private void CreateAttitudeButton_Click(object sender, EventArgs e)
{
try
{
progressBar.Visible = true;
UpdateProgress(0);
// Check inputs
CheckUserInputs();
// Get inputs
string alignedVectorName = alignedVectorComboBox.SelectedItem.ToString();
string constrainedVectorName = constrainedVectorComboBox.SelectedItem.ToString();
double angleLimit = Convert.ToDouble(angleLimitTextBox.Text);
string alignedBodyAxis = GetBodyAxis(VectorType.eAligned);
string constrainedBodyAxis = GetBodyAxis(VectorType.eConstrained);
UserInputs inputs = new UserInputs
{
AlignedVectorName = alignedVectorName,
AlignedBodyAxis = alignedBodyAxis,
ConstrainedVectorName = constrainedVectorName,
ConstrainedBodyAxis = constrainedBodyAxis,
AngleLimit = angleLimit
};
UpdateProgress(25);
// Duplicate the satellite to create a reference sat. All AWB components are created on this reference sat to avoid circular logic.
m_referenceSatellite = DuplicateObject(m_selectedObject);
UpdateProgress(50);
// Create AWB components from user inputs
IAgCrdnVector scheduledVector = CreateAlignedScheduledVector(inputs);
UpdateProgress(75);
// Set final attitude profile
IAgCrdnVector selectedConstrainedVector = GetVectorFromObject((IAgStkObject)m_selectedObject, constrainedVectorName);
SetAlignedConstrainedAttitude(m_selectedObject, scheduledVector, alignedBodyAxis, selectedConstrainedVector, constrainedBodyAxis);
if (showGraphicsCheckBox.Checked == true)
{
// Get AWB components to display
IAgCrdnAxes selectedBodyAxes = m_selectedObject.Vgt.Axes["Body"];
IAgCrdnVector selectedConstrainedBodyVector = GetVectorFromAxes((IAgStkObject)m_selectedObject, selectedBodyAxes, constrainedBodyAxis);
IAgCrdnVector selectedAlignedVector = GetVectorFromObject((IAgStkObject)m_selectedObject, alignedVectorName);
IAgCrdnAngle displayAngle = CreateAngle((IAgStkObject)m_selectedObject, $"Off_{constrainedVectorName}", selectedConstrainedVector, selectedConstrainedBodyVector);
// Display in 3D Graphics window.
ShowAttitudeGraphics(selectedAlignedVector, selectedConstrainedVector, selectedBodyAxes, displayAngle);
// Add negative body axis if necessary
if (constrainedBodyAxis.Contains("-"))
{
IAgCrdnVector bodyVector = m_selectedObject.Vgt.Vectors[$"Body.{constrainedBodyAxis}"];
DisplayElement(AgEGeometricElemType.eVectorElem, (IAgCrdn)bodyVector, Color.RoyalBlue);
}
}
UpdateProgress(100);
}
catch (Exception exception)
{
MessageBox.Show(exception.Message, "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
}
progressBar.Visible = false;
}
private IAgCrdnVector CreateAlignedScheduledVector(UserInputs inputs)
{
// Unpack inputs
string alignedVectorName = inputs.AlignedVectorName;
string alignedBodyAxis = inputs.AlignedBodyAxis;
string constrainedVectorName = inputs.ConstrainedVectorName;
string constrainedBodyAxis = inputs.ConstrainedBodyAxis;
double angleLimit = inputs.AngleLimit;
// Get vectors from user input
IAgCrdnVector duplicateAlignedVector = GetVectorFromObject((IAgStkObject)m_referenceSatellite, alignedVectorName);
IAgCrdnVector duplicateConstrainedVector = GetVectorFromObject((IAgStkObject)m_referenceSatellite, constrainedVectorName);
// Make sure vectors are valid
CheckInputVector(duplicateAlignedVector);
CheckInputVector(duplicateConstrainedVector);
// Create Body vector string for naming
string constrainedBodyVectorName = $"Body.{constrainedBodyAxis}";
// Get body vector
IAgCrdnAxes duplicateBodyAxes = m_referenceSatellite.Vgt.Axes["Body"];
IAgCrdnVector duplicateConstrainedBodyVector = GetVectorFromAxes((IAgStkObject)m_referenceSatellite, duplicateBodyAxes, constrainedBodyAxis);
// Set duplicate satellite's attitude to Aligned & Constrained with user input vectors. This is the unconstrained attitude that our
// final satellite's attitude is based on.
SetAlignedConstrainedAttitude(m_referenceSatellite, duplicateAlignedVector, alignedBodyAxis, duplicateConstrainedVector, constrainedBodyAxis);
// Create angle from constraint vector to specified body axis. Set condition to find when this angle exceeds user limit
IAgCrdnAngle constraintToBodyAngle = CreateAngle((IAgStkObject)m_referenceSatellite, $"{constrainedVectorName}To{constrainedBodyVectorName}", duplicateConstrainedVector, duplicateConstrainedBodyVector);
IAgCrdnCalcScalar constraintToBodyScalar = CreateScalar((IAgStkObject)m_referenceSatellite, $"{constrainedVectorName}To{constrainedBodyVectorName}Value", constraintToBodyAngle);
IAgCrdnCondition constraintToBodyCondition = CreateCondition((IAgStkObject)m_referenceSatellite, $"{constrainedVectorName}To{constrainedBodyVectorName}Condition", constraintToBodyScalar, AgECrdnConditionThresholdOption.eCrdnConditionThresholdOptionBelowMax, angleLimit);
// Create angle from constraint vector to aligned vector and set condition from 0 to 90 deg. This is because the attitude profile is flipped
// if the angle is between 90 and 180 deg.
IAgCrdnAngle constraintToAlignedAngle = CreateAngle((IAgStkObject)m_referenceSatellite, $"{constrainedVectorName}To{alignedVectorName}", duplicateConstrainedVector, duplicateAlignedVector);
IAgCrdnCalcScalar constraintToAlignedScalar = CreateScalar((IAgStkObject)m_referenceSatellite, $"{constrainedVectorName}To{alignedVectorName}Value", constraintToAlignedAngle);
IAgCrdnCondition constraintToAlignedCondition = CreateCondition((IAgStkObject)m_referenceSatellite, $"{constrainedVectorName}To{alignedVectorName}Condition", constraintToAlignedScalar, AgECrdnConditionThresholdOption.eCrdnConditionThresholdOptionInsideMinMax, 0, 90);
// Create axes aligned with the constraint vector and constrained with the aligned vector.
IAgCrdnAxes alignedConstrainedAxes = CreateAxes((IAgStkObject)m_referenceSatellite, $"{constrainedVectorName}Axes", duplicateConstrainedVector, constrainedBodyAxis, duplicateAlignedVector, alignedBodyAxis);
// Rotate the new axes by both the positive and negative Angle Offset value.
IAgCrdnAxes positiveRotatedAxes = CreateAxes((IAgStkObject)m_referenceSatellite, $"{constrainedVectorName}Axes_RotatedPositive", alignedConstrainedAxes, alignedBodyAxis, constrainedBodyAxis, angleLimit);
IAgCrdnAxes negativeRotatedAxes = CreateAxes((IAgStkObject)m_referenceSatellite, $"{constrainedVectorName}Axes_RotatedNegative", alignedConstrainedAxes, alignedBodyAxis, constrainedBodyAxis, -angleLimit);
// Create scheduled axes
IAgCrdnAxes scheduledAxes;
double[] alignedAxisVector = GetCartesianArray(alignedBodyAxis);
double[] constrainedAxisVector = GetCartesianArray(constrainedBodyAxis);
// If the cross product vector of the aligned body axis and constrained body axis is positive, the axes need to be
// positively rotated when the angle between the aligned vector and constrained vector is between 0 deg and 90 deg.
// If the angle is between 90 and 180, the axes need to be negatively rotated. This is flipped if the cross product
// is negative.
if (NormalVectorIsPositive(alignedAxisVector, constrainedAxisVector))
{
scheduledAxes = CreateAxes((IAgStkObject)m_referenceSatellite, $"{constrainedVectorName}Axes_Scheduled", constraintToAlignedCondition, positiveRotatedAxes, negativeRotatedAxes);
}
else
{
scheduledAxes = CreateAxes((IAgStkObject)m_referenceSatellite, $"{constrainedVectorName}Axes_Scheduled", constraintToAlignedCondition, negativeRotatedAxes, positiveRotatedAxes);
}
// Create scheduled vector to point along alignment vector when constraint is not broken, and hold at constraint when violated.
IAgCrdnVector alignedScheduledAxis = GetVectorFromAxes((IAgStkObject)m_referenceSatellite, scheduledAxes, alignedBodyAxis);
IAgCrdnVector scheduledVector = CreateVector((IAgStkObject)m_referenceSatellite, $"{alignedVectorName}Scheduled", constraintToBodyCondition, duplicateAlignedVector, alignedScheduledAxis);
return(scheduledVector);
}
