From 75b2459766fc3ea3b44f49f3ca2d6986b2c5bc6a Mon Sep 17 00:00:00 2001
From: vinay0000 <43803757+vinay0000@users.noreply.github.com>
Date: Sun, 7 Feb 2021 12:05:05 -0800
Subject: [PATCH] Revert "revised util.Orientation class"
This reverts commit e8a5b212e4c11928eb9562836f9a03d557e7d83b.
---
docs/common_json_objects.rst | 82 +++-------
docs/figures.svg | 291 -----------------------------------
docs/miscellaneous.rst | 42 -----
docs/nadirframe.png | Bin 29167 -> 0 bytes
instrupy/util.py | 225 ++++++++-------------------
5 files changed, 84 insertions(+), 556 deletions(-)
delete mode 100644 docs/figures.svg
delete mode 100644 docs/nadirframe.png
diff --git a/docs/common_json_objects.rst b/docs/common_json_objects.rst
index fa88e2f..71bac8d 100644
--- a/docs/common_json_objects.rst
+++ b/docs/common_json_objects.rst
@@ -68,65 +68,59 @@ has a side looking geometry (both the side) at 25 deg conical FOV.
:code:`orientation` JSON object format
========================================
-Orientation is parameterized as intrinsic rotations specified by Euler angles and sequence with respect to
-an user-specified reference frame. The definition of the Euler angle rotation is identical to the
-one used in the orbitpy->propcov->extern->gmatutil->util->AttitudeUtil, AttitudeConversionUtility C++ classes.
+At zero rotation, the instrument is aligned to the satellite body-frame which in turn is aligned to the Nadir-frame nominally.
+Thus the instrument orientation with respect to the satellite body-frame is the same as it's orientation with respect to the Nadir-frame
+in the scenario that the satellite body-frame is aligned to the Nadir-frame. It is also assumed that the instrument imaging axis is
+along the instrument z-axis.
-A Euler sequence = 123 implies the following rotation: R = R3.R2.R1, where Ri is the rotation matrix about the ith axis.
-A positive angle corresponds to an anti-clockwise rotation about the respective axis. Each rotation matrix rotates the
-coordinate system (not the vector).
-See:
-* https://mathworld.wolfram.com/RotationMatrix.html
+The definition of Nadir-frame is as follows:
-The first subfield of the :code:`orientation` JSON object is the :code:`referenceFrame` subfield.
-See :ref:`reference_frames_desc` for description about the reference frames.
+*Nadir-frame*
-.. csv-table:: Input parameter description
- :header: Parameter, Type, Units, Description
- :widths: 10,10,10,40
+* :math:`\bf X_{nadir}` axis: :math:`-({\bf Z_{nadir}} \times {\bf V})`, where :math:`\bf V` is the Velocity vector of satellite in EarthFixed frame)
+* :math:`\bf Y_{nadir}` axis: :math:`({\bf Z_{nadir}} \times {\bf X_{nadir}})`
+* :math:`\bf Z_{nadir}` axis: Aligned to Nadir vector (vector from Satellite to center of Earth in EarthFixed frame)
- referenceFrame, string,, "Accepted values are *EARTH_CENTERED_INERTIAL*, *EARTH_FIXED*, *NADIR_POINTING* or *SC_BODY_FIXED*."
-
-The second subfield of the :code:`orientation` JSON object is the :code:`convention` subfield.
+The first subfield of the :code:`orientation` JSON object is the :code:`convention` subfield.
.. csv-table:: Input parameter description
:header: Parameter, Type, Units, Description
:widths: 10,10,10,40
- convention, string,, "Accepted values are *REF_FRAME_ALIGNED*, *SIDE_LOOK*, *XYZ* or *EULER*."
+ convention, string,, "Accepted values are *NADIR*, *SIDE_LOOK* or *XYZ*."
According to the specified :code:`convention`, other subfields materialize as follows:
-1. :code:`"convention": "REF_FRAME_ALIGNED"`
+1. :code:`"convention": "NADIR"`
-Aligned with respective to the underlying reference frame.
+If the orientation is aligned to the Nadir-frame:
Example:
.. code-block:: python
"orientation": {
- "referenceFrame": "NADIR_POINTING",
- "convention": "REF_FRAME_ALIGNED"
+ "convention": "NADIR"
}
2. :code:`"convention": "SIDE_LOOK"`
-If the orientation is to be specified via a side-look-angle (which corresponds to rotation about the y-axis only), the following subfields apply:
+If the orientation is to be specified via a side-look-angle, the following subfields apply:
.. csv-table:: Input parameter description
:header: Parameter, Type, Units, Description
:widths: 10,10,10,40
- sideLookAngle, float, degrees, Side-look angle
+ sideLookAngle, number, degrees, Commonly called as nadir/ off-nadir angle.
+
+.. note:: A positive SIDE_LOOK corresponds to anti-clockwise rotation applied around the Nadir frame y-axis.
Example:
.. code-block:: python
"orientation": {
- "referenceFrame": "NADIR_POINTING",
"convention": "SIDE_LOOK",
"sideLookAngle":10
}
@@ -134,7 +128,8 @@ Example:
3. :code:`"convention": "XYZ"`
-Here the orientation is to be specified via set of three rotation angles about the X, Y and Z axis.
+Here the orientation is to be specified via set of three rotation angles about the instrument primary axis (which is first aligned to the
+Nadir-frame in nominal case).
The order of (intrinsic) rotations is: (1) rotation about instrument X-axis, (2) rotation about instrument Y-axis and last
(3) rotation about instrument Z-axis.
@@ -142,52 +137,21 @@ The order of (intrinsic) rotations is: (1) rotation about instrument X-axis, (2)
:header: Parameter, Type, Units, Description
:widths: 10,10,10,40
- xRotation, float, degrees, rotation about instrument X-axis
- yRotation, float, degrees, rotation about instrument Y-axis
- zRotation, float, degrees, rotation about instrument Z-axis
+ xRotation, number, degrees, rotation about instrument X-axis
+ yRotation, number, degrees, rotation about instrument Y-axis
+ zRotation, number, degrees, rotation about instrument Z-axis
Example:
.. code-block:: python
"orientation": {
- "referenceFrame": "NADIR_POINTING",
"convention": "XYZ",
"xRotation":10,
"yRotation":20,
"zRotation":0
}
-4. :code:`"convention": "EULER"`
-
-Here the orientation is to be specified via set of Euler angles and sequence.
-
-.. csv-table:: Input parameter description
- :header: Parameter, Type, Units, Description
- :widths: 10,10,10,40
-
- eulerAngle1, float, degrees, Rotation angle corresponding to the first rotation.
- eulerAngle2, float, degrees, Rotation angle corresponding to the second rotation.
- eulerAngle3, float, degrees, Rotation angle corresponding to the third rotation.
- eulerSeq1, int, Axis-number corresponding to the first rotation.
- eulerSeq2, int, Axis-number corresponding to the second rotation.
- eulerSeq3, int, Axis-number corresponding to the third rotation.
-
-Example:
-
-.. code-block:: python
-
- "orientation": {
- "referenceFrame": "NADIR_POINTING",
- "convention": "EULER",
- "eulerAngle1":10,
- "eulerAngle2":20,
- "eulerAngle3":0,
- "eulerSeq1": 3,
- "eulerSeq2": 1,
- "eulerSeq3": 3
- }
-
.. _fieldOfView_json_obj:
:code:`fieldOfView` JSON object format
diff --git a/docs/figures.svg b/docs/figures.svg
deleted file mode 100644
index def1912..0000000
--- a/docs/figures.svg
+++ /dev/null
@@ -1,291 +0,0 @@
-
-
-
-
diff --git a/docs/miscellaneous.rst b/docs/miscellaneous.rst
index ddd868d..3bfd999 100644
--- a/docs/miscellaneous.rst
+++ b/docs/miscellaneous.rst
@@ -1,48 +1,6 @@
Miscellaneous
*************
-.. _reference_frames_desc:
-
-Reference Frames
-====================
-
-There are four reference frames of interest:
-
-Earth Centered Inertial:
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-This is an Earth equator inertial reference frame identical to EarthMJ2000Eq used in GMAT.
-The nominal x-axis points along the line formed by the intersection of the Earth’s
-mean equatorial plane and the mean ecliptic plane (at the J2000 epoch), in the direction
-of Aries. The z-axis is normal to the Earth’s mean equator at the J2000 epoch and the
-y-axis completes the right-handed system. The mean planes of the ecliptic and equator,
-at the J2000 epoch, are computed using IAU-1976/FK5 theory with 1980 update for nutation.
-
-Earth Fixed:
-^^^^^^^^^^^^^^^^^^
-The Earth Fixed reference frame is referenced to the Earth's equator and the prime meridian
-and is computed using IAU-1976/FK5 theory. This system is identical to the EarthFixed
-used in GMAT.
-
-Nadir-pointing:
-^^^^^^^^^^^^^^^^^
-The axis of the Nadir-pointing reference frame are defined as follows:
-
-* :math:`\bf X_{np}` axis: :math:`-({\bf Z_{np}} \times {\bf V})`, where :math:`\bf V` is the Velocity vector of satellite in EARTH_FIXED frame)
-
-* :math:`\bf Y_{np}` axis: :math:`({\bf Z_{np}} \times {\bf X_{np}})`
-
-* :math:`\bf Z_{np}` axis: Aligned to Nadir vector (i.e. the negative of the position vector of satellite in EARTH_FIXED frame)
-
-.. figure:: nadirframe.png
- :scale: 100 %
- :align: center
-
-.. todo:: Verify the claim about position vector and velocity vector in EARTH_FIXED frame.
-
-Spacecraft Body Fixed:
-^^^^^^^^^^^^^^^^^^^^^^^
-Spacecraft Body Fixed reference frame. The axis of this coordinate system are aligned with the axis of the Spacecraft Bus.
-
.. _satellite_to_target_viewing_geometry:
Satellite to Target viewing geometry
diff --git a/docs/nadirframe.png b/docs/nadirframe.png
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zSqmfGdj@rWyIYD?^IJIVCQe<6oz4lzm~v@Zg yRotation -> zRotation, (intrinsic) with respect to "**Nadir-frame**" (A GMAT defined term).
- :vartype NADIR_POINTING: str
+ At zero rotation, the instrument is aligned to the satellite body-frame which in turn is aligned to the Nadir-frame nominally.
+ Thus the instrument orientation with respect to the satellite body-frame is the same as it’s orientation with respect to the
+ Nadir-frame in the scenario that the satellite body-frame is aligned to the Nadir-frame. It is also assumed that the instrument
+ imaging axis is along the instrument z-axis.
- :cvar SC_BODY_FIXED: Spacecraft Body Fixed reference frame. The axis of this coordinate system are aligned with the axis of the Spacecraft Bus.
- :vartype SC_BODY_FIXED: str
+ **Nadir-frame:**
+ * :math:`\\bf X_{nadir}` axis: :math:`-({\\bf Z_{nadir}} \\times {\\bf V})`, where :math:`\\bf V` is the Velocity vector of satellite in EarthFixed frame)
+ * :math:`\\bf Y_{nadir}` axis: :math:`({\\bf Z_{nadir}} \\times {\\bf X_{nadir}})`
+ * :math:`\\bf Z_{nadir}` axis: Aligned to Nadir vector (position vector of satellite in EarthFixed frame)
- """
- EARTH_CENTERED_INERTIAL = "EARTH_CENTERED_INERTIAL"
- EARTH_FIXED = "EARTH_FIXED"
- NADIR_POINTING = "NADIR_POINTING"
- SC_BODY_FIXED = "SC_BODY_FIXED"
-
-class Orientation(Entity):
- """ Class to store and handle orientation. Orientation is parameterized as intrinsic rotations specified by Euler angles and sequence
- with respect to the user-specified reference frame. The definition of the Euler angle rotation is identical to the
- one used in the orbitpy->propcov->extern->gmatutil->util->AttitudeUtil, AttitudeConversionUtility C++ classes.
-
- A Euler sequence = 123 implies the following rotation: R = R3.R2.R1, where Ri is the rotation matrix about the ith axis.
- A positive angle corresponds to an anti-clockwise rotation about the respective axis.
- Each rotation matrix rotates the coordinate system (not the vector).
- See:
-
- * https://mathworld.wolfram.com/RotationMatrix.html
+ It is also assumed that the instrument imaging axis is along the instrument z-axis.
- :ivar ref_frame: Reference frame. Default in "NADIR_POINTING".
- :vartype ref_frame: str
-
- :ivar euler_angle1: (deg) Rotation angle corresponding to the first rotation. Default is 0.
+ :ivar euler_angle1: (deg) Rotation about X-axis
:vartype euler_angle1: float
- :ivar euler_angle2: (deg) Rotation angle corresponding to the second rotation. Default is 0.
+ :ivar euler_angle2: (deg) Rotation about Y-axis
:vartype euler_angle2: float
- :ivar euler_angle3: (deg) Rotation angle corresponding to the third rotation. Default is 0.
+ :ivar euler_angle3: (deg) Rotation about Z-axis
:vartype euler_angle3: float
- :ivar euler_seq1: Axis-number corresponding to the first rotation. Default is 1.
+ :ivar euler_seq1: Axis number to be rotated the first time.
:vartype euler_angle1: int
- :ivar euler_seq2: Axis-number corresponding to the second rotation. Default is 2.
+ :ivar euler_seq2: Axis number to be rotated the second time.
:vartype euler_angle2: int
- :ivar euler_seq3: Axis-number corresponding to the third rotation. Default is 3.
+ :ivar euler_seq3: Axis number to be rotated the third time.
:vartype euler_angle3: int
- :ivar _id: Unique identifier.
- :vartype _id: str
+ .. todo:: Add support to rotations specified by other Euler sequences (currently only 1,2,3 is supported.).
- """
- def __init__(self, ref_frame="NADIR_POINTING", euler_angle1=0, euler_angle2=0, euler_angle3=0, euler_seq1=int(1), euler_seq2=int(2), euler_seq3=int(3), _id=None):
-
- self.ref_frame = ReferenceFrame.get(ref_frame)
+ """
+ def __init__(self, euler_angle1, euler_angle2, euler_angle3, euler_seq1 = int(1), euler_seq2 = int(2), euler_seq3 = int(3), _id = None):
self.euler_angle1 = float(euler_angle1)%360
self.euler_angle2 = float(euler_angle2)%360
self.euler_angle3 = float(euler_angle3)%360
@@ -290,127 +245,69 @@ def __init__(self, ref_frame="NADIR_POINTING", euler_angle1=0, euler_angle2=0, e
self.euler_seq3 = euler_seq3
super(Orientation, self).__init__(_id, "Orientation")
- class Convention(EnumEntity):
- """ Enumeration of recognized orientation conventions. The rotations below can be specified with respect to
- any of the reference frames given in :class:`instrupy.util.ReferenceFrame`.
-
- :cvar XYZ: Rotations about the X, Y and Z axis in the order 123.
- :vartype XYZ: str
-
- :cvar REF_FRAME_ALIGNED: Aligned with respective to the underlying reference frame. Identity rotation matrix.
- :vartype REF_FRAME_ALIGNED: str
-
- :cvar SIDE_LOOK: Rotation about the Y axis only.
- :vartype SIDE_LOOK: str
-
- :cvar EULER: Rotation according to the specified Euler angles and sequence.
- :vartype EULER: str
-
- """
- XYZ = "XYZ"
- REF_FRAME_ALIGNED = "REF_FRAME_ALIGNED"
- SIDE_LOOK = "SIDE_LOOK"
- EULER = "EULER"
-
@classmethod
- def from_sideLookAngle(cls, ref_frame="NADIR_POINTING", side_look_angle=0, _id=None):
- """ Return :class:`Orientation` object constructed from the side-look angle.
+ def from_sideLookAngle(cls, side_look_angle_deg, _id = None):
+ ''' Translate side-look-angle user input parameter to internal instrument orientation specs.
- :param ref_frame: Reference frame. Default in "NADIR_POINTING".
- :paramtype ref_frame: str
-
- :param side_look_angle: (deg) Side look angle. A positive angle corresponds to anti-clockwise rotation applied around the y-axis. Default is 0.
- :paramtype side_look_angle: float
+ :param side_look_angle_deg: Side look angle, also commonly called as nadir/ off-nadir angle in degrees. A positive angle corresponds to anti-clockwise rotation applied around the instrument y-axis.
+ :paramtype side_look_angle_deg: float
- :param _id: Unique identifier.
+ :param _id: Unique identifier
:paramtype _id: str
- :return: Corresponding `Orientation` object.
+ :return: Corresponding `Orientation` object
:rtype: :class:`instrupy.util.Orientation`
- """
- return Orientation(0.0, side_look_angle, 0.0, 1,2,3,_id)
+ '''
+ return Orientation(0.0, side_look_angle_deg, 0.0, 1,2,3,_id)
@classmethod
- def from_XYZ_rotations(cls, ref_frame="NADIR_POINTING", x_rot=0, y_rot=0, z_rot=0, _id = None):
- """ Return :class:`Orientation` object by the user-specified XYZ rotation angles with
- the sequence=123.
-
- :param ref_frame: Reference frame. Default in "NADIR_POINTING".
- :paramtype ref_frame: str
+ def from_XYZ_rotations(cls, xRotation, yRotation, zRotation, _id = None):
+ ''' Translate XYZ user input parameter to internal instrument orientation specs.
+ Orientation is specified via three rotation angles, xRotation -> yRotation -> zRotation..
- :ivar x_rot: (deg) Rotation about X-axis. Default is 0.
- :vartype x_rot: float
-
- :ivar y_rot: (deg) Rotation about Y-axis. Default is 0.
- :vartype y_rot: float
+ .. note:: This orientation specification convention input to this function is same as the GMAT-OC orientation convention specification.
+
+ :ivar x_rot_deg: (deg) Rotation about X-axis
+ :vartype x_rot_deg: float
- :ivar z_rot: (deg) Rotation about Z-axis. Default is 0.
- :vartype z_rot: float`
+ :ivar y_rot_deg: (deg) Rotation about Y-axis
+ :vartype y_rot_deg: float
- :param _id: Unique identifier.
- :paramtype _id: str
+ :ivar z_rot_deg: (deg) Rotation about Z-axis
+ :vartype z_rot_deg: float`
- """
- return Orientation(x_rot, y_rot, z_rot, 1,2,3,_id)
+ '''
+ return Orientation(xRotation, yRotation, zRotation, 1,2,3,_id)
@staticmethod
def from_dict(d):
- """Parses orientation specifications from a dictionary.
+ """Parses orientation specifications from a normalized JSON dictionary.
- :return: Parsed python object.
+ :return: Parsed python object
:rtype: :class:`instrupy.util.Orientation`
"""
- orien_conv = Orientation.Convention.get(d.get("convention", None))
- ref_frame = ReferenceFrame.get(d.get("referenceFrame", None))
- if(orien_conv == "XYZ"):
- return Orientation.from_XYZ_rotations(ref_frame=ref_frame, x_rot=d.get("xRotation", None), y_rot=d.get("yRotation", None), z_rot=d.get("zRotation", None), _id = d.get("@id", None))
- elif(orien_conv == "SIDE_LOOK"):
- return Orientation.from_sideLookAngle(ref_frame=ref_frame, side_look_angle=d.get("sideLookAngle", None), _id=d.get("@id", None))
- elif(orien_conv == "REF_FRAME_ALIGNED"):
- return Orientation.from_sideLookAngle(ref_frame=ref_frame, side_look_angle=0, _id=d.get("@id", None))
- elif(orien_conv == "EULER"):
- return Orientation(ref_frame=ref_frame, euler_angle1=d.get("eulerAngle1", None), euler_angle2=d.get("eulerAngle2", None),
- euler_angle3=d.get("eulerAngle3", None), euler_seq1=d.get("eulerSeq1", None), euler_seq2=d.get("eulerSeq2", None),
- euler_seq3=d.get("eulerSeq3", None), _id=d.get("@id", None))
+ _orien = OrientationConvention.get(d.get("convention", None))
+ if(_orien == "XYZ"):
+ return Orientation.from_XYZ_rotations(xRotation = d.get("xRotation", None), yRotation = d.get("yRotation", None), zRotation = d.get("zRotation", None), _id = d.get("@id", None))
+ elif(_orien == "SIDE_LOOK"):
+ return Orientation.from_sideLookAngle(d.get("sideLookAngle", None), d.get("@id", None))
+ elif(_orien == "NADIR"):
+ return Orientation.from_sideLookAngle(0, d.get("@id", None))
else:
raise Exception("Invalid or no Orientation convention specification")
- def to_list(self):
- """ Return data members of the instance as list,
-
- :return: Orientation object data attributes as list.
- :rtype: list
- """
- return [self.ref_frame, self.euler_seq1, self.euler_seq2, self.euler_seq3, self.euler_angle1, self.euler_angle2, self.euler_angle3]
+ def get_orien_as_list(self):
+ return [self.euler_seq1, self.euler_seq2, self.euler_seq3, self.euler_angle1, self.euler_angle2, self.euler_angle3]
def to_dict(self):
- """ Return data members of the instance as python dictionary.
+ """ Return data members of the object as python dictionary.
- :return: Orientation object data attributes as python dictionary.
+ :return: Orientation object as python dictionary
:rtype: dict
"""
- orien_dict = {
- "referenceFrame": self.ref_frame,
- "convention": "Euler",
- "eulerAngle1": self.euler_angle1,
- "eulerAngle2": self.euler_angle2,
- "eulerAngle3": self.euler_angle3,
- "eulerSeq1": self.euler_seq1,
- "eulerSeq2": self.euler_seq2,
- "eulerSeq3": self.euler_seq3
- }
+ orien_dict = {"convention": "XYZ", "xRotation": self.euler_angle1, "yRotation": self.euler_angle2, "zRotation": self.euler_angle3}
return orien_dict
-
- def __repr__(self):
- if isinstance(self._id, str):
- return "Orientation(ref_frame='{}',euler_angle1={},euler_angle2={},euler_angle3={}, \
- euler_seq1={},euler_seq2={},euler_seq3={},_id='{}')".format(self.ref_frame, self.euler_angle1, self.euler_angle2, self.euler_angle3,
- self.euler_seq1, self.euler_seq2, self.euler_seq3, self._id)
- else:
- return "Orientation(ref_frame='{}',euler_angle1={},euler_angle2={},euler_angle3={}, \
- euler_seq1={},euler_seq2={},euler_seq3={},_id={})".format(self.ref_frame, self.euler_angle1, self.euler_angle2, self.euler_angle3,
- self.euler_seq1, self.euler_seq2, self.euler_seq3, self._id)
class SensorGeometry(EnumEntity):
"""Enumeration of recognized instrument sensor geometries."""