1 /* Copyright 2002-2024 CS GROUP
2 * Licensed to CS GROUP (CS) under one or more
3 * contributor license agreements. See the NOTICE file distributed with
4 * this work for additional information regarding copyright ownership.
5 * CS licenses this file to You under the Apache License, Version 2.0
6 * (the "License"); you may not use this file except in compliance with
7 * the License. You may obtain a copy of the License at
8 *
9 * http://www.apache.org/licenses/LICENSE-2.0
10 *
11 * Unless required by applicable law or agreed to in writing, software
12 * distributed under the License is distributed on an "AS IS" BASIS,
13 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
14 * See the License for the specific language governing permissions and
15 * limitations under the License.
16 */
17 package org.orekit.files.ccsds.ndm.adm.apm;
18
19 import java.util.Arrays;
20
21 import org.hipparchus.complex.Quaternion;
22 import org.orekit.errors.OrekitException;
23 import org.orekit.errors.OrekitMessages;
24 import org.orekit.files.ccsds.ndm.adm.AttitudeEndpoints;
25 import org.orekit.files.ccsds.section.CommentsContainer;
26
27 /**
28 * Container for Attitude Parameter Message quaternion logical block.
29 * @author Bryan Cazabonne
30 * @since 10.2
31 */
32 public class ApmQuaternion extends CommentsContainer {
33
34 /** Endpoints (i.e. frames A, B and their relationship). */
35 private final AttitudeEndpoints endpoints;
36
37 /** Quaternion. */
38 private double[] q;
39
40 /** Quaternion derivative. */
41 private double[] qDot;
42
43 /** Simple constructor.
44 */
45 public ApmQuaternion() {
46 endpoints = new AttitudeEndpoints();
47 q = new double[4];
48 qDot = new double[4];
49 Arrays.fill(q, Double.NaN);
50 Arrays.fill(qDot, Double.NaN);
51 }
52
53 /** {@inheritDoc} */
54 @Override
55 public void validate(final double version) {
56 super.validate(version);
57 if (version < 2.0) {
58 endpoints.checkMandatoryEntriesExceptExternalFrame(version,
59 ApmQuaternionKey.Q_FRAME_A,
60 ApmQuaternionKey.Q_FRAME_B,
61 ApmQuaternionKey.Q_DIR);
62 endpoints.checkExternalFrame(ApmQuaternionKey.Q_FRAME_A, ApmQuaternionKey.Q_FRAME_B);
63 } else {
64 endpoints.checkMandatoryEntriesExceptExternalFrame(version,
65 ApmQuaternionKey.REF_FRAME_A,
66 ApmQuaternionKey.REF_FRAME_B,
67 ApmQuaternionKey.Q_DIR);
68 endpoints.checkExternalFrame(ApmQuaternionKey.REF_FRAME_A, ApmQuaternionKey.REF_FRAME_B);
69 }
70 if (Double.isNaN(q[0] + q[1] + q[2] + q[3])) {
71 throw new OrekitException(OrekitMessages.UNINITIALIZED_VALUE_FOR_KEY, "Q{C|1|2|3}");
72 }
73 }
74
75 /** Get the endpoints (i.e. frames A, B and their relationship).
76 * @return endpoints
77 */
78 public AttitudeEndpoints getEndpoints() {
79 return endpoints;
80 }
81
82 /**
83 * Get the quaternion.
84 * @return quaternion
85 */
86 public Quaternion getQuaternion() {
87 return new Quaternion(q[0], q[1], q[2], q[3]);
88 }
89
90 /**
91 * Set quaternion component.
92 * @param index component index (0 is scalar part)
93 * @param value quaternion component
94 */
95 public void setQ(final int index, final double value) {
96 refuseFurtherComments();
97 this.q[index] = value;
98 }
99
100 /**
101 * Get the quaternion derivative.
102 * @return quaternion derivative
103 */
104 public Quaternion getQuaternionDot() {
105 return new Quaternion(qDot[0], qDot[1], qDot[2], qDot[3]);
106 }
107
108 /**
109 * Set quaternion derivative component.
110 * @param index component index (0 is scalar part)
111 * @param derivative quaternion derivative component
112 */
113 public void setQDot(final int index, final double derivative) {
114 refuseFurtherComments();
115 this.qDot[index] = derivative;
116 }
117
118 /** Check if the logical block includes rates.
119 * @return true if logical block includes rates
120 */
121 public boolean hasRates() {
122 return !Double.isNaN(qDot[0] + qDot[1] + qDot[2] + qDot[3]);
123 }
124
125 }