FieldSpacecraftState.java
/* Copyright 2002-2023 CS GROUP
* Licensed to CS GROUP (CS) under one or more
* 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
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
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*/
package org.orekit.propagation;
import org.hipparchus.CalculusFieldElement;
import org.hipparchus.Field;
import org.hipparchus.exception.LocalizedCoreFormats;
import org.hipparchus.exception.MathIllegalArgumentException;
import org.hipparchus.exception.MathIllegalStateException;
import org.hipparchus.geometry.euclidean.threed.FieldVector3D;
import org.hipparchus.util.FastMath;
import org.hipparchus.util.MathArrays;
import org.orekit.attitudes.FieldAttitude;
import org.orekit.errors.OrekitException;
import org.orekit.errors.OrekitIllegalArgumentException;
import org.orekit.errors.OrekitIllegalStateException;
import org.orekit.errors.OrekitMessages;
import org.orekit.frames.FieldStaticTransform;
import org.orekit.frames.FieldTransform;
import org.orekit.frames.Frame;
import org.orekit.orbits.FieldOrbit;
import org.orekit.orbits.PositionAngleType;
import org.orekit.time.FieldAbsoluteDate;
import org.orekit.time.FieldTimeShiftable;
import org.orekit.time.FieldTimeStamped;
import org.orekit.utils.DoubleArrayDictionary;
import org.orekit.utils.FieldArrayDictionary;
import org.orekit.utils.FieldAbsolutePVCoordinates;
import org.orekit.utils.FieldPVCoordinates;
import org.orekit.utils.TimeStampedFieldPVCoordinates;
import org.orekit.utils.TimeStampedPVCoordinates;
/** This class is the representation of a complete state holding orbit, attitude
* and mass information at a given date, meant primarily for propagation.
*
* <p>It contains an {@link FieldOrbit}, or a {@link FieldAbsolutePVCoordinates} if there
* is no definite central body, plus the current mass and attitude at the intrinsic
* {@link FieldAbsoluteDate}. Quantities are guaranteed to be consistent in terms
* of date and reference frame. The spacecraft state may also contain additional
* states, which are simply named double arrays which can hold any user-defined
* data.
* </p>
* <p>
* The state can be slightly shifted to close dates. This actual shift varies
* between {@link FieldOrbit} and {@link FieldAbsolutePVCoordinates}.
* For attitude it is a linear extrapolation taking the spin rate into account
* and no mass change. It is <em>not</em> intended as a replacement for proper
* orbit and attitude propagation but should be sufficient for either small
* time shifts or coarse accuracy.
* </p>
* <p>
* The instance {@code FieldSpacecraftState} is guaranteed to be immutable.
* </p>
* @see org.orekit.propagation.numerical.NumericalPropagator
* @see SpacecraftState
* @author Fabien Maussion
* @author Véronique Pommier-Maurussane
* @author Luc Maisonobe
* @author Vincent Mouraux
* @param <T> type of the field elements
*/
public class FieldSpacecraftState <T extends CalculusFieldElement<T>>
implements FieldTimeStamped<T>, FieldTimeShiftable<FieldSpacecraftState<T>, T> {
/** Default mass. */
private static final double DEFAULT_MASS = 1000.0;
/**
* tolerance on date comparison in {@link #checkConsistency(FieldOrbit, FieldAttitude)}. 100 ns
* corresponds to sub-mm accuracy at LEO orbital velocities.
*/
private static final double DATE_INCONSISTENCY_THRESHOLD = 100e-9;
/** Orbital state. */
private final FieldOrbit<T> orbit;
/** Trajectory state, when it is not an orbit. */
private final FieldAbsolutePVCoordinates<T> absPva;
/** FieldAttitude<T>. */
private final FieldAttitude<T> attitude;
/** Current mass (kg). */
private final T mass;
/** Additional states. */
private final FieldArrayDictionary<T> additional;
/** Additional states derivatives.
* @since 11.1
*/
private final FieldArrayDictionary<T> additionalDot;
/** Build a spacecraft state from orbit only.
* <p>FieldAttitude and mass are set to unspecified non-null arbitrary values.</p>
* @param orbit the orbit
*/
public FieldSpacecraftState(final FieldOrbit<T> orbit) {
this(orbit, SpacecraftState.getDefaultAttitudeProvider(orbit.getFrame())
.getAttitude(orbit, orbit.getDate(), orbit.getFrame()),
orbit.getA().getField().getZero().add(DEFAULT_MASS), (FieldArrayDictionary<T>) null);
}
/** Build a spacecraft state from orbit and attitude.
* <p>Mass is set to an unspecified non-null arbitrary value.</p>
* @param orbit the orbit
* @param attitude attitude
* @exception IllegalArgumentException if orbit and attitude dates
* or frames are not equal
*/
public FieldSpacecraftState(final FieldOrbit<T> orbit, final FieldAttitude<T> attitude)
throws IllegalArgumentException {
this(orbit, attitude, orbit.getA().getField().getZero().add(DEFAULT_MASS), (FieldArrayDictionary<T>) null);
}
/** Create a new instance from orbit and mass.
* <p>FieldAttitude law is set to an unspecified default attitude.</p>
* @param orbit the orbit
* @param mass the mass (kg)
*/
public FieldSpacecraftState(final FieldOrbit<T> orbit, final T mass) {
this(orbit, SpacecraftState.getDefaultAttitudeProvider(orbit.getFrame())
.getAttitude(orbit, orbit.getDate(), orbit.getFrame()),
mass, (FieldArrayDictionary<T>) null);
}
/** Build a spacecraft state from orbit, attitude and mass.
* @param orbit the orbit
* @param attitude attitude
* @param mass the mass (kg)
* @exception IllegalArgumentException if orbit and attitude dates
* or frames are not equal
*/
public FieldSpacecraftState(final FieldOrbit<T> orbit, final FieldAttitude<T> attitude, final T mass)
throws IllegalArgumentException {
this(orbit, attitude, mass, (FieldArrayDictionary<T>) null);
}
/** Build a spacecraft state from orbit and additional states.
* <p>FieldAttitude and mass are set to unspecified non-null arbitrary values.</p>
* @param orbit the orbit
* @param additional additional states
* @since 11.1
*/
public FieldSpacecraftState(final FieldOrbit<T> orbit, final FieldArrayDictionary<T> additional) {
this(orbit, SpacecraftState.getDefaultAttitudeProvider(orbit.getFrame())
.getAttitude(orbit, orbit.getDate(), orbit.getFrame()),
orbit.getA().getField().getZero().add(DEFAULT_MASS), additional);
}
/** Build a spacecraft state from orbit attitude and additional states.
* <p>Mass is set to an unspecified non-null arbitrary value.</p>
* @param orbit the orbit
* @param attitude attitude
* @param additional additional states
* @exception IllegalArgumentException if orbit and attitude dates
* or frames are not equal
* @since 11.1
*/
public FieldSpacecraftState(final FieldOrbit<T> orbit, final FieldAttitude<T> attitude, final FieldArrayDictionary<T> additional)
throws IllegalArgumentException {
this(orbit, attitude, orbit.getA().getField().getZero().add(DEFAULT_MASS), additional);
}
/** Create a new instance from orbit, mass and additional states.
* <p>FieldAttitude law is set to an unspecified default attitude.</p>
* @param orbit the orbit
* @param mass the mass (kg)
* @param additional additional states
* @since 11.1
*/
public FieldSpacecraftState(final FieldOrbit<T> orbit, final T mass, final FieldArrayDictionary<T> additional) {
this(orbit, SpacecraftState.getDefaultAttitudeProvider(orbit.getFrame())
.getAttitude(orbit, orbit.getDate(), orbit.getFrame()),
mass, additional);
}
/** Build a spacecraft state from orbit, attitude, mass and additional states.
* @param orbit the orbit
* @param attitude attitude
* @param mass the mass (kg)
* @param additional additional states (may be null if no additional states are available)
* @since 11.1
*/
public FieldSpacecraftState(final FieldOrbit<T> orbit, final FieldAttitude<T> attitude,
final T mass, final FieldArrayDictionary<T> additional) {
this(orbit, attitude, mass, additional, null);
}
/** Build a spacecraft state from orbit, attitude, mass, additional states and derivatives.
* @param orbit the orbit
* @param attitude attitude
* @param mass the mass (kg)
* @param additional additional states (may be null if no additional states are available)
* @param additionalDot additional states derivatives(may be null if no additional states derivative sare available)
* @exception IllegalArgumentException if orbit and attitude dates
* or frames are not equal
* @since 11.1
*/
public FieldSpacecraftState(final FieldOrbit<T> orbit, final FieldAttitude<T> attitude, final T mass,
final FieldArrayDictionary<T> additional,
final FieldArrayDictionary<T> additionalDot)
throws IllegalArgumentException {
checkConsistency(orbit, attitude);
this.orbit = orbit;
this.attitude = attitude;
this.mass = mass;
this.absPva = null;
if (additional == null) {
this.additional = new FieldArrayDictionary<>(orbit.getDate().getField());
} else {
this.additional = new FieldArrayDictionary<>(additional);
}
if (additionalDot == null) {
this.additionalDot = new FieldArrayDictionary<>(orbit.getDate().getField());
} else {
this.additionalDot = new FieldArrayDictionary<>(additionalDot);
}
}
/** Convert a {@link FieldSpacecraftState}.
* @param field field to which the elements belong
* @param state state to convert
*/
public FieldSpacecraftState(final Field<T> field, final SpacecraftState state) {
if (state.isOrbitDefined()) {
final double[] stateD = new double[6];
final double[] stateDotD = state.getOrbit().hasDerivatives() ? new double[6] : null;
final PositionAngleType positionAngleType = PositionAngleType.TRUE;
state.getOrbit().getType().mapOrbitToArray(state.getOrbit(), positionAngleType, stateD, stateDotD);
final T[] stateF = MathArrays.buildArray(field, 6);
for (int i = 0; i < stateD.length; ++i) {
stateF[i] = field.getZero().add(stateD[i]);
}
final T[] stateDotF;
if (stateDotD == null) {
stateDotF = null;
} else {
stateDotF = MathArrays.buildArray(field, 6);
for (int i = 0; i < stateDotD.length; ++i) {
stateDotF[i] = field.getZero().add(stateDotD[i]);
}
}
final FieldAbsoluteDate<T> dateF = new FieldAbsoluteDate<>(field, state.getDate());
this.orbit = state.getOrbit().getType().mapArrayToOrbit(stateF, stateDotF, positionAngleType, dateF,
field.getZero().add(state.getMu()), state.getFrame());
this.absPva = null;
} else {
final TimeStampedPVCoordinates tspva = state.getPVCoordinates();
final FieldVector3D<T> position = new FieldVector3D<>(field, tspva.getPosition());
final FieldVector3D<T> velocity = new FieldVector3D<>(field, tspva.getVelocity());
final FieldVector3D<T> acceleration = new FieldVector3D<>(field, tspva.getAcceleration());
final FieldPVCoordinates<T> pva = new FieldPVCoordinates<>(position, velocity, acceleration);
final FieldAbsoluteDate<T> dateF = new FieldAbsoluteDate<>(field, state.getDate());
this.orbit = null;
this.absPva = new FieldAbsolutePVCoordinates<>(state.getFrame(), dateF, pva);
}
this.attitude = new FieldAttitude<>(field, state.getAttitude());
this.mass = field.getZero().add(state.getMass());
final DoubleArrayDictionary additionalD = state.getAdditionalStatesValues();
if (additionalD.size() == 0) {
this.additional = new FieldArrayDictionary<>(field);
} else {
this.additional = new FieldArrayDictionary<>(field, additionalD.size());
for (final DoubleArrayDictionary.Entry entry : additionalD.getData()) {
this.additional.put(entry.getKey(), entry.getValue());
}
}
final DoubleArrayDictionary additionalDotD = state.getAdditionalStatesDerivatives();
if (additionalDotD.size() == 0) {
this.additionalDot = new FieldArrayDictionary<>(field);
} else {
this.additionalDot = new FieldArrayDictionary<>(field, additionalDotD.size());
for (final DoubleArrayDictionary.Entry entry : additionalDotD.getData()) {
this.additionalDot.put(entry.getKey(), entry.getValue());
}
}
}
/** Build a spacecraft state from orbit only.
* <p>Attitude and mass are set to unspecified non-null arbitrary values.</p>
* @param absPva position-velocity-acceleration
*/
public FieldSpacecraftState(final FieldAbsolutePVCoordinates<T> absPva) {
this(absPva,
SpacecraftState.getDefaultAttitudeProvider(absPva.getFrame()).
getAttitude(absPva, absPva.getDate(), absPva.getFrame()),
absPva.getDate().getField().getZero().add(DEFAULT_MASS), (FieldArrayDictionary<T>) null);
}
/** Build a spacecraft state from orbit and attitude.
* <p>Mass is set to an unspecified non-null arbitrary value.</p>
* @param absPva position-velocity-acceleration
* @param attitude attitude
* @exception IllegalArgumentException if orbit and attitude dates
* or frames are not equal
*/
public FieldSpacecraftState(final FieldAbsolutePVCoordinates<T> absPva, final FieldAttitude<T> attitude)
throws IllegalArgumentException {
this(absPva, attitude, absPva.getDate().getField().getZero().add(DEFAULT_MASS), (FieldArrayDictionary<T>) null);
}
/** Create a new instance from orbit and mass.
* <p>Attitude law is set to an unspecified default attitude.</p>
* @param absPva position-velocity-acceleration
* @param mass the mass (kg)
*/
public FieldSpacecraftState(final FieldAbsolutePVCoordinates<T> absPva, final T mass) {
this(absPva, SpacecraftState.getDefaultAttitudeProvider(absPva.getFrame())
.getAttitude(absPva, absPva.getDate(), absPva.getFrame()),
mass, (FieldArrayDictionary<T>) null);
}
/** Build a spacecraft state from orbit, attitude and mass.
* @param absPva position-velocity-acceleration
* @param attitude attitude
* @param mass the mass (kg)
* @exception IllegalArgumentException if orbit and attitude dates
* or frames are not equal
*/
public FieldSpacecraftState(final FieldAbsolutePVCoordinates<T> absPva, final FieldAttitude<T> attitude, final T mass)
throws IllegalArgumentException {
this(absPva, attitude, mass, (FieldArrayDictionary<T>) null);
}
/** Build a spacecraft state from orbit only.
* <p>Attitude and mass are set to unspecified non-null arbitrary values.</p>
* @param absPva position-velocity-acceleration
* @param additional additional states
* @since 11.1
*/
public FieldSpacecraftState(final FieldAbsolutePVCoordinates<T> absPva, final FieldArrayDictionary<T> additional) {
this(absPva, SpacecraftState.getDefaultAttitudeProvider(absPva.getFrame())
.getAttitude(absPva, absPva.getDate(), absPva.getFrame()),
absPva.getDate().getField().getZero().add(DEFAULT_MASS), additional);
}
/** Build a spacecraft state from orbit and attitude.
* <p>Mass is set to an unspecified non-null arbitrary value.</p>
* @param absPva position-velocity-acceleration
* @param attitude attitude
* @param additional additional states
* @exception IllegalArgumentException if orbit and attitude dates
* or frames are not equal
* @since 11.1
*/
public FieldSpacecraftState(final FieldAbsolutePVCoordinates<T> absPva, final FieldAttitude<T> attitude,
final FieldArrayDictionary<T> additional)
throws IllegalArgumentException {
this(absPva, attitude, absPva.getDate().getField().getZero().add(DEFAULT_MASS), additional);
}
/** Create a new instance from orbit and mass.
* <p>Attitude law is set to an unspecified default attitude.</p>
* @param absPva position-velocity-acceleration
* @param mass the mass (kg)
* @param additional additional states
* @since 11.1
*/
public FieldSpacecraftState(final FieldAbsolutePVCoordinates<T> absPva, final T mass, final FieldArrayDictionary<T> additional) {
this(absPva, SpacecraftState.getDefaultAttitudeProvider(absPva.getFrame())
.getAttitude(absPva, absPva.getDate(), absPva.getFrame()),
mass, additional);
}
/** Build a spacecraft state from orbit, attitude and mass.
* @param absPva position-velocity-acceleration
* @param attitude attitude
* @param mass the mass (kg)
* @param additional additional states (may be null if no additional states are available)
* @since 11.1
*/
public FieldSpacecraftState(final FieldAbsolutePVCoordinates<T> absPva, final FieldAttitude<T> attitude,
final T mass, final FieldArrayDictionary<T> additional) {
this(absPva, attitude, mass, additional, null);
}
/** Build a spacecraft state from orbit, attitude and mass.
* @param absPva position-velocity-acceleration
* @param attitude attitude
* @param mass the mass (kg)
* @param additional additional states (may be null if no additional states are available)
* @param additionalDot additional states derivatives(may be null if no additional states derivatives are available)
* @exception IllegalArgumentException if orbit and attitude dates
* or frames are not equal
* @since 11.1
*/
public FieldSpacecraftState(final FieldAbsolutePVCoordinates<T> absPva, final FieldAttitude<T> attitude, final T mass,
final FieldArrayDictionary<T> additional, final FieldArrayDictionary<T> additionalDot)
throws IllegalArgumentException {
checkConsistency(absPva, attitude);
this.orbit = null;
this.absPva = absPva;
this.attitude = attitude;
this.mass = mass;
if (additional == null) {
this.additional = new FieldArrayDictionary<>(absPva.getDate().getField());
} else {
this.additional = new FieldArrayDictionary<>(additional);
}
if (additionalDot == null) {
this.additionalDot = new FieldArrayDictionary<>(absPva.getDate().getField());
} else {
this.additionalDot = new FieldArrayDictionary<>(additionalDot);
}
}
/** Add an additional state.
* <p>
* {@link FieldSpacecraftState SpacecraftState} instances are immutable,
* so this method does <em>not</em> change the instance, but rather
* creates a new instance, which has the same orbit, attitude, mass
* and additional states as the original instance, except it also
* has the specified state. If the original instance already had an
* additional state with the same name, it will be overridden. If it
* did not have any additional state with that name, the new instance
* will have one more additional state than the original instance.
* </p>
* @param name name of the additional state
* @param value value of the additional state
* @return a new instance, with the additional state added
* @see #hasAdditionalState(String)
* @see #getAdditionalState(String)
* @see #getAdditionalStatesValues()
*/
@SafeVarargs
public final FieldSpacecraftState<T> addAdditionalState(final String name, final T... value) {
final FieldArrayDictionary<T> newDict = new FieldArrayDictionary<>(additional);
newDict.put(name, value.clone());
if (isOrbitDefined()) {
return new FieldSpacecraftState<>(orbit, attitude, mass, newDict, additionalDot);
} else {
return new FieldSpacecraftState<>(absPva, attitude, mass, newDict, additionalDot);
}
}
/** Add an additional state derivative.
* {@link FieldSpacecraftState FieldSpacecraftState} instances are immutable,
* so this method does <em>not</em> change the instance, but rather
* creates a new instance, which has the same components as the original
* instance, except it also has the specified state derivative. If the
* original instance already had an additional state derivative with the
* same name, it will be overridden. If it did not have any additional
* state derivative with that name, the new instance will have one more
* additional state derivative than the original instance.
* @param name name of the additional state derivative
* @param value value of the additional state derivative
* @return a new instance, with the additional state derivative added
* @see #hasAdditionalStateDerivative(String)
* @see #getAdditionalStateDerivative(String)
* @see #getAdditionalStatesDerivatives()
*/
@SafeVarargs
public final FieldSpacecraftState<T> addAdditionalStateDerivative(final String name, final T... value) {
final FieldArrayDictionary<T> newDict = new FieldArrayDictionary<>(additionalDot);
newDict.put(name, value.clone());
if (isOrbitDefined()) {
return new FieldSpacecraftState<>(orbit, attitude, mass, additional, newDict);
} else {
return new FieldSpacecraftState<>(absPva, attitude, mass, additional, newDict);
}
}
/** Check orbit and attitude dates are equal.
* @param orbitN the orbit
* @param attitudeN attitude
* @exception IllegalArgumentException if orbit and attitude dates
* are not equal
*/
private void checkConsistency(final FieldOrbit<T> orbitN, final FieldAttitude<T> attitudeN)
throws IllegalArgumentException {
if (orbitN.getDate().durationFrom(attitudeN.getDate()).abs().getReal() >
DATE_INCONSISTENCY_THRESHOLD) {
throw new OrekitIllegalArgumentException(OrekitMessages.ORBIT_AND_ATTITUDE_DATES_MISMATCH,
orbitN.getDate(), attitudeN.getDate());
}
if (orbitN.getFrame() != attitudeN.getReferenceFrame()) {
throw new OrekitIllegalArgumentException(OrekitMessages.FRAMES_MISMATCH,
orbitN.getFrame().getName(),
attitudeN.getReferenceFrame().getName());
}
}
/** Check if the state contains an orbit part.
* <p>
* A state contains either an {@link FieldAbsolutePVCoordinates absolute
* position-velocity-acceleration} or an {@link FieldOrbit orbit}.
* </p>
* @return true if state contains an orbit (in which case {@link #getOrbit()}
* will not throw an exception), or false if the state contains an
* absolut position-velocity-acceleration (in which case {@link #getAbsPVA()}
* will not throw an exception)
*/
public boolean isOrbitDefined() {
return orbit != null;
}
/**
* Check FieldAbsolutePVCoordinates and attitude dates are equal.
* @param absPva position-velocity-acceleration
* @param attitude attitude
* @param <T> the type of the field elements
* @exception IllegalArgumentException if orbit and attitude dates are not equal
*/
private static <T extends CalculusFieldElement<T>> void checkConsistency(final FieldAbsolutePVCoordinates<T> absPva, final FieldAttitude<T> attitude)
throws IllegalArgumentException {
if (FastMath.abs(absPva.getDate().durationFrom(attitude.getDate())).getReal() >
DATE_INCONSISTENCY_THRESHOLD) {
throw new OrekitIllegalArgumentException(OrekitMessages.ORBIT_AND_ATTITUDE_DATES_MISMATCH,
absPva.getDate(), attitude.getDate());
}
if (absPva.getFrame() != attitude.getReferenceFrame()) {
throw new OrekitIllegalArgumentException(OrekitMessages.FRAMES_MISMATCH,
absPva.getFrame().getName(),
attitude.getReferenceFrame().getName());
}
}
/** Get a time-shifted state.
* <p>
* The state can be slightly shifted to close dates. This shift is based on
* a simple Keplerian model for orbit, a linear extrapolation for attitude
* taking the spin rate into account and neither mass nor additional states
* changes. It is <em>not</em> intended as a replacement for proper orbit
* and attitude propagation but should be sufficient for small time shifts
* or coarse accuracy.
* </p>
* <p>
* As a rough order of magnitude, the following table shows the extrapolation
* errors obtained between this simple shift method and an {@link
* org.orekit.propagation.numerical.FieldNumericalPropagator numerical
* propagator} for a low Earth Sun Synchronous Orbit, with a 20x20 gravity field,
* Sun and Moon third bodies attractions, drag and solar radiation pressure.
* Beware that these results will be different for other orbits.
* </p>
* <table border="1">
* <caption>Extrapolation Error</caption>
* <tr style="background-color: #ccccff;"><th>interpolation time (s)</th>
* <th>position error without derivatives (m)</th><th>position error with derivatives (m)</th></tr>
* <tr><td style="background-color: #eeeeff; padding:5px"> 60</td><td> 18</td><td> 1.1</td></tr>
* <tr><td style="background-color: #eeeeff; padding:5px">120</td><td> 72</td><td> 9.1</td></tr>
* <tr><td style="background-color: #eeeeff; padding:5px">300</td><td> 447</td><td> 140</td></tr>
* <tr><td style="background-color: #eeeeff; padding:5px">600</td><td>1601</td><td>1067</td></tr>
* <tr><td style="background-color: #eeeeff; padding:5px">900</td><td>3141</td><td>3307</td></tr>
* </table>
* @param dt time shift in seconds
* @return a new state, shifted with respect to the instance (which is immutable)
* except for the mass which stay unchanged
*/
@Override
public FieldSpacecraftState<T> shiftedBy(final double dt) {
if (isOrbitDefined()) {
return new FieldSpacecraftState<>(orbit.shiftedBy(dt), attitude.shiftedBy(dt),
mass, shiftAdditional(dt), additionalDot);
} else {
return new FieldSpacecraftState<>(absPva.shiftedBy(dt), attitude.shiftedBy(dt),
mass, shiftAdditional(dt), additionalDot);
}
}
/** Get a time-shifted state.
* <p>
* The state can be slightly shifted to close dates. This shift is based on
* a simple Keplerian model for orbit, a linear extrapolation for attitude
* taking the spin rate into account and neither mass nor additional states
* changes. It is <em>not</em> intended as a replacement for proper orbit
* and attitude propagation but should be sufficient for small time shifts
* or coarse accuracy.
* </p>
* <p>
* As a rough order of magnitude, the following table shows the extrapolation
* errors obtained between this simple shift method and an {@link
* org.orekit.propagation.numerical.FieldNumericalPropagator numerical
* propagator} for a low Earth Sun Synchronous Orbit, with a 20x20 gravity field,
* Sun and Moon third bodies attractions, drag and solar radiation pressure.
* Beware that these results will be different for other orbits.
* </p>
* <table border="1">
* <caption>Extrapolation Error</caption>
* <tr style="background-color: #ccccff;"><th>interpolation time (s)</th>
* <th>position error without derivatives (m)</th><th>position error with derivatives (m)</th></tr>
* <tr><td style="background-color: #eeeeff; padding:5px"> 60</td><td> 18</td><td> 1.1</td></tr>
* <tr><td style="background-color: #eeeeff; padding:5px">120</td><td> 72</td><td> 9.1</td></tr>
* <tr><td style="background-color: #eeeeff; padding:5px">300</td><td> 447</td><td> 140</td></tr>
* <tr><td style="background-color: #eeeeff; padding:5px">600</td><td>1601</td><td>1067</td></tr>
* <tr><td style="background-color: #eeeeff; padding:5px">900</td><td>3141</td><td>3307</td></tr>
* </table>
* @param dt time shift in seconds
* @return a new state, shifted with respect to the instance (which is immutable)
* except for the mass which stay unchanged
*/
@Override
public FieldSpacecraftState<T> shiftedBy(final T dt) {
if (isOrbitDefined()) {
return new FieldSpacecraftState<>(orbit.shiftedBy(dt), attitude.shiftedBy(dt),
mass, shiftAdditional(dt), additionalDot);
} else {
return new FieldSpacecraftState<>(absPva.shiftedBy(dt), attitude.shiftedBy(dt),
mass, shiftAdditional(dt), additionalDot);
}
}
/** Shift additional states.
* @param dt time shift in seconds
* @return shifted additional states
* @since 11.1.1
*/
private FieldArrayDictionary<T> shiftAdditional(final double dt) {
// fast handling when there are no derivatives at all
if (additionalDot.size() == 0) {
return additional;
}
// there are derivatives, we need to take them into account in the additional state
final FieldArrayDictionary<T> shifted = new FieldArrayDictionary<>(additional);
for (final FieldArrayDictionary<T>.Entry dotEntry : additionalDot.getData()) {
final FieldArrayDictionary<T>.Entry entry = shifted.getEntry(dotEntry.getKey());
if (entry != null) {
entry.scaledIncrement(dt, dotEntry);
}
}
return shifted;
}
/** Shift additional states.
* @param dt time shift in seconds
* @return shifted additional states
* @since 11.1.1
*/
private FieldArrayDictionary<T> shiftAdditional(final T dt) {
// fast handling when there are no derivatives at all
if (additionalDot.size() == 0) {
return additional;
}
// there are derivatives, we need to take them into account in the additional state
final FieldArrayDictionary<T> shifted = new FieldArrayDictionary<>(additional);
for (final FieldArrayDictionary<T>.Entry dotEntry : additionalDot.getData()) {
final FieldArrayDictionary<T>.Entry entry = shifted.getEntry(dotEntry.getKey());
if (entry != null) {
entry.scaledIncrement(dt, dotEntry);
}
}
return shifted;
}
/** Get the absolute position-velocity-acceleration.
* <p>
* A state contains either an {@link FieldAbsolutePVCoordinates absolute
* position-velocity-acceleration} or an {@link FieldOrbit orbit}. Which
* one is present can be checked using {@link #isOrbitDefined()}.
* </p>
* @return absolute position-velocity-acceleration
* @exception OrekitIllegalStateException if position-velocity-acceleration is null,
* which mean the state rather contains an {@link FieldOrbit}
* @see #isOrbitDefined()
* @see #getOrbit()
*/
public FieldAbsolutePVCoordinates<T> getAbsPVA() throws OrekitIllegalStateException {
if (isOrbitDefined()) {
throw new OrekitIllegalStateException(OrekitMessages.UNDEFINED_ABSOLUTE_PVCOORDINATES);
}
return absPva;
}
/** Get the current orbit.
* <p>
* A state contains either an {@link FieldAbsolutePVCoordinates absolute
* position-velocity-acceleration} or an {@link FieldOrbit orbit}. Which
* one is present can be checked using {@link #isOrbitDefined()}.
* </p>
* @return the orbit
* @exception OrekitIllegalStateException if orbit is null,
* which means the state rather contains an {@link FieldAbsolutePVCoordinates absolute
* position-velocity-acceleration}
* @see #isOrbitDefined()
* @see #getAbsPVA()
*/
public FieldOrbit<T> getOrbit() throws OrekitIllegalStateException {
if (orbit == null) {
throw new OrekitIllegalStateException(OrekitMessages.UNDEFINED_ORBIT);
}
return orbit;
}
/** {@inheritDoc} */
@Override
public FieldAbsoluteDate<T> getDate() {
return isOrbitDefined() ? orbit.getDate() : absPva.getDate();
}
/** Get the defining frame.
* @return the frame in which state is defined
*/
public Frame getFrame() {
return isOrbitDefined() ? orbit.getFrame() : absPva.getFrame();
}
/** Check if an additional state is available.
* @param name name of the additional state
* @return true if the additional state is available
* @see #addAdditionalState(String, CalculusFieldElement...)
* @see #getAdditionalState(String)
* @see #getAdditionalStatesValues()
*/
public boolean hasAdditionalState(final String name) {
return additional.getEntry(name) != null;
}
/** Check if an additional state derivative is available.
* @param name name of the additional state derivative
* @return true if the additional state derivative is available
* @see #addAdditionalStateDerivative(String, CalculusFieldElement...)
* @see #getAdditionalStateDerivative(String)
* @see #getAdditionalStatesDerivatives()
*/
public boolean hasAdditionalStateDerivative(final String name) {
return additionalDot.getEntry(name) != null;
}
/** Check if two instances have the same set of additional states available.
* <p>
* Only the names and dimensions of the additional states are compared,
* not their values.
* </p>
* @param state state to compare to instance
* @exception MathIllegalArgumentException if an additional state does not have
* the same dimension in both states
*/
public void ensureCompatibleAdditionalStates(final FieldSpacecraftState<T> state)
throws MathIllegalArgumentException {
// check instance additional states is a subset of the other one
for (final FieldArrayDictionary<T>.Entry entry : additional.getData()) {
final T[] other = state.additional.get(entry.getKey());
if (other == null) {
throw new OrekitException(OrekitMessages.UNKNOWN_ADDITIONAL_STATE,
entry.getKey());
}
if (other.length != entry.getValue().length) {
throw new MathIllegalStateException(LocalizedCoreFormats.DIMENSIONS_MISMATCH,
other.length, entry.getValue().length);
}
}
// check instance additional states derivatives is a subset of the other one
for (final FieldArrayDictionary<T>.Entry entry : additionalDot.getData()) {
final T[] other = state.additionalDot.get(entry.getKey());
if (other == null) {
throw new OrekitException(OrekitMessages.UNKNOWN_ADDITIONAL_STATE,
entry.getKey());
}
if (other.length != entry.getValue().length) {
throw new MathIllegalStateException(LocalizedCoreFormats.DIMENSIONS_MISMATCH,
other.length, entry.getValue().length);
}
}
if (state.additional.size() > additional.size()) {
// the other state has more additional states
for (final FieldArrayDictionary<T>.Entry entry : state.additional.getData()) {
if (additional.getEntry(entry.getKey()) == null) {
throw new OrekitException(OrekitMessages.UNKNOWN_ADDITIONAL_STATE,
entry.getKey());
}
}
}
if (state.additionalDot.size() > additionalDot.size()) {
// the other state has more additional states
for (final FieldArrayDictionary<T>.Entry entry : state.additionalDot.getData()) {
if (additionalDot.getEntry(entry.getKey()) == null) {
throw new OrekitException(OrekitMessages.UNKNOWN_ADDITIONAL_STATE,
entry.getKey());
}
}
}
}
/** Get an additional state.
* @param name name of the additional state
* @return value of the additional state
* @see #addAdditionalState(String, CalculusFieldElement...)
* @see #hasAdditionalState(String)
* @see #getAdditionalStatesValues()
*/
public T[] getAdditionalState(final String name) {
final FieldArrayDictionary<T>.Entry entry = additional.getEntry(name);
if (entry == null) {
throw new OrekitException(OrekitMessages.UNKNOWN_ADDITIONAL_STATE, name);
}
return entry.getValue();
}
/** Get an additional state derivative.
* @param name name of the additional state derivative
* @return value of the additional state derivative
* @see #addAdditionalStateDerivative(String, CalculusFieldElement...)
* @see #hasAdditionalStateDerivative(String)
* @see #getAdditionalStatesDerivatives()
* @since 11.1
*/
public T[] getAdditionalStateDerivative(final String name) {
final FieldArrayDictionary<T>.Entry entry = additionalDot.getEntry(name);
if (entry == null) {
throw new OrekitException(OrekitMessages.UNKNOWN_ADDITIONAL_STATE, name);
}
return entry.getValue();
}
/** Get an unmodifiable map of additional states.
* @return unmodifiable map of additional states
* @see #addAdditionalState(String, CalculusFieldElement...)
* @see #hasAdditionalState(String)
* @see #getAdditionalState(String)
* @since 11.1
*/
public FieldArrayDictionary<T> getAdditionalStatesValues() {
return additional.unmodifiableView();
}
/** Get an unmodifiable map of additional states derivatives.
* @return unmodifiable map of additional states derivatives
* @see #addAdditionalStateDerivative(String, CalculusFieldElement...)
* @see #hasAdditionalStateDerivative(String)
* @see #getAdditionalStateDerivative(String)
* @since 11.1
*/
public FieldArrayDictionary<T> getAdditionalStatesDerivatives() {
return additionalDot.unmodifiableView();
}
/** Compute the transform from state defining frame to spacecraft frame.
* <p>The spacecraft frame origin is at the point defined by the orbit,
* and its orientation is defined by the attitude.</p>
* @return transform from specified frame to current spacecraft frame
*/
public FieldTransform<T> toTransform() {
final TimeStampedFieldPVCoordinates<T> pv = getPVCoordinates();
return new FieldTransform<>(pv.getDate(),
new FieldTransform<>(pv.getDate(), pv.negate()),
new FieldTransform<>(pv.getDate(), attitude.getOrientation()));
}
/** Compute the static transform from state defining frame to spacecraft frame.
* @return static transform from specified frame to current spacecraft frame
* @see #toTransform()
* @since 12.0
*/
public FieldStaticTransform<T> toStaticTransform() {
return FieldStaticTransform.of(getDate(), getPosition().negate(), attitude.getRotation());
}
/** Get the central attraction coefficient.
* @return mu central attraction coefficient (m^3/s^2), or {code Double.NaN} if the
* state contains an absolute position-velocity-acceleration rather than an orbit
*/
public T getMu() {
return isOrbitDefined() ? orbit.getMu() : absPva.getDate().getField().getZero().add(Double.NaN);
}
/** Get the Keplerian period.
* <p>The Keplerian period is computed directly from semi major axis
* and central acceleration constant.</p>
* @return Keplerian period in seconds, or {code Double.NaN} if the
* state contains an absolute position-velocity-acceleration rather
* than an orbit
*/
public T getKeplerianPeriod() {
return isOrbitDefined() ? orbit.getKeplerianPeriod() : absPva.getDate().getField().getZero().add(Double.NaN);
}
/** Get the Keplerian mean motion.
* <p>The Keplerian mean motion is computed directly from semi major axis
* and central acceleration constant.</p>
* @return Keplerian mean motion in radians per second, or {code Double.NaN} if the
* state contains an absolute position-velocity-acceleration rather
* than an orbit
*/
public T getKeplerianMeanMotion() {
return isOrbitDefined() ? orbit.getKeplerianMeanMotion() : absPva.getDate().getField().getZero().add(Double.NaN);
}
/** Get the semi-major axis.
* @return semi-major axis (m), or {code Double.NaN} if the
* state contains an absolute position-velocity-acceleration rather
* than an orbit
*/
public T getA() {
return isOrbitDefined() ? orbit.getA() : absPva.getDate().getField().getZero().add(Double.NaN);
}
/** Get the first component of the eccentricity vector (as per equinoctial parameters).
* @return e cos(ω + Ω), first component of eccentricity vector, or {code Double.NaN} if the
* state contains an absolute position-velocity-acceleration rather
* than an orbit
* @see #getE()
*/
public T getEquinoctialEx() {
return isOrbitDefined() ? orbit.getEquinoctialEx() : absPva.getDate().getField().getZero().add(Double.NaN);
}
/** Get the second component of the eccentricity vector (as per equinoctial parameters).
* @return e sin(ω + Ω), second component of the eccentricity vector, or {code Double.NaN} if the
* state contains an absolute position-velocity-acceleration rather
* than an orbit
* @see #getE()
*/
public T getEquinoctialEy() {
return isOrbitDefined() ? orbit.getEquinoctialEy() : absPva.getDate().getField().getZero().add(Double.NaN);
}
/** Get the first component of the inclination vector (as per equinoctial parameters).
* @return tan(i/2) cos(Ω), first component of the inclination vector, or {code Double.NaN} if the
* state contains an absolute position-velocity-acceleration rather
* than an orbit
* @see #getI()
*/
public T getHx() {
return isOrbitDefined() ? orbit.getHx() : absPva.getDate().getField().getZero().add(Double.NaN);
}
/** Get the second component of the inclination vector (as per equinoctial parameters).
* @return tan(i/2) sin(Ω), second component of the inclination vector, or {code Double.NaN} if the
* state contains an absolute position-velocity-acceleration rather
* than an orbit
* @see #getI()
*/
public T getHy() {
return isOrbitDefined() ? orbit.getHy() : absPva.getDate().getField().getZero().add(Double.NaN);
}
/** Get the true latitude argument (as per equinoctial parameters).
* @return v + ω + Ω true longitude argument (rad), or {code Double.NaN} if the
* state contains an absolute position-velocity-acceleration rather
* than an orbit
* @see #getLE()
* @see #getLM()
*/
public T getLv() {
return isOrbitDefined() ? orbit.getLv() : absPva.getDate().getField().getZero().add(Double.NaN);
}
/** Get the eccentric latitude argument (as per equinoctial parameters).
* @return E + ω + Ω eccentric longitude argument (rad), or {code Double.NaN} if the
* state contains an absolute position-velocity-acceleration rather
* than an orbit
* @see #getLv()
* @see #getLM()
*/
public T getLE() {
return isOrbitDefined() ? orbit.getLE() : absPva.getDate().getField().getZero().add(Double.NaN);
}
/** Get the mean longitude argument (as per equinoctial parameters).
* @return M + ω + Ω mean latitude argument (rad), or {code Double.NaN} if the
* state contains an absolute position-velocity-acceleration rather
* than an orbit
* @see #getLv()
* @see #getLE()
*/
public T getLM() {
return isOrbitDefined() ? orbit.getLM() : absPva.getDate().getField().getZero().add(Double.NaN);
}
// Additional orbital elements
/** Get the eccentricity.
* @return eccentricity, or {code Double.NaN} if the
* state contains an absolute position-velocity-acceleration rather
* than an orbit
* @see #getEquinoctialEx()
* @see #getEquinoctialEy()
*/
public T getE() {
return isOrbitDefined() ? orbit.getE() : absPva.getDate().getField().getZero().add(Double.NaN);
}
/** Get the inclination.
* @return inclination (rad)
* @see #getHx()
* @see #getHy()
*/
public T getI() {
return isOrbitDefined() ? orbit.getI() : absPva.getDate().getField().getZero().add(Double.NaN);
}
/** Get the position in orbit definition frame.
* @return position in orbit definition frame
* @since 12.0
*/
public FieldVector3D<T> getPosition() {
return isOrbitDefined() ? orbit.getPosition() : absPva.getPosition();
}
/** Get the {@link TimeStampedFieldPVCoordinates} in orbit definition frame.
* <p>
* Compute the position and velocity of the satellite. This method caches its
* results, and recompute them only when the method is called with a new value
* for mu. The result is provided as a reference to the internally cached
* {@link TimeStampedFieldPVCoordinates}, so the caller is responsible to copy it in a separate
* {@link TimeStampedFieldPVCoordinates} if it needs to keep the value for a while.
* </p>
* @return pvCoordinates in orbit definition frame
*/
public TimeStampedFieldPVCoordinates<T> getPVCoordinates() {
return isOrbitDefined() ? orbit.getPVCoordinates() : absPva.getPVCoordinates();
}
/** Get the position in given output frame.
* @param outputFrame frame in which position should be defined
* @return position in given output frame
* @since 12.0
* @see #getPVCoordinates(Frame)
*/
public FieldVector3D<T> getPosition(final Frame outputFrame) {
return isOrbitDefined() ? orbit.getPosition(outputFrame) : absPva.getPosition(outputFrame);
}
/** Get the {@link TimeStampedFieldPVCoordinates} in given output frame.
* <p>
* Compute the position and velocity of the satellite. This method caches its
* results, and recompute them only when the method is called with a new value
* for mu. The result is provided as a reference to the internally cached
* {@link TimeStampedFieldPVCoordinates}, so the caller is responsible to copy it in a separate
* {@link TimeStampedFieldPVCoordinates} if it needs to keep the value for a while.
* </p>
* @param outputFrame frame in which coordinates should be defined
* @return pvCoordinates in orbit definition frame
*/
public TimeStampedFieldPVCoordinates<T> getPVCoordinates(final Frame outputFrame) {
return isOrbitDefined() ? orbit.getPVCoordinates(outputFrame) : absPva.getPVCoordinates(outputFrame);
}
/** Get the attitude.
* @return the attitude.
*/
public FieldAttitude<T> getAttitude() {
return attitude;
}
/** Gets the current mass.
* @return the mass (kg)
*/
public T getMass() {
return mass;
}
/**To convert a FieldSpacecraftState instance into a SpacecraftState instance.
*
* @return SpacecraftState instance with the same properties
*/
public SpacecraftState toSpacecraftState() {
final DoubleArrayDictionary dictionary;
if (additional.size() == 0) {
dictionary = new DoubleArrayDictionary();
} else {
dictionary = new DoubleArrayDictionary(additional.size());
for (final FieldArrayDictionary<T>.Entry entry : additional.getData()) {
final double[] array = new double[entry.getValue().length];
for (int k = 0; k < array.length; ++k) {
array[k] = entry.getValue()[k].getReal();
}
dictionary.put(entry.getKey(), array);
}
}
final DoubleArrayDictionary dictionaryDot;
if (additionalDot.size() == 0) {
dictionaryDot = new DoubleArrayDictionary();
} else {
dictionaryDot = new DoubleArrayDictionary(additionalDot.size());
for (final FieldArrayDictionary<T>.Entry entry : additionalDot.getData()) {
final double[] array = new double[entry.getValue().length];
for (int k = 0; k < array.length; ++k) {
array[k] = entry.getValue()[k].getReal();
}
dictionaryDot.put(entry.getKey(), array);
}
}
if (isOrbitDefined()) {
return new SpacecraftState(orbit.toOrbit(), attitude.toAttitude(),
mass.getReal(), dictionary, dictionaryDot);
} else {
return new SpacecraftState(absPva.toAbsolutePVCoordinates(),
attitude.toAttitude(), mass.getReal(),
dictionary, dictionaryDot);
}
}
@Override
public String toString() {
return "FieldSpacecraftState{" +
"orbit=" + orbit +
", attitude=" + attitude +
", mass=" + mass +
", additional=" + additional +
", additionalDot=" + additionalDot +
'}';
}
}