LOF.java

  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.frames;

  19. import org.hipparchus.CalculusFieldElement;
  20. import org.hipparchus.Field;
  21. import org.hipparchus.geometry.euclidean.threed.FieldRotation;
  22. import org.hipparchus.geometry.euclidean.threed.FieldVector3D;
  23. import org.hipparchus.geometry.euclidean.threed.Rotation;
  24. import org.hipparchus.geometry.euclidean.threed.RotationConvention;
  25. import org.hipparchus.geometry.euclidean.threed.Vector3D;
  26. import org.orekit.time.AbsoluteDate;
  27. import org.orekit.time.FieldAbsoluteDate;
  28. import org.orekit.utils.FieldPVCoordinates;
  29. import org.orekit.utils.PVCoordinates;

  31. /**
  32.  * Interface for local orbital frame.
  33.  *
  34.  * @author Vincent Cucchietti
  35.  */
  36. public interface LOF {

  38.     /**
  39.      * Get the rotation from input to output {@link LOF local orbital frame}.
  40.      * <p>
  41.      * This rotation does not include any time derivatives. If first time derivatives (i.e. rotation rate) is needed as well,
  42.      * the full {@link #transformFromLOFInToLOFOut(LOF, LOF, FieldAbsoluteDate, FieldPVCoordinates)} method must be called and
  43.      * the complete rotation transform must be extracted from it.
  44.      *
  45.      * @param field field to which the elements belong
  46.      * @param in input commonly used local orbital frame
  47.      * @param out output commonly used local orbital frame
  48.      * @param date date of the rotation
  49.      * @param pv position-velocity of the spacecraft in some inertial frame
  50.      * @param <T> type of the field elements
  51.      *
  52.      * @return rotation from input to output local orbital frame
  53.      *
  54.      * @since 11.3
  55.      */
  56.     static <T extends CalculusFieldElement<T>> FieldRotation<T> rotationFromLOFInToLOFOut(final Field<T> field,
  57.                                                                                           final LOF in, final LOF out,
  58.                                                                                           final FieldAbsoluteDate<T> date,
  59.                                                                                           final FieldPVCoordinates<T> pv) {
  60.         return out.rotationFromLOF(field, in, date, pv);
  61.     }

  63.     /**
  64.      * Get the transform from input to output {@link LOF local orbital frame}.
  65.      *
  66.      * @param in input commonly used local orbital frame
  67.      * @param out output commonly used local orbital frame
  68.      * @param date date of the transform
  69.      * @param pv position-velocity of the spacecraft in some inertial frame
  70.      * @param <T> type of the field elements
  71.      *
  72.      * @return rotation from input to output local orbital frame.
  73.      *
  74.      * @since 11.3
  75.      */
  76.     static <T extends CalculusFieldElement<T>> FieldTransform<T> transformFromLOFInToLOFOut(final LOF in, final LOF out,
  77.                                                                                             final FieldAbsoluteDate<T> date,
  78.                                                                                             final FieldPVCoordinates<T> pv) {
  79.         return out.transformFromLOF(in, date, pv);
  80.     }

  82.     /**
  83.      * Get the rotation from input to output {@link LOF local orbital frame}.
  84.      * <p>
  85.      * This rotation does not include any time derivatives. If first time derivatives (i.e. rotation rate) is needed as well,
  86.      * the full {@link #transformFromLOFInToLOFOut(LOF, LOF, AbsoluteDate, PVCoordinates)}   method must be called and
  87.      * the complete rotation transform must be extracted from it.
  88.      *
  89.      * @param in input commonly used local orbital frame
  90.      * @param out output commonly used local orbital frame
  91.      * @param date date of the rotation
  92.      * @param pv position-velocity of the spacecraft in some inertial frame
  93.      *
  94.      * @return rotation from input to output local orbital frame.
  95.      *
  96.      * @since 11.3
  97.      */
  98.     static Rotation rotationFromLOFInToLOFOut(final LOF in, final LOF out, final AbsoluteDate date, final PVCoordinates pv) {
  99.         return out.rotationFromLOF(in, date, pv);
  100.     }

  102.     /**
  103.      * Get the transform from input to output {@link LOF local orbital frame}.
  104.      *
  105.      * @param in input commonly used local orbital frame
  106.      * @param out output commonly used local orbital frame
  107.      * @param date date of the transform
  108.      * @param pv position-velocity of the spacecraft in some inertial frame
  109.      *
  110.      * @return rotation from input to output local orbital frame
  111.      *
  112.      * @since 11.3
  113.      */
  114.     static Transform transformFromLOFInToLOFOut(final LOF in, final LOF out, final AbsoluteDate date,
  115.                                                 final PVCoordinates pv) {
  116.         return out.transformFromLOF(in, date, pv);
  117.     }

  119.     /**
  120.      * Get the rotation from input {@link LOF local orbital frame} to the instance.
  121.      * <p>
  122.      * This rotation does not include any time derivatives. If first time derivatives (i.e. rotation rate) is needed as well,
  123.      * the full {@link #transformFromLOF(LOF, FieldAbsoluteDate, FieldPVCoordinates)}   method must be called and
  124.      * the complete rotation transform must be extracted from it.
  125.      *
  126.      * @param field field to which the elements belong
  127.      * @param fromLOF input local orbital frame
  128.      * @param date date of the rotation
  129.      * @param pv position-velocity of the spacecraft in some inertial frame
  130.      * @param <T> type of the field elements
  131.      *
  132.      * @return rotation from input local orbital frame to the instance
  133.      *
  134.      * @since 11.3
  135.      */
  136.     default <T extends CalculusFieldElement<T>> FieldRotation<T> rotationFromLOF(final Field<T> field,
  137.                                                                                  final LOF fromLOF,
  138.                                                                                  final FieldAbsoluteDate<T> date,
  139.                                                                                  final FieldPVCoordinates<T> pv) {

  141.         // First compute the rotation from the input LOF to the pivot inertial
  142.         final FieldRotation<T> fromLOFToInertial = fromLOF.rotationFromInertial(field, date, pv).revert();

  144.         // Then compute the rotation from the pivot inertial to the output LOF
  145.         final FieldRotation<T> inertialToThis = this.rotationFromInertial(field, date, pv);

  147.         // Output composed rotation
  148.         return fromLOFToInertial.compose(inertialToThis, RotationConvention.FRAME_TRANSFORM);
  149.     }

  151.     /**
  152.      * Get the rotation from input {@link LOF commonly used local orbital frame} to the instance.
  153.      *
  154.      * @param fromLOF input local orbital frame
  155.      * @param date date of the transform
  156.      * @param pv position-velocity of the spacecraft in some inertial frame
  157.      * @param <T> type of the field elements
  158.      *
  159.      * @return rotation from input local orbital frame to the instance
  160.      *
  161.      * @since 11.3
  162.      */
  163.     default <T extends CalculusFieldElement<T>> FieldTransform<T> transformFromLOF(final LOF fromLOF,
  164.                                                                                    final FieldAbsoluteDate<T> date,
  165.                                                                                    final FieldPVCoordinates<T> pv) {

  167.         // Get transform from input local orbital frame to inertial
  168.         final FieldTransform<T> fromLOFToInertial = fromLOF.transformFromInertial(date, pv).getInverse();

  170.         // Get transform from inertial to output local orbital frame
  171.         final FieldTransform<T> inertialToLOFOut = this.transformFromInertial(date, pv);

  173.         // Output composition of both transforms
  174.         return new FieldTransform<>(date, fromLOFToInertial, inertialToLOFOut);
  175.     }

  177.     /**
  178.      * Get the transform from an inertial frame defining position-velocity and the local orbital frame.
  179.      *
  180.      * @param date current date
  181.      * @param pv position-velocity of the spacecraft in some inertial frame
  182.      * @param <T> type of the fields elements
  183.      *
  184.      * @return transform from the frame where position-velocity are defined to local orbital frame
  185.      *
  186.      * @since 9.0
  187.      */
  188.     default <T extends CalculusFieldElement<T>> FieldTransform<T> transformFromInertial(final FieldAbsoluteDate<T> date,
  189.                                                                                         final FieldPVCoordinates<T> pv) {

  191.         // compute the translation part of the transform
  192.         final FieldTransform<T> translation = new FieldTransform<>(date, pv.negate());

  194.         // compute the rotation part of the transform
  195.         final FieldRotation<T> r        = rotationFromInertial(date.getField(), date, pv);
  196.         final FieldVector3D<T> p        = pv.getPosition();
  197.         final FieldVector3D<T> momentum = pv.getMomentum();
  198.         final FieldTransform<T> rotation = new FieldTransform<>(date, r,
  199.                                                                 new FieldVector3D<>(p.getNormSq().reciprocal(),
  200.                                                                                     r.applyTo(momentum)));

  202.         final FieldTransform<T> transform = new FieldTransform<>(date, translation, rotation);

  204.         // If LOF is considered pseudo-inertial, freeze transform
  205.         return isQuasiInertial() ? transform.freeze() : transform;

  207.     }

  209.     /**
  210.      * Get the rotation from inertial frame to local orbital frame.
  211.      * <p>
  212.      * This rotation does not include any time derivatives. If first time derivatives (i.e. rotation rate) is needed as well,
  213.      * the full {@link #transformFromInertial(FieldAbsoluteDate, FieldPVCoordinates)} method must be
  214.      * called and the complete rotation transform must be extracted from it.
  215.      * </p>
  216.      *
  217.      * @param field field to which the elements belong
  218.      * @param date date of the rotation
  219.      * @param pv position-velocity of the spacecraft in some inertial frame
  220.      * @param <T> type of the field elements
  221.      *
  222.      * @return rotation from inertial frame to local orbital frame
  223.      *
  224.      * @since 9.0
  225.      */
  226.     <T extends CalculusFieldElement<T>> FieldRotation<T> rotationFromInertial(Field<T> field, FieldAbsoluteDate<T> date,
  227.                                                                               FieldPVCoordinates<T> pv);

  229.     /**
  230.      * Get the rotation from input {@link LOF local orbital frame} to the instance.
  231.      * <p>
  232.      * This rotation does not include any time derivatives. If first time derivatives (i.e. rotation rate) is needed as well,
  233.      * the full {@link #transformFromLOF(LOF, AbsoluteDate, PVCoordinates)}  method must be called and
  234.      * the complete rotation transform must be extracted from it.
  235.      *
  236.      * @param fromLOF input local orbital frame
  237.      * @param date date of the rotation
  238.      * @param pv position-velocity of the spacecraft in some inertial frame
  239.      *
  240.      * @return rotation from input local orbital frame to the instance
  241.      *
  242.      * @since 11.3
  243.      */
  244.     default Rotation rotationFromLOF(final LOF fromLOF, final AbsoluteDate date, final PVCoordinates pv) {

  246.         // First compute the rotation from the input LOF to the pivot inertial
  247.         final Rotation fromLOFToInertial = fromLOF.rotationFromInertial(date, pv).revert();

  249.         // Then compute the rotation from the pivot inertial to the output LOF
  250.         final Rotation inertialToThis = this.rotationFromInertial(date, pv);

  252.         // Output composed rotation
  253.         return fromLOFToInertial.compose(inertialToThis, RotationConvention.FRAME_TRANSFORM);
  254.     }

  256.     /**
  257.      * Get the rotation from input {@link LOF local orbital frame} to the instance.
  258.      *
  259.      * @param fromLOF input local orbital frame
  260.      * @param date date of the transform
  261.      * @param pv position-velocity of the spacecraft in some inertial frame
  262.      *
  263.      * @return rotation from input local orbital frame to the instance
  264.      *
  265.      * @since 11.3
  266.      */
  267.     default Transform transformFromLOF(final LOF fromLOF, final AbsoluteDate date, final PVCoordinates pv) {

  269.         // First compute the rotation from the input LOF to the pivot inertial
  270.         final Transform fromLOFToInertial = fromLOF.transformFromInertial(date, pv).getInverse();

  272.         // Then compute the rotation from the pivot inertial to the output LOF
  273.         final Transform inertialToThis = this.transformFromInertial(date, pv);

  275.         // Output composed rotation
  276.         return new Transform(date, fromLOFToInertial, inertialToThis);
  277.     }

  279.     /**
  280.      * Get the transform from an inertial frame defining position-velocity and the local orbital frame.
  281.      *
  282.      * @param date current date
  283.      * @param pv position-velocity of the spacecraft in some inertial frame
  284.      *
  285.      * @return transform from the frame where position-velocity are defined to local orbital frame
  286.      */
  287.     default Transform transformFromInertial(final AbsoluteDate date, final PVCoordinates pv) {

  289.         // compute the translation part of the transform
  290.         final Transform translation = new Transform(date, pv.negate());

  292.         // compute the rotation part of the transform
  293.         final Rotation  r        = rotationFromInertial(date, pv);
  294.         final Vector3D  p        = pv.getPosition();
  295.         final Vector3D  momentum = pv.getMomentum();
  296.         final Transform rotation = new Transform(date, r, new Vector3D(1.0 / p.getNormSq(), r.applyTo(momentum)));

  298.         final Transform transform = new Transform(date, translation, rotation);

  300.         // If LOF is considered pseudo-inertial, freeze transform
  301.         return isQuasiInertial() ? transform.freeze() : transform;

  303.     }

  305.     /**
  306.      * Get the rotation from inertial frame to local orbital frame.
  307.      * <p>
  308.      * This rotation does not include any time derivatives. If first time derivatives (i.e. rotation rate) is needed as well,
  309.      * the full {@link #transformFromInertial(AbsoluteDate, PVCoordinates) transformFromInertial} method must be called and
  310.      * the complete rotation transform must be extracted from it.
  311.      *
  312.      * @param date date of the rotation
  313.      * @param pv position-velocity of the spacecraft in some inertial frame
  314.      *
  315.      * @return rotation from inertial frame to local orbital frame
  316.      */
  317.     Rotation rotationFromInertial(AbsoluteDate date, PVCoordinates pv);

  319.     /** Get flag that indicates if current local orbital frame shall be treated as pseudo-inertial.
  320.      * @return flag that indicates if current local orbital frame shall be treated as pseudo-inertial
  321.      */
  322.     default boolean isQuasiInertial() {
  323.         return false;
  324.     }

  326.     /** Get name of the local orbital frame.
  327.      * @return name of the local orbital frame
  328.      */
  329.     String getName();

  331. }
Created with JaCoCo 0.8.11.202310140853