CR3BPRotatingTransformProvider.java

  1. /* Copyright 2002-2023 CS GROUP
  2.  * Licensed to CS GROUP (CS) under one or more
  3.  * contributor license agreements.  See the NOTICE file distributed with
  4.  * this work for additional information regarding copyright ownership.
  5.  * CS licenses this file to You under the Apache License, Version 2.0
  6.  * (the "License"); you may not use this file except in compliance with
  7.  * the License.  You may obtain a copy of the License at
  8.  *
  9.  *   http://www.apache.org/licenses/LICENSE-2.0
  10.  *
  11.  * Unless required by applicable law or agreed to in writing, software
  12.  * distributed under the License is distributed on an "AS IS" BASIS,
  13.  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  14.  * See the License for the specific language governing permissions and
  15.  * limitations under the License.
  16.  */
  17. package org.orekit.frames;

  19. import org.hipparchus.CalculusFieldElement;
  20. import org.hipparchus.Field;
  21. import org.hipparchus.analysis.differentiation.FieldUnivariateDerivative2;
  22. import org.hipparchus.analysis.differentiation.UnivariateDerivative2;
  23. import org.hipparchus.geometry.euclidean.threed.FieldRotation;
  24. import org.hipparchus.geometry.euclidean.threed.FieldVector3D;
  25. import org.hipparchus.geometry.euclidean.threed.Rotation;
  26. import org.hipparchus.geometry.euclidean.threed.RotationConvention;
  27. import org.hipparchus.geometry.euclidean.threed.RotationOrder;
  28. import org.hipparchus.geometry.euclidean.threed.Vector3D;
  29. import org.orekit.bodies.CelestialBody;
  30. import org.orekit.time.AbsoluteDate;
  31. import org.orekit.time.FieldAbsoluteDate;
  32. import org.orekit.utils.FieldPVCoordinates;
  33. import org.orekit.utils.TimeStampedFieldPVCoordinates;
  34. import org.orekit.utils.TimeStampedPVCoordinates;

  36. /** Transform provider for the rotating frame of the CR3BP System.
  37.  * @author Vincent Mouraux
  38.  * @since 10.2
  39.  */
  40. class CR3BPRotatingTransformProvider implements TransformProvider {

  42.     /** Serializable UID.*/
  43.     private static final long serialVersionUID = 20190519L;

  45.     /** Frame for results. Always defined as primaryBody's inertially oriented frame.*/
  46.     private final Frame frame;

  48.     /** Celestial body with smaller mass, m2.*/
  49.     private final CelestialBody secondaryBody;

  51.     /** Mass ratio of the system.*/
  52.     private final double mu;


  55.     /** Simple constructor.
  56.      * @param mu System mass ratio
  57.      * @param primaryBody Primary body.
  58.      * @param secondaryBody Secondary body.
  59.      */
  60.     CR3BPRotatingTransformProvider(final double mu, final CelestialBody primaryBody, final CelestialBody secondaryBody) {
  61.         this.secondaryBody = secondaryBody;
  62.         this.frame = primaryBody.getInertiallyOrientedFrame();
  63.         this.mu = mu;
  64.     }

  66.     /** {@inheritDoc} */
  67.     @Override
  68.     public Transform getTransform(final AbsoluteDate date) {
  69.         final FieldPVCoordinates<UnivariateDerivative2> pv21        = secondaryBody.getPVCoordinates(date, frame).toUnivariateDerivative2PV();
  70.         final Field<UnivariateDerivative2>              field       = pv21.getPosition().getX().getField();
  71.         final FieldVector3D<UnivariateDerivative2>      translation = FieldVector3D.getPlusI(field).scalarMultiply(pv21.getPosition().getNorm().multiply(mu)).negate();

  73.         final FieldRotation<UnivariateDerivative2> rotation = new FieldRotation<>(pv21.getPosition(), pv21.getMomentum(),
  74.                                                                                   FieldVector3D.getPlusI(field),
  75.                                                                                   FieldVector3D.getPlusK(field));

  77.         final UnivariateDerivative2[] rotationRates = rotation.getAngles(RotationOrder.XYZ, RotationConvention.FRAME_TRANSFORM);
  78.         final Vector3D rotationRate = new Vector3D(rotationRates[0].getPartialDerivative(1),   rotationRates[1].getPartialDerivative(1),   rotationRates[2].getPartialDerivative(1));
  79.         final Vector3D rotationAcc  = new Vector3D(rotationRates[0].getPartialDerivative(2),   rotationRates[1].getPartialDerivative(2),   rotationRates[2].getPartialDerivative(2));
  80.         final Vector3D velocity     = new Vector3D(translation.getX().getPartialDerivative(1), translation.getY().getPartialDerivative(1), translation.getZ().getPartialDerivative(1));
  81.         final Vector3D acceleration = new Vector3D(translation.getX().getPartialDerivative(2), translation.getY().getPartialDerivative(2), translation.getZ().getPartialDerivative(2));

  83.         final Transform transform1 = new Transform(date, translation.toVector3D(), velocity, acceleration);
  84.         final Transform transform2 = new Transform(date, rotation.toRotation(), rotationRate, rotationAcc);
  85.         return new Transform(date, transform2, transform1);
  86.     }

  88.     /** {@inheritDoc} */
  89.     @Override
  90.     public StaticTransform getStaticTransform(final AbsoluteDate date) {
  91.         final TimeStampedPVCoordinates pv = secondaryBody.getPVCoordinates(date, frame);
  92.         final Vector3D translation = Vector3D.PLUS_I
  93.                 .scalarMultiply(pv.getPosition().getNorm() * mu).negate();

  95.         final Rotation rotation = new Rotation(
  96.                 pv.getPosition(), pv.getMomentum(),
  97.                 Vector3D.PLUS_I, Vector3D.PLUS_K);

  99.         final StaticTransform transform1 = StaticTransform.of(date, translation);
  100.         final StaticTransform transform2 = StaticTransform.of(date, rotation);
  101.         return StaticTransform.compose(date, transform2, transform1);
  102.     }

  104.     /** {@inheritDoc} */
  105.     @Override
  106.     public <T extends CalculusFieldElement<T>> FieldTransform<T> getTransform(final FieldAbsoluteDate<T> date) {
  107.         final FieldPVCoordinates<T> pv21 = secondaryBody.getPVCoordinates(date, frame);
  108.         final Field<T>              field = pv21.getPosition().getX().getField();

  110.         final FieldVector3D<T> translationField = FieldVector3D.getPlusI(field).scalarMultiply(pv21.getPosition().getNorm().multiply(mu)).negate();
  111.         final FieldRotation<T> rotationField = new FieldRotation<>(pv21.getPosition(), pv21.getMomentum(),
  112.                                                                    FieldVector3D.getPlusI(field),
  113.                                                                    FieldVector3D.getPlusK(field));

  115.         final FieldPVCoordinates<FieldUnivariateDerivative2<T>> pv21FDS        = secondaryBody.getPVCoordinates(date, frame).toUnivariateDerivative2PV();
  116.         final Field<FieldUnivariateDerivative2<T>>              fieldUD        = pv21FDS.getPosition().getX().getField();
  117.         final FieldVector3D<FieldUnivariateDerivative2<T>>      translationFDS = FieldVector3D.getPlusI(fieldUD).scalarMultiply(pv21FDS.getPosition().getNorm().multiply(mu)).negate();

  119.         final FieldRotation<FieldUnivariateDerivative2<T>> rotationFDS = new FieldRotation<>(pv21FDS.getPosition(), pv21FDS.getMomentum(),
  120.                                                                                              FieldVector3D.getPlusI(fieldUD),
  121.                                                                                              FieldVector3D.getPlusK(fieldUD));
  122.         final FieldUnivariateDerivative2<T>[] rotationRates = rotationFDS.getAngles(RotationOrder.XYZ, RotationConvention.FRAME_TRANSFORM);
  123.         final FieldVector3D<T> rotationRate = new FieldVector3D<>(rotationRates[0].getPartialDerivative(1),      rotationRates[1].getPartialDerivative(1),      rotationRates[2].getPartialDerivative(1));
  124.         final FieldVector3D<T> rotationAcc  = new FieldVector3D<>(rotationRates[0].getPartialDerivative(2),      rotationRates[1].getPartialDerivative(2),      rotationRates[2].getPartialDerivative(2));
  125.         final FieldVector3D<T> velocity     = new FieldVector3D<>(translationFDS.getX().getPartialDerivative(1), translationFDS.getY().getPartialDerivative(1), translationFDS.getZ().getPartialDerivative(1));
  126.         final FieldVector3D<T> acceleration = new FieldVector3D<>(translationFDS.getX().getPartialDerivative(2), translationFDS.getY().getPartialDerivative(2), translationFDS.getZ().getPartialDerivative(2));

  128.         final FieldTransform<T> transform1 = new FieldTransform<>(date, translationField, velocity, acceleration);
  129.         final FieldTransform<T> transform2 = new FieldTransform<>(date, rotationField, rotationRate, rotationAcc);
  130.         return new FieldTransform<>(date, transform2, transform1);
  131.     }

  133.     /** {@inheritDoc} */
  134.     @Override
  135.     public <T extends CalculusFieldElement<T>> FieldStaticTransform<T> getStaticTransform(final FieldAbsoluteDate<T> date) {
  136.         final Field<T> field = date.getField();
  137.         final TimeStampedFieldPVCoordinates<T> pv = secondaryBody.getPVCoordinates(date, frame);
  138.         final FieldVector3D<T> translation = FieldVector3D.getPlusI(field).
  139.                 scalarMultiply(pv.getPosition().getNorm().multiply(mu)).negate();

  141.         final FieldRotation<T> rotation = new FieldRotation<>(
  142.                 pv.getPosition(), pv.getMomentum(),
  143.                 FieldVector3D.getPlusI(field), FieldVector3D.getMinusK(field));

  145.         final FieldStaticTransform<T> transform1 = FieldStaticTransform.of(date, translation);
  146.         final FieldStaticTransform<T> transform2 = FieldStaticTransform.of(date, rotation);
  147.         return FieldStaticTransform.compose(date, transform2, transform1);
  148.     }

  150. }
Created with JaCoCo 0.8.11.202310140853