From f34895da488aa32947d7f1de128ceb4c9c900c7f Mon Sep 17 00:00:00 2001
From: Hailong <hailong.zhu@tu-dresden.de>
Date: Wed, 15 Dec 2021 09:44:53 +0100
Subject: [PATCH] - added SRSConversion
---
.idea/gradle.xml | 1 +
.idea/vcs.xml | 1 +
build.gradle | 2 +
models | 2 +-
.../SRSConversion/SRSConversion.java | 53 +++++++++++++------
.../SRSConversion/TestSRSConverter.java | 4 +-
6 files changed, 45 insertions(+), 18 deletions(-)
diff --git a/.idea/gradle.xml b/.idea/gradle.xml
index 69921a0..6b114cd 100644
--- a/.idea/gradle.xml
+++ b/.idea/gradle.xml
@@ -1,5 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
+ <component name="GradleMigrationSettings" migrationVersion="1" />
<component name="GradleSettings">
<option name="linkedExternalProjectsSettings">
<GradleProjectSettings>
diff --git a/.idea/vcs.xml b/.idea/vcs.xml
index 35eb1dd..f1d775c 100644
--- a/.idea/vcs.xml
+++ b/.idea/vcs.xml
@@ -2,5 +2,6 @@
<project version="4">
<component name="VcsDirectoryMappings">
<mapping directory="" vcs="Git" />
+ <mapping directory="$PROJECT_DIR$/models" vcs="Git" />
</component>
</project>
\ No newline at end of file
diff --git a/build.gradle b/build.gradle
index e8895f4..ee7827f 100644
--- a/build.gradle
+++ b/build.gradle
@@ -43,6 +43,8 @@ bootRun{
}
dependencies {
+ implementation 'com.github.weeb-kun:list-utils:1.0.0'
+ implementation 'org.webjars.npm:list-item:1.1.1'
developmentOnly 'org.springframework.boot:spring-boot-devtools'
implementation 'org.eclipse.emf:org.eclipse.emf.ecore:2.+'
implementation 'org.eclipse.emf:org.eclipse.emf.common:2.+'
diff --git a/models b/models
index dd1da1b..51af7a8 160000
--- a/models
+++ b/models
@@ -1 +1 @@
-Subproject commit dd1da1b391da2cd0e9a801d6bb2fb0b1985d4db9
+Subproject commit 51af7a83e036eac7bf619ebe59e7fbbe105318fd
diff --git a/src/main/java/ipos/project/Functionality/SRSConversion/SRSConversion.java b/src/main/java/ipos/project/Functionality/SRSConversion/SRSConversion.java
index 7962b92..f5c3dc6 100644
--- a/src/main/java/ipos/project/Functionality/SRSConversion/SRSConversion.java
+++ b/src/main/java/ipos/project/Functionality/SRSConversion/SRSConversion.java
@@ -16,38 +16,59 @@ public class SRSConversion {
quat_1 is the rotation of the original coordinate system (against ROOT)
quat_2 is the rotation of the desired coordinate system (against ROOT)
*/
- public static void positionInOtherSystem(Position pos, ReferenceSystem ref){
+ public static void switchSRS(Placing pla, ReferenceSystem ref){
IPos_DatamodelFactory datamodelFactory = IPos_DatamodelFactory.eINSTANCE;
-
+ Position pos = pla.getPosition();
Point3D P = (Point3D) pos.getPoint();
- Point3D R1 = (Point3D) pos.getReferenceSystem().getOrigin().getPosition().getPoint();
- Point3D R2 = (Point3D) ref.getOrigin().getPosition().getPoint();
- Quaternion Q1 = (Quaternion) pos.getReferenceSystem().getOrigin().getOrientation();
+
+ Point3D R = (Point3D) ref.getOrigin().getPosition().getPoint();
+ Quaternion Q1 = (Quaternion) pla.getOrientation();
Quaternion Q2 = (Quaternion) ref.getOrigin().getOrientation();
+ String ref_id = ref.getId();
+ String pla_ref_id = pla.getPosition().getReferenceSystem().getId();
Vector_math p1 = new Vector_math(P.getX(), P.getY(), P.getZ());
- Vector_math ref_1 = new Vector_math(R1.getX(), R1.getY(), R1.getZ());
- Vector_math ref_2 = new Vector_math(R2.getX(), R2.getY(), R2.getZ());
+ Vector_math ref_org = new Vector_math(R.getX(), R.getY(), R.getZ());
Quaternion_math quat_1 = new Quaternion_math(Q1.getX(), Q1.getY(), Q1.getZ(), Q1.getW());
Quaternion_math quat_2 = new Quaternion_math(Q2.getX(), Q2.getY(), Q2.getZ(), Q2.getW());
//System.out.println("Quaterion_1: " + quat_1.getX() + ", "+ quat_1.getY() + ", "+ quat_1.getZ() + ", " + quat_1.getW());
//System.out.println("Quaterion_2: " + quat_2.getX() + ", "+ quat_2.getY() + ", "+ quat_2.getZ() + ", " + quat_2.getW());
- //System.out.println("inversed Quaterion_1: " + quat_1.inverse().getX() + ", "+ quat_1.inverse().getY() + ", "+ quat_1.inverse().getZ() + ", " + quat_1.inverse().getW());
- p1.transform(quat_1.inverse());
- //System.out.println("phase 1 transfrom: " + p1.getX() + ", "+ p1.getY() + ", "+ p1.getZ());
- p1.transform(quat_2);
- p1.add(ref_1);
- p1.substract(ref_2);
+ if (ref_id == pla_ref_id) {
+ //System.out.println("inversed Quaterion_1: " + quat_1.inverse().getX() + ", "+ quat_1.inverse().getY() + ", "+ quat_1.inverse().getZ() + ", " + quat_1.inverse().getW());
+ quat_1.mulLeft(quat_2);
+ //System.out.println("phase 1 transfrom: " + p1.getX() + ", "+ p1.getY() + ", "+ p1.getZ());
+ p1.transform(quat_2);
+ p1.add(ref_org);
+ pos.setReferenceSystem(ref.getOrigin().getPosition().getReferenceSystem());
+
+ }
+ else if(ref_id == ref.getOrigin().getPosition().getReferenceSystem().getId()) {
+ //System.out.println("inversed Quaterion_1: " + quat_1.inverse().getX() + ", "+ quat_1.inverse().getY() + ", "+ quat_1.inverse().getZ() + ", " + quat_1.inverse().getW());
+ quat_1.mulLeft(quat_2.inverse());
+
+ //System.out.println("phase 1 transfrom: " + p1.getX() + ", "+ p1.getY() + ", "+ p1.getZ());
+ p1.transform(quat_2.inverse());
+ p1.substract(ref_org);
+ pos.setReferenceSystem(ref);
+ }
+ else {
+ //error message
+ }
+ Q1.setX(quat_1.getX());
+ Q1.setY(quat_1.getY());
+ Q1.setZ(quat_1.getZ());
+ Q1.setW(quat_1.getW());
P.setX(p1.getX());
P.setY(p1.getY());
P.setZ(p1.getZ());
+ pla.setOrientation(Q1);
pos.setPoint(P);
- pos.setReferenceSystem(ref);
+ pla.setPosition(pos);
}
- public static void zoneInOtherSystem(Zone zone, ReferenceSystem ref){
+ /*public static void switchSRSZone(Zone zone, ReferenceSystem ref){
IPos_DatamodelFactory datamodelFactory = IPos_DatamodelFactory.eINSTANCE;
EList spaceList = zone.getSpace();
for (int i = 0; i < spaceList.size(); i++) {
@@ -85,5 +106,5 @@ public class SRSConversion {
new_cod[1] = cod_vec.getY();
new_cod[2] = cod_vec.getZ();
return new_cod;
- }
+ }*/
}
diff --git a/src/main/java/ipos/project/Functionality/SRSConversion/TestSRSConverter.java b/src/main/java/ipos/project/Functionality/SRSConversion/TestSRSConverter.java
index 0407054..81debca 100644
--- a/src/main/java/ipos/project/Functionality/SRSConversion/TestSRSConverter.java
+++ b/src/main/java/ipos/project/Functionality/SRSConversion/TestSRSConverter.java
@@ -13,6 +13,7 @@ public class TestSRSConverter {
Vector_math axis = new Vector_math(1, 0,0);
Point3D testPoint3D = datamodelFactory.createPoint3D();
Position testPosition = datamodelFactory.createPosition();
+ Placing testPlacing = datamodelFactory.createPlacing();
testPoint3D.setX((float) 0);
testPoint3D.setY((float) 1);
@@ -38,6 +39,7 @@ public class TestSRSConverter {
testRef_1.setOrigin(refPlacing_1);
testPosition.setPoint(testPoint3D);
testPosition.setReferenceSystem(testRef_1);
+ testPlacing.setPosition(testPosition);
ReferenceSystem testRef_2 = datamodelFactory.createReferenceSystem();
@@ -63,7 +65,7 @@ public class TestSRSConverter {
System.out.println("Position: refID " + ": " + testPosition.getReferenceSystem().getId());
System.out.println("Position: coord " + ": " + testPosition.getPoint());
- SRSConversion.positionInOtherSystem(testPosition, testRef_2);
+ SRSConversion.switchSRS(testPlacing, testRef_2);
System.out.println("Position: refID " + ": " + testPosition.getReferenceSystem().getId());
System.out.println("Position: coord " + ": " + testPosition.getPoint());
--
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