ApmData.java
/* Copyright 2002-2023 CS GROUP
* Licensed to CS GROUP (CS) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership.
* CS licenses this file to You under the Apache License, Version 2.0
* (the "License"); you may not use this file except in compliance with
* the License. You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
package org.orekit.files.ccsds.ndm.adm.apm;
import java.util.ArrayList;
import java.util.Collections;
import java.util.List;
import org.hipparchus.complex.Quaternion;
import org.orekit.attitudes.Attitude;
import org.orekit.errors.OrekitException;
import org.orekit.errors.OrekitMessages;
import org.orekit.files.ccsds.ndm.adm.AttitudeType;
import org.orekit.files.ccsds.section.CommentsContainer;
import org.orekit.files.ccsds.section.Data;
import org.orekit.frames.Frame;
import org.orekit.time.AbsoluteDate;
import org.orekit.utils.PVCoordinatesProvider;
import org.orekit.utils.TimeStampedAngularCoordinates;
/**
* Container for Attitude Parameter Message data.
* @author Bryan Cazabonne
* @since 10.2
*/
public class ApmData implements Data {
/** General comments block. */
private final CommentsContainer commentsBlock;
/** Epoch of the data. */
private final AbsoluteDate epoch;
/** Quaternion block. */
private final ApmQuaternion quaternionBlock;
/** Euler angles block. */
private final Euler eulerBlock;
/** Angular velocity block.
* @since 12.0
*/
private final AngularVelocity angularVelocityBlock;
/** Spin-stabilized block. */
private final SpinStabilized spinStabilizedBlock;
/** Inertia block. */
private final Inertia inertia;
/** Maneuvers. */
private final List<Maneuver> maneuvers;
/** Simple constructor.
* @param commentsBlock general comments block
* @param epoch epoch of the data
* @param quaternionBlock quaternion logical block (may be null in ADM V2 or later)
* @param eulerBlock Euler angles logicial block (may be null)
* @param angularVelocityBlock angular velocity block (may be null)
* @param spinStabilizedBlock spin-stabilized logical block (may be null)
* @param inertia inertia logical block (may be null)
*/
public ApmData(final CommentsContainer commentsBlock,
final AbsoluteDate epoch,
final ApmQuaternion quaternionBlock,
final Euler eulerBlock,
final AngularVelocity angularVelocityBlock,
final SpinStabilized spinStabilizedBlock,
final Inertia inertia) {
this.commentsBlock = commentsBlock;
this.epoch = epoch;
this.quaternionBlock = quaternionBlock;
this.eulerBlock = eulerBlock;
this.angularVelocityBlock = angularVelocityBlock;
this.spinStabilizedBlock = spinStabilizedBlock;
this.inertia = inertia;
this.maneuvers = new ArrayList<>();
}
/** {@inheritDoc} */
@Override
public void validate(final double version) {
if (version < 2.0) {
// quaternion block is mandatory in ADM V1
if (quaternionBlock == null) {
// generate a dummy entry just for triggering the exception
new ApmQuaternion().validate(version);
}
} else {
// at least one logical block is mandatory in ADM V2
if (quaternionBlock == null && eulerBlock == null && angularVelocityBlock == null &&
spinStabilizedBlock == null && inertia == null) {
throw new OrekitException(OrekitMessages.CCSDS_INCOMPLETE_DATA);
}
}
if (quaternionBlock != null) {
quaternionBlock.validate(version);
}
if (eulerBlock != null) {
eulerBlock.validate(version);
}
if (angularVelocityBlock != null) {
angularVelocityBlock.validate(version);
}
if (spinStabilizedBlock != null) {
spinStabilizedBlock.validate(version);
}
if (inertia != null) {
inertia.validate(version);
}
for (final Maneuver maneuver : maneuvers) {
maneuver.validate(version);
}
}
/** Get the comments.
* @return comments
*/
public List<String> getComments() {
return commentsBlock.getComments();
}
/**
* Get the epoch of the data.
* @return epoch the epoch
* @since 12.0
*/
public AbsoluteDate getEpoch() {
return epoch;
}
/** Get the quaternion logical block.
* @return quaternion block
*/
public ApmQuaternion getQuaternionBlock() {
return quaternionBlock;
}
/** Get the Euler angles logical block.
* @return Euler angles block (may be null)
*/
public Euler getEulerBlock() {
return eulerBlock;
}
/** Get the angular velocity logical block.
* @return angular velocity block (may be null)
* @since 12.0
*/
public AngularVelocity getAngularVelocityBlock() {
return angularVelocityBlock;
}
/** Get the spin-stabilized logical block.
* @return spin-stabilized block (may be null)
*/
public SpinStabilized getSpinStabilizedBlock() {
return spinStabilizedBlock;
}
/** Get the inertia logical block.
* @return inertia block (may be null)
*/
public Inertia getInertiaBlock() {
return inertia;
}
/**
* Get the number of maneuvers present in the APM.
* @return the number of maneuvers
*/
public int getNbManeuvers() {
return maneuvers.size();
}
/**
* Get a list of all maneuvers.
* @return unmodifiable list of all maneuvers.
*/
public List<Maneuver> getManeuvers() {
return Collections.unmodifiableList(maneuvers);
}
/**
* Get a maneuver.
* @param index maneuver index, counting from 0
* @return maneuver
*/
public Maneuver getManeuver(final int index) {
return maneuvers.get(index);
}
/**
* Add a maneuver.
* @param maneuver maneuver to be set
*/
public void addManeuver(final Maneuver maneuver) {
maneuvers.add(maneuver);
}
/**
* Get boolean testing whether the APM contains at least one maneuver.
* @return true if APM contains at least one maneuver
* false otherwise
*/
public boolean hasManeuvers() {
return !maneuvers.isEmpty();
}
/** Get the attitude.
* @param frame reference frame with respect to which attitude must be defined,
* (may be null if attitude is <em>not</em> orbit-relative and one wants
* attitude in the same frame as used in the attitude message)
* @param pvProvider provider for spacecraft position and velocity
* (may be null if attitude is <em>not</em> orbit-relative)
* @return attitude
* @since 12.0
*/
public Attitude getAttitude(final Frame frame, final PVCoordinatesProvider pvProvider) {
if (quaternionBlock != null) {
// we have a quaternion
final Quaternion q = quaternionBlock.getQuaternion();
final TimeStampedAngularCoordinates tac;
if (quaternionBlock.hasRates()) {
// quaternion logical block includes everything we need
final Quaternion qDot = quaternionBlock.getQuaternionDot();
tac = AttitudeType.QUATERNION_DERIVATIVE.build(true, quaternionBlock.getEndpoints().isExternal2SpacecraftBody(),
null, true, epoch,
q.getQ0(), q.getQ1(), q.getQ2(), q.getQ3(),
qDot.getQ0(), qDot.getQ1(), qDot.getQ2(), qDot.getQ3());
} else if (angularVelocityBlock != null) {
// get derivatives from the angular velocity logical block
tac = AttitudeType.QUATERNION_ANGVEL.build(true,
quaternionBlock.getEndpoints().isExternal2SpacecraftBody(),
null, true, epoch,
q.getQ0(), q.getQ1(), q.getQ2(), q.getQ3(),
angularVelocityBlock.getAngVelX(),
angularVelocityBlock.getAngVelY(),
angularVelocityBlock.getAngVelZ());
} else if (eulerBlock != null && eulerBlock.hasRates()) {
// get derivatives from the Euler logical block
final double[] rates = eulerBlock.getRotationRates();
if (eulerBlock.hasAngles()) {
// the Euler block has everything we need
final double[] angles = eulerBlock.getRotationAngles();
tac = AttitudeType.EULER_ANGLE_DERIVATIVE.build(true,
eulerBlock.getEndpoints().isExternal2SpacecraftBody(),
eulerBlock.getEulerRotSeq(), eulerBlock.isSpacecraftBodyRate(), epoch,
angles[0], angles[1], angles[2],
rates[0], rates[1], rates[2]);
} else {
// the Euler block has only the rates (we are certainly using an ADM V1 message)
// we need to rebuild the rotation from the quaternion
tac = AttitudeType.QUATERNION_EULER_RATES.build(true,
eulerBlock.getEndpoints().isExternal2SpacecraftBody(),
eulerBlock.getEulerRotSeq(), eulerBlock.isSpacecraftBodyRate(), epoch,
q.getQ0(), q.getQ1(), q.getQ2(), q.getQ3(),
rates[0], rates[1], rates[2]);
}
} else {
// we rely only on the quaternion logical block, despite it doesn't include rates
tac = AttitudeType.QUATERNION.build(true, quaternionBlock.getEndpoints().isExternal2SpacecraftBody(),
null, true, epoch,
q.getQ0(), q.getQ1(), q.getQ2(), q.getQ3());
}
// build the attitude
return quaternionBlock.getEndpoints().build(frame, pvProvider, tac);
} else if (eulerBlock != null) {
// we have Euler angles
final double[] angles = eulerBlock.getRotationAngles();
final TimeStampedAngularCoordinates tac;
if (eulerBlock.hasRates()) {
// the Euler block has everything we need
final double[] rates = eulerBlock.getRotationRates();
tac = AttitudeType.EULER_ANGLE_DERIVATIVE.build(true,
eulerBlock.getEndpoints().isExternal2SpacecraftBody(),
eulerBlock.getEulerRotSeq(), eulerBlock.isSpacecraftBodyRate(), epoch,
angles[0], angles[1], angles[2],
rates[0], rates[1], rates[2]);
} else if (angularVelocityBlock != null) {
// get derivatives from the angular velocity logical block
tac = AttitudeType.EULER_ANGLE_ANGVEL.build(true,
eulerBlock.getEndpoints().isExternal2SpacecraftBody(),
eulerBlock.getEulerRotSeq(), eulerBlock.isSpacecraftBodyRate(), epoch,
angles[0], angles[1], angles[2],
angularVelocityBlock.getAngVelX(),
angularVelocityBlock.getAngVelY(),
angularVelocityBlock.getAngVelZ());
} else {
// we rely only on the Euler logical block, despite it doesn't include rates
tac = AttitudeType.EULER_ANGLE.build(true,
eulerBlock.getEndpoints().isExternal2SpacecraftBody(),
eulerBlock.getEulerRotSeq(), eulerBlock.isSpacecraftBodyRate(), epoch,
angles[0], angles[1], angles[2]);
}
// build the attitude
return eulerBlock.getEndpoints().build(frame, pvProvider, tac);
} else if (spinStabilizedBlock != null) {
// we have a spin block
final TimeStampedAngularCoordinates tac;
if (spinStabilizedBlock.hasNutation()) {
// we rely only on nutation
tac = AttitudeType.SPIN_NUTATION.build(true, true, null, true, epoch,
spinStabilizedBlock.getSpinAlpha(),
spinStabilizedBlock.getSpinDelta(),
spinStabilizedBlock.getSpinAngle(),
spinStabilizedBlock.getSpinAngleVel(),
spinStabilizedBlock.getNutation(),
spinStabilizedBlock.getNutationPeriod(),
spinStabilizedBlock.getNutationPhase());
} else if (spinStabilizedBlock.hasMomentum()) {
// we rely only on momentum
tac = AttitudeType.SPIN_NUTATION_MOMENTUM.build(true, true, null, true, epoch,
spinStabilizedBlock.getSpinAlpha(),
spinStabilizedBlock.getSpinDelta(),
spinStabilizedBlock.getSpinAngle(),
spinStabilizedBlock.getSpinAngleVel(),
spinStabilizedBlock.getMomentumAlpha(),
spinStabilizedBlock.getMomentumDelta(),
spinStabilizedBlock.getNutationVel());
} else {
// we rely only on the spin logical block, despite it doesn't include rates
tac = AttitudeType.SPIN.build(true, true, null, true, epoch,
spinStabilizedBlock.getSpinAlpha(),
spinStabilizedBlock.getSpinDelta(),
spinStabilizedBlock.getSpinAngle(),
spinStabilizedBlock.getSpinAngleVel());
}
// build the attitude
return spinStabilizedBlock.getEndpoints().build(frame, pvProvider, tac);
} else {
throw new OrekitException(OrekitMessages.CCSDS_INCOMPLETE_DATA);
}
}
}