Computes range/range-rate Doppler images over the surface of provided small body. More...

#include <SBGATObsRadar.hpp>

Inheritance diagram for SBGATObsRadar:

Collaboration diagram for SBGATObsRadar:

Public Member Functions
	vtkTypeMacro (SBGATObsRadar, vtkPolyDataAlgorithm)

void	PrintSelf (std::ostream &os, vtkIndent indent) override

void	PrintHeader (std::ostream &os, vtkIndent indent) override

void	PrintTrailer (std::ostream &os, vtkIndent indent) override

void	CollectMeasurements (SBGATRadarObsSequence &measurements_sequence, const double &time, const int &N, const arma::vec &radar_dir, const std::vector< arma::vec > &positions_vec, const std::vector< arma::vec > &velocities_vec, const std::vector< arma::vec > &mrps_vec, const std::vector< arma::vec > &omegas_vec, const bool &penalize_indicence)

void	BinObservations (const SBGATRadarObsSequence &measurements_sequence, const double &r_bin, const double &rr_bin)

void	SaveImages (std::string savepath)

std::vector< vtkSmartPointer< vtkImageData > >	GetImages () const

void	ClearImages ()

Public Member Functions inherited from SBGATObs
	vtkTypeMacro (SBGATObs, vtkPolyDataAlgorithm)

void	PrintSelf (std::ostream &os, vtkIndent indent) override

void	PrintHeader (std::ostream &os, vtkIndent indent) override

void	PrintTrailer (std::ostream &os, vtkIndent indent) override

void	SetScaleMeters ()

void	SetScaleKiloMeters ()

int	get_number_of_bodies () const

Static Public Member Functions
static SBGATObsRadar *	New ()

Static Public Member Functions inherited from SBGATObs
static SBGATObs *	New ()

Protected Member Functions
	SBGATObsRadar ()

	~SBGATObsRadar () override

void	reverse_ray_trace (SBGATRadarObsSequence &measurements_sequence, const std::vector< std::vector< int > > &facets_in_view, const arma::vec &radar_dir, const int N, const bool penalize_indicence, const std::vector< arma::mat > &BN_dcms_vec, const std::vector< arma::vec > &positions_vec, const std::vector< arma::vec > &velocities_vec, const std::vector< arma::vec > &omega_vec)

Protected Member Functions inherited from SBGATObs
	SBGATObs ()

	~SBGATObs () override

int	RequestData (vtkInformation request, vtkInformationVector inputVector, vtkInformationVector outputVector) override

int	FillInputPortInformation (int port, vtkInformation *info) VTK_OVERRIDE

void	prefind_facets_inview (std::vector< int > &facets_in_view, const unsigned int &body_index, const std::vector< arma::vec > &dir_to_check_vec, const std::vector< arma::mat > &BN_dcms_vec, const std::vector< arma::vec > &positions_vec)

void	find_min_facet_surface_area ()

bool	check_line_for_intersect (const int &origin_body_index, const arma::vec &start_point_origin_body, const arma::vec &end_point_inertial, const std::vector< arma::mat > &BN_dcms_vec, const std::vector< arma::vec > &positions_vec, const double &tol) const

Protected Attributes
std::vector< vtkSmartPointer< vtkImageData > >	images

double	max_value

Protected Attributes inherited from SBGATObs
std::vector< vtkSmartPointer< vtkModifiedBSPTree > >	bspTree_vec

std::vector< vtkPolyData * >	polydata_vec

std::vector< arma::vec >	center_of_mass_vec

double	scaleFactor = 1

double	min_area

int	number_of_bodies

Private Member Functions
	SBGATObsRadar (const SBGATObsRadar &)=delete

void	operator= (const SBGATObsRadar &)=delete

Detailed Description

Computes range/range-rate Doppler images over the surface of provided small body.

Author: Benjamin Bercovici; Jay McMahon

Date: October 2018

Computes range/range-rate Doppler images over the surface of provided small body

Copyright: MIT License, Benjamin Bercovici and Jay McMahon

Definition at line 56 of file SBGATObsRadar.hpp.

Constructor & Destructor Documentation

◆ SBGATObsRadar() [1/2]

SBGATObsRadar::SBGATObsRadar ( )

protected

Definition at line 60 of file SBGATObsRadar.cpp.

◆ ~SBGATObsRadar()

SBGATObsRadar::~SBGATObsRadar ( )

overrideprotected

Definition at line 64 of file SBGATObsRadar.cpp.

◆ SBGATObsRadar() [2/2]

SBGATObsRadar::SBGATObsRadar ( const SBGATObsRadar & )

privatedelete

Member Function Documentation

◆ BinObservations()

void SBGATObsRadar::BinObservations	(	const SBGATRadarObsSequence &	measurements_sequence,
		const double &	r_bin,
		const double &	rr_bin
	)

Bins the provided measurements sequence into a series of 2d-histogram Will throw an std::runtime_error exception if

either of the provided bin sizes are invalid (i.e <= 0)

the provided bin sizes yield empty histogram dimensions

Parameters

measurements_sequence	reference to MeasurementsSequence, holding collected range/range-rate measurements at each observation time
r_bin	range bin size (m)
rr_bin	range-rate bin size (m/s)

Definition at line 225 of file SBGATObsRadar.cpp.

◆ ClearImages()

void SBGATObsRadar::ClearImages ( )

inline

Clears images, if any

Definition at line 128 of file SBGATObsRadar.hpp.

◆ CollectMeasurements()

void SBGATObsRadar::CollectMeasurements	(	SBGATRadarObsSequence &	measurements_sequence,
		const double &	time,
		const int &	N,
		const arma::vec &	radar_dir,
		const std::vector< arma::vec > &	positions_vec,
		const std::vector< arma::vec > &	velocities_vec,
		const std::vector< arma::vec > &	mrps_vec,
		const std::vector< arma::vec > &	omegas_vec,
		const bool &	penalize_indicence
	)

Collects range/range-rate samples over the surface of the specified system of small bodies at a given time after the epoch. The radar source is positionned at 1e6 * l meters from the target's center of mass, where l is a measure of the first object's diagonal.

Parameters

measurements_sequence	reference to MeasurementsSequence, holding collected range/range-rate measurements at each observation time
time	observation timestamp
N	minimum number of measurements to produce over the smallest facet in the shape. The number of samples for any other facet will be equal to N * facet_surface_area / smallest_facet_surface_area
radar_dir	unit direction towards radar from target in inertial frame
positions_vec	vector of positions of each target's center-of-mass expressed in the primary's body frame
velocities_vec	vector of inertial velocities of each target's center-of-mass expressed in the primary's body frame
mrps_vec	vector of MRPs defining the inertial-to-body DCM [BN]
omegas_vec	vector of angular velocities of each body expressed in the inertial frame
penalize_incidence	if true, each measurement will be weighed by the cos(incidence) angle between the sampled point and the radar squared. If false, all measurements (in view of the radar and not blocked) are weighed equally have the same weight

Definition at line 69 of file SBGATObsRadar.cpp.

◆ GetImages()

std::vector< vtkSmartPointer< vtkImageData > > SBGATObsRadar::GetImages ( ) const

Return vector holding the computed images

Returns: vector of radar images

Definition at line 352 of file SBGATObsRadar.cpp.

◆ New()

static SBGATObsRadar* SBGATObsRadar::New ( )

static

Constructs with initial values of zero.

◆ operator=()

void SBGATObsRadar::operator= ( const SBGATObsRadar & )

privatedelete

◆ PrintHeader()

void SBGATObsRadar::PrintHeader	(	std::ostream &	os,
		vtkIndent	indent
	)

override

Definition at line 357 of file SBGATObsRadar.cpp.

◆ PrintSelf()

void SBGATObsRadar::PrintSelf	(	std::ostream &	os,
		vtkIndent	indent
	)

override

Definition at line 366 of file SBGATObsRadar.cpp.

◆ PrintTrailer()

void SBGATObsRadar::PrintTrailer	(	std::ostream &	os,
		vtkIndent	indent
	)

override

Definition at line 360 of file SBGATObsRadar.cpp.

◆ reverse_ray_trace()

void SBGATObsRadar::reverse_ray_trace	(	SBGATRadarObsSequence &	measurements_sequence,
		const std::vector< std::vector< int > > &	facets_in_view,
		const arma::vec &	radar_dir,
		const int	N,
		const bool	penalize_indicence,
		const std::vector< arma::mat > &	BN_dcms_vec,
		const std::vector< arma::vec > &	positions_vec,
		const std::vector< arma::vec > &	velocities_vec,
		const std::vector< arma::vec > &	omega_vec
	)

protected

Ray traces the facets in view to the radar and measurements sequence with range/range-rate data if sampled point was in view of the radar

Parameters

measurements_sequence	Sequence of measurements to add new image data to
facets_in_view	reference to a vector of vector holding indices of (maybe) illuminated facets for all considered bodies
radar_dir	radar direction expressed in inertial frame
BN_dcms_vec	vector holding the DCMs orienting the body frame of each body w/r to inertial
positions_vec	vector holding the position vector of the CM of each body w/r to the primary
velocities_vec	vector holding the velocities vector of the CM of each body
omega_vec	vector holding the angular velocities vector of each body

Definition at line 117 of file SBGATObsRadar.cpp.

◆ SaveImages()

void SBGATObsRadar::SaveImages ( std::string savepath )

Save the binned radar images to PNGs in the prescribed folder. The images will be normalized by the largest value in the observation sequence

Parameters

savepath path to folder where images will be saved (ex: "output/")

Definition at line 323 of file SBGATObsRadar.cpp.

◆ vtkTypeMacro()

SBGATObsRadar::vtkTypeMacro	(	SBGATObsRadar	,
		vtkPolyDataAlgorithm
	)

Member Data Documentation

◆ images

std::vector<vtkSmartPointer<vtkImageData> > SBGATObsRadar::images

protected

Definition at line 159 of file SBGATObsRadar.hpp.

◆ max_value

double SBGATObsRadar::max_value

protected

Definition at line 161 of file SBGATObsRadar.hpp.

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

/Users/bbercovici/GDrive/CUBoulder/Research/code/SBGAT/SbgatCore/include/SbgatCore/SBGATObsRadar.hpp
/Users/bbercovici/GDrive/CUBoulder/Research/code/SBGAT/SbgatCore/source/SBGATObsRadar.cpp

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ SBGATObsRadar() [1/2]

◆ ~SBGATObsRadar()

◆ SBGATObsRadar() [2/2]

Member Function Documentation

◆ BinObservations()

◆ ClearImages()

◆ CollectMeasurements()

◆ GetImages()

◆ New()

◆ operator=()

◆ PrintHeader()

◆ PrintSelf()

◆ PrintTrailer()

◆ reverse_ray_trace()

◆ SaveImages()

◆ vtkTypeMacro()

Member Data Documentation

◆ images

◆ max_value