Package org.orekit.frames

Interface FieldKinematicTransform<T extends CalculusFieldElement<T>>

Type Parameters:

T - type of the field elements

All Superinterfaces:

FieldStaticTransform<T>, TimeStamped

All Known Implementing Classes:

FieldTransform

public interface FieldKinematicTransform<T extends CalculusFieldElement<T>>
extends FieldStaticTransform<T>

A transform that only includes translation and rotation as well as their respective rates. It is kinematic in the sense that it cannot transform an acceleration vector.

Since:

12.1

Author:

Romain Serra

See Also:

• FieldStaticTransform
• FieldTransform
• KinematicTransform

Method Summary

Modifier and Type	Method	Description
static <T extends CalculusFieldElement<T>> FieldKinematicTransform<T>	compose(FieldAbsoluteDate<T> date, FieldKinematicTransform<T> first, FieldKinematicTransform<T> second)	Build a transform by combining two existing ones.
static <T extends CalculusFieldElement<T>> FieldVector3D<T>	compositeRotationRate(FieldKinematicTransform<T> first, FieldKinematicTransform<T> second)	Compute a composite rotation rate.
static <T extends CalculusFieldElement<T>> FieldVector3D<T>	compositeVelocity(FieldKinematicTransform<T> first, FieldKinematicTransform<T> second)	Compute a composite velocity.
static <T extends CalculusFieldElement<T>> FieldKinematicTransform<T>	getIdentity(Field<T> field)	Get the identity kinematic transform.
FieldKinematicTransform<T>	getInverse()	Get the inverse transform of the instance.
default T[][]	getPVJacobian()	Compute the Jacobian of the transformOnlyPV(FieldPVCoordinates) (FieldPVCoordinates)} method of the transform.
FieldVector3D<T>	getRotationRate()	Get the first time derivative of the rotation.
FieldVector3D<T>	getVelocity()	Get the first time derivative of the translation.
static <T extends CalculusFieldElement<T>> FieldKinematicTransform<T>	of(Field<T> field, KinematicTransform kinematicTransform)	Create a new kinematic transform from a non-Field version.
static <T extends CalculusFieldElement<T>> FieldKinematicTransform<T>	of(FieldAbsoluteDate<T> date, FieldRotation<T> rotation, FieldVector3D<T> rotationRate)	Create a new kinematic transform from a rotation and zero, constant translation.
static <T extends CalculusFieldElement<T>> FieldKinematicTransform<T>	of(FieldAbsoluteDate<T> date, FieldPVCoordinates<T> pvCoordinates)	Create a new kinematic transform from a translation and its rate.
static <T extends CalculusFieldElement<T>> FieldKinematicTransform<T>	of(FieldAbsoluteDate<T> date, FieldPVCoordinates<T> pvCoordinates, FieldRotation<T> rotation, FieldVector3D<T> rotationRate)	Create a new kinematic transform from a translation and rotation.
default FieldPVCoordinates<T>	transformOnlyPV(FieldPVCoordinates<T> pv)	Transform PVCoordinates, without the acceleration vector.
default TimeStampedFieldPVCoordinates<T>	transformOnlyPV(TimeStampedFieldPVCoordinates<T> pv)	Transform TimeStampedPVCoordinates, without the acceleration vector.

Methods inherited from interface org.orekit.frames.FieldStaticTransform

getFieldDate, getRotation, getStaticInverse, getTranslation, transformLine, transformLine, transformPosition, transformPosition, transformVector, transformVector

Methods inherited from interface org.orekit.time.TimeStamped

durationFrom, getDate

Method Details

getIdentity

static <T extends CalculusFieldElement<T>>
FieldKinematicTransform<T> getIdentity(Field<T> field)

Get the identity kinematic transform.

Type Parameters:

T - type of the elements

Parameters:

field - field used by default

Returns:

identity transform.

compositeVelocity

static <T extends CalculusFieldElement<T>>
FieldVector3D<T> compositeVelocity(FieldKinematicTransform<T> first,
 FieldKinematicTransform<T> second)

Compute a composite velocity.

Type Parameters:

T - the type of the field elements

Parameters:

first - first applied transform

second - second applied transform

Returns:

velocity part of the composite transform

compositeRotationRate

static <T extends CalculusFieldElement<T>>
FieldVector3D<T> compositeRotationRate(FieldKinematicTransform<T> first,
 FieldKinematicTransform<T> second)

Compute a composite rotation rate.

Type Parameters:

T - type of the elements

Parameters:

first - first applied transform

second - second applied transform

Returns:

rotation rate part of the composite transform

transformOnlyPV

default FieldPVCoordinates<T> transformOnlyPV(FieldPVCoordinates<T> pv)

Transform PVCoordinates, without the acceleration vector.

Parameters:

pv - the position-velocity couple to transform.

Returns:

transformed position-velocity

transformOnlyPV

default TimeStampedFieldPVCoordinates<T> transformOnlyPV(TimeStampedFieldPVCoordinates<T> pv)

Transform TimeStampedPVCoordinates, without the acceleration vector.

In order to allow the user more flexibility, this method does not check for consistency between the transform date and the time-stamped position-velocity date. The returned value will always have the same date as the input argument, regardless of the instance date.

Parameters:

pv - the position-velocity couple to transform.

Returns:

transformed position-velocity

getPVJacobian

default T[][] getPVJacobian()

Compute the Jacobian of the transformOnlyPV(FieldPVCoordinates) (FieldPVCoordinates)} method of the transform.

Element jacobian[i][j] is the derivative of Cartesian coordinate i of the transformed FieldPVCoordinates with respect to Cartesian coordinate j of the input FieldPVCoordinates in method transformOnlyPV(FieldPVCoordinates).

This definition implies that if we define position-velocity coordinates

 PV₁ = transform.transformPVCoordinates(PV₀), then
 

their differentials dPV₁ and dPV₀ will obey the following relation where J is the matrix computed by this method:

 dPV₁ = J × dPV₀
 

Returns:

Jacobian matrix

getVelocity

FieldVector3D<T> getVelocity()

Get the first time derivative of the translation.

Returns:

first time derivative of the translation

See Also:

• FieldStaticTransform.getTranslation()

getRotationRate

FieldVector3D<T> getRotationRate()

Get the first time derivative of the rotation.

The norm represents the angular rate.

Returns:

First time derivative of the rotation

See Also:

• FieldStaticTransform.getRotation()

getInverse

FieldKinematicTransform<T> getInverse()

Get the inverse transform of the instance.

Specified by:

getInverse in interface FieldStaticTransform<T extends CalculusFieldElement<T>>

Returns:

inverse transform of the instance

compose

static <T extends CalculusFieldElement<T>>
FieldKinematicTransform<T> compose(FieldAbsoluteDate<T> date,
 FieldKinematicTransform<T> first,
 FieldKinematicTransform<T> second)

Build a transform by combining two existing ones.

Note that the dates of the two existing transformed are ignored, and the combined transform date is set to the date supplied in this constructor without any attempt to shift the raw transforms. This is a design choice allowing user full control of the combination.

Type Parameters:

T - type of the elements

Parameters:

date - date of the transform

first - first transform applied

second - second transform applied

Returns:

the newly created kinematic transform that has the same effect as applying first, then second.

See Also:

• of(FieldAbsoluteDate, FieldPVCoordinates, FieldRotation, FieldVector3D)

of

static <T extends CalculusFieldElement<T>>
FieldKinematicTransform<T> of(FieldAbsoluteDate<T> date,
 FieldRotation<T> rotation,
 FieldVector3D<T> rotationRate)

Create a new kinematic transform from a rotation and zero, constant translation.

Type Parameters:

T - type of the elements

Parameters:

date - of translation.

rotation - to apply after the translation. That is after translating applying this rotation produces positions expressed in the new frame.

rotationRate - rate of rotation

Returns:

the newly created kinematic transform.

See Also:

• of(FieldAbsoluteDate, FieldPVCoordinates, FieldRotation, FieldVector3D)

of

static <T extends CalculusFieldElement<T>>
FieldKinematicTransform<T> of(FieldAbsoluteDate<T> date,
 FieldPVCoordinates<T> pvCoordinates)

Create a new kinematic transform from a translation and its rate.

Type Parameters:

T - type of the elements

Parameters:

date - of translation.

pvCoordinates - translation (with rate) to apply, expressed in the old frame. That is, the opposite of the coordinates of the new origin in the old frame.

Returns:

the newly created kinematic transform.

See Also:

• of(FieldAbsoluteDate, FieldPVCoordinates, FieldRotation, FieldVector3D)

of

static <T extends CalculusFieldElement<T>>
FieldKinematicTransform<T> of(Field<T> field,
 KinematicTransform kinematicTransform)

Create a new kinematic transform from a non-Field version.

Type Parameters:

T - type of the elements

Parameters:

field - field.

kinematicTransform - non-Field kinematic transform

Returns:

the newly created kinematic transform.

See Also:

• of(FieldAbsoluteDate, FieldPVCoordinates, FieldRotation, FieldVector3D)

of

static <T extends CalculusFieldElement<T>>
FieldKinematicTransform<T> of(FieldAbsoluteDate<T> date,
 FieldPVCoordinates<T> pvCoordinates,
 FieldRotation<T> rotation,
 FieldVector3D<T> rotationRate)

Create a new kinematic transform from a translation and rotation.

Type Parameters:

T - type of the elements

Parameters:

date - of translation.

pvCoordinates - translation (with rate) to apply, expressed in the old frame. That is, the opposite of the coordinates of the new origin in the old frame.

rotation - to apply after the translation. That is after translating applying this rotation produces positions expressed in the new frame.

rotationRate - rate of rotation

Returns:

the newly created kinematic transform.

See Also:

• compose(FieldAbsoluteDate, FieldKinematicTransform, FieldKinematicTransform)
• of(FieldAbsoluteDate, FieldPVCoordinates, FieldRotation, FieldVector3D)
• of(FieldAbsoluteDate, FieldPVCoordinates, FieldRotation, FieldVector3D)