ons_lunar_od.h

/*
 * \file ons_lunar_od.h
 * Header file for object of class ons_lunar_od.
 * Copyright 2010, Princeton Satellite Systems, Inc.
 * All Rights Reserved.
 */
 
#include <ControlDeck2/ControlDeck2.h>
#import <SCControl/SCControl.h>
#include "ons_orbit_propagation.h"
#include "sc_events.h"
#include "sc_data_names.h"
 
#ifndef ONS_LUNAR_OD
#define ONS_LUNAR_OD
 
 
 
 
class ons_lunar_od : public cd_control_module
{
    public:
        ons_lunar_od (const char * mod_name);
                void initialize_data();
        void initialize_data_requests();
        void handle_event(int code);
                void reset_ukf();
 
    protected:
        
                CD_REQUEST_REF range_message_ref;       
                CD_REQUEST_REF omega_sim_ref;
                CD_REQUEST_REF q_eci_to_body_sim_ref;
                CD_REQUEST_REF velocity_sim_ref;
                CD_REQUEST_REF position_sim_ref;
                CD_REQUEST_REF jd_ref;
                CD_REQUEST_REF ephem_planet_mu_ref;
                CD_REQUEST_REF ephem_planet_position_ref;
                CD_REQUEST_REF ephem_planet_index_ref;
                CD_REQUEST_REF ephem_observer_ref;
                CD_REQUEST_REF ephem_planet_radius_ref;
                CD_REQUEST_REF unit_vector_ref;
                CD_REQUEST_REF q_body_to_camera_1_ref;
                CD_REQUEST_REF q_body_to_camera_2_ref;
                CD_REQUEST_REF star_data_1_ref;
                CD_REQUEST_REF star_data_2_ref;
                CD_REQUEST_REF planet_data_1_ref;
                CD_REQUEST_REF planet_data_2_ref;
                CD_REQUEST_REF star_id_camera_1_ref;
                CD_REQUEST_REF star_id_camera_2_ref;
                CD_REQUEST_REF u_star_camera_1_ref;
                CD_REQUEST_REF u_star_camera_2_ref;
                CD_REQUEST_REF ad_q_eci_to_camera_1_ref;
                CD_REQUEST_REF ad_q_eci_to_camera_2_ref;
    
                CD_CREATE_REF od_state_ref;
                CD_CREATE_REF od_covariance_ref;
                CD_CREATE_REF od_covariance_diag_ref;
    
                CD_CREATE_REF od_plant_noise_covariance_command_ref;
                CD_CREATE_REF od_initial_covariance_command_ref;
                CD_CREATE_REF od_initial_state_command_ref;
                CD_CREATE_REF od_meas_noise_covariance_command_ref;
                CD_CREATE_REF od_parameter_command_ref;
                CD_CREATE_REF od_use_camera_command_ref;
                CD_CREATE_REF od_use_range_command_ref;
                CD_CREATE_REF od_use_state_command_ref;
                
                CD_CREATE_REF od_update_period_command_ref;
    
        
                CD_CREATE_REF od_reset_command_ref;
        
                CD_CREATE_REF od_orbit_center_command_ref;
 
                CD_CREATE_REF camera_1_data_command_ref;
                CD_CREATE_REF camera_2_data_command_ref;
        
private:
                UKF ukf;
        
                static ml_matrix meas_fun_ukf (const ml_matrix &x, void *context);  
                static ml_matrix rhs_nav (ml_matrix x, double t, void *context);
                int     get_index( int id, ml_matrix index_list );
                ml_matrix       u_meas_catalog( ml_matrix id, ml_matrix u_catalog );
                int initialized;
        double julian_date_old;
        double julian_date_propagate_old;
        
                typedef struct estimation_struct
                {
                        ml_matrix       qECIToBody;             
                        ml_matrix       omegaBody;              
                        ml_matrix       r_planet_cat;   
                        ml_matrix       u_star_cat;             
                        ml_matrix       a_planet_cat;   
                        ml_matrix       planet_chord;   
                        ml_matrix       planet_planet;  
                        ml_matrix       planet_star;    
                        ml_matrix       r_gs_eci;               
                        ml_matrix       v_gs_eci;               
                        ml_matrix       r_gps_eci;              
                        ml_matrix       v_gps_eci;              
                        ml_matrix       r_isl_eci;              
                        ml_matrix       v_isl_eci;              
                        ml_matrix   meas_type;          
                        ml_matrix   acceleration;       
                        ml_matrix       meas_id;                
                } EstimationData;
        
};
 
extern "C"
{
    cd_control_module *ons_lunar_od_builder(const char *name);
}
 
#endif