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:

StaticTransform, Transform

Method Summary

Modifier and Type	Method	Description
static KinematicTransform	compose(AbsoluteDate date, KinematicTransform first, KinematicTransform second)	Build a transform by combining two existing ones.
static Vector3D	compositeRotationRate(KinematicTransform first, KinematicTransform second)	Compute a composite rotation rate.
static Vector3D	compositeVelocity(KinematicTransform first, KinematicTransform second)	Compute a composite velocity.
static KinematicTransform	getIdentity()	Get the identity kinematic transform.
KinematicTransform	getInverse()	Get the inverse transform of the instance.
Vector3D	getRotationRate()	Get the first time derivative of the rotation.
Vector3D	getVelocity()	Get the first time derivative of the translation.
static KinematicTransform	of(AbsoluteDate date, Rotation rotation, Vector3D rotationRate)	Create a new kinematic transform from a rotation and zero, constant translation.
static KinematicTransform	of(AbsoluteDate date, PVCoordinates pvCoordinates)	Create a new kinematic transform from a translation and its rate.
static KinematicTransform	of(AbsoluteDate date, PVCoordinates pvCoordinates, Rotation rotation, Vector3D rotationRate)	Create a new kinematic transform from a translation and rotation.
default PVCoordinates	transformOnlyPV(PVCoordinates pv)	Transform PVCoordinates, without the acceleration vector.
default TimeStampedPVCoordinates	transformOnlyPV(TimeStampedPVCoordinates pv)	Transform TimeStampedPVCoordinates, without the acceleration vector.

Methods inherited from interface org.orekit.frames.StaticTransform

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

Methods inherited from interface org.orekit.time.TimeStamped

durationFrom, getDate

Method Detail

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

getVelocity

Vector3D getVelocity()

Get the first time derivative of the translation.

Returns:

first time derivative of the translation

See Also:

StaticTransform.getTranslation()

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:

StaticTransform.getRotation()

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(AbsoluteDate, PVCoordinates, Rotation, Vector3D)

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(AbsoluteDate, PVCoordinates, Rotation, Vector3D)

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(AbsoluteDate, PVCoordinates, Rotation, Vector3D)

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:

compose(AbsoluteDate, KinematicTransform, KinematicTransform), of(AbsoluteDate, PVCoordinates, Rotation, Vector3D), of(AbsoluteDate, PVCoordinates, Rotation, Vector3D)