adapt cobconverter to new camera msg

lasp · Oct 18, 2024 · 9dc25e8 · 9dc25e8
1 parent 1eeb1fe
commit 9dc25e8
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Showing 3 changed files with 8 additions and 10 deletions.
diff --git a/src/fswAlgorithms/opticalNavigation/cobConverter/cobConverter.cpp b/src/fswAlgorithms/opticalNavigation/cobConverter/cobConverter.cpp
@@ -67,7 +67,7 @@ void CobConverter::Reset(uint64_t CurrentSimNanos)
  */
 void CobConverter::UpdateState(uint64_t CurrentSimNanos)
 {
-    CameraConfigMsgPayload cameraSpecs = this->cameraConfigInMsg();
+    CameraModelMsgPayload cameraSpecs = this->cameraConfigInMsg();
     OpNavCOBMsgPayload cobMsgBuffer = this->opnavCOBInMsg();
     NavAttMsgPayload navAttBuffer = this->navAttInMsg();
     EphemerisMsgPayload ephemBuffer = this->ephemInMsg();
@@ -83,7 +83,7 @@ void CobConverter::UpdateState(uint64_t CurrentSimNanos)
         /*! - Extract rotations from relevant messages */
         double CB[3][3];
         double BN[3][3];
-        MRP2C(cameraSpecs.sigma_CB, CB);
+        MRP2C(cameraSpecs.bodyToCameraMrp, CB);
         Eigen::Matrix3d dcm_CB = c2DArray2EigenMatrix3d(CB);
         MRP2C(navAttBuffer.sigma_BN, BN);
         Eigen::Matrix3d dcm_BN = c2DArray2EigenMatrix3d(BN);
@@ -92,7 +92,7 @@ void CobConverter::UpdateState(uint64_t CurrentSimNanos)
 
         /*! - camera parameters */
         double alpha = 0;
-        double fieldOfView = cameraSpecs.fieldOfView;
+        double fieldOfView = cameraSpecs.fieldOfView[0];
         double resolutionX = cameraSpecs.resolution[0];
         double resolutionY = cameraSpecs.resolution[1];
         double pX = 2.*tan(fieldOfView/2.0);
@@ -234,7 +234,7 @@ void CobConverter::UpdateState(uint64_t CurrentSimNanos)
         comMsgBuffer.objectPixelRadius = int(Rc);
         comMsgBuffer.phaseAngle = alphaPA;
         comMsgBuffer.sunDirection = phi;
-        comMsgBuffer.cameraID = cameraSpecs.cameraID;
+        comMsgBuffer.cameraID = cameraSpecs.cameraId;
         comMsgBuffer.timeTag = cobMsgBuffer.timeTag;
         comMsgBuffer.valid = validCOM;
     }

diff --git a/src/fswAlgorithms/opticalNavigation/cobConverter/cobConverter.h b/src/fswAlgorithms/opticalNavigation/cobConverter/cobConverter.h
@@ -25,7 +25,7 @@
 #include "architecture/utilities/avsEigenSupport.h"
 #include "architecture/messaging/messaging.h"
 
-#include "architecture/msgPayloadDefC/CameraConfigMsgPayload.h"
+#include "architecture/msgPayloadDefCpp/CameraModelMsgPayload.h"
 #include "architecture/msgPayloadDefC/NavAttMsgPayload.h"
 #include "architecture/msgPayloadDefC/EphemerisMsgPayload.h"
 #include "architecture/msgPayloadDefCpp/OpNavCOBMsgPayload.h"
@@ -38,6 +38,7 @@
 #include "architecture/utilities/linearAlgebra.h"
 #include "architecture/utilities/avsEigenMRP.h"
 #include "architecture/utilities/bskLogging.h"
+#include "architecture/utilities/macroDefinitions.h"
 
 enum class PhaseAngleCorrectionMethod {NoCorrection, Lambertian, Binary};
 
@@ -78,7 +79,7 @@ class CobConverter: public SysModel {
     Message<OpNavCOMMsgPayload> opnavCOMOutMsg;
     ReadFunctor<OpNavCOBMsgPayload> opnavCOBInMsg;
     ReadFunctor<FilterMsgPayload> opnavFilterInMsg;
-    ReadFunctor<CameraConfigMsgPayload> cameraConfigInMsg;
+    ReadFunctor<CameraModelMsgPayload> cameraConfigInMsg;
     ReadFunctor<NavAttMsgPayload> navAttInMsg;
     ReadFunctor<EphemerisMsgPayload> ephemInMsg;
 

diff --git a/src/fswAlgorithms/opticalNavigation/cobConverter/cobConverter.i b/src/fswAlgorithms/opticalNavigation/cobConverter/cobConverter.i
@@ -33,12 +33,9 @@ from Basilisk.architecture.swig_common_model import *
 
 %include "cobConverter.h"
 
-%include "architecture/msgPayloadDefC/CameraConfigMsgPayload.h"
-struct CameraConfigMsg_C;
+%include "architecture/msgPayloadDefCpp/CameraModelMsgPayload.h"
 %include "architecture/msgPayloadDefC/NavAttMsgPayload.h"
-struct NavAttMsg_C;
 %include "architecture/msgPayloadDefC/EphemerisMsgPayload.h"
-struct EphemerisMsg_C;
 
 %include "architecture/msgPayloadDefCpp/OpNavUnitVecMsgPayload.h"
 %include "architecture/msgPayloadDefCpp/OpNavCOBMsgPayload.h"