diff --git a/bindings/python/src/OpenSpaceToolkitAstrodynamicsPy/Trajectory/Orbit/Models/Tabulated.cpp b/bindings/python/src/OpenSpaceToolkitAstrodynamicsPy/Trajectory/Orbit/Models/Tabulated.cpp index bec95c30b..9f07386cb 100755 --- a/bindings/python/src/OpenSpaceToolkitAstrodynamicsPy/Trajectory/Orbit/Models/Tabulated.cpp +++ b/bindings/python/src/OpenSpaceToolkitAstrodynamicsPy/Trajectory/Orbit/Models/Tabulated.cpp @@ -22,9 +22,23 @@ inline void OpenSpaceToolkitAstrodynamicsPy_Trajectory_Orbit using ostk::astro::trajectory::State ; using ostk::astro::trajectory::orbit::models::Tabulated ; - class_(aModule, "Tabulated") + class_ tabulated_class(aModule, "Tabulated"); - .def(init, Integer>(), arg("states"), arg("initial_revolution_number")) + enum_(tabulated_class, "InterpolationType") + + .value("Linear", Tabulated::InterpolationType::Linear) + .value("CubicSpline", Tabulated::InterpolationType::CubicSpline) + .value("BarycentricRational", Tabulated::InterpolationType::BarycentricRational) + + ; + + tabulated_class + .def( + init, Integer, Tabulated::InterpolationType>(), + arg("states"), + arg("initial_revolution_number"), + arg("interpolation_type") = DEFAULT_TABULATED_INTERPOLATION_TYPE + ) .def(self == self) .def(self != self) @@ -36,7 +50,9 @@ inline void OpenSpaceToolkitAstrodynamicsPy_Trajectory_Orbit .def("get_epoch", &Tabulated::getEpoch) .def("get_revolution_number_at_epoch", &Tabulated::getRevolutionNumberAtEpoch) + .def("get_interval", &Tabulated::getInterval) .def("calculate_state_at", &Tabulated::calculateStateAt, arg("instant")) + .def("calculate_states_at", &Tabulated::calculateStatesAt, arg("instants")) .def("calculate_revolution_number_at", &Tabulated::calculateRevolutionNumberAt, arg("instant")) ; diff --git a/bindings/python/test/trajectory/orbit/models/test_tabulated.py b/bindings/python/test/trajectory/orbit/models/test_tabulated.py index c7c22fc36..8da510ddd 100644 --- a/bindings/python/test/trajectory/orbit/models/test_tabulated.py +++ b/bindings/python/test/trajectory/orbit/models/test_tabulated.py @@ -2,7 +2,168 @@ # @project Open Space Toolkit ▸ Astrodynamics # @file bindings/python/test/trajectory/orbit/models/test_tabulated.py -# @author Remy Derollez +# @author Vishwa Shah # @license Apache License 2.0 ################################################################################################################################################################ + +import pytest + +import numpy as np + +from ostk.physics.time import Instant +from ostk.physics.time import DateTime +from ostk.physics.time import Scale +from ostk.physics.time import Duration +from ostk.physics.coordinate import Position +from ostk.physics.coordinate import Velocity +from ostk.physics.coordinate import Frame + +from ostk.astrodynamics.trajectory import State +from ostk.astrodynamics.trajectory.orbit.models import Tabulated + +################################################################################################################################################################ + +@pytest.fixture +def reference_states () -> list[State]: + + data = [ + ['2023-04-18T08:28:32.744064', -3310024.847608758, -6052528.239971979, 7626.534641683145, -855.2088930507367, 495.9541573743367, 7536.520188134902], + ['2023-04-18T08:28:33.744064', -3310878.047628086, -6052028.610429457, 15163.0493833017, -851.1838953959017, 503.31279367207185, 7536.506322816037], + ['2023-04-18T08:28:34.744064', -3311727.222133691, -6051521.622540367, 22699.545682944226, -847.1578341126227, 510.67087060642456, 7536.483268627912], + ['2023-04-18T08:28:35.744064', -3312572.370064364, -6051007.276868478, 30236.014351773065, -843.1307141262514, 518.0283791399937, 7536.451025467619], + ['2023-04-18T08:28:36.744064', -3313413.490363804, -6050485.573986613, 37772.44620082258, -839.1025403636198, 525.3853102358, 7536.40959324377], + ['2023-04-18T08:28:37.744064', -3314250.5819806806, -6049956.514476612, 45308.83204108345, -835.0733177529921, 532.7416548573802, 7536.358971876497], + ['2023-04-18T08:28:38.744064', -3315083.6438685474, -6049420.098929363, 52845.16268340493, -831.0430512241197, 540.0974039686765, 7536.299161297429], + ['2023-04-18T08:28:39.744064', -3315912.6749859042, -6048876.327944793, 60381.42893867038, -827.0117457081434, 547.4525485342174, 7536.23016144972], + ['2023-04-18T08:28:40.744064', -3316737.6742961914, -6048325.2021318525, 67917.62161760827, -822.9794061376964, 554.8070795189376, 7536.1519722880375], + ['2023-04-18T08:28:41.744064', -3317558.640767768, -6047766.722108539, 75453.73153099201, -818.9460374467976, 562.1609878883643, 7536.064593778564], + ['2023-04-18T08:28:42.744064', -3318375.5733739412, -6047200.888501875, 82989.7494894997, -814.9116445709234, 569.5142646084902, 7535.968025898996], + ['2023-04-18T08:28:43.744064', -3319188.471092942, -6046627.7019479135, 90525.66630384693, -810.8762324469382, 576.866900645898, 7535.862268638544], + ['2023-04-18T08:28:44.744064', -3319997.332907958, -6046047.163091751, 98061.47278470133, -806.8398060131411, 584.2188869676824, 7535.747321997941], + ['2023-04-18T08:28:45.744064', -3320802.157807084, -6045459.272587514, 105597.15974279115, -802.8023702092072, 591.5702145415504, 7535.62318598943], + ['2023-04-18T08:28:46.744064', -3321602.9447833803, -6044864.0310983565, 113132.71798877101, -798.7639299762548, 598.9208743356983, 7535.48986063679], + ['2023-04-18T08:28:47.744064', -3322399.692834845, -6044261.439296465, 120668.13833342775, -794.7244902567405, 606.2708573190106, 7535.347345975296], + ['2023-04-18T08:28:48.744064', -3323192.400964402, -6043651.497863061, 128203.41158748553, -790.6840559945587, 613.6201544608678, 7535.195642051765], + ['2023-04-18T08:28:49.744064', -3323981.068179951, -6043034.207488383, 135738.52856182377, -786.6426321349277, 620.9687567313651, 7535.034748924513], + ['2023-04-18T08:28:50.744064', -3324765.6934943097, -6042409.568871722, 143273.48006733102, -782.6002236244674, 628.3166551011666, 7534.864666663388], + ['2023-04-18T08:28:51.744064', -3325546.2759252544, -6041777.582721372, 150808.25691495842, -778.5568354111685, 635.6638405415614, 7534.68539534976], + ] + return [ + State( + instant = Instant.date_time(DateTime.parse(row[0]), Scale.UTC), + position = Position.meters([float(row[1]), float(row[2]), float(row[3])], Frame.GCRF()), + velocity = Velocity.meters_per_second([float(row[4]), float(row[5]), float(row[6])], Frame.GCRF()) + ) + for row in data + ] + +@pytest.fixture +def test_states (reference_states: list[State]) -> list[State]: + + return reference_states[::4] + +class TestTabulated: + + @pytest.mark.parametrize( + 'interpolation_type', + ( + (Tabulated.InterpolationType.Linear), + (Tabulated.InterpolationType.CubicSpline), + (Tabulated.InterpolationType.BarycentricRational), + ) + ) + def test_constructor (self, + test_states: list[State], + interpolation_type: Tabulated.InterpolationType): + + assert Tabulated( + states = test_states, + initial_revolution_number = 1, + interpolation_type = interpolation_type, + ) is not None + + @pytest.mark.parametrize( + 'interpolation_type,error_tolerance', + ( + (Tabulated.InterpolationType.Linear, 420.0), + (Tabulated.InterpolationType.CubicSpline, 5e-3), + (Tabulated.InterpolationType.BarycentricRational, 5e-2), + ) + ) + def test_calculate_state_at_success (self, + test_states: list[State], + reference_states: list[State], + interpolation_type: Tabulated.InterpolationType, + error_tolerance: float): + + tabulated = Tabulated( + states = test_states, + initial_revolution_number = 1, + interpolation_type = interpolation_type, + ) + + for reference_state in reference_states: + if not tabulated.get_interval().contains_instant(reference_state.get_instant()): + continue + + calculated_state: State = tabulated.calculate_state_at(reference_state.get_instant()) + assert np.all(np.abs(calculated_state.get_coordinates() - reference_state.get_coordinates()) < error_tolerance) + + @pytest.mark.parametrize( + 'interpolation_type,error_tolerance', + ( + (Tabulated.InterpolationType.Linear, 420.0), + (Tabulated.InterpolationType.CubicSpline, 5e-3), + (Tabulated.InterpolationType.BarycentricRational, 5e-2), + ) + ) + def test_calculate_states_at_success (self, + test_states: list[State], + reference_states: list[State], + interpolation_type: Tabulated.InterpolationType, + error_tolerance: float): + + tabulated = Tabulated( + states = test_states, + initial_revolution_number = 1, + interpolation_type = interpolation_type, + ) + + states_within_interval: list[State] = [ + state + for state in reference_states + if tabulated.get_interval().contains_instant(state.get_instant()) + ] + + calculated_states: list[State] = tabulated.calculate_states_at([state.get_instant() for state in states_within_interval]) + + for (calculated_state, reference_state) in zip(calculated_states, states_within_interval): + assert np.all(np.abs(calculated_state.get_coordinates() - reference_state.get_coordinates()) < error_tolerance) + + @pytest.mark.parametrize( + 'interpolation_type', + ( + (Tabulated.InterpolationType.Linear), + (Tabulated.InterpolationType.CubicSpline), + (Tabulated.InterpolationType.BarycentricRational), + ) + ) + def test_calculate_state_at_failure (self, + test_states: list[State], + interpolation_type: Tabulated.InterpolationType): + + tabulated = Tabulated( + states = test_states, + initial_revolution_number = 1, + interpolation_type = interpolation_type, + ) + + with pytest.raises(Exception): + tabulated.calculate_state_at(test_states[0].get_instant() - Duration.seconds(1)) + + with pytest.raises(Exception): + tabulated.calculate_state_at(test_states[-1].get_instant() + Duration.seconds(1)) + + +################################################################################################################################################################ diff --git a/docker/development/Dockerfile b/docker/development/Dockerfile index ca168a476..eaebd508e 100644 --- a/docker/development/Dockerfile +++ b/docker/development/Dockerfile @@ -45,7 +45,7 @@ RUN git clone --branch v${ORDERED_MAP_VERSION} --depth 1 https://github.com/Tess ## Eigen -ARG EIGEN_VERSION="3.3.7" +ARG EIGEN_VERSION="3.4.0" RUN mkdir /tmp/eigen \ && cd /tmp/eigen \ @@ -89,7 +89,7 @@ RUN git clone --branch v${NLOPT_VERSION} --depth 1 https://github.com/stevengj/n ## Open Space Toolkit ▸ Core -ARG OSTK_CORE_VERSION="0.5.0" +ARG OSTK_CORE_VERSION="0.6.0" RUN mkdir -p /tmp/open-space-toolkit-core \ && cd /tmp/open-space-toolkit-core \ @@ -111,7 +111,7 @@ RUN mkdir -p /tmp/open-space-toolkit-io \ ## Open Space Toolkit ▸ Mathematics -ARG OSTK_MATHEMATICS_VERSION="0.6.0" +ARG OSTK_MATHEMATICS_VERSION="0.7.1" RUN mkdir -p /tmp/open-space-toolkit-mathematics \ && cd /tmp/open-space-toolkit-mathematics \ diff --git a/include/OpenSpaceToolkit/Astrodynamics/Trajectory/Models/Tabulated.hpp b/include/OpenSpaceToolkit/Astrodynamics/Trajectory/Models/Tabulated.hpp index 13cfe3b05..3bfb3c25d 100644 --- a/include/OpenSpaceToolkit/Astrodynamics/Trajectory/Models/Tabulated.hpp +++ b/include/OpenSpaceToolkit/Astrodynamics/Trajectory/Models/Tabulated.hpp @@ -10,17 +10,22 @@ #ifndef __OpenSpaceToolkit_Astrodynamics_Trajectory_Models_Tabulated__ #define __OpenSpaceToolkit_Astrodynamics_Trajectory_Models_Tabulated__ -#include -#include - -#include -#include - #include #include #include #include +#include +#include +#include +#include + +#include +#include + +#include +#include + //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// namespace ostk @@ -35,29 +40,50 @@ namespace models //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// using ostk::core::types::Index ; +using ostk::core::types::Size ; +using ostk::core::types::Shared ; using ostk::core::ctnr::Pair ; using ostk::core::ctnr::Array ; using ostk::core::fs::File ; +using ostk::math::obj::VectorXd ; +using ostk::math::obj::MatrixXd ; +using ostk::math::curvefitting::interp::Interpolator ; + using ostk::physics::time::Instant ; using ostk::physics::time::Interval ; +using ostk::physics::time::Scale ; using ostk::astro::trajectory::Model ; using ostk::astro::trajectory::State ; //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +#define DEFAULT_TABULATED_INTERPOLATION_TYPE Tabulated::InterpolationType::Linear + +//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + /// @brief Tabulated trajectory model /// -/// For now, a simple linear interpolation is performed between steps. -/// In a future release, more advanced interpolation schemes (quadratic, spline, ...) will be provided. +/// Interpolation is performed between states using the specified interpolation scheme. +/// For now, linear, barycentric rational and cubic spline interpolation schemes are supported. class Tabulated : public virtual Model { public: - Tabulated ( const Array& aStateArray ) ; + enum class InterpolationType + { + + Linear, + BarycentricRational, + CubicSpline + + } ; + + Tabulated ( const Array& aStateArray, + const InterpolationType& anInterpolationType = DEFAULT_TABULATED_INTERPOLATION_TYPE ) ; virtual Tabulated* clone ( ) const override ; @@ -72,8 +98,16 @@ class Tabulated : public virtual Model Interval getInterval ( ) const ; + InterpolationType getInterpolationType ( ) const ; + + State getFirstState ( ) const ; + + State getLastState ( ) const ; + virtual State calculateStateAt ( const Instant& anInstant ) const override ; + virtual Array calculateStatesAt ( const Array& anInstantArray ) const override ; + virtual void print ( std::ostream& anOutputStream, bool displayDecorator = true ) const override ; @@ -87,12 +121,12 @@ class Tabulated : public virtual Model private: - Array states_ ; - mutable Index stateIndex_ ; + State firstState_ = State::Undefined() ; + State lastState_ = State::Undefined() ; - Pair accessStateRangeAt ( const Instant& anInstant ) const ; + InterpolationType interpolationType_ ; - Pair accessStateRangeAtIndex ( const Index& anIndex ) const ; + Array> interpolators_ = Array>::Empty() ; } ; diff --git a/include/OpenSpaceToolkit/Astrodynamics/Trajectory/Orbit/Models/Tabulated.hpp b/include/OpenSpaceToolkit/Astrodynamics/Trajectory/Orbit/Models/Tabulated.hpp index 721f4693d..61f49b516 100644 --- a/include/OpenSpaceToolkit/Astrodynamics/Trajectory/Orbit/Models/Tabulated.hpp +++ b/include/OpenSpaceToolkit/Astrodynamics/Trajectory/Orbit/Models/Tabulated.hpp @@ -50,7 +50,8 @@ class Tabulated : public virtual trajectory::orbit::Model, public trajectory::mo public: Tabulated ( const Array& aStateArray, - const Integer& anInitialRevolutionNumber ) ; + const Integer& anInitialRevolutionNumber, + const InterpolationType& aType = DEFAULT_TABULATED_INTERPOLATION_TYPE ) ; virtual Tabulated* clone ( ) const override ; diff --git a/src/OpenSpaceToolkit/Astrodynamics/Trajectory/Models/Tabulated.cpp b/src/OpenSpaceToolkit/Astrodynamics/Trajectory/Models/Tabulated.cpp index f4c8198f4..760c62f72 100644 --- a/src/OpenSpaceToolkit/Astrodynamics/Trajectory/Models/Tabulated.cpp +++ b/src/OpenSpaceToolkit/Astrodynamics/Trajectory/Models/Tabulated.cpp @@ -25,12 +25,65 @@ namespace models //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - Tabulated::Tabulated ( const Array& aStateArray ) + Tabulated::Tabulated ( const Array& aStateArray, + const InterpolationType& anInterpolationType ) : Model(), - states_(aStateArray), - stateIndex_(0) + interpolationType_(anInterpolationType) { + using ostk::math::curvefitting::interp::CubicSpline ; + using ostk::math::curvefitting::interp::BarycentricRational ; + using ostk::math::curvefitting::interp::Linear ; + + if (aStateArray.getSize() < 2) + { + return ; + } + + Array stateArray = aStateArray ; + + std::sort(stateArray.begin(), stateArray.end(), [] (const auto& lhs, const auto& rhs) { return lhs.getInstant() < rhs.getInstant() ; }) ; + + firstState_ = aStateArray.accessFirst() ; + lastState_ = aStateArray.accessLast() ; + + VectorXd timestamps(stateArray.getSize()) ; + MatrixXd coordinates(stateArray.getSize(), 6) ; + + for (Index i = 0 ; i < stateArray.getSize() ; ++i) + { + + timestamps(i) = (stateArray[i].accessInstant() - stateArray[0].accessInstant()).inSeconds() ; + + coordinates.row(i).segment<3>(0) = stateArray[i].accessPosition().accessCoordinates() ; + coordinates.row(i).segment<3>(3) = stateArray[i].accessVelocity().accessCoordinates() ; + + } + + interpolators_.reserve(coordinates.cols()) ; + + for (Index i = 0 ; i < Size(coordinates.cols()) ; ++i) + { + + if (interpolationType_ == Tabulated::InterpolationType::CubicSpline) + { + interpolators_.add(std::make_shared(CubicSpline(timestamps, coordinates.col(i)))) ; + } + else if (interpolationType_ == Tabulated::InterpolationType::BarycentricRational) + { + interpolators_.add(std::make_shared(BarycentricRational(timestamps, coordinates.col(i)))) ; + } + else if (interpolationType_ == Tabulated::InterpolationType::Linear) + { + interpolators_.add(std::make_shared(Linear(timestamps, coordinates.col(i)))) ; + } + else + { + throw ostk::core::error::runtime::Wrong("InterpolationType") ; + } + + } + } Tabulated* Tabulated::clone ( ) const @@ -46,7 +99,7 @@ bool Tabulated::operator == ( return false ; } - return states_ == aTabulatedModel.states_ ; + return interpolationType_ == aTabulatedModel.getInterpolationType() && firstState_ == aTabulatedModel.getFirstState() && lastState_ == aTabulatedModel.getLastState() ; } @@ -67,7 +120,7 @@ std::ostream& operator << ( bool Tabulated::isDefined ( ) const { - return !states_.isEmpty() ; + return !interpolators_.isEmpty() && firstState_.isDefined() && lastState_.isDefined() ; } Interval Tabulated::getInterval ( ) const @@ -78,20 +131,37 @@ Interval Tabulated::getInterval ( ) c throw ostk::core::error::runtime::Undefined("Tabulated") ; } - return Interval::Closed(states_.accessFirst().accessInstant(), states_.accessLast().accessInstant()) ; + return Interval::Closed(firstState_.accessInstant(), lastState_.accessInstant()) ; } -State Tabulated::calculateStateAt ( const Instant& anInstant ) const +Tabulated::InterpolationType Tabulated::getInterpolationType ( ) const +{ + + if (!this->isDefined()) + { + throw ostk::core::error::runtime::Undefined("Tabulated") ; + } + + return interpolationType_ ; + +} + +State Tabulated::getFirstState ( ) const { + return firstState_ ; +} - using ostk::core::types::Real ; +State Tabulated::getLastState ( ) const +{ + return lastState_ ; +} - using ostk::math::obj::Vector3d ; +State Tabulated::calculateStateAt ( const Instant& anInstant ) const +{ - using ostk::physics::time::Duration ; - using ostk::physics::coord::Position ; - using ostk::physics::coord::Velocity ; + using ostk::core::types::Index ; + using ostk::core::types::String ; if (!anInstant.isDefined()) { @@ -103,39 +173,45 @@ State Tabulated::calculateStateAt ( throw ostk::core::error::runtime::Undefined("Tabulated") ; } - const Pair stateRange = this->accessStateRangeAt(anInstant) ; + if (anInstant < firstState_.accessInstant() || anInstant > lastState_.accessInstant()) + { + throw ostk::core::error::RuntimeError(String::Format("Provided instant [{}] is outside of interpolation range [{}, {}].", anInstant.toString(), firstState_.accessInstant().toString(), lastState_.accessInstant().toString())) ; + } + + VectorXd interpolatedCoordinates(interpolators_.getSize()) ; - if ((stateRange.first != nullptr) && (stateRange.second != nullptr)) + for (Index i = 0 ; i < interpolators_.getSize() ; ++i) { + interpolatedCoordinates(i) = interpolators_[i]->evaluate((anInstant - firstState_.accessInstant()).inSeconds()) ; + } - const State& previousState = *(stateRange.first) ; - const State& nextState = *(stateRange.second) ; + return State(anInstant, Position::Meters(interpolatedCoordinates.segment<3>(0), firstState_.accessPosition().accessFrame()), Velocity::MetersPerSecond(interpolatedCoordinates.segment<3>(3), firstState_.accessPosition().accessFrame())) ; - const Real ratio = Duration::Between(previousState.accessInstant(), anInstant).inSeconds() / Duration::Between(previousState.accessInstant(), nextState.accessInstant()).inSeconds() ; +} - const Vector3d x_ECI = previousState.accessPosition().accessCoordinates() + ratio * (nextState.accessPosition().accessCoordinates() - previousState.accessPosition().accessCoordinates()) ; - const Vector3d v_ECI = previousState.accessVelocity().accessCoordinates() + ratio * (nextState.accessVelocity().accessCoordinates() - previousState.accessVelocity().accessCoordinates()) ; +Array Tabulated::calculateStatesAt ( const Array& anInstantArray ) const +{ - const Position position = { x_ECI, previousState.accessPosition().getUnit(), previousState.accessPosition().accessFrame() } ; - const Velocity velocity = { v_ECI, previousState.accessVelocity().getUnit(), previousState.accessVelocity().accessFrame() } ; + using ostk::core::types::Index ; - const State state = { anInstant, position, velocity } ; + if (anInstantArray.isEmpty()) + { + return Array::Empty() ; + } - return state ; + if (!this->isDefined()) + { + throw ostk::core::error::runtime::Undefined("Tabulated") ; + } - } - else if (stateRange.first != nullptr) - { - return *(stateRange.first) ; - } - else if (stateRange.second != nullptr) - { - return *(stateRange.second) ; - } + Array stateArray = Array(anInstantArray.getSize(), State::Undefined()) ; - throw ostk::core::error::RuntimeError("Cannot calculate state at [{}].", anInstant.toString()) ; + for (Index i = 0 ; i < anInstantArray.getSize() ; ++i) + { + stateArray[i] = this->calculateStateAt(anInstantArray[i]) ; + } - return State::Undefined() ; + return stateArray ; } @@ -188,126 +264,6 @@ bool Tabulated::operator != ( return !((*this) == aModel) ; } -Pair Tabulated::accessStateRangeAt ( const Instant& anInstant ) const -{ - - using ostk::core::ctnr::Unpack ; - - State const* previousStatePtr = nullptr ; - State const* nextStatePtr = nullptr ; - - while (true) // To be improved - { - - Unpack(previousStatePtr, nextStatePtr) = this->accessStateRangeAtIndex(stateIndex_) ; // Check index cache - - if ((previousStatePtr != nullptr) && (nextStatePtr != nullptr)) - { - - if ((previousStatePtr->accessInstant() <= anInstant) && (anInstant <= nextStatePtr->accessInstant())) - { - - if (previousStatePtr->accessInstant() == anInstant) - { - return { nullptr, previousStatePtr } ; - } - else if (nextStatePtr->accessInstant() == anInstant) - { - return { nextStatePtr, nullptr } ; - } - - return { previousStatePtr, nextStatePtr } ; - - } - else - { - - if (anInstant < previousStatePtr->accessInstant()) - { - - if (stateIndex_ > 0) - { - stateIndex_-- ; - } - else - { - break ; - } - - } - else - { - - if ((states_.getSize() > 0) && (stateIndex_ < (states_.getSize() - 1))) - { - stateIndex_++ ; - } - else - { - break ; - } - - } - - } - - } - else if (previousStatePtr != nullptr) - { - - if (previousStatePtr->accessInstant() == anInstant) - { - return { nullptr, previousStatePtr } ; - } - else - { - - if (anInstant < previousStatePtr->accessInstant()) - { - - if (stateIndex_ > 0) - { - stateIndex_-- ; - } - else - { - break ; - } - - } - else - { - return { nullptr, nullptr } ; - } - - } - - } - else - { - - stateIndex_ = 0 ; - - break ; - - } - - } - - return { nullptr, nullptr } ; - -} - -Pair Tabulated::accessStateRangeAtIndex ( const Index& anIndex ) const -{ - - const State* previousStatePtr = (anIndex < states_.getSize()) ? &(states_.at(anIndex)) : nullptr ; - const State* nextStatePtr = ((anIndex + 1) < states_.getSize()) ? &(states_.at(anIndex + 1)) : nullptr ; - - return { previousStatePtr, nextStatePtr } ; - -} - //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// } diff --git a/src/OpenSpaceToolkit/Astrodynamics/Trajectory/Orbit/Models/Tabulated.cpp b/src/OpenSpaceToolkit/Astrodynamics/Trajectory/Orbit/Models/Tabulated.cpp index 9e5106304..32d52b12e 100644 --- a/src/OpenSpaceToolkit/Astrodynamics/Trajectory/Orbit/Models/Tabulated.cpp +++ b/src/OpenSpaceToolkit/Astrodynamics/Trajectory/Orbit/Models/Tabulated.cpp @@ -28,9 +28,10 @@ namespace models //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// Tabulated::Tabulated ( const Array& aStateArray, - const Integer& anInitialRevolutionNumber ) + const Integer& anInitialRevolutionNumber, + const InterpolationType& anInterpolationType ) : trajectory::orbit::Model(), - trajectory::models::Tabulated(aStateArray), + trajectory::models::Tabulated(aStateArray, anInterpolationType), initialRevolutionNumber_(anInitialRevolutionNumber) { diff --git a/test/OpenSpaceToolkit/Astrodynamics/Trajectory/Orbit/Models/Tabulated.test.cpp b/test/OpenSpaceToolkit/Astrodynamics/Trajectory/Orbit/Models/Tabulated.test.cpp new file mode 100644 index 000000000..9fe13041d --- /dev/null +++ b/test/OpenSpaceToolkit/Astrodynamics/Trajectory/Orbit/Models/Tabulated.test.cpp @@ -0,0 +1,219 @@ +//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +/// @project Open Space Toolkit ▸ Astrodynamics +/// @file OpenSpaceToolkit/Astrodynamics/Trajectory/Orbit/Models/Tabulated.test.cpp +/// @author Vishwa Shah +/// @license Apache License 2.0 + +//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +#include +#include + +#include + +#include + +#include + +//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +using ostk::core::types::Integer ; +using ostk::core::types::Size ; +using ostk::core::types::Index ; +using ostk::core::types::Real ; +using ostk::core::types::String ; +using ostk::core::ctnr::Table ; +using ostk::core::ctnr::Array ; +using ostk::core::ctnr::Tuple ; +using ostk::core::fs::Path ; +using ostk::core::fs::File ; + +using ostk::math::obj::VectorXd ; + +using ostk::physics::time::Instant ; +using ostk::physics::time::DateTime ; +using ostk::physics::time::Duration ; +using ostk::physics::time::Scale ; +using ostk::physics::coord::Position ; +using ostk::physics::coord::Velocity ; +using ostk::physics::coord::Frame ; + +using ostk::astro::trajectory::State ; +using ostk::astro::trajectory::orbit::Model ; +using ostk::astro::trajectory::orbit::models::Tabulated ; + +//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +class OpenSpaceToolkit_Astrodynamics_Trajectory_Orbit_Models_Tabulated : public ::testing::Test { + + protected: + + void SetUp ( ) override + { + + const Table referenceData = Table::Load(File::Path(Path::Parse("/app/test/OpenSpaceToolkit/Astrodynamics/Trajectory/Orbit/Models/Tabulated/propagated_states.csv")), Table::Format::CSV, true) ; + + referenceStates_.reserve(referenceData.getRowCount()) ; + states_.reserve(referenceData.getRowCount() / testStatesCount_) ; + + Size t = 0 ; + for (const auto& row : referenceData) + { + + const Instant instant = Instant::DateTime(DateTime::Parse(row[0].accessString()), Scale::UTC) ; + + const Position position = Position::Meters({row[1].accessReal(), row[2].accessReal(), row[3].accessReal()}, Frame::GCRF()) ; + + const Velocity velocity = Velocity::MetersPerSecond({row[4].accessReal(), row[5].accessReal(), row[6].accessReal()}, Frame::GCRF()) ; + + State state = State(instant, position, velocity) ; + + referenceStates_.add(state) ; + + if ((t % testStatesCount_) == 0) + { + states_.add(state) ; + } + + ++t ; + + } + + } + + const Size testStatesCount_ = 20 ; + Array states_ = Array::Empty() ; + Array referenceStates_ = Array::Empty() ; + +} ; + +TEST_F (OpenSpaceToolkit_Astrodynamics_Trajectory_Orbit_Models_Tabulated, Constructor) +{ + const Tabulated tabulated(states_, 0, Tabulated::InterpolationType::Linear) ; +} + +TEST_F (OpenSpaceToolkit_Astrodynamics_Trajectory_Orbit_Models_Tabulated, CalculateStateAt) +{ + + const Array> testCases = + { + { Tabulated::InterpolationType::Linear, 420.0 }, + { Tabulated::InterpolationType::BarycentricRational, 5e-2 }, + { Tabulated::InterpolationType::CubicSpline, 5e-3 }, + } ; + + for (const auto& testCase : testCases) + { + + Tabulated::InterpolationType interpolationType = std::get<0>(testCase) ; + Real tolerance = std::get<1>(testCase) ; + + const Tabulated tabulated(states_, 0, interpolationType) ; + + for (Size i = 0 ; i < referenceStates_.getSize() - testStatesCount_ ; ++i) + { + + const Instant referenceInstant = referenceStates_[i].accessInstant() ; + + if (i == 0 || referenceInstant >= states_.accessLast().accessInstant()) + { + continue ; + } + + State state = tabulated.calculateStateAt(referenceInstant) ; + + VectorXd residuals = (state.getCoordinates() - referenceStates_[i].getCoordinates()).array().abs() ; + + EXPECT_TRUE((residuals.array() < tolerance).all()) << String::Format("Residual: {}", residuals.maxCoeff()) ; + + } + } + +} + +TEST_F (OpenSpaceToolkit_Astrodynamics_Trajectory_Orbit_Models_Tabulated, CalculateStatesAt) +{ + + const Array> testCases = + { + { Tabulated::InterpolationType::Linear, 420.0 }, + { Tabulated::InterpolationType::BarycentricRational, 5e-2 }, + { Tabulated::InterpolationType::CubicSpline, 5e-3 }, + } ; + + for (const auto& testCase : testCases) + { + + Tabulated::InterpolationType interpolationType = std::get<0>(testCase) ; + Real tolerance = std::get<1>(testCase) ; + + const Tabulated tabulated(states_, 0, interpolationType) ; + + Array referenceInstants = Array::Empty() ; + Array referenceStates = Array::Empty() ; + + for (Index i = 0 ; i < referenceStates_.getSize() - testStatesCount_ ; ++i) + { + + const Instant referenceInstant = referenceStates_[i].accessInstant() ; + + if (i == 0 || referenceInstant >= states_.accessLast().accessInstant()) + { + continue ; + } + + referenceInstants.add(referenceInstant) ; + referenceStates.add(referenceStates_[i]) ; + + } + + const Array states = tabulated.calculateStatesAt(referenceInstants) ; + + for (Index i = 0 ; i < states.getSize() ; ++i) + { + + VectorXd residuals = (states[i].getCoordinates() - referenceStates[i].getCoordinates()).array().abs() ; + + EXPECT_TRUE((residuals.array() < tolerance).all()) << String::Format("Residual: {}", residuals.maxCoeff()) ; + + } + + } + +} + +TEST_F (OpenSpaceToolkit_Astrodynamics_Trajectory_Orbit_Models_Tabulated, GetInterval) +{ + + using ostk::physics::time::Interval ; + + const Tabulated tabulated(states_, 0, Tabulated::InterpolationType::Linear) ; + + EXPECT_TRUE(tabulated.getInterval().isDefined()) ; + EXPECT_TRUE(tabulated.getInterval() == Interval::Closed(states_.accessFirst().accessInstant(), states_.accessLast().accessInstant())) ; + +} + +TEST_F (OpenSpaceToolkit_Astrodynamics_Trajectory_Orbit_Models_Tabulated, EqualToOperator) +{ + + const Tabulated tabulated(states_, 0, Tabulated::InterpolationType::Linear) ; + const Tabulated anotherTabulated(states_, 0, Tabulated::InterpolationType::Linear) ; + + EXPECT_TRUE(tabulated == anotherTabulated) ; + +} + +TEST_F (OpenSpaceToolkit_Astrodynamics_Trajectory_Orbit_Models_Tabulated, NotEqualToOperator) +{ + + const Tabulated tabulated(states_, 0, Tabulated::InterpolationType::CubicSpline) ; + const Tabulated anotherTabulated(states_, 0, Tabulated::InterpolationType::Linear) ; + + EXPECT_TRUE(tabulated != anotherTabulated) ; + +} + + +//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// diff --git a/test/OpenSpaceToolkit/Astrodynamics/Trajectory/Orbit/Models/Tabulated/propagated_states.csv b/test/OpenSpaceToolkit/Astrodynamics/Trajectory/Orbit/Models/Tabulated/propagated_states.csv new file mode 100644 index 000000000..3ebc41767 --- /dev/null +++ b/test/OpenSpaceToolkit/Astrodynamics/Trajectory/Orbit/Models/Tabulated/propagated_states.csv @@ -0,0 +1,10000 @@ +2023-04-18T08:28:32.744064,-3310024.847608758,-6052528.239971979,7626.534641683145,-855.2088930507367,495.9541573743367,7536.520188134902 +2023-04-18T08:28:33.744064,-3310878.047628086,-6052028.610429457,15163.0493833017,-851.1838953959017,503.31279367207185,7536.506322816037 +2023-04-18T08:28:34.744064,-3311727.222133691,-6051521.622540367,22699.545682944226,-847.1578341126227,510.67087060642456,7536.483268627912 +2023-04-18T08:28:35.744064,-3312572.370064364,-6051007.276868478,30236.014351773065,-843.1307141262514,518.0283791399937,7536.451025467619 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