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java.lang.Object org.orekit.attitudes.kinematics.KinematicsToolkit
public final class KinematicsToolkit
This class contains static methods performing kinematics operations.
Nested Class Summary | |
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static class |
KinematicsToolkit.IntegrationType
Integration types. |
Field Summary | |
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static double |
DEFAULT_4HZ
Default 4 Hz integration step. |
static double |
DEFAULT_8HZ
Default 8 Hz integration step. |
Method Summary | |
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static Vector3D |
computeSpin(double[] ang,
double[] angd,
RotationOrder order)
Compute spin knowing the instantaneous quaternion and its derivative. |
static Vector3D |
computeSpin(Quaternion q,
Quaternion qd)
Compute spin knowing the instantaneous quaternion and its derivative. |
static Quaternion |
differentiateQuaternion(Quaternion q,
Vector3D spin)
Compute the derivative of a quaternion knowing the instantaneous spin. |
static Vector3D |
estimateSpin(Rotation start,
Rotation end,
double dt)
Estimate spin between two orientations. Estimation is based on a simple fixed rate rotation during the time interval between the two attitude. |
static Rotation |
integrate(KinematicsToolkit.IntegrationType type,
Rotation initOrientation,
AbsoluteDate initDate,
AbsoluteDate finalDate,
Vector3DFunction spin,
double step)
Integrate a spin function. |
Methods inherited from class java.lang.Object |
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clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
Field Detail |
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public static final double DEFAULT_4HZ
public static final double DEFAULT_8HZ
Method Detail |
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public static Vector3D estimateSpin(Rotation start, Rotation end, double dt)
start
- start orientationend
- end orientationdt
- time elapsed between the dates of the two orientations
public static Vector3D computeSpin(Quaternion q, Quaternion qd)
q
- the quaternion (rotation transforming frame R to frame S) at a given dateqd
- the derivative of the quaternion at a given date
public static Vector3D computeSpin(double[] ang, double[] angd, RotationOrder order) throws OrekitException
ang
- the angles describing a rotation from frame R to frame S at a given dateangd
- the derivative of the anglesorder
- the rotation order: ZXZ for Euler angles, ZYX for Cardan angles
OrekitException
- the rotation order is not supportedpublic static Quaternion differentiateQuaternion(Quaternion q, Vector3D spin)
q
- the quaternion (rotation transforming frame R to frame S) at a given datespin
- the spin (from frame S to frame R, expressed in frame S) at the given date
public static Rotation integrate(KinematicsToolkit.IntegrationType type, Rotation initOrientation, AbsoluteDate initDate, AbsoluteDate finalDate, Vector3DFunction spin, double step)
type
- type of the integration (either Wilcox or Edwards)initOrientation
- rotation at initial dateinitDate
- initial datefinalDate
- final datespin
- spin functionstep
- time step
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