fr.cnes.sirius.patrius.bodies

Class AbstractBodyPoint

java.lang.Object

fr.cnes.sirius.patrius.bodies.AbstractBodyPoint

All Implemented Interfaces:

BodyPoint, PVCoordinatesProvider, Serializable

Direct Known Subclasses:

EllipsoidPoint, FacetPoint

public abstract class AbstractBodyPoint
extends Object
implements BodyPoint

Abstract class for a point linked to a body. This point does not make any assumption about the shape of the body.

Instance of this class are guaranteed to be immutable.

Since:

4.12

Author:

Emmanuel Bignon

See Also:

BodyPoint, Serialized Form

Nested Class Summary

Nested classes/interfaces inherited from interface fr.cnes.sirius.patrius.bodies.BodyPoint

BodyPoint.BodyPointName

Constructor Summary

Constructors

Modifier	Constructor and Description
protected	AbstractBodyPoint(BodyShape bodyShape, LLHCoordinates coordIn, String name) Constructor from lat/long/height coordinates.
protected	AbstractBodyPoint(BodyShape bodyShape, Vector3D position, boolean onShapeSurface, String name) Constructor.

Method Summary

Modifier and Type	Method and Description
protected abstract Vector3D	computeNormal() Method to compute normal direction in body frame, to be implemented in each specific child class of AbstractBodyPoint.
protected static double	computePositionHeightCoordinateSignum(Vector3D position, BodyPoint closestPointOnShape) Return the expected signum for the position height coordinate.
BodyShape	getBodyShape() Get the BodyShape associated to this body point.
BodyPoint	getClosestPointOnShape() Returns the closest point to this on the shape surface.
LLHCoordinates	getLLHCoordinates(LLHCoordinatesSystem coordSystem) Returns (after computation if not computed yet) the latitude/longitude/height coordinates of this in the requested coordinates system.
String	getName() Getter for the name of the point.
Vector3D	getNormal() Get the normal direction, expressed in body frame, to the local horizontal plane at the point position, oriented towards the outside.
double	getNormalHeight() Returns the normal height, computed as the signed distance between the closestPointOnShape and this: Positive distance if this is outside the shape, Negative distance if this is inside the shape, Null distance if this is on the shape.
Vector3D	getPosition() Get the point cartesian position expressed in body frame.
BodyPoint	getRadialProjectionOnShape() Returns the body point, on the associated shape surface, in the radial direction corresponding to the position of this: if several of them (may happen for not star-convex shapes), the method considers the one farthest to the body frame origin (having the largest norm).
protected void	setClosestPointOnShape(BodyPoint closestOnShape) Setter for the entered body point as closest point on shape.
String	toString() Note: the method may induce some computation if the coordinates have not been computed yet in the associated body shape preferred coordinates system.
String	toString(LLHCoordinatesSystem coordSystem) Getter for a string representing the object using the entered coordinates system.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Methods inherited from interface fr.cnes.sirius.patrius.bodies.BodyPoint

angularSeparation, distance, getLLHCoordinates, getNativeFrame, getNormal, getPVCoordinates, isInsideShape, isOnShapeSurface

Constructor Detail

AbstractBodyPoint

protected AbstractBodyPoint(BodyShape bodyShape,
                            LLHCoordinates coordIn,
                            String name)

Constructor from lat/long/height coordinates.

Parameters:

bodyShape - body shape on which the point is defined, expected ellipsoidal if the LLHCoordinatesSystem.ELLIPSODETIC system is used

coordIn - lat/long/height coordinates associated with the coordinates system in which they are expressed

name - name of the point

Throws:

IllegalArgumentException - if the input coordinates use the LLHCoordinatesSystem.ELLIPSODETIC system and bodyShape is not an ellipsoid

AbstractBodyPoint

protected AbstractBodyPoint(BodyShape bodyShape,
                            Vector3D position,
                            boolean onShapeSurface,
                            String name)

Constructor.

Parameters:

bodyShape - body shape on which the point is defined

position - position expressed in the body frame

onShapeSurface - flag stating if the point is known to be on the shape or not: if true, both closestPointOnShape and radialPointOnShape attribute are set equal to this, and normalHeight is set to 0

name - name of the point

Method Detail

getBodyShape

public BodyShape getBodyShape()

Get the BodyShape associated to this body point.

Specified by:

getBodyShape in interface BodyPoint

Returns:

BodyShape associated to this body point

getName

public final String getName()

Getter for the name of the point.

Specified by:

getName in interface BodyPoint

Returns:

the name of the point.

getPosition

public final Vector3D getPosition()

Get the point cartesian position expressed in body frame.

Specified by:

getPosition in interface BodyPoint

Returns:

point cartesian position in body frame

Throws:

IllegalArgumentException - if input coordinates use the LLHCoordinatesSystem.ELLIPSODETIC system and the body is not an ellipsoid

getNormal

public final Vector3D getNormal()

Get the normal direction, expressed in body frame, to the local horizontal plane at the point position, oriented towards the outside.

It corresponds to the direction (apart from orientation) from this towards the closestPointOnShape.

Specified by:

getNormal in interface BodyPoint

Returns:

unit vector in the normal direction

computeNormal

protected abstract Vector3D computeNormal()

Method to compute normal direction in body frame, to be implemented in each specific child class of AbstractBodyPoint. Associated getter getNormal() is implemented in this class in order to handle lazy initialization of this attribute.
The returned vector does not need to be normalized (normalization managed by method getNormal()).

Returns:

normal direction in body frame

getNormalHeight

public final double getNormalHeight()

Returns the normal height, computed as the signed distance between the closestPointOnShape and this:

• Positive distance if this is outside the shape,
• Negative distance if this is inside the shape,
• Null distance if this is on the shape.

Specified by:

getNormalHeight in interface BodyPoint

Returns:

the normal height

getClosestPointOnShape

public BodyPoint getClosestPointOnShape()

Returns the closest point to this on the shape surface.

Specified by:

getClosestPointOnShape in interface BodyPoint

Returns:

the closest point to this on the shape surface

setClosestPointOnShape

protected void setClosestPointOnShape(BodyPoint closestOnShape)

Setter for the entered body point as closest point on shape.

Parameters:

closestOnShape - body point to be set

getRadialProjectionOnShape

public BodyPoint getRadialProjectionOnShape()

Returns the body point, on the associated shape surface, in the radial direction corresponding to the position of this: if several of them (may happen for not star-convex shapes), the method considers the one farthest to the body frame origin (having the largest norm).
Warnings: the returned point is not necessary the closest point belonging to the shape in the radial direction.

Specified by:

getRadialProjectionOnShape in interface BodyPoint

Returns:

the projection of this on the associated shape surface along the radial direction

getLLHCoordinates

public final LLHCoordinates getLLHCoordinates(LLHCoordinatesSystem coordSystem)

Returns (after computation if not computed yet) the latitude/longitude/height coordinates of this in the requested coordinates system.

Also sets the normal height if the requested coordinates system has the LLHCoordinatesSystem.BODYCENTRIC_NORMAL system.

Specified by:

getLLHCoordinates in interface BodyPoint

Parameters:

coordSystem - requested coordinates system

Returns:

the lat/long/height coordinates as a LLHCoordinates

Throws:

IllegalArgumentException - if LLHCoordinatesSystem.ELLIPSODETIC with a not ellipsoidal body shape

computePositionHeightCoordinateSignum

protected static final double computePositionHeightCoordinateSignum(Vector3D position,
                                                                    BodyPoint closestPointOnShape)

Return the expected signum for the position height coordinate.

Parameters:

position - The point cartesian position expressed in body frame

closestPointOnShape - The closest point to this on the shape surface

Returns:

the signum for the position height coordinate

toString

public String toString()

Note: the method may induce some computation if the coordinates have not been computed yet in the associated body shape preferred coordinates system.

Overrides:

toString in class Object

toString

public String toString(LLHCoordinatesSystem coordSystem)

Getter for a string representing the object using the entered coordinates system.
Note: the method may induce some computation if the coordinates have not been computed yet.

Specified by:

toString in interface BodyPoint

Parameters:

coordSystem - coordinates system to be used

Returns:

a string representing the object