wsf::space::Orientation Class Reference

#include <WsfSpaceOrientation.hpp>

Inheritance diagram for wsf::space::Orientation:

Collaboration diagram for wsf::space::Orientation:

Public Member Functions
	Orientation (bool aIsDefaultX_Aligned)
	Orientation (const Orientation &aSrc)=default
	~Orientation () override=default
Orientation *	Clone () const override=0
const char *	GetScriptClassName () const override
void	SetAttitudeController (const WsfAttitudeController &aController)
	Set the automatic orientation to be used with the propagator.
bool	ProcessInput (UtInput &aInput) override
virtual bool	IsValid () const
virtual bool	Calculate (double &aPsi, double &aTheta, double &aPhi) const =0
void	CalculateAligned (const UtVec3d &aPointingAxisOrientationECI, const UtVec3d &aConstraintAxisOrientationECI, double &aPsi, double &aTheta, double &aPhi) const
void	SetDefaultX_Aligned (bool aIsDefaultX_Aligned)
bool	GetDefaultX_Aligned () const
Public Member Functions inherited from WsfObject
	WsfObject ()
	This is the constructor for the WsfObject class.
	~WsfObject () override
	This is the destructor for the WsfObject class.
const char *	GetScriptClassName () const override
const std::string &	GetType () const
WsfStringId	GetTypeId () const
	Get the string ID of the 'type' of the object.
void	SetType (WsfStringId aType)
const std::string &	GetBaseType () const
WsfStringId	GetBaseTypeId () const
const TypeList &	GetTypeList () const
bool	IsA_TypeOf (WsfStringId aType) const
WsfObject &	operator= (const WsfObject &aRhs)
	Assignment operator.
template<typename T>
void	Serialize (T &aBuff)
	For XIO (de)serialization.
const std::string &	GetName () const
WsfStringId	GetNameId () const
void	SetName (WsfStringId aName)

Static Public Member Functions
static std::unique_ptr< Orientation >	Factory (const std::string &aOrientation)
static void	CalculateGeneral (double aYawECS, double aPitchECS, double aRollECS, const UtVec3d &aX_AxisOrientationECI, const UtVec3d &aZ_AxisConstraintECI, double &aPsi, double &aTheta, double &aPhi)
static void	CalculateX_Aligned (const UtVec3d &aX_AxisOrientationECI, const UtVec3d &aZ_AxisConstraintECI, double &aPsi, double &aTheta, double &aPhi)
static void	CalculateZ_Aligned (const UtVec3d &aZ_AxisOrientationECI, const UtVec3d &aX_AxisConstraintECI, double &aPsi, double &aTheta, double &aPhi)
static void	CalculatePCS_DirectionCosines (const UtVec3d &aX_AxisOrientationECI, const UtVec3d &aZ_AxisConstraintECI, UtVec3d &aX_DC, UtVec3d &aY_DC, UtVec3d &aZ_DC)

Protected Member Functions
UtVec3d	Nadir () const
UtVec3d	Solar () const
UtVec3d	VelocityECI () const
UtVec3d	VelocityECEF () const
UtVec3d	OrbitPlaneConstraint (const UtVec3d &aAlignVector) const
void	HandleException (const UtException &aException) const
	Generic exception handler for exceptions encountered in derived classes.
	WsfObject (const WsfObject &aSrc)
	Copy constructor (for Clone()).

Protected Attributes
bool	mIssueErrorMessage {true}
bool	mDefaultX_Aligned
const WsfAttitudeController *	mControllerPtr {nullptr}

Additional Inherited Members
Public Types inherited from WsfObject
typedef std::vector< WsfStringId >	TypeList
	The list of types returned by GetTypeList.

Detailed Description

A class hierarchy encapsulating various options for satellite attitude profiles: The profiles are as follows:

• ECI velocity with nadir constraint:
  The satellite's x-axis is pointing along the satellite's velocity vector, the z axis is constrained perpendicular to x and in the plane of the x-axis and the nadir vector.
• ECI velocity with solar constraint:
  The satellite's x-axis is pointing along the satellite's velocity vector, the z axis is constrained perpendicular to x and in the plane of the x-axis and the sun vector.
• Nadir pointing with ECI Velocity Constraint:
  The satellite's z-axis is pointing to the earth's center, the x axis is constrained perpendicular to z and in the plane of the z-axis and the ECI velocity vector.
• Nadir pointing with ECEF Velocity Constraint:
  The satellite's z-axis is pointing to the earth's center, the x axis is constrained perpendicular to z and in the plane of the z-axis and the ECI velocity vector.
• Solar pointing with nadir constraint:
  The satellite's negative z-axis is pointing to the sun, the x axis is constrained perpendicular to z and in the plane of the z-axis and the nadir.
• Nadir pointing with solar constraint:
  The satellite's negative z-axis is pointing to the nadir, the x axis is constrained perpendicular to z and in the plane of the z-axis and the sun vector.
• Entity (Resident Space Object) pointing with solar constraint:
  The satellite's x-axis points at the Entity, the z axis is constrained perpendicular to x and in the plane of the x-axis and the solar vector.
• Entity (Resident Space Object) pointing with nadir constraint:
  The satellite's x-axis points at the Entity, the z axis is constrained perpendicular to x and in the plane of the x-axis and the nadir vector.
• Entity (Resident Space Object) pointing with orbit constraint:
  The satellite's x-axis points at the Entity, the z axis is constrained perpendicular to x and in the orbital plane.
• Orientation point pointing with orbit constraint:
  The satellite's x-axis points at a geo-point (WsfGeoPoint), the z axis is constrained perpendicular to x and in the orbital plane.

For all orientation types, the y-axis is perpendicular to x and z in a right-handed coordinate system.

Constructor & Destructor Documentation

Orientation() [1/2]

wsf::space::Orientation::Orientation ( bool aIsDefaultX_Aligned )

inlineexplicit

References mDefaultX_Aligned.

Referenced by Clone(), wsf::space::OrientationECI_VelocityNadir::Clone(), wsf::space::OrientationECI_VelocitySolar::Clone(), wsf::space::OrientationNadirECEF_Velocity::Clone(), wsf::space::OrientationNadirECI_Velocity::Clone(), wsf::space::OrientationNadirSolar::Clone(), wsf::space::OrientationNone::Clone(), wsf::space::OrientationSolarNadir::Clone(), Orientation(), wsf::space::OrientationECI_VelocityNadir::OrientationECI_VelocityNadir(), wsf::space::OrientationECI_VelocitySolar::OrientationECI_VelocitySolar(), wsf::space::OrientationEntity::OrientationEntity(), wsf::space::OrientationGeoPoint::OrientationGeoPoint(), wsf::space::OrientationGeoPoint::OrientationGeoPoint(), wsf::space::OrientationNadirECEF_Velocity::OrientationNadirECEF_Velocity(), wsf::space::OrientationNadirECI_Velocity::OrientationNadirECI_Velocity(), wsf::space::OrientationNadirSolar::OrientationNadirSolar(), wsf::space::OrientationNone::OrientationNone(), and wsf::space::OrientationSolarNadir::OrientationSolarNadir().

Orientation() [2/2]

wsf::space::Orientation::Orientation ( const Orientation & aSrc )

default

References Orientation().

~Orientation()

wsf::space::Orientation::~Orientation ( )

overridedefault

References Factory().

Member Function Documentation

Calculate()

virtual bool wsf::space::Orientation::Calculate ( double & aPsi, double & aTheta, double & aPhi ) const

pure virtual

Calculate the desired spacecraft orientation for the current location and velocity.

Parameters

aPsi	The calculated ECI 'heading' angle.
aTheta	The calculated ECI 'pitch' angle.
aPhi	The calculated ECI 'roll' angle.

Implemented in wsf::space::OrientationECI_VelocityNadir, wsf::space::OrientationECI_VelocitySolar, wsf::space::OrientationEntityNadir, wsf::space::OrientationEntityOrbitPlane, wsf::space::OrientationEntitySolar, wsf::space::OrientationNadirECEF_Velocity, wsf::space::OrientationNadirECI_Velocity, wsf::space::OrientationNadirSolar, wsf::space::OrientationNone, and wsf::space::OrientationSolarNadir.

References CalculateAligned(), CalculateGeneral(), CalculatePCS_DirectionCosines(), CalculateX_Aligned(), and CalculateZ_Aligned().

CalculateAligned()

void wsf::space::Orientation::CalculateAligned	(	const UtVec3d &	aPointingAxisOrientationECI,
		const UtVec3d &	aConstraintAxisOrientationECI,
		double &	aPsi,
		double &	aTheta,
		double &	aPhi ) const

Calculate a spacecraft orientation such that either the ECS X-axis or Z-axis is aligned with the aPointingAxisOrientationECI vector, and the ECS Z-axis constrained by the aConstraintAxisOrientationECI vector.

Parameters

aPointingAxisOrientationECI	The direction along which the ECS "aligned" axis is to point.
aConstraintAxisOrientationECI	The direction that, along with the ECS "aligned" axis, defines the plane within which the ECS z-axis is constrained to point.
aPsi	The ECI-referenced yaw of the platform.
aTheta	The ECI-referenced pitch of the platform.
aPhi	The ECI-referenced roll of the platform.

References CalculateX_Aligned(), CalculateZ_Aligned(), and mDefaultX_Aligned.

Referenced by Calculate(), wsf::space::OrientationECI_VelocityNadir::Calculate(), wsf::space::OrientationECI_VelocitySolar::Calculate(), wsf::space::OrientationEntityNadir::Calculate(), wsf::space::OrientationEntityOrbitPlane::Calculate(), wsf::space::OrientationEntitySolar::Calculate(), wsf::space::OrientationNadirECEF_Velocity::Calculate(), wsf::space::OrientationNadirECI_Velocity::Calculate(), wsf::space::OrientationNadirSolar::Calculate(), and wsf::space::OrientationSolarNadir::Calculate().

CalculateGeneral()

void wsf::space::Orientation::CalculateGeneral ( double aYawECS, double aPitchECS, double aRollECS, const UtVec3d & aX_AxisOrientationECI, const UtVec3d & aZ_AxisConstraintECI, double & aPsi, double & aTheta, double & aPhi )

static

Calculate a generalized ECI-referenced orientation. Provided yaw, pitch, and roll correspond with an orientation with respect to the platform's ECS (e.g., of a WsfArticulatedPart, defining a PCS). The provided x-axis orientation corresponds with a vector pointing along the PCS x-axis to a target (e.g., another platform, nadir, the sun, etc.), referenced in ECI coordinates. A second vector provides a PCS z-axis constraint, such that the z-axis will lie in the same plane as the PCS x-axis and the constraint vector.

Parameters

aYawECS	The yaw angle of the PCS with respect to the ECS.
aPitchECS	The pitch angle of the PCS with respect to the ECS.
aRollECS	The roll angle of the PCS with respect to the ECS.
aX_AxisOrientationECI	The direction along which the PCS x-axis is to point.
aZ_AxisConstraintECI	The direction that, along with the PCS x-axis, defines the plane within which the PCS z-axis is constrained to point.
aPsi	The ECI-referenced yaw of the platform.
aTheta	The ECI-referenced pitch of the platform.
aPhi	The ECI-referenced roll of the platform.

References CalculatePCS_DirectionCosines().

Referenced by Calculate().

CalculatePCS_DirectionCosines()

void wsf::space::Orientation::CalculatePCS_DirectionCosines ( const UtVec3d & aX_AxisOrientationECI, const UtVec3d & aZ_AxisConstraintECI, UtVec3d & aX_DC, UtVec3d & aY_DC, UtVec3d & aZ_DC )

static

Calculate the direction cosines associated with the rotation of a platform part to point to a given orientation. The provided x-axis orientation corresponds with a vector pointing along the PCS x-axis to a target (e.g., another platform, nadir, the sun, etc.), referenced in ECI coordinates. A second vector provides a PCS z-axis constraint, such that the PCS z-axis will lie in the same plane as the PCS x-axis and the constraint vector.

Parameters

aX_AxisOrientationECI	The direction along which the PCS x-axis is to point.
aZ_AxisConstraintECI	The direction that, along with the PCS x-axis, defines the plane within which the PCS z-axis is constrained to point.
aX_DC	The x direction cosine vector.
aY_DC	The y direction cosine vector.
aZ_DC	The z direction cosine vector.

Referenced by Calculate(), CalculateGeneral(), CalculateX_Aligned(), and CalculateZ_Aligned().

CalculateX_Aligned()

void wsf::space::Orientation::CalculateX_Aligned ( const UtVec3d & aX_AxisOrientationECI, const UtVec3d & aZ_AxisConstraintECI, double & aPsi, double & aTheta, double & aPhi )

static

Calculate a spacecraft orientation such that the ECS X-axis is aligned with the aX_AxisOrientation vector, and the ECS Z-axis constrained by the aZ_AxisConstraint vector.

Parameters

aX_AxisOrientationECI	The direction along which the ECS x-axis is to point.
aZ_AxisConstraintECI	The direction that, along with the ECS x-axis, defines the plane within which the ECS z-axis is constrained to point.
aPsi	The ECI-referenced yaw of the platform.
aTheta	The ECI-referenced pitch of the platform.
aPhi	The ECI-referenced roll of the platform.

References CalculatePCS_DirectionCosines().

Referenced by Calculate(), and CalculateAligned().

CalculateZ_Aligned()

void wsf::space::Orientation::CalculateZ_Aligned ( const UtVec3d & aZ_AxisOrientationECI, const UtVec3d & aX_AxisConstraintECI, double & aPsi, double & aTheta, double & aPhi )

static

Calculate a spacecraft orientation such that the ECS X-axis is aligned with the aX_AxisOrientation vector, and the ECS Z-axis constrained by the aZ_AxisConstraint vector.

Parameters

aZ_AxisOrientationECI	The direction along which the ECS z-axis is to point.
aX_AxisConstraintECI	The direction that, along with the ECS z-axis, defines the plane within which the ECS x-axis is constrained to point.
aPsi	The ECI-referenced yaw of the platform.
aTheta	The ECI-referenced pitch of the platform.
aPhi	The ECI-referenced roll of the platform.

References CalculatePCS_DirectionCosines().

Referenced by Calculate(), and CalculateAligned().

Clone()

Orientation * wsf::space::Orientation::Clone ( ) const

overridepure virtual

Return a copy of this object. Must be implemented by all derived types. If cloning is impossible, a WsfUncloneableException should be thrown.

Implements WsfObject.

Implemented in wsf::space::OrientationECI_VelocityNadir, wsf::space::OrientationECI_VelocitySolar, wsf::space::OrientationEntityNadir, wsf::space::OrientationEntityOrbitPlane, wsf::space::OrientationEntitySolar, wsf::space::OrientationNadirECEF_Velocity, wsf::space::OrientationNadirECI_Velocity, wsf::space::OrientationNadirSolar, wsf::space::OrientationNone, wsf::space::OrientationPointOrbitPlane, and wsf::space::OrientationSolarNadir.

References GetScriptClassName(), and Orientation().

Factory()

std::unique_ptr< Orientation > wsf::space::Orientation::Factory ( const std::string & aOrientation )

static

Factory method to create the various orientation types.

Parameters

aOrientation

The orientation type to be created.

Returns

If a recognized orientation name is specified, returns the new orientation type (unique_ptr); otherwise nullptr.

References wsf::space::OrientationECI_VelocityNadir::GetTypeName(), wsf::space::OrientationECI_VelocitySolar::GetTypeName(), wsf::space::OrientationEntityNadir::GetTypeName(), wsf::space::OrientationEntityOrbitPlane::GetTypeName(), wsf::space::OrientationEntitySolar::GetTypeName(), wsf::space::OrientationNadirECEF_Velocity::GetTypeName(), wsf::space::OrientationNadirECI_Velocity::GetTypeName(), wsf::space::OrientationNadirSolar::GetTypeName(), wsf::space::OrientationNone::GetTypeName(), wsf::space::OrientationPointOrbitPlane::GetTypeName(), and wsf::space::OrientationSolarNadir::GetTypeName().

Referenced by WsfAttitudeController::ProcessInput(), WsfOrbitalAttitudeChangeEvent::ProcessInput(), WsfAttitudeController::SetOrientation(), UT_DEFINE_SCRIPT_METHOD(), UT_DEFINE_SCRIPT_METHOD(), UT_DEFINE_SCRIPT_METHOD(), UT_DEFINE_SCRIPT_METHOD(), UT_DEFINE_SCRIPT_METHOD(), and ~Orientation().

GetDefaultX_Aligned()

bool wsf::space::Orientation::GetDefaultX_Aligned ( ) const

inline

References mDefaultX_Aligned.

GetScriptClassName()

const char * wsf::space::Orientation::GetScriptClassName ( ) const

override

Referenced by Clone().

HandleException()

void wsf::space::Orientation::HandleException ( const UtException & aException ) const

protected

Generic exception handler for exceptions encountered in derived classes.

References WsfObject::GetType(), mControllerPtr, and mIssueErrorMessage.

Referenced by wsf::space::OrientationEntityNadir::Calculate(), wsf::space::OrientationEntityOrbitPlane::Calculate(), and wsf::space::OrientationEntitySolar::Calculate().

IsValid()

virtual bool wsf::space::Orientation::IsValid ( ) const

inlinevirtual

Return whether the pointing and/or constraint lines-of-sight vectors are valid.

Note

This method returns false if an object being pointed at (e.g., another platform) does not or no longer exists.

Reimplemented in wsf::space::OrientationEntity, and wsf::space::OrientationGeoPoint.

Nadir()

UtVec3d wsf::space::Orientation::Nadir ( ) const

protected

References mControllerPtr.

Referenced by wsf::space::OrientationECI_VelocityNadir::Calculate(), wsf::space::OrientationEntityNadir::Calculate(), wsf::space::OrientationNadirECEF_Velocity::Calculate(), wsf::space::OrientationNadirECI_Velocity::Calculate(), wsf::space::OrientationNadirSolar::Calculate(), and wsf::space::OrientationSolarNadir::Calculate().

OrbitPlaneConstraint()

UtVec3d wsf::space::Orientation::OrbitPlaneConstraint ( const UtVec3d & aAlignVector ) const

protected

Compute the orbit plane constraint vector, lying in the orbit plane and perpendicular to the aAlignVector. aAlignVector The vector used as the basis for computing the plane constraint vector.

References mControllerPtr.

Referenced by wsf::space::OrientationEntityOrbitPlane::Calculate().

ProcessInput()

bool wsf::space::Orientation::ProcessInput ( UtInput & aInput )

inlineoverridevirtual

Process input from a generic source.

Examine the current input command. If it is NOT one of the commands recognized by this class then it simply returns 'false'. If it is one of the commands recognized by this class then it processes the command and returns 'true'.

Parameters

aInput

a reference to a UtInput object.

Returns

'true' if the command was one recognized by the class or 'false' if not.

Exceptions

UtInput::ExceptionBase

(or an object derived from it) if the command was recognized but contains some sort of error.

Note

If a derived class does not recognize the command (i.e.: the return value is false) then it should call the base class ProcessInput method. This chain should continue until either the command is recognized or the top-level base class is encountered.

Reimplemented from WsfObject.

Reimplemented in wsf::space::OrientationEntity, and wsf::space::OrientationGeoPoint.

SetAttitudeController()

void wsf::space::Orientation::SetAttitudeController ( const WsfAttitudeController & aController )

inline

Set the automatic orientation to be used with the propagator.

References mControllerPtr.

SetDefaultX_Aligned()

void wsf::space::Orientation::SetDefaultX_Aligned ( bool aIsDefaultX_Aligned )

inline

References mDefaultX_Aligned.

Solar()

UtVec3d wsf::space::Orientation::Solar ( ) const

protected

References mControllerPtr.

Referenced by wsf::space::OrientationECI_VelocitySolar::Calculate(), wsf::space::OrientationEntitySolar::Calculate(), wsf::space::OrientationNadirSolar::Calculate(), and wsf::space::OrientationSolarNadir::Calculate().

VelocityECEF()

UtVec3d wsf::space::Orientation::VelocityECEF ( ) const

protected

References mControllerPtr.

Referenced by wsf::space::OrientationNadirECEF_Velocity::Calculate().

VelocityECI()

UtVec3d wsf::space::Orientation::VelocityECI ( ) const

protected

References mControllerPtr.

Referenced by wsf::space::OrientationECI_VelocityNadir::Calculate(), wsf::space::OrientationECI_VelocitySolar::Calculate(), and wsf::space::OrientationNadirECI_Velocity::Calculate().

Member Data Documentation

mControllerPtr

const WsfAttitudeController* wsf::space::Orientation::mControllerPtr {nullptr}

protected

Referenced by HandleException(), wsf::space::OrientationEntity::IsValid(), wsf::space::OrientationGeoPoint::IsValid(), Nadir(), OrbitPlaneConstraint(), SetAttitudeController(), Solar(), wsf::space::OrientationEntity::TargetVector(), wsf::space::OrientationGeoPoint::TargetVector(), VelocityECEF(), and VelocityECI().

mDefaultX_Aligned

bool wsf::space::Orientation::mDefaultX_Aligned

protected

Referenced by CalculateAligned(), GetDefaultX_Aligned(), Orientation(), and SetDefaultX_Aligned().

mIssueErrorMessage

bool wsf::space::Orientation::mIssueErrorMessage {true}

mutableprotected

Referenced by HandleException().

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The documentation for this class was generated from the following files:

• WsfSpaceOrientation.hpp
• WsfSpaceOrientation.cpp