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