359 lines
9.9 KiB
Python
Executable File
359 lines
9.9 KiB
Python
Executable File
#~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
|
|
# Copyright 2010 California Institute of Technology. ALL RIGHTS RESERVED.
|
|
#
|
|
# Licensed under the Apache License, Version 2.0 (the "License");
|
|
# you may not use this file except in compliance with the License.
|
|
# You may obtain a copy of the License at
|
|
#
|
|
# http://www.apache.org/licenses/LICENSE-2.0
|
|
#
|
|
# Unless required by applicable law or agreed to in writing, software
|
|
# distributed under the License is distributed on an "AS IS" BASIS,
|
|
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
# See the License for the specific language governing permissions and
|
|
# limitations under the License.
|
|
#
|
|
# United States Government Sponsorship acknowledged. This software is subject to
|
|
# U.S. export control laws and regulations and has been classified as 'EAR99 NLR'
|
|
# (No [Export] License Required except when exporting to an embargoed country,
|
|
# end user, or in support of a prohibited end use). By downloading this software,
|
|
# the user agrees to comply with all applicable U.S. export laws and regulations.
|
|
# The user has the responsibility to obtain export licenses, or other export
|
|
# authority as may be required before exporting this software to any 'EAR99'
|
|
# embargoed foreign country or citizen of those countries.
|
|
#
|
|
# Author: Walter Szeliga
|
|
#~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
|
|
|
|
|
|
|
|
import math
|
|
import datetime
|
|
import logging
|
|
from iscesys.Component.Component import Component
|
|
from isceobj.Util.decorators import type_check, pickled, logged
|
|
|
|
|
|
## This class stores platform pitch, roll and yaw information.
|
|
TIME = Component.Parameter(
|
|
'_time',
|
|
public_name='TIME',
|
|
default=0,
|
|
type=datetime.datetime,
|
|
mandatory=True,
|
|
intent='input',
|
|
doc=''
|
|
)
|
|
|
|
|
|
PITCH = Component.Parameter(
|
|
'_pitch',
|
|
public_name='PITCH',
|
|
default=0,
|
|
type=float,
|
|
mandatory=True,
|
|
intent='input',
|
|
doc=''
|
|
)
|
|
|
|
|
|
ROLL = Component.Parameter(
|
|
'_roll',
|
|
public_name='ROLL',
|
|
default=0,
|
|
type=float,
|
|
mandatory=True,
|
|
intent='input',
|
|
doc=''
|
|
)
|
|
|
|
|
|
YAW = Component.Parameter(
|
|
'_yaw',
|
|
public_name='YAW',
|
|
default=0,
|
|
type=float,
|
|
mandatory=True,
|
|
intent='input',
|
|
doc=''
|
|
)
|
|
|
|
|
|
class StateVector(Component):
|
|
|
|
|
|
parameter_list = (
|
|
TIME,
|
|
PITCH,
|
|
ROLL,
|
|
YAW
|
|
)
|
|
|
|
|
|
|
|
|
|
family = 'attitudestatevector'
|
|
|
|
def __init__(self,family='',name='', time=None, pitch=None, roll=None, yaw=None):
|
|
super(StateVector, self).__init__(family if family else self.__class__.family, name=name)
|
|
self._time = time
|
|
self._pitch = pitch
|
|
self._roll = roll
|
|
self._yaw = yaw
|
|
|
|
return None
|
|
|
|
def toList(self):
|
|
return [self._time.strftime('%Y-%m-%dT%H:%M:%S.%f'),self._pitch,self._roll,self._yaw]
|
|
|
|
|
|
@type_check(datetime.datetime)
|
|
def setTime(self, time):
|
|
self._time = time
|
|
pass
|
|
|
|
def getTime(self):
|
|
return self._time
|
|
|
|
def setPitch(self, pitch):
|
|
self._pitch = pitch
|
|
|
|
def getPitch(self):
|
|
return self._pitch
|
|
|
|
def setRoll(self, roll):
|
|
self._roll = roll
|
|
|
|
def getRoll(self):
|
|
return self._roll
|
|
|
|
def setYaw(self, yaw):
|
|
self._yaw = yaw
|
|
|
|
def getYaw(self):
|
|
return self._yaw
|
|
|
|
def __str__(self):
|
|
retstr = "Time: %s\n"
|
|
retlst = (self.time,)
|
|
retstr += "Pitch: %s\n"
|
|
retlst += (self.pitch,)
|
|
retstr += "Roll: %s\n"
|
|
retlst += (self.roll,)
|
|
retstr += "Yaw: %s\n"
|
|
retlst += (self.yaw,)
|
|
return retstr % retlst
|
|
|
|
time = property(getTime, setTime)
|
|
pitch = property(getPitch, setPitch)
|
|
roll = property(getRoll, setRoll)
|
|
yaw = property(getYaw, setYaw)
|
|
pass
|
|
|
|
|
|
ATTITUDE_SOURCE = Component.Parameter(
|
|
'_attitudeSource',
|
|
public_name='ATTITUDE_SOURCE',
|
|
default=None,
|
|
type=str,
|
|
mandatory=False,
|
|
intent='input',
|
|
doc=''
|
|
)
|
|
|
|
STATE_VECTORS = Component.Parameter(
|
|
'_stateVectors',
|
|
public_name='STATE_VECTORS',
|
|
default=[],
|
|
container=list,
|
|
type=float,
|
|
mandatory=True,
|
|
intent='input',
|
|
doc=''
|
|
)
|
|
|
|
|
|
ATTITUDE_QUALITY = Component.Parameter(
|
|
'_attitudeQuality',
|
|
public_name='ATTITUDE_QUALITY',
|
|
default=None,
|
|
type=str,
|
|
mandatory=False,
|
|
intent='input',
|
|
doc=''
|
|
)
|
|
|
|
## This class encapsulates spacecraft attitude information
|
|
## The Attitude class consists of a list of StateVector objects
|
|
## and provides an iterator over this list.
|
|
@pickled
|
|
class Attitude(Component):
|
|
|
|
|
|
parameter_list = (
|
|
ATTITUDE_SOURCE,
|
|
STATE_VECTORS,
|
|
ATTITUDE_QUALITY
|
|
)
|
|
|
|
|
|
logging_name = 'isce.Attitude'
|
|
min_length_for_interpolation = 3
|
|
|
|
family = 'attitude'
|
|
|
|
def __init__(self,family='',name=''):
|
|
self._minTime = datetime.datetime(year=datetime.MAXYEAR,
|
|
month=12,
|
|
day=31)
|
|
self._maxTime = datetime.datetime(year=datetime.MINYEAR,
|
|
month=1,
|
|
day=1)
|
|
self._last = 0
|
|
self.cpStateVectors = []
|
|
super(Attitude, self).__init__(family if family else self.__class__.family, name=name)
|
|
|
|
return None
|
|
|
|
def adaptToRender(self):
|
|
|
|
self._cpStateVectors = []
|
|
svList = []
|
|
for sv in self.stateVectors:
|
|
svList.append(sv.toList())
|
|
#for some reason the deepcopy failed so adding one vector at the time
|
|
self._cpStateVectors.append(sv)
|
|
self.stateVectors = svList
|
|
|
|
def restoreAfterRendering(self):
|
|
self.stateVectors = self._cpStateVectors
|
|
|
|
def initProperties(self,catalog):
|
|
if 'state_vectors' in catalog:
|
|
st = catalog['state_vectors']
|
|
self.stateVectors = []
|
|
for ls in st:
|
|
self.stateVectors.append(StateVector(time=datetime.datetime.strptime(ls[0],'%Y-%m-%dT%H:%M:%S.%f'),pitch=ls[1],
|
|
roll=ls[2],yaw=ls[3]))
|
|
|
|
catalog.pop('state_vectors')
|
|
super().initProperties(catalog)
|
|
|
|
@property
|
|
def stateVectors(self):
|
|
return self._stateVectors
|
|
|
|
@stateVectors.setter
|
|
def stateVectors(self,val):
|
|
self._stateVectors = val
|
|
## A container needs a length.
|
|
def __len__(self):
|
|
return len(self.stateVectors)
|
|
|
|
## A container needs a getitem
|
|
def __getitem__(self, index):
|
|
return self.stateVectors[index]
|
|
|
|
def __setitem__(self, *args):
|
|
raise TypeError("'%s' object does not support item assignment" %
|
|
self.__class__.__name__
|
|
)
|
|
|
|
def __delitem__(self, *args):
|
|
raise TypeError("'%s' object does not support item deletion"
|
|
%self.__class__.__name__)
|
|
|
|
def __iter__(self):
|
|
return self
|
|
|
|
def next(self):
|
|
if self._last < len(self):
|
|
result = self.stateVectors[self._last]
|
|
self._last += 1
|
|
return result
|
|
raise StopIteration()
|
|
|
|
def setAttitudeQuality(self, qual):
|
|
self._attitudeQuality = qual
|
|
|
|
def getAttitudeQuality(self):
|
|
return self._attitudeQuality
|
|
|
|
def setAttitudeSource(self, source):
|
|
self._attitudeSource = source
|
|
|
|
def getAttitudeSource(self):
|
|
return self._attitudeSource
|
|
|
|
@type_check(StateVector)
|
|
def addStateVector(self, vec):
|
|
self._stateVectors.append(vec)
|
|
# Reset the minimum and maximum time bounds if necessary
|
|
if (vec.time < self._minTime): self._minTime = vec.time
|
|
if (vec.time > self._maxTime): self._maxTime = vec.time
|
|
pass
|
|
|
|
#TODO This needs to be fixed to work with scalar pitch, roll and yaw data
|
|
#TODO- use Utils/geo/charts and let numpy do the work (JEB).
|
|
def interpolate(self, time):
|
|
if len(self) < self.min_length_for_interpolation:
|
|
message = ("Fewer than %d state vectors present in attitude, "+
|
|
"cannot interpolate" % self.min_length_for_interpolation
|
|
)
|
|
self.logger.error(
|
|
message
|
|
)
|
|
return None
|
|
if not self._inRange(time):
|
|
message = (
|
|
"Time stamp (%s) falls outside of the interpolation interval"+
|
|
"[%s:%s]"
|
|
) % (time, self._minTime, self._maxTime)
|
|
raise ValueError(message)
|
|
pitch = 0.0
|
|
roll = 0.0
|
|
yaw = 0.0
|
|
for sv1 in self.stateVectors:
|
|
tmp=1.0
|
|
for sv2 in self.stateVectors:
|
|
if sv1.time == sv2.time:
|
|
continue
|
|
numerator = float(self._timeDeltaToSeconds(sv2.time-time))
|
|
denominator = float(
|
|
self._timeDeltaToSeconds(sv2.time - sv1.time)
|
|
)
|
|
tmp *= numerator/denominator
|
|
pass
|
|
pitch += sv1.pitch*tmp
|
|
roll += sv1.roll*tmp
|
|
yaw += sv1.yaw*tmp
|
|
pass
|
|
return StateVector(name='asv', time=time, pitch=pitch, roll=roll, yaw=yaw)
|
|
|
|
def _inRange(self, time):
|
|
"""Check whether a given time stamp is within the range of values for
|
|
an orbit"""
|
|
return self._minTime <= time <= self._maxTime
|
|
|
|
@type_check(datetime.timedelta)
|
|
def _timeDeltaToSeconds(self, td):
|
|
return (
|
|
td.microseconds +
|
|
(td.seconds + td.days * 24.0 * 3600) * 10**6
|
|
) / 10**6
|
|
|
|
def __str__(self):
|
|
retstr = "Attitude Source: %s\n"
|
|
retlst = (self.attitudeSource,)
|
|
retstr += "Attitude Quality: %s\n"
|
|
retlst += (self.attitudeQuality,)
|
|
return retstr % retlst
|
|
|
|
attitudeQuality = property(getAttitudeQuality, setAttitudeQuality)
|
|
attitudeSource = property(getAttitudeSource, setAttitudeSource)
|
|
pass
|
|
|
|
|
|
def createAttitude():
|
|
return Attitude()
|