fr.cnes.sirius.patrius.utils

Class TimeStampedAngularCoordinates

java.lang.Object

fr.cnes.sirius.patrius.utils.AngularCoordinates

fr.cnes.sirius.patrius.utils.TimeStampedAngularCoordinates

All Implemented Interfaces:

TimeShiftable<AngularCoordinates>, TimeStamped, Serializable, Comparable<TimeStampedAngularCoordinates>

public class TimeStampedAngularCoordinates
extends AngularCoordinates
implements TimeStamped, Comparable<TimeStampedAngularCoordinates>

time-stamped version of AngularCoordinates.

Instances of this class are guaranteed to be immutable.

Since:

3.1

Author:

Luc Maisonobe

See Also:

Serialized Form

Field Summary

Fields inherited from class fr.cnes.sirius.patrius.utils.AngularCoordinates

IDENTITY, MINUS_TWO

Constructor Summary

Constructors

Constructor and Description
TimeStampedAngularCoordinates(AbsoluteDate dateIn, AngularCoordinates angular) Builds from angular coordinates.
TimeStampedAngularCoordinates(AbsoluteDate dateIn, PVCoordinates u1, PVCoordinates u2, PVCoordinates v1, PVCoordinates v2, double tolerance) Build the rotation that transforms a pair of pv coordinates into another pair.
TimeStampedAngularCoordinates(AbsoluteDate dateIn, PVCoordinates u1, PVCoordinates u2, PVCoordinates v1, PVCoordinates v2, double tolerance, boolean spinDerivativesComputation) Build the rotation that transforms a pair of pv coordinates into another pair.
TimeStampedAngularCoordinates(AbsoluteDate dateIn, Rotation rotation, Vector3D rotationRate, Vector3D rotationAcceleration) Builds a rotation/rotation rate pair.

Method Summary

Modifier and Type	Method and Description
TimeStampedAngularCoordinates	addOffset(AngularCoordinates offset) Add an offset from the instance.
TimeStampedAngularCoordinates	addOffset(AngularCoordinates offset, boolean computeSpinDerivatives) Add an offset from the instance.
int	compareTo(TimeStampedAngularCoordinates orientation) Compare this time stamped angular coordinates with another time stamped angular coordinates.
boolean	equals(Object object)
AbsoluteDate	getDate() Get the date.
int	hashCode()
static TimeStampedAngularCoordinates	interpolate(AbsoluteDate date, AngularDerivativesFilter filter, Collection<TimeStampedAngularCoordinates> sample) Interpolate angular coordinates.
static TimeStampedAngularCoordinates	interpolate(AbsoluteDate date, AngularDerivativesFilter filter, Collection<TimeStampedAngularCoordinates> sample, boolean computeSpinDerivatives) Interpolate angular coordinates.
TimeStampedAngularCoordinates	revert() Revert a rotation/rotation rate/rotation acceleration triplet.
TimeStampedAngularCoordinates	revert(boolean computeSpinDerivative) Revert a rotation/rotation rate/rotation acceleration triplet.
TimeStampedAngularCoordinates	shiftedBy(double dt) Get a time-shifted state.
TimeStampedAngularCoordinates	shiftedBy(double dt, boolean computeSpinDerivative) Get a time-shifted state.
TimeStampedAngularCoordinates	subtractOffset(AngularCoordinates offset) Subtract an offset from the instance.
TimeStampedAngularCoordinates	subtractOffset(AngularCoordinates offset, boolean computeSpinDerivatives) Subtract an offset from the instance.

Methods inherited from class fr.cnes.sirius.patrius.utils.AngularCoordinates

applyTo, applyTo, createFromModifiedRodrigues, createFromModifiedRodrigues, estimateRate, getModifiedRodrigues, getModifiedRodrigues, getRotation, getRotationAcceleration, getRotationRate

Methods inherited from class java.lang.Object

clone, finalize, getClass, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

TimeStampedAngularCoordinates

public TimeStampedAngularCoordinates(AbsoluteDate dateIn,
                                     Rotation rotation,
                                     Vector3D rotationRate,
                                     Vector3D rotationAcceleration)

Builds a rotation/rotation rate pair.

Parameters:

dateIn - coordinates date

rotation - rotation

rotationRate - rotation rate Ω (rad/s)

rotationAcceleration - rotation acceleration dΩ/dt (rad/s²)

TimeStampedAngularCoordinates

public TimeStampedAngularCoordinates(AbsoluteDate dateIn,
                                     AngularCoordinates angular)

Builds from angular coordinates.

Parameters:

dateIn - coordinates date

angular - angular coordinates

TimeStampedAngularCoordinates

public TimeStampedAngularCoordinates(AbsoluteDate dateIn,
                                     PVCoordinates u1,
                                     PVCoordinates u2,
                                     PVCoordinates v1,
                                     PVCoordinates v2,
                                     double tolerance)
                              throws PatriusException

Build the rotation that transforms a pair of pv coordinates into another pair.

WARNING! This method requires much more stringent assumptions on its parameters than the similar constructor from the Rotation class. As far as the Rotation constructor is concerned, the v₂ vector from the second pair can be slightly misaligned. The Rotation constructor will compensate for this misalignment and create a rotation that ensure v₁ = r(u₁) and v₂ ∈ plane (r(u₁), r(u₂)). THIS IS NOT TRUE ANYMORE IN THIS CLASS! As derivatives are involved and must be preserved, this constructor works only if the two pairs are fully consistent, i.e. if a rotation exists that fulfill all the requirements: v₁ = r(u₁), v₂ = r(u₂), dv₁/dt = dr(u₁)/dt, dv₂/dt = dr(u₂)/dt, d²v₁/dt² = d²r(u₁)/dt², d²v₂/dt² = d²r(u₂)/dt².

Warning: spin derivative is not computed.

Parameters:

dateIn - coordinates date

u1 - first vector of the origin pair

u2 - second vector of the origin pair

v1 - desired image of u1 by the rotation

v2 - desired image of u2 by the rotation

tolerance - relative tolerance factor used to check singularities

Throws:

PatriusException - if the vectors components cannot be converted to DerivativeStructure with proper order

TimeStampedAngularCoordinates

public TimeStampedAngularCoordinates(AbsoluteDate dateIn,
                                     PVCoordinates u1,
                                     PVCoordinates u2,
                                     PVCoordinates v1,
                                     PVCoordinates v2,
                                     double tolerance,
                                     boolean spinDerivativesComputation)
                              throws PatriusException

Build the rotation that transforms a pair of pv coordinates into another pair.

WARNING! This method requires much more stringent assumptions on its parameters than the similar constructor from the Rotation class. As far as the Rotation constructor is concerned, the v₂ vector from the second pair can be slightly misaligned. The Rotation constructor will compensate for this misalignment and create a rotation that ensure v₁ = r(u₁) and v₂ ∈ plane (r(u₁), r(u₂)). THIS IS NOT TRUE ANYMORE IN THIS CLASS! As derivatives are involved and must be preserved, this constructor works only if the two pairs are fully consistent, i.e. if a rotation exists that fulfill all the requirements: v₁ = r(u₁), v₂ = r(u₂), dv₁/dt = dr(u₁)/dt, dv₂/dt = dr(u₂)/dt, d²v₁/dt² = d²r(u₁)/dt², d²v₂/dt² = d²r(u₂)/dt².

Parameters:

dateIn - coordinates date

u1 - first vector of the origin pair

u2 - second vector of the origin pair

v1 - desired image of u1 by the rotation

v2 - desired image of u2 by the rotation

tolerance - relative tolerance factor used to check singularities

spinDerivativesComputation - true if the spin derivative should be computed If not, spin derivative is set to null

Throws:

PatriusException - if the vectors components cannot be converted to DerivativeStructure with proper order

Method Detail

getDate

public AbsoluteDate getDate()

Get the date.

Specified by:

getDate in interface TimeStamped

Returns:

date attached to the object

revert

public TimeStampedAngularCoordinates revert(boolean computeSpinDerivative)

Revert a rotation/rotation rate/rotation acceleration triplet. Build a triplet which reverse the effect of another triplet.

Overrides:

revert in class AngularCoordinates

Parameters:

computeSpinDerivative - true if spin derivative should be computed. If not, spin derivative is set to null

Returns:

a new triplet whose effect is the reverse of the effect of the instance

revert

public TimeStampedAngularCoordinates revert()

Revert a rotation/rotation rate/rotation acceleration triplet. Build a triplet which reverse the effect of another triplet.

Warning: spin derivative is not computed.

Overrides:

revert in class AngularCoordinates

Returns:

a new triplet whose effect is the reverse of the effect of the instance

shiftedBy

public TimeStampedAngularCoordinates shiftedBy(double dt,
                                               boolean computeSpinDerivative)

Get a time-shifted state.

The state can be slightly shifted to close dates. This shift is based on an approximate solution of the fixed acceleration motion. It is not intended as a replacement for proper attitude propagation but should be sufficient for either small time shifts or coarse accuracy.

Overrides:

shiftedBy in class AngularCoordinates

Parameters:

dt - time shift in seconds

computeSpinDerivative - true if spin derivative should be computed. If not, spin derivative is set to null

Returns:

a new state, shifted with respect to the instance (which is immutable)

shiftedBy

public TimeStampedAngularCoordinates shiftedBy(double dt)

Get a time-shifted state.

The state can be slightly shifted to close dates. This shift is based on an approximate solution of the fixed acceleration motion. It is not intended as a replacement for proper attitude propagation but should be sufficient for either small time shifts or coarse accuracy.

Warning: spin derivative is not computed.

Specified by:

shiftedBy in interface TimeShiftable<AngularCoordinates>

Overrides:

shiftedBy in class AngularCoordinates

Parameters:

dt - time shift in seconds

Returns:

a new state, shifted with respect to the instance (which is immutable)

addOffset

public TimeStampedAngularCoordinates addOffset(AngularCoordinates offset)

Add an offset from the instance.

We consider here that the offset rotation is applied first and the instance is applied afterward. Note that angular coordinates do not commute under this operation, i.e. a.addOffset(b) and b.addOffset(a) lead to different results in most cases.

The two methods addOffset and subtractOffset are designed so that round trip applications are possible. This means that both ac1.subtractOffset(ac2).addOffset(ac2) and ac1.addOffset(ac2).subtractOffset(ac2) return angular coordinates equal to ac1.

Warning: spin derivative is not computed.

Overrides:

addOffset in class AngularCoordinates

Parameters:

offset - offset to subtract

Returns:

new instance, with offset subtracted

See Also:

subtractOffset(AngularCoordinates)

addOffset

public TimeStampedAngularCoordinates addOffset(AngularCoordinates offset,
                                               boolean computeSpinDerivatives)

Add an offset from the instance.

We consider here that the offset rotation is applied first and the instance is applied afterward. Note that angular coordinates do not commute under this operation, i.e. a.addOffset(b) and b.addOffset(a) lead to different results in most cases.

The two methods addOffset and subtractOffset are designed so that round trip applications are possible. This means that both ac1.subtractOffset(ac2).addOffset(ac2) and ac1.addOffset(ac2).subtractOffset(ac2) return angular coordinates equal to ac1.

Overrides:

addOffset in class AngularCoordinates

Parameters:

offset - offset to subtract

computeSpinDerivatives - true if spin derivatives should be computed. If not, spin derivative is set to null

Returns:

new instance, with offset subtracted

See Also:

subtractOffset(AngularCoordinates)

subtractOffset

public TimeStampedAngularCoordinates subtractOffset(AngularCoordinates offset)

Subtract an offset from the instance.

We consider here that the offset rotation is applied first and the instance is applied afterward. Note that angular coordinates do not commute under this operation, i.e. a.subtractOffset(b) and b.subtractOffset(a) lead to different results in most cases.

The two methods addOffset and subtractOffset are designed so that round trip applications are possible. This means that both ac1.subtractOffset(ac2).addOffset(ac2) and ac1.addOffset(ac2).subtractOffset(ac2) return angular coordinates equal to ac1.

Warning: spin derivative is not computed.

Overrides:

subtractOffset in class AngularCoordinates

Parameters:

offset - offset to subtract

Returns:

new instance, with offset subtracted

See Also:

addOffset(AngularCoordinates)

subtractOffset

public TimeStampedAngularCoordinates subtractOffset(AngularCoordinates offset,
                                                    boolean computeSpinDerivatives)

Subtract an offset from the instance.

We consider here that the offset rotation is applied first and the instance is applied afterward. Note that angular coordinates do not commute under this operation, i.e. a.subtractOffset(b) and b.subtractOffset(a) lead to different results in most cases.

The two methods addOffset and subtractOffset are designed so that round trip applications are possible. This means that both ac1.subtractOffset(ac2).addOffset(ac2) and ac1.addOffset(ac2).subtractOffset(ac2) return angular coordinates equal to ac1.

Overrides:

subtractOffset in class AngularCoordinates

Parameters:

offset - offset to subtract

computeSpinDerivatives - true if spin derivatives should be computed. If not, spin derivative is set to null

Returns:

new instance, with offset subtracted

See Also:

addOffset(AngularCoordinates)

compareTo

public int compareTo(TimeStampedAngularCoordinates orientation)

Compare this time stamped angular coordinates with another time stamped angular coordinates.

The time stamped angular coordinates are compared with respect to their dates, by chronological order.
If they are defined at the same date, they are then compared with respect to their hashCode.
This hashCode comparison is arbitrary but allows to be compliant with the equals method, i.e. this method returns 0 only if the time stamped angular coordinates are equal.

Specified by:

compareTo in interface Comparable<TimeStampedAngularCoordinates>

Parameters:

orientation - other time stamped angular coordinates to compare the instance to

Returns:

• a negative integer: when this time stamped angular coordinates is before, or simultaneous with a lower hashCode
• zero: when this time stamped angular coordinates is simultaneous and with the same hashCode
• a positive integer: when this time stamped angular coordinates is after, or simultaneous with a higher hashCode

Throws:

IllegalStateException - if the two compared time stamped angular coordinates have the same date, the same hashCode, but aren't equal (very unlikely situation)

equals

public boolean equals(Object object)

Overrides:

equals in class AngularCoordinates

hashCode

public int hashCode()

Overrides:

hashCode in class AngularCoordinates

interpolate

public static TimeStampedAngularCoordinates interpolate(AbsoluteDate date,
                                                        AngularDerivativesFilter filter,
                                                        Collection<TimeStampedAngularCoordinates> sample)
                                                 throws PatriusException

Interpolate angular coordinates.

The interpolated instance is created by polynomial Hermite interpolation on Rodrigues vector ensuring rotation rate remains the exact derivative of rotation.

This method is based on Sergei Tanygin's paper Attitude Interpolation, changing the norm of the vector to match the modified Rodrigues vector as described in Malcolm D. Shuster's paper A Survey of Attitude Representations. This change avoids the singularity at π. There is still a singularity at 2π, which is handled by slightly offsetting all rotations when this singularity is detected.

Note that even if first and second time derivatives (rotation rates and acceleration) from sample can be ignored, the interpolated instance always includes interpolated derivatives. This feature can be used explicitly to compute these derivatives when it would be too complex to compute them from an analytical formula: just compute a few sample points from the explicit formula and set the derivatives to zero in these sample points, then use interpolation to add derivatives consistent with the rotations.

Warning: spin derivative is not computed.

Parameters:

date - interpolation date

filter - filter for derivatives from the sample to use in interpolation

sample - sample points on which interpolation should be done

Returns:

a new position-velocity, interpolated at specified date

Throws:

PatriusException - if the number of point is too small for interpolating

interpolate

public static TimeStampedAngularCoordinates interpolate(AbsoluteDate date,
                                                        AngularDerivativesFilter filter,
                                                        Collection<TimeStampedAngularCoordinates> sample,
                                                        boolean computeSpinDerivatives)
                                                 throws PatriusException

Interpolate angular coordinates.

The interpolated instance is created by polynomial Hermite interpolation on Rodrigues vector ensuring rotation rate remains the exact derivative of rotation.

This method is based on Sergei Tanygin's paper Attitude Interpolation, changing the norm of the vector to match the modified Rodrigues vector as described in Malcolm D. Shuster's paper A Survey of Attitude Representations. This change avoids the singularity at π. There is still a singularity at 2π, which is handled by slightly offsetting all rotations when this singularity is detected.

Note that even if first and second time derivatives (rotation rates and acceleration) from sample can be ignored, the interpolated instance always includes interpolated derivatives. This feature can be used explicitly to compute these derivatives when it would be too complex to compute them from an analytical formula: just compute a few sample points from the explicit formula and set the derivatives to zero in these sample points, then use interpolation to add derivatives consistent with the rotations.

Parameters:

date - interpolation date

filter - filter for derivatives from the sample to use in interpolation

sample - sample points on which interpolation should be done

computeSpinDerivatives - true if spin derivative should be computed. If not, spin derivative is set to null

Returns:

a new position-velocity, interpolated at specified date

Throws:

PatriusException - if the number of point is too small for interpolating