CR3BPRotatingTransformProvider.java
/* Copyright 2002-2023 CS GROUP
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* 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
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* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
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package org.orekit.frames;
import org.hipparchus.CalculusFieldElement;
import org.hipparchus.Field;
import org.hipparchus.analysis.differentiation.FieldUnivariateDerivative2;
import org.hipparchus.analysis.differentiation.UnivariateDerivative2;
import org.hipparchus.geometry.euclidean.threed.FieldRotation;
import org.hipparchus.geometry.euclidean.threed.FieldVector3D;
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.orekit.bodies.CelestialBody;
import org.orekit.time.AbsoluteDate;
import org.orekit.time.FieldAbsoluteDate;
import org.orekit.utils.FieldPVCoordinates;
import org.orekit.utils.TimeStampedFieldPVCoordinates;
import org.orekit.utils.TimeStampedPVCoordinates;
/** Transform provider for the rotating frame of the CR3BP System.
* @author Vincent Mouraux
* @since 10.2
*/
class CR3BPRotatingTransformProvider implements TransformProvider {
/** Serializable UID.*/
private static final long serialVersionUID = 20190519L;
/** Frame for results. Always defined as primaryBody's inertially oriented frame.*/
private final Frame frame;
/** Celestial body with smaller mass, m2.*/
private final CelestialBody secondaryBody;
/** Mass ratio of the system.*/
private final double mu;
/** Simple constructor.
* @param mu System mass ratio
* @param primaryBody Primary body.
* @param secondaryBody Secondary body.
*/
CR3BPRotatingTransformProvider(final double mu, final CelestialBody primaryBody, final CelestialBody secondaryBody) {
this.secondaryBody = secondaryBody;
this.frame = primaryBody.getInertiallyOrientedFrame();
this.mu = mu;
}
/** {@inheritDoc} */
@Override
public Transform getTransform(final AbsoluteDate date) {
final FieldPVCoordinates<UnivariateDerivative2> pv21 = secondaryBody.getPVCoordinates(date, frame).toUnivariateDerivative2PV();
final Field<UnivariateDerivative2> field = pv21.getPosition().getX().getField();
final FieldVector3D<UnivariateDerivative2> translation = FieldVector3D.getPlusI(field).scalarMultiply(pv21.getPosition().getNorm().multiply(mu)).negate();
final FieldRotation<UnivariateDerivative2> rotation = new FieldRotation<>(pv21.getPosition(), pv21.getMomentum(),
FieldVector3D.getPlusI(field),
FieldVector3D.getPlusK(field));
final UnivariateDerivative2[] rotationRates = rotation.getAngles(RotationOrder.XYZ, RotationConvention.FRAME_TRANSFORM);
final Vector3D rotationRate = new Vector3D(rotationRates[0].getPartialDerivative(1), rotationRates[1].getPartialDerivative(1), rotationRates[2].getPartialDerivative(1));
final Vector3D rotationAcc = new Vector3D(rotationRates[0].getPartialDerivative(2), rotationRates[1].getPartialDerivative(2), rotationRates[2].getPartialDerivative(2));
final Vector3D velocity = new Vector3D(translation.getX().getPartialDerivative(1), translation.getY().getPartialDerivative(1), translation.getZ().getPartialDerivative(1));
final Vector3D acceleration = new Vector3D(translation.getX().getPartialDerivative(2), translation.getY().getPartialDerivative(2), translation.getZ().getPartialDerivative(2));
final Transform transform1 = new Transform(date, translation.toVector3D(), velocity, acceleration);
final Transform transform2 = new Transform(date, rotation.toRotation(), rotationRate, rotationAcc);
return new Transform(date, transform2, transform1);
}
/** {@inheritDoc} */
@Override
public StaticTransform getStaticTransform(final AbsoluteDate date) {
final TimeStampedPVCoordinates pv = secondaryBody.getPVCoordinates(date, frame);
final Vector3D translation = Vector3D.PLUS_I
.scalarMultiply(pv.getPosition().getNorm() * mu).negate();
final Rotation rotation = new Rotation(
pv.getPosition(), pv.getMomentum(),
Vector3D.PLUS_I, Vector3D.PLUS_K);
final StaticTransform transform1 = StaticTransform.of(date, translation);
final StaticTransform transform2 = StaticTransform.of(date, rotation);
return StaticTransform.compose(date, transform2, transform1);
}
/** {@inheritDoc} */
@Override
public <T extends CalculusFieldElement<T>> FieldTransform<T> getTransform(final FieldAbsoluteDate<T> date) {
final FieldPVCoordinates<T> pv21 = secondaryBody.getPVCoordinates(date, frame);
final Field<T> field = pv21.getPosition().getX().getField();
final FieldVector3D<T> translationField = FieldVector3D.getPlusI(field).scalarMultiply(pv21.getPosition().getNorm().multiply(mu)).negate();
final FieldRotation<T> rotationField = new FieldRotation<>(pv21.getPosition(), pv21.getMomentum(),
FieldVector3D.getPlusI(field),
FieldVector3D.getPlusK(field));
final FieldPVCoordinates<FieldUnivariateDerivative2<T>> pv21FDS = secondaryBody.getPVCoordinates(date, frame).toUnivariateDerivative2PV();
final Field<FieldUnivariateDerivative2<T>> fieldUD = pv21FDS.getPosition().getX().getField();
final FieldVector3D<FieldUnivariateDerivative2<T>> translationFDS = FieldVector3D.getPlusI(fieldUD).scalarMultiply(pv21FDS.getPosition().getNorm().multiply(mu)).negate();
final FieldRotation<FieldUnivariateDerivative2<T>> rotationFDS = new FieldRotation<>(pv21FDS.getPosition(), pv21FDS.getMomentum(),
FieldVector3D.getPlusI(fieldUD),
FieldVector3D.getPlusK(fieldUD));
final FieldUnivariateDerivative2<T>[] rotationRates = rotationFDS.getAngles(RotationOrder.XYZ, RotationConvention.FRAME_TRANSFORM);
final FieldVector3D<T> rotationRate = new FieldVector3D<>(rotationRates[0].getPartialDerivative(1), rotationRates[1].getPartialDerivative(1), rotationRates[2].getPartialDerivative(1));
final FieldVector3D<T> rotationAcc = new FieldVector3D<>(rotationRates[0].getPartialDerivative(2), rotationRates[1].getPartialDerivative(2), rotationRates[2].getPartialDerivative(2));
final FieldVector3D<T> velocity = new FieldVector3D<>(translationFDS.getX().getPartialDerivative(1), translationFDS.getY().getPartialDerivative(1), translationFDS.getZ().getPartialDerivative(1));
final FieldVector3D<T> acceleration = new FieldVector3D<>(translationFDS.getX().getPartialDerivative(2), translationFDS.getY().getPartialDerivative(2), translationFDS.getZ().getPartialDerivative(2));
final FieldTransform<T> transform1 = new FieldTransform<>(date, translationField, velocity, acceleration);
final FieldTransform<T> transform2 = new FieldTransform<>(date, rotationField, rotationRate, rotationAcc);
return new FieldTransform<>(date, transform2, transform1);
}
/** {@inheritDoc} */
@Override
public <T extends CalculusFieldElement<T>> FieldStaticTransform<T> getStaticTransform(final FieldAbsoluteDate<T> date) {
final Field<T> field = date.getField();
final TimeStampedFieldPVCoordinates<T> pv = secondaryBody.getPVCoordinates(date, frame);
final FieldVector3D<T> translation = FieldVector3D.getPlusI(field).
scalarMultiply(pv.getPosition().getNorm().multiply(mu)).negate();
final FieldRotation<T> rotation = new FieldRotation<>(
pv.getPosition(), pv.getMomentum(),
FieldVector3D.getPlusI(field), FieldVector3D.getMinusK(field));
final FieldStaticTransform<T> transform1 = FieldStaticTransform.of(date, translation);
final FieldStaticTransform<T> transform2 = FieldStaticTransform.of(date, rotation);
return FieldStaticTransform.compose(date, transform2, transform1);
}
}