Package org.orekit.frames

Interface KinematicTransform

All Superinterfaces:
StaticTransform, TimeStamped
All Known Implementing Classes:
Transform
public interface KinematicTransform extends StaticTransform
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:

  • Method Details

    • getIdentity

      static KinematicTransform getIdentity()
      Get the identity kinematic transform.
      Returns:
      identity transform.

    • compositeVelocity

      static Vector3D compositeVelocity(KinematicTransform first, KinematicTransform second)
      Compute a composite velocity.
      Parameters:
      first - first applied transform
      second - second applied transform
      Returns:
      velocity part of the composite transform

    • compositeRotationRate

      static Vector3D compositeRotationRate(KinematicTransform first, KinematicTransform second)
      Compute a composite rotation rate.
      Parameters:
      first - first applied transform
      second - second applied transform
      Returns:
      rotation rate part of the composite transform

    • transformOnlyPV

      default PVCoordinates transformOnlyPV(PVCoordinates pv)
      Transform PVCoordinates, without the acceleration vector.
      Parameters:
      pv - the position-velocity couple to transform.
      Returns:
      transformed position-velocity

    • transformOnlyPV

      default TimeStampedPVCoordinates transformOnlyPV(TimeStampedPVCoordinates 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 double[][] getPVJacobian()
      Compute the Jacobian of the transformOnlyPV(PVCoordinates) (PVCoordinates)} method of the transform.

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

      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

      Vector3D getVelocity()
      Get the first time derivative of the translation.
      Returns:
      first time derivative of the translation
      See Also:

    • getRotationRate

      Vector3D getRotationRate()
      Get the first time derivative of the rotation.

      The norm represents the angular rate.

      Returns:
      First time derivative of the rotation
      See Also:

    • getInverse

      KinematicTransform getInverse()
      Get the inverse transform of the instance.
      Specified by:
      getInverse in interface StaticTransform
      Returns:
      inverse transform of the instance

    • compose

      static KinematicTransform compose(AbsoluteDate date, KinematicTransform first, KinematicTransform 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.

      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

      static KinematicTransform of(AbsoluteDate date, Rotation rotation, Vector3D rotationRate)
      Create a new kinematic transform from a rotation and zero, constant translation.
      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

      static KinematicTransform of(AbsoluteDate date, PVCoordinates pvCoordinates)
      Create a new kinematic transform from a translation and its rate.
      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

      static KinematicTransform of(AbsoluteDate date, PVCoordinates pvCoordinates, Rotation rotation, Vector3D rotationRate)
      Create a new kinematic transform from a translation and rotation.
      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: