Package org.orekit.frames
Interface FieldKinematicTransform<T extends CalculusFieldElement<T>>
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- All Superinterfaces:
FieldStaticTransform<T>
,TimeStamped
- All Known Implementing Classes:
FieldTransform
public interface FieldKinematicTransform<T extends CalculusFieldElement<T>> extends FieldStaticTransform<T>
A transform that only includes translation and rotation as well as their respective rates. It is kinematic in the sense that it cannot transform an acceleration vector.- Since:
- 12.1
- Author:
- Romain Serra
- See Also:
FieldStaticTransform
,FieldTransform
,KinematicTransform
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Method Summary
All Methods Static Methods Instance Methods Abstract Methods Default Methods Modifier and Type Method Description static <T extends CalculusFieldElement<T>>
FieldKinematicTransform<T>compose(FieldAbsoluteDate<T> date, FieldKinematicTransform<T> first, FieldKinematicTransform<T> second)
Build a transform by combining two existing ones.static <T extends CalculusFieldElement<T>>
FieldVector3D<T>compositeRotationRate(FieldKinematicTransform<T> first, FieldKinematicTransform<T> second)
Compute a composite rotation rate.static <T extends CalculusFieldElement<T>>
FieldVector3D<T>compositeVelocity(FieldKinematicTransform<T> first, FieldKinematicTransform<T> second)
Compute a composite velocity.static <T extends CalculusFieldElement<T>>
FieldKinematicTransform<T>getIdentity(Field<T> field)
Get the identity kinematic transform.FieldKinematicTransform<T>
getInverse()
Get the inverse transform of the instance.FieldVector3D<T>
getRotationRate()
Get the first time derivative of the rotation.FieldVector3D<T>
getVelocity()
Get the first time derivative of the translation.static <T extends CalculusFieldElement<T>>
FieldKinematicTransform<T>of(Field<T> field, KinematicTransform kinematicTransform)
Create a new kinematic transform from a non-Field version.static <T extends CalculusFieldElement<T>>
FieldKinematicTransform<T>of(FieldAbsoluteDate<T> date, FieldRotation<T> rotation, FieldVector3D<T> rotationRate)
Create a new kinematic transform from a rotation and zero, constant translation.static <T extends CalculusFieldElement<T>>
FieldKinematicTransform<T>of(FieldAbsoluteDate<T> date, FieldPVCoordinates<T> pvCoordinates)
Create a new kinematic transform from a translation and its rate.static <T extends CalculusFieldElement<T>>
FieldKinematicTransform<T>of(FieldAbsoluteDate<T> date, FieldPVCoordinates<T> pvCoordinates, FieldRotation<T> rotation, FieldVector3D<T> rotationRate)
Create a new kinematic transform from a translation and rotation.default FieldPVCoordinates<T>
transformOnlyPV(FieldPVCoordinates<T> pv)
TransformPVCoordinates
, without the acceleration vector.default TimeStampedFieldPVCoordinates<T>
transformOnlyPV(TimeStampedFieldPVCoordinates<T> pv)
TransformTimeStampedPVCoordinates
, without the acceleration vector.-
Methods inherited from interface org.orekit.frames.FieldStaticTransform
getFieldDate, getRotation, getStaticInverse, getTranslation, transformLine, transformLine, transformPosition, transformPosition, transformVector, transformVector
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Methods inherited from interface org.orekit.time.TimeStamped
durationFrom, getDate
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Method Detail
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getIdentity
static <T extends CalculusFieldElement<T>> FieldKinematicTransform<T> getIdentity(Field<T> field)
Get the identity kinematic transform.- Type Parameters:
T
- type of the elements- Parameters:
field
- field used by default- Returns:
- identity transform.
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compositeVelocity
static <T extends CalculusFieldElement<T>> FieldVector3D<T> compositeVelocity(FieldKinematicTransform<T> first, FieldKinematicTransform<T> second)
Compute a composite velocity.- Type Parameters:
T
- the type of the field elements- Parameters:
first
- first applied transformsecond
- second applied transform- Returns:
- velocity part of the composite transform
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compositeRotationRate
static <T extends CalculusFieldElement<T>> FieldVector3D<T> compositeRotationRate(FieldKinematicTransform<T> first, FieldKinematicTransform<T> second)
Compute a composite rotation rate.- Type Parameters:
T
- type of the elements- Parameters:
first
- first applied transformsecond
- second applied transform- Returns:
- rotation rate part of the composite transform
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transformOnlyPV
default FieldPVCoordinates<T> transformOnlyPV(FieldPVCoordinates<T> pv)
TransformPVCoordinates
, without the acceleration vector.- Parameters:
pv
- the position-velocity couple to transform.- Returns:
- transformed position-velocity
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transformOnlyPV
default TimeStampedFieldPVCoordinates<T> transformOnlyPV(TimeStampedFieldPVCoordinates<T> pv)
TransformTimeStampedPVCoordinates
, without the acceleration vector.In order to allow the user more flexibility, this method does not check for consistency between the transform
date
and the time-stamped position-velocitydate
. The returned value will always have the samedate
as the input argument, regardless of the instancedate
.- Parameters:
pv
- the position-velocity couple to transform.- Returns:
- transformed position-velocity
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getVelocity
FieldVector3D<T> getVelocity()
Get the first time derivative of the translation.- Returns:
- first time derivative of the translation
- See Also:
FieldStaticTransform.getTranslation()
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getRotationRate
FieldVector3D<T> getRotationRate()
Get the first time derivative of the rotation.The norm represents the angular rate.
- Returns:
- First time derivative of the rotation
- See Also:
FieldStaticTransform.getRotation()
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getInverse
FieldKinematicTransform<T> getInverse()
Get the inverse transform of the instance.- Specified by:
getInverse
in interfaceFieldStaticTransform<T extends CalculusFieldElement<T>>
- Returns:
- inverse transform of the instance
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compose
static <T extends CalculusFieldElement<T>> FieldKinematicTransform<T> compose(FieldAbsoluteDate<T> date, FieldKinematicTransform<T> first, FieldKinematicTransform<T> second)
Build a transform by combining two existing ones.Note that the dates of the two existing transformed are ignored, and the combined transform date is set to the date supplied in this constructor without any attempt to shift the raw transforms. This is a design choice allowing user full control of the combination.
- Type Parameters:
T
- type of the elements- Parameters:
date
- date of the transformfirst
- first transform appliedsecond
- second transform applied- Returns:
- the newly created kinematic transform that has the same effect as
applying
first
, thensecond
. - See Also:
of(FieldAbsoluteDate, FieldPVCoordinates, FieldRotation, FieldVector3D)
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of
static <T extends CalculusFieldElement<T>> FieldKinematicTransform<T> of(FieldAbsoluteDate<T> date, FieldRotation<T> rotation, FieldVector3D<T> rotationRate)
Create a new kinematic transform from a rotation and zero, constant translation.- Type Parameters:
T
- type of the elements- Parameters:
date
- of translation.rotation
- to apply after the translation. That is after translating applying this rotation produces positions expressed in the new frame.rotationRate
- rate of rotation- Returns:
- the newly created kinematic transform.
- See Also:
of(FieldAbsoluteDate, FieldPVCoordinates, FieldRotation, FieldVector3D)
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of
static <T extends CalculusFieldElement<T>> FieldKinematicTransform<T> of(FieldAbsoluteDate<T> date, FieldPVCoordinates<T> pvCoordinates)
Create a new kinematic transform from a translation and its rate.- Type Parameters:
T
- type of the elements- Parameters:
date
- of translation.pvCoordinates
- translation (with rate) to apply, expressed in the old frame. That is, the opposite of the coordinates of the new origin in the old frame.- Returns:
- the newly created kinematic transform.
- See Also:
of(FieldAbsoluteDate, FieldPVCoordinates, FieldRotation, FieldVector3D)
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of
static <T extends CalculusFieldElement<T>> FieldKinematicTransform<T> of(Field<T> field, KinematicTransform kinematicTransform)
Create a new kinematic transform from a non-Field version.- Type Parameters:
T
- type of the elements- Parameters:
field
- field.kinematicTransform
- non-Field kinematic transform- Returns:
- the newly created kinematic transform.
- See Also:
of(FieldAbsoluteDate, FieldPVCoordinates, FieldRotation, FieldVector3D)
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of
static <T extends CalculusFieldElement<T>> FieldKinematicTransform<T> of(FieldAbsoluteDate<T> date, FieldPVCoordinates<T> pvCoordinates, FieldRotation<T> rotation, FieldVector3D<T> rotationRate)
Create a new kinematic transform from a translation and rotation.- Type Parameters:
T
- type of the elements- Parameters:
date
- of translation.pvCoordinates
- translation (with rate) to apply, expressed in the old frame. That is, the opposite of the coordinates of the new origin in the old frame.rotation
- to apply after the translation. That is after translating applying this rotation produces positions expressed in the new frame.rotationRate
- rate of rotation- Returns:
- the newly created kinematic transform.
- See Also:
compose(FieldAbsoluteDate, FieldKinematicTransform, FieldKinematicTransform)
,of(FieldAbsoluteDate, FieldPVCoordinates, FieldRotation, FieldVector3D)
,of(FieldAbsoluteDate, FieldPVCoordinates, FieldRotation, FieldVector3D)
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