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);
}
private static double CalcRotationAngle(Vect3 n, Vect3 a0, Vect3 a1)
{
double an = Vect3.SMul(a0, n);
return(Math.Atan2(Vect3.SMul(n, Vect3.VMul(a0, a1)), Vect3.SMul(a0, a1) - an * an));
}