Package org.orekit.frames
Interface KinematicTransform
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- All Superinterfaces:
StaticTransform
,TimeStamped
- All Known Implementing Classes:
Transform
public interface KinematicTransform extends StaticTransform
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:
StaticTransform
,Transform
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Method Summary
All Methods Static Methods Instance Methods Abstract Methods Default Methods Modifier and Type Method Description static KinematicTransform
compose(AbsoluteDate date, KinematicTransform first, KinematicTransform second)
Build a transform by combining two existing ones.static Vector3D
compositeRotationRate(KinematicTransform first, KinematicTransform second)
Compute a composite rotation rate.static Vector3D
compositeVelocity(KinematicTransform first, KinematicTransform second)
Compute a composite velocity.static KinematicTransform
getIdentity()
Get the identity kinematic transform.KinematicTransform
getInverse()
Get the inverse transform of the instance.Vector3D
getRotationRate()
Get the first time derivative of the rotation.Vector3D
getVelocity()
Get the first time derivative of the translation.static KinematicTransform
of(AbsoluteDate date, Rotation rotation, Vector3D rotationRate)
Create a new kinematic transform from a rotation and zero, constant translation.static KinematicTransform
of(AbsoluteDate date, PVCoordinates pvCoordinates)
Create a new kinematic transform from a translation and its rate.static KinematicTransform
of(AbsoluteDate date, PVCoordinates pvCoordinates, Rotation rotation, Vector3D rotationRate)
Create a new kinematic transform from a translation and rotation.default PVCoordinates
transformOnlyPV(PVCoordinates pv)
TransformPVCoordinates
, without the acceleration vector.default TimeStampedPVCoordinates
transformOnlyPV(TimeStampedPVCoordinates pv)
TransformTimeStampedPVCoordinates
, without the acceleration vector.-
Methods inherited from interface org.orekit.frames.StaticTransform
getRotation, getStaticInverse, getTranslation, 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 KinematicTransform getIdentity()
Get the identity kinematic transform.- Returns:
- identity transform.
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compositeVelocity
static Vector3D compositeVelocity(KinematicTransform first, KinematicTransform second)
Compute a composite velocity.- Parameters:
first
- first applied transformsecond
- second applied transform- Returns:
- velocity part of the composite transform
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compositeRotationRate
static Vector3D compositeRotationRate(KinematicTransform first, KinematicTransform second)
Compute a composite rotation rate.- Parameters:
first
- first applied transformsecond
- second applied transform- Returns:
- rotation rate part of the composite transform
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transformOnlyPV
default PVCoordinates transformOnlyPV(PVCoordinates pv)
TransformPVCoordinates
, without the acceleration vector.- Parameters:
pv
- the position-velocity couple to transform.- Returns:
- transformed position-velocity
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transformOnlyPV
default TimeStampedPVCoordinates transformOnlyPV(TimeStampedPVCoordinates 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
Vector3D getVelocity()
Get the first time derivative of the translation.- Returns:
- first time derivative of the translation
- See Also:
StaticTransform.getTranslation()
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getRotationRate
Vector3D getRotationRate()
Get the first time derivative of the rotation.The norm represents the angular rate.
- Returns:
- First time derivative of the rotation
- See Also:
StaticTransform.getRotation()
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getInverse
KinematicTransform getInverse()
Get the inverse transform of the instance.- Specified by:
getInverse
in interfaceStaticTransform
- Returns:
- inverse transform of the instance
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compose
static KinematicTransform compose(AbsoluteDate date, KinematicTransform first, KinematicTransform 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.
- 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(AbsoluteDate, PVCoordinates, Rotation, Vector3D)
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of
static KinematicTransform of(AbsoluteDate date, Rotation rotation, Vector3D rotationRate)
Create a new kinematic transform from a rotation and zero, constant translation.- 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(AbsoluteDate, PVCoordinates, Rotation, Vector3D)
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of
static KinematicTransform of(AbsoluteDate date, PVCoordinates pvCoordinates)
Create a new kinematic transform from a translation and its rate.- 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(AbsoluteDate, PVCoordinates, Rotation, Vector3D)
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of
static KinematicTransform of(AbsoluteDate date, PVCoordinates pvCoordinates, Rotation rotation, Vector3D rotationRate)
Create a new kinematic transform from a translation and rotation.- 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(AbsoluteDate, KinematicTransform, KinematicTransform)
,of(AbsoluteDate, PVCoordinates, Rotation, Vector3D)
,of(AbsoluteDate, PVCoordinates, Rotation, Vector3D)
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