/* $Procedure CKE02 ( C-kernel, evaluate pointing record, data type 2 ) */
/* Subroutine */ int cke02_(logical *needav, doublereal *record, doublereal *
cmat, doublereal *av, doublereal *clkout)
{
doublereal time, quat[4];
extern /* Subroutine */ int vequ_(doublereal *, doublereal *), mxmt_(
doublereal *, doublereal *, doublereal *);
doublereal cbase[9] /* was [3][3] */, angle;
extern /* Subroutine */ int chkin_(char *, ftnlen), vequg_(doublereal *,
integer *, doublereal *);
extern doublereal vnorm_(doublereal *);
extern /* Subroutine */ int axisar_(doublereal *, doublereal *,
doublereal *);
doublereal avtemp[3];
extern /* Subroutine */ int chkout_(char *, ftnlen);
extern logical return_(void);
extern /* Subroutine */ int q2m_(doublereal *, doublereal *);
doublereal rot[9] /* was [3][3] */;
/* $ Abstract */
/* Evaluate a pointing record returned by CKR02 from a CK data type 2 */
/* segment. Return the C-matrix and angular velocity vector associated */
/* with the time CLKOUT. */
/* $ Disclaimer */
/* THIS SOFTWARE AND ANY RELATED MATERIALS WERE CREATED BY THE */
/* CALIFORNIA INSTITUTE OF TECHNOLOGY (CALTECH) UNDER A U.S. */
/* GOVERNMENT CONTRACT WITH THE NATIONAL AERONAUTICS AND SPACE */
/* ADMINISTRATION (NASA). THE SOFTWARE IS TECHNOLOGY AND SOFTWARE */
/* PUBLICLY AVAILABLE UNDER U.S. EXPORT LAWS AND IS PROVIDED "AS-IS" */
/* TO THE RECIPIENT WITHOUT WARRANTY OF ANY KIND, INCLUDING ANY */
/* WARRANTIES OF PERFORMANCE OR MERCHANTABILITY OR FITNESS FOR A */
/* PARTICULAR USE OR PURPOSE (AS SET FORTH IN UNITED STATES UCC */
/* SECTIONS 2312-2313) OR FOR ANY PURPOSE WHATSOEVER, FOR THE */
/* SOFTWARE AND RELATED MATERIALS, HOWEVER USED. */
/* IN NO EVENT SHALL CALTECH, ITS JET PROPULSION LABORATORY, OR NASA */
/* BE LIABLE FOR ANY DAMAGES AND/OR COSTS, INCLUDING, BUT NOT */
/* LIMITED TO, INCIDENTAL OR CONSEQUENTIAL DAMAGES OF ANY KIND, */
/* INCLUDING ECONOMIC DAMAGE OR INJURY TO PROPERTY AND LOST PROFITS, */
/* REGARDLESS OF WHETHER CALTECH, JPL, OR NASA BE ADVISED, HAVE */
/* REASON TO KNOW, OR, IN FACT, SHALL KNOW OF THE POSSIBILITY. */
/* RECIPIENT BEARS ALL RISK RELATING TO QUALITY AND PERFORMANCE OF */
/* THE SOFTWARE AND ANY RELATED MATERIALS, AND AGREES TO INDEMNIFY */
/* CALTECH AND NASA FOR ALL THIRD-PARTY CLAIMS RESULTING FROM THE */
/* ACTIONS OF RECIPIENT IN THE USE OF THE SOFTWARE. */
/* $ Required_Reading */
/* CK */
/* ROTATION */
/* $ Keywords */
/* POINTING */
/* $ Declarations */
/* $ Brief_I/O */
/* Variable I/O Description */
/* -------- --- -------------------------------------------------- */
/* NEEDAV I True if angular velocity is requested. */
/* RECORD I Data type 2 pointing record. */
/* CMAT O C-matrix. */
/* AV O Angular velocity vector. */
/* CLKOUT O SCLK associated with C-matrix. */
/* $ Detailed_Input */
/* NEEDAV is true if angular velocity is requested. */
/* RECORD is a set of double precision numbers returned by CKR02 */
/* that contain sufficient information from a data type */
/* 2 pointing segment to evaluate the C-matrix and the */
/* angular velocity vector for a particular instance. */
/* The contents of RECORD are as follows: */
/* RECORD( 1 ) = start SCLKDP of interval */
/* RECORD( 2 ) = SCLK for which pointing was found */
/* RECORD( 3 ) = seconds / tick rate */
/* RECORD( 4 ) = q0 */
/* RECORD( 5 ) = q1 */
/* RECORD( 6 ) = q2 */
/* RECORD( 7 ) = q3 */
/* RECORD( 8 ) = av1 */
/* RECORD( 9 ) = av2 */
/* RECORD( 10 ) = av3 */
/* The quantities q0 - q3 are the components of the */
/* quaternion that represents the C - matrix associated */
/* with the start of the interval. The quantities av1, */
/* av2, and av3 are the components of the angular velocity */
/* vector. */
/* $ Detailed_Output */
/* CMAT is a rotation matrix that transforms the components */
/* of a vector expressed in the inertial frame given in */
/* the segment to components expressed in the instrument */
/* fixed frame at the returned time. */
/* Thus, if a vector v has components x, y, z in the */
/* inertial frame, then v has components x', y', z' in the */
/* instrument fixed frame where: */
/* [ x' ] [ ] [ x ] */
/* | y' | = | CMAT | | y | */
/* [ z' ] [ ] [ z ] */
/* If the x', y', z' components are known, use the */
/* transpose of the C-matrix to determine x, y, z as */
/* follows. */
/* [ x ] [ ]T [ x' ] */
/* | y | = | CMAT | | y' | */
/* [ z ] [ ] [ z' ] */
/* (Transpose of CMAT) */
/* AV is the angular velocity vector. The angular velocity */
/* contained in RECORD is returned only if NEEDAV is true. */
/* The direction of the angular velocity vector gives */
/* the right-handed axis about which the instrument fixed */
/* reference frame is rotating. The magnitude of AV is */
/* the magnitude of the instantaneous velocity of the */
/* rotation, in radians per second. */
/* The angular velocity vector is returned in component */
/* form */
/* AV = [ AV1 , AV2 , AV3 ] */
/* which is in terms of the inertial coordinate frame */
/* specified in the segment descriptor. */
/* CLKOUT is the encoded SCLK associated with the returned */
/* C-matrix and angular velocity vector. */
/* $ Parameters */
/* None. */
/* $ Exceptions */
/* 1) No checking is done to determine whether RECORD is valid. */
/* $ Files */
/* None. */
/* $ Particulars */
/* For a detailed description of the structure of a type 2 pointing */
/* segment, see the CK Required Reading. */
/* Pointing data in a type 2 segment consists of intervals during */
/* which the orientation of the spacecraft structure can be described */
/* by an initial C-matrix and a constant angular velocity vector. */
/* From the information contained in the pointing record returned by */
/* CKR02, this subroutine calculates and returns the C-matrix */
/* associated with the time returned by CKR02. It also returns the */
/* angular velocity vector contained in the pointing record. */
/* $ Examples */
/* A call to a CKEnn routine is almost always preceded by a call to */
/* the corresponding CKRnn routine, which gets the logical record */
/* that CKEnn evaluates. */
/* The following code fragment searches through a file (represented */
/* by HANDLE) for all segments applicable to the Voyager 2 wide angle */
/* camera, for a particular spacecraft clock time, that are of data */
/* types 1 or 2. It then evaluates the pointing for that epoch and */
/* prints the result. */
/* SC = -32 */
/* INST = -32002 */
/* C */
/* C Load the Voyager 2 spacecraft clock kernel and the C-kernel. */
/* C */
/* CALL FURNSH ( 'VGR_SCLK.TSC' ) */
/* CALL DAFOPR ( 'VGR2_CK.BC', HANDLE ) */
/* C */
/* C Get the spacecraft clock time. Must encode it for use */
/* C in the C-kernel. */
/* C */
/* WRITE (*,*) 'Enter spacecraft clock time string:' */
/* READ (*,FMT='(A)') SCLKCH */
/* CALL SCENCD ( SC, SCLKCH, SCLKDP ) */
/* C */
/* C Search from the beginning through all segments. */
/* C */
/* CALL DAFBFS ( HANDLE ) */
/* CALL DAFFNA ( SFND ) */
/* DO WHILE ( SFND ) */
/* CALL DAFGN ( IDENT ) */
/* CALL DAFGS ( DESCR ) */
/* CALL DAFUS ( DESCR, 2, 6, DCD, ICD ) */
/* IF ( INST .EQ. ICD( 1 ) .AND. */
/* . SCLKDP + TOL .GE. DCD( 1 ) .AND. */
/* . SCLKDP - TOL .LE. DCD( 2 ) ) THEN */
/* DTYPE = ICD ( 3 ) */
/* IF ( DTYPE .EQ. 1 ) THEN */
/* CALL CKR01 ( HANDLE, DESCR, SCLKDP, TOL, NEEDAV, */
/* . RECORD, FOUND ) */
/* IF ( FOUND ) THEN */
/* CALL CKE01 ( NEEDAV, RECORD, CMAT, AV, CLKOUT ) */
/* END IF */
/* ELSE IF ( DTYPE .EQ. 2 ) THEN */
/* CALL CKR02 ( HANDLE, DESCR, SCLKDP, TOL, */
/* . RECORD, FOUND ) */
/* IF ( FOUND ) THEN */
/* CALL CKE02 ( NEEDAV, RECORD, CMAT, AV, CLKOUT ) */
/* END IF */
/* END IF */
/* IF ( FOUND ) THEN */
/* WRITE (*,*) 'Segment descriptor and identifier:' */
/* WRITE (*,*) DCD, ICD */
/* WRITE (*,*) IDENT */
/* WRITE (*,*) 'C-matrix:' */
/* WRITE (*,*) CMAT */
/* END IF */
/* END IF */
/* CALL DAFFNA ( SFND ) */
/* END DO */
/* $ Restrictions */
/* None. */
/* $ Literature_References */
/* None. */
/* $ Author_and_Institution */
/* J.M. Lynch (JPL) */
/* W.L. Taber (JPL) */
/* E.D. Wright (JPL) */
/* B.V. Semenov (JPL) */
/* $ Version */
/* - SPICELIB Version 1.0.3, 31-JAN-2008 (BVS) */
/* Removed non-standard end-of-declarations marker */
/* 'C%&END_DECLARATIONS' from comments. */
/* - SPICELIB Version 1.0.2, 22-AUG-2006 (EDW) */
/* Replaced references to LDPOOL with references */
/* to FURNSH. */
/* - SPICELIB Version 1.0.1, 10-MAR-1992 (WLT) */
/* Comment section for permuted index source lines was added */
/* following the header. */
/* - SPICELIB Version 1.0.0, 30-AUG-1991 (JML) */
/* -& */
/* $ Index_Entries */
/* evaluate ck type_2 pointing data record */
/* -& */
/* SPICELIB functions */
/* Local variables */
/* Standard SPICE error handling. */
if (return_()) {
return 0;
} else {
chkin_("CKE02", (ftnlen)5);
}
/* Copy the returned encoded SCLK time into CLKOUT. */
*clkout = record[1];
/* The quaternion stored in RECORD represents the C - matrix */
/* corresponding to the start time of the interval. The angular */
/* velocity vector is constant throughout the interval and gives */
/* the axis and rate by which the spacecraft is rotating. */
/* Copy the quaternion and the angular velocity from RECORD. */
/* RECORD ( 4 ) = q0 */
/* RECORD ( 5 ) = q1 */
/* RECORD ( 6 ) = q2 */
/* RECORD ( 7 ) = q3 */
/* RECORD ( 8 ) = av1 */
/* RECORD ( 9 ) = av2 */
/* RECORD ( 10 ) = av3 */
vequg_(&record[3], &c__4, quat);
vequ_(&record[7], avtemp);
/* Calculate the angle of the rotation. */
/* RECORD ( 1 ) = The start time of the interval. */
/* RECORD ( 2 ) = The time that pointing was returned for. */
/* RECORD ( 3 ) = The number of seconds per SCLK tick. */
time = (record[1] - record[0]) * record[2];
angle = time * vnorm_(avtemp);
/* Construct a matrix which rotates vectors by ANGLE radians about */
/* AVTEMP. */
axisar_(avtemp, &angle, rot);
/* Convert the quaternion to a C - matrix. */
q2m_(quat, cbase);
/* Rotate each of the axis vectors of the spacecraft instrument frame */
/* by ANGLE radians about AVTEMP. (AVTEMP is given in the same */
/* inertial frame as the C - matrix.) The resulting matrix is the */
/* transpose of the requested C - matrix. */
/* [ ] [ ] T [ ] T */
/* [ ROT ] * [ CBASE ] = [ CMAT ] */
/* [ ] [ ] [ ] */
/* OR */
/* [ ] [ ] T [ ] */
/* [ CBASE ] * [ ROT ] = [ CMAT ] */
/* [ ] [ ] [ ] */
mxmt_(cbase, rot, cmat);
/* Return the angular velocity only if it is requested. */
if (*needav) {
vequ_(avtemp, av);
}
chkout_("CKE02", (ftnlen)5);
return 0;
} /* cke02_ */
/* $Procedure CKE03 ( C-kernel, evaluate pointing record, data type 3 ) */
/* Subroutine */ int cke03_(logical *needav, doublereal *record, doublereal *
cmat, doublereal *av, doublereal *clkout)
{
/* System generated locals */
doublereal d__1;
/* Local variables */
doublereal frac, axis[3];
extern /* Subroutine */ int vequ_(doublereal *, doublereal *), mtxm_(
doublereal *, doublereal *, doublereal *), mxmt_(doublereal *,
doublereal *, doublereal *);
doublereal cmat1[9] /* was [3][3] */, cmat2[9] /* was [3][3] */, t,
angle, delta[9] /* was [3][3] */;
extern /* Subroutine */ int chkin_(char *, ftnlen), moved_(doublereal *,
integer *, doublereal *), vlcom_(doublereal *, doublereal *,
doublereal *, doublereal *, doublereal *);
doublereal q1[4], q2[4], t1, t2;
extern logical failed_(void);
extern /* Subroutine */ int raxisa_(doublereal *, doublereal *,
doublereal *), axisar_(doublereal *, doublereal *, doublereal *),
chkout_(char *, ftnlen);
doublereal av1[3], av2[3];
extern logical return_(void);
extern /* Subroutine */ int q2m_(doublereal *, doublereal *);
doublereal rot[9] /* was [3][3] */;
/* $ Abstract */
/* Evaluate a pointing record returned by CKR03 from a CK type 3 */
/* segment. Return the C-matrix and angular velocity vector associated */
/* with the time CLKOUT. */
/* $ Disclaimer */
/* THIS SOFTWARE AND ANY RELATED MATERIALS WERE CREATED BY THE */
/* CALIFORNIA INSTITUTE OF TECHNOLOGY (CALTECH) UNDER A U.S. */
/* GOVERNMENT CONTRACT WITH THE NATIONAL AERONAUTICS AND SPACE */
/* ADMINISTRATION (NASA). THE SOFTWARE IS TECHNOLOGY AND SOFTWARE */
/* PUBLICLY AVAILABLE UNDER U.S. EXPORT LAWS AND IS PROVIDED "AS-IS" */
/* TO THE RECIPIENT WITHOUT WARRANTY OF ANY KIND, INCLUDING ANY */
/* WARRANTIES OF PERFORMANCE OR MERCHANTABILITY OR FITNESS FOR A */
/* PARTICULAR USE OR PURPOSE (AS SET FORTH IN UNITED STATES UCC */
/* SECTIONS 2312-2313) OR FOR ANY PURPOSE WHATSOEVER, FOR THE */
/* SOFTWARE AND RELATED MATERIALS, HOWEVER USED. */
/* IN NO EVENT SHALL CALTECH, ITS JET PROPULSION LABORATORY, OR NASA */
/* BE LIABLE FOR ANY DAMAGES AND/OR COSTS, INCLUDING, BUT NOT */
/* LIMITED TO, INCIDENTAL OR CONSEQUENTIAL DAMAGES OF ANY KIND, */
/* INCLUDING ECONOMIC DAMAGE OR INJURY TO PROPERTY AND LOST PROFITS, */
/* REGARDLESS OF WHETHER CALTECH, JPL, OR NASA BE ADVISED, HAVE */
/* REASON TO KNOW, OR, IN FACT, SHALL KNOW OF THE POSSIBILITY. */
/* RECIPIENT BEARS ALL RISK RELATING TO QUALITY AND PERFORMANCE OF */
/* THE SOFTWARE AND ANY RELATED MATERIALS, AND AGREES TO INDEMNIFY */
/* CALTECH AND NASA FOR ALL THIRD-PARTY CLAIMS RESULTING FROM THE */
/* ACTIONS OF RECIPIENT IN THE USE OF THE SOFTWARE. */
/* $ Required_Reading */
/* CK */
/* ROTATION */
/* $ Keywords */
/* POINTING */
/* $ Declarations */
/* $ Brief_I/O */
/* Variable I/O Description */
/* -------- --- -------------------------------------------------- */
/* NEEDAV I True if angular velocity is requested. */
/* RECORD I Data type 3 pointing record. */
/* CMAT O C-matrix. */
/* AV O Angular velocity vector. */
/* CLKOUT O SCLK associated with C-matrix. */
/* $ Detailed_Input */
/* NEEDAV is true if angular velocity is requested. */
/* RECORD is a set of double precision numbers returned by CKR03 */
/* that contain sufficient information from a type 3 CK */
/* segment to evaluate the C-matrix and the angular */
/* velocity vector at a particular time. Depending on */
/* the contents of RECORD, this routine will either */
/* interpolate between two pointing instances that */
/* bracket a request time, or it will simply return the */
/* pointing given by a single pointing instance. */
/* When pointing at the request time can be determined */
/* by linearly interpolating between the two pointing */
/* instances that bracket that time, the bracketing */
/* pointing instances are returned in RECORD as follows: */
/* RECORD( 1 ) = Left bracketing SCLK time. */
/* RECORD( 2 ) = lq0 \ */
/* RECORD( 3 ) = lq1 \ Left bracketing */
/* RECORD( 4 ) = lq2 / quaternion. */
/* RECORD( 5 ) = lq3 / */
/* RECORD( 6 ) = lav1 \ Left bracketing */
/* RECORD( 7 ) = lav2 | angular velocity */
/* RECORD( 8 ) = lav3 / ( optional ) */
/* RECORD( 9 ) = Right bracketing SCLK time. */
/* RECORD( 10 ) = rq0 \ */
/* RECORD( 11 ) = rq1 \ Right bracketing */
/* RECORD( 12 ) = rq2 / quaternion. */
/* RECORD( 13 ) = rq3 / */
/* RECORD( 14 ) = rav1 \ Right bracketing */
/* RECORD( 15 ) = rav2 | angular velocity */
/* RECORD( 16 ) = rav3 / ( optional ) */
/* RECORD( 17 ) = pointing request time */
/* The quantities lq0 - lq3 and rq0 - rq3 are the */
/* components of the quaternions that represent the */
/* C-matrices associated with the times that bracket */
/* the requested time. */
/* The quantities lav1, lav2, lav3 and rav1, rav2, rav3 */
/* are the components of the angular velocity vectors at */
/* the respective bracketing times. The components of the */
/* angular velocity vectors are specified relative to the */
/* inertial reference frame of the segment. */
/* When the routine is to simply return the pointing */
/* given by a particular pointing instance, then the */
/* values of that pointing instance are returned in both */
/* parts of RECORD ( i.e. RECORD(1-9) and RECORD(10-16) ). */
/* $ Detailed_Output */
/* CMAT is a rotation matrix that transforms the components */
/* of a vector expressed in the inertial frame given in */
/* the segment to components expressed in the instrument */
/* fixed frame at the returned time. */
/* Thus, if a vector v has components x, y, z in the */
/* inertial frame, then v has components x', y', z' in the */
/* instrument fixed frame where: */
/* [ x' ] [ ] [ x ] */
/* | y' | = | CMAT | | y | */
/* [ z' ] [ ] [ z ] */
/* If the x', y', z' components are known, use the */
/* transpose of the C-matrix to determine x, y, z as */
/* follows. */
/* [ x ] [ ]T [ x' ] */
/* | y | = | CMAT | | y' | */
/* [ z ] [ ] [ z' ] */
/* (Transpose of CMAT) */
/* AV is the angular velocity vector of the instrument fixed */
/* frame defined by CMAT. The angular velocity is */
/* returned only if NEEDAV is true. */
/* The direction of the angular velocity vector gives */
/* the right-handed axis about which the instrument fixed */
/* reference frame is rotating. The magnitude of AV is */
/* the magnitude of the instantaneous velocity of the */
/* rotation, in radians per second. */
/* The angular velocity vector is returned in component */
/* form */
/* AV = [ AV1 , AV2 , AV3 ] */
/* which is in terms of the inertial coordinate frame */
/* specified in the segment descriptor. */
/* CLKOUT is the encoded SCLK associated with the returned */
/* C-matrix and angular velocity vector. */
/* $ Parameters */
/* None. */
/* $ Exceptions */
/* 1) No explicit checking is done to determine whether RECORD is */
/* valid. However, routines in the call tree of this routine */
/* may signal errors if inputs are invalid or otherwise */
/* in appropriate. */
/* $ Files */
/* None. */
/* $ Particulars */
/* If the array RECORD contains pointing instances that bracket the */
/* request time then CKE03 will linearly interpolate between those */
/* two values to obtain pointing at the request time. If the */
/* pointing instances in RECORD are for the same time, then this */
/* routine will simply unpack the record and convert the quaternion */
/* to a C-matrix. */
/* The linear interpolation performed by this routine is defined */
/* as follows: */
/* 1) Let t be the time for which pointing is requested and */
/* let CMAT1 and CMAT2 be C-matrices associated with times */
/* t1 and t2 where: */
/* t1 < t2, and t1 <= t, and t <= t2. */
/* 2) Assume that the spacecraft frame rotates about a fixed */
/* axis at a constant angular rate from time t1 to time t2. */
/* The angle and rotation axis can be obtained from the */
/* rotation matrix ROT12 where: */
/* T T */
/* CMAT2 = ROT12 * CMAT1 */
/* or */
/* T */
/* ROT12 = CMAT2 * CMAT1 */
/* ROT12 ==> ( ANGLE, AXIS ) */
/* 3) To obtain pointing at time t, rotate the spacecraft frame */
/* about the vector AXIS from its orientation at time t1 by the */
/* angle THETA where: */
/* ( t - t1 ) */
/* THETA = ANGLE * ----------- */
/* ( t2 - t1 ) */
/* 4) Thus if ROT1t is the matrix that rotates vectors by the */
/* angle THETA about the vector AXIS, then the output C-matrix */
/* is given by: */
/* T T */
/* CMAT = ROT1t * CMAT1 */
/* T */
/* CMAT = CMAT1 * ROT1t */
/* 5) The angular velocity is treated independently of the */
/* C-matrix. If it is requested, then the AV at time t is */
/* the weighted average of the angular velocity vectors at */
/* the times t1 and t2: */
/* ( t - t1 ) */
/* W = ----------- */
/* ( t2 - t1 ) */
/* AV = ( 1 - W ) * AV1 + W * AV2 */
/* $ Examples */
/* The CKRnn routines are usually used in tandem with the CKEnn */
/* routines, which evaluate the record returned by CKRnn to give */
/* the pointing information and output time. */
/* The following code fragment searches through all of the segments */
/* in a file applicable to the Mars Observer spacecraft bus that */
/* are of data type 3, for a particular spacecraft clock time. */
/* It then evaluates the pointing for that epoch and prints the */
/* result. */
/* CHARACTER*(20) SCLKCH */
/* CHARACTER*(20) SCTIME */
/* CHARACTER*(40) IDENT */
/* INTEGER I */
/* INTEGER SC */
/* INTEGER INST */
/* INTEGER HANDLE */
/* INTEGER DTYPE */
/* INTEGER ICD ( 6 ) */
/* DOUBLE PRECISION SCLKDP */
/* DOUBLE PRECISION TOL */
/* DOUBLE PRECISION CLKOUT */
/* DOUBLE PRECISION DESCR ( 5 ) */
/* DOUBLE PRECISION DCD ( 2 ) */
/* DOUBLE PRECISION RECORD ( 17 ) */
/* DOUBLE PRECISION CMAT ( 3, 3 ) */
/* DOUBLE PRECISION AV ( 3 ) */
/* LOGICAL NEEDAV */
/* LOGICAL FND */
/* LOGICAL SFND */
/* SC = -94 */
/* INST = -94000 */
/* DTYPE = 3 */
/* NEEDAV = .FALSE. */
/* C */
/* C Load the MO SCLK kernel and the C-kernel. */
/* C */
/* CALL FURNSH ( 'MO_SCLK.TSC' ) */
/* CALL DAFOPR ( 'MO_CK.BC', HANDLE ) */
/* C */
/* C Get the spacecraft clock time. Then encode it for use */
/* C in the C-kernel. */
/* C */
/* WRITE (*,*) 'Enter spacecraft clock time string:' */
/* READ (*,FMT='(A)') SCLKCH */
/* CALL SCENCD ( SC, SCLKCH, SCLKDP ) */
/* C */
/* C Use a tolerance of 2 seconds ( half of the nominal */
/* C separation between MO pointing instances ). */
/* C */
/* CALL SCTIKS ( SC, '0000000002:000', TOL ) */
/* C */
/* C Search from the beginning of the CK file through all */
/* C of the segments. */
/* C */
/* CALL DAFBFS ( HANDLE ) */
/* CALL DAFFNA ( SFND ) */
/* FND = .FALSE. */
/* DO WHILE ( ( SFND ) .AND. ( .NOT. FND ) ) */
/* C */
/* C Get the segment identifier and descriptor. */
/* C */
/* CALL DAFGN ( IDENT ) */
/* CALL DAFGS ( DESCR ) */
/* C */
/* C Unpack the segment descriptor into its integer and */
/* C double precision components. */
/* C */
/* CALL DAFUS ( DESCR, 2, 6, DCD, ICD ) */
/* C */
/* C Determine if this segment should be processed. */
/* C */
/* IF ( ( INST .EQ. ICD( 1 ) ) .AND. */
/* . ( SCLKDP + TOL .GE. DCD( 1 ) ) .AND. */
/* . ( SCLKDP - TOL .LE. DCD( 2 ) ) .AND. */
/* . ( DTYPE .EQ. ICD( 3 ) ) ) THEN */
/* CALL CKR03 ( HANDLE, DESCR, SCLKDP, TOL, NEEDAV, */
/* . RECORD, FND ) */
/* IF ( FND ) THEN */
/* CALL CKE03 (NEEDAV,RECORD,CMAT,AV,CLKOUT) */
/* CALL SCDECD ( SC, CLKOUT, SCTIME ) */
/* WRITE (*,*) */
/* WRITE (*,*) 'Segment identifier: ', IDENT */
/* WRITE (*,*) */
/* WRITE (*,*) 'Pointing returned for time: ', */
/* . SCTIME */
/* WRITE (*,*) */
/* WRITE (*,*) 'C-matrix:' */
/* WRITE (*,*) */
/* WRITE (*,*) ( CMAT(1,I), I = 1, 3 ) */
/* WRITE (*,*) ( CMAT(2,I), I = 1, 3 ) */
/* WRITE (*,*) ( CMAT(3,I), I = 1, 3 ) */
/* WRITE (*,*) */
/* END IF */
/* END IF */
/* CALL DAFFNA ( SFND ) */
/* END DO */
/* $ Restrictions */
/* 1) No explicit checking is done on the input RECORD. */
/* $ Literature_References */
/* None. */
/* $ Author_and_Institution */
/* J.M. Lynch (JPL) */
/* F.S. Turner (JPL) */
/* $ Version */
/* - SPICELIB Version 2.0.1, 22-AUG-2006 (EDW) */
/* Replaced references to LDPOOL with references */
/* to FURNSH. */
/* - SPICELIB Version 2.0.0, 13-JUN-2002 (FST) */
/* This routine now participates in error handling properly. */
/* - SPICELIB Version 1.0.0, 25-NOV-1992 (JML) */
/* -& */
/* $ Index_Entries */
/* evaluate ck type_3 pointing data record */
/* -& */
/* $ Revisions */
/* - SPICELIB Version 2.0.0, 13-JUN-2002 (FST) */
/* Calls to CHKIN and CHKOUT in the standard SPICE error */
/* handling style were added. Versions prior to 2.0.0 */
/* were error free, however changes to RAXISA from error */
/* free to error signaling forced this update. */
/* Additionally, FAILED is now checked after the call to */
/* RAXISA. This prevents garbage from being placed into */
/* the output arguments. */
/* -& */
/* SPICELIB functions */
/* Local variables */
/* Standard SPICE error handling. */
if (return_()) {
return 0;
} else {
chkin_("CKE03", (ftnlen)5);
}
/* Unpack the record, for easier reading. */
t = record[16];
t1 = record[0];
t2 = record[8];
moved_(&record[1], &c__4, q1);
moved_(&record[5], &c__3, av1);
moved_(&record[9], &c__4, q2);
moved_(&record[13], &c__3, av2);
/* If T1 and T2 are the same then no interpolation or extrapolation */
/* is performed. Simply convert the quaternion to a C-matrix and */
/* return. */
if (t1 == t2) {
q2m_(q1, cmat);
*clkout = t1;
if (*needav) {
vequ_(av1, av);
}
chkout_("CKE03", (ftnlen)5);
return 0;
}
/* Interpolate between the two pointing instances to obtain pointing */
/* at the request time. */
/* Calculate what fraction of the interval the request time */
/* represents. */
frac = (t - t1) / (t2 - t1);
/* Convert the left and right quaternions to C-matrices. */
q2m_(q1, cmat1);
q2m_(q2, cmat2);
/* Find the matrix that rotates the spacecraft instrument frame from */
/* the orientation specified by CMAT1 to that specified by CMAT2. */
/* Then find the axis and angle of that rotation matrix. */
/* T T */
/* CMAT2 = ROT * CMAT1 */
/* T */
/* ROT = CMAT2 * CMAT1 */
mtxm_(cmat2, cmat1, rot);
raxisa_(rot, axis, &angle);
if (failed_()) {
chkout_("CKE03", (ftnlen)5);
return 0;
}
/* Calculate the matrix that rotates vectors about the vector AXIS */
/* by the angle ANGLE * FRAC. */
d__1 = angle * frac;
axisar_(axis, &d__1, delta);
/* The interpolated pointing at the request time is given by CMAT */
/* where: */
/* T T */
/* CMAT = DELTA * CMAT1 */
/* and */
/* T */
/* CMAT = CMAT1 * DELTA */
mxmt_(cmat1, delta, cmat);
/* Set CLKOUT equal to the time that pointing is being returned. */
*clkout = t;
/* If angular velocity is requested then take a weighted average */
/* of the angular velocities at the left and right endpoints. */
if (*needav) {
d__1 = 1. - frac;
vlcom_(&d__1, av1, &frac, av2, av);
}
chkout_("CKE03", (ftnlen)5);
return 0;
} /* cke03_ */
