[5683] | 1 |
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[5740] | 2 | // Part of BNC, a utility for retrieving decoding and
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| 3 | // converting GNSS data streams from NTRIP broadcasters.
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| 4 | //
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| 5 | // Copyright (C) 2007
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| 6 | // German Federal Agency for Cartography and Geodesy (BKG)
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| 7 | // http://www.bkg.bund.de
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| 8 | // Czech Technical University Prague, Department of Geodesy
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| 9 | // http://www.fsv.cvut.cz
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| 10 | //
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| 11 | // Email: euref-ip@bkg.bund.de
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| 12 | //
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| 13 | // This program is free software; you can redistribute it and/or
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| 14 | // modify it under the terms of the GNU General Public License
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| 15 | // as published by the Free Software Foundation, version 2.
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| 16 | //
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| 17 | // This program is distributed in the hope that it will be useful,
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| 18 | // but WITHOUT ANY WARRANTY; without even the implied warranty of
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| 19 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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| 20 | // GNU General Public License for more details.
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| 21 | //
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| 22 | // You should have received a copy of the GNU General Public License
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| 23 | // along with this program; if not, write to the Free Software
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| 24 | // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
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| 25 |
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| 26 | /* -------------------------------------------------------------------------
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| 27 | * BKG NTRIP Client
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| 28 | * -------------------------------------------------------------------------
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| 29 | *
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| 30 | * Class: t_pppClient
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| 31 | *
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| 32 | * Purpose: PPP Client processing starts here
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| 33 | *
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| 34 | * Author: L. Mervart
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| 35 | *
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| 36 | * Created: 29-Jul-2014
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| 37 | *
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| 38 | * Changes:
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| 39 | *
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| 40 | * -----------------------------------------------------------------------*/
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| 41 |
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[5758] | 42 | #include <QThreadStorage>
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[5740] | 43 |
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[5683] | 44 | #include <iostream>
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| 45 | #include <iomanip>
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| 46 | #include <stdlib.h>
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| 47 | #include <string.h>
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| 48 | #include <stdexcept>
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| 49 |
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[5734] | 50 | #include "pppClient.h"
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[5810] | 51 | #include "pppEphPool.h"
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| 52 | #include "pppObsPool.h"
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[5740] | 53 | #include "bncconst.h"
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| 54 | #include "bncutils.h"
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[5810] | 55 | #include "pppStation.h"
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[5740] | 56 | #include "bncantex.h"
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[5810] | 57 | #include "pppFilter.h"
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[5683] | 58 |
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[5814] | 59 | using namespace BNC_PPP;
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[5683] | 60 | using namespace std;
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| 61 |
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[5758] | 62 | // Global variable holding thread-specific pointers
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[5683] | 63 | //////////////////////////////////////////////////////////////////////////////
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[5758] | 64 | QThreadStorage<t_pppClient*> CLIENTS;
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[5683] | 65 |
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[5758] | 66 | // Static function returning thread-specific pointer
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| 67 | //////////////////////////////////////////////////////////////////////////////
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| 68 | t_pppClient* t_pppClient::instance() {
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| 69 | return CLIENTS.localData();
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| 70 | }
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| 71 |
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[5683] | 72 | // Constructor
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| 73 | //////////////////////////////////////////////////////////////////////////////
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[5810] | 74 | t_pppClient::t_pppClient(const t_pppOptions* opt) {
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[5683] | 75 | _output = 0;
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[5810] | 76 | _opt = new t_pppOptions(*opt);
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[5683] | 77 | _log = new ostringstream();
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[5810] | 78 | _ephPool = new t_pppEphPool();
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[5826] | 79 | _obsPool = new t_pppObsPool();
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[5810] | 80 | _staRover = new t_pppStation();
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| 81 | _filter = new t_pppFilter();
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[5802] | 82 | _tides = new t_tides();
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[5761] | 83 |
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| 84 | if (!_opt->_antexFile.empty()) {
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| 85 | _antex = new bncAntex(_opt->_antexFile.c_str());
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| 86 | }
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| 87 | else {
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| 88 | _antex = 0;
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| 89 | }
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| 90 |
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[5759] | 91 | CLIENTS.setLocalData(this); // CLIENTS takes ownership over "this"
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[5683] | 92 | }
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| 93 |
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| 94 | // Destructor
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| 95 | //////////////////////////////////////////////////////////////////////////////
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[5734] | 96 | t_pppClient::~t_pppClient() {
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[5683] | 97 | delete _log;
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| 98 | delete _opt;
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| 99 | delete _ephPool;
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| 100 | delete _obsPool;
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| 101 | delete _staRover;
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| 102 | delete _antex;
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| 103 | delete _filter;
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[5802] | 104 | delete _tides;
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[5683] | 105 | clearObs();
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| 106 | }
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| 107 |
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| 108 | //
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| 109 | //////////////////////////////////////////////////////////////////////////////
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[5772] | 110 | void t_pppClient::putEphemeris(const t_eph* eph) {
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| 111 | const t_ephGPS* ephGPS = dynamic_cast<const t_ephGPS*>(eph);
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| 112 | const t_ephGlo* ephGlo = dynamic_cast<const t_ephGlo*>(eph);
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| 113 | const t_ephGal* ephGal = dynamic_cast<const t_ephGal*>(eph);
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| 114 | if (ephGPS) {
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| 115 | _ephPool->putEphemeris(new t_ephGPS(*ephGPS));
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| 116 | }
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| 117 | else if (ephGlo) {
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| 118 | _ephPool->putEphemeris(new t_ephGlo(*ephGlo));
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| 119 | }
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| 120 | else if (ephGal) {
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| 121 | _ephPool->putEphemeris(new t_ephGal(*ephGal));
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| 122 | }
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[5683] | 123 | }
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| 124 |
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| 125 | //
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| 126 | //////////////////////////////////////////////////////////////////////////////
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[5779] | 127 | void t_pppClient::putOrbCorrections(const vector<t_orbCorr*>& corr) {
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[5772] | 128 | for (unsigned ii = 0; ii < corr.size(); ii++) {
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[5779] | 129 | _ephPool->putOrbCorrection(new t_orbCorr(*corr[ii]));
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[5683] | 130 | }
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| 131 | }
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| 132 |
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| 133 | //
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| 134 | //////////////////////////////////////////////////////////////////////////////
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[5779] | 135 | void t_pppClient::putClkCorrections(const vector<t_clkCorr*>& corr) {
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[5772] | 136 | for (unsigned ii = 0; ii < corr.size(); ii++) {
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[5779] | 137 | _ephPool->putClkCorrection(new t_clkCorr(*corr[ii]));
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[5683] | 138 | }
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| 139 | }
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| 140 |
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| 141 | //
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| 142 | //////////////////////////////////////////////////////////////////////////////
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[5826] | 143 | void t_pppClient::putBiases(const vector<t_satBias*>& biases) {
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[5772] | 144 | for (unsigned ii = 0; ii < biases.size(); ii++) {
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[5826] | 145 | _obsPool->putBias(new t_satBias(*biases[ii]));
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[5683] | 146 | }
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| 147 | }
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| 148 |
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| 149 | //
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| 150 | //////////////////////////////////////////////////////////////////////////////
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[5823] | 151 | t_irc t_pppClient::prepareObs(const vector<t_satObs*>& satObs,
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[5819] | 152 | vector<t_pppSatObs*>& obsVector, bncTime& epoTime) {
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[5683] | 153 | // Default
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| 154 | // -------
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| 155 | epoTime.reset();
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| 156 |
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| 157 | // Create vector of valid observations
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| 158 | // -----------------------------------
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| 159 | int numValidGPS = 0;
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[5823] | 160 | for (unsigned ii = 0; ii < satObs.size(); ii++) {
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| 161 | char system = satObs[ii]->_prn.system();
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[5683] | 162 | if (system == 'G' || (system == 'R' && OPT->useGlonass())) {
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[5823] | 163 | t_pppSatObs* pppSatObs = new t_pppSatObs(*satObs[ii]);
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| 164 | if (pppSatObs->isValid()) {
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| 165 | obsVector.push_back(pppSatObs);
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| 166 | if (pppSatObs->prn().system() == 'G') {
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[5683] | 167 | ++numValidGPS;
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| 168 | }
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| 169 | }
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| 170 | else {
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[5823] | 171 | delete pppSatObs;
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[5683] | 172 | }
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| 173 | }
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| 174 | }
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| 175 |
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| 176 | // Check whether data are synchronized, compute epoTime
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| 177 | // ----------------------------------------------------
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| 178 | const double MAXSYNC = 0.05; // synchronization limit
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| 179 | double meanDt = 0.0;
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| 180 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
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[5819] | 181 | const t_pppSatObs* satObs = obsVector.at(ii);
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[5683] | 182 | if (epoTime.undef()) {
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| 183 | epoTime = satObs->time();
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| 184 | }
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| 185 | else {
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| 186 | double dt = satObs->time() - epoTime;
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| 187 | if (fabs(dt) > MAXSYNC) {
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[5734] | 188 | LOG << "t_pppClient::prepareObs asynchronous observations" << endl;
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[5740] | 189 | return failure;
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[5683] | 190 | }
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| 191 | meanDt += dt;
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| 192 | }
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| 193 | }
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| 194 |
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[5787] | 195 | if (obsVector.size() > 0) {
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| 196 | epoTime += meanDt / obsVector.size();
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| 197 | }
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| 198 |
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[5740] | 199 | return success;
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[5683] | 200 | }
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| 201 |
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| 202 | // Compute the Bancroft position, check for blunders
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| 203 | //////////////////////////////////////////////////////////////////////////////
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[5740] | 204 | t_irc t_pppClient::cmpBancroft(const bncTime& epoTime,
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[5819] | 205 | vector<t_pppSatObs*>& obsVector,
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[5683] | 206 | ColumnVector& xyzc, bool print) {
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| 207 |
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| 208 | t_lc::type tLC = (OPT->dualFreqRequired() ? t_lc::cIF : t_lc::c1);
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| 209 |
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| 210 | while (true) {
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| 211 | Matrix BB(obsVector.size(), 4);
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| 212 | int iObs = -1;
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| 213 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
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[5819] | 214 | const t_pppSatObs* satObs = obsVector.at(ii);
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[5683] | 215 | if ( satObs->isValid() && satObs->prn().system() == 'G' &&
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[5740] | 216 | (!satObs->modelSet() || satObs->eleSat() >= OPT->_minEle) ) {
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[5683] | 217 | ++iObs;
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| 218 | BB[iObs][0] = satObs->xc()[0];
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| 219 | BB[iObs][1] = satObs->xc()[1];
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| 220 | BB[iObs][2] = satObs->xc()[2];
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| 221 | BB[iObs][3] = satObs->obsValue(tLC) - satObs->cmpValueForBanc(tLC);
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| 222 | }
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| 223 | }
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[5740] | 224 | if (iObs + 1 < OPT->_minObs) {
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[5734] | 225 | LOG << "t_pppClient::cmpBancroft not enough observations" << endl;
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[5740] | 226 | return failure;
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[5683] | 227 | }
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| 228 | BB = BB.Rows(1,iObs+1);
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| 229 | bancroft(BB, xyzc);
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| 230 |
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[5740] | 231 | xyzc[3] /= t_CST::c;
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[5683] | 232 |
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| 233 | // Check Blunders
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| 234 | // --------------
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| 235 | const double BLUNDER = 100.0;
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| 236 | double maxRes = 0.0;
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| 237 | unsigned maxResIndex = 0;
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| 238 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
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[5819] | 239 | const t_pppSatObs* satObs = obsVector.at(ii);
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[5683] | 240 | if ( satObs->isValid() && satObs->prn().system() == 'G' &&
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[5740] | 241 | (!satObs->modelSet() || satObs->eleSat() >= OPT->_minEle) ) {
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[5683] | 242 | ColumnVector rr = satObs->xc().Rows(1,3) - xyzc.Rows(1,3);
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| 243 | double res = rr.norm_Frobenius() - satObs->obsValue(tLC)
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[5740] | 244 | - (satObs->xc()[3] - xyzc[3]) * t_CST::c;
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[5683] | 245 | if (fabs(res) > maxRes) {
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| 246 | maxRes = fabs(res);
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| 247 | maxResIndex = ii;
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| 248 | }
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| 249 | }
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| 250 | }
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| 251 | if (maxRes < BLUNDER) {
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| 252 | if (print) {
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| 253 | LOG.setf(ios::fixed);
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| 254 | LOG << string(epoTime) << " BANCROFT:" << ' '
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| 255 | << setw(14) << setprecision(3) << xyzc[0] << ' '
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| 256 | << setw(14) << setprecision(3) << xyzc[1] << ' '
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| 257 | << setw(14) << setprecision(3) << xyzc[2] << ' '
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[5740] | 258 | << setw(14) << setprecision(3) << xyzc[3] * t_CST::c << endl << endl;
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[5683] | 259 | }
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| 260 | break;
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| 261 | }
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| 262 | else {
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[5819] | 263 | t_pppSatObs* satObs = obsVector.at(maxResIndex);
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[5734] | 264 | LOG << "t_pppClient::cmpBancroft outlier " << satObs->prn().toString()
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[5683] | 265 | << " " << maxRes << endl;
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| 266 | delete satObs;
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| 267 | obsVector.erase(obsVector.begin() + maxResIndex);
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| 268 | }
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| 269 | }
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| 270 |
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[5740] | 271 | return success;
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[5683] | 272 | }
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| 273 |
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| 274 | // Compute A Priori GPS-Glonass Offset
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| 275 | //////////////////////////////////////////////////////////////////////////////
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[5819] | 276 | double t_pppClient::cmpOffGG(vector<t_pppSatObs*>& obsVector) {
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[5683] | 277 |
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| 278 | t_lc::type tLC = (OPT->dualFreqRequired() ? t_lc::cIF : t_lc::c1);
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| 279 | double offGG = 0.0;
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| 280 |
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| 281 | if (OPT->useGlonass()) {
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[5857] | 282 |
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| 283 | while (obsVector.size() > 0) {
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[5683] | 284 | offGG = 0.0;
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[5857] | 285 | double maxRes = 0.0;
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| 286 | int maxResIndex = -1;
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| 287 | unsigned nObs = 0;
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[5683] | 288 | for (unsigned ii = 0; ii < obsVector.size(); ii++) {
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[5819] | 289 | t_pppSatObs* satObs = obsVector.at(ii);
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[5857] | 290 | if ( satObs->isValid() && satObs->prn().system() == 'R' &&
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[5740] | 291 | (!satObs->modelSet() || satObs->eleSat() >= OPT->_minEle) ) {
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[5857] | 292 | double ll = satObs->obsValue(tLC) - satObs->cmpValue(tLC);
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[5683] | 293 | ++nObs;
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[5857] | 294 | offGG += ll;
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| 295 | if (fabs(ll) > maxRes) {
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| 296 | maxRes = fabs(ll);
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| 297 | maxResIndex = ii;
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[5683] | 298 | }
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| 299 | }
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| 300 | }
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[5857] | 301 |
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[5683] | 302 | if (nObs > 0) {
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| 303 | offGG = offGG / nObs;
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| 304 | }
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| 305 | else {
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| 306 | offGG = 0.0;
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| 307 | }
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[5857] | 308 |
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| 309 | if (maxRes > 1000.0) {
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| 310 | obsVector.erase(obsVector.begin() + maxResIndex);
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| 311 | }
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| 312 | else {
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[5683] | 313 | break;
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| 314 | }
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| 315 | }
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| 316 | }
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| 317 |
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| 318 | return offGG;
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| 319 | }
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| 320 |
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| 321 | //
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| 322 | //////////////////////////////////////////////////////////////////////////////
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[5744] | 323 | void t_pppClient::initOutput(t_output* output) {
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[5683] | 324 | _output = output;
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[5740] | 325 | _output->_numSat = 0;
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| 326 | _output->_pDop = 0.0;
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| 327 | _output->_error = false;
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[5683] | 328 | }
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| 329 |
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| 330 | //
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| 331 | //////////////////////////////////////////////////////////////////////////////
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[5734] | 332 | void t_pppClient::clearObs() {
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[5683] | 333 | for (unsigned ii = 0; ii < _obsRover.size(); ii++) {
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| 334 | delete _obsRover.at(ii);
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| 335 | }
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| 336 | _obsRover.clear();
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| 337 | }
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| 338 |
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| 339 | //
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| 340 | //////////////////////////////////////////////////////////////////////////////
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[5740] | 341 | void t_pppClient::finish(t_irc irc) {
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[5683] | 342 |
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| 343 | clearObs();
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| 344 |
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[5740] | 345 | _output->_epoTime = _epoTimeRover;
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[5683] | 346 |
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[5740] | 347 | if (irc == success) {
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[5683] | 348 | _output->_xyzRover[0] = _staRover->xyzApr()[0] + _filter->x()[0];
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| 349 | _output->_xyzRover[1] = _staRover->xyzApr()[1] + _filter->x()[1];
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| 350 | _output->_xyzRover[2] = _staRover->xyzApr()[2] + _filter->x()[2];
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| 351 | copy(&_filter->Q().data()[0], &_filter->Q().data()[6], _output->_covMatrix);
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| 352 | _output->_numSat = _filter->numSat();
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| 353 | _output->_pDop = _filter->PDOP();
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| 354 | _output->_error = false;
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| 355 | }
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| 356 | else {
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| 357 | _output->_error = true;
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| 358 | }
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[5740] | 359 | _output->_log = _log->str();
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[5683] | 360 | delete _log; _log = new ostringstream();
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| 361 | }
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| 362 |
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| 363 | //
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| 364 | //////////////////////////////////////////////////////////////////////////////
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[5810] | 365 | t_irc t_pppClient::cmpModel(t_pppStation* station, const ColumnVector& xyzc,
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[5819] | 366 | vector<t_pppSatObs*>& obsVector) {
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[5683] | 367 |
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[5740] | 368 | bncTime time;
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| 369 | time = _epoTimeRover;
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| 370 | station->setName(OPT->_roverName);
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| 371 | station->setAntName(OPT->_antNameRover);
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| 372 | if (OPT->xyzAprRoverSet()) {
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| 373 | station->setXyzApr(OPT->_xyzAprRover);
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[5683] | 374 | }
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| 375 | else {
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[5740] | 376 | station->setXyzApr(xyzc.Rows(1,3));
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[5683] | 377 | }
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[5740] | 378 | station->setNeuEcc(OPT->_neuEccRover);
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[5683] | 379 |
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| 380 | // Receiver Clock
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| 381 | // --------------
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| 382 | station->setDClk(xyzc[3]);
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| 383 |
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| 384 | // Tides
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| 385 | // -----
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[5802] | 386 | station->setTideDspl( _tides->displacement(time, station->xyzApr()) );
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[5683] | 387 |
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| 388 | // Observation model
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| 389 | // -----------------
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[5819] | 390 | vector<t_pppSatObs*>::iterator it = obsVector.begin();
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[5683] | 391 | while (it != obsVector.end()) {
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[5819] | 392 | t_pppSatObs* satObs = *it;
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[5831] | 393 | if (satObs->isValid()) {
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| 394 | satObs->cmpModel(station);
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| 395 | }
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[5740] | 396 | if (satObs->isValid() && satObs->eleSat() >= OPT->_minEle) {
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[5683] | 397 | ++it;
|
---|
| 398 | }
|
---|
| 399 | else {
|
---|
| 400 | delete satObs;
|
---|
| 401 | it = obsVector.erase(it);
|
---|
| 402 | }
|
---|
| 403 | }
|
---|
| 404 |
|
---|
[5740] | 405 | return success;
|
---|
[5683] | 406 | }
|
---|
| 407 |
|
---|
| 408 | //
|
---|
| 409 | //////////////////////////////////////////////////////////////////////////////
|
---|
[5823] | 410 | void t_pppClient::processEpoch(const vector<t_satObs*>& satObs, t_output* output) {
|
---|
[5683] | 411 |
|
---|
| 412 | try {
|
---|
| 413 | initOutput(output);
|
---|
| 414 |
|
---|
| 415 | // Prepare Observations of the Rover
|
---|
| 416 | // ---------------------------------
|
---|
[5823] | 417 | if (prepareObs(satObs, _obsRover, _epoTimeRover) != success) {
|
---|
[5740] | 418 | return finish(failure);
|
---|
[5683] | 419 | }
|
---|
| 420 |
|
---|
| 421 | LOG << "\nResults of Epoch ";
|
---|
| 422 | if (!_epoTimeRover.undef()) LOG << string(_epoTimeRover);
|
---|
| 423 | LOG << "\n--------------------------------------\n";
|
---|
| 424 |
|
---|
| 425 | for (int iter = 1; iter <= 2; iter++) {
|
---|
| 426 | ColumnVector xyzc(4); xyzc = 0.0;
|
---|
| 427 | bool print = (iter == 2);
|
---|
[5740] | 428 | if (cmpBancroft(_epoTimeRover, _obsRover, xyzc, print) != success) {
|
---|
| 429 | return finish(failure);
|
---|
[5683] | 430 | }
|
---|
[5740] | 431 | if (cmpModel(_staRover, xyzc, _obsRover) != success) {
|
---|
| 432 | return finish(failure);
|
---|
[5683] | 433 | }
|
---|
| 434 | }
|
---|
| 435 |
|
---|
| 436 | _offGG = cmpOffGG(_obsRover);
|
---|
| 437 |
|
---|
| 438 | // Store last epoch of data
|
---|
| 439 | // ------------------------
|
---|
| 440 | _obsPool->putEpoch(_epoTimeRover, _obsRover);
|
---|
| 441 |
|
---|
| 442 | // Process Epoch in Filter
|
---|
| 443 | // -----------------------
|
---|
[5740] | 444 | if (_filter->processEpoch(_obsPool) != success) {
|
---|
| 445 | return finish(failure);
|
---|
[5683] | 446 | }
|
---|
| 447 | }
|
---|
| 448 | catch (Exception& exc) {
|
---|
| 449 | LOG << exc.what() << endl;
|
---|
[5740] | 450 | return finish(failure);
|
---|
[5683] | 451 | }
|
---|
[5825] | 452 | catch (t_except msg) {
|
---|
[5763] | 453 | LOG << msg.what() << endl;
|
---|
[5740] | 454 | return finish(failure);
|
---|
[5683] | 455 | }
|
---|
[5786] | 456 | catch (const char* msg) {
|
---|
| 457 | LOG << msg << endl;
|
---|
| 458 | return finish(failure);
|
---|
| 459 | }
|
---|
[5683] | 460 | catch (...) {
|
---|
| 461 | LOG << "unknown exception" << endl;
|
---|
[5740] | 462 | return finish(failure);
|
---|
[5683] | 463 | }
|
---|
| 464 |
|
---|
[5740] | 465 | return finish(success);
|
---|
[5683] | 466 | }
|
---|
[5740] | 467 |
|
---|
| 468 | //
|
---|
| 469 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 470 | double lorentz(const ColumnVector& aa, const ColumnVector& bb) {
|
---|
| 471 | return aa[0]*bb[0] + aa[1]*bb[1] + aa[2]*bb[2] - aa[3]*bb[3];
|
---|
| 472 | }
|
---|
| 473 |
|
---|
| 474 | //
|
---|
| 475 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 476 | void t_pppClient::bancroft(const Matrix& BBpass, ColumnVector& pos) {
|
---|
| 477 |
|
---|
| 478 | if (pos.Nrows() != 4) {
|
---|
| 479 | pos.ReSize(4);
|
---|
| 480 | }
|
---|
| 481 | pos = 0.0;
|
---|
| 482 |
|
---|
| 483 | for (int iter = 1; iter <= 2; iter++) {
|
---|
| 484 | Matrix BB = BBpass;
|
---|
| 485 | int mm = BB.Nrows();
|
---|
| 486 | for (int ii = 1; ii <= mm; ii++) {
|
---|
| 487 | double xx = BB(ii,1);
|
---|
| 488 | double yy = BB(ii,2);
|
---|
| 489 | double traveltime = 0.072;
|
---|
| 490 | if (iter > 1) {
|
---|
| 491 | double zz = BB(ii,3);
|
---|
| 492 | double rho = sqrt( (xx-pos(1)) * (xx-pos(1)) +
|
---|
| 493 | (yy-pos(2)) * (yy-pos(2)) +
|
---|
| 494 | (zz-pos(3)) * (zz-pos(3)) );
|
---|
| 495 | traveltime = rho / t_CST::c;
|
---|
| 496 | }
|
---|
| 497 | double angle = traveltime * t_CST::omega;
|
---|
| 498 | double cosa = cos(angle);
|
---|
| 499 | double sina = sin(angle);
|
---|
| 500 | BB(ii,1) = cosa * xx + sina * yy;
|
---|
| 501 | BB(ii,2) = -sina * xx + cosa * yy;
|
---|
| 502 | }
|
---|
| 503 |
|
---|
| 504 | Matrix BBB;
|
---|
| 505 | if (mm > 4) {
|
---|
| 506 | SymmetricMatrix hlp; hlp << BB.t() * BB;
|
---|
| 507 | BBB = hlp.i() * BB.t();
|
---|
| 508 | }
|
---|
| 509 | else {
|
---|
| 510 | BBB = BB.i();
|
---|
| 511 | }
|
---|
| 512 | ColumnVector ee(mm); ee = 1.0;
|
---|
| 513 | ColumnVector alpha(mm); alpha = 0.0;
|
---|
| 514 | for (int ii = 1; ii <= mm; ii++) {
|
---|
| 515 | alpha(ii) = lorentz(BB.Row(ii).t(),BB.Row(ii).t())/2.0;
|
---|
| 516 | }
|
---|
| 517 | ColumnVector BBBe = BBB * ee;
|
---|
| 518 | ColumnVector BBBalpha = BBB * alpha;
|
---|
| 519 | double aa = lorentz(BBBe, BBBe);
|
---|
| 520 | double bb = lorentz(BBBe, BBBalpha)-1;
|
---|
| 521 | double cc = lorentz(BBBalpha, BBBalpha);
|
---|
| 522 | double root = sqrt(bb*bb-aa*cc);
|
---|
| 523 |
|
---|
| 524 | Matrix hlpPos(4,2);
|
---|
| 525 | hlpPos.Column(1) = (-bb-root)/aa * BBBe + BBBalpha;
|
---|
| 526 | hlpPos.Column(2) = (-bb+root)/aa * BBBe + BBBalpha;
|
---|
| 527 |
|
---|
| 528 | ColumnVector omc(2);
|
---|
| 529 | for (int pp = 1; pp <= 2; pp++) {
|
---|
| 530 | hlpPos(4,pp) = -hlpPos(4,pp);
|
---|
| 531 | omc(pp) = BB(1,4) -
|
---|
| 532 | sqrt( (BB(1,1)-hlpPos(1,pp)) * (BB(1,1)-hlpPos(1,pp)) +
|
---|
| 533 | (BB(1,2)-hlpPos(2,pp)) * (BB(1,2)-hlpPos(2,pp)) +
|
---|
| 534 | (BB(1,3)-hlpPos(3,pp)) * (BB(1,3)-hlpPos(3,pp)) ) -
|
---|
| 535 | hlpPos(4,pp);
|
---|
| 536 | }
|
---|
| 537 | if ( fabs(omc(1)) > fabs(omc(2)) ) {
|
---|
| 538 | pos = hlpPos.Column(2);
|
---|
| 539 | }
|
---|
| 540 | else {
|
---|
| 541 | pos = hlpPos.Column(1);
|
---|
| 542 | }
|
---|
| 543 | }
|
---|
| 544 | }
|
---|
| 545 |
|
---|