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/// \file BuiltInMathPlugin.cpp
/// \author Roger James
/// \date 13th November 2013
#include "BuiltInMathPlugin.h"
#include "DriverCommon.h"
namespace INDI
{
namespace AlignmentSubsystem
{
// Private methods
void BuiltInMathPlugin::CalculateTransformMatrices(const TelescopeDirectionVector &Alpha1,
const TelescopeDirectionVector &Alpha2,
const TelescopeDirectionVector &Alpha3,
const TelescopeDirectionVector &Beta1,
const TelescopeDirectionVector &Beta2,
const TelescopeDirectionVector &Beta3, gsl_matrix *pAlphaToBeta,
gsl_matrix *pBetaToAlpha)
{
// Derive the Actual to Apparent transformation matrix
gsl_matrix *pAlphaMatrix = gsl_matrix_alloc(3, 3);
gsl_matrix_set(pAlphaMatrix, 0, 0, Alpha1.x);
gsl_matrix_set(pAlphaMatrix, 1, 0, Alpha1.y);
gsl_matrix_set(pAlphaMatrix, 2, 0, Alpha1.z);
gsl_matrix_set(pAlphaMatrix, 0, 1, Alpha2.x);
gsl_matrix_set(pAlphaMatrix, 1, 1, Alpha2.y);
gsl_matrix_set(pAlphaMatrix, 2, 1, Alpha2.z);
gsl_matrix_set(pAlphaMatrix, 0, 2, Alpha3.x);
gsl_matrix_set(pAlphaMatrix, 1, 2, Alpha3.y);
gsl_matrix_set(pAlphaMatrix, 2, 2, Alpha3.z);
Dump3x3("AlphaMatrix", pAlphaMatrix);
gsl_matrix *pBetaMatrix = gsl_matrix_alloc(3, 3);
gsl_matrix_set(pBetaMatrix, 0, 0, Beta1.x);
gsl_matrix_set(pBetaMatrix, 1, 0, Beta1.y);
gsl_matrix_set(pBetaMatrix, 2, 0, Beta1.z);
gsl_matrix_set(pBetaMatrix, 0, 1, Beta2.x);
gsl_matrix_set(pBetaMatrix, 1, 1, Beta2.y);
gsl_matrix_set(pBetaMatrix, 2, 1, Beta2.z);
gsl_matrix_set(pBetaMatrix, 0, 2, Beta3.x);
gsl_matrix_set(pBetaMatrix, 1, 2, Beta3.y);
gsl_matrix_set(pBetaMatrix, 2, 2, Beta3.z);
Dump3x3("BetaMatrix", pBetaMatrix);
// Use the quick and dirty method
// This can result in matrices which are not true transforms
gsl_matrix *pInvertedAlphaMatrix = gsl_matrix_alloc(3, 3);
if (!MatrixInvert3x3(pAlphaMatrix, pInvertedAlphaMatrix))
{
// pAlphaMatrix is singular and therefore is not a true transform
// and cannot be inverted. This probably means it contains at least
// one row or column that contains only zeroes
gsl_matrix_set_identity(pInvertedAlphaMatrix);
ASSDEBUG("CalculateTransformMatrices - Alpha matrix is singular!");
IDMessage(nullptr, "Alpha matrix is singular and cannot be inverted.");
}
else
{
MatrixMatrixMultiply(pBetaMatrix, pInvertedAlphaMatrix, pAlphaToBeta);
Dump3x3("AlphaToBeta", pAlphaToBeta);
if (nullptr != pBetaToAlpha)
{
// Invert the matrix to get the Apparent to Actual transform
if (!MatrixInvert3x3(pAlphaToBeta, pBetaToAlpha))
{
// pAlphaToBeta is singular and therefore is not a true transform
// and cannot be inverted. This probably means it contains at least
// one row or column that contains only zeroes
gsl_matrix_set_identity(pBetaToAlpha);
ASSDEBUG("CalculateTransformMatrices - AlphaToBeta matrix is singular!");
IDMessage(
nullptr,
"Calculated Celestial to Telescope transformation matrix is singular (not a true transform).");
}
Dump3x3("BetaToAlpha", pBetaToAlpha);
}
}
// Clean up
gsl_matrix_free(pInvertedAlphaMatrix);
gsl_matrix_free(pBetaMatrix);
gsl_matrix_free(pAlphaMatrix);
}
} // namespace AlignmentSubsystem
} // namespace INDI
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