private Rotation3 correction_; // correction rotation to be done
public PolarCorrectedAlignment(Vect3 newEquAxis, Vect3 prevEquAxis, double altOffset, Rotation3 prevRotationToStand, double equAngle0, double equAngleFactor, AlignStar[] stars)
{
equAxis_ = newEquAxis;
altOffset_ = altOffset;
equAngleFactor_ = equAngleFactor;
// calculate RotationToStand for equatorial angle = 0
prevRotationToStand = prevRotationToStand * new Rotation3(-equAngle0 * equAngleFactor_, prevEquAxis);
// convert coordinates of pole to scope coordinates
Vect3 oldScopePoleAxis = prevRotationToStand.Apply(prevEquAxis);
Vect3 newScopePoleAxis = prevRotationToStand.Apply(equAxis_);
// correct first altitude, then correct azimuth
correction_ = new Rotation3(newScopePoleAxis.Alt - oldScopePoleAxis.Alt, new Vect3(newScopePoleAxis.Azm + Math.PI / 2, 0));
correction_ = new Rotation3(newScopePoleAxis.Azm - oldScopePoleAxis.Azm, new Vect3(0, 0, -1)) * correction_;
rotationToStand_ = correction_.Conj * prevRotationToStand;
if (stars != null && stars.Length > 0)
{
stars_ = new AlignStar[stars.Length];
for (int i = 0; i < stars.Length; ++i)
{
if (stars[i] != null)
{
PairA newScope = DoHorz2Scope((PairA)stars[i].Horz, stars[i].EquAngle);
stars_[i] = new AlignStar(stars[i].Name, stars[i].Horz, newScope, stars[i].EquAngle);
}
}
}
}
public override bool CorrectOffsets(AlignStar star)
{
if (star == null)
{
return(false);
}
ForceAlignment();
PairA scopeOld = Horz2Scope((PairA)star.Horz, star.EquAngle);
double deltaAlt = star.Scope.Alt - scopeOld.Alt, deltaAzm = star.Scope.Azm - scopeOld.Azm;
altOffset_ += deltaAlt;
rotationToStand_ = new Rotation3(-deltaAzm, new Vect3(0, 0, 1)) * rotationToStand_;
//PairA scopeNew = Horz2Scope((PairA)star.Horz, star.EquAngle);
foreach (AlignStar s in stars_)
{
if (s != null)
{
//scopeNew = Horz2Scope((PairA)s.Horz, s.EquAngle);
s.Scope = s.Scope.Offset(+deltaAzm, +deltaAlt);
}
}
return(true);
}
public override void ForceAlignment()
{
if (!alignmentDone_)
{
if (stars_[0] == null || stars_[1] == null)
{
throw new ApplicationException("No alignment stars");
}
Vect3 star1horz_corrected = new Rotation3(stars_[1].EquAngle - stars_[0].EquAngle, equAxis_).Apply(stars_[1].Horz);
Align(stars_[0].Horz, stars_[0].Scope, star1horz_corrected, stars_[1].Scope, precesions_, out altOffset_, out rotationToStand_, out quality_);
alignmentDone_ = true;
}
}
// deep cloning
private TwoStarsAlignment(Vect3 equAxis, AlignStar[] stars, bool alignmentDone, double altOffset, Rotation3 rotationToStand, double quality, Precisions precesions)
{
equAxis_ = equAxis;
for (int i = 0; i < stars.Length; ++i)
{
if (stars[i] != null)
{
stars_[i] = (AlignStar)stars[i].Clone();
}
}
alignmentDone_ = alignmentDone;
altOffset_ = altOffset;
rotationToStand_ = rotationToStand;
quality_ = quality;
precesions_ = precesions;
}
private void AlignStatic()
{
double altOffset1;
Rotation3 rotationToStand1;
double quality1;
TwoStarsAlignment.Align(stars_[2].Horz, stars_[2].Scope, stars_[3].Horz, stars_[3].Scope, precesions_, out altOffset1, out rotationToStand1, out quality1);
Rotation3 eqRotation = rotationToStand_.Conj * rotationToStand1; // actual equatorial rotation
equAxis_ = eqRotation.Axis;
equHorzDiff_ = eqRotation.Angle; // Generally, it isn't equal to equScopeDiff_. It depends on platform accuracy.
altOffset_ = (altOffset_ + altOffset1) / 2; // average offset
if (quality_ < quality1)
{
quality_ = quality1; // maximal quality
}
iterationCnt_ = 0;
}
private PolarCorrectedAlignment(Vect3 equAxis, AlignStar[] stars, double altOffset, Rotation3 rotationToStand, double equAngleFactor, Rotation3 correction)
{
equAxis_ = equAxis;
if (stars != null && stars.Length > 0)
{
stars_ = new AlignStar[stars.Length];
for (int i = 0; i < stars.Length; ++i)
{
if (stars[i] != null)
{
stars_[i] = (AlignStar)stars[i].Clone();
}
}
}
altOffset_ = altOffset;
rotationToStand_ = rotationToStand;
equAngleFactor_ = equAngleFactor;
correction_ = correction;
}
// deep cloning
private FourStarsAlignment(Vect3 equAxis, AlignStar[] stars, Rotation3 rotationToStand, double altOffset, double equHorzDiff, double quality, Precisions precesions, int iterationCnt, bool alignmentDone)
{
if (stars.Length < 4 || stars.Length > stars_.Length)
{
throw new ApplicationException("too few alignment stars");
}
// check equatorial angles: 1) should be within limits for stars 0,1, 2) should be within limits for stars 2,3, and 3) should be different for (0,1) and (2,3) star pairs
if (Math.Abs(stars[0].EquAngle - stars[1].EquAngle) > precesions.iterEquAngleDiff_ ||
Math.Abs(stars[2].EquAngle - stars[3].EquAngle) > precesions.iterEquAngleDiff_ ||
stars[0].EquAngle == stars[2].EquAngle)
{
throw new ApplicationException("bad data for 4-stars alignment");
}
// check equatorial angles: 1) should be same for stars 0 and 1, 2) should be same for stars 2 and 3, and 3) should be different for (0,1) and (2,3) star pairs
//if (stars[0].EquAngle != stars[1].EquAngle || stars[2].EquAngle != stars[3].EquAngle || stars[0].EquAngle == stars[2].EquAngle)
// throw new ApplicationException("bad data for 4-stars alignment");
equAxis_ = equAxis;
for (int i = 0; i < stars.Length; ++i)
{
if (stars[i] != null)
{
stars_[i] = (AlignStar)stars[i].Clone();
}
}
rotationToStand_ = rotationToStand;
altOffset_ = altOffset;
equScopeDiff_ = stars_[2].EquAngle - stars_[0].EquAngle;
equHorzDiff_ = equHorzDiff;
quality_ = quality;
precesions_ = precesions;
iterationCnt_ = iterationCnt;
alignmentDone_ = alignmentDone;
}
private void AlignDynamic()
{
double equAngleFactor = 1;
for (int i = 0; i < precesions_.iterCnt_; ++i)
{
Vect3 star1horz_corrected = new Rotation3((stars_[1].EquAngle - stars_[0].EquAngle) * equAngleFactor, equAxis_).Apply(stars_[1].Horz);
Vect3 star3horz_corrected = new Rotation3((stars_[3].EquAngle - stars_[2].EquAngle) * equAngleFactor, equAxis_).Apply(stars_[3].Horz);
double altOffset0;
Rotation3 rotationToStand0;
double quality0;
TwoStarsAlignment.Align(stars_[0].Horz, stars_[0].Scope, star1horz_corrected, stars_[1].Scope, precesions_, out altOffset0, out rotationToStand0, out quality0);
double altOffset1;
Rotation3 rotationToStand1;
double quality1;
TwoStarsAlignment.Align(stars_[2].Horz, stars_[2].Scope, star3horz_corrected, stars_[3].Scope, precesions_, out altOffset1, out rotationToStand1, out quality1);
Rotation3 eqRotation = rotationToStand0.Conj * rotationToStand1; // actual equatorial rotation
Vect3 equAxisNew = eqRotation.Axis;
double diff = Vect3.VMul(equAxis_, equAxisNew).Abs;
equAxis_ = equAxisNew;
if (diff < precesions_.iterEquAxisDiff_)
{
equHorzDiff_ = eqRotation.Angle; // Generally, it isn't equal to equScopeDiff_. It depends on platform accuracy.
rotationToStand_ = rotationToStand0;
altOffset_ = (altOffset0 + altOffset1) / 2; // average offset
quality_ = (quality0 > quality1) ? quality0 : quality1; // maximal quality
iterationCnt_ = i + 1;
return;
}
equAngleFactor = eqRotation.Angle / equScopeDiff_;
}
throw new ApplicationException("too many iterations");
}
public static void Align(Vect3 horz0, PairA scope0, Vect3 horz1, PairA scope1, Precisions precesions,
out double altOffset, out Rotation3 rotationToStand, out double quality)
{
altOffset = CalcAltOffset(horz0, scope0, horz1, scope1);
Vect3 s0 = new Vect3(scope0.Offset(0, -altOffset));
Vect3 s1 = new Vect3(scope1.Offset(0, -altOffset));
double abs;
Vect3 n0 = horz0 - s0;
abs = n0.Abs;
if (abs < precesions.rotation_)
{
double angle = CalcRotationAngle(s0, horz1, s1);
if (angle == 0 || angle == Math.PI)
{
throw new ApplicationException("Error7");
}
quality = -1;
rotationToStand = new Rotation3(angle, s0);
return;
}
n0 /= abs;
Vect3 n1 = horz1 - s1;
abs = n1.Abs;
if (abs < precesions.rotation_)
{
double angle = CalcRotationAngle(s1, horz0, s0);
if (angle == 0 || angle == Math.PI)
{
throw new ApplicationException("Error8");
}
quality = -2;
rotationToStand = new Rotation3(angle, s1);
return;
}
n1 /= abs;
// axis
Vect3 axis = Vect3.VMul(n0, n1);
abs = axis.Abs;
if (abs < precesions.axis_)
{
throw new ApplicationException("Error4");
}
axis /= abs;
double angle0 = CalcRotationAngle(axis, horz0, s0);
if (angle0 == 0 || angle0 == Math.PI)
{
throw new ApplicationException("Error5");
}
double angle1 = CalcRotationAngle(axis, horz1, s1);
if (angle1 == 0 || angle1 == Math.PI)
{
throw new ApplicationException("Error6");
}
quality = Math.Abs(angle0 - angle1);
rotationToStand = new Rotation3((angle0 + angle1) / 2, axis);
}