00001 ////////////////////////////////////////////////////////////////////////////////////////////////// 00002 /** \class StkVisualization 00003 * \brief Visualize satellite position and attitude using STK 00004 * \author: spikeinferno 00005 * \version $Revision: 1.7 $ 00006 * \date $Date: 2006/07/31 19:07:37 $ 00007 *////////////////////////////////////////////////////////////////////////////////////////////////// 00008 /*! 00009 */ 00010 ////////////////////////////////////////////////////////////////////////////////////////////////// 00011 00012 #ifndef __STK_VISUALIZATION_H 00013 #define __STK_VISUALIZATION_H 00014 00015 #include <string> 00016 #include <iostream> 00017 using std::string; 00018 using std::ostringstream; 00019 using namespace std; 00020 00021 // forward declarations 00022 class AgTConReturnInfo; 00023 00024 class StkVisualization 00025 { 00026 private: 00027 /// private member data 00028 double Offset; ///< Offset in seconds from current time 00029 char* ConID; ///< STK connection ID 00030 bool ErrorExists; ///< Are we storing an error message? 00031 char CommandBuffer[512]; ///< UGLY HACK -- JRS -- AgConInit takes a char* for hostname, 00032 ///< so copying string to buffer 00033 bool * SatellitePositionUpdate; ///< Used to determine if all satellites have a position so 3D 00034 bool AllSatellitesUpdated; ///< animation windows can be centered about the satellites 00035 bool WindowsSet; ///< Used to determine if the animation windows have been set 00036 AgTConReturnInfo* ReturnInfo; ///< Pointer to AgTConReturnInfo to get results from STK 00037 00038 /// private member functions 00039 double GetOffsetTime(); ///< Returns current time in seconds 00040 ///< (provided by gettimeofday) + input Offset 00041 void ClearError(); ///< Resets error flag and cleans up ReturnInfo 00042 bool SendCommand(ostringstream & commandLine); ///< Sends command to STK of type ostringstream 00043 bool SendCommand(string commandLine); ///< Member function overload: reads in command line of type string 00044 00045 // hide assignment and copy construction 00046 StkVisualization(const StkVisualization&) {} ///< :^) 00047 StkVisualization& operator=(const StkVisualization&) {} ///< :^) 00048 00049 public: 00050 // member data 00051 int NumberOfSatellites; ///< Number of Satellites in Visualization 00052 string ScenarioName; ///< Name of STK scenario specified by user 00053 string * SatelliteName; ///< Name of satellites to be stored in an array of strings 00054 00055 // construct StkVisualzation and set time offset (default = 0.0) 00056 StkVisualization(double offset=0.0); ///< Constructor 00057 ~StkVisualization(); ///< Destructor 00058 00059 // public member functions 00060 00061 bool ConnectStk(const char* stkHostAddress, const char* stkHostPort="5001"); ///< Connects to Satellite Tool Kit; 00062 ///< stkHostAddress is the IP address of the computer running STK 00063 bool SetUpScenario(); ///< Sets up the scenario 00064 bool SetUpNumberOfSatellites(); ///< Creates array of satellite names 00065 bool SetUpSatellite(); ///< Creates the satellites as specified by user 00066 bool StartAnimation(); ///< Starts the animation in STK 00067 bool SetWindows(); ///< Divides the screen into 2D and 3D windows 00068 00069 /** Updates the animation with new attitude information; angles 1-3 are the Euler angles in degrees 00070 \param[in] satelliteNumber an integer corresponding to one greater than the index number of the satellite's name, as stored in the string array SatelliteName 00071 \param[in] rotationSequence an integer storing the Euler angle rotation sequence (ex: 321, 212, 123) 00072 \param[in] angle1 a double storing the first rotation in the sequence 00073 \param[in] angle2 a double storing the second rotation in the sequence 00074 \param[in] angle3 a double storing the third rotation in the sequence 00075 */ 00076 bool Update(int satelliteNumber, int rotationSequence, double angle1, double angle2, double angle3); 00077 ///< Updates attitude using Euler angles 00078 00079 /** \overload Update(int satelliteNumber, double Q1, double Q2, double Q3, double Q4); 00080 \param[in] satelliteNumber an integer corresponding to one greater than the index number of the satellite's name, as stored in the string array SatelliteName 00081 \param[in] Q1 a double storing the first quaternion component 00082 \param[in] Q2 a double storing the second quaternion component 00083 \param[in] Q3 a double storing the third quaternion component 00084 \param[in] Q4 a double storing the fourth, scalar quaternion component 00085 */ 00086 /// Updates the animation with new attitude information: quaternions 00087 bool Update(int satelliteNumber, double Q1, double Q2, double Q3, double Q4); 00088 ///< Updates attitude using quaternions 00089 00090 00091 /** \overload Update(int satelliteNumber, double latitude, double longitude, double altitude, double latitudeRate, double longitudeRate, double altitudeRate); 00092 \param[in] satelliteNumber an integer corresponding to one greater than the index number of the satellite's name, as stored in the string array SatelliteName 00093 \param[in] latitude a double storing the latitude of the subsatellite point in degrees 00094 \param[in] longitude a double storing the longitude of the subsatellite point in degrees 00095 \param[in] altitude a double storing the altitude of the satellite in kilometers (as specified in the function SetUpScenario() 00096 \param[in] latitudeRate a double storing the rate of change of latitude, in degrees per second 00097 \param[in] longitudeRate a double storing the rate of change of longitude, in degrees per second 00098 \param[in] altitudeRate a double storing the rate of change in altitude, in kilometers per second 00099 */ 00100 /// Updates the animation with new orbit position information 00101 bool Update(int satelliteNumber, double latitude, double longitude, double altitude, 00102 double latitudeRate, double longitudeRate, double altitudeRate); 00103 ///< Updates the animation with new orbit information using latitude, longitude, altitude, latitude 00104 ///< and longitude rates, and altitude rate.\n 00105 ///< Latitude and longitude are in degrees. Altitude is kilometers (set by SetUpScenario). 00106 ///< Latitude and longitude rates are is degrees per second.\n 00107 ///< Altitude rate is in kilometers per second.\n 00108 00109 const char* GetLastError(char* buffer); ///< Returns the errors 00110 bool ShutDownStk(); ///< Closes connection to STK and frees memory 00111 }; 00112 00113 #endif //__STK_VISUALIZATION_H 00114 00115 // Do not change the comments below - they will be added automatically by CVS 00116 /***************************************************************************** 00117 * $Log: stkvisualization.h,v $ 00118 * Revision 1.7 2006/07/31 19:07:37 spikeinferno 00119 * Additional comments 00120 * 00121 ******************************************************************************/
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