This class implements the common functionality for the built in and SVD math plugins. More...

#include <BasicMathPlugin.h>

Inheritance diagram for INDI::AlignmentSubsystem::BasicMathPlugin:

Public Member Functions
	BasicMathPlugin ()
	Default constructor.

virtual	~BasicMathPlugin ()
	Virtual destructor.

virtual bool	Initialise (InMemoryDatabase *pInMemoryDatabase) override
	Override for the base class virtual function.

virtual bool	TransformCelestialToTelescopeJD (double RightAscension, double Declination, double JulianDate, TelescopeDirectionVector &ApparentTelescopeDirectionVector) override
	Override for the base class virtual function.

virtual bool	TransformTelescopeToCelestialJD (const TelescopeDirectionVector &ApparentTelescopeDirectionVector, double &RightAscension, double &Declination, double JulianDate) override
	Override for the base class virtual function.

virtual bool	TransformCelestialToTelescope (const double RightAscension, const double Declination, double JulianOffset, TelescopeDirectionVector &ApparentTelescopeDirectionVector) override
	Compat shim - resolves JD and delegates to TransformCelestialToTelescopeJD.

virtual bool	TransformTelescopeToCelestial (const TelescopeDirectionVector &ApparentTelescopeDirectionVector, double &RightAscension, double &Declination, double JulianOffset=0) override
	Compat shim - resolves JD and delegates to TransformTelescopeToCelestialJD.

Public Member Functions inherited from INDI::AlignmentSubsystem::AlignmentSubsystemForMathPlugins
virtual	~AlignmentSubsystemForMathPlugins ()
	Virtual destructor.

Public Member Functions inherited from INDI::AlignmentSubsystem::MathPlugin
	MathPlugin (MountAlignment_t ApproximateAlignment=ZENITH)
	Default constructor.

virtual	~MathPlugin ()
	Virtual destructor.

virtual MountAlignment_t	GetApproximateMountAlignment ()
	Get the approximate alignment of the mount.

virtual void	SetApproximateMountAlignment (MountAlignment_t ApproximateAlignment)
	Set the approximate alignment of the mount.

Public Member Functions inherited from INDI::AlignmentSubsystem::TelescopeDirectionVectorSupportFunctions
virtual	~TelescopeDirectionVectorSupportFunctions ()
	Virtual destructor.

void	AltitudeAzimuthFromTelescopeDirectionVector (const TelescopeDirectionVector TelescopeDirectionVector, INDI::IHorizontalCoordinates &HorizontalCoordinates)
	Calculates an altitude and azimuth from the supplied normalised direction vector and declination.

void	EquatorialCoordinatesFromTelescopeDirectionVector (const TelescopeDirectionVector TelescopeDirectionVector, INDI::IEquatorialCoordinates &EquatorialCoordinates)
	Calculates equatorial coordinates from the supplied telescope direction vector and declination.

void	LocalHourAngleDeclinationFromTelescopeDirectionVector (const TelescopeDirectionVector TelescopeDirectionVector, INDI::IEquatorialCoordinates &EquatorialCoordinates)
	Calculates a local hour angle and declination from the supplied telescope direction vector and declination.

void	SphericalCoordinateFromTelescopeDirectionVector (const TelescopeDirectionVector TelescopeDirectionVector, double &AzimuthAngle, AzimuthAngleDirection_t AzimuthAngleDirection, double &PolarAngle, PolarAngleDirection_t PolarAngleDirection)
	Calculates a spherical coordinate from the supplied telescope direction vector.

const TelescopeDirectionVector	TelescopeDirectionVectorFromAltitudeAzimuth (INDI::IHorizontalCoordinates HorizontalCoordinates)
	Calculates a normalised direction vector from the supplied altitude and azimuth.

const TelescopeDirectionVector	TelescopeDirectionVectorFromEquatorialCoordinates (INDI::IEquatorialCoordinates EquatorialCoordinates)
	Calculates a telescope direction vector from the supplied equatorial coordinates.

const TelescopeDirectionVector	TelescopeDirectionVectorFromLocalHourAngleDeclination (INDI::IEquatorialCoordinates EquatorialCoordinates)
	Calculates a telescope direction vector from the supplied local hour angle and declination.

const TelescopeDirectionVector	TelescopeDirectionVectorFromSphericalCoordinate (const double AzimuthAngle, AzimuthAngleDirection_t AzimuthAngleDirection, const double PolarAngle, PolarAngleDirection_t PolarAngleDirection)
	Calculates a telescope direction vector from the supplied spherical coordinate information.

Protected Member Functions
virtual void	CalculateTransformMatrices (const TelescopeDirectionVector &Alpha1, const TelescopeDirectionVector &Alpha2, const TelescopeDirectionVector &Alpha3, const TelescopeDirectionVector &Beta1, const TelescopeDirectionVector &Beta2, const TelescopeDirectionVector &Beta3, gsl_matrix pAlphaToBeta, gsl_matrix pBetaToAlpha)=0
	Calculate transformation matrices from the supplied vectors.

void	Dump3 (const char Label, gsl_vector pVector)
	Print out a 3 vector to debug.

void	Dump3x3 (const char Label, gsl_matrix pMatrix)
	Print out a 3x3 matrix to debug.

double	Matrix3x3Determinant (gsl_matrix *pMatrix)
	Calculate the determinant of the supplied matrix.

bool	MatrixInvert3x3 (gsl_matrix pInput, gsl_matrix pInversion)
	Calculate the inverse of the supplied matrix.

void	MatrixMatrixMultiply (gsl_matrix pA, gsl_matrix pB, gsl_matrix *pC)
	Multiply matrix A by matrix B and put the result in C.

void	MatrixVectorMultiply (gsl_matrix pA, gsl_vector pB, gsl_vector *pC)
	Multiply matrix A by vector B and put the result in vector C.

bool	RayTriangleIntersection (TelescopeDirectionVector &Ray, TelescopeDirectionVector &TriangleVertex1, TelescopeDirectionVector &TriangleVertex2, TelescopeDirectionVector &TriangleVertex3)
	Test if a ray intersects a triangle in 3d space.

Protected Attributes
gsl_matrix *	pActualToApparentTransform

gsl_matrix *	pApparentToActualTransform

ConvexHull	ActualConvexHull

ConvexHull	ApparentConvexHull

std::vector< TelescopeDirectionVector >	ActualDirectionCosines

Protected Attributes inherited from INDI::AlignmentSubsystem::MathPlugin
MountAlignment_t	ApproximateMountAlignment
	Describe the approximate alignment of the mount. This information is normally used in a one star alignment calculation.

InMemoryDatabase *	pInMemoryDatabase

Additional Inherited Members
Public Types inherited from INDI::AlignmentSubsystem::TelescopeDirectionVectorSupportFunctions
enum	AzimuthAngleDirection { CLOCKWISE , ANTI_CLOCKWISE }

enum	PolarAngleDirection { FROM_POLAR_AXIS , FROM_AZIMUTHAL_PLANE }

typedef enum INDI::AlignmentSubsystem::TelescopeDirectionVectorSupportFunctions::AzimuthAngleDirection	AzimuthAngleDirection_t

typedef enum INDI::AlignmentSubsystem::TelescopeDirectionVectorSupportFunctions::PolarAngleDirection	PolarAngleDirection_t

Static Public Member Functions inherited from INDI::AlignmentSubsystem::MathPlugin
static void	SanitizePolarEntries (InMemoryDatabase *pInMemoryDatabase, MountAlignment_t mountAlignment)
	Sanitize alignment database entries that are near the pole (EQ) or zenith (altaz). At these singularities the roll-axis (HA or Az) component of the TDV is unconstrained, making any pointing model ill-conditioned.

Detailed Description

This class implements the common functionality for the built in and SVD math plugins.

Definition at line 23 of file BasicMathPlugin.h.

Constructor & Destructor Documentation

◆ BasicMathPlugin()

INDI::AlignmentSubsystem::BasicMathPlugin::BasicMathPlugin ( )

Default constructor.

Definition at line 25 of file BasicMathPlugin.cpp.

◆ ~BasicMathPlugin()

INDI::AlignmentSubsystem::BasicMathPlugin::~BasicMathPlugin ( )

virtual

Virtual destructor.

Definition at line 33 of file BasicMathPlugin.cpp.

Member Function Documentation

◆ CalculateTransformMatrices()

virtual void INDI::AlignmentSubsystem::BasicMathPlugin::CalculateTransformMatrices	(	const TelescopeDirectionVector &	Alpha1,
		const TelescopeDirectionVector &	Alpha2,
		const TelescopeDirectionVector &	Alpha3,
		const TelescopeDirectionVector &	Beta1,
		const TelescopeDirectionVector &	Beta2,
		const TelescopeDirectionVector &	Beta3,
		gsl_matrix *	pAlphaToBeta,
		gsl_matrix *	pBetaToAlpha
	)

protectedpure virtual

Calculate transformation matrices from the supplied vectors.

Parameters

[in]	Alpha1	Pointer to the first coordinate in the alpha reference frame
[in]	Alpha2	Pointer to the second coordinate in the alpha reference frame
[in]	Alpha3	Pointer to the third coordinate in the alpha reference frame
[in]	Beta1	Pointer to the first coordinate in the beta reference frame
[in]	Beta2	Pointer to the second coordinate in the beta reference frame
[in]	Beta3	Pointer to the third coordinate in the beta reference frame
[in]	pAlphaToBeta	Pointer to a matrix to receive the Alpha to Beta transformation matrix
[in]	pBetaToAlpha	Pointer to a matrix to receive the Beta to Alpha transformation matrix

◆ Dump3()

void INDI::AlignmentSubsystem::BasicMathPlugin::Dump3	(	const char *	Label,
		gsl_vector *	pVector
	)

protected

Print out a 3 vector to debug.

Parameters

[in]	Label	A label to identify the vector
[in]	pVector	The vector to print

Definition at line 833 of file BasicMathPlugin.cpp.

◆ Dump3x3()

void INDI::AlignmentSubsystem::BasicMathPlugin::Dump3x3	(	const char *	Label,
		gsl_matrix *	pMatrix
	)

protected

Print out a 3x3 matrix to debug.

Parameters

[in]	Label	A label to identify the matrix
[in]	pMatrix	The matrix to print

Definition at line 839 of file BasicMathPlugin.cpp.

◆ Initialise()

bool INDI::AlignmentSubsystem::BasicMathPlugin::Initialise ( InMemoryDatabase * pInMemoryDatabase )

overridevirtual

Override for the base class virtual function.

See how many entries there are in the in memory database.

If just one use a hint to mounts approximate alignment, this can either be ZENITH, NORTH_CELESTIAL_POLE or SOUTH_CELESTIAL_POLE. The hint is used to make a dummy second entry. A dummy third entry is computed from the cross product of the first two. A transform matrix is then computed.
If two make the dummy third entry and compute a transform matrix.
If three compute a transform matrix.
If four or more compute a convex hull, then matrices for each triangular facet of the hull.

Reimplemented from INDI::AlignmentSubsystem::MathPlugin.

Definition at line 41 of file BasicMathPlugin.cpp.

◆ Matrix3x3Determinant()

double INDI::AlignmentSubsystem::BasicMathPlugin::Matrix3x3Determinant ( gsl_matrix * pMatrix )

protected

Calculate the determinant of the supplied matrix.

Use gsl to compute the determinant of a 3x3 matrix.

Parameters

[in] pMatrix Pointer to the 3x3 matrix

Returns: The determinant

Definition at line 851 of file BasicMathPlugin.cpp.

◆ MatrixInvert3x3()

bool INDI::AlignmentSubsystem::BasicMathPlugin::MatrixInvert3x3	(	gsl_matrix *	pInput,
		gsl_matrix *	pInversion
	)

protected

Calculate the inverse of the supplied matrix.

Use gsl to compute the inverse of a 3x3 matrix.

Parameters

[in]	pInput	Pointer to the input matrix
[in]	pInversion	Pointer to a matrix to receive the inversion

Returns: False if input matrix is singular (not invertable) otherwise true

Definition at line 871 of file BasicMathPlugin.cpp.

◆ MatrixMatrixMultiply()

void INDI::AlignmentSubsystem::BasicMathPlugin::MatrixMatrixMultiply	(	gsl_matrix *	pA,
		gsl_matrix *	pB,
		gsl_matrix *	pC
	)

protected

Multiply matrix A by matrix B and put the result in C.

Use gsl blas support to multiply two matrices together and put the result in a third. For our purposes all the matrices should be 3 by 3.

Definition at line 898 of file BasicMathPlugin.cpp.

◆ MatrixVectorMultiply()

void INDI::AlignmentSubsystem::BasicMathPlugin::MatrixVectorMultiply	(	gsl_matrix *	pA,
		gsl_vector *	pB,
		gsl_vector *	pC
	)

protected

Multiply matrix A by vector B and put the result in vector C.

Use gsl blas support to multiply a matrix by a vector and put the result in another vector For our purposes the the matrix should be 3x3 and vector 3.

Definition at line 908 of file BasicMathPlugin.cpp.

◆ RayTriangleIntersection()

bool INDI::AlignmentSubsystem::BasicMathPlugin::RayTriangleIntersection	(	TelescopeDirectionVector &	Ray,
		TelescopeDirectionVector &	TriangleVertex1,
		TelescopeDirectionVector &	TriangleVertex2,
		TelescopeDirectionVector &	TriangleVertex3
	)

protected

Test if a ray intersects a triangle in 3d space.

Parameters

[in]	Ray	The ray vector
[in]	TriangleVertex1	The first vertex of the triangle
[in]	TriangleVertex2	The second vertex of the triangle
[in]	TriangleVertex3	The third vertex of the triangle

Note: The order of the vertices determine whether the triangle is facing away from or towards the origin. Intersection with triangles facing the origin will be ignored.

Definition at line 916 of file BasicMathPlugin.cpp.

◆ TransformCelestialToTelescope()

bool INDI::AlignmentSubsystem::BasicMathPlugin::TransformCelestialToTelescope	(	const double	RightAscension,
		const double	Declination,
		double	JulianOffset,
		TelescopeDirectionVector &	ApparentTelescopeDirectionVector
	)

overridevirtual

Compat shim - resolves JD and delegates to TransformCelestialToTelescopeJD.

Implements INDI::AlignmentSubsystem::MathPlugin.

Definition at line 361 of file BasicMathPlugin.cpp.

◆ TransformCelestialToTelescopeJD()

bool INDI::AlignmentSubsystem::BasicMathPlugin::TransformCelestialToTelescopeJD	(	double	RightAscension,
		double	Declination,
		double	JulianDate,
		TelescopeDirectionVector &	ApparentTelescopeDirectionVector
	)

overridevirtual

Override for the base class virtual function.

Reimplemented from INDI::AlignmentSubsystem::MathPlugin.

Definition at line 370 of file BasicMathPlugin.cpp.

◆ TransformTelescopeToCelestial()

bool INDI::AlignmentSubsystem::BasicMathPlugin::TransformTelescopeToCelestial	(	const TelescopeDirectionVector &	ApparentTelescopeDirectionVector,
		double &	RightAscension,
		double &	Declination,
		double	JulianOffset = `0`
	)

overridevirtual

Compat shim - resolves JD and delegates to TransformTelescopeToCelestialJD.

Implements INDI::AlignmentSubsystem::MathPlugin.

Definition at line 598 of file BasicMathPlugin.cpp.

◆ TransformTelescopeToCelestialJD()

bool INDI::AlignmentSubsystem::BasicMathPlugin::TransformTelescopeToCelestialJD	(	const TelescopeDirectionVector &	ApparentTelescopeDirectionVector,
		double &	RightAscension,
		double &	Declination,
		double	JulianDate
	)

overridevirtual

Override for the base class virtual function.

Reimplemented from INDI::AlignmentSubsystem::MathPlugin.

Definition at line 605 of file BasicMathPlugin.cpp.

Member Data Documentation

◆ ActualConvexHull

ConvexHull INDI::AlignmentSubsystem::BasicMathPlugin::ActualConvexHull

protected

Definition at line 111 of file BasicMathPlugin.h.

◆ ActualDirectionCosines

std::vector<TelescopeDirectionVector> INDI::AlignmentSubsystem::BasicMathPlugin::ActualDirectionCosines

protected

Definition at line 114 of file BasicMathPlugin.h.

◆ ApparentConvexHull

ConvexHull INDI::AlignmentSubsystem::BasicMathPlugin::ApparentConvexHull

protected

Definition at line 112 of file BasicMathPlugin.h.

◆ pActualToApparentTransform

gsl_matrix* INDI::AlignmentSubsystem::BasicMathPlugin::pActualToApparentTransform

protected

Definition at line 107 of file BasicMathPlugin.h.

◆ pApparentToActualTransform

gsl_matrix* INDI::AlignmentSubsystem::BasicMathPlugin::pApparentToActualTransform

protected

Definition at line 108 of file BasicMathPlugin.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ BasicMathPlugin()

◆ ~BasicMathPlugin()

Member Function Documentation

◆ CalculateTransformMatrices()

◆ Dump3()

◆ Dump3x3()

◆ Initialise()

◆ Matrix3x3Determinant()

◆ MatrixInvert3x3()

◆ MatrixMatrixMultiply()

◆ MatrixVectorMultiply()

◆ RayTriangleIntersection()

◆ TransformCelestialToTelescope()

◆ TransformCelestialToTelescopeJD()

◆ TransformTelescopeToCelestial()

◆ TransformTelescopeToCelestialJD()

Member Data Documentation

◆ ActualConvexHull

◆ ActualDirectionCosines

◆ ApparentConvexHull

◆ pActualToApparentTransform

◆ pApparentToActualTransform