SimpleCameraSensor.h

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/*
Camera sensor model header file
 
Author: Alex Reynolds
*/
 
#ifndef MODELS_SENSORS_SIMPLE_CAMERA_SENSOR_H
#define MODELS_SENSORS_SIMPLE_CAMERA_SENSOR_H
 
#include "core/macros.h"
#include "simulation/Model.h"
#include "six_dof_dynamics/Euler321.hpp"
#include "six_dof_dynamics/Quaternion.hpp"
#include "six_dof_dynamics/DCM.hpp"
#include "six_dof_dynamics/Frame.hpp"
#include "models/support/BiasNoiseModel.h"
#include "monitors/RateMonitor.h"
 
namespace modelspace {
 
    /**
     * @brief   Simple Camera Model
     * 
     * 
     * 
     * Author: Alex Reynolds <alex.reynolds@attx.tech>
    */
    class SimpleCameraSensor : public Model {
    public:
        // Model params
        //         NAME                     TYPE                    DEFAULT VALUE
        START_PARAMS
            /** The frame of the object being sensed by the simple camera model. */
            SIGNAL(target_obj_frame,        FrameD*,                nullptr)
            /** The bias in the alpha angle measurement output described as a single scalar, with angle
             *  in RADIANS. This parameter may account for a number of factors, including misalignment,
             *  measurement bias, etc. Default is no bias. */
            SIGNAL(alpha_bias,              double,                 0.0)
            /** The bias in the beta angle measurement output described as a single scalar, with angle
             *  in RADIANS. This parameter may account for a number of factors, including misalignment,
             *  measurement bias, etc. Default is no bias. */
            SIGNAL(beta_bias,               double,                 0.0)
            /** The one-sigma gaussian noise in alpha measurement output described as a scalar, 
             *  with angle in RADIANS. Default is no noise. */
            SIGNAL(alpha_gaussian_noise,    double,                 0.0)
            /** The one-sigma gaussian noise in beta measurement output described as a scalar, 
             *  with angle in RADIANS. Default is no noise. */
            SIGNAL(beta_gaussian_noise,     double,                 0.0)
            /** The vehicle frame relative to which the camera is mounted and aligned. This is most
             *  typically the body frame of a spacecraft or other vehicle. mount_position__mf and mount_alignment__mf
             *  are described relative to this frame. */
            SIGNAL(mount_frame,             FrameD*,                nullptr)
            /** The position of the camera in the mount frame, represented in the default simulation
             *  unit (meters by default. pretty much always meters) */
            SIGNAL(mount_position__mf,      CartesianVector3D,      CartesianVector3D({0.0, 0.0, 0.0}))
            /** The alignment of the camera relative to the mount frame */
            SIGNAL(mount_alignment_mf,      QuaternionD,            QuaternionD({1.0, 0.0, 0.0, 0.0}))
            /** The rate at which the camera generates an output, in hertz. Setting this value
             *  to 0 forces the camera to output at the simulation rate. */
            SIGNAL(rate_hz,                 int,                    0)
            /** Value to seed the internal RNG for this model. */
            SIGNAL(seed_value,              int,                    0)
        END_PARAMS
 
        // Model inputs
        //         NAME                     TYPE                    DEFAULT VALUE
        START_INPUTS
 
        END_INPUTS
 
        // Model outputs
        //         NAME                     TYPE                    DEFAULT VALUE
        START_OUTPUTS
            /** The alpha angle measurement output produced from the camera describing the 
             *  location of the target object frame relative to the reference frame plus
             *  appropriate bias, noise, and rate limiting. */
            SIGNAL(measured_alpha,          double,                 0.0)
            /** The beta angle measurement output produced from the camera describing the 
             *  location of the target object frame relative to the reference frame plus
             *  appropriate bias, noise, and rate limiting. */
            SIGNAL(measured_beta,           double,                 0.0)
            /** The alpha angle measurement output produced from the camera describing the 
             *  location of the target object frame relative to the reference frame without
             *  noise or error. This parameter is informational. */
            SIGNAL(perfect_alpha,           double,                 0.0)
            /** The beta angle measurement output produced from the camera describing the 
             *  location of the target object frame relative to the reference frame without
             *  noise or error. This parameter is informational. */
            SIGNAL(perfect_beta,            double,                 0.0)
        END_OUTPUTS
 
        /// @brief Accessor for the sensor's frame
        clockwerk::DataIO<FrameD*> sensor_frame = clockwerk::DataIO<FrameD*>(this, "sensor_frame", &_sensor_frame);
 
        /// @brief Accessor for the internal bias and noise model
        /// @return Pointer to the bias noise model
        modelspace::BiasNoiseModel* biasNoiseModel() {return &_sensor_bias_noise;}
 
        /// @brief Accessor for the internal rate monitor model
        /// @return Pointer to the rate monitor model
        modelspace::RateMonitor* rateMonitor() {return &_rate_monitor;}
 
        // Model-specific implementations of startup and derivative
        SimpleCameraSensor(Model &pnt, const std::string &m_name="simple_camera");
        SimpleCameraSensor(SimulationExecutive &e, const std::string &m_name="simple_camera");
        SimpleCameraSensor(Model &pnt, int schedule_slot, const std::string &m_name="simple_camera");
        SimpleCameraSensor(SimulationExecutive &e, int schedule_slot, const std::string &m_name="simple_camera");
        virtual ~SimpleCameraSensor() {}
    protected:
        int start();
        int execute();
 
        /// @brief Function to configure sensor -- runs in all constructors
        void _configureInternal();
 
        /// @brief The sensor frame in which all measurements will be taken
        FrameD _sensor_frame;
 
        /// @brief The bias and noise model for sensor output.
        BiasNoiseModel _sensor_bias_noise;
 
        /// @brief Rate monitor to control the rate at which the sensor runs
        RateMonitor _rate_monitor;
 
        // Temporary DCM to hold temporary attitude calculations
        DCMD _tmp_dcm;
 
        // Internal variable to hold full bias and noise
        CartesianVector3D _pos_tgt_mount__mount;
    };
 
}
 
#endif