/* * Copyright (C) 1998 by Southwest Research Institute (SwRI) * * All rights reserved under U.S. Copyright Law and International Conventions. * * The development of this Software was supported by contracts NAG5-3148, * NAG5-6855, NAS8-36840, NAG5-2323, and NAG5-7043 issued on behalf of * the United States Government by its National Aeronautics and Space * Administration. Southwest Research Institute grants to the Government, * and others acting on its behalf, a paid-up nonexclusive, irrevocable, * worldwide license to reproduce, prepare derivative works, and perform * publicly and display publicly, by or on behalf of the Government. * Other than those rights granted to the United States Government, no part * of this Software may be reproduced in any form or by any means, electronic * or mechanical, including photocopying, without permission in writing from * Southwest Research Institute. All inquiries should be addressed to: * * Director of Contracts * Southwest Research Institute * P. O. Drawer 28510 * San Antonio, Texas 78228-0510 * * * Use of this Software is governed by the terms of the end user license * agreement, if any, which accompanies or is included with the Software * (the "License Agreement"). An end user will be unable to install any * Software that is accompanied by or includes a License Agreement, unless * the end user first agrees to the terms of the License Agreement. Except * as set forth in the applicable License Agreement, any further copying, * reproduction or distribution of this Software is expressly prohibited. * Installation assistance, product support and maintenance, if any, of the * Software is available from SwRI and/or the Third Party Providers, as the * case may be. * * Disclaimer of Warranty * * SOFTWARE IS WARRANTED, IF AT ALL, IN ACCORDANCE WITH THESE TERMS OF THE * LICENSE AGREEMENT. UNLESS OTHERWISE EXPLICITLY STATED, THIS SOFTWARE IS * PROVIDED "AS IS", IS EXPERIMENTAL, AND IS FOR NON-COMMERCIAL USE ONLY, * AND ALL EXPRESS OR IMPLIED CONDITIONS, REPRESENTATIONS AND WARRANTIES, * INCLUDING ANY IMPLIED WARRANTY OF MERCHANTABILITY, FITNESS FOR A PARTICULAR * PURPOSE, OR NON-INFRINGEMENT, ARE DISCLAIMED, EXCEPT TO THE EXTENT THAT * SUCH DISCLAIMERS ARE HELD TO BE LEGALLY INVALID. * * Limitation of Liability * * SwRI SHALL NOT BE LIABLE FOR ANY DAMAGES SUFFERED AS A RESULT OF USING, * MODIFYING, CONTRIBUTING, COPYING, DISTRIBUTING, OR DOWNLOADING THIS * SOFTWARE. IN NO EVENT SHALL SwRI BE LIABLE FOR ANY INDIRECT, PUNITIVE, * SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGE (INCLUDING LOSS OF BUSINESS, * REVENUE, PROFITS, USE, DATA OR OTHER ECONOMIC ADVANTAGE) HOWEVER IT ARISES, * WHETHER FOR BREACH OF IN TORT, EVEN IF SwRI HAS BEEN PREVIOUSLY ADVISED OF * THE POSSIBILITY OF SUCH DAMAGE. YOU HAVE SOLE RESPONSIBILITY FOR ADEQUATE * PROTECTION AND BACKUP OF DATA AND/OR EQUIPMENT USED IN CONNECTION WITH THE * SOFTWARE AND WILL NOT MAKE A CLAIM AGAINST SwRI FOR LOST DATA, RE-RUN TIME, * INACCURATE OUTPUT, WORK DELAYS OR LOST PROFITS RESULTING FROM THE USE OF * THIS SOFTWARE. YOU AGREE TO HOLD SwRI HARMLESS FROM, AND YOU COVENANT NOT * TO SUE SwRI FOR, ANY CLAIMS BASED ON USING THE SOFTWARE. * * Local Laws: Export Control * * You acknowledge and agree this Software is subject to the U.S. Export * Administration Laws and Regulations. Diversion of such Software contrary * to U.S. law is prohibited. You agree that none of the Software, nor any * direct product therefrom, is being or will be acquired for, shipped, * transferred, or reexported, directly or indirectly, to proscribed or * embargoed countries or their nationals, nor be used for nuclear activities, * chemical biological weapons, or missile projects unless authorized by U.S. * Government. Proscribed countries are set forth in the U.S. Export * Administration Regulations. Countries subject to U.S embargo are: Cuba, * Iran, Iraq, Libya, North Korea, Syria, and the Sudan. This list is subject * to change without further notice from SwRI, and you must comply with the * list as it exists in fact. You certify that you are not on the U.S. * Department of Commerce's Denied Persons List or affiliated lists or on the * U.S. Department of Treasury's Specially Designated Nationals List. You agree * to comply strictly with all U.S. export laws and assume sole responsibilities * for obtaining licenses to export or reexport as may be required. * * General * * These Terms represent the entire understanding relating to the use of the * Software and prevail over any prior or contemporaneous, conflicting or * additional, communications. SwRI can revise these Terms at any time * without notice by updating this posting. * * Trademarks * * The SwRI logo is a trademark of SwRI in the United States and other countries. * */ #ident "@(#) $Id: constant_euler.c 20594 2009-12-08 22:22:03Z carrie $ SwRI" #include "libbase_idfs.h" #include "ret_codes.h" /**************************************************************************** * * * IR_CONSTANT_EULER_ANGLES SUBROUTINE * * * * DESCRIPTION * * This routine is called in order to return the euler angles for a * * a given sensor. The same euler angle value is returned for each * * element of the sweep in the parent data source. The time range for * * each sweep step is computed and returned. * * * * INPUT VARIABLES * * SDDAS_CHAR full_swp flag that indicates if 1 value is being * * requested or all values for the record (for * * a scalar parameter only) * * SDDAS_SHORT sensor the sensor for which data is requested * * void *idf_data_ptr ptr to the memory location for the structure * * that holds returned data values (read_drec) * * * * USAGE * * x = ir_constant_euler_angles (full_swp, sensor, idf_data_ptr) * * * * NECESSARY SUBPROGRAMS * * None * * * * EXTERNAL VARIABLES * * struct general_info structure that holds information concerning * * ginfo the experiment that is being processed * * * * INTERNAL VARIABLES * * struct idf_data structure that holds all of the currently * * *EXP_DATA returned data values to be processed * * struct experiment_info a pointer to the structure that holds * * *ex specific experiment information * * struct ptr_rec *ptr a pointer to the structure which holds all * * pointers to the header and data for the * * experiment of interest * * struct euler_info a pointer to the structure that holds euler * * *pmi_ptr angle information * * struct transformation_info *trans_ptr ptr to transformation structure* * register SDDAS_SHORT i looping variable * * SDDAS_FLOAT *ret_data pointer to the returned euler angles * * SDDAS_LONG offset indexing variable * * SDDAS_USHORT max_ele the number of elements in the sweep * * SDDAS_USHORT swp_step current step of the sweep being processed * * SDDAS_USHORT n_sample the number of samples returned for each sensor* * SDDAS_SHORT *ret_rot_axis ptr to the returned euler rotation axis * * SDDAS_SHORT num_pmi_angles number of euler angles to return * * * * SUBSYSTEM * * Display Level * * * ***************************************************************************/ SDDAS_SHORT ir_constant_euler_angles (SDDAS_CHAR full_swp, SDDAS_SHORT sensor, void *idf_data_ptr) { extern struct general_info ginfo; struct idf_data *EXP_DATA; struct experiment_info *ex; struct ptr_rec *ptr; struct euler_info *pmi_ptr; struct transformation_info *trans_ptr; register SDDAS_SHORT i; SDDAS_FLOAT *ret_data; SDDAS_LONG offset; SDDAS_USHORT max_ele, swp_step, n_sample; SDDAS_SHORT *ret_rot_axis, num_pmi_angles; /***********************************************************************/ /* Set a pointer to the structure which holds all pointers for header */ /* and data information for the experiment currently being processed. */ /***********************************************************************/ ex = ginfo.expt; ptr = ex->info_ptr; pmi_ptr = ex->euler_angles; num_pmi_angles = pmi_ptr->num_pmi_angles; /****************************************************************************/ /* No need to make sure data structure is correct type or that the header */ /* format is correct since this module is indirectly called by read_drec() */ /* which checks for this issue. */ /****************************************************************************/ EXP_DATA = (struct idf_data *) idf_data_ptr; trans_ptr = EXP_DATA->idfs_transformation; /***************************************************************************/ /* File_status will be set to an error code IF the euler angle constants */ /* are not defined in the VIDF file. Instead of being a "hard error", */ /* it simply means no euler angles are returned. */ /***************************************************************************/ if (pmi_ptr->file_status != ALL_OKAY) { trans_ptr->num_euler = 0; return (ALL_OKAY); } /************************************************************************/ /* For a full swp, max_ele is not just set to N_SAMPLE because the user */ /* could have asked for one at a time and then changed to a full swp to */ /* get the remainder of the elements. */ /************************************************************************/ n_sample = *ptr->hdr_fmt1_ptr->N_SAMPLE; max_ele = (ex->smp_id == 2 && !full_swp) ? 1 : n_sample - ptr->time_row; /*********************************************************************/ /* Return each defined euler angle for each element of the sweep. */ /*********************************************************************/ ret_data = trans_ptr->euler_angles; for (swp_step = 0; swp_step < max_ele; ++swp_step) { /*********************************************************************/ /* Return angles for each defined euler angle (num_pmi_angles) for */ /* the current step being processed. */ /*********************************************************************/ offset = 0; for (i = 0; i < num_pmi_angles; ++i, ++ret_data) { *ret_data = *(pmi_ptr->euler_angle + offset + sensor); offset += ex->num_sensor; } } /*************************************************************************/ /* The rotation axes are constant for all steps, so only num_pmi_angles */ /* values are returned. */ /*************************************************************************/ ret_rot_axis = trans_ptr->euler_rot_axis; offset = 0; for (i = 0; i < num_pmi_angles; ++i, ++ret_rot_axis) { *ret_rot_axis = *(pmi_ptr->rot_axis + offset + sensor); offset += ex->num_sensor; } /*************************************************************************/ /* Return the number of euler definitions. The user will have to use */ /* this information in conjunction with EXP_DATA->num_sample since */ /* there are num_euler angles returned for each step. */ /*************************************************************************/ trans_ptr->num_euler = num_pmi_angles; return (ALL_OKAY); }