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OrbitController Class Reference

#include <OrbitController.h>

Inheritance diagram for OrbitController:

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Collaboration diagram for OrbitController:

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List of all members.

Public Member Functions

 OrbitController ()
virtual ~OrbitController ()
virtual int Run ()=0
virtual int Initialize ()=0
CAMdoubleMatrix DirectionCosMatrix1Axis (double _angle)
 Direction Cosine Matrix about the 1 axis.
CAMdoubleMatrix DirectionCosMatrix2Axis (double _angle)
 Direction Cosine Matrix about the 2 axis.
CAMdoubleMatrix DirectionCosMatrix3Axis (double _angle)
 Direction Cosine Matrix about the 3 axis.
CAMdoubleVector WGS2ECEFPosition (double _latitude, double _longitude, double _altitude)
 Convert from WGS84 ( latitude (rad), longitude (rad), altitude (m) ) to ECEF poisiton (m) ).
CAMdoubleVector NED2ECEFVelocity (double _latitude, double _longitude, double _altitude, double _velocityNorth, double _velocityEast, double _velocityDown)
 Convert from NED velocity (m/s) to ECEF velocity (m/s).
CAMdoubleVector WGS842ECEF (double _latitude, double _longitude, double _altitude, double _velocityNorth, double _velocityEast, double _velocityDown)
 Convert from WGS84 ( latitude (rad), longitude (rad), altitude (m) ) to ECEF poisiton (m) and velocity (m/s).
CAMdoubleVector ECEFPosition2WGS84 (double _x, double _y, double _z)
 Convert from ECEF position (m) to WGS84 ( latitude (rad), longitude (rad), altitude (m) ).
CAMdoubleVector ECEF2NEDVelocity (double _latitude, double _longitude, double _altitude, double _Vx, double _Vy, double _Vz)
 Convert from ECEF velocity (m/s) to NED velocity (m/s).
CAMdoubleVector ECEF2WGS84 (double _x, double _y, double _z, double _Vx, double _Vy, double _Vz)
 Convert from ECEF position (m) and velocity (m/s) to WGS84 ( latitude (rad), longitude (rad), altitude (m) ).
CAMdoubleVector ECEF2ECI (CAMdoubleVector _ECEFVector, double _jDay)
 Convert from ECEF position (m) and velocity (m/s) to ECI position (m) and velocity (m/s).
CAMdoubleVector ECI2ECEF (CAMdoubleVector _ECIVector, double _jDay)
 Convert from ECI position (m) and velocity (m/s) to ECEF position (m) and velocity (m/s).
double lat_lon (double latlon, char sector)
 Convert Latitude and Longitude in the form of DEG 'N/S' 'E/W' to +/-RAD.
void TangentPlaneState (AshtechG12_GPS_PhysicalDevice::Position recPos, CAMdoubleVector &_WGS84Vector)
 Determine Tangent Plane Velocities (North, East, Down) (m/s).
Vector thruster (Vector udesired)
 Thruster Logic Routine.
void cals (Vector ECI, Vector VECI, double a, double &H, double &p, double &b, double &r)
 Calculate h, p, b, and r.
void ECI2COE (Vector ECI, Vector VECI, Keplerian &myCOE, double &a, double &e, double &i, double &Lon, double &Arg, double &tru)

Protected Attributes

Whorl * m_whorl
 Member object in Controller Class.
int m_vehicleID
double m_duration
double m_mass
ssfTime m_vehicleTime
AccelerationMessage * m_accelerationVector

Constructor & Destructor Documentation

OrbitController::OrbitController (   ) 
 

Definition at line 12 of file OrbitController.cpp.

OrbitController::~OrbitController (   )  [virtual]
 

Definition at line 17 of file OrbitController.cpp.

Member Function Documentation

void OrbitController::cals (  Vector  ECI,
Vector  VECI,
double  a,
double &  H,
double &  p,
double &  b,
double &  r
) 
 

Calculate h, p, b, and r.

Parameters:
ECI is the position vector [km]
VECI is the velocity vector [km/s]
a is the semi-major axis [km]
Returns:
H is the angular momentum [km/s^2]

p is the semi-latus rectum [km]

b is the semi-minor axis [km]

r is the orbit radius [km]

Definition at line 385 of file OrbitController.cpp.

References O_SESSAME::crossP(), O_SESSAME::norm2(), and O_SESSAME::Vector.

Referenced by COENaaszController::COENaasz(), and COENaaszController::Gains().

CAMdoubleMatrix OrbitController::DirectionCosMatrix1Axis (  double  _angle  ) 
 

Direction Cosine Matrix about the 1 axis.

Parameters:
_angle the single axis rotation angle
Returns:
_DCM 3x3 matrix

Definition at line 27 of file OrbitController.cpp.

Referenced by ECEF2NEDVelocity(), and NED2ECEFVelocity().

CAMdoubleMatrix OrbitController::DirectionCosMatrix2Axis (  double  _angle  ) 
 

Direction Cosine Matrix about the 2 axis.

Parameters:
_angle the single axis rotation angle
Returns:
_DCM 3x3 matrix

Definition at line 43 of file OrbitController.cpp.

Referenced by ECEF2NEDVelocity(), and NED2ECEFVelocity().

CAMdoubleMatrix OrbitController::DirectionCosMatrix3Axis (  double  _angle  ) 
 

Direction Cosine Matrix about the 3 axis.

Parameters:
_angle the single axis rotation angle
Returns:
_DCM 3x3 matrix

Definition at line 59 of file OrbitController.cpp.

Referenced by ECEF2ECI(), ECEF2NEDVelocity(), ECI2ECEF(), and NED2ECEFVelocity().

CAMdoubleVector OrbitController::ECEF2ECI (  CAMdoubleVector  _ECEFVector,
double  _jDay
) 
 

Convert from ECEF position (m) and velocity (m/s) to ECI position (m) and velocity (m/s).

_ECEFVector [x, y, z, Vx, Vy, Vz] (m & m/s)

Returns:
_ECIVector [x, y, z, Vx, Vy, Vz] (m & m/s)

Determine thetaGMST

Derivative of rotation matrix (R3)

Definition at line 257 of file OrbitController.cpp.

References _, DirectionCosMatrix3Axis(), and PI.

CAMdoubleVector OrbitController::ECEF2NEDVelocity (  double  _latitude,
double  _longitude,
double  _altitude,
double  _Vx,
double  _Vy,
double  _Vz
) 
 

Convert from ECEF velocity (m/s) to NED velocity (m/s).

Equation:

\[ V_{NED} = DCM_{321}(\phi, \phi+\frac{\pi}{2}, 0 )V_{ECEF} \]

Parameters:
_latitude (rad)
_longitude (rad)
_altitude (m)
_Vx (m/s)
_Vy (m/s)
_Vz (m/s)
Returns:
_NEDVector (3x1) [ Vx, Vy, Vz ] (m/s)

Definition at line 216 of file OrbitController.cpp.

References _, DirectionCosMatrix1Axis(), DirectionCosMatrix2Axis(), DirectionCosMatrix3Axis(), and PI.

Referenced by ECEF2WGS84().

CAMdoubleVector OrbitController::ECEF2WGS84 (  double  _x,
double  _y,
double  _z,
double  _Vx,
double  _Vy,
double  _Vz
) 
 

Convert from ECEF position (m) and velocity (m/s) to WGS84 ( latitude (rad), longitude (rad), altitude (m) ).

Parameters:
_x (m)
_y (m)
_z (m)
_Vx (m/s)
_Vy (m/s)
_Vz (m/s)
Returns:
_WGS84Vector (6x1) [ latitude, longitude, altitude, velocity North, velocity East, velocity Down ] (rad, rad, m, m/s, m/s, m/s)

Definition at line 242 of file OrbitController.cpp.

References _, ECEF2NEDVelocity(), and ECEFPosition2WGS84().

CAMdoubleVector OrbitController::ECEFPosition2WGS84 (  double  _x,
double  _y,
double  _z
) 
 

Convert from ECEF position (m) to WGS84 ( latitude (rad), longitude (rad), altitude (m) ).

Equation: ( www.colorado.edu/geographyy/gcraft/notes/datum/datum_f.html )

\[ \phi = atan{ \left( \frac{ z+e^{'2}b\sin^2{\theta} }{ p-e^2 acos^2{\theta} } \right) } \]

\[ \lambda = atan{ \frac{y}{x} } \]

\[ h = \frac{p}{\cos{\phi}} - N(\phi) \]

where: $\phi, \lambda, h $ are the geodetic latitude, longitude, and height above ellipsoid

\[ p = \sqrt{x^2+y^2} \]

\[ \theta = atan \frac{ za }{ pb } \]

\[ e^{'2} = \frac{a^2-b^2}{b^2} \]

\[ N = \frac{a}{ \sqrt{ 1-e^2\sin^2{ \phi } } } \]

\[ e^2 = 2f-f^2 \]

Parameters:
_x (m)
_y (m)
_z (m)
Returns:
_WGS84Vector (3x1) [ latitude, longitude, altitude ] (rad, rad, m)

Definition at line 164 of file OrbitController.cpp.

References f().

Referenced by ECEF2WGS84().

void OrbitController::ECI2COE (  Vector  ECI,
Vector  VECI,
Keplerian &  myCOE,
double &  a,
double &  e,
double &  i,
double &  Lon,
double &  Arg,
double &  tru
) 
 

CAMdoubleVector OrbitController::ECI2ECEF (  CAMdoubleVector  _ECIVector,
double  _jDay
) 
 

Convert from ECI position (m) and velocity (m/s) to ECEF position (m) and velocity (m/s).

_ECIVector [x, y, z, Vx, Vy, Vz] (m & m/s)

Returns:
_ECEFVector [x, y, z, Vx, Vy, Vz] (m & m/s)

Determine thetaGMST

Derivative of rotation matrix (R3)

Definition at line 288 of file OrbitController.cpp.

References _, and DirectionCosMatrix3Axis().

virtual int OrbitController::Initialize (   )  [pure virtual]
 

Initializes the observer (pure virtual function

Implemented in COENaaszController, and testOrbitController.

double OrbitController::lat_lon (  double  latlon,
char  sector
) 
 

Convert Latitude and Longitude in the form of DEG 'N/S' 'E/W' to +/-RAD.

Parameters:
latlon 
sector return value (+/-rad) of conversion.

Definition at line 321 of file OrbitController.cpp.

References O_SESSAME::Deg2Rad().

Referenced by TangentPlaneState().

CAMdoubleVector OrbitController::NED2ECEFVelocity (  double  _latitude,
double  _longitude,
double  _altitude,
double  _velocityNorth,
double  _velocityEast,
double  _velocityDown
) 
 

Convert from NED velocity (m/s) to ECEF velocity (m/s).

Equation:

\[ V_{ECEF} = DCM_{321}(\phi, -\phi-\frac{\pi}{2}, 0 )^{-1}V_{NED} \]

Parameters:
_latitude (rad)
_longitude (rad)
_altitude (m)
_velocityNorth (m/s)
_velocityEast (m/s)
_velocityDown (m/s)
Returns:
_ECEFVector (3x1) [ Vx, Vy, Vz ] (m/s)

Definition at line 108 of file OrbitController.cpp.

References _, DirectionCosMatrix1Axis(), DirectionCosMatrix2Axis(), DirectionCosMatrix3Axis(), and PI.

Referenced by WGS842ECEF().

virtual int OrbitController::Run (   )  [pure virtual]
 

Runs the observer (pure virtual function)

Implemented in COENaaszController, and testOrbitController.

void OrbitController::TangentPlaneState (  AshtechG12_GPS_PhysicalDevice::Position  recPos,
CAMdoubleVector &  _WGS84Vector
) 
 

Determine Tangent Plane Velocities (North, East, Down) (m/s).

Parameters:
recPos 
Returns:
_WGS84Vector

Definition at line 334 of file OrbitController.cpp.

References O_SESSAME::Deg2Rad(), lat_lon(), AshtechG12_GPS_PhysicalDevice::Position::m_altitude, AshtechG12_GPS_PhysicalDevice::Position::m_groundSpeed, AshtechG12_GPS_PhysicalDevice::Position::m_groundTrack, AshtechG12_GPS_PhysicalDevice::Position::m_latitude, AshtechG12_GPS_PhysicalDevice::Position::m_latitudeSector, AshtechG12_GPS_PhysicalDevice::Position::m_longitude, AshtechG12_GPS_PhysicalDevice::Position::m_longitudeSector, and AshtechG12_GPS_PhysicalDevice::Position::m_verticalVelocity.

Vector OrbitController::thruster (  Vector  udesired  ) 
 

Thruster Logic Routine.

Parameters:
udesired control vector [m/s^2]
Returns:
thrust vector in the radial, in-track, and cross-track directions [N]

Definition at line 353 of file OrbitController.cpp.

References A, O_SESSAME::norm2(), and O_SESSAME::Vector.

Referenced by COENaaszController::COENaasz().

CAMdoubleVector OrbitController::WGS2ECEFPosition (  double  _latitude,
double  _longitude,
double  _altitude
) 
 

Convert from WGS84 ( latitude (rad), longitude (rad), altitude (m) ) to ECEF poisiton (m) ).

Parameters:
_latitude (rad)
_longitude (rad)
_altitude (m)

Definition at line 77 of file OrbitController.cpp.

References f().

Referenced by WGS842ECEF().

CAMdoubleVector OrbitController::WGS842ECEF (  double  _latitude,
double  _longitude,
double  _altitude,
double  _velocityNorth,
double  _velocityEast,
double  _velocityDown
) 
 

Convert from WGS84 ( latitude (rad), longitude (rad), altitude (m) ) to ECEF poisiton (m) and velocity (m/s).

Parameters:
_latitude (rad)
_longitude (rad)
_altitude (m)
_velocityNorth (m/s)
_velocityEast (m/s)
_velocityDown (m/s)
Returns:
_ECEFVector (6x1) [ x, y, z, Vx, Vy, Vz ] (m & m/s)

Definition at line 133 of file OrbitController.cpp.

References _, NED2ECEFVelocity(), and WGS2ECEFPosition().

Member Data Documentation

AccelerationMessage* OrbitController::m_accelerationVector [protected]
 

Definition at line 117 of file OrbitController.h.

double OrbitController::m_duration [protected]
 

Definition at line 108 of file OrbitController.h.

double OrbitController::m_mass [protected]
 

Definition at line 111 of file OrbitController.h.

int OrbitController::m_vehicleID [protected]
 

Definition at line 105 of file OrbitController.h.

ssfTime OrbitController::m_vehicleTime [protected]
 

Definition at line 114 of file OrbitController.h.

Whorl* OrbitController::m_whorl [protected]
 

Member object in Controller Class.

Definition at line 102 of file OrbitController.h.

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