/* $Procedure PCKE03 ( PCK, evaluate data record from type 3 segment ) */
/* Subroutine */ int pcke03_(doublereal *et, doublereal *record, doublereal *
rotmat)
{
/* System generated locals */
integer i__1, i__2;
/* Builtin functions */
integer s_rnge(char *, integer, char *, integer);
/* Local variables */
extern /* Subroutine */ int eul2m_(doublereal *, doublereal *, doublereal
*, integer *, integer *, integer *, doublereal *);
integer i__, j;
extern /* Subroutine */ int chkin_(char *, ftnlen), vcrss_(doublereal *,
doublereal *, doublereal *);
integer degree;
extern /* Subroutine */ int chbval_(doublereal *, integer *, doublereal *,
doublereal *, doublereal *);
integer ncoeff;
extern doublereal halfpi_(void);
integer cofloc;
doublereal eulang[6];
extern /* Subroutine */ int chkout_(char *, ftnlen);
doublereal drotdt[9] /* was [3][3] */;
extern logical return_(void);
doublereal mav[3];
extern doublereal rpd_(void);
doublereal rot[9] /* was [3][3] */;
/* $ Abstract */
/* Evaluate a single PCK data record from a segment of type 03 */
/* (Variable width Chebyshev Polynomials for RA, DEC, and W) to */
/* obtain a state transformation matrix. */
/* $ 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 SOFTsWARE 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 */
/* PCK */
/* $ Keywords */
/* PCK */
/* $ Declarations */
/* $ Brief_I/O */
/* Variable I/O Description */
/* -------- --- -------------------------------------------------- */
/* ET I Target epoch state transformation. */
/* RECORD I Data record valid for epoch ET. */
/* ROTMAT O State transformation matrix at epoch ET. */
/* $ Detailed_Input */
/* ET is a target epoch, at which a state transformation */
/* matrix is to be calculated. */
/* RECORD is a data record which, when evaluated at epoch ET, */
/* will give RA, DEC, and W and angular velocity */
/* for a body. The RA, DEC and W are relative to */
/* some inertial frame. The angular velocity is */
/* expressed relative to the body fixed coordinate frame. */
/* $ Detailed_Output */
/* ROTMAT is the state transformation matrix at epoch ET. */
/* $ Parameters */
/* None. */
/* $ Exceptions */
/* None. */
/* $ Files */
/* None. */
/* $ Particulars */
/* The exact format and structure of type 03 PCK segments are */
/* described in the PCK Required Reading file. */
/* A type 03 segment contains six sets of Chebyshev coefficients, */
/* one set each for RA, DEC, and W and one set each for the */
/* components of the angular velocity of the body. The coefficients */
/* for RA, DEC, and W are relative to some inertial reference */
/* frame. The coefficients for the components of angular velocity */
/* are relative to the body fixed frame and must be transformed */
/* via the position transformation corresponding to RA, DEC and W. */
/* PCKE03 calls the routine CHBVAL to evalute each polynomial, */
/* to obtain a complete set of values. These values are then */
/* used to determine a state transformation matrix that will */
/* rotate an inertially referenced state into the bodyfixed */
/* coordinate system. */
/* $ Examples */
/* The PCKEnn routines are almost always used in conjunction with */
/* the corresponding PCKRnn routines, which read the records from */
/* binary PCK files. */
/* The data returned by the PCKRnn routine is in its rawest form, */
/* taken directly from the segment. As such, it will be meaningless */
/* to a user unless he/she understands the structure of the data type */
/* completely. Given that understanding, however, the PCKRnn */
/* routines might be used to examine raw segment data before */
/* evaluating it with the PCKEnn routines. */
/* C */
/* C Get a segment applicable to a specified body and epoch. */
/* C */
/* CALL PCKSFS ( BODY, ET, HANDLE, DESCR, IDENT, FOUND ) */
/* C */
/* C Look at parts of the descriptor. */
/* C */
/* CALL DAFUS ( DESCR, 2, 6, DCD, ICD ) */
/* TYPE = ICD( 3 ) */
/* IF ( TYPE .EQ. 03 ) THEN */
/* CALL PCKR03 ( HANDLE, DESCR, ET, RECORD ) */
/* . */
/* . Look at the RECORD data. */
/* . */
/* CALL PCKE03 ( ET, RECORD, ROTMAT ) */
/* . */
/* . Apply the rotation and check out the state. */
/* . */
/* END IF */
/* $ Restrictions */
/* None. */
/* $ Literature_References */
/* None. */
/* $ Author_and_Institution */
/* K.R. Gehringer (JPL) */
/* W.L. Taber (JPL) */
/* $ Version */
/* - SPICELIB Version 3.0.1, 03-JAN-2014 (EDW) */
/* Minor edits to Procedure; clean trailing whitespace. */
/* Removed unneeded Revisions section. */
/* - SPICELIB Version 3.0.0, 6-OCT-1995 (WLT) */
/* Brian Carcich at Cornell discovered that the Euler */
/* angles were being re-arranged unnecessarily. As a */
/* result the state transformation matrix computed was */
/* not the one we expected. (The re-arrangement was */
/* a left-over from implementation 1.0.0. This problem */
/* has now been corrected. */
/* - SPICELIB Version 2.0.0, 28-JUL-1995 (WLT) */
/* Version 1.0.0 was written under the assumption that */
/* RA, DEC, W and dRA/dt, dDEC/dt and dW/dt were supplied */
/* in the input RECORD. This version repairs the */
/* previous misinterpretation. */
/* - SPICELIB Version 1.0.0, 14-MAR-1995 (KRG) */
/* -& */
/* $ Index_Entries */
/* evaluate type_03 pck segment */
/* -& */
/* SPICELIB Functions */
/* Local variables */
/* Standard SPICE error handling. */
if (return_()) {
return 0;
} else {
chkin_("PCKE03", (ftnlen)6);
}
/* The first number in the record is the number of Chebyshev */
/* Polynomial coefficients used to represent each component of the */
/* state vector. Following it are two numbers that will be used */
/* later, then the six sets of coefficients. */
ncoeff = (integer) record[0];
/* The degree of each polynomial is one less than the number of */
/* coefficients. */
degree = ncoeff - 1;
/* Call CHBVAL once for each quantity to obtain RA, DEC, and W values */
/* as well as values for the angular velocity. */
/* Note that we stick the angular velocity in the components 4 thru 6 */
/* of the array EULANG even though they are not derivatives of */
/* components 1 thru 3. It's just simpler to do it this way. */
/* Editorial Comment: */
/* Unlike every other SPICE routine, the units for the type 03 */
/* PCK segment are degrees. This inconsistency exists solely */
/* to support the NEAR project and the intransigence of one of the */
/* participants of that project. */
/* It's a bad design and we know it. */
/* ---W.L. Taber */
for (i__ = 1; i__ <= 6; ++i__) {
/* The coefficients for each variable are located contiguously, */
/* following the first three words in the record. */
cofloc = ncoeff * (i__ - 1) + 4;
/* CHBVAL needs as input the coefficients, the degree of the */
/* polynomial, the epoch, and also two variable transformation */
/* parameters, which are located, in our case, in the second and */
/* third slots of the record. */
chbval_(&record[cofloc - 1], °ree, &record[1], et, &eulang[(i__1 =
i__ - 1) < 6 && 0 <= i__1 ? i__1 : s_rnge("eulang", i__1,
"pcke03_", (ftnlen)262)]);
/* Convert to radians. */
eulang[(i__1 = i__ - 1) < 6 && 0 <= i__1 ? i__1 : s_rnge("eulang",
i__1, "pcke03_", (ftnlen)267)] = rpd_() * eulang[(i__2 = i__
- 1) < 6 && 0 <= i__2 ? i__2 : s_rnge("eulang", i__2, "pcke0"
"3_", (ftnlen)267)];
}
/* EULANG(1) is RA make it PHI */
/* EULANG(2) is DEC make it DELTA */
/* EULANG(3) is W */
eulang[0] = halfpi_() + eulang[0];
eulang[1] = halfpi_() - eulang[1];
/* Before we obtain the state transformation matrix, we need to */
/* compute the rotation components of the transformation.. */
/* The rotation we want to perform is: */
/* [W] [DELTA] [PHI] */
/* 3 1 3 */
/* The array of Euler angles is now: */
/* EULANG(1) = PHI */
/* EULANG(2) = DELTA */
/* EULANG(3) = W */
/* EULANG(4) = AV_1 (bodyfixed) */
/* EULANG(5) = AV_2 (bodyfixed) */
/* EULANG(6) = AV_3 (bodyfixed) */
/* Compute the rotation associated with the Euler angles. */
eul2m_(&eulang[2], &eulang[1], eulang, &c__3, &c__1, &c__3, rot);
/* This rotation transforms positions relative to the inertial */
/* frame to positions relative to the bodyfixed frame. */
/* We next need to get dROT/dt. */
/* For this discussion let P be the bodyfixed coordinates of */
/* a point that is fixed with respect to the bodyfixed frame. */
/* The velocity of P with respect to the inertial frame is */
/* given by */
/* t t */
/* V = ROT ( AV ) x ROT ( P ) */
/* t */
/* dROT */
/* = ---- ( P ) */
/* dt */
/* But */
/* t t t */
/* ROT ( AV ) x ROT ( P ) = ROT ( AV x P ) */
/* Let OMEGA be the cross product matrix corresponding to AV. */
/* Then */
/* t t */
/* ROT ( AV x P ) = ROT * OMEGA * P */
/* where * denotes matrix multiplication. */
/* From these observations it follows that */
/* t */
/* t dROT */
/* ROT * OMEGA * P = ---- * P */
/* dt */
/* Consequently, it follows that */
/* dROT t */
/* ---- = OMEGA * ROT */
/* dt */
/* = -OMEGA * ROT */
/* We compute dROT/dt now. Note that we can get the columns */
/* of -OMEGA*ROT by computing the cross products -AV x COL */
/* for each column COL of ROT. */
mav[0] = -eulang[3];
mav[1] = -eulang[4];
mav[2] = -eulang[5];
vcrss_(mav, rot, drotdt);
vcrss_(mav, &rot[3], &drotdt[3]);
vcrss_(mav, &rot[6], &drotdt[6]);
/* Now we simply fill in the blanks. */
for (i__ = 1; i__ <= 3; ++i__) {
for (j = 1; j <= 3; ++j) {
rotmat[(i__1 = i__ + j * 6 - 7) < 36 && 0 <= i__1 ? i__1 : s_rnge(
"rotmat", i__1, "pcke03_", (ftnlen)362)] = rot[(i__2 =
i__ + j * 3 - 4) < 9 && 0 <= i__2 ? i__2 : s_rnge("rot",
i__2, "pcke03_", (ftnlen)362)];
rotmat[(i__1 = i__ + 3 + j * 6 - 7) < 36 && 0 <= i__1 ? i__1 :
s_rnge("rotmat", i__1, "pcke03_", (ftnlen)363)] = drotdt[(
i__2 = i__ + j * 3 - 4) < 9 && 0 <= i__2 ? i__2 : s_rnge(
"drotdt", i__2, "pcke03_", (ftnlen)363)];
rotmat[(i__1 = i__ + (j + 3) * 6 - 7) < 36 && 0 <= i__1 ? i__1 :
s_rnge("rotmat", i__1, "pcke03_", (ftnlen)364)] = 0.;
rotmat[(i__1 = i__ + 3 + (j + 3) * 6 - 7) < 36 && 0 <= i__1 ?
i__1 : s_rnge("rotmat", i__1, "pcke03_", (ftnlen)365)] =
rot[(i__2 = i__ + j * 3 - 4) < 9 && 0 <= i__2 ? i__2 :
s_rnge("rot", i__2, "pcke03_", (ftnlen)365)];
}
}
chkout_("PCKE03", (ftnlen)6);
return 0;
} /* pcke03_ */
/* $Procedure SPKE03 ( S/P Kernel, evaluate, type 3 ) */
/* Subroutine */ int spke03_(doublereal *et, doublereal *record, doublereal *
state)
{
/* System generated locals */
integer i__1;
/* Builtin functions */
integer s_rnge(char *, integer, char *, integer);
/* Local variables */
integer degp, ncof, i__;
extern /* Subroutine */ int chkin_(char *, ftnlen), chbval_(doublereal *,
integer *, doublereal *, doublereal *, doublereal *);
integer cofloc;
extern /* Subroutine */ int chkout_(char *, ftnlen);
extern logical return_(void);
/* $ Abstract */
/* Evaluate a single SPK data record from a segment of type 3 */
/* (Chebyshev Polynomials, position and velocity). */
/* $ 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 */
/* SPK */
/* $ Keywords */
/* EPHEMERIS */
/* $ Declarations */
/* $ Brief_I/O */
/* Variable I/O Description */
/* -------- --- -------------------------------------------------- */
/* ET I Target epoch. */
/* RECORD I Data record. */
/* STATE O State (position and velocity). */
/* $ Detailed_Input */
/* ET is a target epoch, at which a state vector is to */
/* be computed. */
/* RECORD is a data record which, when evaluated at epoch ET, */
/* will give the state (position and velocity) of some */
/* body, relative to some center, in some inertial */
/* reference frame. */
/* $ Detailed_Output */
/* STATE is the state. In order, X, Y, Z, X', Y', and Z'. */
/* Units are km and km/sec. */
/* $ Parameters */
/* None. */
/* $ Exceptions */
/* None. */
/* $ Files */
/* None. */
/* $ Particulars */
/* The exact format and structure of type 3 (Chebyshev polynomials, */
/* position and velocity) segments are described in the SPK */
/* Required Reading file. */
/* A type 3 segment contains six sets of Chebyshev coefficients, */
/* one set each for the position coordinates X, Y, and Z, and one */
/* set each for the velocity coordinates X', Y', and Z'. SPKE03 */
/* calls the routine CHBVAL to evalute each polynomial, and arrive */
/* at the complete state. */
/* $ Examples */
/* The SPKEnn routines are almost always used in conjunction with */
/* the corresponding SPKRnn routines, which read the records from */
/* SPK files. */
/* The data returned by the SPKRnn routine is in its rawest form, */
/* taken directly from the segment. As such, it will be meaningless */
/* to a user unless he/she understands the structure of the data type */
/* completely. Given that understanding, however, the SPKRnn */
/* routines might be used to examine raw segment data before */
/* evaluating it with the SPKEnn routines. */
/* C */
/* C Get a segment applicable to a specified body and epoch. */
/* C */
/* CALL SPKSFS ( BODY, ET, HANDLE, DESCR, IDENT, FOUND ) */
/* C */
/* C Look at parts of the descriptor. */
/* C */
/* CALL DAFUS ( DESCR, 2, 6, DCD, ICD ) */
/* CENTER = ICD( 2 ) */
/* REF = ICD( 3 ) */
/* TYPE = ICD( 4 ) */
/* IF ( TYPE .EQ. 3 ) THEN */
/* CALL SPKR03 ( HANDLE, DESCR, ET, RECORD ) */
/* . */
/* . Look at the RECORD data. */
/* . */
/* CALL SPKE03 ( ET, RECORD, STATE ) */
/* . */
/* . Check out the evaluated state. */
/* . */
/* END IF */
/* $ Restrictions */
/* None. */
/* $ Literature_References */
/* NAIF Document 168.0, "S- and P- Kernel (SPK) Specification and */
/* User's Guide" */
/* $ Author_and_Institution */
/* R.E. Thurman (JPL) */
/* $ Version */
/* - SPICELIB Version 1.0.3, 10-MAR-1992 (WLT) */
/* Comment section for permuted index source lines was added */
/* following the header. */
/* - SPICELIB Version 1.0.2, 23-AUG-1991 (HAN) */
/* SPK03 was removed from the Required_Reading section of the */
/* header. The information in the SPK03 Required Reading file */
/* is now part of the SPK Required Reading file. */
/* - SPICELIB Version 1.0.1, 22-MAR-1990 (HAN) */
/* Literature references added to the header. */
/* - SPICELIB Version 1.0.0, 31-JAN-1990 (RET) */
/* -& */
/* $ Index_Entries */
/* evaluate type_3 spk segment */
/* -& */
/* SPICELIB functions */
/* Local variables */
/* Standard SPICE error handling. */
if (return_()) {
return 0;
} else {
chkin_("SPKE03", (ftnlen)6);
}
/* The first number in the record is the record size. Following it */
/* are two numbers that will be used later, then the six sets of */
/* coefficients. The number of coefficients for each quantity can */
/* be determined from the record size, since there are the same */
/* number of coefficients for each quantity. */
ncof = ((integer) record[0] - 2) / 6;
/* The degree of each polynomial is one less than the number of */
/* coefficients. */
degp = ncof - 1;
/* Call CHBVAL once for each quantity to evaluate the position */
/* and velocity values. */
for (i__ = 1; i__ <= 6; ++i__) {
/* The coefficients for each variable are located contiguously, */
/* following the first three words in the record. */
cofloc = ncof * (i__ - 1) + 4;
/* CHBVAL needs as input the coefficients, the degree of the */
/* polynomial, the epoch, and also two variable transformation */
/* parameters, which are located, in our case, in the second and */
/* third slots of the record. */
chbval_(&record[cofloc - 1], °p, &record[1], et, &state[(i__1 =
i__ - 1) < 6 && 0 <= i__1 ? i__1 : s_rnge("state", i__1,
"spke03_", (ftnlen)236)]);
}
chkout_("SPKE03", (ftnlen)6);
return 0;
} /* spke03_ */
