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Added SpiceManager and enabled $(BASE_PATH) setting from calibration file
This commit is contained in:
Michal Marcinkowski
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/*****************************************************************************************
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* *
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* OpenSpace *
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* *
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* Copyright (c) 2014 *
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* *
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* Permission is hereby granted, free of charge, to any person obtaining a copy of this *
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* software and associated documentation files (the "Software"), to deal in the Software *
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* without restriction, including without limitation the rights to use, copy, modify, *
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* merge, publish, distribute, sublicense, and/or sell copies of the Software, and to *
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* permit persons to whom the Software is furnished to do so, subject to the following *
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* conditions: *
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* *
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* The above copyright notice and this permission notice shall be included in all copies *
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* or substantial portions of the Software. *
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* *
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, *
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* INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A *
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* PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT *
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* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF *
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* CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE *
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* OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. *
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****************************************************************************************/
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#ifndef __SPICEWRAPPER_H__
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#define __SPICEWRAPPER_H__
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#include "SpiceUsr.h"
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#include <string>
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#include <ghoul/glm.h>
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#include <vector>
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#include <map>
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namespace openspace{
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//just a typedef for now..
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typedef double mat6x6[6][6];
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class matrix6{
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private:
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int row, col;
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double data[6][6];
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public:
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matrix6& operator= (const matrix6& lhs){
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if (this != &lhs)
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}
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};
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class SpiceManager{
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public:
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// Initialization
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/**
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* Static initializer that initializes the static member.
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*/
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static void initialize();
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static void deinitialize();
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static SpiceManager& ref();
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/**
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* Load on or more SPICE kernels into a program. If client provides
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* the path to a binary kernel or meta-kernel upon which its loaded
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* to the appropriate SPICE subsystem. if the file is a textkernel
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* it will be loaded into kernel pool.
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* In order to locate the spice kernels, the method temorarily changes the
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* current working directory to the client-provided <code>filePath</code>.
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* For further details, please refer to <code>furnsh_c</code> in SPICE Docummentation
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*
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* \param filePath path to single kernel or meta-kernel to load.
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* \param kernelId unique integer ID for the loaded kernel
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* \return loaded kernels/metakernels unique integer id
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*/
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int loadKernel(const std::string& fullPath,
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const std::string& shorthand);
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/**
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* Unload SPICE kernel.
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* For further details, please refer to 'unload_c' in SPICE Docummentation
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*
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* \param either correspondign unique ID or shorthand with
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* which the kernel was loaded and is to be unloaded.
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*/
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bool unloadKernel(const std::string& shorthand);
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bool unloadKernel(int kernelId);
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// Acessing Kernel Data - Constants and Ids
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/**
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* Determine whether values exist for some item for any body in the kernel pool.
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* For further details, please refer to 'bodfnd_c' in SPICE Docummentation
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*
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* \param naifId ID code of body.
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* \param item Item to find ("RADII", "NUT_AMP_RA", etc.).
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*/
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bool hasValue(int naifId, const std::string& kernelPoolValueName) const;
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/**
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* Fetch from the kernel pool the double precision values of an
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* item associated with a body.
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* For further details, please refer to 'bodvrd_c' in SPICE Docummentation
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*
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* \param bodyName Body name.
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* \param kernelPoolValueName Item for which values are desired. ("RADII", "NUT_PREC_ANGLES", etc. )
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*/
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bool SpiceManager::getValueFromID(const std::string& bodyname,
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const std::string& kernelPoolValueName,
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double& value) const;
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/*
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bool SpiceManager::getValueFromID(const std::string& bodyname,
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const std::string& kernelPoolValueName,
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glm::dvec2& value) const;
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*/
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bool SpiceManager::getValueFromID(const std::string& bodyname,
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const std::string& kernelPoolValueName,
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glm::dvec3& value) const;
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bool SpiceManager::getValueFromID(const std::string& bodyname,
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const std::string& kernelPoolValueName,
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glm::dvec4& value) const;
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bool SpiceManager::getValueFromID(const std::string& bodyname,
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const std::string& kernelPoolValueName,
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std::vector<double>& values, unsigned int num) const;
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// Converting between UTC and Ephemeris Time (LSK)
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/**
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* Convert a string representing an epoch to a double precision
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* value representing the number of TDB seconds past the J2000
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* epoch corresponding to the input epoch.
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* For further details, please refer to 'str2et_c' in SPICE Docummentation
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*
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* \param epochString, A string representing an epoch.
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* \return Corresponding ephemeris time, equivalent value in seconds past J2000, TDB.
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*/
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double stringToEphemerisTime(const std::string& epochString) const;
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// Computing Positions of Spacecraft and Natural Bodies(SPK)
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/**
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* Return the position of a target body relative to an observing
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* body, optionally corrected for light time (planetary aberration)
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* and stellar aberration.
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* For further details, please refer to 'spkpos_c' in SPICE Docummentation
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*
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* \param target Target body name.
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* \param ephemeris Observer epoch.
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* \param referenceFrame Reference frame of output position vector.
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* \param aberrationCorrection Aberration correction flag.
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* \param observer Observing body name.
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* \param targetPosition Position of target.
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* \param lightTime One way light time between observer and target.
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* \return Whether the function succeeded or not
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*/
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bool getTargetPosition(const std::string& target,
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double ephemerisTime,
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const std::string& referenceFrame,
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const std::string& aberrationCorrection,
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const std::string& observer,
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glm::dvec3& targetPosition,
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double lightTime) const;
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/**
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* Return the state (position and velocity) of a target body
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* relative to an observing body, optionally corrected for light
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* time (planetary aberration) and stellar aberration.
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* For further details, please refer to 'spkezr_c' in SPICE Docummentation
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*
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* \param target Target body name.
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* \param ephemerisTime Observer epoch.
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* \param referenceFrame Reference frame of output state vector.
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* \param aberrationCorrection Aberration correction flag.
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* \param observer Observing body name.
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* \param targetPosition Position of target.
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* \param targetVelocity Velocity of target.
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* \param lightTime One way light time between observer and target.
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* \return Whether the function succeeded or not
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*/
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bool getTargetState(const std::string& target,
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double ephemerisTime,
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const std::string& referenceFrame,
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const std::string& aberrationCorrection,
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const std::string& observer,
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glm::dvec3& targetPosition,
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glm::dvec3& targetVelocity,
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double lightTime) const;
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// Computing Transformations Between Frames (FK)
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/**
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* Return the state transformation matrix from one frame to
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* another at a specified epoch.
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* For further details, please refer to 'sxform_c' in SPICE Docummentation
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*
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* \param fromFrame Name of the frame to transform from.
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* \param toFrame Name of the frame to transform to.
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* \param et Epoch of the rotation matrix.
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* \param posTransMat A rotation matrix.
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* \return Whether the function succeeded or not
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*/
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bool getStateTransformMatrix(const std::string& fromFrame,
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const std::string& toFrame,
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double ephemerisTime,
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mat6x6& stateMatrix) const;
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/**
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* Multiply the 6x6 stateTransformMatrix and two 3D vector, postion and velocity.
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*/
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bool multiplyWithStateTransmMat6x6(mat6x6 stateMatrix,
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glm::dvec3 position,
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glm::dvec3 velocity) const;
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/**
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* Return the matrix that transforms position vectors from one
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* specified frame to another at a specified epoch.
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* For further details, please refer to 'pxform_c' in SPICE Docummentation
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*
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* \param fromFrame Name of the frame to transform from.
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* \param toFrame Name of the frame to transform to.
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* \param et Epoch of the state transformation matrix.
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* \param stateTransMat A state transformation matrix.
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* \return Whether the function succeeded or not
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*/
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bool getPositionTransformMatrix(const std::string& fromFrame,
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const std::string& toFrame,
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double ephemerisTime,
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glm::mat3x3& positionTransformationMatrix) const;
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// Retrieving Instrument Parameters (IK)
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/**
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* This routine returns the field-of-view (FOV) parameters for a
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* specified instrument.
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* For further details, please refer to 'getfov_c' in SPICE Docummentation
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*
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* \param naifInstrumentId NAIF ID of an instrument.
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* \param instrumentFovShape Instrument Field Of View shape.
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* \param nameOfFrame Name of fram in which FOV vectors are defines.
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* \param boresightVector Boresight vector.
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* \param numberOfBoundaryVectors Number of boundary vectors returned.
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* \param bounds Field Of View boundary vectors
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* \return Whether the function succeeded or not
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*/
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bool getFieldOfView(const std::string& naifInstrumentId,
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std::string& instrumentFovShape,
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std::string& nameOfFrame,
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double boresightVector,
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std::vector<glm::vec3>& bounds) const;
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// Computing Planetocentric, Planetodetic, and Planetographic Coordinates
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/**
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* Convert from rectangular coordinates to latitudinal coordinates.
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* For further details, please refer to 'reclat_c ' in SPICE Docummentation
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*
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* \param coordinates Rectangular coordinates of a point, 3-vectors
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* \param radius Distance of the point from the origin.
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* \param longitude Longitude of the point in radians. The range is [-pi, pi].
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* \param latitude Latitude of the point in radians. The range is [-pi/2, pi/2].
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* \return Whether the function succeeded or not
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*/
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bool rectangularToLatitudal(const glm::vec3 coordinates,
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double& radius,
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double& longitude,
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double& latitude) const;
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/**
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* Convert from latitudinal coordinates to rectangular coordinates.
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* For further details, please refer to 'reclat_c ' in SPICE Docummentation
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*
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* \param radius Distance of a point from the origin.
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* \param longitude Longitude of point in radians.
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* \param longitude Latitude of point in radians.
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* \param latitude Rectangular coordinates of the point.
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* \return Whether the function succeeded or not
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*/
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bool latidudinalToRectangular(double radius,
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double& longitude,
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double& latitude,
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glm::vec3& coordinates) const;
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/**
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* Convert planetocentric latitude and longitude of a surface
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* point on a specified body to rectangular coordinates.
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* For further details, please refer to 'srfrec_c ' in SPICE Docummentation
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*
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* \param naif_id NAIF integer code of an extended body.
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* \param longitude Longitude of point in radians.
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* \param latitude Latitude of point in radians.
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* \param coordinates Rectangular coordinates of the point.
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* \return Whether the function succeeded or not
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*/
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bool planetocentricToRectangular(int naif_id,
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double& longitude,
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double& latitude,
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glm::vec3& coordinates) const;
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// Computing Sub - observer and Sub - solar Points
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/**
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* Compute the rectangular coordinates of the sub-observer point on
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* a target body at a specified epoch, optionally corrected for
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* light time and stellar aberration.
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* For further details, please refer to 'subpnt_c ' in SPICE Docummentation
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*
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* \param computationMethod Computation method.
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* \param target Name of target body.
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* \param ephemeris Epoch in ephemeris seconds past J2000 TDB.
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* \param bodyFixedFrame Body-fixed, body-centered target body frame.
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* \param aberrationCorrection Aberration correction.
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* \param observer Name of observing body.
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* \param subObserverPoint Sub-observer point on the target body.
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* \param targetEpoch Sub-observer point epoch.
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* \param observerToSubObserverVec Vector from observer to sub-observer point.
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* \return Whether the function succeeded or not
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*/
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bool getSubObserverPoint(std::string computationMethod,
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std::string target,
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double ephemeris,
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std::string bodyFixedFrame,
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std::string aberrationCorrection,
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std::string observer,
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glm::vec3& subObserverPoint,
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double& targetEpoch,
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glm::vec3& vectorToSurfacePoint) const;
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/**
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* Compute the rectangular coordinates of the sub-observer point on
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* a target body at a specified epoch, optionally corrected for
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* light time and stellar aberration.
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* For further details, please refer to 'subslr_c ' in SPICE Docummentation
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*
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* \param computationMethod Computation method.
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* \param target Name of target body.
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* \param ephemeris Epoch in ephemeris seconds past J2000 TDB.
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* \param bodyFixedFrame Body-fixed, body-centered target body frame.
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* \param aberrationCorrection Aberration correction.
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* \param observer Name of observing body.
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* \param subObserverPoint Sub-observer point on the target body.
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* \param targetEpoch Sub-observer point epoch.
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* \param observerToSubObserverVec Vector from observer to sub-observer point.
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* \return Whether the function succeeded or not
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*/
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bool getSubSolarPoint(std::string computationMethod,
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std::string target,
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double ephemeris,
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std::string bodyFixedFrame,
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std::string aberrationCorrection,
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std::string observer,
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glm::vec3& subObserverPoint,
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double& targetEpoch,
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glm::vec3& vectorToSurfacePoint) const;
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//TODO: add additional functions for 'mxvg_c'
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private:
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SpiceManager() = default;
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~SpiceManager();
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SpiceManager(const SpiceManager& c) = delete;
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static SpiceManager* _manager;
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struct spiceKernel {
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std::string path;
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std::string name;
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int id;
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};
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std::vector<spiceKernel> _loadedKernels;
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unsigned int kernelCount = 0;
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};
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}
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#endif
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