AEMAttitudeType.java
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* this work for additional information regarding copyright ownership.
* CS licenses this file to You under the Apache License, Version 2.0
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*
* http://www.apache.org/licenses/LICENSE-2.0
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package org.orekit.files.ccsds;
import java.util.HashMap;
import java.util.Map;
import org.hipparchus.analysis.differentiation.DSFactory;
import org.hipparchus.analysis.differentiation.DerivativeStructure;
import org.hipparchus.analysis.differentiation.UnivariateDerivative1;
import org.hipparchus.geometry.euclidean.threed.FieldRotation;
import org.hipparchus.geometry.euclidean.threed.Rotation;
import org.hipparchus.geometry.euclidean.threed.RotationConvention;
import org.hipparchus.geometry.euclidean.threed.RotationOrder;
import org.hipparchus.geometry.euclidean.threed.Vector3D;
import org.hipparchus.util.FastMath;
import org.orekit.errors.OrekitException;
import org.orekit.errors.OrekitMessages;
import org.orekit.time.AbsoluteDate;
import org.orekit.utils.AngularDerivativesFilter;
import org.orekit.utils.TimeStampedAngularCoordinates;
/** Enumerate for AEM attitude type.
* @author Bryan Cazabonne
* @since 10.2
*/
public enum AEMAttitudeType {
/** Quaternion. */
QUATERNION("QUATERNION") {
@Override
public double[] getAttitudeData(final TimeStampedAngularCoordinates coordinates,
final boolean isFirst, final RotationOrder order) {
// Initialize the array of attitude data
final double[] data = new double[4];
// Data index
final int[] quaternionIndex = isFirst ? new int[] {0, 1, 2, 3} : new int[] {3, 0, 1, 2};
// Fill the array
final Rotation rotation = coordinates.getRotation();
data[quaternionIndex[0]] = rotation.getQ0();
data[quaternionIndex[1]] = rotation.getQ1();
data[quaternionIndex[2]] = rotation.getQ2();
data[quaternionIndex[3]] = rotation.getQ3();
// Return
return data;
}
@Override
public TimeStampedAngularCoordinates getAngularCoordinates(final AbsoluteDate date, final double[] data,
final boolean isFirst, final RotationOrder order) {
// Data index
final int[] quaternionIndex = isFirst ? new int[] {0, 1, 2, 3} : new int[] {3, 0, 1, 2};
// Build the needed objects
final Rotation rotation = new Rotation(data[quaternionIndex[0]],
data[quaternionIndex[1]],
data[quaternionIndex[2]],
data[quaternionIndex[3]],
false);
// Return
return new TimeStampedAngularCoordinates(date, rotation, Vector3D.ZERO, Vector3D.ZERO);
}
@Override
public AngularDerivativesFilter getAngularDerivativesFilter() {
return AngularDerivativesFilter.USE_R;
}
},
/** Quaternion and derivatives. */
QUATERNION_DERIVATIVE("QUATERNION DERIVATIVE") {
@Override
public double[] getAttitudeData(final TimeStampedAngularCoordinates coordinates,
final boolean isFirst, final RotationOrder order) {
// Initialize the array of attitude data
final double[] data = new double[8];
final FieldRotation<UnivariateDerivative1> fieldRotation = coordinates.toUnivariateDerivative1Rotation();
// Quaternion components
final double q0 = fieldRotation.getQ0().getValue();
final double q1 = fieldRotation.getQ1().getValue();
final double q2 = fieldRotation.getQ2().getValue();
final double q3 = fieldRotation.getQ3().getValue();
final double q0Dot = fieldRotation.getQ0().getFirstDerivative();
final double q1Dot = fieldRotation.getQ1().getFirstDerivative();
final double q2Dot = fieldRotation.getQ2().getFirstDerivative();
final double q3Dot = fieldRotation.getQ3().getFirstDerivative();
// Data index
final int[] quaternionIndex = isFirst ? new int[] {0, 1, 2, 3, 4, 5, 6, 7} : new int[] {3, 0, 1, 2, 7, 4, 5, 6};
// Fill the array
data[quaternionIndex[0]] = q0;
data[quaternionIndex[1]] = q1;
data[quaternionIndex[2]] = q2;
data[quaternionIndex[3]] = q3;
data[quaternionIndex[4]] = q0Dot;
data[quaternionIndex[5]] = q1Dot;
data[quaternionIndex[6]] = q2Dot;
data[quaternionIndex[7]] = q3Dot;
// Return
return data;
}
@Override
public TimeStampedAngularCoordinates getAngularCoordinates(final AbsoluteDate date, final double[] data,
final boolean isFirst, final RotationOrder order) {
// Data index
final int[] quaternionIndex = isFirst ? new int[] {0, 1, 2, 3, 4, 5, 6, 7} : new int[] {3, 0, 1, 2, 7, 4, 5, 6};
// Quaternion components
final DSFactory factory = new DSFactory(1, 1);
final DerivativeStructure q0DS = factory.build(data[quaternionIndex[0]], data[quaternionIndex[4]]);
final DerivativeStructure q1DS = factory.build(data[quaternionIndex[1]], data[quaternionIndex[5]]);
final DerivativeStructure q2DS = factory.build(data[quaternionIndex[2]], data[quaternionIndex[6]]);
final DerivativeStructure q3DS = factory.build(data[quaternionIndex[3]], data[quaternionIndex[7]]);
// Rotation
final FieldRotation<DerivativeStructure> fieldRotation = new FieldRotation<>(q0DS, q1DS, q2DS, q3DS, false);
// Return
return new TimeStampedAngularCoordinates(date, fieldRotation);
}
@Override
public AngularDerivativesFilter getAngularDerivativesFilter() {
return AngularDerivativesFilter.USE_RR;
}
},
/** Quaternion and rotation rate. */
QUATERNION_RATE("QUATERNION RATE") {
@Override
public double[] getAttitudeData(final TimeStampedAngularCoordinates coordinates,
final boolean isFirst, final RotationOrder order) {
// Initialize the array of attitude data
final double[] data = new double[7];
// Data index
final int[] quaternionIndex = isFirst ? new int[] {0, 1, 2, 3} : new int[] {3, 0, 1, 2};
// Attitude
final Rotation rotation = coordinates.getRotation();
final Vector3D rotationRate = coordinates.getRotationRate();
// Fill the array
data[quaternionIndex[0]] = rotation.getQ0();
data[quaternionIndex[1]] = rotation.getQ1();
data[quaternionIndex[2]] = rotation.getQ2();
data[quaternionIndex[3]] = rotation.getQ3();
data[4] = FastMath.toDegrees(rotationRate.getX());
data[5] = FastMath.toDegrees(rotationRate.getY());
data[6] = FastMath.toDegrees(rotationRate.getZ());
// Return
return data;
}
@Override
public TimeStampedAngularCoordinates getAngularCoordinates(final AbsoluteDate date, final double[] data,
final boolean isFirst, final RotationOrder order) {
// Data index
final int[] quaternionIndex = isFirst ? new int[] {0, 1, 2, 3} : new int[] {3, 0, 1, 2};
// Quaternion components
final double q0 = data[quaternionIndex[0]];
final double q1 = data[quaternionIndex[1]];
final double q2 = data[quaternionIndex[2]];
final double q3 = data[quaternionIndex[3]];
// Rotation rate in radians
final double xRate = FastMath.toRadians(data[4]);
final double yRate = FastMath.toRadians(data[5]);
final double zRate = FastMath.toRadians(data[6]);
// Build the needed objects
final Rotation rotation = new Rotation(q0, q1, q2, q3, false);
final Vector3D rotationRate = new Vector3D(xRate, yRate, zRate);
// Return
return new TimeStampedAngularCoordinates(date, rotation, rotationRate, Vector3D.ZERO);
}
@Override
public AngularDerivativesFilter getAngularDerivativesFilter() {
return AngularDerivativesFilter.USE_RR;
}
},
/** Euler angles. */
EULER_ANGLE("EULER ANGLE") {
@Override
public double[] getAttitudeData(final TimeStampedAngularCoordinates coordinates,
final boolean isFirst, final RotationOrder order) {
// Initialize the array of attitude data
final double[] data = new double[3];
// Attitude
final Rotation rotation = coordinates.getRotation();
final double[] angles = rotation.getAngles(order, RotationConvention.FRAME_TRANSFORM);
// Fill the array
data[0] = FastMath.toDegrees(angles[0]);
data[1] = FastMath.toDegrees(angles[1]);
data[2] = FastMath.toDegrees(angles[2]);
// Return
return data;
}
@Override
public TimeStampedAngularCoordinates getAngularCoordinates(final AbsoluteDate date, final double[] data,
final boolean isFirst, final RotationOrder order) {
// Euler angles. They are given in degrees in CCSDS AEM files
final double alpha1 = FastMath.toRadians(data[0]);
final double alpha2 = FastMath.toRadians(data[1]);
final double alpha3 = FastMath.toRadians(data[2]);
// Build the needed objects
final Rotation rotation = new Rotation(order, RotationConvention.FRAME_TRANSFORM,
alpha1, alpha2, alpha3);
// Return
return new TimeStampedAngularCoordinates(date, rotation, Vector3D.ZERO, Vector3D.ZERO);
}
@Override
public AngularDerivativesFilter getAngularDerivativesFilter() {
return AngularDerivativesFilter.USE_R;
}
},
/** Euler angles and rotation rate. */
EULER_ANGLE_RATE("EULER ANGLE RATE") {
@Override
public double[] getAttitudeData(final TimeStampedAngularCoordinates coordinates,
final boolean isFirst, final RotationOrder order) {
// Initialize the array of attitude data
final double[] data = new double[6];
// Attitude
final Rotation rotation = coordinates.getRotation();
final Vector3D rotationRate = coordinates.getRotationRate();
final double[] angles = rotation.getAngles(order, RotationConvention.FRAME_TRANSFORM);
// Fill the array
data[0] = FastMath.toDegrees(angles[0]);
data[1] = FastMath.toDegrees(angles[1]);
data[2] = FastMath.toDegrees(angles[2]);
data[3] = FastMath.toDegrees(rotationRate.getX());
data[4] = FastMath.toDegrees(rotationRate.getY());
data[5] = FastMath.toDegrees(rotationRate.getZ());
// Return
return data;
}
@Override
public TimeStampedAngularCoordinates getAngularCoordinates(final AbsoluteDate date, final double[] data,
final boolean isFirst, final RotationOrder order) {
// Euler angles
final double alpha1 = FastMath.toRadians(data[0]);
final double alpha2 = FastMath.toRadians(data[1]);
final double alpha3 = FastMath.toRadians(data[2]);
// Rotation rate
final double xRate = FastMath.toRadians(data[3]);
final double yRate = FastMath.toRadians(data[4]);
final double zRate = FastMath.toRadians(data[5]);
// Build the needed objects
final Rotation rotation = new Rotation(order, RotationConvention.FRAME_TRANSFORM,
alpha1, alpha2, alpha3);
final Vector3D rotationRate = new Vector3D(xRate, yRate, zRate);
// Return
return new TimeStampedAngularCoordinates(date, rotation, rotationRate, Vector3D.ZERO);
}
@Override
public AngularDerivativesFilter getAngularDerivativesFilter() {
return AngularDerivativesFilter.USE_RR;
}
},
/** Spin. */
SPIN("SPIN") {
@Override
public double[] getAttitudeData(final TimeStampedAngularCoordinates coordinates,
final boolean isFirst, final RotationOrder order) {
// Attitude parameters in the Specified Reference Frame for a Spin Stabilized Satellite
// are optional in CCSDS AEM format. Support for this attitude type is not implemented
// yet in Orekit.
throw new OrekitException(OrekitMessages.CCSDS_AEM_ATTITUDE_TYPE_NOT_IMPLEMENTED, getName());
}
@Override
public TimeStampedAngularCoordinates getAngularCoordinates(final AbsoluteDate date, final double[] data,
final boolean isFirst, final RotationOrder order) {
// Attitude parameters in the Specified Reference Frame for a Spin Stabilized Satellite
// are optional in CCSDS AEM format. Support for this attitude type is not implemented
// yet in Orekit.
throw new OrekitException(OrekitMessages.CCSDS_AEM_ATTITUDE_TYPE_NOT_IMPLEMENTED, getName());
}
@Override
public AngularDerivativesFilter getAngularDerivativesFilter() {
// Attitude parameters in the Specified Reference Frame for a Spin Stabilized Satellite
// are optional in CCSDS AEM format. Support for this attitude type is not implemented
// yet in Orekit.
throw new OrekitException(OrekitMessages.CCSDS_AEM_ATTITUDE_TYPE_NOT_IMPLEMENTED, getName());
}
},
/** Spin and nutation. */
SPIN_NUTATION("SPIN NUTATION") {
@Override
public double[] getAttitudeData(final TimeStampedAngularCoordinates coordinates,
final boolean isFirst, final RotationOrder order) {
// Attitude parameters in the Specified Reference Frame for a Spin Stabilized Satellite
// are optional in CCSDS AEM format. Support for this attitude type is not implemented
// yet in Orekit.
throw new OrekitException(OrekitMessages.CCSDS_AEM_ATTITUDE_TYPE_NOT_IMPLEMENTED, getName());
}
@Override
public TimeStampedAngularCoordinates getAngularCoordinates(final AbsoluteDate date, final double[] data,
final boolean isFirst, final RotationOrder order) {
// Attitude parameters in the Specified Reference Frame for a Spin Stabilized Satellite
// are optional in CCSDS AEM format. Support for this attitude type is not implemented
// yet in Orekit.
throw new OrekitException(OrekitMessages.CCSDS_AEM_ATTITUDE_TYPE_NOT_IMPLEMENTED, getName());
}
@Override
public AngularDerivativesFilter getAngularDerivativesFilter() {
// Attitude parameters in the Specified Reference Frame for a Spin Stabilized Satellite
// are optional in CCSDS AEM format. Support for this attitude type is not implemented
// yet in Orekit.
throw new OrekitException(OrekitMessages.CCSDS_AEM_ATTITUDE_TYPE_NOT_IMPLEMENTED, getName());
}
};
/** Codes map. */
private static final Map<String, AEMAttitudeType> CODES_MAP = new HashMap<String, AEMAttitudeType>();
static {
for (final AEMAttitudeType type : values()) {
CODES_MAP.put(type.getName(), type);
}
}
/** Name of the attitude type. */
private final String name;
/**
* Constructor.
* @param name name of the attitude type
*/
AEMAttitudeType(final String name) {
this.name = name;
}
/**
* Get the name of the attitude type.
* @return name
*/
public String getName() {
return name;
}
/**
* Get the attitude type corresponding to the given name.
* @param name given name
* @return attitude type
*/
public static AEMAttitudeType getAttitudeType(final String name) {
final AEMAttitudeType type = CODES_MAP.get(name);
if (type == null) {
// An exception is thrown if the attitude type is null
throw new OrekitException(OrekitMessages.CCSDS_AEM_NULL_ATTITUDE_TYPE, name);
}
return type;
}
/**
* Get the attitude data corresponding to the attitude type.
* <p>
* Note that, according to the CCSDS ADM documentation, angles values
* are given in degrees.
* </p>
* @param attitude angular coordinates
* @param isFirst true if QC is the first element in the attitude data
* @param order rotation order of the Euler angles
* @return the attitude data (see 4-4)
*/
public abstract double[] getAttitudeData(TimeStampedAngularCoordinates attitude, boolean isFirst,
RotationOrder order);
/**
* Get the angular coordinates corresponding to the attitude data.
* <p>
* Note that, according to the CCSDS ADM documentation, angles values
* must be given in degrees.
* </p>
* @param date coordinates date
* @param attitudeData attitude data
* @param isFirst true if QC is the first element in the attitude data
* @param order rotation order of the Euler angles
* @return the angular coordinates
*/
public abstract TimeStampedAngularCoordinates getAngularCoordinates(AbsoluteDate date, double[] attitudeData,
boolean isFirst, RotationOrder order);
/**
* Get the angular derivative filter corresponding to the attitude data.
* @return the angular derivative filter corresponding to the attitude data
*/
public abstract AngularDerivativesFilter getAngularDerivativesFilter();
}