FramesFactory.java

  1. /* Copyright 2002-2022 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.frames;

  19. import org.hipparchus.CalculusFieldElement;
  20. import org.orekit.annotation.DefaultDataContext;
  21. import org.orekit.data.DataContext;
  22. import org.orekit.time.AbsoluteDate;
  23. import org.orekit.time.FieldAbsoluteDate;
  24. import org.orekit.utils.IERSConventions;


  27. /** Factory for predefined reference frames.
  28.  *
  29.  * <h2> FramesFactory Presentation </h2>
  30.  * <p>
  31.  * Several predefined reference {@link Frame frames} are implemented in OREKIT.
  32.  * They are linked together in a tree with the <i>Geocentric
  33.  * Celestial Reference Frame</i> (GCRF) as the root of the tree.
  34.  * This factory is designed to:
  35.  * </p>
  36.  * <ul>
  37.  *   <li>build the frames tree consistently,</li>
  38.  *   <li>avoid rebuilding some frames that may be costly to recreate all the time,</li>
  39.  *   <li>set up interpolation/caching features for some frames that may induce costly computation</li>
  40.  *   <li>streamline the {@link EOPHistory Earth Orientation Parameters} history loading.</li>
  41.  * </ul>
  42.  * <h2> Reference Frames </h2>
  43.  * <p>
  44.  * The user can retrieve those reference frames using various static methods, the most
  45.  * important ones being: {@link #getFrame(Predefined)}, {@link #getGCRF()},
  46.  * {@link #getCIRF(IERSConventions, boolean)} {@link #getTIRF(IERSConventions, boolean)},
  47.  * {@link #getITRF(IERSConventions, boolean)}, {@link #getITRF(ITRFVersion, IERSConventions, boolean)},
  48.  * {@link #getEME2000()}, {@link #getMOD(IERSConventions)}, {@link #getTOD(IERSConventions, boolean)},
  49.  * {@link #getGTOD(IERSConventions, boolean)}, {@link #getITRFEquinox(IERSConventions, boolean)},
  50.  * {@link #getTEME()} and {@link #getVeis1950()}.
  51.  * </p>
  52.  * <h2> International Terrestrial Reference Frame</h2>
  53.  * <p>
  54.  * This frame is the current (as of 2013) reference realization of
  55.  * the International Terrestrial Reference System produced by IERS.
  56.  * It is described in <a href="ftp://tai.bipm.org/iers/conv2010/tn36.pdf">
  57.  * IERS conventions (2010)</a>. It replaces the Earth Centered Earth Fixed
  58.  * frame which is the reference frame for GPS satellites.
  59.  * </p>
  60.  * <p>
  61.  * This frame is used to define position on solid Earth. It rotates with
  62.  * the Earth and includes the pole motion with respect to Earth crust as
  63.  * provided by IERS {@link EOPHistory Earth Orientation Parameters}.
  64.  * Its pole axis is the IERS Reference Pole (IRP).
  65.  * </p>
  66.  * <p>
  67.  * Depending on the  {@link EOPHistory Earth Orientation Parameters} source,
  68.  * different ITRS realization may be returned by {@link #getITRF(IERSConventions, boolean)},
  69.  * and if EOP are mixed, the ITRF may even jump from one realization to another one.
  70.  * This is not a problem for most users as different ITRS realizations are very close
  71.  * to each other (a few millimeters at Earth surface). If however a specific ITRF version
  72.  * (i.e. an ITRS realization) is needed for very high accuracy, Orekit provides the
  73.  * {@link FramesFactory#getITRF(ITRFVersion, IERSConventions, boolean)} method
  74.  * to get it and take care of jumps in EOP.
  75.  * </p>
  76.  * <p>
  77.  * ITRF can be built using the new non-rotating origin paradigm
  78.  * mandated by IAU 2000 resolution B1.8 and any supported {@link IERSConventions
  79.  * IERS conventions} (even IERS 1996 can be used with non-rotating origin paradigm,
  80.  * despite the resolution was not yet adopted at conventions publication time).
  81.  * </p>
  82.  * <p>
  83.  * ITRF can also be built using the classical equinox paradigm used prior to IAU 2000
  84.  * resolution B1.8 and any supported {@link IERSConventions IERS conventions} (even
  85.  * IERS 2003 and 2010 can be used with equinox paradigm, despite the resolution is
  86.  * in effect now). The choice of paradigm (non-rotating origin or equinox) and the
  87.  * choice of IERS conventions (i.e. the choice of precession/nutation models) can
  88.  * be made independently by user, Orekit provides all alternatives.
  89.  * </p>
  90.  * <h2>Intermediate frames</h2>
  91.  * <p>
  92.  * Orekit also provides all the intermediate frames that are needed to transform
  93.  * between GCRF and ITRF, along the two paths: ITRF/TIRF/CIRF/GCRF for the
  94.  * non-rotating origin paradigm and ITRF/GTOD/TOD/MOD/EME2000/GCRF for the equinox
  95.  * paradigm.
  96.  * </p>
  97.  * <h2> Earth Orientation Parameters </h2>
  98.  * <p>
  99.  * This factory also handles loading of Earth Orientation Parameters (EOP) needed
  100.  * for accurate transformations between inertial and Earth fixed frames, using
  101.  * {@link org.orekit.data.DataProvidersManager} features. EOP are IERS conventions
  102.  * dependent, because they correspond to correction to the precession/nutation
  103.  * models. When EOP should be applied, but EOP data are not available, then a null
  104.  * (0.0) correction is used. This can occur when no EOP data is loaded, or when the
  105.  * requested date is beyond the time span of the loaded EOP data. Using a null
  106.  * correction can result in coarse accuracy. To check the time span covered by EOP data use
  107.  * {@link #getEOPHistory(IERSConventions, boolean)}, {@link EOPHistory#getStartDate()},
  108.  * and {@link EOPHistory#getEndDate()}.
  109.  * <p>
  110.  * For more information on configuring the EOP data Orekit uses see
  111.  * <a href="https://gitlab.orekit.org/orekit/orekit/blob/master/src/site/markdown/configuration.md">
  112.  * https://gitlab.orekit.org/orekit/orekit/blob/master/src/site/markdown/configuration.md</a>.
  113.  * <p>
  114.  * Here is a schematic representation of the predefined reference frames tree:
  115.  * </p>
  116.  * <pre>
  117.  *                                                                  GCRF
  118.  *                                                                    |
  119.  *                                                 |-----------------------------------------------
  120.  *                                                 |                         |     Frame bias     |
  121.  *                                                 |                         |                 EME2000
  122.  *                                                 |                         |                    |
  123.  *                                                 |                         | Precession effects |
  124.  *                                                 |                         |                    |
  125.  *           Bias, Precession and Nutation effects |                        MOD                  MOD  (Mean Equator Of Date)
  126.  *                                                 |                         |             w/o EOP corrections
  127.  *                                                 |                         |  Nutation effects  |
  128.  *    (Celestial Intermediate Reference Frame)   CIRF                        |                    |
  129.  *                                                 |                        TOD                  TOD  (True Equator Of Date)
  130.  *                          Earth natural rotation |                         |             w/o EOP corrections
  131.  *                                                 |-------------            |    Sidereal Time   |
  132.  *                                                 |            |            |                    |
  133.  *  (Terrestrial Intermediate Reference Frame)   TIRF         TIRF         GTOD                 GTOD  (Greenwich True Of Date)
  134.  *                                                 |    w/o tidal effects                  w/o EOP corrections
  135.  *                                     Pole motion |            |                                 |
  136.  *                                                 |            |                                 |-------------
  137.  *                                                 |            |                                 |            |
  138.  * (International Terrestrial Reference Frame)   ITRF         ITRF                              ITRF        VEIS1950
  139.  *                                                 |    w/o tidal effects                   equinox-based
  140.  *                                                 |            |
  141.  *                                           other ITRF     other ITRF
  142.  *                                                      w/o tidal effects
  143.  * </pre>
  144.  * <p>
  145.  * This is a utility class, so its constructor is private.
  146.  * </p>
  147.  * @author Guylaine Prat
  148.  * @author Luc Maisonobe
  149.  * @author Pascal Parraud
  150.  * @see Frames
  151.  */
  152. public class FramesFactory {

  154.     /* These constants were left here instead of being moved to LazyLoadedFrames because
  155.      * they are public.
  156.      */

  158.     /** Default regular expression for the Rapid Data and Prediction EOP columns files (IAU1980 compatibles). */
  159.     public static final String RAPID_DATA_PREDICTION_COLUMNS_1980_FILENAME = "^finals\\.[^.]*$";

  161.     /** Default regular expression for the Rapid Data and Prediction EOP XML files (IAU1980 compatibles). */
  162.     public static final String RAPID_DATA_PREDICTION_XML_1980_FILENAME = "^finals\\..*\\.xml$";

  164.     /** Default regular expression for the EOPC04 files (IAU1980 compatibles). */
  165.     public static final String EOPC04_1980_FILENAME = "^eopc04_\\d\\d\\.(\\d\\d)$";

  167.     /** Default regular expression for the BulletinB files (IAU1980 compatibles). */
  168.     public static final String BULLETINB_1980_FILENAME = "^bulletinb(_IAU1980)?((-\\d\\d\\d\\.txt)|(\\.\\d\\d\\d))$";

  170.     /** Default regular expression for the Rapid Data and Prediction EOP columns files (IAU2000 compatibles). */
  171.     public static final String RAPID_DATA_PREDICITON_COLUMNS_2000_FILENAME = "^finals2000A\\.[^.]*$";

  173.     /** Default regular expression for the Rapid Data and Prediction EOP XML files (IAU2000 compatibles). */
  174.     public static final String RAPID_DATA_PREDICITON_XML_2000_FILENAME = "^finals2000A\\..*\\.xml$";

  176.     /** Default regular expression for the EOPC04 files (IAU2000 compatibles). */
  177.     public static final String EOPC04_2000_FILENAME = "^eopc04_\\d\\d_IAU2000\\.(\\d\\d)$";

  179.     /** Default regular expression for the BulletinB files (IAU2000 compatibles). */
  180.     public static final String BULLETINB_2000_FILENAME = "^bulletinb(_IAU2000)?((-\\d\\d\\d\\.txt)|(\\.\\d\\d\\d))$";

  182.     /** Default regular expression for the BulletinA files (IAU1980 and IAU2000 compatibles). */
  183.     public static final String BULLETINA_FILENAME = "^bulletina-[ivxlcdm]+-\\d\\d\\d\\.txt$";

  185.     /** Private constructor.
  186.      * <p>This class is a utility class, it should neither have a public
  187.      * nor a default constructor. This private constructor prevents
  188.      * the compiler from generating one automatically.</p>
  189.      */
  190.     private FramesFactory() {
  191.     }

  193.     /**
  194.      * Get the instance of {@link Frames} that is called by the static methods in this
  195.      * class.
  196.      *
  197.      * @return the reference frames used by this factory.
  198.      */
  199.     @DefaultDataContext
  200.     public static LazyLoadedFrames getFrames() {
  201.         return DataContext.getDefault().getFrames();
  202.     }

  204.     /** Add the default loaders EOP history (IAU 1980 precession/nutation).
  205.      * <p>
  206.      * The default loaders look for IERS EOP C04 and bulletins B files. They
  207.      * correspond to {@link IERSConventions#IERS_1996 IERS 1996} conventions.
  208.      * </p>
  209.      * @param rapidDataColumnsSupportedNames regular expression for supported
  210.      * rapid data columns EOP files names
  211.      * (may be null if the default IERS file names are used)
  212.      * @param rapidDataXMLSupportedNames regular expression for supported
  213.      * rapid data XML EOP files names
  214.      * (may be null if the default IERS file names are used)
  215.      * @param eopC04SupportedNames regular expression for supported EOP C04 files names
  216.      * (may be null if the default IERS file names are used)
  217.      * @param bulletinBSupportedNames regular expression for supported bulletin B files names
  218.      * (may be null if the default IERS file names are used)
  219.      * @param bulletinASupportedNames regular expression for supported bulletin A files names
  220.      * (may be null if the default IERS file names are used)
  221.      * @see <a href="http://hpiers.obspm.fr/eoppc/eop/eopc04/">IERS EOP C04 files</a>
  222.      * @see #addEOPHistoryLoader(IERSConventions, EOPHistoryLoader)
  223.      * @see #clearEOPHistoryLoaders()
  224.      * @see #addDefaultEOP2000HistoryLoaders(String, String, String, String, String)
  225.      */
  226.     @DefaultDataContext
  227.     public static void addDefaultEOP1980HistoryLoaders(final String rapidDataColumnsSupportedNames,
  228.                                                        final String rapidDataXMLSupportedNames,
  229.                                                        final String eopC04SupportedNames,
  230.                                                        final String bulletinBSupportedNames,
  231.                                                        final String bulletinASupportedNames) {
  232.         getFrames().addDefaultEOP1980HistoryLoaders(
  233.                 rapidDataColumnsSupportedNames,
  234.                 rapidDataXMLSupportedNames,
  235.                 eopC04SupportedNames,
  236.                 bulletinBSupportedNames,
  237.                 bulletinASupportedNames);
  238.     }

  240.     /** Add the default loaders for EOP history (IAU 2000/2006 precession/nutation).
  241.      * <p>
  242.      * The default loaders look for IERS EOP C04 and bulletins B files. They
  243.      * correspond to both {@link IERSConventions#IERS_2003 IERS 2003} and {@link
  244.      * IERSConventions#IERS_2010 IERS 2010} conventions.
  245.      * </p>
  246.      * @param rapidDataColumnsSupportedNames regular expression for supported
  247.      * rapid data columns EOP files names
  248.      * (may be null if the default IERS file names are used)
  249.      * @param rapidDataXMLSupportedNames regular expression for supported
  250.      * rapid data XML EOP files names
  251.      * (may be null if the default IERS file names are used)
  252.      * @param eopC04SupportedNames regular expression for supported EOP C04 files names
  253.      * (may be null if the default IERS file names are used)
  254.      * @param bulletinBSupportedNames regular expression for supported bulletin B files names
  255.      * (may be null if the default IERS file names are used)
  256.      * @param bulletinASupportedNames regular expression for supported bulletin A files names
  257.      * (may be null if the default IERS file names are used)
  258.      * @see <a href="http://hpiers.obspm.fr/eoppc/eop/eopc04/">IERS EOP C04 files</a>
  259.      * @see #addEOPHistoryLoader(IERSConventions, EOPHistoryLoader)
  260.      * @see #clearEOPHistoryLoaders()
  261.      * @see #addDefaultEOP1980HistoryLoaders(String, String, String, String, String)
  262.      */
  263.     @DefaultDataContext
  264.     public static void addDefaultEOP2000HistoryLoaders(final String rapidDataColumnsSupportedNames,
  265.                                                        final String rapidDataXMLSupportedNames,
  266.                                                        final String eopC04SupportedNames,
  267.                                                        final String bulletinBSupportedNames,
  268.                                                        final String bulletinASupportedNames) {
  269.         getFrames().addDefaultEOP2000HistoryLoaders(
  270.                 rapidDataColumnsSupportedNames,
  271.                 rapidDataXMLSupportedNames,
  272.                 eopC04SupportedNames,
  273.                 bulletinBSupportedNames,
  274.                 bulletinASupportedNames);
  275.     }

  277.     /** Add a loader for Earth Orientation Parameters history.
  278.      * @param conventions IERS conventions to which EOP history applies
  279.      * @param loader custom loader to add for the EOP history
  280.      * @see #addDefaultEOP1980HistoryLoaders(String, String, String, String, String)
  281.      * @see #clearEOPHistoryLoaders()
  282.      */
  283.     @DefaultDataContext
  284.     public static void addEOPHistoryLoader(final IERSConventions conventions, final EOPHistoryLoader loader) {
  285.         getFrames().addEOPHistoryLoader(conventions, loader);
  286.     }

  288.     /** Clear loaders for Earth Orientation Parameters history.
  289.      * @see #addEOPHistoryLoader(IERSConventions, EOPHistoryLoader)
  290.      * @see #addDefaultEOP1980HistoryLoaders(String, String, String, String, String)
  291.      */
  292.     @DefaultDataContext
  293.     public static void clearEOPHistoryLoaders() {
  294.         getFrames().clearEOPHistoryLoaders();
  295.     }

  297.     /** Set the threshold to check EOP continuity.
  298.      * <p>
  299.      * The default threshold (used if this method is never called)
  300.      * is 5 Julian days. If after loading EOP entries some holes
  301.      * between entries exceed this threshold, an exception will
  302.      * be triggered.
  303.      * </p>
  304.      * <p>
  305.      * One case when calling this method is really useful is for
  306.      * applications that use a single Bulletin A, as these bulletins
  307.      * have a roughly one month wide hole for the first bulletin of
  308.      * each month, which contains older final data in addition to the
  309.      * rapid data and the predicted data.
  310.      * </p>
  311.      * @param threshold threshold to use for checking EOP continuity (in seconds)
  312.      */
  313.     @DefaultDataContext
  314.     public static void setEOPContinuityThreshold(final double threshold) {
  315.         getFrames().setEOPContinuityThreshold(threshold);
  316.     }

  318.     /** Get Earth Orientation Parameters history.
  319.      * <p>
  320.      * If no {@link EOPHistoryLoader} has been added by calling {@link
  321.      * #addEOPHistoryLoader(IERSConventions, EOPHistoryLoader) addEOPHistoryLoader}
  322.      * or if {@link #clearEOPHistoryLoaders() clearEOPHistoryLoaders} has been
  323.      * called afterwards, the {@link #addDefaultEOP1980HistoryLoaders(String, String,
  324.      * String, String, String)} and {@link #addDefaultEOP2000HistoryLoaders(String,
  325.      * String, String, String, String)} methods will be called automatically with
  326.      * supported file names parameters all set to null, in order to get the default
  327.      * loaders configuration.
  328.      * </p>
  329.      * @param conventions conventions for which EOP history is requested
  330.      * @param simpleEOP if true, tidal effects are ignored when interpolating EOP
  331.      * @return Earth Orientation Parameters history
  332.      */
  333.     @DefaultDataContext
  334.     public static EOPHistory getEOPHistory(final IERSConventions conventions, final boolean simpleEOP) {
  335.         return getFrames().getEOPHistory(conventions, simpleEOP);
  336.     }

  338.     /** Get one of the predefined frames.
  339.      * @param factoryKey key of the frame within the factory
  340.      * @return the predefined frame
  341.      */
  342.     @DefaultDataContext
  343.     public static Frame getFrame(final Predefined factoryKey) {
  344.         return getFrames().getFrame(factoryKey);
  345.     }

  347.     /** Get the unique GCRF frame.
  348.      * <p>The GCRF frame is the root frame in the frame tree.</p>
  349.      * @return the unique instance of the GCRF frame
  350.      */
  351.     @DefaultDataContext
  352.     public static Frame getGCRF() {
  353.         return getFrames().getGCRF();
  354.     }

  356.     /** Get the unique ICRF frame.
  357.      * <p>The ICRF frame is centered at solar system barycenter and aligned
  358.      * with GCRF.</p>
  359.      * @return the unique instance of the ICRF frame
  360.      */
  361.     @DefaultDataContext
  362.     public static Frame getICRF() {
  363.         return getFrames().getICRF();
  364.     }

  366.     /** Get the ecliptic frame.
  367.      * The IAU defines the ecliptic as "the plane perpendicular to the mean heliocentric
  368.      * orbital angular momentum vector of the Earth-Moon barycentre in the BCRS (IAU 2006
  369.      * Resolution B1)." The +z axis is aligned with the angular momentum vector, and the +x
  370.      * axis is aligned with +x axis of {@link FramesFactory#getMOD(IERSConventions) MOD}.
  371.      *
  372.      * <p> This implementation agrees with the JPL 406 ephemerides to within 0.5 arc seconds.
  373.      * @param conventions IERS conventions to apply
  374.      * @return the selected reference frame singleton.
  375.      */
  376.     @DefaultDataContext
  377.     public static Frame getEcliptic(final IERSConventions conventions) {
  378.         return getFrames().getEcliptic(conventions);
  379.     }

  381.     /** Get the unique EME2000 frame.
  382.      * <p>The EME2000 frame is also called the J2000 frame.
  383.      * The former denomination is preferred in Orekit.</p>
  384.      * @return the unique instance of the EME2000 frame
  385.      */
  386.     @DefaultDataContext
  387.     public static FactoryManagedFrame getEME2000() {
  388.         return getFrames().getEME2000();
  389.     }

  391.     /** Get an unspecified International Terrestrial Reference Frame.
  392.      * <p>
  393.      * The frame returned uses the {@link EOPEntry Earth Orientation Parameters}
  394.      * blindly. So if for example one loads only EOP 14 C04 files to retrieve
  395.      * the parameters, the frame will be an {@link ITRFVersion#ITRF_2014}. However,
  396.      * if parameters are loaded from different files types, or even for file
  397.      * types that changed their reference (like Bulletin A switching from
  398.      * {@link ITRFVersion#ITRF_2008} to {@link ITRFVersion#ITRF_2014} starting
  399.      * with Vol. XXXI No. 013 published on 2018-03-29), then the ITRF returned
  400.      * by this method will jump from one version to another version.
  401.      * </p>
  402.      * <p>
  403.      * IF a specific version of ITRF is needed, then {@link #getITRF(ITRFVersion,
  404.      * IERSConventions, boolean)} should be used instead.
  405.      * </p>
  406.      * @param conventions IERS conventions to apply
  407.      * @param simpleEOP if true, tidal effects are ignored when interpolating EOP
  408.      * @return the selected reference frame singleton.
  409.           * @see #getITRF(ITRFVersion, IERSConventions, boolean)
  410.      * @since 6.1
  411.      */
  412.     @DefaultDataContext
  413.     public static FactoryManagedFrame getITRF(final IERSConventions conventions,
  414.                                               final boolean simpleEOP) {
  415.         return getFrames().getITRF(conventions, simpleEOP);
  416.     }

  418.     /** Get the TIRF reference frame, ignoring tidal effects.
  419.      * @param conventions IERS conventions to apply
  420.      * @return the selected reference frame singleton.
  421.           * library cannot be read.
  422.      */
  423.     @DefaultDataContext
  424.     public static FactoryManagedFrame getTIRF(final IERSConventions conventions) {
  425.         return getFrames().getTIRF(conventions);
  426.     }

  428.     /** Get an specific International Terrestrial Reference Frame.
  429.      * <p>
  430.      * Note that if a specific version of ITRF is required, then {@code simpleEOP}
  431.      * should most probably be set to {@code false}, as ignoring tidal effects
  432.      * has an effect of the same order of magnitude as the differences between
  433.      * the various {@link ITRFVersion ITRF versions}.
  434.      * </p>
  435.      * @param version ITRF version
  436.      * @param conventions IERS conventions to apply
  437.      * @param simpleEOP if true, tidal effects are ignored when interpolating EOP
  438.      * @return the selected reference frame singleton.
  439.           * @since 9.2
  440.      */
  441.     @DefaultDataContext
  442.     public static VersionedITRF getITRF(final ITRFVersion version,
  443.                                         final IERSConventions conventions,
  444.                                         final boolean simpleEOP) {
  445.         return getFrames().getITRF(version, conventions, simpleEOP);
  446.     }

  448.     /** Get the TIRF reference frame.
  449.      * @param conventions IERS conventions to apply
  450.      * @param simpleEOP if true, tidal effects are ignored when interpolating EOP
  451.      * @return the selected reference frame singleton.
  452.      * @since 6.1
  453.      */
  454.     @DefaultDataContext
  455.     public static FactoryManagedFrame getTIRF(final IERSConventions conventions,
  456.                                               final boolean simpleEOP) {
  457.         return getFrames().getTIRF(conventions, simpleEOP);
  458.     }

  460.     /** Get the CIRF2000 reference frame.
  461.      * @param conventions IERS conventions to apply
  462.      * @param simpleEOP if true, tidal effects are ignored when interpolating EOP
  463.      * @return the selected reference frame singleton.
  464.      */
  465.     @DefaultDataContext
  466.     public static FactoryManagedFrame getCIRF(final IERSConventions conventions,
  467.                                               final boolean simpleEOP) {
  468.         return getFrames().getCIRF(conventions, simpleEOP);
  469.     }

  471.     /** Get the VEIS 1950 reference frame.
  472.      * <p>Its parent frame is the GTOD frame with IERS 1996 conventions without EOP corrections.<p>
  473.      * @return the selected reference frame singleton.
  474.      */
  475.     @DefaultDataContext
  476.     public static FactoryManagedFrame getVeis1950() {
  477.         return getFrames().getVeis1950();
  478.     }

  480.     /** Get the equinox-based ITRF reference frame.
  481.      * @param conventions IERS conventions to apply
  482.      * @param simpleEOP if true, tidal effects are ignored when interpolating EOP
  483.      * @return the selected reference frame singleton.
  484.           * @since 6.1
  485.      */
  486.     @DefaultDataContext
  487.     public static FactoryManagedFrame getITRFEquinox(final IERSConventions conventions,
  488.                                                      final boolean simpleEOP) {
  489.         return getFrames().getITRFEquinox(conventions, simpleEOP);
  490.     }

  492.     /** Get the GTOD reference frame.
  493.      * <p>
  494.      * The applyEOPCorr parameter is available mainly for testing purposes or for
  495.      * consistency with legacy software that don't handle EOP correction parameters.
  496.      * Beware that setting this parameter to {@code false} leads to crude accuracy
  497.      * (order of magnitudes for errors might be above 250m in LEO and 1400m in GEO).
  498.      * For this reason, setting this parameter to false is restricted to {@link
  499.      * IERSConventions#IERS_1996 IERS 1996} conventions, and hence the {@link
  500.      * IERSConventions IERS conventions} cannot be freely chosen here.
  501.      * </p>
  502.      * @param applyEOPCorr if true, EOP corrections are applied (here, dut1 and lod)
  503.      * @return the selected reference frame singleton.
  504.      */
  505.     @DefaultDataContext
  506.     public static FactoryManagedFrame getGTOD(final boolean applyEOPCorr) {
  507.         return getFrames().getGTOD(applyEOPCorr);
  508.     }

  510.     /** Get the GTOD reference frame.
  511.      * @param conventions IERS conventions to apply
  512.      * @param simpleEOP if true, tidal effects are ignored when interpolating EOP
  513.      * @return the selected reference frame singleton.
  514.      */
  515.     @DefaultDataContext
  516.     public static FactoryManagedFrame getGTOD(final IERSConventions conventions,
  517.                                               final boolean simpleEOP) {
  518.         return getFrames().getGTOD(conventions, simpleEOP);
  519.     }

  521.     /** Get the TOD reference frame.
  522.      * <p>
  523.      * The applyEOPCorr parameter is available mainly for testing purposes or for
  524.      * consistency with legacy software that don't handle EOP correction parameters.
  525.      * Beware that setting this parameter to {@code false} leads to crude accuracy
  526.      * (order of magnitudes for errors might be above 1m in LEO and 10m in GEO).
  527.      * For this reason, setting this parameter to false is restricted to {@link
  528.      * IERSConventions#IERS_1996 IERS 1996} conventions, and hence the {@link
  529.      * IERSConventions IERS conventions} cannot be freely chosen here.
  530.      * </p>
  531.      * @param applyEOPCorr if true, EOP corrections are applied (here, nutation)
  532.      * @return the selected reference frame singleton.
  533.      */
  534.     @DefaultDataContext
  535.     public static FactoryManagedFrame getTOD(final boolean applyEOPCorr) {
  536.         return getFrames().getTOD(applyEOPCorr);
  537.     }

  539.     /** Get the TOD reference frame.
  540.      * @param conventions IERS conventions to apply
  541.      * @param simpleEOP if true, tidal effects are ignored when interpolating EOP
  542.      * @return the selected reference frame singleton.
  543.      */
  544.     @DefaultDataContext
  545.     public static FactoryManagedFrame getTOD(final IERSConventions conventions,
  546.                                              final boolean simpleEOP) {
  547.         return getFrames().getTOD(conventions, simpleEOP);
  548.     }

  550.     /** Get the MOD reference frame.
  551.      * <p>
  552.      * The applyEOPCorr parameter is available mainly for testing purposes or for
  553.      * consistency with legacy software that don't handle EOP correction parameters.
  554.      * Beware that setting this parameter to {@code false} leads to crude accuracy
  555.      * (order of magnitudes for errors might be above 1m in LEO and 10m in GEO).
  556.      * For this reason, setting this parameter to false is restricted to {@link
  557.      * IERSConventions#IERS_1996 IERS 1996} conventions, and hence the {@link
  558.      * IERSConventions IERS conventions} cannot be freely chosen here.
  559.      * </p>
  560.      * @param applyEOPCorr if true, EOP corrections are applied (EME2000/GCRF bias compensation)
  561.      * @return the selected reference frame singleton.
  562.      */
  563.     @DefaultDataContext
  564.     public static FactoryManagedFrame getMOD(final boolean applyEOPCorr) {
  565.         return getFrames().getMOD(applyEOPCorr);
  566.     }

  568.     /** Get the MOD reference frame.
  569.      * @param conventions IERS conventions to apply
  570.      * @return the selected reference frame singleton.
  571.      */
  572.     @DefaultDataContext
  573.     public static FactoryManagedFrame getMOD(final IERSConventions conventions) {
  574.         return getFrames().getMOD(conventions);
  575.     }

  577.     /** Get the TEME reference frame.
  578.      * <p>
  579.      * The TEME frame is used for the SGP4 model in TLE propagation. This frame has <em>no</em>
  580.      * official definition and there are some ambiguities about whether it should be used
  581.      * as "of date" or "of epoch". This frame should therefore be used <em>only</em> for
  582.      * TLE propagation and not for anything else, as recommended by the CCSDS Orbit Data Message
  583.      * blue book.
  584.      * </p>
  585.      * @return the selected reference frame singleton.
  586.      */
  587.     @DefaultDataContext
  588.     public static FactoryManagedFrame getTEME() {
  589.         return getFrames().getTEME();
  590.     }

  592.     /** Get the PZ-90.11 (Parametry Zemly  – 1990.11) reference frame.
  593.      * <p>
  594.      * The PZ-90.11 reference system was updated on all operational
  595.      * GLONASS satellites starting from 3:00 pm on December 31, 2013.
  596.      * </p>
  597.      * <p>
  598.      * The transition between parent frame (ITRF-2008) and PZ-90.11 frame is performed using
  599.      * a seven parameters Helmert transformation.
  600.      * <pre>
  601.      *    From       To      ΔX(m)   ΔY(m)   ΔZ(m)   RX(mas)   RY(mas)  RZ(mas)   Epoch
  602.      * ITRF-2008  PZ-90.11  +0.003  +0.001  -0.000   +0.019    -0.042   +0.002     2010
  603.      * </pre>
  604.      * @see "Springer Handbook of Global Navigation Satellite Systems, Peter Teunissen & Oliver Montenbruck"
  605.      *
  606.      * @param convention IERS conventions to apply
  607.      * @param simpleEOP if true, tidal effects are ignored when interpolating EOP
  608.      * @return the selected reference frame singleton.
  609.      */
  610.     @DefaultDataContext
  611.     public static FactoryManagedFrame getPZ9011(final IERSConventions convention,
  612.                                                 final boolean simpleEOP) {
  613.         return getFrames().getPZ9011(convention, simpleEOP);
  614.     }

  616.     /** Get the transform between two frames, suppressing all interpolation.
  617.      * <p>
  618.      * This method is similar to {@link Frame#getTransformTo(Frame, AbsoluteDate)}
  619.      * except it removes the performance enhancing interpolation features that are
  620.      * added by the {@link FramesFactory factory} to some frames, in order to focus
  621.      * on accuracy. The interpolation features are intended to save processing time
  622.      * by avoiding doing some lengthy computation like nutation evaluation at each
  623.      * time step and caching some results. This method can be used to avoid this,
  624.      * when very high accuracy is desired, or for testing purposes. It should be
  625.      * used with care, as doing the full computation is <em>really</em> costly for
  626.      * some frames.
  627.      * </p>
  628.      * @param from frame from which transformation starts
  629.      * @param to frame to which transformation ends
  630.      * @param date date of the transform
  631.      * @return transform between the two frames, avoiding interpolation
  632.      */
  633.     public static Transform getNonInterpolatingTransform(final Frame from, final Frame to,
  634.                                                          final AbsoluteDate date) {

  636.         // common ancestor to both frames in the frames tree
  637.         Frame currentF = from.getDepth() > to.getDepth() ? from.getAncestor(from.getDepth() - to.getDepth()) : from;
  638.         Frame currentT = from.getDepth() > to.getDepth() ? to : to.getAncestor(to.getDepth() - from.getDepth());
  639.         while (currentF != currentT) {
  640.             currentF = currentF.getParent();
  641.             currentT = currentT.getParent();
  642.         }
  643.         final Frame common = currentF;

  645.         // transform from common to origin
  646.         Transform commonToOrigin = Transform.IDENTITY;
  647.         for (Frame frame = from; frame != common; frame = frame.getParent()) {
  648.             commonToOrigin = new Transform(date,
  649.                                              peel(frame.getTransformProvider()).getTransform(date),
  650.                                              commonToOrigin);
  651.         }

  653.         // transform from destination up to common
  654.         Transform commonToDestination = Transform.IDENTITY;
  655.         for (Frame frame = to; frame != common; frame = frame.getParent()) {
  656.             commonToDestination = new Transform(date,
  657.                                                 peel(frame.getTransformProvider()).getTransform(date),
  658.                                                 commonToDestination);
  659.         }

  661.         // transform from origin to destination via common
  662.         return new Transform(date, commonToOrigin.getInverse(), commonToDestination);

  664.     }

  666.     /* The methods below are static helper methods for Frame and TransformProvider. */

  668.     /** Get the transform between two frames, suppressing all interpolation.
  669.      * <p>
  670.      * This method is similar to {@link Frame#getTransformTo(Frame, AbsoluteDate)}
  671.      * except it removes the performance enhancing interpolation features that are
  672.      * added by the {@link FramesFactory factory} to some frames, in order to focus
  673.      * on accuracy. The interpolation features are intended to save processing time
  674.      * by avoiding doing some lengthy computation like nutation evaluation at each
  675.      * time step and caching some results. This method can be used to avoid this,
  676.      * when very high accuracy is desired, or for testing purposes. It should be
  677.      * used with care, as doing the full computation is <em>really</em> costly for
  678.      * some frames.
  679.      * </p>
  680.      * @param from frame from which transformation starts
  681.      * @param to frame to which transformation ends
  682.      * @param date date of the transform
  683.      * @param <T> type of the field elements
  684.      * @return transform between the two frames, avoiding interpolation
  685.      * @since 9.0
  686.      */
  687.     public static <T extends CalculusFieldElement<T>> FieldTransform<T> getNonInterpolatingTransform(final Frame from, final Frame to,
  688.                                                                                                  final FieldAbsoluteDate<T> date) {

  690.         // common ancestor to both frames in the frames tree
  691.         Frame currentF = from.getDepth() > to.getDepth() ? from.getAncestor(from.getDepth() - to.getDepth()) : from;
  692.         Frame currentT = from.getDepth() > to.getDepth() ? to : to.getAncestor(to.getDepth() - from.getDepth());
  693.         while (currentF != currentT) {
  694.             currentF = currentF.getParent();
  695.             currentT = currentT.getParent();
  696.         }
  697.         final Frame common = currentF;

  699.         // transform from common to origin
  700.         FieldTransform<T> commonToOrigin = FieldTransform.getIdentity(date.getField());
  701.         for (Frame frame = from; frame != common; frame = frame.getParent()) {
  702.             commonToOrigin = new FieldTransform<>(date,
  703.                                                    peel(frame.getTransformProvider()).getTransform(date),
  704.                                                    commonToOrigin);
  705.         }

  707.         // transform from destination up to common
  708.         FieldTransform<T> commonToDestination = FieldTransform.getIdentity(date.getField());
  709.         for (Frame frame = to; frame != common; frame = frame.getParent()) {
  710.             commonToDestination = new FieldTransform<>(date,
  711.                                                        peel(frame.getTransformProvider()).getTransform(date),
  712.                                                        commonToDestination);
  713.         }

  715.         // transform from origin to destination via common
  716.         return new FieldTransform<>(date, commonToOrigin.getInverse(), commonToDestination);

  718.     }

  720.     /** Retrieve EOP from a frame hierarchy.
  721.      * <p>
  722.      * The frame hierarchy tree is walked from specified frame up to root
  723.      * traversing parent frames, and the providers are checked to see if they
  724.      * reference EOP history. The first EOP history found is returned.
  725.      * </p>
  726.      * @param start frame from which to start search, will typically be some
  727.      * Earth related frame, like a topocentric frame or an ITRF frame
  728.      * @return EOP history found while walking the frames tree, or null if
  729.      * no EOP history is found
  730.      * @since 9.1
  731.      */
  732.     public static EOPHistory findEOP(final Frame start) {

  734.         for (Frame frame = start; frame != null; frame = frame.getParent()) {

  736.             TransformProvider peeled = frame.getTransformProvider();

  738.             boolean peeling = true;
  739.             while (peeling) {
  740.                 if (peeled instanceof InterpolatingTransformProvider) {
  741.                     peeled = ((InterpolatingTransformProvider) peeled).getRawProvider();
  742.                 } else if (peeled instanceof ShiftingTransformProvider) {
  743.                     peeled = ((ShiftingTransformProvider) peeled).getRawProvider();
  744.                 } else if (peeled instanceof EOPBasedTransformProvider &&
  745.                            ((EOPBasedTransformProvider) peeled).getEOPHistory() != null) {
  746.                     return ((EOPBasedTransformProvider) peeled).getEOPHistory();
  747.                 } else {
  748.                     peeling = false;
  749.                 }
  750.             }

  752.         }

  754.         // no history found
  755.         return null;

  757.     }

  759.     /** Peel interpolation and shifting from a transform provider.
  760.      * @param provider transform provider to peel
  761.      * @return peeled transform provider
  762.      */
  763.     private static TransformProvider peel(final TransformProvider provider) {

  765.         TransformProvider peeled = provider;

  767.         boolean peeling = true;
  768.         while (peeling) {
  769.             if (peeled instanceof InterpolatingTransformProvider) {
  770.                 peeled = ((InterpolatingTransformProvider) peeled).getRawProvider();
  771.             } else if (peeled instanceof ShiftingTransformProvider) {
  772.                 peeled = ((ShiftingTransformProvider) peeled).getRawProvider();
  773.             } else if (peeled instanceof EOPBasedTransformProvider &&
  774.                        ((EOPBasedTransformProvider) peeled).getEOPHistory() != null &&
  775.                        ((EOPBasedTransformProvider) peeled).getEOPHistory().usesInterpolation()) {
  776.                 peeled = ((EOPBasedTransformProvider) peeled).getNonInterpolatingProvider();
  777.             } else {
  778.                 peeling = false;
  779.             }
  780.         }

  782.         return peeled;

  784.     }

  786. }
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