org.orekit.utils

Class FieldAngularCoordinates<T extends RealFieldElement<T>>

java.lang.Object

org.orekit.utils.FieldAngularCoordinates<T>

Type Parameters:

T - the type of the field elements

Direct Known Subclasses:

TimeStampedFieldAngularCoordinates

public class FieldAngularCoordinates<T extends RealFieldElement<T>>
extends Object

Simple container for rotation / rotation rate pairs, using RealFieldElement.

The state can be slightly shifted to close dates. This shift is based on a simple quadratic model. It is not intended as a replacement for proper attitude propagation but should be sufficient for either small time shifts or coarse accuracy.

This class is the angular counterpart to FieldPVCoordinates.

Instances of this class are guaranteed to be immutable.

Since:

6.0

Author:

Luc Maisonobe

See Also:

AngularCoordinates

Constructor Summary

Constructors

Constructor and Description
FieldAngularCoordinates(Field<T> field, AngularCoordinates ang) Builds a FieldAngularCoordinates from a field and a regular AngularCoordinates.
FieldAngularCoordinates(FieldPVCoordinates<T> u1, FieldPVCoordinates<T> u2, FieldPVCoordinates<T> v1, FieldPVCoordinates<T> v2, double tolerance) Build the rotation that transforms a pair of pv coordinates into another one.
FieldAngularCoordinates(FieldRotation<FieldDerivativeStructure<T>> r) Builds a FieldAngularCoordinates from a FieldRotation<FieldDerivativeStructure>.
FieldAngularCoordinates(FieldRotation<T> rotation, FieldVector3D<T> rotationRate) Builds a rotation/rotation rate pair.
FieldAngularCoordinates(FieldRotation<T> rotation, FieldVector3D<T> rotationRate, FieldVector3D<T> rotationAcceleration) Builds a rotation / rotation rate / rotation acceleration triplet.

Method Summary

Modifier and Type	Method and Description
FieldAngularCoordinates<T>	addOffset(FieldAngularCoordinates<T> offset) Add an offset from the instance.
FieldPVCoordinates<T>	applyTo(FieldPVCoordinates<T> pv) Apply the rotation to a pv coordinates.
FieldPVCoordinates<T>	applyTo(PVCoordinates pv) Apply the rotation to a pv coordinates.
TimeStampedFieldPVCoordinates<T>	applyTo(TimeStampedFieldPVCoordinates<T> pv) Apply the rotation to a pv coordinates.
TimeStampedFieldPVCoordinates<T>	applyTo(TimeStampedPVCoordinates pv) Apply the rotation to a pv coordinates.
static <T extends RealFieldElement<T>> FieldAngularCoordinates<T>	createFromModifiedRodrigues(T[][] r) Convert a modified Rodrigues vector and derivatives to angular coordinates.
static <T extends RealFieldElement<T>> FieldVector3D<T>	estimateRate(FieldRotation<T> start, FieldRotation<T> end, double dt) Estimate rotation rate between two orientations.
static <T extends RealFieldElement<T>> FieldVector3D<T>	estimateRate(FieldRotation<T> start, FieldRotation<T> end, T dt) Estimate rotation rate between two orientations.
static <T extends RealFieldElement<T>> FieldAngularCoordinates<T>	getIdentity(Field<T> field) Fixed orientation parallel with reference frame (identity rotation, zero rotation rate and acceleration).
T[][]	getModifiedRodrigues(double sign) Convert rotation, rate and acceleration to modified Rodrigues vector and derivatives.
FieldRotation<T>	getRotation() Get the rotation.
FieldVector3D<T>	getRotationAcceleration() Get the rotation acceleration.
FieldVector3D<T>	getRotationRate() Get the rotation rate.
FieldAngularCoordinates<T>	revert() Revert a rotation / rotation rate / rotation acceleration triplet.
FieldAngularCoordinates<T>	shiftedBy(double dt) Get a time-shifted state.
FieldAngularCoordinates<T>	shiftedBy(T dt) Get a time-shifted state.
FieldAngularCoordinates<T>	subtractOffset(FieldAngularCoordinates<T> offset) Subtract an offset from the instance.
AngularCoordinates	toAngularCoordinates() Convert to a regular angular coordinates.
FieldRotation<FieldDerivativeStructure<T>>	toDerivativeStructureRotation(int order) Transform the instance to a FieldRotation<FieldDerivativeStructure>.
FieldRotation<FieldUnivariateDerivative1<T>>	toUnivariateDerivative1Rotation() Transform the instance to a FieldRotation<UnivariateDerivative1>.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

FieldAngularCoordinates

public FieldAngularCoordinates(FieldRotation<T> rotation,
                               FieldVector3D<T> rotationRate)

Builds a rotation/rotation rate pair.

Parameters:

rotation - rotation

rotationRate - rotation rate Ω (rad/s)

FieldAngularCoordinates

public FieldAngularCoordinates(FieldRotation<T> rotation,
                               FieldVector3D<T> rotationRate,
                               FieldVector3D<T> rotationAcceleration)

Builds a rotation / rotation rate / rotation acceleration triplet.

Parameters:

rotation - i.e. the orientation of the vehicle

rotationRate - rotation rate rate Ω, i.e. the spin vector (rad/s)

rotationAcceleration - angular acceleration vector dΩ/dt (rad²/s²)

FieldAngularCoordinates

public FieldAngularCoordinates(FieldPVCoordinates<T> u1,
                               FieldPVCoordinates<T> u2,
                               FieldPVCoordinates<T> v1,
                               FieldPVCoordinates<T> v2,
                               double tolerance)

Build the rotation that transforms a pair of pv coordinates into another one.

WARNING! This method requires much more stringent assumptions on its parameters than the similar constructor from the FieldRotation class. As far as the FieldRotation constructor is concerned, the v₂ vector from the second pair can be slightly misaligned. The FieldRotation constructor will compensate for this misalignment and create a rotation that ensure v₁ = r(u₁) and v₂ ∈ plane (r(u₁), r(u₂)). THIS IS NOT TRUE ANYMORE IN THIS CLASS! As derivatives are involved and must be preserved, this constructor works only if the two pairs are fully consistent, i.e. if a rotation exists that fulfill all the requirements: v₁ = r(u₁), v₂ = r(u₂), dv₁/dt = dr(u₁)/dt, dv₂/dt = dr(u₂)/dt, d²v₁/dt² = d²r(u₁)/dt², d²v₂/dt² = d²r(u₂)/dt².

Parameters:

u1 - first vector of the origin pair

u2 - second vector of the origin pair

v1 - desired image of u1 by the rotation

v2 - desired image of u2 by the rotation

tolerance - relative tolerance factor used to check singularities

FieldAngularCoordinates

public FieldAngularCoordinates(Field<T> field,
                               AngularCoordinates ang)

Builds a FieldAngularCoordinates from a field and a regular AngularCoordinates.

Parameters:

field - field for the components

ang - AngularCoordinates to convert

FieldAngularCoordinates

public FieldAngularCoordinates(FieldRotation<FieldDerivativeStructure<T>> r)

Builds a FieldAngularCoordinates from a FieldRotation<FieldDerivativeStructure>.

The rotation components must have time as their only derivation parameter and have consistent derivation orders.

Parameters:

r - rotation with time-derivatives embedded within the coordinates

Since:

9.2

Method Detail

getIdentity

public static <T extends RealFieldElement<T>> FieldAngularCoordinates<T> getIdentity(Field<T> field)

Fixed orientation parallel with reference frame (identity rotation, zero rotation rate and acceleration).

Type Parameters:

T - the type of the field elements

Parameters:

field - field for the components

Returns:

a new fixed orientation parallel with reference frame

toDerivativeStructureRotation

public FieldRotation<FieldDerivativeStructure<T>> toDerivativeStructureRotation(int order)

Transform the instance to a FieldRotation<FieldDerivativeStructure>.

The DerivativeStructure coordinates correspond to time-derivatives up to the user-specified order.

Parameters:

order - derivation order for the vector components

Returns:

rotation with time-derivatives embedded within the coordinates

Since:

9.2

toUnivariateDerivative1Rotation

public FieldRotation<FieldUnivariateDerivative1<T>> toUnivariateDerivative1Rotation()

Transform the instance to a FieldRotation<UnivariateDerivative1>.

The UnivariateDerivative1 coordinates correspond to time-derivatives up to the order 1.

Returns:

rotation with time-derivatives embedded within the coordinates

estimateRate

public static <T extends RealFieldElement<T>> FieldVector3D<T> estimateRate(FieldRotation<T> start,
                                                                            FieldRotation<T> end,
                                                                            double dt)

Estimate rotation rate between two orientations.

Estimation is based on a simple fixed rate rotation during the time interval between the two orientations.

Type Parameters:

T - the type of the field elements

Parameters:

start - start orientation

end - end orientation

dt - time elapsed between the dates of the two orientations

Returns:

rotation rate allowing to go from start to end orientations

estimateRate

public static <T extends RealFieldElement<T>> FieldVector3D<T> estimateRate(FieldRotation<T> start,
                                                                            FieldRotation<T> end,
                                                                            T dt)

Estimate rotation rate between two orientations.

Estimation is based on a simple fixed rate rotation during the time interval between the two orientations.

Type Parameters:

T - the type of the field elements

Parameters:

start - start orientation

end - end orientation

dt - time elapsed between the dates of the two orientations

Returns:

rotation rate allowing to go from start to end orientations

revert

public FieldAngularCoordinates<T> revert()

Revert a rotation / rotation rate / rotation acceleration triplet.

Build a triplet which reverse the effect of another triplet.

Returns:

a new triplet whose effect is the reverse of the effect of the instance

shiftedBy

public FieldAngularCoordinates<T> shiftedBy(double dt)

Get a time-shifted state.

The state can be slightly shifted to close dates. This shift is based on a simple quadratic model. It is not intended as a replacement for proper attitude propagation but should be sufficient for either small time shifts or coarse accuracy.

Parameters:

dt - time shift in seconds

Returns:

a new state, shifted with respect to the instance (which is immutable)

shiftedBy

public FieldAngularCoordinates<T> shiftedBy(T dt)

Get a time-shifted state.

The state can be slightly shifted to close dates. This shift is based on a simple quadratic model. It is not intended as a replacement for proper attitude propagation but should be sufficient for either small time shifts or coarse accuracy.

Parameters:

dt - time shift in seconds

Returns:

a new state, shifted with respect to the instance (which is immutable)

getRotation

public FieldRotation<T> getRotation()

Get the rotation.

Returns:

the rotation.

getRotationRate

public FieldVector3D<T> getRotationRate()

Get the rotation rate.

Returns:

the rotation rate vector (rad/s).

getRotationAcceleration

public FieldVector3D<T> getRotationAcceleration()

Get the rotation acceleration.

Returns:

the rotation acceleration vector dΩ/dt (rad²/s²).

addOffset

public FieldAngularCoordinates<T> addOffset(FieldAngularCoordinates<T> offset)

Add an offset from the instance.

We consider here that the offset rotation is applied first and the instance is applied afterward. Note that angular coordinates do not commute under this operation, i.e. a.addOffset(b) and b.addOffset(a) lead to different results in most cases.

The two methods addOffset and subtractOffset are designed so that round trip applications are possible. This means that both ac1.subtractOffset(ac2).addOffset(ac2) and ac1.addOffset(ac2).subtractOffset(ac2) return angular coordinates equal to ac1.

Parameters:

offset - offset to subtract

Returns:

new instance, with offset subtracted

See Also:

subtractOffset(FieldAngularCoordinates)

subtractOffset

public FieldAngularCoordinates<T> subtractOffset(FieldAngularCoordinates<T> offset)

Subtract an offset from the instance.

We consider here that the offset Rotation is applied first and the instance is applied afterward. Note that angular coordinates do not commute under this operation, i.e. a.subtractOffset(b) and b.subtractOffset(a) lead to different results in most cases.

The two methods addOffset and subtractOffset are designed so that round trip applications are possible. This means that both ac1.subtractOffset(ac2).addOffset(ac2) and ac1.addOffset(ac2).subtractOffset(ac2) return angular coordinates equal to ac1.

Parameters:

offset - offset to subtract

Returns:

new instance, with offset subtracted

See Also:

addOffset(FieldAngularCoordinates)

toAngularCoordinates

public AngularCoordinates toAngularCoordinates()

Convert to a regular angular coordinates.

Returns:

a regular angular coordinates

applyTo

public FieldPVCoordinates<T> applyTo(PVCoordinates pv)

Apply the rotation to a pv coordinates.

Parameters:

pv - vector to apply the rotation to

Returns:

a new pv coordinates which is the image of u by the rotation

applyTo

public TimeStampedFieldPVCoordinates<T> applyTo(TimeStampedPVCoordinates pv)

Apply the rotation to a pv coordinates.

Parameters:

pv - vector to apply the rotation to

Returns:

a new pv coordinates which is the image of u by the rotation

applyTo

public FieldPVCoordinates<T> applyTo(FieldPVCoordinates<T> pv)

Apply the rotation to a pv coordinates.

Parameters:

pv - vector to apply the rotation to

Returns:

a new pv coordinates which is the image of u by the rotation

Since:

9.0

applyTo

public TimeStampedFieldPVCoordinates<T> applyTo(TimeStampedFieldPVCoordinates<T> pv)

Apply the rotation to a pv coordinates.

Parameters:

pv - vector to apply the rotation to

Returns:

a new pv coordinates which is the image of u by the rotation

Since:

9.0

getModifiedRodrigues

public T[][] getModifiedRodrigues(double sign)

Convert rotation, rate and acceleration to modified Rodrigues vector and derivatives.

The modified Rodrigues vector is tan(θ/4) u where θ and u are the rotation angle and axis respectively.

Parameters:

sign - multiplicative sign for quaternion components

Returns:

modified Rodrigues vector and derivatives (vector on row 0, first derivative on row 1, second derivative on row 2)

Since:

9.0

See Also:

createFromModifiedRodrigues(RealFieldElement[][])

createFromModifiedRodrigues

public static <T extends RealFieldElement<T>> FieldAngularCoordinates<T> createFromModifiedRodrigues(T[][] r)

Convert a modified Rodrigues vector and derivatives to angular coordinates.

Type Parameters:

T - the type of the field elements

Parameters:

r - modified Rodrigues vector (with first and second times derivatives)

Returns:

angular coordinates

Since:

9.0

See Also:

getModifiedRodrigues(double)