1 /* Copyright 2002-2026 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.files.ccsds.ndm.adm.apm;
18
19 import java.util.Arrays;
20 import java.util.Optional;
21
22 import org.hipparchus.complex.Quaternion;
23 import org.orekit.annotation.Nullable;
24 import org.orekit.errors.OrekitException;
25 import org.orekit.errors.OrekitMessages;
26 import org.orekit.files.ccsds.definitions.CcsdsFrameMapper;
27 import org.orekit.files.ccsds.ndm.adm.AttitudeEndpoints;
28 import org.orekit.files.ccsds.section.CommentsContainer;
29 import org.orekit.frames.Frame;
30
31 /**
32 * Container for Attitude Parameter Message quaternion logical block.
33 * <p>
34 * Beware that the Orekit getters and setters all rely on SI units. The parsers
35 * and writers take care of converting these SI units into CCSDS mandatory units.
36 * The {@link org.orekit.utils.units.Unit Unit} class provides useful
37 * {@link org.orekit.utils.units.Unit#fromSI(double) fromSi} and
38 * {@link org.orekit.utils.units.Unit#toSI(double) toSI} methods in case the callers
39 * already use CCSDS units instead of the API SI units. The general-purpose
40 * {@link org.orekit.utils.units.Unit Unit} class (without an 's') and the
41 * CCSDS-specific {@link org.orekit.files.ccsds.definitions.Units Units} class
42 * (with an 's') also provide some predefined units. These predefined units and the
43 * {@link org.orekit.utils.units.Unit#fromSI(double) fromSi} and
44 * {@link org.orekit.utils.units.Unit#toSI(double) toSI} conversion methods are indeed
45 * what the parsers and writers use for the conversions.
46 * </p>
47 * @author Bryan Cazabonne
48 * @since 10.2
49 */
50 public class ApmQuaternion extends CommentsContainer {
51
52 /** Endpoints (i.e. frames A, B and their relationship). */
53 private final AttitudeEndpoints endpoints;
54
55 /** Quaternion. */
56 private final double[] q;
57
58 /** Quaternion derivative. */
59 @Nullable
60 private double[] qDot;
61
62 /**
63 * Simple constructor.
64 *
65 * @param frameMapper for creating a {@link Frame}.
66 * @since 13.1.5
67 */
68 public ApmQuaternion(final CcsdsFrameMapper frameMapper) {
69 endpoints = new AttitudeEndpoints(frameMapper);
70 q = new double[4];
71 Arrays.fill(q, Double.NaN);
72 }
73
74 /** {@inheritDoc} */
75 @Override
76 public void validate(final double version) {
77 super.validate(version);
78 if (version < 2.0) {
79 endpoints.checkMandatoryEntriesExceptExternalFrame(version,
80 ApmQuaternionKey.Q_FRAME_A,
81 ApmQuaternionKey.Q_FRAME_B,
82 ApmQuaternionKey.Q_DIR);
83 endpoints.checkExternalFrame(ApmQuaternionKey.Q_FRAME_A, ApmQuaternionKey.Q_FRAME_B);
84 } else {
85 endpoints.checkMandatoryEntriesExceptExternalFrame(version,
86 ApmQuaternionKey.REF_FRAME_A,
87 ApmQuaternionKey.REF_FRAME_B,
88 ApmQuaternionKey.Q_DIR);
89 endpoints.checkExternalFrame(ApmQuaternionKey.REF_FRAME_A, ApmQuaternionKey.REF_FRAME_B);
90 }
91 if (Double.isNaN(q[0] + q[1] + q[2] + q[3])) {
92 throw new OrekitException(OrekitMessages.UNINITIALIZED_VALUE_FOR_KEY, "Q{C|1|2|3}");
93 }
94 }
95
96 /** Get the endpoints (i.e. frames A, B and their relationship).
97 * @return endpoints
98 */
99 public AttitudeEndpoints getEndpoints() {
100 return endpoints;
101 }
102
103 /**
104 * Get the quaternion.
105 * @return quaternion
106 */
107 public Quaternion getQuaternion() {
108 return new Quaternion(q[0], q[1], q[2], q[3]);
109 }
110
111 /**
112 * Set quaternion component.
113 * @param index component index (0 is scalar part)
114 * @param value quaternion component
115 */
116 public void setQ(final int index, final double value) {
117 refuseFurtherComments();
118 this.q[index] = value;
119 }
120
121 /**
122 * Get the quaternion derivative.
123 * @return quaternion derivative
124 */
125 public Optional<Quaternion> getQuaternionDot() {
126 return qDot == null ? Optional.empty() : Optional.of(new Quaternion(qDot[0], qDot[1], qDot[2], qDot[3]));
127 }
128
129 /**
130 * Set quaternion derivative component.
131 * @param index component index (0 is scalar part)
132 * @param derivative quaternion derivative component
133 */
134 public void setQDot(final int index, final double derivative) {
135 refuseFurtherComments();
136 if (qDot == null) {
137 qDot = new double[4];
138 Arrays.fill(qDot, Double.NaN);
139 }
140 this.qDot[index] = derivative;
141 }
142
143 /** Check if the logical block includes rates.
144 * @return true if logical block includes rates
145 */
146 public boolean hasRates() {
147 return getQuaternionDot().isPresent() && !Double.isNaN(qDot[0] + qDot[1] + qDot[2] + qDot[3]);
148 }
149
150 }