FOUND Coverage Report

Line	Branch	Exec	Source
1			#ifndef SRC_DISTANCE_VECTORIZE_HPP_
2			#define SRC_DISTANCE_VECTORIZE_HPP_
3
4			#include "common/spatial/attitude-utils.hpp"
5			#include "common/style.hpp"
6			#include "common/pipeline/stages.hpp"
7
8			namespace found {
9
10			/**
11			* The VectorGenerationAlgorithm class houses the Vector Assembly Algorithm. This algorithm
12			* finds the position from Earth with respect to its center with a 3D Vector (Vec3).
13			*
14			*/
15			class VectorGenerationAlgorithm : public FunctionStage<PositionVector, PositionVector> {
16			public:
17			// Constructs this
18		20	VectorGenerationAlgorithm() = default;
19			// Destroys this
20		40	virtual ~VectorGenerationAlgorithm() {}
21			};
22
23			/**
24			* The LOSTVectorGenerationAlgorithm class houses the a Vector Assembly Algorithm that calculates the
25			* position of the satellite using orientation information determined from LOST.
26			*
27			*/
28			class LOSTVectorGenerationAlgorithm : public VectorGenerationAlgorithm {
29			public:
30			/**
31			* Creates a LOSTVectorGenerationAlgorithm object
32			*
33			* @param relativeOrientation The orientation of the FOUND camera with respect to the reference Orientation
34			* @param referenceOrientation The orientation of the reference orientation
35			*
36			* @pre You must use a backwards rotation quaternion here. Remember that
37			* forwards and backwards quaternions are conjugates.
38			*/
39		9	explicit LOSTVectorGenerationAlgorithm(Quaternion relativeOrientation, Quaternion referenceOrientation)
40	1/1 ✓ Branch 2 taken 9 times.	9	: orientation(relativeOrientation * referenceOrientation) {}
41
42			/**
43			* Creates a LOSTVectorGenerationAlgorithm object
44			*
45			* @param orientation The absolute orientation of the FOUND camera
46			*
47			* @pre You must use a backwards rotation quaternion here. Remember that
48			* forwards and backwards quaternions are conjugates.
49			*/
50		6	explicit LOSTVectorGenerationAlgorithm(Quaternion orientation)
51		6	: orientation(orientation) {}
52
53			// Destroys this
54		46	~LOSTVectorGenerationAlgorithm() = default;
55
56			/**
57			* Runs the Vector Assembly Algorithm, which finds the vector of the satellite with respect
58			* to Earth's center using information from LOST
59			*
60			* @pre This class was initialized by backwards quaternion(s)
61			*
62			* @param x_E The distance from Earth
63			*
64			* @return A PositionVector that represents the 3D Vector of the satellite relative to
65			* Earth's center
66			*/
67			PositionVector Run(const PositionVector &x_E) override;
68
69			private:
70			// Fields specific to this algorithm go here, and helper methods
71
72			/// Orientation from LOST
73			Quaternion orientation;
74			};
75
76			/**
77			* FeatureDetectionVectorGenerationAlgorithm figures out
78			* the distance vector of the satellite relative to earth
79			* by identifying features on earth.
80			*/
81			class FeatureDetectionVectorGenerationAlgorithm : public VectorGenerationAlgorithm {
82			public:
83			/**
84			* Place documentation here. Press enter to automatically make a new line
85			* */
86			FeatureDetectionVectorGenerationAlgorithm(/Params to initialze fields for this object/);
87
88			/**
89			* Place documentation here. Press enter to automatically make a new line
90			* */
91			~FeatureDetectionVectorGenerationAlgorithm();
92
93			/**
94			* Place documentation here. Press enter to automatically make a new line
95			*
96			* @param x_E The position vector of the satellite with respect to the
97			* camera coordiinate system
98			*
99			* @return The position vector of the satellite with respect to the
100			* planet's inertial reference frame
101			* */
102			PositionVector Run(const PositionVector &x_E) override;
103			private:
104			// Fields specific to this algorithm go here, and helper methods
105			};
106
107			} // namespace found
108
109			#endif // SRC_DISTANCE_VECTORIZE_HPP_
110