From b8e7a38714738ef6b1e41aa6f01bbd1ad728ebd4 Mon Sep 17 00:00:00 2001
From: Jesse Mapel <jmapel@usgs.gov>
Date: Fri, 12 Feb 2021 08:51:58 -0700
Subject: [PATCH] Fixed seg fault when using an ISD without angular velocities
(#327)
* Updated embedded ALE to get orientations fix
* Added workaround for old ALE versions
---
ale | 2 +-
src/UsgsAstroFrameSensorModel.cpp | 24 ++++++++++++++++++++++++
src/UsgsAstroLsSensorModel.cpp | 23 +++++++++++++++++++++++
3 files changed, 48 insertions(+), 1 deletion(-)
diff --git a/ale b/ale
index 37bb560..7bd2568 160000
--- a/ale
+++ b/ale
@@ -1 +1 @@
-Subproject commit 37bb560ac6a5327063f6c36d8259b3dbb6880bab
+Subproject commit 7bd25687480f8e6b60319026ef0982ae41ef027e
diff --git a/src/UsgsAstroFrameSensorModel.cpp b/src/UsgsAstroFrameSensorModel.cpp
index e5bb483..d7942b5 100644
--- a/src/UsgsAstroFrameSensorModel.cpp
+++ b/src/UsgsAstroFrameSensorModel.cpp
@@ -964,6 +964,30 @@ std::string UsgsAstroFrameSensorModel::constructStateFromIsd(
// get sensor_orientation quaternion
ale::Orientations j2000_to_sensor = ale::getInstrumentPointing(parsedIsd);
+
+ // Work-around for issues in ALE <=0.8.5 where Orientations without angular
+ // velocities seg fault when you multiply them. This will make the angular
+ // velocities in the final Orientations dubious but they are not used
+ // in any calculations so this is okay.
+ if (j2000_to_sensor.getAngularVelocities().empty()) {
+ j2000_to_sensor = ale::Orientations(
+ j2000_to_sensor.getRotations(),
+ j2000_to_sensor.getTimes(),
+ std::vector<ale::Vec3d>(j2000_to_sensor.getTimes().size()),
+ j2000_to_sensor.getConstantRotation(),
+ j2000_to_sensor.getConstantFrames(),
+ j2000_to_sensor.getTimeDependentFrames());
+ }
+ if (j2000_to_target.getAngularVelocities().empty()) {
+ j2000_to_target = ale::Orientations(
+ j2000_to_target.getRotations(),
+ j2000_to_target.getTimes(),
+ std::vector<ale::Vec3d>(j2000_to_target.getTimes().size()),
+ j2000_to_target.getConstantRotation(),
+ j2000_to_target.getConstantFrames(),
+ j2000_to_target.getTimeDependentFrames());
+ }
+
ale::Orientations sensor_to_j2000 = j2000_to_sensor.inverse();
ale::Orientations sensor_to_target = j2000_to_target * sensor_to_j2000;
ephemTime = sensor_to_target.getTimes();
diff --git a/src/UsgsAstroLsSensorModel.cpp b/src/UsgsAstroLsSensorModel.cpp
index 6362a21..1b45dcb 100644
--- a/src/UsgsAstroLsSensorModel.cpp
+++ b/src/UsgsAstroLsSensorModel.cpp
@@ -2413,6 +2413,29 @@ std::string UsgsAstroLsSensorModel::constructStateFromIsd(
state["m_velocities"] = velocities;
MESSAGE_LOG("m_velocities: {}", state["m_velocities"].dump())
+ // Work-around for issues in ALE <=0.8.5 where Orientations without angular
+ // velocities seg fault when you multiply them. This will make the angular
+ // velocities in the final Orientations dubious but they are not used
+ // in any calculations so this is okay.
+ if (j2000_to_sensor.getAngularVelocities().empty()) {
+ j2000_to_sensor = ale::Orientations(
+ j2000_to_sensor.getRotations(),
+ j2000_to_sensor.getTimes(),
+ std::vector<ale::Vec3d>(j2000_to_sensor.getTimes().size()),
+ j2000_to_sensor.getConstantRotation(),
+ j2000_to_sensor.getConstantFrames(),
+ j2000_to_sensor.getTimeDependentFrames());
+ }
+ if (j2000_to_target.getAngularVelocities().empty()) {
+ j2000_to_target = ale::Orientations(
+ j2000_to_target.getRotations(),
+ j2000_to_target.getTimes(),
+ std::vector<ale::Vec3d>(j2000_to_target.getTimes().size()),
+ j2000_to_target.getConstantRotation(),
+ j2000_to_target.getConstantFrames(),
+ j2000_to_target.getTimeDependentFrames());
+ }
+
ale::Orientations sensor_to_j2000 = j2000_to_sensor.inverse();
ale::Orientations sensor_to_target = j2000_to_target * sensor_to_j2000;
ephemTime = sensor_to_target.getTimes();
--
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