TimeStampedAngularCoordinates.java
/* Copyright 2002-2024 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
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*
* http://www.apache.org/licenses/LICENSE-2.0
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* Unless required by applicable law or agreed to in writing, software
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package org.orekit.utils;
import org.hipparchus.analysis.differentiation.Derivative;
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.Vector3D;
import org.orekit.time.AbsoluteDate;
import org.orekit.time.TimeStamped;
/** {@link TimeStamped time-stamped} version of {@link AngularCoordinates}.
* <p>Instances of this class are guaranteed to be immutable.</p>
* @author Luc Maisonobe
* @since 7.0
*/
public class TimeStampedAngularCoordinates extends AngularCoordinates implements TimeStamped {
/** Serializable UID. */
private static final long serialVersionUID = 20140723L;
/** The date. */
private final AbsoluteDate date;
/** Builds a rotation/rotation rate pair.
* @param date coordinates date
* @param rotation rotation
* @param rotationRate rotation rate Ω (rad/s)
* @param rotationAcceleration rotation acceleration dΩ/dt (rad²/s²)
*/
public TimeStampedAngularCoordinates(final AbsoluteDate date,
final Rotation rotation,
final Vector3D rotationRate,
final Vector3D rotationAcceleration) {
super(rotation, rotationRate, rotationAcceleration);
this.date = date;
}
/** Build the rotation that transforms a pair of pv coordinates into another pair.
* <p><em>WARNING</em>! This method requires much more stringent assumptions on
* its parameters than the similar {@link Rotation#Rotation(Vector3D, Vector3D,
* Vector3D, Vector3D) constructor} from the {@link Rotation Rotation} class.
* As far as the Rotation constructor is concerned, the {@code v₂} vector from
* the second pair can be slightly misaligned. The Rotation constructor will
* compensate for this misalignment and create a rotation that ensure {@code
* v₁ = r(u₁)} and {@code v₂ ∈ plane (r(u₁), r(u₂))}. <em>THIS IS NOT
* TRUE ANYMORE IN THIS CLASS</em>! As derivatives are involved and must be
* preserved, this constructor works <em>only</em> if the two pairs are fully
* consistent, i.e. if a rotation exists that fulfill all the requirements: {@code
* v₁ = r(u₁)}, {@code v₂ = r(u₂)}, {@code dv₁/dt = dr(u₁)/dt}, {@code dv₂/dt
* = dr(u₂)/dt}, {@code d²v₁/dt² = d²r(u₁)/dt²}, {@code d²v₂/dt² = d²r(u₂)/dt²}.</p>
* @param date coordinates date
* @param u1 first vector of the origin pair
* @param u2 second vector of the origin pair
* @param v1 desired image of u1 by the rotation
* @param v2 desired image of u2 by the rotation
* @param tolerance relative tolerance factor used to check singularities
*/
public TimeStampedAngularCoordinates(final AbsoluteDate date,
final PVCoordinates u1, final PVCoordinates u2,
final PVCoordinates v1, final PVCoordinates v2,
final double tolerance) {
super(u1, u2, v1, v2, tolerance);
this.date = date;
}
/** Build one of the rotations that transform one pv coordinates into another one.
* <p>Except for a possible scale factor, if the instance were
* applied to the vector u it will produce the vector v. There is an
* infinite number of such rotations, this constructor choose the
* one with the smallest associated angle (i.e. the one whose axis
* is orthogonal to the (u, v) plane). If u and v are collinear, an
* arbitrary rotation axis is chosen.</p>
* @param date coordinates date
* @param u origin vector
* @param v desired image of u by the rotation
*/
public TimeStampedAngularCoordinates(final AbsoluteDate date,
final PVCoordinates u, final PVCoordinates v) {
super(u, v);
this.date = date;
}
/** Builds a TimeStampedAngularCoordinates from a {@link FieldRotation}<{@link Derivative}>.
* <p>
* The rotation components must have time as their only derivation parameter and
* have consistent derivation orders.
* </p>
* @param date coordinates date
* @param r rotation with time-derivatives embedded within the coordinates
* @param <U> type of the derivative
*/
public <U extends Derivative<U>>TimeStampedAngularCoordinates(final AbsoluteDate date,
final FieldRotation<U> r) {
super(r);
this.date = date;
}
/** {@inheritDoc} */
public AbsoluteDate getDate() {
return date;
}
/** Revert a rotation/rotation rate pair.
* Build a pair which reverse the effect of another pair.
* @return a new pair whose effect is the reverse of the effect
* of the instance
*/
public TimeStampedAngularCoordinates revert() {
return new TimeStampedAngularCoordinates(date,
getRotation().revert(),
getRotation().applyInverseTo(getRotationRate().negate()),
getRotation().applyInverseTo(getRotationAcceleration().negate()));
}
/** Get a time-shifted state.
* <p>
* The state can be slightly shifted to close dates. This shift is based on
* a simple linear model. It is <em>not</em> intended as a replacement for
* proper attitude propagation but should be sufficient for either small
* time shifts or coarse accuracy.
* </p>
* @param dt time shift in seconds
* @return a new state, shifted with respect to the instance (which is immutable)
*/
public TimeStampedAngularCoordinates shiftedBy(final double dt) {
final AngularCoordinates sac = super.shiftedBy(dt);
return new TimeStampedAngularCoordinates(date.shiftedBy(dt),
sac.getRotation(), sac.getRotationRate(), sac.getRotationAcceleration());
}
/** Add an offset from the instance.
* <p>
* We consider here that the offset rotation is applied first and the
* instance is applied afterward. Note that angular coordinates do <em>not</em>
* commute under this operation, i.e. {@code a.addOffset(b)} and {@code
* b.addOffset(a)} lead to <em>different</em> results in most cases.
* </p>
* <p>
* The two methods {@link #addOffset(AngularCoordinates) addOffset} and
* {@link #subtractOffset(AngularCoordinates) subtractOffset} are designed
* so that round trip applications are possible. This means that both {@code
* ac1.subtractOffset(ac2).addOffset(ac2)} and {@code
* ac1.addOffset(ac2).subtractOffset(ac2)} return angular coordinates equal to ac1.
* </p>
* @param offset offset to subtract
* @return new instance, with offset subtracted
* @see #subtractOffset(AngularCoordinates)
*/
@Override
public TimeStampedAngularCoordinates addOffset(final AngularCoordinates offset) {
final Vector3D rOmega = getRotation().applyTo(offset.getRotationRate());
final Vector3D rOmegaDot = getRotation().applyTo(offset.getRotationAcceleration());
return new TimeStampedAngularCoordinates(date,
getRotation().compose(offset.getRotation(), RotationConvention.VECTOR_OPERATOR),
getRotationRate().add(rOmega),
new Vector3D( 1.0, getRotationAcceleration(),
1.0, rOmegaDot,
-1.0, Vector3D.crossProduct(getRotationRate(), rOmega)));
}
/** Subtract an offset from the instance.
* <p>
* We consider here that the offset rotation is applied first and the
* instance is applied afterward. Note that angular coordinates do <em>not</em>
* commute under this operation, i.e. {@code a.subtractOffset(b)} and {@code
* b.subtractOffset(a)} lead to <em>different</em> results in most cases.
* </p>
* <p>
* The two methods {@link #addOffset(AngularCoordinates) addOffset} and
* {@link #subtractOffset(AngularCoordinates) subtractOffset} are designed
* so that round trip applications are possible. This means that both {@code
* ac1.subtractOffset(ac2).addOffset(ac2)} and {@code
* ac1.addOffset(ac2).subtractOffset(ac2)} return angular coordinates equal to ac1.
* </p>
* @param offset offset to subtract
* @return new instance, with offset subtracted
* @see #addOffset(AngularCoordinates)
*/
@Override
public TimeStampedAngularCoordinates subtractOffset(final AngularCoordinates offset) {
return addOffset(offset.revert());
}
}