diff --git a/ale/base/type_sensor.py b/ale/base/type_sensor.py
index 9fa789215cb76611f1483ba6cf80e094aac6233b..f49e6c7ccffc5ac68cf1ee64ecf8350408d918e0 100644
--- a/ale/base/type_sensor.py
+++ b/ale/base/type_sensor.py
@@ -451,32 +451,7 @@ class Cahvor():
v_s = self.compute_v_s()
H_prime = (self.cahvor_camera_dict['H'] - h_c * self.cahvor_camera_dict['A'])/h_s
V_prime = (self.cahvor_camera_dict['V'] - v_c * self.cahvor_camera_dict['A'])/v_s
- r_matrix = np.array([H_prime, -V_prime, -self.cahvor_camera_dict['A']])
-
- phi = math.asin(r_matrix[2][0])
- w = - math.asin(r_matrix[2][1] / math.cos(phi))
- k = math.acos(r_matrix[0][0] / math.cos(phi))
-
- w = math.degrees(w)
- phi = math.degrees(phi)
- k = math.degrees(k)
-
- # Rotational Matrix M generation
- cahvor_rotation_matrix = np.zeros((3, 3))
- cahvor_rotation_matrix[0, 0] = math.cos(phi) * math.cos(k)
- cahvor_rotation_matrix[0, 1] = math.sin(w) * math.sin(phi) * math.cos(k) + \
- math.cos(w) * math.sin(k)
- cahvor_rotation_matrix[0, 2] = - math.cos(w) * math.sin(phi) * math.cos(k) + \
- math.sin(w) * math.sin(k)
- cahvor_rotation_matrix[1, 0] = - math.cos(phi) * math.sin(k)
- cahvor_rotation_matrix[1, 1] = - math.sin(w) * math.sin(phi) * math.sin(k) + \
- math.cos(w) * math.cos(k)
- cahvor_rotation_matrix[1, 2] = math.cos(w) * math.sin(phi) * math.sin(k) + \
- math.sin(w) * math.cos(k)
- cahvor_rotation_matrix[2, 0] = math.sin(phi)
- cahvor_rotation_matrix[2, 1] = - math.sin(w) * math.cos(phi)
- cahvor_rotation_matrix[2, 2] = math.cos(w) * math.cos(phi)
- self._cahvor_rotation_matrix = cahvor_rotation_matrix
+ self._cahvor_rotation_matrix = np.array([H_prime, -V_prime, -self.cahvor_camera_dict['A']])
return self._cahvor_rotation_matrix
@property
@@ -491,13 +466,13 @@ class Cahvor():
A networkx frame chain object
"""
if not hasattr(self, '_frame_chain'):
- self._frame_chain = FrameChain.from_spice(sensor_frame=self.ikid,
+ self._frame_chain = FrameChain.from_spice(sensor_frame=self.spacecraft_id * 1000,
target_frame=self.target_frame_id,
center_ephemeris_time=self.center_ephemeris_time,
ephemeris_times=self.ephemeris_time,
nadir=False, exact_ck_times=False)
cahvor_quats = Rotation.from_matrix(self.cahvor_rotation_matrix).as_quat()
- cahvor_rotation = ConstantRotation(cahvor_quats, self.sensor_frame_id, self.ikid)
+ cahvor_rotation = ConstantRotation(cahvor_quats, self.spacecraft_id * 1000, self.sensor_frame_id)
self._frame_chain.add_edge(rotation = cahvor_rotation)
return self._frame_chain
diff --git a/tests/pytests/test_cahvor_mixin.py b/tests/pytests/test_cahvor_mixin.py
index 7bd38f645446f98c5cf426816e749a37b7203fbf..0a2600975a2e025deddcc4d37805978b85aeb1ed 100644
--- a/tests/pytests/test_cahvor_mixin.py
+++ b/tests/pytests/test_cahvor_mixin.py
@@ -22,7 +22,7 @@ class test_cahvor_sensor(unittest.TestCase):
def setUp(self):
self.driver = Cahvor()
self.driver.focal_length = 100
- self.driver.ikid = -76220
+ self.driver.spacecraft_id = -76
self.driver.sensor_frame_id = -76562
self.driver.target_frame_id = 10014
self.driver.center_ephemeris_time = 0
@@ -38,19 +38,21 @@ class test_cahvor_sensor(unittest.TestCase):
@patch("ale.base.type_sensor.Cahvor.cahvor_camera_dict", new_callable=PropertyMock, return_value=cahvor_camera_dict())
def test_cahvor_model_elements(self, cahvor_camera_dict):
cahvor_matrix = self.driver.cahvor_rotation_matrix
- np.testing.assert_allclose(cahvor_matrix, [[-0.42447558, -0.7572992, -0.49630475],
- [ 0.73821222, 0.02793007, -0.67399009],
- [ 0.52427398, -0.65247056, 0.54719189]])
+ print(cahvor_matrix)
+ np.testing.assert_allclose(cahvor_matrix, [[-0.82067034, -0.57129702, 0.01095033],
+ [-0.43920248, 0.6184257, -0.65165238],
+ [ 0.3655151, -0.5396012, -0.7584387 ]])
@patch('ale.transformation.FrameChain.from_spice', return_value=ale.transformation.FrameChain())
@patch("ale.base.type_sensor.Cahvor.cahvor_camera_dict", new_callable=PropertyMock, return_value=cahvor_camera_dict())
def test_cahvor_frame_chain(self, cahvor_camera_dict, from_spice):
frame_chain = self.driver.frame_chain
assert len(frame_chain.nodes()) == 2
- assert -76220 in frame_chain.nodes()
+ assert -76000 in frame_chain.nodes()
assert -76562 in frame_chain.nodes()
- from_spice.assert_called_with(center_ephemeris_time=0, ephemeris_times=[0], sensor_frame=-76220, target_frame=10014, nadir=False, exact_ck_times=False)
- np.testing.assert_allclose(frame_chain[-76562][-76220]['rotation'].quat, [0.0100307131, -0.4757136116, 0.6970899144, 0.5363409323])
+ from_spice.assert_called_with(center_ephemeris_time=0, ephemeris_times=[0], sensor_frame=-76000, target_frame=10014, nadir=False, exact_ck_times=False)
+ print(frame_chain[-76562][-76000]['rotation'].quat)
+ np.testing.assert_allclose(frame_chain[-76562][-76000]['rotation'].quat, [-0.28255205, 0.8940826, -0.33309383, 0.09914206])
@patch("ale.base.type_sensor.Cahvor.cahvor_camera_dict", new_callable=PropertyMock, return_value=cahvor_camera_dict())
def test_cahvor_detector_center_line(self, cahvor_camera_dict):