Examples with Transform org.orekit.frames.Transform used on opensource projects

Example 61 with Transform

use of org.orekit.frames.Transform in project Orekit by CS-SI.

the class EstimatedEarthFrameProvider method getTransform.

/**
 * {@inheritDoc}
 */
@Override
public Transform getTransform(final AbsoluteDate date) throws OrekitException {
    // take parametric prime meridian shift into account
    final double theta = linearModel(date, primeMeridianOffsetDriver, primeMeridianDriftDriver);
    final double thetaDot = parametricModel(primeMeridianDriftDriver);
    final Transform meridianShift = new Transform(date, new Rotation(Vector3D.PLUS_K, theta, RotationConvention.FRAME_TRANSFORM), new Vector3D(0, 0, thetaDot));
    // take parametric pole shift into account
    final double xpNeg = -linearModel(date, polarOffsetXDriver, polarDriftXDriver);
    final double ypNeg = -linearModel(date, polarOffsetYDriver, polarDriftYDriver);
    final double xpNegDot = -parametricModel(polarDriftXDriver);
    final double ypNegDot = -parametricModel(polarDriftYDriver);
    final Transform poleShift = new Transform(date, new Transform(date, new Rotation(Vector3D.PLUS_J, xpNeg, RotationConvention.FRAME_TRANSFORM), new Vector3D(0.0, xpNegDot, 0.0)), new Transform(date, new Rotation(Vector3D.PLUS_I, ypNeg, RotationConvention.FRAME_TRANSFORM), new Vector3D(ypNegDot, 0.0, 0.0)));
    return new Transform(date, meridianShift, poleShift);
}

Example 62 with Transform

use of org.orekit.frames.Transform in project Orekit by CS-SI.

the class GroundStation method getOffsetToInertial.

/**
 * Get the transform between offset frame and inertial frame with derivatives.
 * <p>
 * As the East and North vector are not well defined at pole, the derivatives
 * of these two vectors diverge to infinity as we get closer to the pole.
 * So this method should not be used for stations less than 0.0001 degree from
 * either poles.
 * </p>
 * @param inertial inertial frame to transform to
 * @param date date of the transform
 * @param factory factory for the derivatives
 * @param indices indices of the estimated parameters in derivatives computations
 * @return offset frame defining vectors with derivatives
 * @exception OrekitException if some frame transforms cannot be computed
 * @since 9.0
 */
public FieldTransform<DerivativeStructure> getOffsetToInertial(final Frame inertial, final FieldAbsoluteDate<DerivativeStructure> date, final DSFactory factory, final Map<String, Integer> indices) throws OrekitException {
    final Field<DerivativeStructure> field = date.getField();
    final FieldVector3D<DerivativeStructure> zero = FieldVector3D.getZero(field);
    final FieldVector3D<DerivativeStructure> plusI = FieldVector3D.getPlusI(field);
    final FieldVector3D<DerivativeStructure> plusK = FieldVector3D.getPlusK(field);
    // take Earth offsets into account
    final FieldTransform<DerivativeStructure> intermediateToBody = estimatedEarthFrameProvider.getTransform(date, factory, indices).getInverse();
    // take station offset into account
    final DerivativeStructure x = parametricModel(factory, eastOffsetDriver, indices);
    final DerivativeStructure y = parametricModel(factory, northOffsetDriver, indices);
    final DerivativeStructure z = parametricModel(factory, zenithOffsetDriver, indices);
    final BodyShape baseShape = baseFrame.getParentShape();
    final Transform baseToBody = baseFrame.getTransformTo(baseShape.getBodyFrame(), (AbsoluteDate) null);
    FieldVector3D<DerivativeStructure> origin = baseToBody.transformPosition(new FieldVector3D<>(x, y, z));
    origin = origin.add(computeDisplacement(date.toAbsoluteDate(), origin.toVector3D()));
    final FieldGeodeticPoint<DerivativeStructure> originGP = baseShape.transform(origin, baseShape.getBodyFrame(), date);
    final FieldTransform<DerivativeStructure> offsetToIntermediate = new FieldTransform<>(date, new FieldTransform<>(date, new FieldRotation<>(plusI, plusK, originGP.getEast(), originGP.getZenith()), zero), new FieldTransform<>(date, origin));
    // combine all transforms together
    final FieldTransform<DerivativeStructure> bodyToInert = baseFrame.getParent().getTransformTo(inertial, date);
    return new FieldTransform<>(date, offsetToIntermediate, new FieldTransform<>(date, intermediateToBody, bodyToInert));
}

Example 63 with Transform

use of org.orekit.frames.Transform in project Orekit by CS-SI.

the class OnBoardAntennaInterSatellitesRangeModifier method modifyOneWay.

/**
 * Apply a modifier to an estimated measurement in the one-way case.
 * @param estimated estimated measurement to modify
 */
private void modifyOneWay(final EstimatedMeasurement<InterSatellitesRange> estimated) {
    // the participants are satellite 2 at emission, satellite 1 at reception
    final TimeStampedPVCoordinates[] participants = estimated.getParticipants();
    final AbsoluteDate emissionDate = participants[0].getDate();
    final AbsoluteDate receptionDate = participants[1].getDate();
    // transforms from spacecraft to inertial frame at emission/reception dates
    final SpacecraftState refState1 = estimated.getStates()[0];
    final SpacecraftState receptionState = refState1.shiftedBy(receptionDate.durationFrom(refState1.getDate()));
    final Transform receptionSpacecraftToInert = receptionState.toTransform().getInverse();
    final SpacecraftState refState2 = estimated.getStates()[1];
    final SpacecraftState emissionState = refState2.shiftedBy(emissionDate.durationFrom(refState2.getDate()));
    final Transform emissionSpacecraftToInert = emissionState.toTransform().getInverse();
    // compute the geometrical value of the inter-satellites range directly from participants positions.
    // Note that this may be different from the value returned by estimated.getEstimatedValue(),
    // because other modifiers may already have been taken into account
    final Vector3D pSpacecraftReception = receptionSpacecraftToInert.transformPosition(Vector3D.ZERO);
    final Vector3D pSpacecraftEmission = emissionSpacecraftToInert.transformPosition(Vector3D.ZERO);
    final double interSatellitesRangeUsingSpacecraftCenter = Vector3D.distance(pSpacecraftEmission, pSpacecraftReception);
    // compute the geometrical value of the range replacing
    // the spacecraft positions with antenna phase center positions
    final Vector3D pAPCReception = receptionSpacecraftToInert.transformPosition(antennaPhaseCenter1);
    final Vector3D pAPCEmission = emissionSpacecraftToInert.transformPosition(antennaPhaseCenter2);
    final double interSatellitesRangeUsingAntennaPhaseCenter = Vector3D.distance(pAPCEmission, pAPCReception);
    // get the estimated value before this modifier is applied
    final double[] value = estimated.getEstimatedValue();
    // modify the value
    value[0] += interSatellitesRangeUsingAntennaPhaseCenter - interSatellitesRangeUsingSpacecraftCenter;
    estimated.setEstimatedValue(value);
}

Example 64 with Transform

use of org.orekit.frames.Transform in project Orekit by CS-SI.

the class OnBoardAntennaTurnAroundRangeModifier method modify.

/**
 * {@inheritDoc}
 */
@Override
public void modify(final EstimatedMeasurement<TurnAroundRange> estimated) {
    // the participants are master station at emission, spacecraft during leg 1,
    // slave station at rebound, spacecraft during leg 2, master station at reception
    final TimeStampedPVCoordinates[] participants = estimated.getParticipants();
    final Vector3D pMasterEmission = participants[0].getPosition();
    final AbsoluteDate transitDateLeg1 = participants[1].getDate();
    final Vector3D pSlaveRebound = participants[2].getPosition();
    final AbsoluteDate transitDateLeg2 = participants[3].getDate();
    final Vector3D pMasterReception = participants[4].getPosition();
    // transforms from spacecraft to inertial frame at transit dates
    final SpacecraftState refState = estimated.getStates()[0];
    final SpacecraftState transitStateLeg1 = refState.shiftedBy(transitDateLeg1.durationFrom(refState.getDate()));
    final Transform spacecraftToInertLeg1 = transitStateLeg1.toTransform().getInverse();
    final SpacecraftState transitStateLeg2 = refState.shiftedBy(transitDateLeg2.durationFrom(refState.getDate()));
    final Transform spacecraftToInertLeg2 = transitStateLeg2.toTransform().getInverse();
    // compute the geometrical value of the turn-around range directly from participants positions.
    // Note that this may be different from the value returned by estimated.getEstimatedValue(),
    // because other modifiers may already have been taken into account
    final Vector3D pSpacecraftLeg1 = spacecraftToInertLeg1.transformPosition(Vector3D.ZERO);
    final Vector3D pSpacecraftLeg2 = spacecraftToInertLeg2.transformPosition(Vector3D.ZERO);
    final double turnAroundRangeUsingSpacecraftCenter = 0.5 * (Vector3D.distance(pMasterEmission, pSpacecraftLeg1) + Vector3D.distance(pSpacecraftLeg1, pSlaveRebound) + Vector3D.distance(pSlaveRebound, pSpacecraftLeg2) + Vector3D.distance(pSpacecraftLeg2, pMasterReception));
    // compute the geometrical value of the range replacing
    // the spacecraft positions with antenna phase center positions
    final Vector3D pAPCLeg1 = spacecraftToInertLeg1.transformPosition(antennaPhaseCenter);
    final Vector3D pAPCLeg2 = spacecraftToInertLeg2.transformPosition(antennaPhaseCenter);
    final double turnAroundRangeUsingAntennaPhaseCenter = 0.5 * (Vector3D.distance(pMasterEmission, pAPCLeg1) + Vector3D.distance(pAPCLeg1, pSlaveRebound) + Vector3D.distance(pSlaveRebound, pAPCLeg2) + Vector3D.distance(pAPCLeg2, pMasterReception));
    // get the estimated value before this modifier is applied
    final double[] value = estimated.getEstimatedValue();
    // modify the value
    value[0] += turnAroundRangeUsingAntennaPhaseCenter - turnAroundRangeUsingSpacecraftCenter;
    estimated.setEstimatedValue(value);
}

Example 65 with Transform

use of org.orekit.frames.Transform in project Orekit by CS-SI.

the class FieldElevationDetector method g.

/**
 * Compute the value of the switching function.
 * This function measures the difference between the current elevation
 * (and azimuth if necessary) and the reference mask or minimum value.
 * @param s the current state information: date, kinematics, attitude
 * @return value of the switching function
 * @exception OrekitException if some specific error occurs
 */
@Override
public T g(final FieldSpacecraftState<T> s) throws OrekitException {
    final Transform t = s.getFrame().getTransformTo(topo, s.getDate().toAbsoluteDate());
    final FieldVector3D<T> extPointTopo = t.transformPosition(s.getPVCoordinates().getPosition());
    final T trueElevation = extPointTopo.getDelta();
    final T calculatedElevation;
    if (refractionModel != null) {
        calculatedElevation = trueElevation.add(refractionModel.getRefraction(trueElevation.getReal()));
    } else {
        calculatedElevation = trueElevation;
    }
    if (elevationMask != null) {
        final double azimuth = FastMath.atan2(extPointTopo.getY().getReal(), extPointTopo.getX().getReal());
        return calculatedElevation.subtract(elevationMask.getElevation(azimuth));
    } else {
        return calculatedElevation.subtract(minElevation);
    }
}