User Manual 4.0 Guidance commands - Historique des versions

Admin le 21 février 2018 à 13:57

2018-02-21T13:57:37Z

← Version précédente		Version du 21 février 2018 à 13:57
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	\|-		\|-
	\|Patrius		\|Patrius
	\|[{{~~PathCurrentJavaDoc~~}}/fr/cnes/sirius/patrius/attitudes/package-summary.html Package fr.cnes.sirius.patrius.guidance]		\|[{{JavaDoc4.0}}/fr/cnes/sirius/patrius/attitudes/package-summary.html Package fr.cnes.sirius.patrius.guidance]
	\|}		\|}

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	Given :		Given :
	* an [{{~~PathCurrentJavaDoc~~}}/fr/cnes/sirius/patrius/attitudes/AttitudeLawLeg.html AttitudeLawLeg],		* an [{{JavaDoc4.0}}/fr/cnes/sirius/patrius/attitudes/AttitudeLawLeg.html AttitudeLawLeg],
	* a [{{~~PathCurrentJavaDoc~~}}/fr/cnes/sirius/patrius/orbits/pvcoordinates/PVCoordinatesProvider.html PVCoordinatesProvider],		* a [{{JavaDoc4.0}}/fr/cnes/sirius/patrius/orbits/pvcoordinates/PVCoordinatesProvider.html PVCoordinatesProvider],
	* a [{{~~PathCurrentJavaDoc~~}}/fr/cnes/sirius/patrius/frames/Frame.html Frame],		* a [{{JavaDoc4.0}}/fr/cnes/sirius/patrius/frames/Frame.html Frame],
	* a [{{~~PathCurrentJavaDoc~~}}/fr/cnes/sirius/patrius/time/AbsoluteDate.html reference date] <code>tref</code>,		* a [{{JavaDoc4.0}}/fr/cnes/sirius/patrius/time/AbsoluteDate.html reference date] <code>tref</code>,
	* a spin function period,		* a spin function period,
	* a spin decomposition order,		* a spin decomposition order,
	* an [{{~~PathCurrentJavaDoc~~}}/fr/cnes/sirius/patrius/attitudes/kinematics/KinematicsToolkit.IntegrationType.html integration type],		* an [{{JavaDoc4.0}}/fr/cnes/sirius/patrius/attitudes/kinematics/KinematicsToolkit.IntegrationType.html integration type],
	* an integration step,		* an integration step,

Admin le 20 février 2018 à 16:40

2018-02-20T16:40:36Z

← Version précédente		Version du 20 février 2018 à 16:40
Ligne 1 :		Ligne 1 :
			__NOTOC__
	== Introduction ==		== Introduction ==
	=== Scope ===		=== Scope ===

Admin : /* Classes */

2018-02-20T15:52:39Z

Classes

Admin : /* Classes */

2018-02-20T15:52:11Z

Classes

@@ Ligne 102 : / Ligne 102 : @@
 === Classes ===
-|=(% colspan="3" %)Class|=(% colspan="6" %)Summary|=(% colspan="1" %)Javadoc
-|(% colspan="3" %)'''KinematicsToolkit'''|(% colspan="6" %)This class contains static methods performing kinematics operations.|[{{PathCurrentJavaDoc}}/fr/cnes/sirius/patrius/attitudes/kinematics/KinematicsToolkit.html ...]
+{| class="wikitable"
-|(% colspan="3" %)'''GuidanceProfile'''|(% colspan="6" %)Abstract class representing a guidance profile.|[{{PathCurrentJavaDoc}}/fr/cnes/sirius/patrius/guidance/GuidanceProfile.html ...]
+|-
-|(% colspan="3" %)'''GuidanceProfileBuilder'''|(% colspan="6" %)This class creates guidance profiles from an attitude law.|[{{PathCurrentJavaDoc}}/fr/cnes/sirius/patrius/guidance/GuidanceProfileBuilder.html ...]
+! scope="col"| Class
-|(% colspan="3" %)'''QuaternionHarmonicProfile'''|(% colspan="6" %)Object representing a quaternion guidance profile, calculated with Fourier series.|[{{PathCurrentJavaDoc}}/fr/cnes/sirius/patrius/guidance/QuaternionHarmonicProfile.html ...]
+! scope="col"| Summary
-|(% colspan="3" %)'''QuaternionPolynomialProfile'''|(% colspan="6" %)Object representing a quaternion guidance profile, calculated with polynomials.|[{{PathCurrentJavaDoc}}/fr/cnes/sirius/patrius/guidance/QuaternionPolynomialProfile.html ...]
+! scope="col"| Javadoc
-|(% colspan="3" %)'''QuaternionPolynomialSegment'''|(% colspan="6" %)Object representing a quaternion polynomial guidance profile on a segment.|[{{PathCurrentJavaDoc}}/fr/cnes/sirius/patrius/guidance/QuaternionPolynomialSegment.html ...]
+|-
-|(% colspan="3" %)'''AngularVelocitiesHarmonicProfile'''|(% colspan="6" %)Represents an angular velocities guidance profile, calculated with Fourier series.|[{{PathCurrentJavaDoc}}/fr/cnes/sirius/patrius/guidance/AngularVelocitiesHarmonicProfile.html ...]
+|'''KinematicsToolkit'''
-|(% colspan="3" %)'''AngularVelocitiesPolynomialProfile'''|(% colspan="6" %)Represents an angular velocities guidance profile, calculated with polynomial functions.|[{{PathCurrentJavaDoc}}/fr/cnes/sirius/patrius/guidance/AngularVelocitiesPolynomialProfile.html ...]
+|This class contains static methods performing kinematics operations.
-|(% colspan="3" %)'''AngularVelocitiesPolynomialSegment'''|(% colspan="6" %)Object representing an angular velocity polynomial guidance profile on a segment.|[{{PathCurrentJavaDoc}}/fr/cnes/sirius/patrius/guidance/AngularVelocitiesPolynomialSegment.html ...]
+|[{{PathCurrentJavaDoc}}/fr/cnes/sirius/patrius/attitudes/kinematics/KinematicsToolkit.html ...]
 [[Category:User_Manual_4.0_Attitude]]

Admin : /* Introduction */

2018-02-20T15:48:05Z

Introduction

← Version précédente		Version du 20 février 2018 à 15:48
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	The guidance models and classes are available in the guidance package in the Patrius library.		The guidance models and classes are available in the guidance package in the Patrius library.

	\|=~~(% colspan~~="3" %)Library~~\|=(% colspan~~="6" %)Javadoc		{\| class="wikitable"
	\|~~(% colspan="3" %)~~Patrius\|~~(% colspan="6" %)~~[{{PathCurrentJavaDoc}}/fr/cnes/sirius/patrius/~~guidance~~/package-summary.html Package fr.cnes.sirius.patrius.guidance]		\|-
			! scope="col"\| Library
			! scope="col"\| Javadoc
			\|-
			\|Patrius
			\|[{{PathCurrentJavaDoc}}/fr/cnes/sirius/patrius/attitudes/package-summary.html Package fr.cnes.sirius.patrius.guidance]
			\|}

	=== Links ===		=== Links ===

Admin le 16 février 2018 à 13:24

2018-02-16T13:24:15Z

← Version précédente		Version du 16 février 2018 à 13:24
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	\|(% colspan="3" %)'''AngularVelocitiesPolynomialProfile'''\|(% colspan="6" %)Represents an angular velocities guidance profile, calculated with polynomial functions.\|[{{PathCurrentJavaDoc}}/fr/cnes/sirius/patrius/guidance/AngularVelocitiesPolynomialProfile.html ...]		\|(% colspan="3" %)'''AngularVelocitiesPolynomialProfile'''\|(% colspan="6" %)Represents an angular velocities guidance profile, calculated with polynomial functions.\|[{{PathCurrentJavaDoc}}/fr/cnes/sirius/patrius/guidance/AngularVelocitiesPolynomialProfile.html ...]
	\|(% colspan="3" %)'''AngularVelocitiesPolynomialSegment'''\|(% colspan="6" %)Object representing an angular velocity polynomial guidance profile on a segment.\|[{{PathCurrentJavaDoc}}/fr/cnes/sirius/patrius/guidance/AngularVelocitiesPolynomialSegment.html ...]		\|(% colspan="3" %)'''AngularVelocitiesPolynomialSegment'''\|(% colspan="6" %)Object representing an angular velocity polynomial guidance profile on a segment.\|[{{PathCurrentJavaDoc}}/fr/cnes/sirius/patrius/guidance/AngularVelocitiesPolynomialSegment.html ...]

			[[Category:User_Manual_4.0_Attitude]]

Admin le 16 février 2018 à 13:23

2018-02-16T13:23:48Z

← Version précédente		Version du 16 février 2018 à 13:23
Ligne 1 :		Ligne 1 :


	== Introduction ==		== Introduction ==
	=== Scope ===		=== Scope ===
Ligne 9 :		Ligne 7 :

	\|=(% colspan="3" %)Library\|=(% colspan="6" %)Javadoc		\|=(% colspan="3" %)Library\|=(% colspan="6" %)Javadoc
	\|(% colspan="3" %)Patrius\|(% colspan="6" %)[{{~~CurrentPathJavaDoc~~}}/fr/cnes/sirius/patrius/guidance/package-summary.html Package fr.cnes.sirius.patrius.guidance]		\|(% colspan="3" %)Patrius\|(% colspan="6" %)[{{PathCurrentJavaDoc}}/fr/cnes/sirius/patrius/guidance/package-summary.html Package fr.cnes.sirius.patrius.guidance]

	=== Links ===		=== Links ===
Ligne 27 :		Ligne 25 :
	The harmonic profile is a [MAT_TPOL_Home#HFourierSeries Fourier decomposition] of a periodic function:		The harmonic profile is a [MAT_TPOL_Home#HFourierSeries Fourier decomposition] of a periodic function:

	<math>~~\begin{math}~~		<math>
	S_n\left(f(x)\right) = a_0(f) + \sum_{k=1}^n\left(a_k(f)\cos\left(k x {2\pi\over T}\right) + b_k(f)\sin\left(k x {2\pi\over T}\right)\right)		S_n\left(f(x)\right) = a_0(f) + \sum_{k=1}^n\left(a_k(f)\cos\left(k x {2\pi\over T}\right) + b_k(f)\sin\left(k x {2\pi\over T}\right)\right)
	~~\end{math}~~</math>		</math>

	The period T is generally computed knowing the nodes crossing periods.		The period T is generally computed knowing the nodes crossing periods.
Ligne 35 :		Ligne 33 :
	The Fourier coefficients (n > 0) of <math>f</math> (the angular velocity / quaternions / Euler angles function) are given by :		The Fourier coefficients (n > 0) of <math>f</math> (the angular velocity / quaternions / Euler angles function) are given by :

	<math>~~\begin{math}~~		<math>
	a_0(f) = {1\over T}\int_{-T/2}^{T/2} \! f(t) \, \mathrm{d}t		a_0(f) = {1\over T}\int_{-T/2}^{T/2} \! f(t) \, \mathrm{d}t
	~~\end{math}~~</math>		</math>

	<math>~~\begin{math}~~		<math>
	b_0(f) = 0		b_0(f) = 0
	~~\end{math}~~</math>		</math>

	<math>~~\begin{math}~~		<math>
	a_n(f) = {2\over T}\int_{-T/2}^{T/2} \! f(t) \cos\left(n t {2\pi\over T}\right) \, \mathrm{d}t		a_n(f) = {2\over T}\int_{-T/2}^{T/2} \! f(t) \cos\left(n t {2\pi\over T}\right) \, \mathrm{d}t
	~~\end{math}~~</math>		</math>

	<math>~~\begin{math}~~		<math>
	b_n(f) = {2\over T}\int_{-T/2}^{T/2} \! f(t) \sin\left(n t {2\pi\over T}\right) \, \mathrm{d}t		b_n(f) = {2\over T}\int_{-T/2}^{T/2} \! f(t) \sin\left(n t {2\pi\over T}\right) \, \mathrm{d}t
	~~\end{math}~~</math>		</math>

	=== Polynomial guidance profiles ===		=== Polynomial guidance profiles ===
Ligne 57 :		Ligne 55 :

	<math>Qc_k(t) = \begin{pmatrix}		<math>Qc_k(t) = \begin{pmatrix}
	\displaystyle\sum_{i=0}^n ~~a_0_k~~^i \left( t-t_k \over {\Delta t} \right) \\		\displaystyle\sum_{i=0}^n {a_0}_k^i \left( t-t_k \over {\Delta t} \right) \\
	\displaystyle\sum_{i=0}^n ~~a_1_k~~^i \left( t-t_k \over {\Delta t} \right) \\		\displaystyle\sum_{i=0}^n {a_1}_k^i \left( t-t_k \over {\Delta t} \right) \\
	\displaystyle\sum_{i=0}^n ~~a_2_k~~^i \left( t-t_k \over {\Delta t} \right) \\		\displaystyle\sum_{i=0}^n {a_2}_k^i \left( t-t_k \over {\Delta t} \right) \\
	\displaystyle\sum_{i=0}^n ~~a_3_k~~^i \left( t-t_k \over {\Delta t} \right)		\displaystyle\sum_{i=0}^n {a_3}_k^i \left( t-t_k \over {\Delta t} \right)
	\end{pmatrix}</math>		\end{pmatrix}</math>

Ligne 66 :		Ligne 64 :

	<math>\Omega c_k(t) = \begin{pmatrix}		<math>\Omega c_k(t) = \begin{pmatrix}
	\displaystyle\sum_{i=0}^n ~~a_x_k~~^i \left( \frac{t-t_k}{\Delta t} \right) \\		\displaystyle\sum_{i=0}^n {a_x}_k^i \left( \frac{t-t_k}{\Delta t} \right) \\
	\displaystyle\sum_{i=0}^n ~~a_y_k~~^i \left( \frac{t-t_k}{\Delta t} \right) \\		\displaystyle\sum_{i=0}^n {a_y}_k^i \left( \frac{t-t_k}{\Delta t} \right) \\
	\displaystyle\sum_{i=0}^n ~~a_z_k~~^i \left( \frac{t-t_k}{\Delta t} \right)		\displaystyle\sum_{i=0}^n {a_z}_k^i \left( \frac{t-t_k}{\Delta t} \right)
	\end{pmatrix}</math>		\end{pmatrix}</math>

Ligne 77 :		Ligne 75 :

	Given :		Given :
	* an [{{~~CurrentPathJavaDoc~~}}/~~AttitudeLawLeg~~ fr/cnes/sirius/patrius/attitudes/AttitudeLawLeg.html],		* an [{{PathCurrentJavaDoc}}/fr/cnes/sirius/patrius/attitudes/AttitudeLawLeg.html AttitudeLawLeg],
	* a [{{~~CurrentPathJavaDoc~~}}/~~PVCoordinatesProvider~~ fr/cnes/sirius/patrius/orbits/pvcoordinates/PVCoordinatesProvider.html],		* a [{{PathCurrentJavaDoc}}/fr/cnes/sirius/patrius/orbits/pvcoordinates/PVCoordinatesProvider.html PVCoordinatesProvider],
	* a [{{~~CurrentPathJavaDoc~~}}/~~Frame~~ fr/cnes/sirius/patrius/frames/Frame.html],		* a [{{PathCurrentJavaDoc}}/fr/cnes/sirius/patrius/frames/Frame.html Frame],
	* a [{{~~CurrentPathJavaDoc~~}}/~~reference date~~ fr/cnes/sirius/patrius/time/AbsoluteDate.html] <code>tref</code>,		* a [{{PathCurrentJavaDoc}}/fr/cnes/sirius/patrius/time/AbsoluteDate.html reference date] <code>tref</code>,
	* a spin function period,		* a spin function period,
	* a spin decomposition order,		* a spin decomposition order,
	* an [{{~~CurrentPathJavaDoc~~}}/~~integration type~~ fr/cnes/sirius/patrius/attitudes/kinematics/KinematicsToolkit.IntegrationType.html],		* an [{{PathCurrentJavaDoc}}/fr/cnes/sirius/patrius/attitudes/kinematics/KinematicsToolkit.IntegrationType.html integration type],
	* an integration step,		* an integration step,

Ligne 99 :		Ligne 97 :
	=== Classes ===		=== Classes ===
	\|=(% colspan="3" %)Class\|=(% colspan="6" %)Summary\|=(% colspan="1" %)Javadoc		\|=(% colspan="3" %)Class\|=(% colspan="6" %)Summary\|=(% colspan="1" %)Javadoc
	\|(% colspan="3" %)'''KinematicsToolkit'''\|(% colspan="6" %)This class contains static methods performing kinematics operations.\|[{{~~CurrentPathJavaDoc~~}}/fr/cnes/sirius/patrius/attitudes/kinematics/KinematicsToolkit.html ...]		\|(% colspan="3" %)'''KinematicsToolkit'''\|(% colspan="6" %)This class contains static methods performing kinematics operations.\|[{{PathCurrentJavaDoc}}/fr/cnes/sirius/patrius/attitudes/kinematics/KinematicsToolkit.html ...]
	\|(% colspan="3" %)'''GuidanceProfile'''\|(% colspan="6" %)Abstract class representing a guidance profile.\|[{{~~CurrentPathJavaDoc~~}}/fr/cnes/sirius/patrius/guidance/GuidanceProfile.html ...]		\|(% colspan="3" %)'''GuidanceProfile'''\|(% colspan="6" %)Abstract class representing a guidance profile.\|[{{PathCurrentJavaDoc}}/fr/cnes/sirius/patrius/guidance/GuidanceProfile.html ...]
	\|(% colspan="3" %)'''GuidanceProfileBuilder'''\|(% colspan="6" %)This class creates guidance profiles from an attitude law.\|[{{~~CurrentPathJavaDoc~~}}/fr/cnes/sirius/patrius/guidance/GuidanceProfileBuilder.html ...]		\|(% colspan="3" %)'''GuidanceProfileBuilder'''\|(% colspan="6" %)This class creates guidance profiles from an attitude law.\|[{{PathCurrentJavaDoc}}/fr/cnes/sirius/patrius/guidance/GuidanceProfileBuilder.html ...]
	\|(% colspan="3" %)'''QuaternionHarmonicProfile'''\|(% colspan="6" %)Object representing a quaternion guidance profile, calculated with Fourier series.\|[{{~~CurrentPathJavaDoc~~}}/fr/cnes/sirius/patrius/guidance/QuaternionHarmonicProfile.html ...]		\|(% colspan="3" %)'''QuaternionHarmonicProfile'''\|(% colspan="6" %)Object representing a quaternion guidance profile, calculated with Fourier series.\|[{{PathCurrentJavaDoc}}/fr/cnes/sirius/patrius/guidance/QuaternionHarmonicProfile.html ...]
	\|(% colspan="3" %)'''QuaternionPolynomialProfile'''\|(% colspan="6" %)Object representing a quaternion guidance profile, calculated with polynomials.\|[{{~~CurrentPathJavaDoc~~}}/fr/cnes/sirius/patrius/guidance/QuaternionPolynomialProfile.html ...]		\|(% colspan="3" %)'''QuaternionPolynomialProfile'''\|(% colspan="6" %)Object representing a quaternion guidance profile, calculated with polynomials.\|[{{PathCurrentJavaDoc}}/fr/cnes/sirius/patrius/guidance/QuaternionPolynomialProfile.html ...]
	\|(% colspan="3" %)'''QuaternionPolynomialSegment'''\|(% colspan="6" %)Object representing a quaternion polynomial guidance profile on a segment.\|[{{~~CurrentPathJavaDoc~~}}/fr/cnes/sirius/patrius/guidance/QuaternionPolynomialSegment.html ...]		\|(% colspan="3" %)'''QuaternionPolynomialSegment'''\|(% colspan="6" %)Object representing a quaternion polynomial guidance profile on a segment.\|[{{PathCurrentJavaDoc}}/fr/cnes/sirius/patrius/guidance/QuaternionPolynomialSegment.html ...]
	\|(% colspan="3" %)'''AngularVelocitiesHarmonicProfile'''\|(% colspan="6" %)Represents an angular velocities guidance profile, calculated with Fourier series.\|[{{~~CurrentPathJavaDoc~~}}/fr/cnes/sirius/patrius/guidance/AngularVelocitiesHarmonicProfile.html ...]		\|(% colspan="3" %)'''AngularVelocitiesHarmonicProfile'''\|(% colspan="6" %)Represents an angular velocities guidance profile, calculated with Fourier series.\|[{{PathCurrentJavaDoc}}/fr/cnes/sirius/patrius/guidance/AngularVelocitiesHarmonicProfile.html ...]
	\|(% colspan="3" %)'''AngularVelocitiesPolynomialProfile'''\|(% colspan="6" %)Represents an angular velocities guidance profile, calculated with polynomial functions.\|[{{~~CurrentPathJavaDoc~~}}/fr/cnes/sirius/patrius/guidance/AngularVelocitiesPolynomialProfile.html ...]		\|(% colspan="3" %)'''AngularVelocitiesPolynomialProfile'''\|(% colspan="6" %)Represents an angular velocities guidance profile, calculated with polynomial functions.\|[{{PathCurrentJavaDoc}}/fr/cnes/sirius/patrius/guidance/AngularVelocitiesPolynomialProfile.html ...]
	\|(% colspan="3" %)'''AngularVelocitiesPolynomialSegment'''\|(% colspan="6" %)Object representing an angular velocity polynomial guidance profile on a segment.\|[{{~~CurrentPathJavaDoc~~}}/fr/cnes/sirius/patrius/guidance/AngularVelocitiesPolynomialSegment.html ...]		\|(% colspan="3" %)'''AngularVelocitiesPolynomialSegment'''\|(% colspan="6" %)Object representing an angular velocity polynomial guidance profile on a segment.\|[{{PathCurrentJavaDoc}}/fr/cnes/sirius/patrius/guidance/AngularVelocitiesPolynomialSegment.html ...]

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2018-02-16T12:20:22Z

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← Version précédente		Version du 16 février 2018 à 12:20
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2018-02-16T12:20:01Z

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Admin le 16 février 2018 à 12:20

2018-02-16T12:20:01Z

Nouvelle page

== Introduction ==
=== Scope ===
A guidance profile is an attitude law providing the computation of an instantaneous attitude without any reference to the satellite orbit, nor to its attitude laws sequence. The purpose of this section is to present the guidance profiles available through the Patrius library.

=== Javadoc ===
The guidance models and classes are available in the guidance package in the Patrius library.

|=(% colspan="3" %)Library|=(% colspan="6" %)Javadoc
|(% colspan="3" %)Patrius|(% colspan="6" %)[{{CurrentPathJavaDoc}}/fr/cnes/sirius/patrius/guidance/package-summary.html Package fr.cnes.sirius.patrius.guidance]

=== Links ===
None as of now.

=== Useful Documents ===
None as of now.

=== Package Overview ===
The following diagram shows the guidance package conception:

[[File:guidage.png|center]]

== Features Description ==
=== Harmonic guidance profiles ===
The functions representing the angular velocity of the satellite and the quaternion (or the Euler angles) expressing its orientation can be represented by an harmonic profile.
The harmonic profile is a [MAT_TPOL_Home#HFourierSeries Fourier decomposition] of a periodic function:

<math>\begin{math}
S_n\left(f(x)\right) = a_0(f) + \sum_{k=1}^n\left(a_k(f)\cos\left(k x {2\pi\over T}\right) + b_k(f)\sin\left(k x {2\pi\over T}\right)\right)
\end{math}</math>

The period T is generally computed knowing the nodes crossing periods.

The Fourier coefficients (n > 0) of <math>f</math> (the angular velocity / quaternions / Euler angles function) are given by :

<math>\begin{math}
a_0(f) = {1\over T}\int_{-T/2}^{T/2} \! f(t) \, \mathrm{d}t
\end{math}</math>

<math>\begin{math}
b_0(f) = 0
\end{math}</math>

<math>\begin{math}
a_n(f) = {2\over T}\int_{-T/2}^{T/2} \! f(t) \cos\left(n t {2\pi\over T}\right) \, \mathrm{d}t
\end{math}</math>

<math>\begin{math}
b_n(f) = {2\over T}\int_{-T/2}^{T/2} \! f(t) \sin\left(n t {2\pi\over T}\right) \, \mathrm{d}t
\end{math}</math>

=== Polynomial guidance profiles ===
A polynomial guidance profile is generally composed by several segments (a segment corresponds to a time interval). Each segment contains the coefficients for the computation of a polynomial law representing the quaternion (or the Euler angles), or the angular velocity of the satellite; this polynomial law is valid only inside the time interval associated to the segment.

For a quaternion, the polynomials are defined as :

<math>Qc_k(t) = \begin{pmatrix}
\displaystyle\sum_{i=0}^n a_0_k^i \left( t-t_k \over {\Delta t} \right) \\
\displaystyle\sum_{i=0}^n a_1_k^i \left( t-t_k \over {\Delta t} \right) \\
\displaystyle\sum_{i=0}^n a_2_k^i \left( t-t_k \over {\Delta t} \right) \\
\displaystyle\sum_{i=0}^n a_3_k^i \left( t-t_k \over {\Delta t} \right)
\end{pmatrix}</math>

And for the angular velocity :

<math>\Omega c_k(t) = \begin{pmatrix}
\displaystyle\sum_{i=0}^n a_x_k^i \left( \frac{t-t_k}{\Delta t} \right) \\
\displaystyle\sum_{i=0}^n a_y_k^i \left( \frac{t-t_k}{\Delta t} \right) \\
\displaystyle\sum_{i=0}^n a_z_k^i \left( \frac{t-t_k}{\Delta t} \right)
\end{pmatrix}</math>

== Getting Started ==

=== Build an harmonic guidance profile from an attitude law ===

Given :
* an [{{CurrentPathJavaDoc}}/AttitudeLawLeg fr/cnes/sirius/patrius/attitudes/AttitudeLawLeg.html],
* a [{{CurrentPathJavaDoc}}/PVCoordinatesProvider fr/cnes/sirius/patrius/orbits/pvcoordinates/PVCoordinatesProvider.html],
* a [{{CurrentPathJavaDoc}}/Frame fr/cnes/sirius/patrius/frames/Frame.html],
* a [{{CurrentPathJavaDoc}}/reference date fr/cnes/sirius/patrius/time/AbsoluteDate.html] <code>tref</code>,
* a spin function period,
* a spin decomposition order,
* an [{{CurrentPathJavaDoc}}/integration type fr/cnes/sirius/patrius/attitudes/kinematics/KinematicsToolkit.IntegrationType.html],
* an integration step,

one can build an angular velocities guidance profile using the code snippet below :

<syntaxhighlight lang="java">
profile = GuidanceProfileBuilder.computeAngularVelocitiesHarmonicProfile(attitude, prop, gcrf, tref,
period, order, IntegrationType.WILCOX_4, KinematicsToolkit.DEFAULT_8HZ);
</syntaxhighlight>

== Contents ==
=== Interfaces ===
None.

=== Classes ===
|=(% colspan="3" %)Class|=(% colspan="6" %)Summary|=(% colspan="1" %)Javadoc
|(% colspan="3" %)'''KinematicsToolkit'''|(% colspan="6" %)This class contains static methods performing kinematics operations.|[{{CurrentPathJavaDoc}}/fr/cnes/sirius/patrius/attitudes/kinematics/KinematicsToolkit.html ...]
|(% colspan="3" %)'''GuidanceProfile'''|(% colspan="6" %)Abstract class representing a guidance profile.|[{{CurrentPathJavaDoc}}/fr/cnes/sirius/patrius/guidance/GuidanceProfile.html ...]
|(% colspan="3" %)'''GuidanceProfileBuilder'''|(% colspan="6" %)This class creates guidance profiles from an attitude law.|[{{CurrentPathJavaDoc}}/fr/cnes/sirius/patrius/guidance/GuidanceProfileBuilder.html ...]
|(% colspan="3" %)'''QuaternionHarmonicProfile'''|(% colspan="6" %)Object representing a quaternion guidance profile, calculated with Fourier series.|[{{CurrentPathJavaDoc}}/fr/cnes/sirius/patrius/guidance/QuaternionHarmonicProfile.html ...]
|(% colspan="3" %)'''QuaternionPolynomialProfile'''|(% colspan="6" %)Object representing a quaternion guidance profile, calculated with polynomials.|[{{CurrentPathJavaDoc}}/fr/cnes/sirius/patrius/guidance/QuaternionPolynomialProfile.html ...]
|(% colspan="3" %)'''QuaternionPolynomialSegment'''|(% colspan="6" %)Object representing a quaternion polynomial guidance profile on a segment.|[{{CurrentPathJavaDoc}}/fr/cnes/sirius/patrius/guidance/QuaternionPolynomialSegment.html ...]
|(% colspan="3" %)'''AngularVelocitiesHarmonicProfile'''|(% colspan="6" %)Represents an angular velocities guidance profile, calculated with Fourier series.|[{{CurrentPathJavaDoc}}/fr/cnes/sirius/patrius/guidance/AngularVelocitiesHarmonicProfile.html ...]
|(% colspan="3" %)'''AngularVelocitiesPolynomialProfile'''|(% colspan="6" %)Represents an angular velocities guidance profile, calculated with polynomial functions.|[{{CurrentPathJavaDoc}}/fr/cnes/sirius/patrius/guidance/AngularVelocitiesPolynomialProfile.html ...]
|(% colspan="3" %)'''AngularVelocitiesPolynomialSegment'''|(% colspan="6" %)Object representing an angular velocity polynomial guidance profile on a segment.|[{{CurrentPathJavaDoc}}/fr/cnes/sirius/patrius/guidance/AngularVelocitiesPolynomialSegment.html ...]

← Version précédente		Version du 20 février 2018 à 15:52
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	\|'''KinematicsToolkit'''		\|'''KinematicsToolkit'''
	\|This class contains static methods performing kinematics operations.		\|This class contains static methods performing kinematics operations.
	\|[{{~~PathCurrentJavaDoc~~}}/fr/cnes/sirius/patrius/attitudes/kinematics/KinematicsToolkit.html ...]		\|[{{JavaDoc4.0}}/fr/cnes/sirius/patrius/attitudes/kinematics/KinematicsToolkit.html ...]
	\|-		\|-
	\|'''GuidanceProfile'''		\|'''GuidanceProfile'''
	\|Abstract class representing a guidance profile.		\|Abstract class representing a guidance profile.
	\|[{{~~PathCurrentJavaDoc~~}}/fr/cnes/sirius/patrius/guidance/GuidanceProfile.html ...]		\|[{{JavaDoc4.0}}/fr/cnes/sirius/patrius/guidance/GuidanceProfile.html ...]
	\|-		\|-
	\|'''GuidanceProfileBuilder'''		\|'''GuidanceProfileBuilder'''
	\|This class creates guidance profiles from an attitude law.		\|This class creates guidance profiles from an attitude law.
	\|[{{~~PathCurrentJavaDoc~~}}/fr/cnes/sirius/patrius/guidance/GuidanceProfileBuilder.html ...]		\|[{{JavaDoc4.0}}/fr/cnes/sirius/patrius/guidance/GuidanceProfileBuilder.html ...]
	\|-		\|-
	\|'''QuaternionHarmonicProfile'''		\|'''QuaternionHarmonicProfile'''
	\|Object representing a quaternion guidance profile, calculated with Fourier series.		\|Object representing a quaternion guidance profile, calculated with Fourier series.
	\|[{{~~PathCurrentJavaDoc~~}}/fr/cnes/sirius/patrius/guidance/QuaternionHarmonicProfile.html ...]		\|[{{JavaDoc4.0}}/fr/cnes/sirius/patrius/guidance/QuaternionHarmonicProfile.html ...]
	\|-		\|-
	\|'''QuaternionPolynomialProfile'''		\|'''QuaternionPolynomialProfile'''
	\|Object representing a quaternion guidance profile, calculated with polynomials.		\|Object representing a quaternion guidance profile, calculated with polynomials.
	\|[{{~~PathCurrentJavaDoc~~}}/fr/cnes/sirius/patrius/guidance/QuaternionPolynomialProfile.html ...]		\|[{{JavaDoc4.0}}/fr/cnes/sirius/patrius/guidance/QuaternionPolynomialProfile.html ...]
	\|-		\|-
	\|'''QuaternionPolynomialSegment'''		\|'''QuaternionPolynomialSegment'''
	\|Object representing a quaternion polynomial guidance profile on a segment.		\|Object representing a quaternion polynomial guidance profile on a segment.
	\|[{{~~PathCurrentJavaDoc~~}}/fr/cnes/sirius/patrius/guidance/QuaternionPolynomialSegment.html ...]		\|[{{JavaDoc4.0}}/fr/cnes/sirius/patrius/guidance/QuaternionPolynomialSegment.html ...]
	\|-		\|-
	\|'''AngularVelocitiesHarmonicProfile'''		\|'''AngularVelocitiesHarmonicProfile'''
	\|Represents an angular velocities guidance profile, calculated with Fourier series.		\|Represents an angular velocities guidance profile, calculated with Fourier series.
	\|[{{~~PathCurrentJavaDoc~~}}/fr/cnes/sirius/patrius/guidance/AngularVelocitiesHarmonicProfile.html ...]		\|[{{JavaDoc4.0}}/fr/cnes/sirius/patrius/guidance/AngularVelocitiesHarmonicProfile.html ...]
	\|-		\|-
	\|'''AngularVelocitiesPolynomialProfile'''		\|'''AngularVelocitiesPolynomialProfile'''
	\|Represents an angular velocities guidance profile, calculated with polynomial functions.		\|Represents an angular velocities guidance profile, calculated with polynomial functions.
	\|[{{~~PathCurrentJavaDoc~~}}/fr/cnes/sirius/patrius/guidance/AngularVelocitiesPolynomialProfile.html ...]		\|[{{JavaDoc4.0}}/fr/cnes/sirius/patrius/guidance/AngularVelocitiesPolynomialProfile.html ...]
	\|-		\|-
	\|'''AngularVelocitiesPolynomialSegment'''		\|'''AngularVelocitiesPolynomialSegment'''
	\|Object representing an angular velocity polynomial guidance profile on a segment.		\|Object representing an angular velocity polynomial guidance profile on a segment.
	\|[{{~~PathCurrentJavaDoc~~}}/fr/cnes/sirius/patrius/guidance/AngularVelocitiesPolynomialSegment.html ...]		\|[{{JavaDoc4.0}}/fr/cnes/sirius/patrius/guidance/AngularVelocitiesPolynomialSegment.html ...]
	\|}		\|}

	[[Category:User_Manual_4.0_Attitude]]		[[Category:User_Manual_4.0_Attitude]]

User Manual 4.0 Guidance commands - Historique des versions

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