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cafagna |
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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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#include <TMath.h>
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#include "TMatrixD.h"
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using namespace std;
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Quaternions::Quaternions()
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: InclinationInfoItem()
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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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InclinationInfo::InclinationInfo()
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: TObject()
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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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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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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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//********************* 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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//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){
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double_t a = 360/(2*TMath::Pi());
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// Points on three axes of Resurs' coordinate system (RCS)
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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 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);
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Pij(0,2) = 2*(q1*q3-q0*q2);
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Pij(1,0) = 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);
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Pij(2,0) = 2*(q1*q3+q0*q2);
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Pij(2,1) = 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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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;
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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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//cout<<"C1= "<<(Vy0*C3-Vz0*C2)/(V0*C)<<", C2= "<<(Vz0*C1-Vx0*C3)/(V0*C)<<", C3="<<(Vx0*C2-Vy0*C1)/(V0*C)<<"\n";
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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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| 257 |
|
|
Tij(0,1) = Sa*Cl-Ca*Sl*Sb;
|
| 258 |
|
|
Tij(0,2) = Ca*Cb;
|
| 259 |
|
|
Tij(1,0) = Ca*Sl-Sa*Sb*Cl;
|
| 260 |
|
|
Tij(1,1) = -Sa*Sl*Sb-Ca*Cl;
|
| 261 |
|
|
Tij(1,2) = Sa*Cb;
|
| 262 |
|
|
Tij(2,0) = Cb*Cl;
|
| 263 |
|
|
Tij(2,1) = Cb*Sl;
|
| 264 |
|
|
Tij(2,2) = Sb;
|
| 265 |
|
|
//cout<<"Tij\n";
|
| 266 |
|
|
//cout<<Tij(0,0)<<" "<<Tij(0,1)<<" "<<Tij(0,2)<<"\n";
|
| 267 |
|
|
//cout<<Tij(1,0)<<" "<<Tij(1,1)<<" "<<Tij(1,2)<<"\n";
|
| 268 |
|
|
//cout<<Tij(2,0)<<" "<<Tij(2,1)<<" "<<Tij(2,2)<<"\n";
|
| 269 |
|
|
//cout<<"Aij\n";
|
| 270 |
|
|
|
| 271 |
|
|
|
| 272 |
|
|
//TMatrixD Mij = new TMatrixD(Otestij,TMatrixD::kMult,Oij);
|
| 273 |
|
|
//Mij=Pij*Bij;
|
| 274 |
|
|
//Mij=Otestij*Oij;
|
| 275 |
|
|
//Mij*=Tij;
|
| 276 |
|
|
|
| 277 |
|
|
//cout<<Mij(0,0)<<" "<<Mij(0,1)<<" "<<Mij(0,2)<<"\n";
|
| 278 |
|
|
//cout<<Mij(1,0)<<" "<<Mij(1,1)<<" "<<Mij(1,2)<<"\n";
|
| 279 |
|
|
//cout<<Mij(2,0)<<" "<<Mij(2,1)<<" "<<Mij(2,2)<<"\n";
|
| 280 |
|
|
// Generaly idea is to Get orientation of Satellite as angles between RCS axes and all axes and planes of OCS
|
| 281 |
|
|
// We will get equations of RCS axes in ICS
|
| 282 |
|
|
|
| 283 |
|
|
// equation of line in space is (X-X0)/(X1-X0)=(Y-Y0)/(Y1-Y0)=(Z-Z0)/(Z1-Z0), where
|
| 284 |
|
|
// (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
|
| 285 |
|
|
// for us this equation is X/X1=Y/Y1=Z/Z1;
|
| 286 |
|
|
|
| 287 |
|
|
// We need in equation of line in spase for OCS also. For it take next points (Vx0,Vy0,Vz0) on X-axis
|
| 288 |
|
|
// and (x0,y0,z0) on Z-axis.
|
| 289 |
|
|
// Double_t XonX = Vx0; Double_t YonX = Vy0; Double_t ZonX = Vz0;
|
| 290 |
|
|
// Double_t XonZ = x0; Double_t YonZ = y0; Double_t ZonZ = z0;
|
| 291 |
|
|
//after this we have equations for Z- and X axis OCS it's
|
| 292 |
|
|
// X/XonX=Y/YonX=Z/ZonX for X-axis and X/XonZ=Y/YonZ=Z/ZonZ for Z-axis
|
| 293 |
|
|
|
| 294 |
|
|
// Next we need in equation of plane 0xz of OCS: Generaly equation is Ax+By+Cz+D=0;
|
| 295 |
|
|
// But all our plan pass through (0,0,0) and D=0 then we can write equation in naxt kind:
|
| 296 |
|
|
// x+(B/A)y+(C/A)z=0; => x+k1*y+k2*z=0;
|
| 297 |
|
|
// Double_t k1y;
|
| 298 |
|
|
// Double_t k2y;
|
| 299 |
|
|
//cout<<YonX<<" "<<ZonX*YonZ<<" "<<ZonZ*YonX<<"\n";
|
| 300 |
|
|
// if ((YonZ != 0) && (ZonX*YonZ != ZonZ*YonX)){
|
| 301 |
|
|
// coefplane(XonX,YonX,ZonX,XonZ,YonZ,ZonZ);
|
| 302 |
|
|
//coefplane(1,0.00001,0.00001,0,0,1);
|
| 303 |
|
|
// k1y = k1; k2y = k2;
|
| 304 |
|
|
// } else {k1y = 1; k2y = YonX/ZonX; cout<<"ELSE";}
|
| 305 |
|
|
//cout<<"P1= "<<(Vx0+k1y*Vy0+k2y*Vz0)<<"\n";
|
| 306 |
|
|
//cout<<"P2= "<<(x0+k1y*y0+k2y*z0)<<"\n";
|
| 307 |
|
|
//cout<<"P3= "<<(Vx0+k1y*Vy0+k2y*Vz0)<<"\n";
|
| 308 |
|
|
//cout<<"k1y= "<<k1y<<", k2y= "<<k2y<<"\n";
|
| 309 |
|
|
// int uchu;
|
| 310 |
|
|
// cin>>uchu;
|
| 311 |
|
|
|
| 312 |
|
|
// Next we must find equation of Y-axis of OCS. For it we must find equation of line passing through
|
| 313 |
|
|
// point (0,0,0) perpendicularly by 0ZX plane of OCS
|
| 314 |
|
|
// generaly equation is:
|
| 315 |
|
|
// x = x0 + At;
|
| 316 |
|
|
// y = y0 + Bt;
|
| 317 |
|
|
// z = z0 + Ct;
|
| 318 |
|
|
// But we have point (x0,y0,z0) is (0,0,0) and other plane equation. For us it's:
|
| 319 |
|
|
// x = t;
|
| 320 |
|
|
// y = (B/A)*t => y = (B/A)*x; or x/x1=y/y1=z/z1 where
|
| 321 |
|
|
// z = (C/A)*t z = (C/A)*x; y1=B/A,z1=C/A and x1 we must find
|
| 322 |
|
|
|
| 323 |
|
|
// if ((YonX<0 && ZonZ>0)||(YonX>0 && ZonZ<0)) XonY = 1;
|
| 324 |
|
|
// if ((YonX>0 && ZonZ>0)||(YonX>0 && ZonZ<0)) XonY = 1;
|
| 325 |
|
|
// Double_t XonY = 1; Double_t YonY = -k1; Double_t ZonY = k2;
|
| 326 |
|
|
|
| 327 |
|
|
// coefficients for equations of 0XY plane of OCS.
|
| 328 |
|
|
// coefplane(XonX,YonX,ZonX,XonY,YonY,ZonY);
|
| 329 |
|
|
// Double_t k1XY = k1; Double_t k2XY = k2;
|
| 330 |
|
|
//cout<<"P3= "<<(XonY+k1XY*YonY+k2XY*ZonY)<<"\n";
|
| 331 |
|
|
//cout<<"P3= "<<(XonX+k1XY*YonX+k2XY*ZonX)<<"\n";
|
| 332 |
|
|
//cout<<"k1XY= "<<k1XY<<", k2XY= "<<k2XY<<"\n";
|
| 333 |
|
|
// coefficients for equations of 0XY plane of OCS.
|
| 334 |
|
|
// coefplane(XonY,YonY,ZonY,XonZ,YonZ,ZonZ);
|
| 335 |
|
|
// Double_t k1YZ = k1; Double_t k2YZ = k2;
|
| 336 |
|
|
//cout<<"P4= "<<(XonY+k1YZ*YonY+k2YZ*ZonY)<<"\n";
|
| 337 |
|
|
//cout<<"P4= "<<(XonZ+k1YZ*YonZ+k2YZ*ZonZ)<<"\n";
|
| 338 |
|
|
//cout<<"k1YZ= "<<k1YZ<<", k2YZ= "<<k2YZ<<"\n";
|
| 339 |
|
|
|
| 340 |
|
|
// TMatrixD Gij(3,3);
|
| 341 |
|
|
Pij.Invert();
|
| 342 |
|
|
// Gij=Pij*Aij;
|
| 343 |
|
|
//Gij.Invert();
|
| 344 |
|
|
//XXRCS = Gij(0,0); XYRCS = Gij(0,1); XZRCS = Gij(2,0);
|
| 345 |
|
|
//YXRCS = Gij(1,0); YYRCS = Gij(1,1); YZRCS = Gij(2,1);
|
| 346 |
|
|
//ZXRCS = Gij(2,0); ZYRCS = Gij(1,2); ZZRCS = Gij(2,2);
|
| 347 |
|
|
|
| 348 |
|
|
//cout<<"XXRCS= "<<XXRCS<<", YXRCS= "<<YXRCS<<", ZXRCS= "<<ZXRCS<<"\n";
|
| 349 |
|
|
//cout<<"XYRCS= "<<XYRCS<<", YYRCS= "<<YYRCS<<", ZYRCS= "<<ZYRCS<<"\n";
|
| 350 |
|
|
//cout<<"XZRCS= "<<XZRCS<<", YZRCS= "<<YZRCS<<", ZZRCS= "<<ZZRCS<<"\n";
|
| 351 |
|
|
//int yuip;
|
| 352 |
|
|
//cin>>yuip;
|
| 353 |
|
|
|
| 354 |
|
|
for (Int_t i = 0; i<3; i++) {
|
| 355 |
|
|
// Values of points on axes of RCS in ICS
|
| 356 |
|
|
Double_t XICS = Pij(0,0)*XRCS[i] + Pij(0,1)*YRCS[i] + Pij(0,2)*ZRCS[i];// + x0;
|
| 357 |
|
|
Double_t YICS = Pij(1,0)*XRCS[i] + Pij(1,1)*YRCS[i] + Pij(1,2)*ZRCS[i];// + y0;
|
| 358 |
|
|
Double_t ZICS = Pij(2,0)*XRCS[i] + Pij(2,1)*YRCS[i] + Pij(2,2)*ZRCS[i];// + z0;
|
| 359 |
|
|
//cout<<"XICS= "<<XICS<<", YICS= "<<YICS<<", ZICS= "<<ZICS<<"\n";
|
| 360 |
|
|
//cout<<"XICS= "<<XICS<<", YICS= "<<YICS<<", ZICS= "<<ZICS<<"\n";
|
| 361 |
|
|
//int oiu;
|
| 362 |
|
|
//cin>>oiu;
|
| 363 |
|
|
|
| 364 |
|
|
// Angles between our Axis and Z,Y,X-axes of OCS
|
| 365 |
|
|
// AboA0Z[i] = AngBetAxes(XICS,YICS,ZICS,XonZ,YonZ,ZonZ);
|
| 366 |
|
|
// AboA0Y[i] = AngBetAxes(XICS,YICS,ZICS,XonY,YonY,ZonY);
|
| 367 |
|
|
// AboA0X[i] = AngBetAxes(XICS,YICS,ZICS,XonX,YonX,ZonX);
|
| 368 |
|
|
|
| 369 |
|
|
//Find coordinate of our point in OCS
|
| 370 |
|
|
// Double_t XOCS;
|
| 371 |
|
|
// Double_t YOCS;
|
| 372 |
|
|
// Double_t ZOCS;
|
| 373 |
|
|
// Double_t T = ValueT(XICS,YICS,ZICS,k1y,k2y);
|
| 374 |
|
|
// Double_t XonXZ = XICS + T;
|
| 375 |
|
|
// Double_t YonXZ = YICS + k1y*T;
|
| 376 |
|
|
// Double_t ZonXZ = ZICS + k2y*T;
|
| 377 |
|
|
// Double_t R = T*sqrt(1+pow(k1y,2)+pow(k2y,2));
|
| 378 |
|
|
// YOCS = R;
|
| 379 |
|
|
//cout<<"CHECK= "<<XonXZ+k1y*YonXZ+k2y*ZonXZ<<"\n";
|
| 380 |
|
|
// T = ValueT(XICS,YICS,ZICS,k1XY,k2XY);
|
| 381 |
|
|
// Double_t XonXY = XICS + T;
|
| 382 |
|
|
// Double_t YonXY = YICS + k1XY*T;
|
| 383 |
|
|
// Double_t ZonXY = ZICS + k2XY*T;
|
| 384 |
|
|
// R = T*sqrt(1+pow(k1XY,2)+pow(k2XY,2));
|
| 385 |
|
|
// ZOCS = R;
|
| 386 |
|
|
//cout<<"CHECK= "<<XonXY+k1XY*YonXY+k2XY*ZonXY<<"\n";
|
| 387 |
|
|
// T = ValueT(XICS,YICS,ZICS,k1YZ,k2YZ);
|
| 388 |
|
|
// Double_t XonYZ = XICS + T;
|
| 389 |
|
|
// Double_t YonYZ = YICS + k1YZ*T;
|
| 390 |
|
|
// Double_t ZonYZ = ZICS + k2YZ*T;
|
| 391 |
|
|
// R = T*sqrt(1+pow(k1YZ,2)+pow(k2YZ,2));
|
| 392 |
|
|
// XOCS = R;
|
| 393 |
|
|
//cout<<"CHECK= "<<XonYZ+k1YZ*YonYZ+k2YZ*ZonYZ<<"\n";
|
| 394 |
|
|
//cout<<"XOCS= "<<XOCS<<", YOCS= "<<YOCS<<", ZOCS="<<ZOCS<<"\n";
|
| 395 |
|
|
|
| 396 |
|
|
//Double_t AbPoAaAoP0ZX_2m[3]; Double_t AboAa0ZX_2m[3];
|
| 397 |
|
|
//Double_t AbPoAaAoP0XY_2m[3]; Double_t AboAa0XY_2m[3];
|
| 398 |
|
|
//Double_t AbPoAaAoP0YZ_2m[3]; Double_t AboAa0YZ_2m[3];
|
| 399 |
|
|
|
| 400 |
|
|
/* C1 = YICS*Vz0 - ZICS*Vy0;
|
| 401 |
|
|
C2 = ZICS*Vx0 - XICS*Vz0;
|
| 402 |
|
|
C3 = XICS*Vy0 - YICS*Vx0;
|
| 403 |
|
|
C = sqrt(pow(C1,2) + pow(C2,2) + pow(C3,2));
|
| 404 |
|
|
V0 = sqrt(pow(Vx0,2)+pow(Vy0,2) + pow(Vz0,2));
|
| 405 |
|
|
Aij(0,0) = Vx0/V0;
|
| 406 |
|
|
Aij(0,1) = C1/C;
|
| 407 |
|
|
Aij(0,2) = (Vy0*C3-Vz0*C2)/(V0*C);
|
| 408 |
|
|
Aij(1,0) = Vy0/V0;
|
| 409 |
|
|
Aij(1,1) = C2/C;
|
| 410 |
|
|
Aij(1,2) = (Vz0*C1-Vx0*C3)/(V0*C);
|
| 411 |
|
|
Aij(2,0) = Vz0/V0;
|
| 412 |
|
|
Aij(2,1) = C3/C;
|
| 413 |
|
|
Aij(2,2) = (Vx0*C2-Vy0*C1)/(V0*C);
|
| 414 |
|
|
Aij.Invert();
|
| 415 |
|
|
*/
|
| 416 |
|
|
//2th method of getting XOCS,YOCS,ZOCS
|
| 417 |
|
|
Double_t XOCS_2m = Aij(0,0)*(XICS)+Aij(0,1)*(YICS)+Aij(0,2)*(ZICS);
|
| 418 |
|
|
Double_t YOCS_2m = Aij(1,0)*(XICS)+Aij(1,1)*(YICS)+Aij(1,2)*(ZICS);
|
| 419 |
|
|
Double_t ZOCS_2m = Aij(2,0)*(XICS)+Aij(2,1)*(YICS)+Aij(2,2)*(ZICS);
|
| 420 |
|
|
|
| 421 |
|
|
if (i == 0) {XXRCS = XOCS_2m; YXRCS = YOCS_2m; ZXRCS = ZOCS_2m;}
|
| 422 |
|
|
if (i == 1) {XYRCS = XOCS_2m; YYRCS = YOCS_2m; ZYRCS = ZOCS_2m;}
|
| 423 |
|
|
if (i == 2) {XZRCS = XOCS_2m; YZRCS = YOCS_2m; ZZRCS = ZOCS_2m;}
|
| 424 |
|
|
|
| 425 |
|
|
//cout<<"XOCS_2m= "<<XOCS_2m<<", YOCS_2m= "<<YOCS_2m<<", ZOCS= "<<ZOCS_2m<<"\n";
|
| 426 |
|
|
//int alsdj;
|
| 427 |
|
|
//cin>>alsdj;
|
| 428 |
|
|
|
| 429 |
|
|
//Find Angles between RCS-axes and OCS-planes;
|
| 430 |
|
|
// AboAa0ZX[i] = AngBetPlan(XICS,YICS,ZICS,k1y,k2y);
|
| 431 |
|
|
// AboAa0XY[i] = AngBetPlan(XICS,YICS,ZICS,k1XY,k2XY);
|
| 432 |
|
|
// AboAa0YZ[i] = AngBetPlan(XICS,YICS,ZICS,k1YZ,k2YZ);
|
| 433 |
|
|
//AbPoAaAoP0ZX[i] = atan(ZOCS/XOCS); AbPoAaAoP0ZX_2m[i] = atan(ZOCS_2m/XOCS_2m);
|
| 434 |
|
|
//AbPoAaAoP0XY[i] = atan(XOCS/YOCS); AbPoAaAoP0XY_2m[i] = atan(YOCS_2m/XOCS_2m);
|
| 435 |
|
|
//AbPoAaAoP0YZ[i] = atan(ZOCS/YOCS); AbPoAaAoP0YZ_2m[i] = atan(ZOCS_2m/YOCS_2m);
|
| 436 |
|
|
|
| 437 |
|
|
// if (XOCS_2m>0) AbPoAaAoP0ZX_2m[i] = atan(ZOCS_2m/XOCS_2m);
|
| 438 |
|
|
// if ((XOCS_2m<0)&&(ZOCS_2m>=0)) AbPoAaAoP0ZX_2m[i] = 180/a + atan(ZOCS_2m/XOCS_2m);
|
| 439 |
|
|
// if ((XOCS_2m<0)&&(ZOCS_2m<0)) AbPoAaAoP0ZX_2m[i] = atan(ZOCS_2m/XOCS_2m) - 180/a;
|
| 440 |
|
|
// if ((XOCS_2m=0)&&(ZOCS_2m>0)) AbPoAaAoP0ZX_2m[i] = 90/a;
|
| 441 |
|
|
// if ((XOCS_2m=0)&&(ZOCS_2m<0)) AbPoAaAoP0ZX_2m[i] = -90/a;
|
| 442 |
|
|
// if ((XOCS_2m=0)&&(ZOCS_2m=0)) AbPoAaAoP0ZX_2m[i] = 0;
|
| 443 |
|
|
|
| 444 |
|
|
// if (XOCS_2m>0) AbPoAaAoP0XY_2m[i] = atan(YOCS_2m/XOCS_2m);
|
| 445 |
|
|
// if ((XOCS_2m<0)&&(YOCS_2m>=0)) AbPoAaAoP0XY_2m[i] = 180/a + atan(YOCS_2m/XOCS_2m);
|
| 446 |
|
|
// if ((XOCS_2m<0)&&(YOCS_2m<0)) AbPoAaAoP0XY_2m[i] = atan(YOCS_2m/XOCS_2m) - 180/a;
|
| 447 |
|
|
// if ((XOCS_2m=0)&&(YOCS_2m>0)) AbPoAaAoP0XY_2m[i] = 90/a;
|
| 448 |
|
|
// if ((XOCS_2m=0)&&(YOCS_2m<0)) AbPoAaAoP0XY_2m[i] = -90/a;
|
| 449 |
|
|
// if ((XOCS_2m=0)&&(YOCS_2m=0)) AbPoAaAoP0XY_2m[i] = 0;
|
| 450 |
|
|
|
| 451 |
|
|
// if (YOCS_2m>0) AbPoAaAoP0YZ_2m[i] = atan(ZOCS_2m/YOCS_2m);
|
| 452 |
|
|
// if ((YOCS_2m<0)&&(ZOCS_2m>=0)) AbPoAaAoP0YZ_2m[i] = 180/a + atan(ZOCS_2m/YOCS_2m);
|
| 453 |
|
|
// if ((YOCS_2m<0)&&(ZOCS_2m<0)) AbPoAaAoP0YZ_2m[i] = atan(ZOCS_2m/YOCS_2m) - 180/a;
|
| 454 |
|
|
// if ((YOCS_2m=0)&&(ZOCS_2m>0)) AbPoAaAoP0YZ_2m[i] = 90/a;
|
| 455 |
|
|
// if ((YOCS_2m=0)&&(ZOCS_2m<0)) AbPoAaAoP0YZ_2m[i] = -90/a;
|
| 456 |
|
|
// if ((YOCS_2m=0)&&(ZOCS_2m=0)) AbPoAaAoP0YZ_2m[i] = 0;
|
| 457 |
|
|
|
| 458 |
|
|
//if (i==0) cout<<"AbPoAaAoP0ZX_2m[i]"<<AbPoAaAoP0ZX_2m[i]<<"\n";
|
| 459 |
|
|
//cout<<"XOCS/ZOCS= "<<XOCS_2m/ZOCS_2m<<"\n";
|
| 460 |
|
|
//cout<<"Atan= "<<AbPoAaAoP0ZX_2m[i]<<"\n";
|
| 461 |
|
|
//cout<<"atan= "<<a*atan(0.2);
|
| 462 |
|
|
//int GJH;
|
| 463 |
|
|
//cin>>GJH;
|
| 464 |
|
|
|
| 465 |
|
|
}
|
| 466 |
|
|
Double_t u13 = XYRCS/*Gij(0,2)*/; Double_t u33 = ZYRCS/*Gij(2,2)*/;
|
| 467 |
|
|
Double_t u23 = YYRCS/*Gij(1,2)*/; Double_t u21 = YZRCS/*Gij(1,0)*/;
|
| 468 |
|
|
Double_t u22 = YXRCS/*Gij(1,1)*/;
|
| 469 |
|
|
Tangazh = a*atan(-u13/u33);
|
| 470 |
|
|
//cout<<"u13= "<<u13<<", u33= "<<u33<<"\n";
|
| 471 |
|
|
Kren = a*atan(-u23/sqrt(1 - pow(u23,2)));
|
| 472 |
|
|
//Ryskanie = a*atan(u21/u22);
|
| 473 |
|
|
|
| 474 |
|
|
if (u22>0) Ryskanie = a*atan(u21/u22);
|
| 475 |
|
|
if ((u22<0)&&(u21>=0)) Ryskanie = 180 + a*atan(u21/u22);
|
| 476 |
|
|
if ((u22<0)&&(u21<0)) Ryskanie = a*atan(u21/u22) - 180;
|
| 477 |
|
|
if ((u22=0)&&(u21>0)) Ryskanie = 90;
|
| 478 |
|
|
if ((u22=0)&&(u21<0)) Ryskanie = -90;
|
| 479 |
|
|
if ((u22=0)&&(u21=0)) Ryskanie = 0;
|
| 480 |
|
|
|
| 481 |
|
|
// AXrXo = AboA0X[0]*a; AXrZXo = AboAa0ZX[0]*a; ApXrZXoZ = AbPoAaAoP0ZX[0]*a;
|
| 482 |
|
|
// AXrYo = AboA0Y[0]*a; AXrXYo = AboAa0XY[0]*a; ApXrXYoZ = AbPoAaAoP0XY[0]*a;
|
| 483 |
|
|
// AXrZo = AboA0Z[0]*a; AXrYZo = AboAa0YZ[0]*a; ApXrYZoZ = AbPoAaAoP0YZ[0]*a;
|
| 484 |
|
|
// AYrXo = AboA0X[1]*a; AYrZXo = AboAa0ZX[1]*a; ApYrZXoZ = AbPoAaAoP0ZX[1]*a;
|
| 485 |
|
|
// AYrYo = AboA0Y[1]*a; AYrXYo = AboAa0XY[1]*a; ApYrXYoZ = AbPoAaAoP0XY[1]*a;
|
| 486 |
|
|
// AYrZo = AboA0Z[1]*a; AYrYZo = AboAa0YZ[1]*a; ApYrYZoZ = AbPoAaAoP0YZ[1]*a;
|
| 487 |
|
|
// AZrXo = AboA0X[2]*a; AZrZXo = AboAa0ZX[2]*a; ApZrZXoZ = AbPoAaAoP0ZX[2]*a;
|
| 488 |
|
|
// AZrYo = AboA0Y[2]*a; AZrXYo = AboAa0XY[2]*a; ApZrXYoZ = AbPoAaAoP0XY[2]*a;
|
| 489 |
|
|
// AZrZo = AboA0Z[2]*a; AZrYZo = AboAa0YZ[2]*a; ApZrYZoZ = AbPoAaAoP0YZ[2]*a;
|
| 490 |
|
|
|
| 491 |
|
|
// AXrZXo_2m = AboAa0ZX_2m[0]*a; ApXrZXoZ_2m = AbPoAaAoP0ZX_2m[0]*a;
|
| 492 |
|
|
// AXrXYo_2m = AboAa0XY_2m[0]*a; ApXrXYoZ_2m = AbPoAaAoP0XY_2m[0]*a;
|
| 493 |
|
|
// AXrYZo_2m = AboAa0YZ_2m[0]*a; ApXrYZoZ_2m = AbPoAaAoP0YZ_2m[0]*a;
|
| 494 |
|
|
// AYrZXo_2m = AboAa0ZX_2m[1]*a; ApYrZXoZ_2m = AbPoAaAoP0ZX_2m[1]*a;
|
| 495 |
|
|
// AYrXYo_2m = AboAa0XY_2m[1]*a; ApYrXYoZ_2m = AbPoAaAoP0XY_2m[1]*a;
|
| 496 |
|
|
// AYrYZo_2m = AboAa0YZ_2m[1]*a; ApYrYZoZ_2m = AbPoAaAoP0YZ_2m[1]*a;
|
| 497 |
|
|
// AZrZXo_2m = AboAa0ZX_2m[2]*a; ApZrZXoZ_2m = AbPoAaAoP0ZX_2m[2]*a;
|
| 498 |
|
|
// AZrXYo_2m = AboAa0XY_2m[2]*a; ApZrXYoZ_2m = AbPoAaAoP0XY_2m[2]*a;
|
| 499 |
|
|
// AZrYZo_2m = AboAa0YZ_2m[2]*a; ApZrYZoZ_2m = AbPoAaAoP0YZ_2m[2]*a;
|
| 500 |
|
|
|
| 501 |
|
|
/*
|
| 502 |
|
|
//Int_t Y=2;Int_t X=2;Int_t Z=4;Int_t Vx=5;Int_t Vz=9;Int_t Vy=5;
|
| 503 |
|
|
|
| 504 |
|
|
Double_t X[2]; Double_t Y[2]; Double_t Z[2]; Double_t Vx[2]; Double_t Vy[2]; Double_t Vz[2];
|
| 505 |
|
|
|
| 506 |
|
|
TMatrixD Aij(3,3);
|
| 507 |
|
|
TMatrixD Bij(3,3);
|
| 508 |
|
|
|
| 509 |
|
|
Bij(0,0) = cos(tetar)*cos(ksir)-sin(tetar)*sin(gamar)*sin(ksir);
|
| 510 |
|
|
Bij(0,1) = -sin(tetar)*cos(gamar);
|
| 511 |
|
|
Bij(0,2) = cos(tetar)*sin(ksir)+sin(tetar)*sin(gamar)*cos(ksir);
|
| 512 |
|
|
Bij(1,0) = sin(tetar)*cos(ksir)+cos(tetar)*sin(gamar)*sin(ksir);
|
| 513 |
|
|
Bij(1,1) = cos(tetar)*cos(gamar);
|
| 514 |
|
|
Bij(1,2) = sin(tetar)*sin(ksir)-cos(tetar)*sin(gamar)*cos(ksir);
|
| 515 |
|
|
Bij(2,0) = -sin(ksir)*cos(gamar);
|
| 516 |
|
|
Bij(2,1) = sin(gamar);
|
| 517 |
|
|
Bij(2,2) = cos(ksir)*cos(gamar);
|
| 518 |
|
|
|
| 519 |
|
|
Double_t C1 = Y[0]*Vz[0] - Z[0]*Vy[0];
|
| 520 |
|
|
Double_t C2 = Z[0]*Vx[0] - X[0]*Vz[0];
|
| 521 |
|
|
Double_t C3 = X[0]*Vy[0] - Y[0]*Vx[0];
|
| 522 |
|
|
Double_t C = sqrt(pow(C1,2) + pow(C2,2) + pow(C3,2));
|
| 523 |
|
|
Double_t V0 = sqrt(pow(Vx0,2)+pow(Vy0,2) + pow(Vz0,2));
|
| 524 |
|
|
Aij(0,0) = Vx0/V0;
|
| 525 |
|
|
Aij(0,1) = C1/C;
|
| 526 |
|
|
Aij(0,2) = (Vy0*C3-Vz0*C2)/(V0*C);
|
| 527 |
|
|
Aij(1,0) = Vy0/V0;
|
| 528 |
|
|
Aij(1,1) = C2/C;
|
| 529 |
|
|
Aij(1,2) = (Vz0*C1-Vx0*C3)/(V0*C);
|
| 530 |
|
|
Aij(2,0) = Vz0/V0;
|
| 531 |
|
|
Aij(2,1) = C3/C;
|
| 532 |
|
|
Aij(2,2) = (Vx0*C2-Vy0*C1)/(V0*C);
|
| 533 |
|
|
Aij.Invert();
|
| 534 |
|
|
Double_t Xnew = Aij(0,0)*(X-x0)+Aij(0,1)*(Y-y0)+Aij(0,2)*(Z-z0);
|
| 535 |
|
|
Double_t Ynew = Aij(1,0)*(X-x0)+Aij(1,1)*(Y-y0)+Aij(1,2)*(Z-z0);
|
| 536 |
|
|
Double_t Znew = Aij(2,0)*(X-x0)+Aij(2,1)*(Y-y0)+Aij(2,2)*(Z-z0);
|
| 537 |
|
|
*/
|
| 538 |
|
|
//A21 = NewTetar;
|
| 539 |
|
|
//A22 = NewGamar;
|
| 540 |
|
|
//A23 = NewKsir;
|
| 541 |
|
|
|
| 542 |
|
|
return ;
|
| 543 |
|
|
}
|
| 544 |
|
|
|
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| 
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