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17 package org.orekit.utils;
18
19 import org.hipparchus.CalculusFieldElement;
20 import org.hipparchus.Field;
21 import org.hipparchus.analysis.differentiation.DSFactory;
22 import org.hipparchus.analysis.differentiation.DerivativeStructure;
23 import org.hipparchus.analysis.differentiation.FieldDerivativeStructure;
24 import org.hipparchus.analysis.differentiation.FieldUnivariateDerivative1;
25 import org.hipparchus.analysis.differentiation.FieldUnivariateDerivative2;
26 import org.hipparchus.geometry.euclidean.threed.FieldRotation;
27 import org.hipparchus.geometry.euclidean.threed.FieldVector3D;
28 import org.hipparchus.geometry.euclidean.threed.Rotation;
29 import org.hipparchus.geometry.euclidean.threed.RotationConvention;
30 import org.hipparchus.geometry.euclidean.threed.Vector3D;
31 import org.hipparchus.random.RandomGenerator;
32 import org.hipparchus.random.Well1024a;
33 import org.hipparchus.util.Binary64;
34 import org.hipparchus.util.Binary64Field;
35 import org.hipparchus.util.FastMath;
36 import org.junit.jupiter.api.Assertions;
37 import org.junit.jupiter.api.Test;
38 import org.orekit.time.AbsoluteDate;
39 import org.orekit.time.FieldAbsoluteDate;
40 import org.orekit.time.FieldTimeStamped;
41
42 import java.util.Random;
43
44 public class TimeStampedFieldAngularCoordinatesTest {
45
46 @Test
47 public void testZeroRate() {
48 TimeStampedFieldAngularCoordinates<DerivativeStructure> angularCoordinates =
49 new TimeStampedFieldAngularCoordinates<>(AbsoluteDate.J2000_EPOCH,
50 createRotation(0.48, 0.64, 0.36, 0.48, false),
51 createVector(0, 0, 0, 4),
52 createVector(0, 0, 0, 4));
53 Assertions.assertEquals(createVector(0, 0, 0, 4), angularCoordinates.getRotationRate());
54 double dt = 10.0;
55 TimeStampedFieldAngularCoordinates<DerivativeStructure> shifted = angularCoordinates.shiftedBy(dt);
56 Assertions.assertEquals(0.0, shifted.getRotationAcceleration().getNorm().getReal(), 1.0e-15);
57 Assertions.assertEquals(0.0, shifted.getRotationRate().getNorm().getReal(), 1.0e-15);
58 Assertions.assertEquals(0.0, FieldRotation.distance(angularCoordinates.getRotation(), shifted.getRotation()).getReal(), 1.0e-15);
59 }
60
61 @Test
62 public void testShift() {
63 double rate = 2 * FastMath.PI / (12 * 60);
64 TimeStampedFieldAngularCoordinates<DerivativeStructure> angularCoordinates =
65 new TimeStampedFieldAngularCoordinates<>(AbsoluteDate.J2000_EPOCH,
66 createRotation(1, 0, 0, 0, false),
67 new FieldVector3D<>(rate, createVector(0, 0, 1, 4)),
68 createVector(0, 0, 0, 4));
69 Assertions.assertEquals(rate, angularCoordinates.getRotationRate().getNorm().getReal(), 1.0e-10);
70 double dt = 10.0;
71 double alpha = rate * dt;
72 TimeStampedFieldAngularCoordinates<DerivativeStructure> shifted = angularCoordinates.shiftedBy(dt);
73 Assertions.assertEquals(rate, shifted.getRotationRate().getNorm().getReal(), 1.0e-10);
74 Assertions.assertEquals(alpha, FieldRotation.distance(angularCoordinates.getRotation(), shifted.getRotation()).getReal(), 1.0e-10);
75
76 FieldVector3D<DerivativeStructure> xSat = shifted.getRotation().applyInverseTo(createVector(1, 0, 0, 4));
77 Assertions.assertEquals(0.0, xSat.subtract(createVector(FastMath.cos(alpha), FastMath.sin(alpha), 0, 4)).getNorm().getReal(), 1.0e-10);
78 FieldVector3D<DerivativeStructure> ySat = shifted.getRotation().applyInverseTo(createVector(0, 1, 0, 4));
79 Assertions.assertEquals(0.0, ySat.subtract(createVector(-FastMath.sin(alpha), FastMath.cos(alpha), 0, 4)).getNorm().getReal(), 1.0e-10);
80 FieldVector3D<DerivativeStructure> zSat = shifted.getRotation().applyInverseTo(createVector(0, 0, 1, 4));
81 Assertions.assertEquals(0.0, zSat.subtract(createVector(0, 0, 1, 4)).getNorm().getReal(), 1.0e-10);
82
83 }
84
85 @Test
86 public void testToAC() {
87 Random random = new Random(0xc9b4cf6c371108e0l);
88 for (int i = 0; i < 100; ++i) {
89 FieldRotation<DerivativeStructure> r = randomRotation(random);
90 FieldVector3D<DerivativeStructure> o = randomVector(random, 1.0e-3);
91 FieldVector3D<DerivativeStructure> a = randomVector(random, 1.0e-3);
92 TimeStampedFieldAngularCoordinates<DerivativeStructure> acds =
93 new TimeStampedFieldAngularCoordinates<>(AbsoluteDate.J2000_EPOCH, r, o, a);
94 AngularCoordinates ac = acds.toAngularCoordinates();
95 Assertions.assertEquals(0, Rotation.distance(r.toRotation(), ac.getRotation()), 1.0e-15);
96 Assertions.assertEquals(0, FieldVector3D.distance(o, ac.getRotationRate()).getReal(), 1.0e-15);
97 Assertions.assertEquals(0, FieldVector3D.distance(a, ac.getRotationAcceleration()).getReal(), 1.0e-15);
98 }
99 }
100
101 @Test
102 public void testSpin() {
103 double rate = 2 * FastMath.PI / (12 * 60);
104 TimeStampedFieldAngularCoordinates<DerivativeStructure> angularCoordinates =
105 new TimeStampedFieldAngularCoordinates<>(AbsoluteDate.J2000_EPOCH,
106 createRotation(0.48, 0.64, 0.36, 0.48, false),
107 new FieldVector3D<>(rate, createVector(0, 0, 1, 4)),
108 createVector(0, 0, 0, 4));
109 Assertions.assertEquals(rate, angularCoordinates.getRotationRate().getNorm().getReal(), 1.0e-10);
110 double dt = 10.0;
111 TimeStampedFieldAngularCoordinates<DerivativeStructure> shifted = angularCoordinates.shiftedBy(dt);
112 Assertions.assertEquals(rate, shifted.getRotationRate().getNorm().getReal(), 1.0e-10);
113 Assertions.assertEquals(rate * dt, FieldRotation.distance(angularCoordinates.getRotation(), shifted.getRotation()).getReal(), 1.0e-10);
114
115 FieldVector3D<DerivativeStructure> shiftedX = shifted.getRotation().applyInverseTo(createVector(1, 0, 0, 4));
116 FieldVector3D<DerivativeStructure> shiftedY = shifted.getRotation().applyInverseTo(createVector(0, 1, 0, 4));
117 FieldVector3D<DerivativeStructure> shiftedZ = shifted.getRotation().applyInverseTo(createVector(0, 0, 1, 4));
118 FieldVector3D<DerivativeStructure> originalX = angularCoordinates.getRotation().applyInverseTo(createVector(1, 0, 0, 4));
119 FieldVector3D<DerivativeStructure> originalY = angularCoordinates.getRotation().applyInverseTo(createVector(0, 1, 0, 4));
120 FieldVector3D<DerivativeStructure> originalZ = angularCoordinates.getRotation().applyInverseTo(createVector(0, 0, 1, 4));
121 Assertions.assertEquals( FastMath.cos(rate * dt), FieldVector3D.dotProduct(shiftedX, originalX).getReal(), 1.0e-10);
122 Assertions.assertEquals( FastMath.sin(rate * dt), FieldVector3D.dotProduct(shiftedX, originalY).getReal(), 1.0e-10);
123 Assertions.assertEquals( 0.0, FieldVector3D.dotProduct(shiftedX, originalZ).getReal(), 1.0e-10);
124 Assertions.assertEquals(-FastMath.sin(rate * dt), FieldVector3D.dotProduct(shiftedY, originalX).getReal(), 1.0e-10);
125 Assertions.assertEquals( FastMath.cos(rate * dt), FieldVector3D.dotProduct(shiftedY, originalY).getReal(), 1.0e-10);
126 Assertions.assertEquals( 0.0, FieldVector3D.dotProduct(shiftedY, originalZ).getReal(), 1.0e-10);
127 Assertions.assertEquals( 0.0, FieldVector3D.dotProduct(shiftedZ, originalX).getReal(), 1.0e-10);
128 Assertions.assertEquals( 0.0, FieldVector3D.dotProduct(shiftedZ, originalY).getReal(), 1.0e-10);
129 Assertions.assertEquals( 1.0, FieldVector3D.dotProduct(shiftedZ, originalZ).getReal(), 1.0e-10);
130
131 FieldVector3D<DerivativeStructure> forward = FieldAngularCoordinates.estimateRate(angularCoordinates.getRotation(), shifted.getRotation(), dt);
132 Assertions.assertEquals(0.0, forward.subtract(angularCoordinates.getRotationRate()).getNorm().getReal(), 1.0e-10);
133
134 FieldVector3D<DerivativeStructure> reversed = FieldAngularCoordinates.estimateRate(shifted.getRotation(), angularCoordinates.getRotation(), dt);
135 Assertions.assertEquals(0.0, reversed.add(angularCoordinates.getRotationRate()).getNorm().getReal(), 1.0e-10);
136
137 }
138
139 @Test
140 public void testReverseOffset() {
141 Random random = new Random(0x4ecca9d57a8f1611l);
142 for (int i = 0; i < 100; ++i) {
143 FieldRotation<DerivativeStructure> r = randomRotation(random);
144 FieldVector3D<DerivativeStructure> o = randomVector(random, 1.0e-3);
145 FieldVector3D<DerivativeStructure> a = randomVector(random, 1.0e-3);
146 TimeStampedFieldAngularCoordinates<DerivativeStructure> ac =
147 new TimeStampedFieldAngularCoordinates<>(AbsoluteDate.J2000_EPOCH, r, o, a);
148 TimeStampedFieldAngularCoordinates<DerivativeStructure> sum = ac.addOffset(ac.revert());
149 Assertions.assertEquals(0.0, sum.getRotation().getAngle().getReal(), 1.0e-15);
150 Assertions.assertEquals(0.0, sum.getRotationRate().getNorm().getReal(), 1.0e-15);
151 Assertions.assertEquals(0.0, sum.getRotationAcceleration().getNorm().getReal(), 1.0e-15);
152 }
153 }
154
155 @Test
156 public void testNoCommute() {
157 TimeStampedFieldAngularCoordinates<DerivativeStructure> ac1 =
158 new TimeStampedFieldAngularCoordinates<>(AbsoluteDate.J2000_EPOCH,
159 createRotation(0.48, 0.64, 0.36, 0.48, false),
160 createVector(0, 0, 0, 4),
161 createVector(0, 0, 0, 4));
162 TimeStampedFieldAngularCoordinates<DerivativeStructure> ac2 =
163 new TimeStampedFieldAngularCoordinates<>(AbsoluteDate.J2000_EPOCH,
164 createRotation(0.36, -0.48, 0.48, 0.64, false),
165 createVector(0, 0, 0, 4),
166 createVector(0, 0, 0, 4));
167
168 TimeStampedFieldAngularCoordinates<DerivativeStructure> add12 = ac1.addOffset(ac2);
169 TimeStampedFieldAngularCoordinates<DerivativeStructure> add21 = ac2.addOffset(ac1);
170
171
172 Assertions.assertEquals(2.574, FieldRotation.distance(add12.getRotation(), add21.getRotation()).getReal(), 1.0e-3);
173
174 }
175
176 @Test
177 public void testRoundTripNoOp() {
178 Random random = new Random(0x1e610cfe89306669l);
179 for (int i = 0; i < 100; ++i) {
180
181 FieldRotation<DerivativeStructure> r1 = randomRotation(random);
182 FieldVector3D<DerivativeStructure> o1 = randomVector(random, 1.0e-2);
183 FieldVector3D<DerivativeStructure> a1 = randomVector(random, 1.0e-2);
184 TimeStampedFieldAngularCoordinates<DerivativeStructure> ac1 =
185 new TimeStampedFieldAngularCoordinates<>(AbsoluteDate.J2000_EPOCH, r1, o1, a1);
186 FieldRotation<DerivativeStructure> r2 = randomRotation(random);
187 FieldVector3D<DerivativeStructure> o2 = randomVector(random, 1.0e-2);
188 FieldVector3D<DerivativeStructure> a2 = randomVector(random, 1.0e-2);
189
190 TimeStampedFieldAngularCoordinates<DerivativeStructure> ac2 =
191 new TimeStampedFieldAngularCoordinates<>(AbsoluteDate.J2000_EPOCH, r2, o2, a2);
192 TimeStampedFieldAngularCoordinates<DerivativeStructure> roundTripSA = ac1.subtractOffset(ac2).addOffset(ac2);
193 Assertions.assertEquals(0.0, FieldRotation.distance(ac1.getRotation(), roundTripSA.getRotation()).getReal(), 4.0e-16);
194 Assertions.assertEquals(0.0, FieldVector3D.distance(ac1.getRotationRate(), roundTripSA.getRotationRate()).getReal(), 2.0e-17);
195 Assertions.assertEquals(0.0, FieldVector3D.distance(ac1.getRotationAcceleration(), roundTripSA.getRotationAcceleration()).getReal(), 1.0e-17);
196
197 TimeStampedFieldAngularCoordinates<DerivativeStructure> roundTripAS = ac1.addOffset(ac2).subtractOffset(ac2);
198 Assertions.assertEquals(0.0, FieldRotation.distance(ac1.getRotation(), roundTripAS.getRotation()).getReal(), 6.0e-16);
199 Assertions.assertEquals(0.0, FieldVector3D.distance(ac1.getRotationRate(), roundTripAS.getRotationRate()).getReal(), 2.0e-17);
200 Assertions.assertEquals(0.0, FieldVector3D.distance(ac1.getRotationAcceleration(), roundTripAS.getRotationAcceleration()).getReal(), 2.0e-17);
201
202 }
203 }
204
205 @Test
206 public void testDerivativesStructures0() {
207 RandomGenerator random = new Well1024a(0x18a0a08fd63f047al);
208
209 FieldRotation<Binary64> r = randomRotation64(random);
210 FieldVector3D<Binary64> o = randomVector64(random, 1.0e-2);
211 FieldVector3D<Binary64> oDot = randomVector64(random, 1.0e-2);
212 TimeStampedFieldAngularCoordinates<Binary64> ac =
213 new TimeStampedFieldAngularCoordinates<>(FieldAbsoluteDate.getGalileoEpoch(Binary64Field.getInstance()),
214 r, o, oDot);
215 TimeStampedFieldAngularCoordinates<Binary64> rebuilt =
216 new TimeStampedFieldAngularCoordinates<>(FieldAbsoluteDate.getGalileoEpoch(Binary64Field.getInstance()),
217 ac.toDerivativeStructureRotation(0));
218 Assertions.assertEquals(0.0, FieldRotation.distance(ac.getRotation(), rebuilt.getRotation()).getReal(), 1.0e-15);
219 Assertions.assertEquals(0.0, rebuilt.getRotationRate().getNorm().getReal(), 1.0e-15);
220 Assertions.assertEquals(0.0, rebuilt.getRotationAcceleration().getNorm().getReal(), 1.0e-15);
221 }
222
223 @Test
224 public void testDerivativesStructures1() {
225 RandomGenerator random = new Well1024a(0x8f8fc6d27bbdc46dl);
226
227 FieldRotation<Binary64> r = randomRotation64(random);
228 FieldVector3D<Binary64> o = randomVector64(random, 1.0e-2);
229 FieldVector3D<Binary64> oDot = randomVector64(random, 1.0e-2);
230 TimeStampedFieldAngularCoordinates<Binary64> ac =
231 new TimeStampedFieldAngularCoordinates<>(FieldAbsoluteDate.getGalileoEpoch(Binary64Field.getInstance()),
232 r, o, oDot);
233 TimeStampedFieldAngularCoordinates<Binary64> rebuilt =
234 new TimeStampedFieldAngularCoordinates<>(FieldAbsoluteDate.getGalileoEpoch(Binary64Field.getInstance()),
235 ac.toDerivativeStructureRotation(1));
236 Assertions.assertEquals(0.0, FieldRotation.distance(ac.getRotation(), rebuilt.getRotation()).getReal(), 1.0e-15);
237 Assertions.assertEquals(0.0, FieldVector3D.distance(ac.getRotationRate(), rebuilt.getRotationRate()).getReal(), 1.0e-15);
238 Assertions.assertEquals(0.0, rebuilt.getRotationAcceleration().getNorm().getReal(), 1.0e-15);
239 }
240
241 @Test
242 public void testDerivativesStructures2() {
243 RandomGenerator random = new Well1024a(0x1633878dddac047dl);
244
245 FieldRotation<Binary64> r = randomRotation64(random);
246 FieldVector3D<Binary64> o = randomVector64(random, 1.0e-2);
247 FieldVector3D<Binary64> oDot = randomVector64(random, 1.0e-2);
248 TimeStampedFieldAngularCoordinates<Binary64> ac =
249 new TimeStampedFieldAngularCoordinates<>(FieldAbsoluteDate.getGalileoEpoch(Binary64Field.getInstance()),
250 r, o, oDot);
251 TimeStampedFieldAngularCoordinates<Binary64> rebuilt =
252 new TimeStampedFieldAngularCoordinates<>(FieldAbsoluteDate.getGalileoEpoch(Binary64Field.getInstance()),
253 ac.toDerivativeStructureRotation(2));
254 Assertions.assertEquals(0.0, FieldRotation.distance(ac.getRotation(), rebuilt.getRotation()).getReal(), 1.0e-15);
255 Assertions.assertEquals(0.0, FieldVector3D.distance(ac.getRotationRate(), rebuilt.getRotationRate()).getReal(), 1.0e-15);
256 Assertions.assertEquals(0.0, FieldVector3D.distance(ac.getRotationAcceleration(), rebuilt.getRotationAcceleration()).getReal(), 1.0e-15);
257
258 }
259
260 @Test
261 public void testUnivariateDerivative1() {
262 RandomGenerator random = new Well1024a(0x6de8cce747539904l);
263
264 FieldRotation<Binary64> r = randomRotation64(random);
265 FieldVector3D<Binary64> o = randomVector64(random, 1.0e-2);
266 FieldVector3D<Binary64> oDot = randomVector64(random, 1.0e-2);
267 TimeStampedFieldAngularCoordinates<Binary64> ac =
268 new TimeStampedFieldAngularCoordinates<>(FieldAbsoluteDate.getGalileoEpoch(Binary64Field.getInstance()),
269 r, o, oDot);
270 FieldRotation<FieldUnivariateDerivative1<Binary64>> rotationUD = ac.toUnivariateDerivative1Rotation();
271 FieldRotation<FieldDerivativeStructure<Binary64>> rotationDS = ac.toDerivativeStructureRotation(1);
272 Assertions.assertEquals(rotationDS.getQ0().getReal(), rotationUD.getQ0().getReal(), 1.0e-15);
273 Assertions.assertEquals(rotationDS.getQ1().getReal(), rotationUD.getQ1().getReal(), 1.0e-15);
274 Assertions.assertEquals(rotationDS.getQ2().getReal(), rotationUD.getQ2().getReal(), 1.0e-15);
275 Assertions.assertEquals(rotationDS.getQ3().getReal(), rotationUD.getQ3().getReal(), 1.0e-15);
276 Assertions.assertEquals(rotationDS.getQ0().getPartialDerivative(1).getReal(), rotationUD.getQ0().getFirstDerivative().getReal(), 1.0e-15);
277 Assertions.assertEquals(rotationDS.getQ1().getPartialDerivative(1).getReal(), rotationUD.getQ1().getFirstDerivative().getReal(), 1.0e-15);
278 Assertions.assertEquals(rotationDS.getQ2().getPartialDerivative(1).getReal(), rotationUD.getQ2().getFirstDerivative().getReal(), 1.0e-15);
279 Assertions.assertEquals(rotationDS.getQ3().getPartialDerivative(1).getReal(), rotationUD.getQ3().getFirstDerivative().getReal(), 1.0e-15);
280
281 TimeStampedFieldAngularCoordinates<Binary64> rebuilt =
282 new TimeStampedFieldAngularCoordinates<>(FieldAbsoluteDate.getGalileoEpoch(Binary64Field.getInstance()),
283 rotationUD);
284 Assertions.assertEquals(0.0, FieldRotation.distance(ac.getRotation(), rebuilt.getRotation()).getReal(), 1.0e-15);
285 Assertions.assertEquals(0.0, FieldVector3D.distance(ac.getRotationRate(), rebuilt.getRotationRate()).getReal(), 1.0e-15);
286
287 }
288
289 @Test
290 public void testUnivariateDerivative2() {
291 RandomGenerator random = new Well1024a(0x255710c8fa2247ecl);
292
293 FieldRotation<Binary64> r = randomRotation64(random);
294 FieldVector3D<Binary64> o = randomVector64(random, 1.0e-2);
295 FieldVector3D<Binary64> oDot = randomVector64(random, 1.0e-2);
296 TimeStampedFieldAngularCoordinates<Binary64> ac =
297 new TimeStampedFieldAngularCoordinates<>(FieldAbsoluteDate.getGalileoEpoch(Binary64Field.getInstance()),
298 r, o, oDot);
299 FieldRotation<FieldUnivariateDerivative2<Binary64>> rotationUD = ac.toUnivariateDerivative2Rotation();
300 FieldRotation<FieldDerivativeStructure<Binary64>> rotationDS = ac.toDerivativeStructureRotation(2);
301 Assertions.assertEquals(rotationDS.getQ0().getReal(), rotationUD.getQ0().getReal(), 1.0e-15);
302 Assertions.assertEquals(rotationDS.getQ1().getReal(), rotationUD.getQ1().getReal(), 1.0e-15);
303 Assertions.assertEquals(rotationDS.getQ2().getReal(), rotationUD.getQ2().getReal(), 1.0e-15);
304 Assertions.assertEquals(rotationDS.getQ3().getReal(), rotationUD.getQ3().getReal(), 1.0e-15);
305 Assertions.assertEquals(rotationDS.getQ0().getPartialDerivative(1).getReal(), rotationUD.getQ0().getFirstDerivative().getReal(), 1.0e-15);
306 Assertions.assertEquals(rotationDS.getQ1().getPartialDerivative(1).getReal(), rotationUD.getQ1().getFirstDerivative().getReal(), 1.0e-15);
307 Assertions.assertEquals(rotationDS.getQ2().getPartialDerivative(1).getReal(), rotationUD.getQ2().getFirstDerivative().getReal(), 1.0e-15);
308 Assertions.assertEquals(rotationDS.getQ3().getPartialDerivative(1).getReal(), rotationUD.getQ3().getFirstDerivative().getReal(), 1.0e-15);
309 Assertions.assertEquals(rotationDS.getQ0().getPartialDerivative(2).getReal(), rotationUD.getQ0().getSecondDerivative().getReal(), 1.0e-15);
310 Assertions.assertEquals(rotationDS.getQ1().getPartialDerivative(2).getReal(), rotationUD.getQ1().getSecondDerivative().getReal(), 1.0e-15);
311 Assertions.assertEquals(rotationDS.getQ2().getPartialDerivative(2).getReal(), rotationUD.getQ2().getSecondDerivative().getReal(), 1.0e-15);
312 Assertions.assertEquals(rotationDS.getQ3().getPartialDerivative(2).getReal(), rotationUD.getQ3().getSecondDerivative().getReal(), 1.0e-15);
313
314 TimeStampedFieldAngularCoordinates<Binary64> rebuilt =
315 new TimeStampedFieldAngularCoordinates<>(FieldAbsoluteDate.getGalileoEpoch(Binary64Field.getInstance()),
316 rotationUD);
317 Assertions.assertEquals(0.0, FieldRotation.distance(ac.getRotation(), rebuilt.getRotation()).getReal(), 1.0e-15);
318 Assertions.assertEquals(0.0, FieldVector3D.distance(ac.getRotationRate(), rebuilt.getRotationRate()).getReal(), 1.0e-15);
319 Assertions.assertEquals(0.0, FieldVector3D.distance(ac.getRotationAcceleration(), rebuilt.getRotationAcceleration()).getReal(), 1.0e-15);
320
321 }
322
323 @Test
324 public void testIssue773() {
325 doTestIssue773(Binary64Field.getInstance());
326 }
327
328 private <T extends CalculusFieldElement<T>> void doTestIssue773(final Field<T> field) {
329
330 final AbsoluteDate date = new AbsoluteDate();
331
332
333 final TimeStampedAngularCoordinates angular =
334 new TimeStampedAngularCoordinates(date,
335 new Rotation(0., 0., 0., 0., false),
336 Vector3D.ZERO,
337 Vector3D.ZERO);
338
339
340 final FieldTimeStamped<T> timeStamped =
341 new TimeStampedFieldAngularCoordinates<>(field, angular);
342
343
344 Assertions.assertEquals(0.0, date.durationFrom(timeStamped.getDate().toAbsoluteDate()), Double.MIN_VALUE);
345 }
346
347 private FieldVector3D<DerivativeStructure> randomVector(Random random, double norm) {
348 double n = random.nextDouble() * norm;
349 double x = random.nextDouble();
350 double y = random.nextDouble();
351 double z = random.nextDouble();
352 return new FieldVector3D<>(n, createVector(x, y, z, 4).normalize());
353 }
354
355 private FieldRotation<DerivativeStructure> randomRotation(Random random) {
356 double q0 = random.nextDouble() * 2 - 1;
357 double q1 = random.nextDouble() * 2 - 1;
358 double q2 = random.nextDouble() * 2 - 1;
359 double q3 = random.nextDouble() * 2 - 1;
360 double q = FastMath.sqrt(q0 * q0 + q1 * q1 + q2 * q2 + q3 * q3);
361 return createRotation(q0 / q, q1 / q, q2 / q, q3 / q, false);
362 }
363
364 public static FieldRotation<DerivativeStructure> createRotation(FieldVector3D<DerivativeStructure> axis, double angle) {
365 return new FieldRotation<>(axis,
366 new DSFactory(4, 1).constant(angle),
367 RotationConvention.VECTOR_OPERATOR);
368 }
369
370 public static FieldRotation<DerivativeStructure> createRotation(double q0, double q1, double q2, double q3,
371 boolean needsNormalization) {
372 DSFactory factory = new DSFactory(4, 1);
373 return new FieldRotation<>(factory.variable(0, q0),
374 factory.variable(1, q1),
375 factory.variable(2, q2),
376 factory.variable(3, q3),
377 needsNormalization);
378 }
379
380 public static FieldVector3D<DerivativeStructure> createVector(double x, double y, double z, int params) {
381 DSFactory factory = new DSFactory(params, 1);
382 return new FieldVector3D<>(factory.variable(0, x),
383 factory.variable(1, y),
384 factory.variable(2, z));
385 }
386
387 private FieldRotation<Binary64> randomRotation64(RandomGenerator random) {
388 double q0 = random.nextDouble() * 2 - 1;
389 double q1 = random.nextDouble() * 2 - 1;
390 double q2 = random.nextDouble() * 2 - 1;
391 double q3 = random.nextDouble() * 2 - 1;
392 double q = FastMath.sqrt(q0 * q0 + q1 * q1 + q2 * q2 + q3 * q3);
393 return new FieldRotation<>(new Binary64(q0 / q),
394 new Binary64(q1 / q),
395 new Binary64(q2 / q),
396 new Binary64(q3 / q),
397 false);
398 }
399
400 private FieldVector3D<Binary64> randomVector64(RandomGenerator random, double norm) {
401 double n = random.nextDouble() * norm;
402 double x = random.nextDouble();
403 double y = random.nextDouble();
404 double z = random.nextDouble();
405 return new FieldVector3D<>(n, new FieldVector3D<>(new Binary64(x), new Binary64(y), new Binary64(z)).normalize());
406 }
407
408 }
409