diff --git a/CMakeLists.txt b/CMakeLists.txt
index f145a3954c20a75ae4eb6872e1cdc654615dbcbc..ef9f7c64303dfda8a36841001b15e55132d68e57 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -14,36 +14,48 @@ include(GNUInstallDirs)
set(CMAKE_CXX_STANDARD 11)
+set(ALE_BUILD_LOAD ON CACHE BOOL "If the C++ Python load interface should be built.")
+
# Third Party Dependencies
find_package(Eigen3 3.3 REQUIRED NO_MODULE)
find_package(nlohmann_json REQUIRED)
-# If there is an Anaconda environment activated, search that for Python first
-if(EXISTS $ENV{CONDA_PREFIX})
- message("Searching $ENV{CONDA_PREFIX} for Python libraries")
- set(Python_ROOT_DIR $ENV{CONDA_PREFIX})
- set(Python_FIND_STRATEGY LOCATION)
+if(ALE_BUILD_LOAD)
+ # If there is an Anaconda environment activated, search that for Python first
+ if(EXISTS $ENV{CONDA_PREFIX})
+ message("Searching $ENV{CONDA_PREFIX} for Python libraries")
+ set(Python_ROOT_DIR $ENV{CONDA_PREFIX})
+ set(Python_FIND_STRATEGY LOCATION)
+ endif()
+ find_package(Python REQUIRED COMPONENTS Development)
endif()
-find_package(Python REQUIRED COMPONENTS Development)
# Library setup
set(ALE_BUILD_INCLUDE_DIR "${CMAKE_CURRENT_SOURCE_DIR}/include/")
set(ALE_INSTALL_INCLUDE_DIR "include/ale")
-add_library(ale SHARED
- ${CMAKE_CURRENT_SOURCE_DIR}/src/ale.cpp
- ${CMAKE_CURRENT_SOURCE_DIR}/src/InterpUtils.cpp
- ${CMAKE_CURRENT_SOURCE_DIR}/src/Rotation.cpp
- ${CMAKE_CURRENT_SOURCE_DIR}/src/Orientations.cpp
- ${CMAKE_CURRENT_SOURCE_DIR}/src/States.cpp
- ${CMAKE_CURRENT_SOURCE_DIR}/src/Isd.cpp
- ${CMAKE_CURRENT_SOURCE_DIR}/src/Util.cpp)
-set(ALE_HEADERS "${ALE_BUILD_INCLUDE_DIR}/ale.h"
- "${ALE_BUILD_INCLUDE_DIR}/InterpUtils.h"
- "${ALE_BUILD_INCLUDE_DIR}/Rotation.h"
- "${ALE_BUILD_INCLUDE_DIR}/Orientations.h"
- "${ALE_BUILD_INCLUDE_DIR}/States.h"
- "${ALE_BUILD_INCLUDE_DIR}/Isd.h"
- "${ALE_BUILD_INCLUDE_DIR}/Util.h")
+set(ALE_SRC_FILES ${CMAKE_CURRENT_SOURCE_DIR}/src/InterpUtils.cpp
+ ${CMAKE_CURRENT_SOURCE_DIR}/src/Rotation.cpp
+ ${CMAKE_CURRENT_SOURCE_DIR}/src/Orientations.cpp
+ ${CMAKE_CURRENT_SOURCE_DIR}/src/States.cpp
+ ${CMAKE_CURRENT_SOURCE_DIR}/src/Isd.cpp
+ ${CMAKE_CURRENT_SOURCE_DIR}/src/Util.cpp)
+set(ALE_HEADER_FILES ${ALE_BUILD_INCLUDE_DIR}/InterpUtils.h
+ ${ALE_BUILD_INCLUDE_DIR}/Rotation.h
+ ${ALE_BUILD_INCLUDE_DIR}/Orientations.h
+ ${ALE_BUILD_INCLUDE_DIR}/States.h
+ ${ALE_BUILD_INCLUDE_DIR}/Isd.h
+ ${ALE_BUILD_INCLUDE_DIR}/Util.h)
+set(ALE_PRIVATE_LINKS Eigen3::Eigen)
+set(ALE_PUBLIC_LINKS nlohmann_json::nlohmann_json)
+
+if(ALE_BUILD_LOAD)
+ list(APPEND ALE_SRC_FILES ${CMAKE_CURRENT_SOURCE_DIR}/src/Load.cpp)
+ list(APPEND ALE_HEADER_FILES ${ALE_BUILD_INCLUDE_DIR}/Load.h)
+ list(APPEND ALE_PRIVATE_LINKS Python::Python)
+endif()
+
+add_library(ale SHARED ${ALE_SRC_FILES})
+
set_target_properties(ale PROPERTIES
VERSION ${PROJECT_VERSION}
SOVERSION 0)
@@ -53,11 +65,8 @@ target_include_directories(ale
$<BUILD_INTERFACE:${ALE_BUILD_INCLUDE_DIR}>
$<INSTALL_INTERFACE:include>)
-target_link_libraries(ale
- PRIVATE
- Eigen3::Eigen
- Python::Python
- nlohmann_json::nlohmann_json)
+target_link_libraries(ale PRIVATE ${ALE_PRIVATE_LINKS}
+ PUBLIC ${ALE_PUBLIC_LINKS})
# Optional build tests
option (ALE_BUILD_TESTS "Build tests" ON)
@@ -89,7 +98,7 @@ install(FILES ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}-config.cmake
DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/${PROJECT_NAME})
# Install the headers
-install(FILES ${ALE_HEADERS} DESTINATION ${ALE_INSTALL_INCLUDE_DIR})
+install(FILES ${ALE_HEADER_FILES} DESTINATION ${ALE_INSTALL_INCLUDE_DIR})
# Install the library
install(TARGETS ale
diff --git a/docs/config b/docs/config
index 451ddca521ab483ad7a8e57d110cc68edec9f33a..372715057989a7c44574fbdf7c500ed19c7e28f0 100644
--- a/docs/config
+++ b/docs/config
@@ -791,7 +791,7 @@ WARN_LOGFILE =
# spaces. See also FILE_PATTERNS and EXTENSION_MAPPING
# Note: If this tag is empty the current directory is searched.
-INPUT = ./include/ale.h ./ale ./src/
+INPUT = ./include/Load.h ./ale ./src/
# This tag can be used to specify the character encoding of the source files
# that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses
diff --git a/docs/source/library/capi/capi.rst b/docs/source/library/capi/capi.rst
index 243294f78ed4275d5e06e8cf0c7a5d8cd26738c7..fb7b1bdacb73d86008c60b1ff27887ed587e88fd 100644
--- a/docs/source/library/capi/capi.rst
+++ b/docs/source/library/capi/capi.rst
@@ -3,7 +3,7 @@
The :mod:`src` module
-.. doxygenfile:: ale.h
+.. doxygenfile:: Load.h
:project: ale
.. versionadded:: 0.1.0
diff --git a/include/Isd.h b/include/Isd.h
index e5e609ae6925666af713cc8574e8ba4255c97707..d4ce223db3c7219ca1f748f042865da0b8f6e512 100644
--- a/include/Isd.h
+++ b/include/Isd.h
@@ -15,8 +15,6 @@
namespace ale {
- using json = nlohmann::json;
-
class Isd {
public:
@@ -26,7 +24,7 @@ namespace ale {
std::string name_platform;
std::string image_id;
std::string name_sensor;
-
+
double semi_major;
double semi_minor;
@@ -61,11 +59,11 @@ namespace ale {
double starting_ephemeris_time;
double center_ephemeris_time;
- json naif_keywords;
-
+ nlohmann::json naif_keywords;
+
PositionInterpolation interpMethod;
-
- Rotation const_rotation;
+
+ Rotation const_rotation;
States inst_pos;
States sun_pos;
diff --git a/include/Load.h b/include/Load.h
new file mode 100644
index 0000000000000000000000000000000000000000..b9f0bbc7cc70a0c163e97516cf29c2db0a4b2e5e
--- /dev/null
+++ b/include/Load.h
@@ -0,0 +1,39 @@
+#ifndef ALE_INCLUDE_ALE_H
+#define ALE_INCLUDE_ALE_H
+
+#include <nlohmann/json.hpp>
+
+#include <string>
+
+namespace ale {
+ /**
+ * Load all of the metadata for an image into an ISD string.
+ * This method calls the Python driver structure in ALE to load all
+ * of the metadata for an image into an ISD string. See the Python
+ * loads method for how this is implemented on the Python side.
+ *
+ * @param filename The filename of the image to load metadata for
+ * @param props A JSON formatted properties string to pass to the Python drivers.
+ * Users can specify certain properties that the drivers will use.
+ * Currently kernels and nadir properties are allowed. See the
+ * data_naif driver mix-in for details.
+ * @param formatter A string specifying the format of the output ISD string.
+ * Currently supported formatters are isis, usgscsm, and ale.
+ * The isis and usgscsm formatters will be deprecated in the future.
+ * @param verbose A flag to output what the load function is attempting to do.
+ * If set to true, information about the drivers load attempts
+ * to use will be output to standard out.
+ *
+ * @returns A string containing a JSON formatted ISD for the image.
+ */
+ std::string loads(std::string filename, std::string props="", std::string formatter="usgscsm", bool verbose=true);
+
+ /**
+ * Load all of the metadata fro an image into a JSON ISD.
+ * This method is a convenience wrapper around the loads method that parses the
+ * string output of loads into a JSON object.
+ */
+ nlohmann::json load(std::string filename, std::string props="", std::string formatter="usgscsm", bool verbose=true);
+}
+
+#endif // ALE_H
diff --git a/include/Util.h b/include/Util.h
index 6d1d69b3279463397eb9d16c6cc7734cc53f5da6..7150a37b2dc7eee54e55c16179a37a3bf2cb71e1 100644
--- a/include/Util.h
+++ b/include/Util.h
@@ -11,10 +11,9 @@
#include "Vectors.h"
namespace ale {
- using json = nlohmann::json;
template<typename T>
- std::vector<T> getJsonArray(json obj) {
+ std::vector<T> getJsonArray(nlohmann::json obj) {
std::vector<T> positions;
try {
for (auto &location : obj) {
@@ -27,45 +26,45 @@ namespace ale {
}
- PositionInterpolation getInterpolationMethod(json isd);
+ PositionInterpolation getInterpolationMethod(nlohmann::json isd);
double getMinHeight(nlohmann::json isd);
- std::string getSensorModelName(json isd);
- std::string getImageId(json isd);
- std::string getSensorName(json isd);
- std::string getPlatformName(json isd);
+ std::string getSensorModelName(nlohmann::json isd);
+ std::string getImageId(nlohmann::json isd);
+ std::string getSensorName(nlohmann::json isd);
+ std::string getPlatformName(nlohmann::json isd);
std::string getLogFile(nlohmann::json isd);
- std::string getIsisCameraVersion(json isd);
- int getTotalLines(json isd);
- int getTotalSamples(json isd);
- double getStartingTime(json isd);
- double getCenterTime(json isd);
- std::vector<std::vector<double>> getLineScanRate(json isd);
- int getSampleSumming(json isd);
- int getLineSumming(json isd);
- double getFocalLength(json isd);
- double getFocalLengthUncertainty(json isd);
- std::vector<double> getFocal2PixelLines(json isd);
- std::vector<double> getFocal2PixelSamples(json isd);
- double getDetectorCenterLine(json isd);
- double getDetectorCenterSample(json isd);
- double getDetectorStartingLine(json isd);
- double getDetectorStartingSample(json isd);
- double getMinHeight(json isd);
- double getMaxHeight(json isd);
- double getSemiMajorRadius(json isd);
- double getSemiMinorRadius(json isd);
- DistortionType getDistortionModel(json isd);
- std::vector<double> getDistortionCoeffs(json isd);
-
- std::vector<double> getJsonDoubleArray(json obj);
- std::vector<Vec3d> getJsonVec3dArray(json obj);
- std::vector<Rotation> getJsonQuatArray(json obj);
+ std::string getIsisCameraVersion(nlohmann::json isd);
+ int getTotalLines(nlohmann::json isd);
+ int getTotalSamples(nlohmann::json isd);
+ double getStartingTime(nlohmann::json isd);
+ double getCenterTime(nlohmann::json isd);
+ std::vector<std::vector<double>> getLineScanRate(nlohmann::json isd);
+ int getSampleSumming(nlohmann::json isd);
+ int getLineSumming(nlohmann::json isd);
+ double getFocalLength(nlohmann::json isd);
+ double getFocalLengthUncertainty(nlohmann::json isd);
+ std::vector<double> getFocal2PixelLines(nlohmann::json isd);
+ std::vector<double> getFocal2PixelSamples(nlohmann::json isd);
+ double getDetectorCenterLine(nlohmann::json isd);
+ double getDetectorCenterSample(nlohmann::json isd);
+ double getDetectorStartingLine(nlohmann::json isd);
+ double getDetectorStartingSample(nlohmann::json isd);
+ double getMinHeight(nlohmann::json isd);
+ double getMaxHeight(nlohmann::json isd);
+ double getSemiMajorRadius(nlohmann::json isd);
+ double getSemiMinorRadius(nlohmann::json isd);
+ DistortionType getDistortionModel(nlohmann::json isd);
+ std::vector<double> getDistortionCoeffs(nlohmann::json isd);
+
+ std::vector<double> getJsonDoubleArray(nlohmann::json obj);
+ std::vector<Vec3d> getJsonVec3dArray(nlohmann::json obj);
+ std::vector<Rotation> getJsonQuatArray(nlohmann::json obj);
- States getInstrumentPosition(json isd);
- States getSunPosition(json isd);
+ States getInstrumentPosition(nlohmann::json isd);
+ States getSunPosition(nlohmann::json isd);
- Orientations getBodyRotation(json isd);
- Orientations getInstrumentPointing(json isd);
+ Orientations getBodyRotation(nlohmann::json isd);
+ Orientations getInstrumentPointing(nlohmann::json isd);
}
#endif
diff --git a/include/ale.h b/include/ale.h
deleted file mode 100644
index a6469a3c986a9eb5dc9dca8fd9f662c07e6137c6..0000000000000000000000000000000000000000
--- a/include/ale.h
+++ /dev/null
@@ -1,19 +0,0 @@
-#ifndef ALE_INCLUDE_ALE_H
-#define ALE_INCLUDE_ALE_H
-
-#include <string>
-#include <vector>
-
-
-#include <nlohmann/json.hpp>
-
-namespace ale {
-
- std::string loads(std::string filename, std::string props="", std::string formatter="usgscsm", bool verbose=true);
-
- nlohmann::json load(std::string filename, std::string props="", std::string formatter="usgscsm", bool verbose=true);
-
-
-}
-
-#endif // ALE_H
diff --git a/src/InterpUtils.cpp b/src/InterpUtils.cpp
index ae44954822a5ed8ad3c548cf9cc9d30f0b8ad62b..75fbe156f437dcf15f93bc61fe9535c95184b732 100644
--- a/src/InterpUtils.cpp
+++ b/src/InterpUtils.cpp
@@ -7,6 +7,7 @@
#include <unordered_set>
namespace ale {
+
double linearInterpolate(double x, double y, double t) {
return x + t * (y - x);
}
diff --git a/src/Isd.cpp b/src/Isd.cpp
index 5f099b13ac86784f350df65ecf06597f92d8ebea..8cb674b849146ec3820378fb146d6022c2dd6edb 100644
--- a/src/Isd.cpp
+++ b/src/Isd.cpp
@@ -2,6 +2,8 @@
#include "Isd.h"
#include "Util.h"
+using json = nlohmann::json;
+
ale::Isd::Isd(std::string isd_file) {
json isd = json::parse(isd_file);
@@ -41,12 +43,12 @@ ale::Isd::Isd(std::string isd_file) {
distortion_model = getDistortionModel(isd);
distortion_coefficients = getDistortionCoeffs(isd);
-
- interpMethod = getInterpolationMethod(isd);
-
+
+ interpMethod = getInterpolationMethod(isd);
+
inst_pos = getInstrumentPosition(isd);
sun_pos = getSunPosition(isd);
-
+
inst_pointing = getInstrumentPointing(isd);
- body_rotation = getBodyRotation(isd);
+ body_rotation = getBodyRotation(isd);
}
diff --git a/src/ale.cpp b/src/Load.cpp
similarity index 88%
rename from src/ale.cpp
rename to src/Load.cpp
index 1fab2d98b006b4ff5925708f626f9a6145de2eca..676dd6d351175790fac506bd08edb356895559ac 100644
--- a/src/ale.cpp
+++ b/src/Load.cpp
@@ -1,8 +1,7 @@
-#include "ale.h"
+#include "Load.h"
#include <nlohmann/json.hpp>
-#include <iostream>
#include <Python.h>
#include <string>
@@ -10,9 +9,9 @@
#include <stdexcept>
using json = nlohmann::json;
+using namespace std;
namespace ale {
-
std::string getPyTraceback() {
PyObject* err = PyErr_Occurred();
if (err != NULL) {
@@ -33,7 +32,7 @@ namespace ale {
Py_DECREF(module_name);
if (pyth_module == NULL) {
- throw std::runtime_error("getPyTraceback - Failed to import Python traceback Library");
+ throw runtime_error("getPyTraceback - Failed to import Python traceback Library");
}
pyth_func = PyObject_GetAttrString(pyth_module, "format_exception");
@@ -60,7 +59,6 @@ namespace ale {
return "";
}
-
std::string loads(std::string filename, std::string props, std::string formatter, bool verbose) {
static bool first_run = true;
if(first_run) {
@@ -72,7 +70,7 @@ namespace ale {
// Import the file as a Python module.
PyObject *pModule = PyImport_Import(PyUnicode_FromString("ale"));
if(!pModule) {
- throw std::runtime_error("Failed to import ale. Make sure the ale python library is correctly installed.");
+ throw runtime_error("Failed to import ale. Make sure the ale python library is correctly installed.");
}
// Create a dictionary for the contents of the module.
PyObject *pDict = PyModule_GetDict(pModule);
@@ -82,7 +80,7 @@ namespace ale {
if(!pFunc) {
// import errors do not set a PyError flag, need to use a custom
// error message instead.
- throw std::runtime_error("Failed to import ale.loads function from Python."
+ throw runtime_error("Failed to import ale.loads function from Python."
"This Usually indicates an error in the Ale Python Library."
"Check if Installed correctly and the function ale.loads exists.");
}
@@ -90,7 +88,7 @@ namespace ale {
// Create a Python tuple to hold the arguments to the method.
PyObject *pArgs = PyTuple_New(3);
if(!pArgs) {
- throw std::runtime_error(getPyTraceback());
+ throw runtime_error(getPyTraceback());
}
// Set the Python int as the first and second arguments to the method.
@@ -107,14 +105,14 @@ namespace ale {
PyObject* pResult = PyObject_CallObject(pFunc, pArgs);
if(!pResult) {
- throw std::invalid_argument("No Valid instrument found for label.");
+ throw invalid_argument("No Valid instrument found for label.");
}
PyObject *pResultStr = PyObject_Str(pResult);
PyObject *temp_bytes = PyUnicode_AsUTF8String(pResultStr); // Owned reference
if(!temp_bytes){
- throw std::invalid_argument(getPyTraceback());
+ throw invalid_argument(getPyTraceback());
}
std::string cResult;
char *temp_str = PyBytes_AS_STRING(temp_bytes); // Borrowed pointer
diff --git a/src/Util.cpp b/src/Util.cpp
index 0a042e4d33473d670d87f37be13e6f28cc7fc510..103ecee900916d82122cf44cabdbe6b312eddc77 100644
--- a/src/Util.cpp
+++ b/src/Util.cpp
@@ -4,6 +4,8 @@
#include "Util.h"
+using json = nlohmann::json;
+
namespace ale {
bool iequals(const std::string& a, const std::string& b) {
@@ -122,20 +124,20 @@ PositionInterpolation getInterpolationMethod(json isd) {
std::string interpMethod = "linear";
try {
interpMethod = isd.at("interpolation_method");
-
+
if (iequals(interpMethod, "linear")) {
return PositionInterpolation::LINEAR;
}
- else if (iequals(interpMethod, "spline")){
+ else if (iequals(interpMethod, "spline")){
return PositionInterpolation::SPLINE;
- }
+ }
else if (iequals(interpMethod, "lagrange")) {
return PositionInterpolation::LAGRANGE;
}
} catch (...) {
throw std::runtime_error("Could not parse the interpolation method.");
}
-
+
return PositionInterpolation::LINEAR;
}
@@ -488,16 +490,16 @@ States getInstrumentPosition(json isd) {
try {
json ipos = isd.at("instrument_position");
std::vector<Vec3d> positions = getJsonVec3dArray(ipos.at("positions"));
- std::vector<double> times = getJsonArray<double>(ipos.at("ephemeris_times"));
+ std::vector<double> times = getJsonArray<double>(ipos.at("ephemeris_times"));
int refFrame = ipos.at("reference_frame").get<int>();
-
+
bool hasVelocities = ipos.find("velocities") != ipos.end();
-
+
if (hasVelocities) {
- std::vector<Vec3d> velocities = getJsonVec3dArray(ipos.at("velocities"));
- return States(times, positions, velocities, refFrame);
+ std::vector<Vec3d> velocities = getJsonVec3dArray(ipos.at("velocities"));
+ return States(times, positions, velocities, refFrame);
}
-
+
return States(times, positions, refFrame);
} catch (...) {
throw std::runtime_error("Could not parse the instrument position");
@@ -509,37 +511,37 @@ States getSunPosition(json isd) {
try {
json spos = isd.at("sun_position");
std::vector<Vec3d> positions = getJsonVec3dArray(spos.at("positions"));
- std::vector<double> times = getJsonArray<double>(spos.at("ephemeris_times"));
+ std::vector<double> times = getJsonArray<double>(spos.at("ephemeris_times"));
int refFrame = spos.at("reference_frame").get<int>();
bool hasVelocities = spos.find("velocities") != spos.end();
-
+
if (hasVelocities) {
- std::vector<Vec3d> velocities = getJsonVec3dArray(spos.at("velocities"));
- return States(times, positions, velocities, refFrame);
+ std::vector<Vec3d> velocities = getJsonVec3dArray(spos.at("velocities"));
+ return States(times, positions, velocities, refFrame);
}
-
+
return States(times, positions, refFrame);
-
+
} catch (...) {
throw std::runtime_error("Could not parse the sun position");
}
}
-Orientations getInstrumentPointing(json isd) {
+Orientations getInstrumentPointing(json isd) {
try {
json pointing = isd.at("instrument_pointing");
-
+
std::vector<Rotation> rotations = getJsonQuatArray(pointing.at("quaternions"));
- std::vector<double> times = getJsonArray<double>(pointing.at("ephemeris_times"));
+ std::vector<double> times = getJsonArray<double>(pointing.at("ephemeris_times"));
std::vector<Vec3d> velocities = getJsonVec3dArray(pointing.at("angular_velocities"));
- int refFrame = pointing.at("reference_frame").get<int>();
-
+ int refFrame = pointing.at("reference_frame").get<int>();
+
std::vector<int> constFrames;
if (pointing.find("constant_frames") != pointing.end()){
constFrames = getJsonArray<int>(pointing.at("constant_frames"));
}
-
- std::vector<int> timeDepFrames;
+
+ std::vector<int> timeDepFrames;
if (pointing.find("time_dependent_frames") != pointing.end()){
timeDepFrames = getJsonArray<int>(pointing.at("time_dependent_frames"));
}
@@ -547,34 +549,34 @@ Orientations getInstrumentPointing(json isd) {
std::vector<double> rotArray = {1,0,0,0,1,0,0,0,1};
if (pointing.find("time_dependent_frames") != pointing.end()){
rotArray = getJsonArray<double>(pointing.at("constant_rotation"));
- }
+ }
Rotation constRot(rotArray);
- Orientations orientation(rotations, times, velocities, refFrame, constRot, constFrames, timeDepFrames);
-
+ Orientations orientation(rotations, times, velocities, refFrame, constRot, constFrames, timeDepFrames);
+
return orientation;
-
+
} catch (...) {
throw std::runtime_error("Could not parse the instrument pointing");
- }
+ }
}
-Orientations getBodyRotation(json isd) {
+Orientations getBodyRotation(json isd) {
try {
json bodrot = isd.at("body_rotation");
std::vector<Rotation> rotations = getJsonQuatArray(bodrot.at("quaternions"));
- std::vector<double> times = getJsonArray<double>(bodrot.at("ephemeris_times"));
- std::vector<Vec3d> velocities = getJsonVec3dArray(bodrot.at("angular_velocities"));
-
- int refFrame = bodrot.at("reference_frame").get<int>();
-
+ std::vector<double> times = getJsonArray<double>(bodrot.at("ephemeris_times"));
+ std::vector<Vec3d> velocities = getJsonVec3dArray(bodrot.at("angular_velocities"));
+
+ int refFrame = bodrot.at("reference_frame").get<int>();
+
std::vector<int> constFrames;
if (bodrot.find("constant_frames") != bodrot.end()){
constFrames = getJsonArray<int>(bodrot.at("constant_frames"));
}
-
- std::vector<int> timeDepFrames;
+
+ std::vector<int> timeDepFrames;
if (bodrot.find("time_dependent_frames") != bodrot.end()){
timeDepFrames = getJsonArray<int>(bodrot.at("time_dependent_frames"));
}
@@ -582,16 +584,16 @@ Orientations getBodyRotation(json isd) {
std::vector<double> rotArray = {1,0,0,0,1,0,0,0,1};
if (bodrot.find("constant_rotation") != bodrot.end()){
rotArray = getJsonArray<double>(bodrot.at("constant_rotation"));
- }
+ }
Rotation constRot(rotArray);
- Orientations orientation(rotations, times, velocities, refFrame, constRot, constFrames, timeDepFrames);
+ Orientations orientation(rotations, times, velocities, refFrame, constRot, constFrames, timeDepFrames);
return orientation;
-
+
} catch (...) {
throw std::runtime_error("Could not parse the body rotation");
- }
+ }
}
}
diff --git a/tests/ctests/AleTest.cpp b/tests/ctests/AleTest.cpp
deleted file mode 100644
index 2afe618d0729a1471ad970e643a5422185e2ce2e..0000000000000000000000000000000000000000
--- a/tests/ctests/AleTest.cpp
+++ /dev/null
@@ -1,253 +0,0 @@
-#include "gtest/gtest.h"
-
-#include "ale.h"
-#include "Isd.h"
-
-#include <stdexcept>
-#include <cmath>
-
-#include <Eigen/Core>
-#include <Eigen/Geometry>
-
-using namespace std;
-
-
-TEST(LinearInterpTest, ExampleInterpolation) {
- vector<double> times = {0, 1, 2, 3};
- vector<double> data = {0, 2, 1, 0};
-
- EXPECT_DOUBLE_EQ(0.0, ale::interpolate(data, times, 0.0, ale::LINEAR, 0));
- EXPECT_DOUBLE_EQ(1.0, ale::interpolate(data, times, 0.5, ale::LINEAR, 0));
- EXPECT_DOUBLE_EQ(2.0, ale::interpolate(data, times, 1.0, ale::LINEAR, 0));
- EXPECT_DOUBLE_EQ(1.5, ale::interpolate(data, times, 1.5, ale::LINEAR, 0));
- EXPECT_DOUBLE_EQ(1.0, ale::interpolate(data, times, 2.0, ale::LINEAR, 0));
- EXPECT_DOUBLE_EQ(0.5, ale::interpolate(data, times, 2.5, ale::LINEAR, 0));
- EXPECT_DOUBLE_EQ(0.0, ale::interpolate(data, times, 3.0, ale::LINEAR, 0));
-}
-
-
-TEST(LinearInterpTest, NoPoints) {
- vector<double> times = {};
- vector<double> data = {};
-
- EXPECT_THROW(ale::interpolate(data, times, 0.0, ale::LINEAR, 0), invalid_argument);
-}
-
-
-TEST(LinearInterpTest, DifferentCounts) {
- vector<double> times = { -3, -2, -1, 0, 2};
- vector<double> data = { -3, -2, 1, 2};
-
- EXPECT_THROW(ale::interpolate(data, times, 0.0, ale::LINEAR, 0), invalid_argument);
-}
-
-
-TEST(LinearInterpTest, Extrapolate) {
- vector<double> times = {0, 1, 2, 3};
- vector<double> data = {0, 2, 1, 0};
-
- EXPECT_DOUBLE_EQ(ale::interpolate(data, times, -1.0, ale::LINEAR, 0), -2);
- EXPECT_DOUBLE_EQ(ale::interpolate(data, times, 4.0, ale::LINEAR, 0), -1);
-}
-
-
-TEST(SplineInterpTest, ExampleInterpolation) {
- // From http://www.maths.nuigalway.ie/~niall/teaching/Archive/1617/MA378/2-2-CubicSplines.pdf
- vector<double> times = {0, 1, 2, 3};
- vector<double> data = {2, 4, 3, 2};
- // function is f(t) = 0.5t^3 - 3t^2 + 4.5t + 2
-
- EXPECT_DOUBLE_EQ(ale::interpolate(data, times, 0.0, ale::SPLINE, 0), 2.0);
- EXPECT_DOUBLE_EQ(ale::interpolate(data, times, 0.5, ale::SPLINE, 0), 3.0);
- EXPECT_DOUBLE_EQ(ale::interpolate(data, times, 1.0, ale::SPLINE, 0), 4.0);
- EXPECT_DOUBLE_EQ(ale::interpolate(data, times, 1.5, ale::SPLINE, 0), 3.6875);
- EXPECT_DOUBLE_EQ(ale::interpolate(data, times, 2.0, ale::SPLINE, 0), 3.0);
- EXPECT_DOUBLE_EQ(ale::interpolate(data, times, 2.5, ale::SPLINE, 0), 2.5);
- EXPECT_DOUBLE_EQ(ale::interpolate(data, times, 3.0, ale::SPLINE, 0), 2.0);
-}
-
-
-TEST(SplineInterpTest, NoPoints) {
- vector<double> times = {};
- vector<double> data = {};
-
- EXPECT_THROW(ale::interpolate(data, times, 0.0, ale::SPLINE, 0), invalid_argument);
-}
-
-
-TEST(SplineInterpTest, DifferentCounts) {
- vector<double> times = { -3, -2, -1, 0, 2};
- vector<double> data = { -3, -2, 1, 2};
-
- EXPECT_THROW(ale::interpolate(data, times, 0.0, ale::SPLINE, 0), invalid_argument);
-}
-
-
-TEST(PyInterfaceTest, LoadInvalidLabel) {
- std::string label = "Not a Real Label";
- EXPECT_THROW(ale::load(label), invalid_argument);
-}
-
-
-TEST(PyInterfaceTest, LoadValidLabel) {
- std::string label = "../pytests/data/EN1072174528M/EN1072174528M_spiceinit.lbl";
- ale::load(label, "", "isis");
-}
-
-
-TEST(Interpolation, Derivative1) {
- vector<double> points = {0, 2, 4};
- vector<double> times = {0, 1, 2};
- EXPECT_NO_THROW(ale::interpolate(points, times, 1, ale::LINEAR, 1));
-}
-
-
-TEST(Interpolation, Derivative2) {
- vector<double> points = {0, 0, 0};
- vector<double> times = {0, 1, 2};
- EXPECT_THROW(ale::interpolate(points, times, 1, ale::LINEAR, 2), invalid_argument);
-}
-
-
-TEST(Interpolation, InvalidDerivative) {
- vector<double> points = {0, 0, 0};
- vector<double> times = {0, 1, 2};
-
- EXPECT_THROW(ale::interpolate(points, times, 1, ale::LINEAR, 3), invalid_argument);
-}
-
-
-TEST(InterpIndex, InvalidTimes) {
- std::vector<double> times = {};
-
- EXPECT_THROW(ale::interpolationIndex(times, 0), invalid_argument);
-}
-
-
-TEST(EvaluateCubicHermite, SimplePolynomial) {
- // Cubic function is y = x^3 - 2x^2 + 1
- // derivative is dy/dx = 3x^2 - 4x
- std::vector<double> derivs = {7.0, -1.0};
- std::vector<double> x = {-1.0, 1.0};
- std::vector<double> y = {-2.0, 0.0};
-
- EXPECT_DOUBLE_EQ(ale::evaluateCubicHermite(0.0, derivs, x, y), 1.0);
-}
-
-TEST(EvaluateCubicHermite, InvalidDervisXY) {
- std::vector<double> derivs = {};
- std::vector<double> x = {1.0};
- std::vector<double> y = {1.0};
-
- EXPECT_THROW(ale::evaluateCubicHermite(0.0, derivs, x, y), invalid_argument);
-}
-
-
-TEST(EvaluateCubicHermiteFirstDeriv, SimplyPolynomial) {
- // Cubic function is y = x^3 - 2x^2 + 1
- // derivative is dy/dx = 3x^2 - 4x
- std::vector<double> derivs = {7.0, -1.0};
- std::vector<double> x = {-1.0, 1.0};
- std::vector<double> y = {-2.0, 0.0};
-
- EXPECT_DOUBLE_EQ(ale::evaluateCubicHermiteFirstDeriv(0.5, derivs, x, y), -1.25);
-}
-
-
-TEST(EvaluateCubicHermiteFirstDeriv, InvalidDervisTimes) {
- std::vector<double> derivs = {};
- std::vector<double> times = {1.0};
- std::vector<double> y = {1.0};
-
- EXPECT_THROW(ale::evaluateCubicHermiteFirstDeriv(0.0, derivs, times, y), invalid_argument);
-}
-
-
-TEST(EvaluateCubicHermiteFirstDeriv, InvalidVelocities) {
- std::vector<double> derivs = {5.0, 6.0};
- std::vector<double> times = {1.0, 1.0};
- std::vector<double> y = {1.0};
-
- EXPECT_THROW(ale::evaluateCubicHermiteFirstDeriv(0.0, derivs, times, y), invalid_argument);
-}
-
-// The following tests all use the following equations
-//
-// v = -t^3 - 7x^2 + 3x + 16
-//
-// The full set of values is:
-// t v
-// -3 -83
-// -2 -26
-// -1 5
-// 0 16
-// 1 13
-// 2 2
-// 3 -11
-// 4 -20
-// 5 -19
-// 6 -2
-// 7 37
-
-TEST(LagrangeInterpolate, SecondOrder) {
- std::vector<double> times = {-3, -2, -1, 0, 1, 3, 5};
- std::vector<double> values = {-83, -26, 5, 16, 13, -11, -19};
-
- EXPECT_DOUBLE_EQ(ale::lagrangeInterpolate(times, values, 1.5, 2), 7);
-}
-
-
-TEST(LagrangeInterpolate, FourthOrder) {
- std::vector<double> times = {-3, -2, -1, 0, 1, 3, 5};
- std::vector<double> values = {-83, -26, 5, 16, 13, -11, -19};
-
- EXPECT_DOUBLE_EQ(ale::lagrangeInterpolate(times, values, 1.5, 4), 8.125);
-}
-
-
-TEST(LagrangeInterpolate, ReducedOrder) {
- std::vector<double> times = {-3, -2, -1, 0, 1, 3, 5};
- std::vector<double> values = {-83, -26, 5, 16, 13, -11, -19};
-
- EXPECT_DOUBLE_EQ(ale::lagrangeInterpolate(times, values, 3.5, 4), -13);
- EXPECT_DOUBLE_EQ(ale::lagrangeInterpolate(times, values, -2.5, 4), -54.5);
-}
-
-
-TEST(LagrangeInterpolate, InvalidArguments) {
- std::vector<double> times = {-3, -2, -1, 0, 1, 3, 5};
- std::vector<double> values = {-83, -26, 5, 16, 13};
- EXPECT_THROW(ale::lagrangeInterpolate(times, values, 3.5, 4), invalid_argument);
-}
-
-
-TEST(lagrangeInterpolateDerivative, SecondOrder) {
- std::vector<double> times = {-3, -2, -1, 0, 1, 3, 5};
- std::vector<double> values = {-83, -26, 5, 16, 13, -11, -19};
-
- EXPECT_DOUBLE_EQ(ale::lagrangeInterpolateDerivative(times, values, 1.5, 2), -12);
-}
-
-
-TEST(LagrangeInterpolateDerivative, FourthOrder) {
- std::vector<double> times = {-3, -2, -1, 0, 1, 3, 5};
- std::vector<double> values = {-83, -26, 5, 16, 13, -11, -19};
-
- EXPECT_DOUBLE_EQ(ale::lagrangeInterpolateDerivative(times, values, 1.5, 4), -11.25);
-}
-
-
-TEST(LagrangeInterpolateDerivative, ReducedOrder) {
- std::vector<double> times = {-3, -2, -1, 0, 1, 3, 5};
- std::vector<double> values = {-83, -26, 5, 16, 13, -11, -19};
-
- EXPECT_DOUBLE_EQ(ale::lagrangeInterpolateDerivative(times, values, 3.5, 4), -4);
- EXPECT_DOUBLE_EQ(ale::lagrangeInterpolateDerivative(times, values, -2.5, 4), 57);
-}
-
-
-TEST(LagrangeInterpolateDerivative, InvalidArguments) {
- std::vector<double> times = {-3, -2, -1, 0, 1, 3, 5};
- std::vector<double> values = {-83, -26, 5, 16, 13};
- EXPECT_THROW(ale::lagrangeInterpolateDerivative(times, values, 3.5, 4), invalid_argument);
-}
diff --git a/tests/ctests/CMakeLists.txt b/tests/ctests/CMakeLists.txt
index 226f9292ea8e74766c3ec78054021d02dfa24fb3..cf4ab5253f6039794675d9d8ed5be31b3d485358 100644
--- a/tests/ctests/CMakeLists.txt
+++ b/tests/ctests/CMakeLists.txt
@@ -1,10 +1,19 @@
cmake_minimum_required(VERSION 3.10)
# collect all of the test sources
-file(GLOB test_source "${CMAKE_SOURCE_DIR}/tests/ctests/*.cpp")
+set (ALE_TEST_SOURCE ${CMAKE_SOURCE_DIR}/tests/ctests/IsdTests.cpp
+ ${CMAKE_SOURCE_DIR}/tests/ctests/OrientationsTests.cpp
+ ${CMAKE_SOURCE_DIR}/tests/ctests/RotationTests.cpp
+ ${CMAKE_SOURCE_DIR}/tests/ctests/StatesTests.cpp
+ ${CMAKE_SOURCE_DIR}/tests/ctests/TestInterpUtils.cpp
+ ${CMAKE_SOURCE_DIR}/tests/ctests/TestMain.cpp)
+
+if(ALE_BUILD_LOAD)
+ list(APPEND ALE_TEST_SOURCE ${CMAKE_SOURCE_DIR}/tests/ctests/LoadTests.cpp)
+endif()
# setup test executable
-add_executable(runAleTests ${test_source})
+add_executable(runAleTests ${ALE_TEST_SOURCE})
target_link_libraries(runAleTests
PRIVATE
ale
diff --git a/tests/ctests/IsdTests.cpp b/tests/ctests/IsdTests.cpp
index 1e5bc3b510a68215e34467429e487c6d8abfdb6f..242e97ddfae4d116505f54740fef71d9b74c2585 100644
--- a/tests/ctests/IsdTests.cpp
+++ b/tests/ctests/IsdTests.cpp
@@ -4,7 +4,6 @@
#include "gtest/gtest.h"
-#include "ale.h"
#include "Isd.h"
#include "Util.h"
#include "Vectors.h"
@@ -34,8 +33,8 @@ TEST(Isd, Constructor) {
std::string json_str = "{\"image_identifier\":\"TEST_IMAGE\",\"instrument_position\":{\"ephemeris_times\":[297088762.24158406,297088762.3917441,297088762.5419041,297088762.69206405,297088762.84222406,297088762.9923841],\"positions\":[[-1885.29806756,913.1652236,-2961.966828],[-1885.59280128,912.7436266,-2961.91056824],[-1885.88749707,912.32201117,-2961.85424884],[-1886.18215477,911.90037749,-2961.79786985],[-1886.47677475,911.47872522,-2961.7414312],[-1886.77135665,911.05705456,-2961.68493293]],\"velocities\":[[-1.9629237646703683,-2.80759072221274,0.37446657801485306],[-1.9626712192798401,-2.807713482051373,0.3748636774173111],[-1.9624186346660286,-2.807836185534424,0.3752607691067297],[-1.9621660109346446,-2.8079588326107823,0.37565785291714804],[-1.9619133478903363,-2.8080814233753033,0.37605492915558875],[-1.961660645638678,-2.8082039577768683,0.37645199765665144]],\"position_units\":\"KM\",\"time_units\":\"S\",\"reference_frame\":1},\"sun_position\":{\"ephemeris_times\":[297088762.24158406],\"positions\":[[-1885.29806756,913.1652236,-2961.966828]],\"velocities\":[[-1.9629237646703683,-2.80759072221274,0.37446657801485306]],\"position_units\":\"KM\",\"time_units\":\"S\",\"reference_frame\":1},\"instrument_pointing\":{\"time_dependent_frames\":[-74000,-74900,1],\"constant_frames\":[-74021,-74020,-74699,-74690,-74000],\"reference_frame\":1,\"constant_rotation\":[0.9999995608798441,-1.51960241928035e-05,0.0009370214510594064,1.5276552075356694e-05,0.9999999961910578,-8.593317911879532e-05,-0.000937020141647677,8.594745584079714e-05,0.9999995573030465],\"ephemeris_times\":[297088762.24158406,297088762.3917441,297088762.5419041,297088762.69206405,297088762.84222406,297088762.9923841],\"quaternions\":[[0.42061125,0.18606223,-0.23980124,0.85496338],[0.42062261,0.18612356,-0.23976951,0.85495335],[0.42063547,0.18618438,-0.23973759,0.85494273],[0.42064763,0.18624551,-0.2397057,0.85493237],[0.42065923,0.18630667,-0.23967382,0.85492228],[0.42067144,0.18636687,-0.23964185,0.85491211]],\"angular_velocities\":[[-0.0006409728984903079,0.0005054077299115119,0.0004718267948468069],[-0.0006410700774431097,0.0005044862657976017,0.0004731836236807216],[-0.0006408186407087456,0.0004992170698116158,0.0004802237192760833],[-0.0006363961683672021,0.0004989647975959612,0.00047654664046286975],[-0.0006376443791903504,0.0004996117504290811,0.00047678850931380653],[-0.0006404093657132724,0.0005028749658176146,0.0004805228583087444]]},\"body_rotation\":{\"time_dependent_frames\":[10014,1],\"reference_frame\":1,\"ephemeris_times\":[297088762.24158406,297088762.3917441,297088762.5419041,297088762.69206405,297088762.84222406,297088762.9923841],\"quaternions\":[[-0.8371209459443085,0.2996928944391797,0.10720760458181891,0.4448811306448063],[-0.8371185783490869,0.2996934649760026,0.1072060096645597,0.4448855856569007],[-0.8371162107293473,0.2996940355045328,0.10720441474371896,0.44489004065791765],[-0.8371138430875174,0.2996946060241849,0.1072028198209324,0.44489449564328926],[-0.8371114754203602,0.2996951765357392,0.10720122489401934,0.44489895061910595],[-0.8371091077303039,0.29969574703861046,0.10719962996461516,0.4449034055807993]],\"angular_velocities\":[[3.16238646979841e-05,-2.880432898124293e-05,5.6520131658726165e-05],[3.1623864697983686e-05,-2.880432898124763e-05,5.652013165872402e-05],[3.162386469798325e-05,-2.880432898125237e-05,5.652013165872185e-05],[3.162386469798283e-05,-2.880432898125708e-05,5.6520131658719694e-05],[3.1623864697982405e-05,-2.8804328981261782e-05,5.6520131658717505e-05],[3.162386469798195e-05,-2.88043289812665e-05,5.652013165871536e-05]]},\"radii\":{\"semimajor\":3396.19,\"semiminor\":3376.2,\"unit\":\"km\"},\"detector_sample_summing\":1,\"detector_line_summing\":1,\"focal_length_model\":{\"focal_length\":352.9271664},\"detector_center\":{\"line\":0.430442527,\"sample\":2542.96099},\"starting_detector_line\":0,\"starting_detector_sample\":0,\"focal2pixel_lines\":[0.0,142.85714285714,0.0],\"focal2pixel_samples\":[0.0,0.0,142.85714285714],\"optical_distortion\":{\"radial\":{\"coefficients\":[-0.0073433925920054505,2.8375878636241697e-05,1.2841989124027099e-08]}},\"image_lines\":400,\"image_samples\":5056,\"name_platform\":\"MARS_RECONNAISSANCE_ORBITER\",\"name_sensor\":\"CONTEXT CAMERA\",\"reference_height\":{\"maxheight\":1000,\"minheight\":-1000,\"unit\":\"m\"},\"name_model\":\"USGS_ASTRO_LINE_SCANNER_SENSOR_MODEL\",\"interpolation_method\":\"lagrange\",\"line_scan_rate\":[[0.5,-0.37540000677108765,0.001877]],\"starting_ephemeris_time\":297088762.24158406,\"center_ephemeris_time\":297088762.61698407,\"t0_ephemeris\":-0.37540000677108765,\"dt_ephemeris\":0.15016000270843505,\"t0_quaternion\":-0.37540000677108765,\"dt_quaternion\":0.15016000270843505,\"naif_keywords\":{}}";
ale::Isd isd(json_str);
-
-
+
+
ASSERT_EQ(isd.usgscsm_name_model, "USGS_ASTRO_LINE_SCANNER_SENSOR_MODEL");
ASSERT_EQ(isd.name_platform, "MARS_RECONNAISSANCE_ORBITER");
ASSERT_EQ(isd.image_id, "TEST_IMAGE");
@@ -73,13 +72,13 @@ TEST(Isd, Constructor) {
}
TEST(Isd, LogFile) {
- ale::json j;
+ nlohmann::json j;
j["log_file"] = "fake/path";
EXPECT_STREQ(ale::getLogFile(j).c_str(), "fake/path");
}
TEST(Isd, TransverseDistortion) {
- ale::json trans;
+ nlohmann::json trans;
trans["optical_distortion"]["transverse"]["x"] = {1};
trans["optical_distortion"]["transverse"]["y"] = {2};
@@ -91,7 +90,7 @@ TEST(Isd, TransverseDistortion) {
}
TEST(Isd, RadialDistortion) {
- ale::json radial;
+ nlohmann::json radial;
radial["optical_distortion"]["radial"]["coefficients"] = {1, 2};
std::vector<double> coeffs = ale::getDistortionCoeffs(radial);
@@ -102,7 +101,7 @@ TEST(Isd, RadialDistortion) {
}
TEST(Isd, KaguyaLISMDistortion) {
- ale::json kaguya;
+ nlohmann::json kaguya;
kaguya["optical_distortion"]["kaguyalism"]["x"] = {1};
kaguya["optical_distortion"]["kaguyalism"]["y"] = {2};
kaguya["optical_distortion"]["kaguyalism"]["boresight_x"] = 3;
@@ -118,7 +117,7 @@ TEST(Isd, KaguyaLISMDistortion) {
}
TEST(Isd, DawnFCDistortion) {
- ale::json dawn;
+ nlohmann::json dawn;
dawn["optical_distortion"]["dawnfc"]["coefficients"] = {1, 2};
std::vector<double> coeffs = ale::getDistortionCoeffs(dawn);
EXPECT_EQ(ale::getDistortionModel(dawn), ale::DistortionType::DAWNFC);
@@ -128,7 +127,7 @@ TEST(Isd, DawnFCDistortion) {
}
TEST(Isd, LroLrocNACDistortion) {
- ale::json lro;
+ nlohmann::json lro;
lro["optical_distortion"]["lrolrocnac"]["coefficients"] = {1, 2};
std::vector<double> coeffs = ale::getDistortionCoeffs(lro);
EXPECT_EQ(ale::getDistortionModel(lro), ale::DistortionType::LROLROCNAC);
@@ -138,19 +137,19 @@ TEST(Isd, LroLrocNACDistortion) {
}
TEST(Isd, UnrecognizedDistortion) {
- ale::json j;
+ nlohmann::json j;
j["optical_distortion"]["foo"]["x"] = {1};
EXPECT_EQ(ale::getDistortionModel(j), ale::DistortionType::TRANSVERSE);
}
TEST(Isd, BadLogFile) {
- ale::json j;
+ nlohmann::json j;
EXPECT_THROW(ale::getLogFile(j), std::runtime_error);
}
TEST(Isd, GetSunPositions) {
- ale::json jsunpos = {
+ nlohmann::json jsunpos = {
{"sun_position",{
{"ephemeris_times", {300}},
{"positions", {{10, 12, 13}}},
@@ -164,7 +163,7 @@ TEST(Isd, GetSunPositions) {
ASSERT_EQ(sunPosObj.getStates().size(), 1);
ASSERT_EQ(sunPosObj.getReferenceFrame(), 2);
ASSERT_EQ(sunPosObj.getTimes()[0], 300);
-
+
ASSERT_EQ(position[0].x, 10);
ASSERT_EQ(position[0].y, 12);
ASSERT_EQ(position[0].z, 13);
@@ -174,17 +173,17 @@ TEST(Isd, GetSunPositions) {
ASSERT_EQ(velocity[0].z, 0);
jsunpos["sun_position"]["velocities"] = {{1, 2, 3}};
-
+
sunPosObj = ale::getSunPosition(jsunpos);
velocity = sunPosObj.getVelocities();
-
+
ASSERT_EQ(velocity[0].x, 1);
ASSERT_EQ(velocity[0].y, 2);
ASSERT_EQ(velocity[0].z, 3);
}
TEST(Isd, NoSunPositions) {
- ale::json j;
+ nlohmann::json j;
try {
ale::getSunPosition(j);
FAIL() << "Expected an exception to be thrown";
@@ -198,7 +197,7 @@ TEST(Isd, NoSunPositions) {
}
TEST(Isd, GetInstrumentPositions) {
- ale::json jinstpos = {
+ nlohmann::json jinstpos = {
{"instrument_position",{
{"ephemeris_times", {300, 400}},
{"positions", {{10, 11, 12}, {11, 12,13}}},
@@ -208,13 +207,13 @@ TEST(Isd, GetInstrumentPositions) {
ale::States instPosObj = ale::getInstrumentPosition(jinstpos);
std::vector<ale::Vec3d> positions = instPosObj.getPositions();
std::vector<ale::Vec3d> velocities = instPosObj.getVelocities();
-
+
ASSERT_EQ(instPosObj.getStates().size(), 2);
ASSERT_EQ(instPosObj.getReferenceFrame(), 4);
-
+
ASSERT_EQ(instPosObj.getTimes()[0], 300);
ASSERT_EQ(instPosObj.getTimes()[1], 400);
-
+
ASSERT_EQ(positions[0].x, 10);
ASSERT_EQ(positions[0].y, 11);
ASSERT_EQ(positions[0].z, 12);
@@ -222,16 +221,16 @@ TEST(Isd, GetInstrumentPositions) {
ASSERT_EQ(positions[1].x, 11);
ASSERT_EQ(positions[1].y, 12);
ASSERT_EQ(positions[1].z, 13);
-
+
ASSERT_EQ(velocities[0].x, 0);
ASSERT_EQ(velocities[0].y, 0);
ASSERT_EQ(velocities[0].z, 0);
jinstpos["instrument_position"]["velocities"] = {{0, 1, 2}, {3, 4, 5}};
-
+
instPosObj = ale::getInstrumentPosition(jinstpos);
velocities = instPosObj.getVelocities();
-
+
ASSERT_EQ(velocities[0].x, 0);
ASSERT_EQ(velocities[0].y, 1);
ASSERT_EQ(velocities[0].z, 2);
@@ -243,7 +242,7 @@ TEST(Isd, GetInstrumentPositions) {
}
TEST(Isd, NoSensorPositions) {
- ale::json j;
+ nlohmann::json j;
try {
ale::getInstrumentPosition(j);
FAIL() << "Expected an exception to be thrown";
@@ -257,7 +256,7 @@ TEST(Isd, NoSensorPositions) {
}
TEST(Isd, GetInstrumentPointing) {
- ale::json pointing = {
+ nlohmann::json pointing = {
{"instrument_pointing",{
{"ephemeris_times", {300, 600}},
{"quaternions", {{1,2,3,4}, {4,3,2,1}}},
@@ -271,8 +270,8 @@ TEST(Isd, GetInstrumentPointing) {
ale::Orientations instPointing = ale::getInstrumentPointing(pointing);
std::vector<ale::Rotation> rotations = instPointing.getRotations();
std::vector<ale::Vec3d> velocities = instPointing.getAngularVelocities();
- std::vector<int> constFrames = instPointing.getConstantFrames();
- std::vector<int> timeDepFrames = instPointing.getTimeDependentFrames();
+ std::vector<int> constFrames = instPointing.getConstantFrames();
+ std::vector<int> timeDepFrames = instPointing.getTimeDependentFrames();
ASSERT_EQ(rotations.size(), 2);
ASSERT_EQ(instPointing.getReferenceFrame(), 2);
@@ -291,20 +290,20 @@ TEST(Isd, GetInstrumentPointing) {
ASSERT_DOUBLE_EQ(rotations[0].toQuaternion()[1], 0.36514837167011072);
ASSERT_DOUBLE_EQ(rotations[0].toQuaternion()[2], 0.54772255750516607);
ASSERT_DOUBLE_EQ(rotations[0].toQuaternion()[3], 0.73029674334022143);
-
+
ASSERT_DOUBLE_EQ(rotations[1].toQuaternion()[0], 0.73029674334022143);
ASSERT_DOUBLE_EQ(rotations[1].toQuaternion()[1], 0.54772255750516607);
ASSERT_DOUBLE_EQ(rotations[1].toQuaternion()[2], 0.36514837167011072);
ASSERT_DOUBLE_EQ(rotations[1].toQuaternion()[3], 0.18257418583505536);
-
+
ASSERT_DOUBLE_EQ(velocities[0].x, 11);
ASSERT_DOUBLE_EQ(velocities[0].y, 12);
- ASSERT_DOUBLE_EQ(velocities[0].z, 13);
-
+ ASSERT_DOUBLE_EQ(velocities[0].z, 13);
+
ASSERT_DOUBLE_EQ(velocities[1].x, 21);
ASSERT_DOUBLE_EQ(velocities[1].y, 22);
ASSERT_DOUBLE_EQ(velocities[1].z, 23);
-
+
std::vector<double> rotmat = instPointing.getConstantRotation().toQuaternion();
ASSERT_DOUBLE_EQ(rotmat[0], 0);
ASSERT_DOUBLE_EQ(rotmat[1], 1);
@@ -314,7 +313,7 @@ TEST(Isd, GetInstrumentPointing) {
TEST(Isd, NoSensorOrientations) {
- ale::json j;
+ nlohmann::json j;
try {
ale::getInstrumentPointing(j);
FAIL() << "Expected an exception to be thrown";
@@ -328,7 +327,7 @@ TEST(Isd, NoSensorOrientations) {
}
TEST(Isd, GetBodyRotation) {
- ale::json br = {
+ nlohmann::json br = {
{"body_rotation",{
{"ephemeris_times", {300, 600}},
{"quaternions", {{1,2,3,4}, {4,3,2,1}}},
@@ -342,8 +341,8 @@ TEST(Isd, GetBodyRotation) {
ale::Orientations bodyRot = ale::getBodyRotation(br);
std::vector<ale::Rotation> rotations = bodyRot.getRotations();
std::vector<ale::Vec3d> velocities = bodyRot.getAngularVelocities();
- std::vector<int> constFrames = bodyRot.getConstantFrames();
- std::vector<int> timeDepFrames = bodyRot.getTimeDependentFrames();
+ std::vector<int> constFrames = bodyRot.getConstantFrames();
+ std::vector<int> timeDepFrames = bodyRot.getTimeDependentFrames();
ASSERT_EQ(rotations.size(), 2);
ASSERT_EQ(bodyRot.getReferenceFrame(), 2);
@@ -362,20 +361,20 @@ TEST(Isd, GetBodyRotation) {
ASSERT_DOUBLE_EQ(rotations[0].toQuaternion()[1], 0.36514837167011072);
ASSERT_DOUBLE_EQ(rotations[0].toQuaternion()[2], 0.54772255750516607);
ASSERT_DOUBLE_EQ(rotations[0].toQuaternion()[3], 0.73029674334022143);
-
+
ASSERT_DOUBLE_EQ(rotations[1].toQuaternion()[0], 0.73029674334022143);
ASSERT_DOUBLE_EQ(rotations[1].toQuaternion()[1], 0.54772255750516607);
ASSERT_DOUBLE_EQ(rotations[1].toQuaternion()[2], 0.36514837167011072);
ASSERT_DOUBLE_EQ(rotations[1].toQuaternion()[3], 0.18257418583505536);
-
+
ASSERT_DOUBLE_EQ(velocities[0].x, 11);
ASSERT_DOUBLE_EQ(velocities[0].y, 12);
- ASSERT_DOUBLE_EQ(velocities[0].z, 13);
-
+ ASSERT_DOUBLE_EQ(velocities[0].z, 13);
+
ASSERT_DOUBLE_EQ(velocities[1].x, 21);
ASSERT_DOUBLE_EQ(velocities[1].y, 22);
ASSERT_DOUBLE_EQ(velocities[1].z, 23);
-
+
std::vector<double> rotmat = bodyRot.getConstantRotation().toQuaternion();
ASSERT_DOUBLE_EQ(rotmat[0], 0);
ASSERT_DOUBLE_EQ(rotmat[1], 1);
@@ -627,7 +626,7 @@ TEST(Isd, BadDistortionModel) {
}
TEST(Isd, BadDistortionTransverse) {
- ale::json bad_json;
+ nlohmann::json bad_json;
bad_json["optical_distortion"]["transverse"]["x"] = {"NaN"};
bad_json["optical_distortion"]["transverse"]["y"] = {"NaN"};
@@ -645,7 +644,7 @@ TEST(Isd, BadDistortionTransverse) {
}
TEST(Isd, BadDistortionRadial) {
- ale::json bad_json;
+ nlohmann::json bad_json;
bad_json["optical_distortion"]["radial"]["coefficients"] = {"NaN"};
try {
@@ -662,7 +661,7 @@ TEST(Isd, BadDistortionRadial) {
}
TEST(Isd, BadDistortionDawnFC) {
- ale::json bad_json;
+ nlohmann::json bad_json;
bad_json["optical_distortion"]["dawnfc"]["coefficients"] = {"NaN"};
try {
@@ -679,7 +678,7 @@ TEST(Isd, BadDistortionDawnFC) {
}
TEST(Isd, BadDistortionKaguyaLISM) {
- ale::json bad_json;
+ nlohmann::json bad_json;
bad_json["optical_distortion"]["kaguyalism"]["x"] = {"NaN"};
bad_json["optical_distortion"]["kaguyalism"]["y"] = {"NaN"};
try {
@@ -696,7 +695,7 @@ TEST(Isd, BadDistortionKaguyaLISM) {
}
TEST(Isd, BadDistortionLroLrocNac) {
- ale::json bad_json;
+ nlohmann::json bad_json;
bad_json["optical_distortion"]["lrolrocnac"]["coefficients"] = {"NaN"};
try {
ale::getDistortionCoeffs(bad_json);
diff --git a/tests/ctests/LoadTests.cpp b/tests/ctests/LoadTests.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..78c4383ef69c5a69e3f33d5d1b3395357afd13c9
--- /dev/null
+++ b/tests/ctests/LoadTests.cpp
@@ -0,0 +1,18 @@
+#include "gtest/gtest.h"
+
+#include "Load.h"
+
+#include <stdexcept>
+
+using namespace std;
+
+TEST(PyInterfaceTest, LoadInvalidLabel) {
+ std::string label = "Not a Real Label";
+ EXPECT_THROW(ale::load(label), invalid_argument);
+}
+
+
+TEST(PyInterfaceTest, LoadValidLabel) {
+ std::string label = "../pytests/data/EN1072174528M/EN1072174528M_spiceinit.lbl";
+ ale::load(label, "", "isis");
+}
diff --git a/tests/ctests/OrientationsTest.cpp b/tests/ctests/OrientationsTests.cpp
similarity index 100%
rename from tests/ctests/OrientationsTest.cpp
rename to tests/ctests/OrientationsTests.cpp
diff --git a/tests/ctests/RotationTest.cpp b/tests/ctests/RotationTests.cpp
similarity index 100%
rename from tests/ctests/RotationTest.cpp
rename to tests/ctests/RotationTests.cpp
diff --git a/tests/ctests/StatesTest.cpp b/tests/ctests/StatesTests.cpp
similarity index 100%
rename from tests/ctests/StatesTest.cpp
rename to tests/ctests/StatesTests.cpp
diff --git a/tests/ctests/TestInterpUtils.cpp b/tests/ctests/TestInterpUtils.cpp
index 6dc2e996d19be95c9c595c40245cd958ee8d1f9f..c1f84530587324c19698bb86a2eac28464e4cb5b 100644
--- a/tests/ctests/TestInterpUtils.cpp
+++ b/tests/ctests/TestInterpUtils.cpp
@@ -8,6 +8,214 @@
using namespace std;
using namespace ale;
+
+TEST(Interpolation, Derivative1) {
+ vector<double> points = {0, 2, 4};
+ vector<double> times = {0, 1, 2};
+ EXPECT_NO_THROW(ale::interpolate(points, times, 1, ale::LINEAR, 1));
+}
+
+TEST(Interpolation, Derivative2) {
+ vector<double> points = {0, 0, 0};
+ vector<double> times = {0, 1, 2};
+ EXPECT_THROW(ale::interpolate(points, times, 1, ale::LINEAR, 2), invalid_argument);
+}
+
+TEST(Interpolation, InvalidDerivative) {
+ vector<double> points = {0, 0, 0};
+ vector<double> times = {0, 1, 2};
+
+ EXPECT_THROW(ale::interpolate(points, times, 1, ale::LINEAR, 3), invalid_argument);
+}
+
+TEST(InterpIndex, InvalidTimes) {
+ std::vector<double> times = {};
+
+ EXPECT_THROW(ale::interpolationIndex(times, 0), invalid_argument);
+}
+
+TEST(EvaluateCubicHermite, SimplePolynomial) {
+ // Cubic function is y = x^3 - 2x^2 + 1
+ // derivative is dy/dx = 3x^2 - 4x
+ std::vector<double> derivs = {7.0, -1.0};
+ std::vector<double> x = {-1.0, 1.0};
+ std::vector<double> y = {-2.0, 0.0};
+
+ EXPECT_DOUBLE_EQ(ale::evaluateCubicHermite(0.0, derivs, x, y), 1.0);
+}
+
+TEST(EvaluateCubicHermite, InvalidDervisXY) {
+ std::vector<double> derivs = {};
+ std::vector<double> x = {1.0};
+ std::vector<double> y = {1.0};
+
+ EXPECT_THROW(ale::evaluateCubicHermite(0.0, derivs, x, y), invalid_argument);
+}
+
+TEST(EvaluateCubicHermiteFirstDeriv, SimplyPolynomial) {
+ // Cubic function is y = x^3 - 2x^2 + 1
+ // derivative is dy/dx = 3x^2 - 4x
+ std::vector<double> derivs = {7.0, -1.0};
+ std::vector<double> x = {-1.0, 1.0};
+ std::vector<double> y = {-2.0, 0.0};
+
+ EXPECT_DOUBLE_EQ(ale::evaluateCubicHermiteFirstDeriv(0.5, derivs, x, y), -1.25);
+}
+
+TEST(EvaluateCubicHermiteFirstDeriv, InvalidDervisTimes) {
+ std::vector<double> derivs = {};
+ std::vector<double> times = {1.0};
+ std::vector<double> y = {1.0};
+
+ EXPECT_THROW(ale::evaluateCubicHermiteFirstDeriv(0.0, derivs, times, y), invalid_argument);
+}
+
+TEST(EvaluateCubicHermiteFirstDeriv, InvalidVelocities) {
+ std::vector<double> derivs = {5.0, 6.0};
+ std::vector<double> times = {1.0, 1.0};
+ std::vector<double> y = {1.0};
+
+ EXPECT_THROW(ale::evaluateCubicHermiteFirstDeriv(0.0, derivs, times, y), invalid_argument);
+}
+
+// The following tests all use the following equations
+//
+// v = -t^3 - 7x^2 + 3x + 16
+//
+// The full set of values is:
+// t v
+// -3 -83
+// -2 -26
+// -1 5
+// 0 16
+// 1 13
+// 2 2
+// 3 -11
+// 4 -20
+// 5 -19
+// 6 -2
+// 7 37
+
+TEST(LagrangeInterpolate, SecondOrder) {
+ std::vector<double> times = {-3, -2, -1, 0, 1, 3, 5};
+ std::vector<double> values = {-83, -26, 5, 16, 13, -11, -19};
+
+ EXPECT_DOUBLE_EQ(ale::lagrangeInterpolate(times, values, 1.5, 2), 7);
+}
+
+TEST(LagrangeInterpolate, FourthOrder) {
+ std::vector<double> times = {-3, -2, -1, 0, 1, 3, 5};
+ std::vector<double> values = {-83, -26, 5, 16, 13, -11, -19};
+
+ EXPECT_DOUBLE_EQ(ale::lagrangeInterpolate(times, values, 1.5, 4), 8.125);
+}
+
+TEST(LagrangeInterpolate, ReducedOrder) {
+ std::vector<double> times = {-3, -2, -1, 0, 1, 3, 5};
+ std::vector<double> values = {-83, -26, 5, 16, 13, -11, -19};
+
+ EXPECT_DOUBLE_EQ(ale::lagrangeInterpolate(times, values, 3.5, 4), -13);
+ EXPECT_DOUBLE_EQ(ale::lagrangeInterpolate(times, values, -2.5, 4), -54.5);
+}
+
+TEST(LagrangeInterpolate, InvalidArguments) {
+ std::vector<double> times = {-3, -2, -1, 0, 1, 3, 5};
+ std::vector<double> values = {-83, -26, 5, 16, 13};
+ EXPECT_THROW(ale::lagrangeInterpolate(times, values, 3.5, 4), invalid_argument);
+}
+
+TEST(lagrangeInterpolateDerivative, SecondOrder) {
+ std::vector<double> times = {-3, -2, -1, 0, 1, 3, 5};
+ std::vector<double> values = {-83, -26, 5, 16, 13, -11, -19};
+
+ EXPECT_DOUBLE_EQ(ale::lagrangeInterpolateDerivative(times, values, 1.5, 2), -12);
+}
+
+TEST(LagrangeInterpolateDerivative, FourthOrder) {
+ std::vector<double> times = {-3, -2, -1, 0, 1, 3, 5};
+ std::vector<double> values = {-83, -26, 5, 16, 13, -11, -19};
+
+ EXPECT_DOUBLE_EQ(ale::lagrangeInterpolateDerivative(times, values, 1.5, 4), -11.25);
+}
+
+TEST(LagrangeInterpolateDerivative, ReducedOrder) {
+ std::vector<double> times = {-3, -2, -1, 0, 1, 3, 5};
+ std::vector<double> values = {-83, -26, 5, 16, 13, -11, -19};
+
+ EXPECT_DOUBLE_EQ(ale::lagrangeInterpolateDerivative(times, values, 3.5, 4), -4);
+ EXPECT_DOUBLE_EQ(ale::lagrangeInterpolateDerivative(times, values, -2.5, 4), 57);
+}
+
+TEST(LagrangeInterpolateDerivative, InvalidArguments) {
+ std::vector<double> times = {-3, -2, -1, 0, 1, 3, 5};
+ std::vector<double> values = {-83, -26, 5, 16, 13};
+ EXPECT_THROW(ale::lagrangeInterpolateDerivative(times, values, 3.5, 4), invalid_argument);
+}
+
+TEST(LinearInterpTest, ExampleInterpolation) {
+ vector<double> times = {0, 1, 2, 3};
+ vector<double> data = {0, 2, 1, 0};
+
+ EXPECT_DOUBLE_EQ(0.0, ale::interpolate(data, times, 0.0, ale::LINEAR, 0));
+ EXPECT_DOUBLE_EQ(1.0, ale::interpolate(data, times, 0.5, ale::LINEAR, 0));
+ EXPECT_DOUBLE_EQ(2.0, ale::interpolate(data, times, 1.0, ale::LINEAR, 0));
+ EXPECT_DOUBLE_EQ(1.5, ale::interpolate(data, times, 1.5, ale::LINEAR, 0));
+ EXPECT_DOUBLE_EQ(1.0, ale::interpolate(data, times, 2.0, ale::LINEAR, 0));
+ EXPECT_DOUBLE_EQ(0.5, ale::interpolate(data, times, 2.5, ale::LINEAR, 0));
+ EXPECT_DOUBLE_EQ(0.0, ale::interpolate(data, times, 3.0, ale::LINEAR, 0));
+}
+
+TEST(LinearInterpTest, NoPoints) {
+ vector<double> times = {};
+ vector<double> data = {};
+
+ EXPECT_THROW(ale::interpolate(data, times, 0.0, ale::LINEAR, 0), invalid_argument);
+}
+
+TEST(LinearInterpTest, DifferentCounts) {
+ vector<double> times = { -3, -2, -1, 0, 2};
+ vector<double> data = { -3, -2, 1, 2};
+
+ EXPECT_THROW(ale::interpolate(data, times, 0.0, ale::LINEAR, 0), invalid_argument);
+}
+
+TEST(LinearInterpTest, Extrapolate) {
+ vector<double> times = {0, 1, 2, 3};
+ vector<double> data = {0, 2, 1, 0};
+
+ EXPECT_DOUBLE_EQ(ale::interpolate(data, times, -1.0, ale::LINEAR, 0), -2);
+ EXPECT_DOUBLE_EQ(ale::interpolate(data, times, 4.0, ale::LINEAR, 0), -1);
+}
+
+TEST(SplineInterpTest, ExampleInterpolation) {
+ // From http://www.maths.nuigalway.ie/~niall/teaching/Archive/1617/MA378/2-2-CubicSplines.pdf
+ vector<double> times = {0, 1, 2, 3};
+ vector<double> data = {2, 4, 3, 2};
+ // function is f(t) = 0.5t^3 - 3t^2 + 4.5t + 2
+
+ EXPECT_DOUBLE_EQ(ale::interpolate(data, times, 0.0, ale::SPLINE, 0), 2.0);
+ EXPECT_DOUBLE_EQ(ale::interpolate(data, times, 0.5, ale::SPLINE, 0), 3.0);
+ EXPECT_DOUBLE_EQ(ale::interpolate(data, times, 1.0, ale::SPLINE, 0), 4.0);
+ EXPECT_DOUBLE_EQ(ale::interpolate(data, times, 1.5, ale::SPLINE, 0), 3.6875);
+ EXPECT_DOUBLE_EQ(ale::interpolate(data, times, 2.0, ale::SPLINE, 0), 3.0);
+ EXPECT_DOUBLE_EQ(ale::interpolate(data, times, 2.5, ale::SPLINE, 0), 2.5);
+ EXPECT_DOUBLE_EQ(ale::interpolate(data, times, 3.0, ale::SPLINE, 0), 2.0);
+}
+
+TEST(SplineInterpTest, NoPoints) {
+ vector<double> times = {};
+ vector<double> data = {};
+
+ EXPECT_THROW(ale::interpolate(data, times, 0.0, ale::SPLINE, 0), invalid_argument);
+}
+
+TEST(SplineInterpTest, DifferentCounts) {
+ vector<double> times = { -3, -2, -1, 0, 2};
+ vector<double> data = { -3, -2, 1, 2};
+
+ EXPECT_THROW(ale::interpolate(data, times, 0.0, ale::SPLINE, 0), invalid_argument);
+}
+
TEST(InterpUtilsTest, LinearInterpolate) {
EXPECT_EQ(linearInterpolate(1, 3, 0.5), 2);
EXPECT_EQ(linearInterpolate(1, 1, 0.5), 1);