Frame (ORbit Extrapolation KIT 10.0 API)

java.lang.Object
- org.orekit.frames.Frame

All Implemented Interfaces:

Serializable

Direct Known Subclasses:

CcsdsModifiedFrame, FactoryManagedFrame, L1Frame, L2Frame, LocalOrbitalFrame, TopocentricFrame, UpdatableFrame, VersionedITRF
```
public class Frame
extends Object
implements Serializable
```
Tridimensional references frames class.
Frame Presentation

This class is the base class for all frames in OREKIT. The frames are linked together in a tree with some specific frame chosen as the root of the tree. Each frame is defined by transforms combining any number of translations and rotations from a reference frame which is its parent frame in the tree structure.

When we say a transform t is from frame_A to frame_B, we mean that if the coordinates of some absolute vector (say the direction of a distant star for example) has coordinates u_A in frame_A and u_B in frame_B, then u_B=t.transformVector(u_A).
The transforms may be constant or varying, depending on the implementation of the transform provider used to define the frame. For simple fixed transforms, using FixedTransformProvider is sufficient. For varying transforms (time-dependent or telemetry-based for example), it may be useful to define specific implementations of transform provider.

Author:

Guylaine Prat, Luc Maisonobe, Pascal Parraud

See Also:

Serialized Form

Constructor Summary

Constructors
Constructor and Description
`Frame(Frame parent, TransformProvider transformProvider, String name)` Build a non-inertial frame from its transform with respect to its parent.
`Frame(Frame parent, TransformProvider transformProvider, String name, boolean pseudoInertial)` Build a frame from its transform with respect to its parent.
`Frame(Frame parent, Transform transform, String name)` Build a non-inertial frame from its transform with respect to its parent.
`Frame(Frame parent, Transform transform, String name, boolean pseudoInertial)` Build a frame from its transform with respect to its parent.

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`Frame`	`getAncestor(int n)` Get the n^th ancestor of the frame.
`int`	`getDepth()` Get the depth of the frame.
`Frame`	`getFrozenFrame(Frame reference, AbsoluteDate freezingDate, String frozenName)` Get a new version of the instance, frozen with respect to a reference frame.
`String`	`getName()` Get the name.
`Frame`	`getParent()` Get the parent frame.
`protected static Frame`	`getRoot()` Get the unique root frame.
`TransformProvider`	`getTransformProvider()` Get the provider for transform from parent frame to instance.
`Transform`	`getTransformTo(Frame destination, AbsoluteDate date)` Get the transform from the instance to another frame.
`<T extends RealFieldElement<T>> FieldTransform<T>`	`getTransformTo(Frame destination, FieldAbsoluteDate<T> date)` Get the transform from the instance to another frame.
`boolean`	`isChildOf(Frame potentialAncestor)` Determine if a Frame is a child of another one.
`boolean`	`isPseudoInertial()` Check if the frame is pseudo-inertial.
`String`	`toString()` New definition of the java.util toString() method.

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

- Constructor Detail
  - Frame
```
public Frame(Frame parent,
             Transform transform,
             String name)
      throws IllegalArgumentException
```
    Build a non-inertial frame from its transform with respect to its parent.
    calling this constructor is equivalent to call {link Frame(parent, transform, name, false).
    
    Parameters:
    
    parent - parent frame (must be non-null)
    
    transform - transform from parent frame to instance
    
    name - name of the frame
    
    Throws:
    
    IllegalArgumentException - if the parent frame is null
  - Frame
```
public Frame(Frame parent,
             TransformProvider transformProvider,
             String name)
      throws IllegalArgumentException
```
    Build a non-inertial frame from its transform with respect to its parent.
    calling this constructor is equivalent to call {link Frame(parent, transform, name, false).
    
    Parameters:
    
    parent - parent frame (must be non-null)
    
    transformProvider - provider for transform from parent frame to instance
    
    name - name of the frame
    
    Throws:
    
    IllegalArgumentException - if the parent frame is null
  - Frame
```
public Frame(Frame parent,
             Transform transform,
             String name,
             boolean pseudoInertial)
      throws IllegalArgumentException
```
    Build a frame from its transform with respect to its parent.
    The convention for the transform is that it is from parent frame to instance. This means that the two following frames are similar:
```
 Frame frame1 = new Frame(FramesFactory.getGCRF(), new Transform(t1, t2));
 Frame frame2 = new Frame(new Frame(FramesFactory.getGCRF(), t1), t2);
 
```
    Parameters:
    
    parent - parent frame (must be non-null)
    
    transform - transform from parent frame to instance
    
    name - name of the frame
    
    pseudoInertial - true if frame is considered pseudo-inertial (i.e. suitable for propagating orbit)
    
    Throws:
    
    IllegalArgumentException - if the parent frame is null
  - Frame
```
public Frame(Frame parent,
             TransformProvider transformProvider,
             String name,
             boolean pseudoInertial)
      throws IllegalArgumentException
```
    Build a frame from its transform with respect to its parent.
    The convention for the transform is that it is from parent frame to instance. This means that the two following frames are similar:
```
 Frame frame1 = new Frame(FramesFactory.getGCRF(), new Transform(t1, t2));
 Frame frame2 = new Frame(new Frame(FramesFactory.getGCRF(), t1), t2);
 
```
    Parameters:
    
    parent - parent frame (must be non-null)
    
    transformProvider - provider for transform from parent frame to instance
    
    name - name of the frame
    
    pseudoInertial - true if frame is considered pseudo-inertial (i.e. suitable for propagating orbit)
    
    Throws:
    
    IllegalArgumentException - if the parent frame is null
- Method Detail
  - getName
```
public String getName()
```
    Get the name.
    
    Returns:
    
    the name
  - isPseudoInertial
```
public boolean isPseudoInertial()
```
    Check if the frame is pseudo-inertial.
    Pseudo-inertial frames are frames that do have a linear motion and either do not rotate or rotate at a very low rate resulting in neglectible inertial forces. This means they are suitable for orbit definition and propagation using Newtonian mechanics. Frames that are not pseudo-inertial are not suitable for orbit definition and propagation.
    
    Returns:
    
    true if frame is pseudo-inertial
  - toString
```
public String toString()
```
    New definition of the java.util toString() method.
    
    Overrides:
    
    toString in class Object
    
    Returns:
    
    the name
  - getParent
```
public Frame getParent()
```
    Get the parent frame.
    
    Returns:
    
    parent frame
  - getDepth
```
public int getDepth()
```
    Get the depth of the frame.
    The depth of a frame is the number of parents frame between it and the frames tree root. It is 0 for the root frame, and the depth of a frame is the depth of its parent frame plus one.
    
    Returns:
    
    depth of the frame
  - getAncestor
```
public Frame getAncestor(int n)
                  throws IllegalArgumentException
```
    Get the n^th ancestor of the frame.
    
    Parameters:
    
    n - index of the ancestor (0 is the instance, 1 is its parent, 2 is the parent of its parent...)
    
    Returns:
    
    n^th ancestor of the frame (must be between 0 and the depth of the frame)
    
    Throws:
    
    IllegalArgumentException - if n is larger than the depth of the instance
  - getTransformTo
```
public Transform getTransformTo(Frame destination,
                                AbsoluteDate date)
```
    Get the transform from the instance to another frame.
    
    Parameters:
    
    destination - destination frame to which we want to transform vectors
    
    date - the date (can be null if it is sure than no date dependent frame is used)
    
    Returns:
    
    transform from the instance to the destination frame
  - getTransformTo
```
public <T extends RealFieldElement<T>> FieldTransform<T> getTransformTo(Frame destination,
                                                                        FieldAbsoluteDate<T> date)
```
    Get the transform from the instance to another frame.
    
    Type Parameters:
    
    T - the type of the field elements
    
    Parameters:
    
    destination - destination frame to which we want to transform vectors
    
    date - the date (can be null if it is sure than no date dependent frame is used)
    
    Returns:
    
    transform from the instance to the destination frame
  - getTransformProvider
```
public TransformProvider getTransformProvider()
```
    Get the provider for transform from parent frame to instance.
    
    Returns:
    
    provider for transform from parent frame to instance
  - isChildOf
```
public boolean isChildOf(Frame potentialAncestor)
```
    Determine if a Frame is a child of another one.
    
    Parameters:
    
    potentialAncestor - supposed ancestor frame
    
    Returns:
    
    true if the potentialAncestor belongs to the path from instance to the root frame, excluding itself
  - getRoot
```
protected static Frame getRoot()
```
    Get the unique root frame.
    
    Returns:
    
    the unique instance of the root frame
  - getFrozenFrame
```
public Frame getFrozenFrame(Frame reference,
                            AbsoluteDate freezingDate,
                            String frozenName)
```
    Get a new version of the instance, frozen with respect to a reference frame.
    Freezing a frame consist in computing its position and orientation with respect to another frame at some freezing date and fixing them so they do not depend on time anymore. This means the frozen frame is fixed with respect to the reference frame.
    
    One typical use of this method is to compute an inertial launch reference frame by freezing a topocentric frame at launch date with respect to an inertial frame. Another use is to freeze an equinox-related celestial frame at a reference epoch date.
    
    Only the frame returned by this method is frozen, the instance by itself is not affected by calling this method and still moves freely.
    
    Parameters:
    
    reference - frame with respect to which the instance will be frozen
    
    freezingDate - freezing date
    
    frozenName - name of the frozen frame
    
    Returns:
    
    a frozen version of the instance

Class Frame

Frame Presentation

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Constructor Detail

Frame

Frame

Frame

Frame

Method Detail

getName

isPseudoInertial

toString

getParent

getDepth

getAncestor

getTransformTo

getTransformTo

getTransformProvider

isChildOf

getRoot

getFrozenFrame