RateElementsType.java
/* Copyright 2022-2025 Luc Maisonobe
* 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
* limitations under the License.
*/
package org.orekit.files.ccsds.ndm.adm.acm;
import java.util.List;
import java.util.stream.Collectors;
import java.util.stream.Stream;
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.orekit.errors.OrekitException;
import org.orekit.errors.OrekitMessages;
import org.orekit.time.AbsoluteDate;
import org.orekit.utils.AngularCoordinates;
import org.orekit.utils.TimeStampedAngularCoordinates;
import org.orekit.utils.units.Unit;
/** Attitude rate element set type used in CCSDS {@link Acm Attitude Comprehensive Messages}.
* @author Luc Maisonobe
* @since 12.0
*/
public enum RateElementsType {
// CHECKSTYLE: stop MultipleStringLiterals check
/** Angular velocity. */
ANGVEL("Angular velocity",
"°/s", "°/s", "°/s") {
/** {@inheritDoc} */
@Override
public TimeStampedAngularCoordinates toAngular(final AbsoluteDate date,
final RotationOrder order,
final Rotation rotation,
final int first,
final double[] elements) {
return new TimeStampedAngularCoordinates(date,
rotation,
new Vector3D(elements[first], elements[first + 1], elements[first + 2]),
Vector3D.ZERO);
}
/** {@inheritDoc} */
@Override
public double[] toRawElements(final TimeStampedAngularCoordinates angularCoordinates,
final RotationOrder order) {
return new double[] {
angularCoordinates.getRotationRate().getX(),
angularCoordinates.getRotationRate().getY(),
angularCoordinates.getRotationRate().getZ()
};
}
},
/** Quaternion derivatives. */
Q_DOT("Quaternion derivatives",
"s⁻¹", "s⁻¹", "s⁻¹", "s⁻¹") {
/** {@inheritDoc} */
@Override
public TimeStampedAngularCoordinates toAngular(final AbsoluteDate date,
final RotationOrder order,
final Rotation rotation,
final int first,
final double[] elements) {
final UnivariateDerivative1 q0 = new UnivariateDerivative1(rotation.getQ0(), elements[first + 3]);
final UnivariateDerivative1 q1 = new UnivariateDerivative1(rotation.getQ1(), elements[first]);
final UnivariateDerivative1 q2 = new UnivariateDerivative1(rotation.getQ2(), elements[first + 1]);
final UnivariateDerivative1 q3 = new UnivariateDerivative1(rotation.getQ3(), elements[first + 2]);
return new TimeStampedAngularCoordinates(date, new FieldRotation<>(q0, q1, q2, q3, false));
}
/** {@inheritDoc} */
@Override
public double[] toRawElements(final TimeStampedAngularCoordinates angularCoordinates,
final RotationOrder order) {
final FieldRotation<UnivariateDerivative1> ac1 = angularCoordinates.toUnivariateDerivative1Rotation();
return new double[] {
ac1.getQ1().getFirstDerivative(),
ac1.getQ2().getFirstDerivative(),
ac1.getQ3().getFirstDerivative(),
ac1.getQ0().getFirstDerivative()
};
}
},
/** Euler rates. */
EULER_RATE("Euler rates",
"°/s", "°/s", "°/s") {
/** {@inheritDoc} */
@Override
public TimeStampedAngularCoordinates toAngular(final AbsoluteDate date,
final RotationOrder order,
final Rotation rotation,
final int first,
final double[] elements) {
final double[] euler0 = rotation.getAngles(order, RotationConvention.FRAME_TRANSFORM);
final UnivariateDerivative1 alpha0 = new UnivariateDerivative1(euler0[0], elements[first]);
final UnivariateDerivative1 alpha1 = new UnivariateDerivative1(euler0[1], elements[first + 1]);
final UnivariateDerivative1 alpha2 = new UnivariateDerivative1(euler0[2], elements[first + 2]);
return new TimeStampedAngularCoordinates(date, new FieldRotation<>(order, RotationConvention.FRAME_TRANSFORM,
alpha0, alpha1, alpha2));
}
/** {@inheritDoc} */
@Override
public double[] toRawElements(final TimeStampedAngularCoordinates angularCoordinates,
final RotationOrder order) {
final FieldRotation<UnivariateDerivative1> ac1 = angularCoordinates.toUnivariateDerivative1Rotation();
final UnivariateDerivative1[] euler = ac1.getAngles(order, RotationConvention.FRAME_TRANSFORM);
return new double[] {
euler[0].getFirstDerivative(), euler[1].getFirstDerivative(), euler[2].getFirstDerivative(),
};
}
},
/** Correction to gyro rates. */
GYRO_BIAS("Gyro rate corrections",
"°/s", "°/s", "°/s") {
/** {@inheritDoc} */
@Override
public TimeStampedAngularCoordinates toAngular(final AbsoluteDate date,
final RotationOrder order,
final Rotation rotation,
final int first,
final double[] elements) {
throw new OrekitException(OrekitMessages.CCSDS_UNSUPPORTED_ELEMENT_SET_TYPE, name(), toString());
}
/** {@inheritDoc} */
@Override
public double[] toRawElements(final TimeStampedAngularCoordinates angularCoordinates,
final RotationOrder order) {
throw new OrekitException(OrekitMessages.CCSDS_UNSUPPORTED_ELEMENT_SET_TYPE, name(), toString());
}
},
/** No rates. */
NONE("no rates") {
/** {@inheritDoc} */
@Override
public TimeStampedAngularCoordinates toAngular(final AbsoluteDate date,
final RotationOrder order,
final Rotation rotation,
final int first,
final double[] elements) {
return new TimeStampedAngularCoordinates(date, new AngularCoordinates(rotation));
}
/** {@inheritDoc} */
@Override
public double[] toRawElements(final TimeStampedAngularCoordinates angularCoordinates,
final RotationOrder order) {
return new double[0];
}
};
// CHECKSTYLE: resume MultipleStringLiterals check
/** Description. */
private final String description;
/** Elements units. */
private final List<Unit> units;
/** Simple constructor.
* @param description description
* @param unitsSpecifications elements units specifications
*/
RateElementsType(final String description, final String... unitsSpecifications) {
this.description = description;
this.units = Stream.of(unitsSpecifications).
map(Unit::parse).
collect(Collectors.toList());
}
/** Get the elements units.
* @return elements units
*/
public List<Unit> getUnits() {
return units;
}
/** Convert to angyla coordinates.
* @param date date
* @param order rotation order for Euler angles
* @param rotation rotation
* @param first index of the first element to consider
* @param elements elements values in SI units
* @return rotation
*/
public abstract TimeStampedAngularCoordinates toAngular(AbsoluteDate date,
RotationOrder order,
Rotation rotation,
int first,
double[] elements);
/** Convert to raw elements array.
* @param angularCoordinates angular coordinates
* @param order rotation order for Euler angles
* @return elements elements values in SI units
* @since 14.0
*/
public abstract double[] toRawElements(TimeStampedAngularCoordinates angularCoordinates, RotationOrder order);
/** {@inheritDoc} */
@Override
public String toString() {
return description;
}
}