Spice rotation update to use ALE (#3977)

Updated SpiceRotation to use ale::Orientations
DOI-USGS · Aug 21, 2020 · db9177c · db9177c
1 parent d293869
commit db9177c
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Showing 17 changed files with 318 additions and 190 deletions.
diff --git a/isis/src/base/apps/appjit/LineScanCameraRotation.cpp b/isis/src/base/apps/appjit/LineScanCameraRotation.cpp
@@ -5,6 +5,8 @@
 #include <cmath>
 #include <iomanip>
 
+#include<ale/Rotation.h>
+
 #include "Cube.h"
 #include "LineScanCameraRotation.h"
 #include "Quaternion.h"
@@ -121,6 +123,7 @@ namespace Isis {
     SpiceRotation *prot = p_spi->bodyRotation();
     SpiceRotation *crot = p_spi->instrumentRotation();
 
+    std::vector<ale::Rotation> rotationCache;
     for(std::vector<double>::iterator i = p_cacheTime.begin(); i < p_cacheTime.end(); i++) {
       double et = *i;
 
@@ -155,8 +158,23 @@ namespace Isis {
 
       // Put CI into parent cache to use the parent class methods on it
       mxmt_c((SpiceDouble( *)[3]) &CI[0], (SpiceDouble( *)[3]) &IB[0], (SpiceDouble( *)[3]) &CI[0]);
-      p_cache.push_back(CI);
+      rotationCache.push_back(ale::Rotation(CI));
+    }
+
+    if (m_orientation) {
+      delete m_orientation;
+      m_orientation = NULL;
     }
+
+    if (ConstantRotation().size() > 1) {
+      m_orientation = new ale::Orientations(rotationCache, p_cacheTime, std::vector<ale::Vec3d>(),
+                                            ale::Rotation(ConstantMatrix()), ConstantFrameChain(), TimeFrameChain());
+    }
+    else {
+      m_orientation = new ale::Orientations(rotationCache, p_cacheTime, std::vector<ale::Vec3d>(),
+                                            ale::Rotation(1,0,0,0), ConstantFrameChain(), TimeFrameChain());
+    }
+
     p_cachesLoaded = true;
     SetSource(Memcache);
 
@@ -185,9 +203,6 @@ namespace Isis {
       throw IException(IException::Programmer, msg, _FILEINFO_);
     }
 
-    // Clear existing matrices from cache
-    p_cache.clear();
-
     // Create polynomials fit to angles & use to reload cache
     Isis::PolynomialUnivariate function1(p_degree);
     Isis::PolynomialUnivariate function2(p_degree);
@@ -218,6 +233,7 @@ namespace Isis {
     std::vector<double> CJ;
     CJ.resize(9);
 
+    std::vector<ale::Rotation> rotationCache;
     for(std::vector<double>::size_type pos = 0; pos < p_cacheTime.size(); pos++) {
       double et = p_cacheTime.at(pos);
       rtime = (et - GetBaseTime()) / GetTimeScale();
@@ -242,7 +258,21 @@ namespace Isis {
       mxm_c((SpiceDouble( *)[3]) & (p_cacheIB.at(pos))[0], (SpiceDouble( *)[3]) & (prot->Matrix())[0], IJ);
       mxm_c(CI, IJ, (SpiceDouble( *)[3]) &CJ[0]);
 
-      p_cache.push_back(CJ);   // J2000 to constant frame
+      rotationCache.push_back(ale::Rotation(CJ));
+    }
+
+    if (m_orientation) {
+      delete m_orientation;
+      m_orientation = NULL;
+    }
+
+    if (ConstantRotation().size() > 1) {
+      m_orientation = new ale::Orientations(rotationCache, p_cacheTime, std::vector<ale::Vec3d>(),
+                                            ale::Rotation(ConstantMatrix()), ConstantFrameChain(), TimeFrameChain());
+    }
+    else {
+      m_orientation = new ale::Orientations(rotationCache, p_cacheTime, std::vector<ale::Vec3d>(),
+                                            ale::Rotation(1,0,0,0), ConstantFrameChain(), TimeFrameChain());
     }
 
     // Set source to cache to get updated values

diff --git a/isis/src/base/apps/appjit/LineScanCameraRotation.h b/isis/src/base/apps/appjit/LineScanCameraRotation.h
@@ -103,11 +103,9 @@ namespace Isis {
   class LineScanCameraRotation : public Isis::SpiceRotation {
     public:
       //! Constructors
-//      LineScanCameraRotation( int frameCode, SpiceRotation *crot, SpiceRotation *prot, SpicePosition *spos );
       LineScanCameraRotation(int frameCode,  Isis::Cube &cube, std::vector<double> timeCache, double tol);
 
       //! Destructor
-//      virtual ~LineScanCameraRotation() { };
       virtual ~LineScanCameraRotation();
 
       void LoadCache();

diff --git a/isis/src/base/objs/CameraPointInfo/CameraPointInfo.truth b/isis/src/base/objs/CameraPointInfo/CameraPointInfo.truth
@@ -6,8 +6,8 @@ Group = GroundPoint
   Declination                = 67.288137235407 <DEGREE>
   PlanetocentricLatitude     = -85.539935681585 <DEGREE>
   PlanetographicLatitude     = -85.539935681585 <DEGREE>
-  PositiveEast360Longitude   = 27.089555271673 <DEGREE>
-  PositiveEast180Longitude   = 27.089555271673 <DEGREE>
+  PositiveEast360Longitude   = 27.089555271672 <DEGREE>
+  PositiveEast180Longitude   = 27.089555271672 <DEGREE>
   PositiveWest360Longitude   = 332.91044472833 <DEGREE>
   PositiveWest180Longitude   = -27.089555271672 <DEGREE>
   BodyFixedCoordinate        = (120.6493939079, 61.711663528734,
@@ -21,13 +21,13 @@ Group = GroundPoint
   ObliqueSampleResolution    = 187.44583818806 <meters>
 
   # Spacecraft Information
-  SpacecraftPosition         = (216.77599432924, 54.260221515166,
+  SpacecraftPosition         = (216.77599432924, 54.260221515165,
                                 -2462.1104393388) <km>
   SpacecraftAzimuth          = 38.331 <DEGREE>
   SlantDistance              = 731.11938668312 <km>
   TargetCenterDistance       = 2472.2305351357 <km>
   SubSpacecraftLatitude      = -84.813985589411 <DEGREE>
-  SubSpacecraftLongitude     = 14.052715974499 <DEGREE>
+  SubSpacecraftLongitude     = 14.052715974498 <DEGREE>
   SpacecraftAltitude         = 735.29826910549 <km>
   OffNadirAngle              = 3.124 <DEGREE>
   SubSpacecraftGroundAzimuth = 296.906 <DEGREE>
@@ -84,13 +84,13 @@ Group = GroundPoint
   ObliqueSampleResolution    = 187.61662252249 <meters>
 
   # Spacecraft Information
-  SpacecraftPosition         = (216.77599432924, 54.260221515166,
+  SpacecraftPosition         = (216.77599432924, 54.260221515165,
                                 -2462.1104393388) <km>
   SpacecraftAzimuth          = 284.604 <DEGREE>
   SlantDistance              = 733.84767049682 <km>
   TargetCenterDistance       = 2472.2305351357 <km>
   SubSpacecraftLatitude      = -84.813985589411 <DEGREE>
-  SubSpacecraftLongitude     = 14.052715974499 <DEGREE>
+  SubSpacecraftLongitude     = 14.052715974498 <DEGREE>
   SpacecraftAltitude         = 735.29826910549 <km>
   OffNadirAngle              = 0.773 <DEGREE>
   SubSpacecraftGroundAzimuth = 195.221 <DEGREE>