ECIorECEFFrame.java
/*
* Copyright (C) 2019 Alberto Irurueta Carro (alberto@irurueta.com)
*
* 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.
*/
package com.irurueta.navigation.frames;
import com.irurueta.algebra.Matrix;
import com.irurueta.algebra.WrongSizeException;
import com.irurueta.geometry.InhomogeneousPoint3D;
import com.irurueta.geometry.InvalidRotationMatrixException;
import com.irurueta.geometry.Point3D;
import com.irurueta.geometry.Rotation3D;
import com.irurueta.units.Distance;
import com.irurueta.units.DistanceConverter;
import com.irurueta.units.DistanceUnit;
import com.irurueta.units.Speed;
import com.irurueta.units.SpeedConverter;
import com.irurueta.units.SpeedUnit;
import java.io.Serializable;
import java.util.Objects;
/**
* Base class for ECI or ECEF frames containing common logic and data for such frames.
*/
public abstract class ECIorECEFFrame<T extends ECIorECEFFrame<?>> implements Frame, Serializable {
/**
* Number of coordinates representing position.
*/
public static final int NUM_POSITION_COORDINATES = 3;
/**
* Number of coordinates representing velocity.
*/
public static final int NUM_VELOCITY_COORDINATES = 3;
/**
* Cartesian x coordinate of body position expressed in meters (m) with respect ECI or ECEF frame, resolved along
* the corresponding frame axes.
*/
double x;
/**
* Cartesian y coordinate of body position expressed in meters (m) with respect ECI or ECEF frame, resolved along
* the corresponding frame axes.
*/
double y;
/**
* Cartesian z coordinate of body position expressed in meters (m) with respect ECI or ECEF frame, resolved along
* the corresponding frame axes.
*/
double z;
/**
* X coordinate of velocity of body frame expressed in meters per second (m/s) with respect ECI or ECEF frame,
* resolved along the corresponding frame axes.
*/
double vx;
/**
* Y coordinate of velocity of body frame expressed in meters per second (m/s) with respect ECI or ECEF frame,
* resolved along the corresponding frame axes.
*/
double vy;
/**
* Z coordinate of velocity of body frame expressed in meters per second (m/s) with respect ECI or ECEF frame,
* resolved along the corresponding frame axes.
*/
double vz;
/**
* Body to ECI frame coordinate transformation matrix.
*/
CoordinateTransformation c;
/**
* Actual type class
*/
transient Class<T> clazz;
/**
* Constructor.
*/
ECIorECEFFrame(final Class<T> c) {
clazz = c;
}
/**
* Constructor.
*
* @param c Body to ECI or ECEF coordinate transformation.
* @throws InvalidSourceAndDestinationFrameTypeException if source or destination frame types are invalid.
*/
ECIorECEFFrame(final CoordinateTransformation c) throws InvalidSourceAndDestinationFrameTypeException {
setCoordinateTransformation(c);
}
/**
* Gets cartesian x coordinate of body position expressed in meters (m) and resolved along ECI or ECEF-frame axes.
*
* @return cartesian x coordinate of body position.
*/
public double getX() {
return x;
}
/**
* Sets cartesian x coordinate of body position expressed in meters (m) and resolved along ECI or ECEF-frame axes.
*
* @param x cartesian x coordinate of body position.
*/
public void setX(final double x) {
this.x = x;
}
/**
* Gets cartesian y coordinate of body position expressed in meters (m) and resolved along ECI or ECEF-frame axes.
*
* @return cartesian y coordinate of body position.
*/
public double getY() {
return y;
}
/**
* Sets cartesian y coordinate of body position expressed in meters (m) and resolved along ECI or ECEF-frame axes.
*
* @param y cartesian y coordinate of body position.
*/
public void setY(final double y) {
this.y = y;
}
/**
* Gets cartesian z coordinate of body position expressed in meters (m) and resolved along ECI or ECEF-frame axes.
*
* @return cartesian z coordinate of body position.
*/
public double getZ() {
return z;
}
/**
* Sets cartesian z coordinate of body position expressed in meters (m) and resolved along ECI or ECEF-frame axes.
*
* @param z cartesian z coordinate of body position.
*/
public void setZ(final double z) {
this.z = z;
}
/**
* Sets cartesian coordinates of body position expressed in meters (m) and resolved along ECI or ECEF-frame axes.
*
* @param x cartesian x coordinate of body position, resolved along ECI or ECEF-frame axes.
* @param y cartesian y coordinate of body position, resolved along ECI or ECEF-frame axes.
* @param z cartesian z coordinate of body position, resolved along ECI or ECEF-frame axes.
*/
public void setCoordinates(final double x, final double y, final double z) {
this.x = x;
this.y = y;
this.z = z;
}
/**
* Gets body position expressed in meters (m) and resolved along ECI or ECEF-frame axes.
*
* @return body position.
*/
public Point3D getPosition() {
return new InhomogeneousPoint3D(x, y, z);
}
/**
* Gets body position expressed in meters (m) and resolved along ECI or ECEF-frame axes.
*
* @param result instance where position data is copied to.
*/
public void getPosition(final Point3D result) {
result.setInhomogeneousCoordinates(x, y, z);
}
/**
* Sets body position expressed in meters (m) and resolved along ECI or ECEF-frame axes.
*
* @param point body position to be set.
*/
public void setPosition(final Point3D point) {
x = point.getInhomX();
y = point.getInhomY();
z = point.getInhomZ();
}
/**
* Gets cartesian x coordinate of body position resolved along ECI or ECEF-frame axes.
*
* @param result instance where cartesian x coordinate of body position will be stored.
*/
public void getPositionX(final Distance result) {
result.setValue(x);
result.setUnit(DistanceUnit.METER);
}
/**
* Gets cartesian x coordinate of body position resolved along ECI or ECEF-frame axes.
*
* @return x coordinate of body position resolved along ECI or ECEF-frame axes.
*/
public Distance getPositionX() {
return new Distance(x, DistanceUnit.METER);
}
/**
* Sets cartesian x coordinate of body position resolved along ECI or ECEF-frame axes.
*
* @param positionX cartesian x coordinate of body position to be set.
*/
public void setPositionX(final Distance positionX) {
x = DistanceConverter.convert(positionX.getValue().doubleValue(), positionX.getUnit(), DistanceUnit.METER);
}
/**
* Gets cartesian y coordinate of body position resolved along ECI or ECEF-frame axes.
*
* @param result instance where cartesian y coordinate of body position will be stored.
*/
public void getPositionY(final Distance result) {
result.setValue(y);
result.setUnit(DistanceUnit.METER);
}
/**
* Gets cartesian y coordinate of body position resolved along ECI or ECEF-frame axes.
*
* @return y coordinate of body position resolved along ECI or ECEF-frame axes.
*/
public Distance getPositionY() {
return new Distance(y, DistanceUnit.METER);
}
/**
* Sets cartesian y coordinate of body position resolved along ECI or ECEF-frame axes.
*
* @param positionY cartesian y coordinate of body position to be set.
*/
public void setPositionY(final Distance positionY) {
y = DistanceConverter.convert(positionY.getValue().doubleValue(), positionY.getUnit(), DistanceUnit.METER);
}
/**
* Gets cartesian z coordinate of body position resolved along ECI or ECEF-frame axes.
*
* @param result instance where cartesian z coordinate of body position will be stored.
*/
public void getPositionZ(final Distance result) {
result.setValue(z);
result.setUnit(DistanceUnit.METER);
}
/**
* Gets cartesian z coordinate of body position resolved along ECI or ECEF-frame axes.
*
* @return z coordinate of body position resolved along ECI or ECEF-frame axes.
*/
public Distance getPositionZ() {
return new Distance(z, DistanceUnit.METER);
}
/**
* Sets cartesian z coordinate of body position resolved along ECI or ECEF-frame axes.
*
* @param positionZ cartesian z coordinate of body position to be set.
*/
public void setPositionZ(final Distance positionZ) {
z = DistanceConverter.convert(positionZ.getValue().doubleValue(), positionZ.getUnit(), DistanceUnit.METER);
}
/**
* Sets cartesian coordinates of body position resolved along ECI or ECEF-frame axes.
*
* @param positionX cartesian x coordinate of body position to be set, resolved along ECI or ECEF-frame axes.
* @param positionY cartesian y coordinate of body position to be set, resolved along ECI or ECEF-frame axes.
* @param positionZ cartesian z coordinate of body position to be set, resolved along ECI or ECEF-frame axes.
*/
public void setPositionCoordinates(final Distance positionX, final Distance positionY, final Distance positionZ) {
setPositionX(positionX);
setPositionY(positionY);
setPositionZ(positionZ);
}
/**
* Gets norm of position expressed in meters (m), which represents the distance to
* Earth's center of mass.
*
* @return position norm expressed in meters (m).
*/
public double getPositionNorm() {
return Math.sqrt(x * x + y * y + z * z);
}
/**
* Gets norm of position, which represents the distance to Earth's center of mass.
*
* @param result instance where result will be stored.
*/
public void getPositionNormAsDistance(final Distance result) {
result.setValue(getPositionNorm());
result.setUnit(DistanceUnit.METER);
}
/**
* Gets norm of position, which represents the distance to Earth's center of mass.
*
* @return position norm.
*/
public Distance getPositionNormAsDistance() {
return new Distance(getPositionNorm(), DistanceUnit.METER);
}
/**
* Gets x coordinate of velocity of body frame expressed in meters per second (m/s) resolved along ECI or
* ECEF-frame axes.
*
* @return x coordinate of velocity.
*/
public double getVx() {
return vx;
}
/**
* Sets x coordinate of velocity of body frame expressed in meters per second (m/s) resolved along ECI or
* ECEF-frame axes.
*
* @param vx x coordinate of velocity.
*/
public void setVx(final double vx) {
this.vx = vx;
}
/**
* Gets y coordinate of velocity of body frame expressed in meters per second (m/s) resolved along ECI or
* ECEF-frame axes.
*
* @return y coordinate of velocity.
*/
public double getVy() {
return vy;
}
/**
* Sets y coordinate of velocity of body frame expressed in meters per second (m/s) resolved along ECI or
* ECEF-frame axes.
*
* @param vy y coordinate of velocity.
*/
public void setVy(final double vy) {
this.vy = vy;
}
/**
* Gets z coordinate of velocity of body frame expressed in meters per second (m/s) resolved along ECI or
* ECEF-frame axes.
*
* @return z coordinate of velocity.
*/
public double getVz() {
return vz;
}
/**
* Sets z coordinate of velocity of body frame expressed in meters per second (m/s) resolved along ECI or
* ECEF-frame axes.
*
* @param vz z coordinate of velocity.
*/
public void setVz(final double vz) {
this.vz = vz;
}
/**
* Sets velocity coordinates of body frame expressed in meters per second (m/s) resolved along ECI or
* ECEF-frame axes.
*
* @param vx x coordinate of velocity.
* @param vy y coordinate of velocity.
* @param vz z coordinate of velocity.
*/
public void setVelocityCoordinates(final double vx, final double vy, final double vz) {
this.vx = vx;
this.vy = vy;
this.vz = vz;
}
/**
* Gets norm of velocity expressed in meters per second (m/s), which represents
* the speed of the body.
*
* @return norm of velocity expressed in meters per second (m/s).
*/
public double getVelocityNorm() {
return Math.sqrt(vx * vx + vy * vy + vz * vz);
}
/**
* Gets norm of velocity, which represents the speed of the body.
*
* @param result velocity norm.
*/
public void getVelocityNormAsSpeed(final Speed result) {
result.setValue(getVelocityNorm());
result.setUnit(SpeedUnit.METERS_PER_SECOND);
}
/**
* Gets norm of velocity, which represents the speed of the body.
*
* @return velocity norm.
*/
public Speed getVelocityNormAsSpeed() {
return new Speed(getVelocityNorm(), SpeedUnit.METERS_PER_SECOND);
}
/**
* Gets x coordinate of velocity of body frame resolved along ECEF-frame axes.
*
* @param result instance where x coordinate of velocity will be stored.
*/
public void getSpeedX(final Speed result) {
result.setValue(vx);
result.setUnit(SpeedUnit.METERS_PER_SECOND);
}
/**
* Gets x coordinate of velocity of body frame resolved along ECI or ECEF-frame axes.
*
* @return x coordinate of velocity of body frame resolved along ECI or ECEF-frame axes.
*/
public Speed getSpeedX() {
return new Speed(vx, SpeedUnit.METERS_PER_SECOND);
}
/**
* Sets x coordinate of velocity of body frame resolved along ECI or ECEF-frame axes.
*
* @param speedX x coordinate of velocity of body frame resolved along ECI or ECEF-frame
* axes to be set.
*/
public void setSpeedX(final Speed speedX) {
vx = SpeedConverter.convert(speedX.getValue().doubleValue(), speedX.getUnit(), SpeedUnit.METERS_PER_SECOND);
}
/**
* Gets y coordinate of velocity of body frame resolved along ECI or ECEF-frame axes.
*
* @param result instance where y coordinate of velocity will be stored.
*/
public void getSpeedY(final Speed result) {
result.setValue(vy);
result.setUnit(SpeedUnit.METERS_PER_SECOND);
}
/**
* Gets y coordinate of velocity of body frame resolved along ECI or ECEF-frame axes.
*
* @return y coordinate of velocity of body frame resolved along ECI or ECEF-frame axes.
*/
public Speed getSpeedY() {
return new Speed(vy, SpeedUnit.METERS_PER_SECOND);
}
/**
* Sets y coordinate of velocity of body frame resolved along ECI or ECEF-frame axes.
*
* @param speedY y coordinate of velocity of body frame resolved along ECI or ECEF-frame
* axes to be set.
*/
public void setSpeedY(final Speed speedY) {
vy = SpeedConverter.convert(speedY.getValue().doubleValue(), speedY.getUnit(), SpeedUnit.METERS_PER_SECOND);
}
/**
* Gets z coordinate of velocity of body frame resolved along ECI or ECEF-frame axes.
*
* @param result instance where z coordinate of velocity will be stored.
*/
public void getSpeedZ(final Speed result) {
result.setValue(vz);
result.setUnit(SpeedUnit.METERS_PER_SECOND);
}
/**
* Gets z coordinate of velocity of body frame resolved along ECI or ECEF-frame axes.
*
* @return z coordinate of velocity of body frame resolved along ECI or ECEF-frame axes.
*/
public Speed getSpeedZ() {
return new Speed(vz, SpeedUnit.METERS_PER_SECOND);
}
/**
* Sets z coordinate of velocity of body frame resolved along ECI or ECEF-frame axes.
*
* @param speedZ z coordinate of velocity of body frame resolved along ECI or ECEF-frame
* axes to be set.
*/
public void setSpeedZ(final Speed speedZ) {
vz = SpeedConverter.convert(speedZ.getValue().doubleValue(), speedZ.getUnit(), SpeedUnit.METERS_PER_SECOND);
}
/**
* Sets velocity coordinates of body frame resolved along ECI or ECEF-frame axes.
*
* @param speedX x coordinate of velocity to be set.
* @param speedY y coordinate of velocity to be set.
* @param speedZ z coordinate of velocity to be set.
*/
public void setSpeedCoordinates(final Speed speedX, final Speed speedY, final Speed speedZ) {
setSpeedX(speedX);
setSpeedY(speedY);
setSpeedZ(speedZ);
}
/**
* Gets coordinate transformation matrix.
* This is equivalent to calling getCoordinateTransformation(), but more efficient
*
* @return coordinate transformation matrix.
*/
@Override
public Matrix getCoordinateTransformationMatrix() {
Matrix result;
try {
result = new Matrix(CoordinateTransformation.ROWS, CoordinateTransformation.COLS);
getCoordinateTransformationMatrix(result);
} catch (final WrongSizeException ignore) {
// never happens
result = null;
}
return result;
}
/**
* Gets coordinate transformation matrix.
* This is equivalent to calling getCoordinateTransformation().getMatrix(), but more efficient
*
* @param result instance where coordinate transformation matrix will be copied to.
*/
@Override
public void getCoordinateTransformationMatrix(final Matrix result) {
c.matrix.copyTo(result);
}
/**
* Sets coordinate transformation matrix keeping current source and destination {@link FrameType}.
* This is more efficient than getting a copy of coordinate transformation calling to
* {@link #getCoordinateTransformation()}, setting coordinate matrix into copied coordinate transformation and
* then setting the coordinate transformation calling {@link #setCoordinateTransformation(CoordinateTransformation)}.
*
* @param matrix a 3x3 coordinate transformation matrix to be set.
* @param threshold threshold to validate rotation matrix.
* @throws InvalidRotationMatrixException if provided matrix is not a valid rotation matrix (3x3 and orthonormal).
* @throws IllegalArgumentException if provided threshold is negative.
*/
@Override
public void setCoordinateTransformationMatrix(final Matrix matrix, final double threshold)
throws InvalidRotationMatrixException {
c.setMatrix(matrix,threshold);
}
/**
* Sts coordinate transformation matrix keeping current source and destination {@link FrameType}.
* This is more efficient than getting a copy of coordinate transformation calling to
* {@link #getCoordinateTransformation()}, setting coordinate matrix into copied coordinate transformation and
* then setting the coordinate transformation calling {@link #setCoordinateTransformation(CoordinateTransformation)}.
*
* @param matrix a 3x3 coordinate transformation matrix to be set.
* @throws InvalidRotationMatrixException if provided matrix is not a valid rotation matrix (3x3 and orthonormal).
*/
@Override
public void setCoordinateTransformationMatrix(final Matrix matrix) throws InvalidRotationMatrixException {
c.setMatrix(matrix);
}
/**
* Gets coordinate transformation as a new 3D rotation instance.
* This is equivalent to calling getCoordinateTransformation().asRotation(), but more efficient.
*
* @return new coordinate transformation as a 3D rotation.
* @throws InvalidRotationMatrixException if internal matrix cannot be converted to a 3D rotation.
*/
@Override
public Rotation3D getCoordinateTransformationRotation() throws InvalidRotationMatrixException {
return c.asRotation();
}
/**
* Gets coordinate transformation as a 3D rotation.
* This is equivalent to calling getCoordinateTransformation().asRotation(), but more efficient.
*
* @param result instance where coordinate transformation 3D rotation will be copied to.
* @throws InvalidRotationMatrixException if internal matrix cannot be converted to a 3D rotation.
*/
@Override
public void getCoordinateTransformationRotation(final Rotation3D result) throws InvalidRotationMatrixException {
c.asRotation(result);
}
/**
* Sets coordinate transformation from 3D rotation and keeping current source and destination {@link FrameType}.
* This is more efficient than getting a copy of coordinate transformation calling to
* {@link #getCoordinateTransformation()}, setting rotation into copied coordinate transformation and
* then setting the coordinate transformation calling {@link #setCoordinateTransformation(CoordinateTransformation)}.
*
* @param rotation set rotation into current coordinate rotation.
*/
@Override
public void setCoordinateTransformationRotation(final Rotation3D rotation) {
c.fromRotation(rotation);
}
/**
* Copies this instance data into provided instance.
*
* @param output destination instance where data will be copied to.
*/
public void copyTo(final T output) {
output.x = x;
output.y = y;
output.z = z;
output.vx = vx;
output.vy = vy;
output.vz = vz;
c.copyTo(output.c);
}
/**
* Copies data of provided instance into this instance.
*
* @param input instance to copy data from.
*/
public void copyFrom(final T input) {
x = input.x;
y = input.y;
z = input.z;
vx = input.vx;
vy = input.vy;
vz = input.vz;
c.copyFrom(input.c);
}
/**
* Computes and returns hash code for this instance. Hash codes are almost unique
* values that are useful for fast classification and storage of objects in collections.
*
* @return Hash code.
*/
@Override
public int hashCode() {
return Objects.hash(x, y, z, vx, vy, vz, c);
}
/**
* Checks if provided instance has exactly the same contents as this instance.
*
* @param obj instance to be compared.
* @return true if both instances are considered to be equal, false otherwise.
*/
@Override
public boolean equals(final Object obj) {
if (obj == null) {
return false;
}
if (obj == this) {
return true;
}
if (!clazz.isInstance(obj)) {
return false;
}
//noinspection unchecked
final T other = (T) obj;
return equals(other, 0.0);
}
/**
* Checks if provided instance has contents similar to this instance up to provided
* threshold value.
*
* @param other instance to be compared.
* @param threshold maximum difference allowed between position, velocity and coordinate transformation matrix.
* @return true if both instances are considered to be equal (up to provided threshold), false otherwise.
*/
public boolean equals(final T other, final double threshold) {
if (other == null) {
return false;
}
return Math.abs(x - other.x) <= threshold
&& Math.abs(y - other.y) <= threshold
&& Math.abs(z - other.z) <= threshold
&& Math.abs(vx - other.vx) <= threshold
&& Math.abs(vy - other.vy) <= threshold
&& Math.abs(vz - other.vz) <= threshold
&& c.equals(other.c, threshold);
}
}