mockingbirdnest · Nov 3, 2021 · Nov 3, 2021 · Nov 3, 2021 · Nov 4, 2021 · Nov 4, 2021
Showing with 97 additions and 62 deletions.

+33 −28 ksp_plugin/plugin.cpp

+22 −15 ksp_plugin/plugin.hpp

+2 −1 ksp_plugin/vessel.cpp

+29 −7 ksp_plugin_test/plugin_test.cpp

+5 −5 physics/discrete_trajectory_segment.hpp

+6 −6 physics/discrete_trajectory_segment_body.hpp
diff --git a/ksp_plugin/plugin.cpp b/ksp_plugin/plugin.cpp
@@ -165,7 +165,7 @@ void Plugin::InsertCelestialJacobiKeplerian(
 }
 
 void Plugin::InitializeDownsamplingParameters(
-    DiscreteTrajectory<Barycentric>::DownsamplingParameters const&
+    DiscreteTrajectorySegment<Barycentric>::DownsamplingParameters const&
         downsampling_parameters) {
   CHECK(initializing_);
   history_downsampling_parameters_ = downsampling_parameters;
@@ -789,7 +789,7 @@ void Plugin::CatchUpLaggingVessels(VesselSet& collided_vessels) {
 
   // Update the vessels.
   for (auto const& [_, vessel] : vessels_) {
-    if (vessel->psychohistory().back().time < current_time_) {
+    if (vessel->psychohistory()->back().time < current_time_) {
       if (Contains(collided_vessels, vessel.get())) {
         vessel->DisableDownsampling();
       }
@@ -856,7 +856,7 @@ RelativeDegreesOfFreedom<AliceSun> Plugin::VesselFromParent(
     vessel->set_parent(parent);
   }
   RelativeDegreesOfFreedom<Barycentric> const barycentric_result =
-      vessel->psychohistory().back().degrees_of_freedom -
+      vessel->psychohistory()->back().degrees_of_freedom -
       vessel->parent()->current_degrees_of_freedom(current_time_);
   RelativeDegreesOfFreedom<AliceSun> const result =
       PlanetariumRotation()(barycentric_result);
@@ -902,14 +902,14 @@ void Plugin::UpdatePrediction(std::vector<GUID> const& vessel_guids) const {
   }
   Vessel* target_vessel = nullptr;
 
-  // If there is a target vessel, ensure that the prediction of the |vessels| is
-  // not longer than that of the target vessel.  This is necessary to build the
-  // targeting frame.
+  // If there is a target vessel, ensure that the prediction of the
+  // |predicted_vessels| is not longer than that of the target vessel.  This is
+  // necessary to build the targeting frame.
   if (renderer_->HasTargetVessel()) {
     target_vessel = &renderer_->GetTargetVessel();
     target_vessel->RefreshPrediction();
     for (auto const vessel : predicted_vessels) {
-      vessel->RefreshPrediction(target_vessel->prediction().back().time);
+      vessel->RefreshPrediction(target_vessel->prediction()->back().time);
     }
   } else {
     for (auto const vessel : predicted_vessels) {
@@ -939,15 +939,17 @@ void Plugin::CreateFlightPlan(GUID const& vessel_guid,
 
 void Plugin::ComputeAndRenderApsides(
     Index const celestial_index,
-    DiscreteTrajectory<Barycentric>::Iterator const& begin,
-    DiscreteTrajectory<Barycentric>::Iterator const& end,
+    DiscreteTraject0ry<Barycentric> const& trajectory,
+    DiscreteTraject0ry<Barycentric>::iterator const& begin,
+    DiscreteTraject0ry<Barycentric>::iterator const& end,
     Position<World> const& sun_world_position,
     int const max_points,
-    std::unique_ptr<DiscreteTrajectory<World>>& apoapsides,
-    std::unique_ptr<DiscreteTrajectory<World>>& periapsides) const {
-  DiscreteTrajectory<Barycentric> apoapsides_trajectory;
-  DiscreteTrajectory<Barycentric> periapsides_trajectory;
+    DiscreteTraject0ry<World>& apoapsides,
+    DiscreteTraject0ry<World>& periapsides) const {
+  DiscreteTraject0ry<Barycentric> apoapsides_trajectory;
+  DiscreteTraject0ry<Barycentric> periapsides_trajectory;
   ComputeApsides(FindOrDie(celestials_, celestial_index)->trajectory(),
+                 trajectory,
                  begin,
                  end,
                  max_points,
@@ -968,16 +970,18 @@ void Plugin::ComputeAndRenderApsides(
 }
 
 void Plugin::ComputeAndRenderClosestApproaches(
-    DiscreteTrajectory<Barycentric>::Iterator const& begin,
-    DiscreteTrajectory<Barycentric>::Iterator const& end,
+    DiscreteTraject0ry<Barycentric> const& trajectory,
+    DiscreteTraject0ry<Barycentric>::iterator const& begin,
+    DiscreteTraject0ry<Barycentric>::iterator const& end,
     Position<World> const& sun_world_position,
     int const max_points,
-    std::unique_ptr<DiscreteTrajectory<World>>& closest_approaches) const {
+    DiscreteTraject0ry<World>& closest_approaches) const {
   CHECK(renderer_->HasTargetVessel());
 
-  DiscreteTrajectory<Barycentric> apoapsides_trajectory;
-  DiscreteTrajectory<Barycentric> periapsides_trajectory;
-  ComputeApsides(renderer_->GetTargetVessel().prediction(),
+  DiscreteTraject0ry<Barycentric> apoapsides_trajectory;
+  DiscreteTraject0ry<Barycentric> periapsides_trajectory;
+  ComputeApsides(*renderer_->GetTargetVessel().prediction(),
+                 trajectory,
                  begin,
                  end,
                  max_points,
@@ -993,12 +997,12 @@ void Plugin::ComputeAndRenderClosestApproaches(
 }
 
 void Plugin::ComputeAndRenderNodes(
-    DiscreteTrajectory<Barycentric>::Iterator const& begin,
-    DiscreteTrajectory<Barycentric>::Iterator const& end,
+    DiscreteTraject0ry<Barycentric>::iterator const& begin,
+    DiscreteTraject0ry<Barycentric>::iterator const& end,
     Position<World> const& sun_world_position,
     int const max_points,
-    std::unique_ptr<DiscreteTrajectory<World>>& ascending,
-    std::unique_ptr<DiscreteTrajectory<World>>& descending) const {
+    DiscreteTraject0ry<World>& ascending,
+    DiscreteTraject0ry<World>& descending) const {
   auto const trajectory_in_plotting =
       renderer_->RenderBarycentricTrajectoryInPlotting(begin, end);
 
@@ -1019,11 +1023,12 @@ void Plugin::ComputeAndRenderNodes(
     return (dof.position() - Navigation::origin).Norm() < threshold;
   };
 
-  DiscreteTrajectory<Navigation> ascending_trajectory;
-  DiscreteTrajectory<Navigation> descending_trajectory;
+  DiscreteTraject0ry<Navigation> ascending_trajectory;
+  DiscreteTraject0ry<Navigation> descending_trajectory;
   // The so-called North is orthogonal to the plane of the trajectory.
-  ComputeNodes(trajectory_in_plotting->begin(),
-               trajectory_in_plotting->end(),
+  ComputeNodes(trajectory_in_plotting,
+               trajectory_in_plotting.begin(),
+               trajectory_in_plotting.end(),
                Vector<double, Navigation>({0, 0, 1}),
                max_points,
                ascending_trajectory,
@@ -1269,7 +1274,7 @@ Velocity<World> Plugin::UnmanageableVesselVelocity(
 
 Velocity<World> Plugin::VesselVelocity(GUID const& vessel_guid) const {
   Vessel const& vessel = *FindOrDie(vessels_, vessel_guid);
-  auto const back = vessel.psychohistory().back();
+  auto const back = vessel.psychohistory()->back();
   return VesselVelocity(back.time, back.degrees_of_freedom);
 }
 

diff --git a/ksp_plugin/plugin.hpp b/ksp_plugin/plugin.hpp
@@ -29,7 +29,8 @@
 #include "integrators/ordinary_differential_equations.hpp"
 #include "physics/body.hpp"
 #include "physics/degrees_of_freedom.hpp"
-#include "physics/discrete_trajectory.hpp"
+#include "physics/discrete_traject0ry.hpp"
+#include "physics/discrete_trajectory_segment.hpp"
 #include "physics/dynamic_frame.hpp"
 #include "physics/ephemeris.hpp"
 #include "physics/frame_field.hpp"
@@ -45,6 +46,9 @@
 
 namespace principia {
 namespace ksp_plugin {
+
+class TestablePlugin;
+
 namespace internal_plugin {
 
 using base::not_null;
@@ -67,7 +71,8 @@ using integrators::FixedStepSizeIntegrator;
 using integrators::AdaptiveStepSizeIntegrator;
 using physics::Body;
 using physics::DegreesOfFreedom;
-using physics::DiscreteTrajectory;
+using physics::DiscreteTraject0ry;
+using physics::DiscreteTrajectorySegment;
 using physics::DynamicFrame;
 using physics::Ephemeris;
 using physics::FrameField;
@@ -127,7 +132,7 @@ class Plugin {
       serialization::InitialState::Keplerian::Body const& initial_state);
 
   virtual void InitializeDownsamplingParameters(
-      DiscreteTrajectory<Barycentric>::DownsamplingParameters const&
+      DiscreteTrajectorySegment<Barycentric>::DownsamplingParameters const&
           downsampling_parameters);
   virtual void InitializeEphemerisParameters(
       Ephemeris<Barycentric>::AccuracyParameters const& accuracy_parameters,
@@ -345,31 +350,33 @@ class Plugin {
   // respect to the celestial with index |celestial_index|.
   virtual void ComputeAndRenderApsides(
       Index celestial_index,
-      DiscreteTrajectory<Barycentric>::Iterator const& begin,
-      DiscreteTrajectory<Barycentric>::Iterator const& end,
+      DiscreteTraject0ry<Barycentric> const& trajectory,
+      DiscreteTraject0ry<Barycentric>::iterator const& begin,
+      DiscreteTraject0ry<Barycentric>::iterator const& end,
       Position<World> const& sun_world_position,
       int max_points,
-      std::unique_ptr<DiscreteTrajectory<World>>& apoapsides,
-      std::unique_ptr<DiscreteTrajectory<World>>& periapsides) const;
+      DiscreteTraject0ry<World>& apoapsides,
+      DiscreteTraject0ry<World>& periapsides) const;
 
   // Computes the closest approaches of the trajectory defined by |begin| and
   // |end| with respect to the trajectory of the targetted vessel.
   virtual void ComputeAndRenderClosestApproaches(
-      DiscreteTrajectory<Barycentric>::Iterator const& begin,
-      DiscreteTrajectory<Barycentric>::Iterator const& end,
+      DiscreteTraject0ry<Barycentric> const& trajectory,
+      DiscreteTraject0ry<Barycentric>::iterator const& begin,
+      DiscreteTraject0ry<Barycentric>::iterator const& end,
       Position<World> const& sun_world_position,
       int max_points,
-      std::unique_ptr<DiscreteTrajectory<World>>& closest_approaches) const;
+      DiscreteTraject0ry<World>& closest_approaches) const;
 
   // Computes the nodes of the trajectory defined by |begin| and |end| with
   // respect to plane of the trajectory of the targetted vessel.
   virtual void ComputeAndRenderNodes(
-      DiscreteTrajectory<Barycentric>::Iterator const& begin,
-      DiscreteTrajectory<Barycentric>::Iterator const& end,
+      DiscreteTraject0ry<Barycentric>::iterator const& begin,
+      DiscreteTraject0ry<Barycentric>::iterator const& end,
       Position<World> const& sun_world_position,
       int max_points,
-      std::unique_ptr<DiscreteTrajectory<World>>& ascending,
-      std::unique_ptr<DiscreteTrajectory<World>>& descending) const;
+      DiscreteTraject0ry<World>& ascending,
+      DiscreteTraject0ry<World>& descending) const;
 
   virtual bool HasCelestial(Index index) const;
   virtual Celestial const& GetCelestial(Index index) const;
@@ -515,7 +522,7 @@ class Plugin {
   std::unique_ptr<Ephemeris<Barycentric>> ephemeris_;
 
   // The parameters for computing the various trajectories.
-  DiscreteTrajectory<Barycentric>::DownsamplingParameters
+  DiscreteTrajectorySegment<Barycentric>::DownsamplingParameters
       history_downsampling_parameters_;
   Ephemeris<Barycentric>::FixedStepParameters history_fixed_step_parameters_;
   Ephemeris<Barycentric>::AdaptiveStepParameters psychohistory_parameters_;

diff --git a/ksp_plugin/vessel.cpp b/ksp_plugin/vessel.cpp
@@ -490,7 +490,8 @@ not_null<std::unique_ptr<Vessel>> Vessel::ReadFromMessage(
   }
 
   if (is_pre_陈景润) {
-    vessel->history_->SetDownsampling(DefaultDownsamplingParameters());
+    vessel->history_->SetDownsamplingUnconditionally(
+        DefaultDownsamplingParameters());
   }
 
   if (message.has_flight_plan()) {

diff --git a/ksp_plugin_test/plugin_test.cpp b/ksp_plugin_test/plugin_test.cpp
@@ -19,7 +19,9 @@
 #include "base/serialization.hpp"
 #include "geometry/identity.hpp"
 #include "geometry/named_quantities.hpp"
+#include "geometry/orthogonal_map.hpp"
 #include "geometry/permutation.hpp"
+#include "geometry/rotation.hpp"
 #include "gmock/gmock.h"
 #include "gtest/gtest.h"
 #include "integrators/methods.hpp"
@@ -28,6 +30,7 @@
 #include "integrators/symplectic_runge_kutta_nyström_integrator.hpp"
 #include "ksp_plugin/integrators.hpp"
 #include "physics/continuous_trajectory.hpp"
+#include "physics/degrees_of_freedom.hpp"
 #include "physics/kepler_orbit.hpp"
 #include "physics/massive_body.hpp"
 #include "physics/mock_dynamic_frame.hpp"
@@ -46,7 +49,6 @@
 
 namespace principia {
 namespace ksp_plugin {
-namespace internal_plugin {
 
 using astronomy::ICRS;
 using astronomy::ParseTT;
@@ -56,11 +58,17 @@ using base::not_null;
 using base::SerializeAsBytes;
 using geometry::AngularVelocity;
 using geometry::Bivector;
+using geometry::Displacement;
 using geometry::Identity;
+using geometry::Instant;
 using geometry::OddPermutation;
+using geometry::OrthogonalMap;
 using geometry::Permutation;
 using geometry::RigidTransformation;
+using geometry::Rotation;
 using geometry::Trivector;
+using geometry::Vector;
+using geometry::Velocity;
 using integrators::IntegrationProblem;
 using integrators::MockFixedStepSizeIntegrator;
 using integrators::SymmetricLinearMultistepIntegrator;
@@ -72,10 +80,12 @@ using physics::KeplerOrbit;
 using physics::MassiveBody;
 using physics::MockDynamicFrame;
 using physics::MockEphemeris;
+using physics::RelativeDegreesOfFreedom;
 using physics::RigidMotion;
 using physics::SolarSystem;
 using quantities::Abs;
 using quantities::Acceleration;
+using quantities::Angle;
 using quantities::AngularFrequency;
 using quantities::ArcTan;
 using quantities::Cos;
@@ -84,12 +94,15 @@ using quantities::GravitationalParameter;
 using quantities::Length;
 using quantities::Sin;
 using quantities::Sqrt;
+using quantities::Time;
 using quantities::astronomy::AstronomicalUnit;
 using quantities::si::Day;
 using quantities::si::Degree;
 using quantities::si::Hour;
 using quantities::si::Kilo;
 using quantities::si::Kilogram;
+using quantities::si::Metre;
+using quantities::si::Milli;
 using quantities::si::Minute;
 using quantities::si::Newton;
 using quantities::si::Radian;
@@ -418,10 +431,7 @@ TEST_F(PluginTest, Serialization) {
 
   serialization::Plugin message;
   plugin->WriteToMessage(&message);
-  plugin = Plugin::ReadFromMessage(message);
-  serialization::Plugin second_message;
-  plugin->WriteToMessage(&second_message);
-  EXPECT_THAT(message, EqualsProto(second_message));
+
   EXPECT_EQ(SolarSystemFactory::LastMajorBody - SolarSystemFactory::Sun + 1,
             message.celestial_size());
 
@@ -437,7 +447,7 @@ TEST_F(PluginTest, Serialization) {
   EXPECT_TRUE(message.vessel(0).vessel().has_flight_plan());
   EXPECT_TRUE(message.vessel(0).vessel().has_history());
   auto const& vessel_0_history = message.vessel(0).vessel().history();
-  EXPECT_EQ(7, vessel_0_history.zfp().timeline_size());
+  EXPECT_EQ(7, vessel_0_history.segment(0).zfp().timeline_size());
   EXPECT_TRUE(message.has_renderer());
   EXPECT_TRUE(message.renderer().has_plotting_frame());
   EXPECT_TRUE(message.renderer().plotting_frame().HasExtension(
@@ -446,6 +456,19 @@ TEST_F(PluginTest, Serialization) {
             message.renderer().plotting_frame().GetExtension(
                 serialization::BodyCentredNonRotatingDynamicFrame::extension).
                     centre());
+
+  plugin = Plugin::ReadFromMessage(message);
+  serialization::Plugin second_message;
+  plugin->WriteToMessage(&second_message);
+
+  // The zfp serialization is not idempotent because we exactly preserve the
+  // bounds of each segment.  Ignore it for the purposes of comparing the
+  // messages.
+  message.mutable_vessel(0)->mutable_vessel()
+      ->mutable_history()->mutable_segment(0)->clear_zfp();
+  second_message.mutable_vessel(0)->mutable_vessel()
+      ->mutable_history()->mutable_segment(0)->clear_zfp();
+  EXPECT_THAT(message, EqualsProto(second_message));
 }
 
 TEST_F(PluginTest, Initialization) {
@@ -965,6 +988,5 @@ TEST_F(PluginTest, Frenet) {
       AlmostEquals(alice_sun_to_world(satellite_initial_velocity_), 7, 83));
 }
 
-}  // namespace internal_plugin
 }  // namespace ksp_plugin
 }  // namespace principia
diff --git a/physics/discrete_trajectory_segment.hpp b/physics/discrete_trajectory_segment.hpp
@@ -106,6 +106,11 @@ class DiscreteTrajectorySegment : public Trajectory<Frame> {
   // within the desired tolerance.
   void SetDownsampling(DownsamplingParameters const& downsampling_parameters);
 
+  // Same as above, but can be used on a nontrivial segment.  Use exclusively
+  // for compatibility deserialization.
+  void SetDownsamplingUnconditionally(
+      DownsamplingParameters const& downsampling_parameters);
+
   // Clear the downsampling parameters.  From now on, all points appended to the
   // segment are going to be retained.
   void ClearDownsampling();
@@ -148,11 +153,6 @@ class DiscreteTrajectorySegment : public Trajectory<Frame> {
   void ForgetBefore(Instant const& t);
   void ForgetBefore(typename Timeline::const_iterator end);
 
-  // Same as |SetDownsampling|, but can be used on a nontrivial segment.  Used
-  // for compatibility deserialization.
-  void SetDownsamplingUnconditionally(
-      DownsamplingParameters const& downsampling_parameters);
-
   // Computes |number_of_dense_points_| based on the start of the dense
   // timeline.  Used for compatibility deserialization.
   void SetStartOfDenseTimeline(Instant const& t);