Class AttitudeUtils

Nested Class Summary
Modifier and TypeClassDescriptionstatic class
Utility class for manipulating knots and splines together 
Constructor Summary

Method Summary
Modifier and TypeMethodDescriptionstatic void
calcBsplines
(long x, long[] tau, int splineOrder, int leftIndex, double[] b0, double[] b1) Returns the values and first derivatives of the four nonzero cubic Bsplines in the interval tau(left) <= x < tau(left+1)static int
findLeftIndex
(long x, long[] xa, int splineOrder) In the nondecreasing sequence xa[0:n1], finds the left index such that xa[left] <= x < xa[left+1]static int
findLeftIndexBisection
(int x, int[] xa) In the nondecreasing sequence xa[0:n1], finds the left index such that xa[left] <= x < xa[left+1]static int
findLeftIndexBisection
(long x, long[] xa) In the nondecreasing sequence xa[0:n1], finds the left index such that xa[left] <= x < xa[left+1]static int
findLeftIndexBisectionVar
(int x, int[] xa) Variant of findLeftIndexBisection which returns left = xa.length  2 if x == xa[xa.length1].static int
findLeftIndexBisectionVar
(long x, long[] xa) Variant of findLeftIndexBisection which returns left = xa.length  2 if x == xa[xa.length1].static int
findLeftIndexBSpline
(long x, long[] xa) Variant of findLeftIndex to be used for BSpline interpolation.static int
findLeftIndexVar
(long x, long[] xa, int splineOrder) Variant of findLeftIndex which returns left = xa.length  2 if x == xa[xa.length1].static double[]
insertElements
(double[] oldElements, long[] knots, long[] tInsert, int multiplicity, int splineOrder) Insert one or more elements in an array with a certain multiplicity This will redefine a larger array of the same duration.static long[]
insertKnots
(long[] oldKnots, long[] tInsert, int multiplicity, int splineOrder) Insert one or more knots in a knot sequence with a certain multiplicity This will redefine a larger knot sequence of the same durationinsertKnotsAndSplines
(AttitudeUtils.KnotsAndSplines old, long[] tInsert, int multiplicity, int splineOrder) Insert one or more knots in a knot sequence with a certain multiplicity This will redefine a larger knot sequence of the same duration Additionally, corresponding spline coefficients are inserted with zero as their starting values.static double[]
smallAngularDifferences
(double[] q0, double[] q1) Deprecated.

Constructor Details

AttitudeUtils
public AttitudeUtils()


Method Details

findLeftIndex
public static int findLeftIndex(long x, long[] xa, int splineOrder) In the nondecreasing sequence xa[0:n1], finds the left index such that xa[left] <= x < xa[left+1]If x < xa[0] the method returns left = 1. If x >= xa[n1] the method returns left = n1 (the last valid index to the array). These are the logical extensions of the basic condition when x is outside the interval defined by the array  formally they could be derived by putting xa[1] = inf and xa[n] = +inf.
This implementation of findLeftIndex uses an estimation method which assumes that the intervals have the same or similar length to speed up the search, this method is faster than the bisection one at least when there aren't many gaps and the time intervals are identical or similar.
 Parameters:
x
 value to find the left index forxa
 array of spline knot timessplineOrder
 order of the spline Returns:
 The left index

findLeftIndexVar
public static int findLeftIndexVar(long x, long[] xa, int splineOrder) Variant of findLeftIndex which returns left = xa.length  2 if x == xa[xa.length1]. This allows linear or cubic Hermite interpolation between xa[left] and xa[left+1] also in the case when x is exactly equal to the last point in the array. Parameters:
x
 value to find the left index forxa
 array of spline knot timessplineOrder
 order of the spline Returns:
 left index

findLeftIndexBSpline
public static int findLeftIndexBSpline(long x, long[] xa) Variant of findLeftIndex to be used for BSpline interpolation. In general the value of left is determined such that * xa[left] and xa[left+1] exist * xa[left+1]  xa[left] > 0 * xa[left] <= x < xa[left+1]More specific, this means that
if x > xa[xa.length  1], then the BSpline cannot be evaluated so 1 is returned.
if x == xa[xa.length1] then left is determined such that left is the largest value for which xa[left] < xa[xa.lengthn] for the largest value of n > 0 for which xa[xa.lengthn] == xa[xa.length1].
for all xa[0] < x < xa[xa.length1] left is determined such that xa[left] <= x < xa[left+1]. If then xa[left] == xa[left1] <= x then n is determined to be the smallest value for which xa[leftn] < xa[left] and then left  n is returned.
if xa[left] <= x and left == 0, then n is determined to be the largest value for which xa[left] == xa[left+n] and then left + n is returned.
if x < xa[0], then the BSpline cannot be evaluated so 1 is returned.
For more info see the discussion in Mantis 27523.
 Parameters:
x
 value to find the left index forxa
 array of spline knot times Returns:
 left index

findLeftIndexBisection
public static int findLeftIndexBisection(long x, long[] xa) In the nondecreasing sequence xa[0:n1], finds the left index such that xa[left] <= x < xa[left+1]If x < xa[0] the method returns left = 1. If x >= xa[n1] the method returns left = n1 (the last valid index to the array). These are the logical extensions of the basic condition when x is outside the interval defined by the array  formally they could be derived by putting xa[1] = inf and xa[n] = +inf.
This method uses a straight bisection method to locate the left index.
 Parameters:
x
 value to find the left index forxa
 array with knot times Returns:
 left index

findLeftIndexBisectionVar
public static int findLeftIndexBisectionVar(long x, long[] xa) Variant of findLeftIndexBisection which returns left = xa.length  2 if x == xa[xa.length1]. This allows linear or cubic Hermite interpolation between xa[left] and xa[left+1] also in the case when x is exactly equal to the last point in the array. Parameters:
x
 value to find the left index forxa
 array of spline knot times Returns:
 left index

findLeftIndexBisection
public static int findLeftIndexBisection(int x, int[] xa) In the nondecreasing sequence xa[0:n1], finds the left index such that xa[left] <= x < xa[left+1]If x < xa[0] the method returns left = 1. If x >= xa[n1] the method returns left = n1 (the last valid index to the array). These are the logical extensions of the basic condition when x is outside the interval defined by the array  formally they could be derived by putting xa[1] = inf and xa[n] = +inf.
This method uses a straight bisection method to locate the left index.
 Parameters:
x
 value to find the left index forxa
 array with knot times Returns:
 left index

findLeftIndexBisectionVar
public static int findLeftIndexBisectionVar(int x, int[] xa) Variant of findLeftIndexBisection which returns left = xa.length  2 if x == xa[xa.length1]. This allows linear or cubic Hermite interpolation between xa[left] and xa[left+1] also in the case when x is exactly equal to the last point in the array. Parameters:
x
 value to find the left index forxa
 array of spline knot times Returns:
 left index

calcBsplines
public static void calcBsplines(long x, long[] tau, int splineOrder, int leftIndex, double[] b0, double[] b1) throws RuntimeException Returns the values and first derivatives of the four nonzero cubic Bsplines in the interval tau(left) <= x < tau(left+1)Based on the subroutine BSPLVB in C. de Boor, A Practical Guide to Splines, Springer 1978
Calculation of derivatives was added (perhaps inefficiently) as the analytical derivative of each statement in the original BSPLVB routine, using that (d/dx)deltar(j) = 1 and (d/dx)deltal(j) = +1.
The order of the spline is set by the parameter ATT_SPLINE_ORDER (=4 for cubic)
 Parameters:
x
 point at which the Bsplines should be evaluatedtau
 knot sequencesplineOrder
 order of the splineleftIndex
 integer chosen (usually) such that tau(leftIndex) <= x < tau(leftIndex+1) (left can be found byfindLeftIndex(long, long[], int)
b0
 values of the cubic Bsplines at pointx
b1
 first derivatives (wrt x) of the Bsplines at pointx
 Throws:
RuntimeException
 if input is inconsistent

smallAngularDifferences
Deprecated.Deprecated : Use the Quaternion class instead and this method is not reliable E.g. double[] angleDiff = q1.smallAngularDifference(q2); using quaternions E.g. double[] angleDiff = new Quaternion(q1).smallAngularDifference(new Quaternion(q2)); using double arraysCompute the angular differences about the principal axes of two bodytriads represented by two quaternions. This calculation comes from SAGLL30 where an inertial rotation vector between to attitudes represented by quaternion q0 and q1 is derived. It is a SMALL ANGLE approximation. If the algorithm finds a difference>EPS between the components of the 2 quaternions, it will flip sign of q1. This is vain if the angular difference is too large and a warning is then logged. Note this is a static utility.
 Parameters:
q0
 First quaternionq1
 Second quaternion Returns:
 Array of length 3 with angle between principal axes

insertKnots
public static long[] insertKnots(long[] oldKnots, long[] tInsert, int multiplicity, int splineOrder) Insert one or more knots in a knot sequence with a certain multiplicity This will redefine a larger knot sequence of the same duration Parameters:
oldKnots
 The initial array of knot timestInsert
 The array of knot insert timesmultiplicity
 The multiplicity of the inserted knotssplineOrder
 spline order Returns:
 knots The updated knot times, including inserted knots of multiplicity

insertKnotsAndSplines
public static AttitudeUtils.KnotsAndSplines insertKnotsAndSplines(AttitudeUtils.KnotsAndSplines old, long[] tInsert, int multiplicity, int splineOrder) Insert one or more knots in a knot sequence with a certain multiplicity This will redefine a larger knot sequence of the same duration Additionally, corresponding spline coefficients are inserted with zero as their starting values. These zero values need to be replaced by a fit or updated values. Parameters:
old
 The initial array of knot times The initial array of spline coefficientstInsert
 The array of knot insert timesmultiplicity
 The multiplicity of the inserted knots Returns:
 knots The updated knot times, including inserted knots of multiplicity The updated spline coefficients, including inserted splines at knots of multiplicity

insertElements
public static double[] insertElements(double[] oldElements, long[] knots, long[] tInsert, int multiplicity, int splineOrder) Insert one or more elements in an array with a certain multiplicity This will redefine a larger array of the same duration. This is designed to work with a knot sequence. Parameters:
oldElements
 The initial array at of elements at knot timesknots
 The knot sequence which is not changedtInsert
 The array of insert timesmultiplicity
 The multiplicity of the inserted elementssplineOrder
 spline order Returns:
 elements The updated elements including inserted knots of multiplicity
