |
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return ; |
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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) |
// Orbit _._.***| **.\/_ XOSK (Directed by velocity) |
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// .* | (X0,Y0,Z0) **--.___\ |
// .* | (X0,Y0,Z0) **--.___| |
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// _** | / *. / |
// _** | / *. / |
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// .* | * * |
// .* | * * |
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// * ..****|***.. / R * |
// * ..****|***.. / R * |
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// .* | .*. |
// .* | .*. |
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// .* | / *. |
// .* | / *. |
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// * EARTH | / * YISK |
// * 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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//void OrbitalInfo::coefplane(Double_t x1,Double_t y1,Double_t z1,Double_t x2, Double_t y2, Double_t z2){ |
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// k1 = ((z1/y1)*((x2*y1 - x1*y2)/(z2*y1 - z1*y2)) - x1/y1); |
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// k2 = (x1*y2 - x2*y1)/(z2*y1 - z1*y2); |
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// } |
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//Double_t OrbitalInfo::AngBetAxes(Double_t x1,Double_t y1,Double_t z1,Double_t x2, Double_t y2, Double_t z2){ |
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// return acos((x1*x2+y1*y2+z1*z2)/sqrt(pow(x1,2)+pow(y1,2)+pow(z1,2))/sqrt(pow(x2,2)+pow(y2,2)+pow(z2,2))); |
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// } |
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//Double_t OrbitalInfo::ValueT(Double_t x1, Double_t y1, Double_t z1, Double_t n1, Double_t n2){ |
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// return -(x1+n1*y1+n2*z1)/(1+pow(n1,2)+pow(n2,2)); |
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// } |
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//Double_t OrbitalInfo::AngBetPlan(Double_t x1, Double_t y1, Double_t z1, Double_t n1, Double_t n2){ |
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// return asin((x1+n1*y1+n2*z1)/(sqrt(pow(x1,2)+pow(y1,2)+pow(z1,2))*sqrt(1+pow(n1,2)+pow(n2,2)))); |
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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 gamar, Double_t ksir, Double_t tetar, Double_t q0, Double_t q1, Double_t q2, Double_t q3){ |
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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double_t a = 360/(2*TMath::Pi()); |
cout.precision(12); |
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// Points on three axes of Resurs' coordinate system (RCS) |
double_t a = 360/(2*TMath::Pi()); |
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Int_t XRCS[3]; Int_t YRCS[3]; Int_t ZRCS[3]; |
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// Angles between our Axes(RCS) and planes of Orbital Coordinate System (OCS); |
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// Double_t AboAa0ZX[3]; |
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// Double_t AboAa0XY[3]; |
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// Double_t AboAa0YZ[3]; |
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// Angles between our Axes(RCS) and Axes of OCS |
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// Double_t AboA0X[3]; |
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// Double_t AboA0Y[3]; |
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// Double_t AboA0Z[3]; |
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//Angles between Proection of our axes on every plane of OCS and axes of it plane. |
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// Double_t AbPoAaAoP0ZX[3]; |
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// Double_t AbPoAaAoP0XY[3]; |
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// Double_t AbPoAaAoP0YZ[3]; |
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XRCS[0] = 1; YRCS[0] = 0; ZRCS[0] = 0; // Points on X-axis RCS. |
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XRCS[1] = 0; YRCS[1] = 1; ZRCS[1] = 0; // Points on Y-axis RCS. |
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XRCS[2] = 0; YRCS[2] = 0; ZRCS[2] = 1; // Points on Z-axis |
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// Transition matrix RCS -> Inertial Coordinate System (ICS) |
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TMatrixD Bij(3,3); |
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Bij(0,0) = cos(tetar)*cos(ksir)-sin(tetar)*sin(gamar)*sin(ksir); |
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Bij(0,1) = -sin(tetar)*cos(gamar); |
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Bij(0,2) = cos(tetar)*sin(ksir)+sin(tetar)*sin(gamar)*cos(ksir); |
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Bij(1,0) = sin(tetar)*cos(ksir)+cos(tetar)*sin(gamar)*sin(ksir); |
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Bij(1,1) = cos(tetar)*cos(gamar); |
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Bij(1,2) = sin(tetar)*sin(ksir)-cos(tetar)*sin(gamar)*cos(ksir); |
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Bij(2,0) = -sin(ksir)*cos(gamar); |
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Bij(2,1) = sin(gamar); |
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Bij(2,2) = cos(ksir)*cos(gamar); |
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//********************************************************************************************/ |
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//*********************** OTHER METHOD OF GETING COORDINATE IN OCS****************************/ |
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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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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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TMatrixD Pij(3,3); |
TMatrixD Pij(3,3); |
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Pij(0,0) = pow(q0,2)+pow(q1,2)-pow(q2,2)-pow(q3,2); |
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); |
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); |
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); |
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); |
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); |
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); |
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); |
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); |
Pij(2,2) = pow(q0,2)-pow(q1,2)-pow(q2,2)+pow(q3,2); |
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TMatrixD Aij(3,3); |
TMatrixD Aij(3,3); |
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// Double_t AbPoAaAoP0ZX_2m[3]; Double_t AboAa0ZX_2m[3]; |
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// Double_t AbPoAaAoP0XY_2m[3]; Double_t AboAa0XY_2m[3]; |
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// Double_t AbPoAaAoP0YZ_2m[3]; Double_t AboAa0YZ_2m[3]; |
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Double_t C1 = y0*Vz0 - z0*Vy0; |
Double_t C1 = y0*Vz0 - z0*Vy0; |
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Double_t C2 = z0*Vx0 - x0*Vz0; |
Double_t C2 = z0*Vx0 - x0*Vz0; |
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Double_t C3 = x0*Vy0 - y0*Vx0; |
Double_t C3 = x0*Vy0 - y0*Vx0; |
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Double_t C = sqrt(pow(C1,2) + pow(C2,2) + pow(C3,2)); |
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)); |
Double_t V0 = sqrt(pow(Vx0,2)+pow(Vy0,2) + pow(Vz0,2)); |
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//cout<<"C1= "<<(Vy0*C3-Vz0*C2)/(V0*C)<<", C2= "<<(Vz0*C1-Vx0*C3)/(V0*C)<<", C3="<<(Vx0*C2-Vy0*C1)/(V0*C)<<"\n"; |
// Double_t R0 = sqrt(pow(x0,2)+pow(y0,2) + pow(z0,2)); |
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Double_t R0 = sqrt(pow(x0,2)+pow(y0,2) + pow(z0,2)); |
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Aij(0,0) = /*(C2*z0-C3*y0)/(C*R0);/*/Vx0/V0; |
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Aij(0,1) = C1/C; |
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Aij(0,2) = /*x0/R0;/*/(Vy0*C3-Vz0*C2)/(V0*C); |
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Aij(1,0) = /*(C3*x0-C1*z0)/(C*R0);/*/Vy0/V0; |
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Aij(1,1) = C2/C; |
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Aij(1,2) = /*y0/R0;/*/(Vz0*C1-Vx0*C3)/(V0*C); |
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Aij(2,0) = /*(C1*y0-C2*x0)/(C*R0);/*/Vz0/V0; |
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Aij(2,1) = C3/C; |
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Aij(2,2) = /*x0/R0;/*/(Vx0*C2-Vy0*C1)/(V0*C); |
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Aij.Invert(); |
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// Double_t Xnew = Aij(0,0)*(X-x0)+Aij(0,1)*(Y-y0)+Aij(0,2)*(Z-z0); |
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// Double_t Ynew = Aij(1,0)*(X-x0)+Aij(1,1)*(Y-y0)+Aij(1,2)*(Z-z0); |
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// Double_t Znew = Aij(2,0)*(X-x0)+Aij(2,1)*(Y-y0)+Aij(2,2)*(Z-z0); |
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/*********************************************************************************************/ |
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Double_t Azim = atan(R0*C3/(y0*C1-x0*C2)); |
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Double_t Sa = sin(Azim); Double_t Ca = cos(Azim); |
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Double_t R1 = sqrt(pow(x0,2)+pow(y0,2)); |
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Double_t Sb = z0/R0; Double_t Cb = R1/R0; |
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Double_t Sl = y0/R1; Double_t Cl = x0/R1; |
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TMatrixD Tij(3,3); |
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Tij(0,0) = -Cl*Sb*Ca-Sa*Sl; |
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Tij(0,1) = Sa*Cl-Ca*Sl*Sb; |
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Tij(0,2) = Ca*Cb; |
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Tij(1,0) = Ca*Sl-Sa*Sb*Cl; |
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Tij(1,1) = -Sa*Sl*Sb-Ca*Cl; |
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Tij(1,2) = Sa*Cb; |
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Tij(2,0) = Cb*Cl; |
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Tij(2,1) = Cb*Sl; |
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Tij(2,2) = Sb; |
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//cout<<"Tij\n"; |
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//cout<<Tij(0,0)<<" "<<Tij(0,1)<<" "<<Tij(0,2)<<"\n"; |
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//cout<<Tij(1,0)<<" "<<Tij(1,1)<<" "<<Tij(1,2)<<"\n"; |
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//cout<<Tij(2,0)<<" "<<Tij(2,1)<<" "<<Tij(2,2)<<"\n"; |
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//cout<<"Aij\n"; |
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//TMatrixD Mij = new TMatrixD(Otestij,TMatrixD::kMult,Oij); |
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//Mij=Pij*Bij; |
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//Mij=Otestij*Oij; |
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//Mij*=Tij; |
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//cout<<Mij(0,0)<<" "<<Mij(0,1)<<" "<<Mij(0,2)<<"\n"; |
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//cout<<Mij(1,0)<<" "<<Mij(1,1)<<" "<<Mij(1,2)<<"\n"; |
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//cout<<Mij(2,0)<<" "<<Mij(2,1)<<" "<<Mij(2,2)<<"\n"; |
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// Generaly idea is to Get orientation of Satellite as angles between RCS axes and all axes and planes of OCS |
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// We will get equations of RCS axes in ICS |
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// equation of line in space is (X-X0)/(X1-X0)=(Y-Y0)/(Y1-Y0)=(Z-Z0)/(Z1-Z0), where |
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// (X0,Y0,Z0)=(0,0,0) and (X1,Y1,Z1)=(XRCS[i],YRCS[i],ZRCS[i]) here i is may be x, y or z |
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// for us this equation is X/X1=Y/Y1=Z/Z1; |
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// We need in equation of line in spase for OCS also. For it take next points (Vx0,Vy0,Vz0) on X-axis |
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// and (x0,y0,z0) on Z-axis. |
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// Double_t XonX = Vx0; Double_t YonX = Vy0; Double_t ZonX = Vz0; |
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// Double_t XonZ = x0; Double_t YonZ = y0; Double_t ZonZ = z0; |
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//after this we have equations for Z- and X axis OCS it's |
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// X/XonX=Y/YonX=Z/ZonX for X-axis and X/XonZ=Y/YonZ=Z/ZonZ for Z-axis |
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// Next we need in equation of plane 0xz of OCS: Generaly equation is Ax+By+Cz+D=0; |
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// But all our plan pass through (0,0,0) and D=0 then we can write equation in naxt kind: |
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// x+(B/A)y+(C/A)z=0; => x+k1*y+k2*z=0; |
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// Double_t k1y; |
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// Double_t k2y; |
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//cout<<YonX<<" "<<ZonX*YonZ<<" "<<ZonZ*YonX<<"\n"; |
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// if ((YonZ != 0) && (ZonX*YonZ != ZonZ*YonX)){ |
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// coefplane(XonX,YonX,ZonX,XonZ,YonZ,ZonZ); |
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//coefplane(1,0.00001,0.00001,0,0,1); |
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// k1y = k1; k2y = k2; |
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// } else {k1y = 1; k2y = YonX/ZonX; cout<<"ELSE";} |
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//cout<<"P1= "<<(Vx0+k1y*Vy0+k2y*Vz0)<<"\n"; |
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//cout<<"P2= "<<(x0+k1y*y0+k2y*z0)<<"\n"; |
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//cout<<"P3= "<<(Vx0+k1y*Vy0+k2y*Vz0)<<"\n"; |
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//cout<<"k1y= "<<k1y<<", k2y= "<<k2y<<"\n"; |
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// int uchu; |
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// cin>>uchu; |
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// Next we must find equation of Y-axis of OCS. For it we must find equation of line passing through |
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// point (0,0,0) perpendicularly by 0ZX plane of OCS |
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// generaly equation is: |
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// x = x0 + At; |
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// y = y0 + Bt; |
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// z = z0 + Ct; |
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// But we have point (x0,y0,z0) is (0,0,0) and other plane equation. For us it's: |
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// x = t; |
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// y = (B/A)*t => y = (B/A)*x; or x/x1=y/y1=z/z1 where |
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// z = (C/A)*t z = (C/A)*x; y1=B/A,z1=C/A and x1 we must find |
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// if ((YonX<0 && ZonZ>0)||(YonX>0 && ZonZ<0)) XonY = 1; |
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// if ((YonX>0 && ZonZ>0)||(YonX>0 && ZonZ<0)) XonY = 1; |
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// Double_t XonY = 1; Double_t YonY = -k1; Double_t ZonY = k2; |
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// coefficients for equations of 0XY plane of OCS. |
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// coefplane(XonX,YonX,ZonX,XonY,YonY,ZonY); |
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// Double_t k1XY = k1; Double_t k2XY = k2; |
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//cout<<"P3= "<<(XonY+k1XY*YonY+k2XY*ZonY)<<"\n"; |
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//cout<<"P3= "<<(XonX+k1XY*YonX+k2XY*ZonX)<<"\n"; |
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//cout<<"k1XY= "<<k1XY<<", k2XY= "<<k2XY<<"\n"; |
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// coefficients for equations of 0XY plane of OCS. |
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// coefplane(XonY,YonY,ZonY,XonZ,YonZ,ZonZ); |
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// Double_t k1YZ = k1; Double_t k2YZ = k2; |
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//cout<<"P4= "<<(XonY+k1YZ*YonY+k2YZ*ZonY)<<"\n"; |
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//cout<<"P4= "<<(XonZ+k1YZ*YonZ+k2YZ*ZonZ)<<"\n"; |
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//cout<<"k1YZ= "<<k1YZ<<", k2YZ= "<<k2YZ<<"\n"; |
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// TMatrixD Gij(3,3); |
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Pij.Invert(); |
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// Gij=Pij*Aij; |
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//Gij.Invert(); |
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//XXRCS = Gij(0,0); XYRCS = Gij(0,1); XZRCS = Gij(2,0); |
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//YXRCS = Gij(1,0); YYRCS = Gij(1,1); YZRCS = Gij(2,1); |
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//ZXRCS = Gij(2,0); ZYRCS = Gij(1,2); ZZRCS = Gij(2,2); |
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//cout<<"XXRCS= "<<XXRCS<<", YXRCS= "<<YXRCS<<", ZXRCS= "<<ZXRCS<<"\n"; |
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//cout<<"XYRCS= "<<XYRCS<<", YYRCS= "<<YYRCS<<", ZYRCS= "<<ZYRCS<<"\n"; |
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//cout<<"XZRCS= "<<XZRCS<<", YZRCS= "<<YZRCS<<", ZZRCS= "<<ZZRCS<<"\n"; |
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//int yuip; |
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//cin>>yuip; |
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for (Int_t i = 0; i<3; i++) { |
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// Values of points on axes of RCS in ICS |
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Double_t XICS = Pij(0,0)*XRCS[i] + Pij(0,1)*YRCS[i] + Pij(0,2)*ZRCS[i];// + x0; |
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Double_t YICS = Pij(1,0)*XRCS[i] + Pij(1,1)*YRCS[i] + Pij(1,2)*ZRCS[i];// + y0; |
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Double_t ZICS = Pij(2,0)*XRCS[i] + Pij(2,1)*YRCS[i] + Pij(2,2)*ZRCS[i];// + z0; |
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//cout<<"XICS= "<<XICS<<", YICS= "<<YICS<<", ZICS= "<<ZICS<<"\n"; |
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//cout<<"XICS= "<<XICS<<", YICS= "<<YICS<<", ZICS= "<<ZICS<<"\n"; |
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//int oiu; |
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//cin>>oiu; |
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// Angles between our Axis and Z,Y,X-axes of OCS |
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// AboA0Z[i] = AngBetAxes(XICS,YICS,ZICS,XonZ,YonZ,ZonZ); |
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// AboA0Y[i] = AngBetAxes(XICS,YICS,ZICS,XonY,YonY,ZonY); |
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// AboA0X[i] = AngBetAxes(XICS,YICS,ZICS,XonX,YonX,ZonX); |
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//Find coordinate of our point in OCS |
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// Double_t XOCS; |
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// Double_t YOCS; |
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// Double_t ZOCS; |
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// Double_t T = ValueT(XICS,YICS,ZICS,k1y,k2y); |
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// Double_t XonXZ = XICS + T; |
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// Double_t YonXZ = YICS + k1y*T; |
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// Double_t ZonXZ = ZICS + k2y*T; |
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// Double_t R = T*sqrt(1+pow(k1y,2)+pow(k2y,2)); |
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// YOCS = R; |
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//cout<<"CHECK= "<<XonXZ+k1y*YonXZ+k2y*ZonXZ<<"\n"; |
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// T = ValueT(XICS,YICS,ZICS,k1XY,k2XY); |
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// Double_t XonXY = XICS + T; |
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// Double_t YonXY = YICS + k1XY*T; |
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// Double_t ZonXY = ZICS + k2XY*T; |
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// R = T*sqrt(1+pow(k1XY,2)+pow(k2XY,2)); |
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// ZOCS = R; |
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//cout<<"CHECK= "<<XonXY+k1XY*YonXY+k2XY*ZonXY<<"\n"; |
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// T = ValueT(XICS,YICS,ZICS,k1YZ,k2YZ); |
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// Double_t XonYZ = XICS + T; |
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// Double_t YonYZ = YICS + k1YZ*T; |
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// Double_t ZonYZ = ZICS + k2YZ*T; |
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// R = T*sqrt(1+pow(k1YZ,2)+pow(k2YZ,2)); |
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// XOCS = R; |
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//cout<<"CHECK= "<<XonYZ+k1YZ*YonYZ+k2YZ*ZonYZ<<"\n"; |
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//cout<<"XOCS= "<<XOCS<<", YOCS= "<<YOCS<<", ZOCS="<<ZOCS<<"\n"; |
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//Double_t AbPoAaAoP0ZX_2m[3]; Double_t AboAa0ZX_2m[3]; |
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//Double_t AbPoAaAoP0XY_2m[3]; Double_t AboAa0XY_2m[3]; |
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//Double_t AbPoAaAoP0YZ_2m[3]; Double_t AboAa0YZ_2m[3]; |
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/* C1 = YICS*Vz0 - ZICS*Vy0; |
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C2 = ZICS*Vx0 - XICS*Vz0; |
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C3 = XICS*Vy0 - YICS*Vx0; |
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C = sqrt(pow(C1,2) + pow(C2,2) + pow(C3,2)); |
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V0 = sqrt(pow(Vx0,2)+pow(Vy0,2) + pow(Vz0,2)); |
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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); |
|
|
Aij.Invert(); |
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|
*/ |
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|
//2th method of getting XOCS,YOCS,ZOCS |
|
|
Double_t XOCS_2m = Aij(0,0)*(XICS)+Aij(0,1)*(YICS)+Aij(0,2)*(ZICS); |
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|
Double_t YOCS_2m = Aij(1,0)*(XICS)+Aij(1,1)*(YICS)+Aij(1,2)*(ZICS); |
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Double_t ZOCS_2m = Aij(2,0)*(XICS)+Aij(2,1)*(YICS)+Aij(2,2)*(ZICS); |
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if (i == 0) {XXRCS = XOCS_2m; YXRCS = YOCS_2m; ZXRCS = ZOCS_2m;} |
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if (i == 1) {XYRCS = XOCS_2m; YYRCS = YOCS_2m; ZYRCS = ZOCS_2m;} |
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if (i == 2) {XZRCS = XOCS_2m; YZRCS = YOCS_2m; ZZRCS = ZOCS_2m;} |
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//cout<<"XOCS_2m= "<<XOCS_2m<<", YOCS_2m= "<<YOCS_2m<<", ZOCS= "<<ZOCS_2m<<"\n"; |
|
|
//int alsdj; |
|
|
//cin>>alsdj; |
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//Find Angles between RCS-axes and OCS-planes; |
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|
// AboAa0ZX[i] = AngBetPlan(XICS,YICS,ZICS,k1y,k2y); |
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|
// AboAa0XY[i] = AngBetPlan(XICS,YICS,ZICS,k1XY,k2XY); |
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// AboAa0YZ[i] = AngBetPlan(XICS,YICS,ZICS,k1YZ,k2YZ); |
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//AbPoAaAoP0ZX[i] = atan(ZOCS/XOCS); AbPoAaAoP0ZX_2m[i] = atan(ZOCS_2m/XOCS_2m); |
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//AbPoAaAoP0XY[i] = atan(XOCS/YOCS); AbPoAaAoP0XY_2m[i] = atan(YOCS_2m/XOCS_2m); |
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//AbPoAaAoP0YZ[i] = atan(ZOCS/YOCS); AbPoAaAoP0YZ_2m[i] = atan(ZOCS_2m/YOCS_2m); |
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// if (XOCS_2m>0) AbPoAaAoP0ZX_2m[i] = atan(ZOCS_2m/XOCS_2m); |
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// if ((XOCS_2m<0)&&(ZOCS_2m>=0)) AbPoAaAoP0ZX_2m[i] = 180/a + atan(ZOCS_2m/XOCS_2m); |
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// if ((XOCS_2m<0)&&(ZOCS_2m<0)) AbPoAaAoP0ZX_2m[i] = atan(ZOCS_2m/XOCS_2m) - 180/a; |
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// if ((XOCS_2m=0)&&(ZOCS_2m>0)) AbPoAaAoP0ZX_2m[i] = 90/a; |
|
|
// if ((XOCS_2m=0)&&(ZOCS_2m<0)) AbPoAaAoP0ZX_2m[i] = -90/a; |
|
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// if ((XOCS_2m=0)&&(ZOCS_2m=0)) AbPoAaAoP0ZX_2m[i] = 0; |
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// if (XOCS_2m>0) AbPoAaAoP0XY_2m[i] = atan(YOCS_2m/XOCS_2m); |
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// if ((XOCS_2m<0)&&(YOCS_2m>=0)) AbPoAaAoP0XY_2m[i] = 180/a + atan(YOCS_2m/XOCS_2m); |
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// if ((XOCS_2m<0)&&(YOCS_2m<0)) AbPoAaAoP0XY_2m[i] = atan(YOCS_2m/XOCS_2m) - 180/a; |
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// if ((XOCS_2m=0)&&(YOCS_2m>0)) AbPoAaAoP0XY_2m[i] = 90/a; |
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|
// if ((XOCS_2m=0)&&(YOCS_2m<0)) AbPoAaAoP0XY_2m[i] = -90/a; |
|
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// if ((XOCS_2m=0)&&(YOCS_2m=0)) AbPoAaAoP0XY_2m[i] = 0; |
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// if (YOCS_2m>0) AbPoAaAoP0YZ_2m[i] = atan(ZOCS_2m/YOCS_2m); |
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// if ((YOCS_2m<0)&&(ZOCS_2m>=0)) AbPoAaAoP0YZ_2m[i] = 180/a + atan(ZOCS_2m/YOCS_2m); |
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// if ((YOCS_2m<0)&&(ZOCS_2m<0)) AbPoAaAoP0YZ_2m[i] = atan(ZOCS_2m/YOCS_2m) - 180/a; |
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// if ((YOCS_2m=0)&&(ZOCS_2m>0)) AbPoAaAoP0YZ_2m[i] = 90/a; |
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// if ((YOCS_2m=0)&&(ZOCS_2m<0)) AbPoAaAoP0YZ_2m[i] = -90/a; |
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|
// if ((YOCS_2m=0)&&(ZOCS_2m=0)) AbPoAaAoP0YZ_2m[i] = 0; |
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//if (i==0) cout<<"AbPoAaAoP0ZX_2m[i]"<<AbPoAaAoP0ZX_2m[i]<<"\n"; |
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|
//cout<<"XOCS/ZOCS= "<<XOCS_2m/ZOCS_2m<<"\n"; |
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|
//cout<<"Atan= "<<AbPoAaAoP0ZX_2m[i]<<"\n"; |
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|
//cout<<"atan= "<<a*atan(0.2); |
|
|
//int GJH; |
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|
//cin>>GJH; |
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} |
|
|
Double_t u13 = XYRCS/*Gij(0,2)*/; Double_t u33 = ZYRCS/*Gij(2,2)*/; |
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|
Double_t u23 = YYRCS/*Gij(1,2)*/; Double_t u21 = YZRCS/*Gij(1,0)*/; |
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|
Double_t u22 = YXRCS/*Gij(1,1)*/; |
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|
Tangazh = a*atan(-u13/u33); |
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|
//cout<<"u13= "<<u13<<", u33= "<<u33<<"\n"; |
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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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|
if (u22>0) Ryskanie = a*atan(u21/u22); |
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|
//cout<<Ryskanie<<"\n"; |
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|
if ((u22<0)&&(u21>=0)) Ryskanie = 180 + a*atan(u21/u22); |
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|
if ((u22<0)&&(u21<0)) Ryskanie = a*atan(u21/u22) - 180; |
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|
if ((u22=0)&&(u21>0)) Ryskanie = 90; |
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|
if ((u22=0)&&(u21<0)) Ryskanie = -90; |
|
|
if ((u22=0)&&(u21=0)) Ryskanie = 0; |
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// AXrXo = AboA0X[0]*a; AXrZXo = AboAa0ZX[0]*a; ApXrZXoZ = AbPoAaAoP0ZX[0]*a; |
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|
// AXrYo = AboA0Y[0]*a; AXrXYo = AboAa0XY[0]*a; ApXrXYoZ = AbPoAaAoP0XY[0]*a; |
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// AXrZo = AboA0Z[0]*a; AXrYZo = AboAa0YZ[0]*a; ApXrYZoZ = AbPoAaAoP0YZ[0]*a; |
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// AYrXo = AboA0X[1]*a; AYrZXo = AboAa0ZX[1]*a; ApYrZXoZ = AbPoAaAoP0ZX[1]*a; |
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// AYrYo = AboA0Y[1]*a; AYrXYo = AboAa0XY[1]*a; ApYrXYoZ = AbPoAaAoP0XY[1]*a; |
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|
// AYrZo = AboA0Z[1]*a; AYrYZo = AboAa0YZ[1]*a; ApYrYZoZ = AbPoAaAoP0YZ[1]*a; |
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|
// AZrXo = AboA0X[2]*a; AZrZXo = AboAa0ZX[2]*a; ApZrZXoZ = AbPoAaAoP0ZX[2]*a; |
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// AZrYo = AboA0Y[2]*a; AZrXYo = AboAa0XY[2]*a; ApZrXYoZ = AbPoAaAoP0XY[2]*a; |
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// AZrZo = AboA0Z[2]*a; AZrYZo = AboAa0YZ[2]*a; ApZrYZoZ = AbPoAaAoP0YZ[2]*a; |
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// AXrZXo_2m = AboAa0ZX_2m[0]*a; ApXrZXoZ_2m = AbPoAaAoP0ZX_2m[0]*a; |
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|
// AXrXYo_2m = AboAa0XY_2m[0]*a; ApXrXYoZ_2m = AbPoAaAoP0XY_2m[0]*a; |
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|
// AXrYZo_2m = AboAa0YZ_2m[0]*a; ApXrYZoZ_2m = AbPoAaAoP0YZ_2m[0]*a; |
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|
// AYrZXo_2m = AboAa0ZX_2m[1]*a; ApYrZXoZ_2m = AbPoAaAoP0ZX_2m[1]*a; |
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|
// AYrXYo_2m = AboAa0XY_2m[1]*a; ApYrXYoZ_2m = AbPoAaAoP0XY_2m[1]*a; |
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|
// AYrYZo_2m = AboAa0YZ_2m[1]*a; ApYrYZoZ_2m = AbPoAaAoP0YZ_2m[1]*a; |
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|
// AZrZXo_2m = AboAa0ZX_2m[2]*a; ApZrZXoZ_2m = AbPoAaAoP0ZX_2m[2]*a; |
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// AZrXYo_2m = AboAa0XY_2m[2]*a; ApZrXYoZ_2m = AbPoAaAoP0XY_2m[2]*a; |
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// AZrYZo_2m = AboAa0YZ_2m[2]*a; ApZrYZoZ_2m = AbPoAaAoP0YZ_2m[2]*a; |
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/* |
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//Int_t Y=2;Int_t X=2;Int_t Z=4;Int_t Vx=5;Int_t Vz=9;Int_t Vy=5; |
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Double_t X[2]; Double_t Y[2]; Double_t Z[2]; Double_t Vx[2]; Double_t Vy[2]; Double_t Vz[2]; |
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TMatrixD Aij(3,3); |
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TMatrixD Bij(3,3); |
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Bij(0,0) = cos(tetar)*cos(ksir)-sin(tetar)*sin(gamar)*sin(ksir); |
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Bij(0,1) = -sin(tetar)*cos(gamar); |
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Bij(0,2) = cos(tetar)*sin(ksir)+sin(tetar)*sin(gamar)*cos(ksir); |
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Bij(1,0) = sin(tetar)*cos(ksir)+cos(tetar)*sin(gamar)*sin(ksir); |
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Bij(1,1) = cos(tetar)*cos(gamar); |
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Bij(1,2) = sin(tetar)*sin(ksir)-cos(tetar)*sin(gamar)*cos(ksir); |
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Bij(2,0) = -sin(ksir)*cos(gamar); |
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Bij(2,1) = sin(gamar); |
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Bij(2,2) = cos(ksir)*cos(gamar); |
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Double_t C1 = Y[0]*Vz[0] - Z[0]*Vy[0]; |
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Double_t C2 = Z[0]*Vx[0] - X[0]*Vz[0]; |
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Double_t C3 = X[0]*Vy[0] - Y[0]*Vx[0]; |
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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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| 173 |
Aij(0,0) = Vx0/V0; |
Aij(0,0) = Vx0/V0; |
| 174 |
Aij(0,1) = C1/C; |
Aij(0,1) = C1/C; |
| 175 |
Aij(0,2) = (Vy0*C3-Vz0*C2)/(V0*C); |
Aij(0,2) = (Vy0*C3-Vz0*C2)/(V0*C); |
| 179 |
Aij(2,0) = Vz0/V0; |
Aij(2,0) = Vz0/V0; |
| 180 |
Aij(2,1) = C3/C; |
Aij(2,1) = C3/C; |
| 181 |
Aij(2,2) = (Vx0*C2-Vy0*C1)/(V0*C); |
Aij(2,2) = (Vx0*C2-Vy0*C1)/(V0*C); |
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Aij.Invert(); |
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Double_t Xnew = Aij(0,0)*(X-x0)+Aij(0,1)*(Y-y0)+Aij(0,2)*(Z-z0); |
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Double_t Ynew = Aij(1,0)*(X-x0)+Aij(1,1)*(Y-y0)+Aij(1,2)*(Z-z0); |
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Double_t Znew = Aij(2,0)*(X-x0)+Aij(2,1)*(Y-y0)+Aij(2,2)*(Z-z0); |
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*/ |
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//A21 = NewTetar; |
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//A22 = NewGamar; |
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//A23 = NewKsir; |
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| 182 |
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| 183 |
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TMatrixD Bij(3,3); |
| 184 |
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Bij(0,0) = Vx0/V0; |
| 185 |
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Bij(1,0) = C1/C; |
| 186 |
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Bij(2,0) = (Vy0*C3-Vz0*C2)/(V0*C); |
| 187 |
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Bij(0,1) = Vy0/V0; |
| 188 |
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Bij(1,1) = C2/C; |
| 189 |
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Bij(2,1) = (Vz0*C1-Vx0*C3)/(V0*C); |
| 190 |
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Bij(0,2) = Vz0/V0; |
| 191 |
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Bij(1,2) = C3/C; |
| 192 |
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Bij(2,2) = (Vx0*C2-Vy0*C1)/(V0*C); |
| 193 |
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/* |
| 194 |
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cout<<"Coordinates:"<<endl; |
| 195 |
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cout<<x0<<"\t"<<y0<<"\t"<<z0<<"\t"<<Vx0/V0<<"\t"<<Vy0/V0<<"\t"<<Vz0/V0<<endl; |
| 196 |
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| 197 |
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cout<<"Pij"<<endl; |
| 198 |
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cout<<Pij(0,0)<<"\t"<<Pij(0,1)<<"\t"<<Pij(0,2)<<endl; |
| 199 |
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cout<<Pij(1,0)<<"\t"<<Pij(1,1)<<"\t"<<Pij(1,2)<<endl; |
| 200 |
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cout<<Pij(2,0)<<"\t"<<Pij(2,1)<<"\t"<<Pij(2,2)<<endl; |
| 201 |
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*/ |
| 202 |
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//Aij.Invert(); |
| 203 |
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| 204 |
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TMatrixD Full_(3,3); |
| 205 |
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| 206 |
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Full_ = Bij*(Pij*Zij); |
| 207 |
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/*/temprary |
| 208 |
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TMatrixD Tmp(3,3); |
| 209 |
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Tmp=Pij*Zij; |
| 210 |
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| 211 |
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cout<<"Quaternion matrix (Tmp)"<<endl; |
| 212 |
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cout<<Tmp(0,0)<<"\t"<<Tmp(0,1)<<"\t"<<Tmp(0,2)<<endl; |
| 213 |
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cout<<Tmp(1,0)<<"\t"<<Tmp(1,1)<<"\t"<<Tmp(1,2)<<endl; |
| 214 |
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cout<<Tmp(2,0)<<"\t"<<Tmp(2,1)<<"\t"<<Tmp(2,2)<<endl; |
| 215 |
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| 216 |
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cout<<"Orientation based on Velocity"<<endl; |
| 217 |
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cout<<Aij(0,0)<<"\t"<<Aij(0,1)<<"\t"<<Aij(0,2)<<endl; |
| 218 |
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cout<<Aij(1,0)<<"\t"<<Aij(1,1)<<"\t"<<Aij(1,2)<<endl; |
| 219 |
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cout<<Aij(2,0)<<"\t"<<Aij(2,1)<<"\t"<<Aij(2,2)<<endl; |
| 220 |
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| 221 |
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cout<<"Satellite Axis in Velocity Reference frame (Full_):"<<endl; |
| 222 |
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cout<<Full_(0,0)<<"\t"<<Full_(0,1)<<"\t"<<Full_(0,2)<<endl; |
| 223 |
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cout<<Full_(1,0)<<"\t"<<Full_(1,1)<<"\t"<<Full_(1,2)<<endl; |
| 224 |
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cout<<Full_(2,0)<<"\t"<<Full_(2,1)<<"\t"<<Full_(2,2)<<endl; |
| 225 |
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*/ |
| 226 |
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Double_t u00 = Full_(0,0); |
| 227 |
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Double_t u10 = Full_(1,0); |
| 228 |
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Double_t u11 = Full_(1,1); |
| 229 |
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Double_t u20 = Full_(2,0); |
| 230 |
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Double_t u12 = Full_(1,2); |
| 231 |
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| 232 |
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//Double_t u13 = Full_(0,0); |
| 233 |
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//Double_t u23 = -Full_(1,0); |
| 234 |
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//Double_t u22 = Full_(1,1); |
| 235 |
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//Double_t u33 = Full_(2,0); |
| 236 |
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//Double_t u21 = Full_(1,2); |
| 237 |
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| 238 |
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Tangazh = a*atan(-u00/u20); |
| 239 |
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Kren = a*atan(u10/sqrt(1 - pow(u10,2))); |
| 240 |
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Ryskanie = a*atan(u12/u11); |
| 241 |
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| 242 |
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//Tangazh = a*atan(-u13/u33); |
| 243 |
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//Kren = a*atan(-u23/sqrt(1 - pow(u23,2))); |
| 244 |
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//Ryskanie = a*atan(u21/u22); |
| 245 |
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// end temprary |
| 246 |
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| 247 |
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//10RED CHECK |
| 248 |
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/* |
| 249 |
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u10 = tan(Kren*TMath::DegToRad())/sqrt(pow(tan(Kren*TMath::DegToRad()),2)+1); |
| 250 |
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u11 = -sqrt((1-pow(u10,2))/(1+pow(tan(Ryskanie*TMath::DegToRad()),2))); |
| 251 |
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u12 = u11*tan(Ryskanie*TMath::DegToRad()); |
| 252 |
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u20 = -sqrt((1-pow(u10,2))/(1+pow(tan(Tangazh*TMath::DegToRad()),2))); |
| 253 |
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u00 = -u20*tan(Tangazh*TMath::DegToRad()); |
| 254 |
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| 255 |
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Double_t aa = 1+pow((u20/u00),2); |
| 256 |
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Double_t by = 2*u10*u11*u20/pow(u00,2); |
| 257 |
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Double_t cy = (1+pow(u10/u00,2))*pow(u11,2)-1; |
| 258 |
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Double_t bz = 2*u10*u12*u20/pow(u00,2); |
| 259 |
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Double_t cz = (1+pow(u10/u00,2))*pow(u12,2)-1; |
| 260 |
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| 261 |
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Int_t uj = TMath::Sign(1.,Ryskanie)*TMath::Sign(1.,Tangazh); |
| 262 |
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Double_t u21 = (-by+uj*sqrt(pow(by,2)-4*aa*cy))/(2*aa); |
| 263 |
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Double_t u21s = -TMath::Sign(1.,Kren)*TMath::Abs(u21); |
| 264 |
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Double_t u01 = TMath::Sign(1.,Ryskanie)*TMath::Abs((u10*u11+u20*u21)/u00); |
| 265 |
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| 266 |
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Int_t fj=1; |
| 267 |
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if(TMath::Sign(1.,Tangazh)>0 && TMath::Sign(1.,Ryskanie)>0) fj=-1; |
| 268 |
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| 269 |
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Double_t u22 = (-bz+fj*sqrt(pow(bz,2)-4*aa*cz))/(2*aa); |
| 270 |
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Double_t u22s = -TMath::Sign(1.,Tangazh)*TMath::Abs(u22); |
| 271 |
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Double_t u02 = -TMath::Abs((u10*u12+u20*u22)/u00); |
| 272 |
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| 273 |
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TMatrixD Dij(3,3); |
| 274 |
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Dij(0,0) = u00; Dij(0,1) = u01; Dij(0,2) = u02; |
| 275 |
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Dij(1,0) = u10; Dij(1,1) = u11; Dij(1,2) = u12; |
| 276 |
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Dij(2,0) = u20; Dij(2,1) = u21s; Dij(2,2) = u22s; |
| 277 |
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| 278 |
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//cout<<"Dij"<<endl; |
| 279 |
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//cout<<Dij(0,0)<<"\t"<<Dij(0,1)<<"\t"<<Dij(0,2)<<endl; |
| 280 |
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//cout<<Dij(1,0)<<"\t"<<Dij(1,1)<<"\t"<<Dij(1,2)<<endl; |
| 281 |
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//cout<<Dij(2,0)<<"\t"<<Dij(2,1)<<"\t"<<Dij(2,2)<<endl; |
| 282 |
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| 283 |
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//Aij.Invert(); |
| 284 |
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//Zij.Invert(); |
| 285 |
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TMatrixD Shij(3,3); |
| 286 |
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TMatrixD Usij(3,3); |
| 287 |
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Usij = (Aij*Dij); |
| 288 |
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Usij.Invert(); |
| 289 |
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Shij = Zij*Usij; |
| 290 |
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Shij.Invert(); |
| 291 |
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| 292 |
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cout<<"Full_ matrix having got from Euler angles"<<endl; |
| 293 |
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cout<<Shij(0,0)<<"\t"<<Shij(0,1)<<"\t"<<Shij(0,2)<<endl; |
| 294 |
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cout<<Shij(1,0)<<"\t"<<Shij(1,1)<<"\t"<<Shij(1,2)<<endl; |
| 295 |
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cout<<Shij(2,0)<<"\t"<<Shij(2,1)<<"\t"<<Shij(2,2)<<endl; |
| 296 |
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| 297 |
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cout<<"Bank = "<<Kren<<"\tSPitch = "<<Tangazh<<"\tYaw = "<<Ryskanie<<endl; |
| 298 |
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if(TMath::Abs(Kren)>10.0){ |
| 299 |
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// if(Vz0/V0>0.99){ |
| 300 |
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Int_t Fer; |
| 301 |
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cin>>Fer; |
| 302 |
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} |
| 303 |
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| 304 |
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Full_.Delete(); |
| 305 |
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Aij.Delete(); |
| 306 |
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Pij.Delete(); |
| 307 |
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Zij.Delete(); |
| 308 |
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Xij.Delete(); |
| 309 |
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Dij.Delete(); |
| 310 |
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Shij.Delete(); |
| 311 |
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Usij.Delete(); |
| 312 |
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| 313 |
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// END 10RED CHECK |
| 314 |
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*/ |
| 315 |
return ; |
return ; |
| 316 |
} |
} |
| 317 |
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| 318 |
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| 319 |
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void InclinationInfo::Clear(Option_t *t){ |
| 320 |
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//Int_t gyh = 0; |
| 321 |
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} |
| 322 |
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| 323 |
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| 324 |
//ClassImp(McmdItem) |
//ClassImp(McmdItem) |
| 325 |
ClassImp(InclinationInfoI) |
ClassImp(InclinationInfoI) |
| 326 |
ClassImp(Quaternions) |
ClassImp(Quaternions) |
| 327 |
ClassImp(InclinationInfo) |
ClassImp(InclinationInfo) |
| 328 |
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//ClassImp(Sine) |
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