/* $Procedure BODMAT ( Return transformation matrix for a body ) */
/* Subroutine */ int bodmat_(integer *body, doublereal *et, doublereal *tipm)
{
/* Initialized data */
static logical first = TRUE_;
static logical found = FALSE_;
/* System generated locals */
integer i__1, i__2, i__3;
doublereal d__1;
/* Builtin functions */
integer s_rnge(char *, integer, char *, integer);
/* Subroutine */ int s_copy(char *, char *, ftnlen, ftnlen);
integer i_dnnt(doublereal *);
double sin(doublereal), cos(doublereal), d_mod(doublereal *, doublereal *)
;
/* Local variables */
integer cent;
char item[32];
doublereal j2ref[9] /* was [3][3] */;
extern integer zzbodbry_(integer *);
extern /* Subroutine */ int eul2m_(doublereal *, doublereal *, doublereal
*, integer *, integer *, integer *, doublereal *);
doublereal d__;
integer i__, j;
doublereal dcoef[3], t, w;
extern /* Subroutine */ int etcal_(doublereal *, char *, ftnlen);
integer refid;
doublereal delta;
extern /* Subroutine */ int chkin_(char *, ftnlen);
doublereal epoch, rcoef[3], tcoef[200] /* was [2][100] */, wcoef[3];
extern /* Subroutine */ int errch_(char *, char *, ftnlen, ftnlen);
doublereal theta;
extern /* Subroutine */ int moved_(doublereal *, integer *, doublereal *),
repmi_(char *, char *, integer *, char *, ftnlen, ftnlen, ftnlen)
, errdp_(char *, doublereal *, ftnlen);
doublereal costh[100];
extern doublereal vdotg_(doublereal *, doublereal *, integer *);
char dtype[1];
doublereal sinth[100], tsipm[36] /* was [6][6] */;
extern doublereal twopi_(void);
static integer j2code;
doublereal ac[100], dc[100];
integer na, nd;
doublereal ra, wc[100];
extern /* Subroutine */ int cleard_(integer *, doublereal *);
extern logical bodfnd_(integer *, char *, ftnlen);
extern /* Subroutine */ int bodvcd_(integer *, char *, integer *, integer
*, doublereal *, ftnlen);
integer frcode;
extern doublereal halfpi_(void);
extern /* Subroutine */ int ccifrm_(integer *, integer *, integer *, char
*, integer *, logical *, ftnlen);
integer nw;
doublereal conepc, conref;
extern /* Subroutine */ int pckmat_(integer *, doublereal *, integer *,
doublereal *, logical *);
integer ntheta;
extern /* Subroutine */ int gdpool_(char *, integer *, integer *, integer
*, doublereal *, logical *, ftnlen);
char fixfrm[32], errmsg[1840];
extern /* Subroutine */ int irfnum_(char *, integer *, ftnlen), dtpool_(
char *, logical *, integer *, char *, ftnlen, ftnlen);
doublereal tmpmat[9] /* was [3][3] */;
extern /* Subroutine */ int setmsg_(char *, ftnlen), suffix_(char *,
integer *, char *, ftnlen, ftnlen), errint_(char *, integer *,
ftnlen), sigerr_(char *, ftnlen), chkout_(char *, ftnlen),
irfrot_(integer *, integer *, doublereal *);
extern logical return_(void);
char timstr[35];
extern doublereal j2000_(void);
doublereal dec;
integer dim, ref;
doublereal phi;
extern doublereal rpd_(void), spd_(void);
extern /* Subroutine */ int mxm_(doublereal *, doublereal *, doublereal *)
;
/* $ Abstract */
/* Return the J2000 to body Equator and Prime Meridian coordinate */
/* transformation matrix for a specified body. */
/* $ 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 */
/* PCK */
/* NAIF_IDS */
/* TIME */
/* $ Keywords */
/* CONSTANTS */
/* $ Declarations */
/* $ 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. */
/* Include File: SPICELIB Error Handling Parameters */
/* errhnd.inc Version 2 18-JUN-1997 (WLT) */
/* The size of the long error message was */
/* reduced from 25*80 to 23*80 so that it */
/* will be accepted by the Microsoft Power Station */
/* FORTRAN compiler which has an upper bound */
/* of 1900 for the length of a character string. */
/* errhnd.inc Version 1 29-JUL-1997 (NJB) */
/* Maximum length of the long error message: */
/* Maximum length of the short error message: */
/* End Include File: SPICELIB Error Handling Parameters */
/* $ Abstract */
/* The parameters below form an enumerated list of the recognized */
/* frame types. They are: INERTL, PCK, CK, TK, DYN. The meanings */
/* are outlined below. */
/* $ 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. */
/* $ Parameters */
/* INERTL an inertial frame that is listed in the routine */
/* CHGIRF and that requires no external file to */
/* compute the transformation from or to any other */
/* inertial frame. */
/* PCK is a frame that is specified relative to some */
/* INERTL frame and that has an IAU model that */
/* may be retrieved from the PCK system via a call */
/* to the routine TISBOD. */
/* CK is a frame defined by a C-kernel. */
/* TK is a "text kernel" frame. These frames are offset */
/* from their associated "relative" frames by a */
/* constant rotation. */
/* DYN is a "dynamic" frame. These currently are */
/* parameterized, built-in frames where the full frame */
/* definition depends on parameters supplied via a */
/* frame kernel. */
/* $ Author_and_Institution */
/* N.J. Bachman (JPL) */
/* W.L. Taber (JPL) */
/* $ Literature_References */
/* None. */
/* $ Version */
/* - SPICELIB Version 3.0.0, 28-MAY-2004 (NJB) */
/* The parameter DYN was added to support the dynamic frame class. */
/* - SPICELIB Version 2.0.0, 12-DEC-1996 (WLT) */
/* Various unused frames types were removed and the */
/* frame time TK was added. */
/* - SPICELIB Version 1.0.0, 10-DEC-1995 (WLT) */
/* -& */
/* $ Brief_I/O */
/* VARIABLE I/O DESCRIPTION */
/* -------- --- -------------------------------------------------- */
/* BODY I ID code of body. */
/* ET I Epoch of transformation. */
/* TIPM O Transformation from Inertial to PM for BODY at ET. */
/* $ Detailed_Input */
/* BODY is the integer ID code of the body for which the */
/* transformation is requested. Bodies are numbered */
/* according to the standard NAIF numbering scheme. */
/* ET is the epoch at which the transformation is */
/* requested. (This is typically the epoch of */
/* observation minus the one-way light time from */
/* the observer to the body at the epoch of */
/* observation.) */
/* $ Detailed_Output */
/* TIPM is the transformation matrix from Inertial to body */
/* Equator and Prime Meridian. The X axis of the PM */
/* system is directed to the intersection of the */
/* equator and prime meridian. The Z axis points north. */
/* $ Parameters */
/* None. */
/* $ Exceptions */
/* 1) If data required to define the body-fixed frame associated */
/* with BODY are not found in the binary PCK system or the kernel */
/* pool, the error SPICE(FRAMEDATANOTFOUND) is signaled. In */
/* the case of IAU style body-fixed frames, the absence of */
/* prime meridian polynomial data (which are required) is used */
/* as an indicator of missing data. */
/* 2) If the test for exception (1) passes, but in fact requested */
/* data are not available in the kernel pool, the error will be */
/* signaled by routines in the call tree of this routine. */
/* 3) If the kernel pool does not contain all of the data required */
/* to define the number of nutation precession angles */
/* corresponding to the available nutation precession */
/* coefficients, the error SPICE(INSUFFICIENTANGLES) is */
/* signaled. */
/* 4) If the reference frame REF is not recognized, a routine */
/* called by BODMAT will diagnose the condition and invoke the */
/* SPICE error handling system. */
/* 5) If the specified body code BODY is not recognized, the */
/* error is diagnosed by a routine called by BODMAT. */
/* $ Files */
/* None. */
/* $ Particulars */
/* This routine is related to the more general routine TIPBOD */
/* which returns a matrix that transforms vectors from a */
/* specified inertial reference frame to body equator and */
/* prime meridian coordinates. TIPBOD accepts an input argument */
/* REF that allows the caller to specify an inertial reference */
/* frame. */
/* The transformation represented by BODMAT's output argument TIPM */
/* is defined as follows: */
/* TIPM = [W] [DELTA] [PHI] */
/* 3 1 3 */
/* If there exists high-precision binary PCK kernel information */
/* for the body at the requested time, these angles, W, DELTA */
/* and PHI are computed directly from that file. The most */
/* recently loaded binary PCK file has first priority followed */
/* by previously loaded binary PCK files in backward time order. */
/* If no binary PCK file has been loaded, the text P_constants */
/* kernel file is used. */
/* If there is only text PCK kernel information, it is */
/* expressed in terms of RA, DEC and W (same W as above), where */
/* RA = PHI - HALFPI() */
/* DEC = HALFPI() - DELTA */
/* RA, DEC, and W are defined as follows in the text PCK file: */
/* RA = RA0 + RA1*T + RA2*T*T + a sin theta */
/* i i */
/* DEC = DEC0 + DEC1*T + DEC2*T*T + d cos theta */
/* i i */
/* W = W0 + W1*d + W2*d*d + w sin theta */
/* i i */
/* where: */
/* d = days past J2000. */
/* T = Julian centuries past J2000. */
/* a , d , and w arrays apply to satellites only. */
/* i i i */
/* theta = THETA0 * THETA1*T are specific to each planet. */
/* i */
/* These angles -- typically nodal rates -- vary in number and */
/* definition from one planetary system to the next. */
/* $ Examples */
/* In the following code fragment, BODMAT is used to rotate */
/* the position vector (POS) from a target body (BODY) to a */
/* spacecraft from inertial coordinates to body-fixed coordinates */
/* at a specific epoch (ET), in order to compute the planetocentric */
/* longitude (PCLONG) of the spacecraft. */
/* CALL BODMAT ( BODY, ET, TIPM ) */
/* CALL MXV ( TIPM, POS, POS ) */
/* CALL RECLAT ( POS, RADIUS, PCLONG, LAT ) */
/* To compute the equivalent planetographic longitude (PGLONG), */
/* it is necessary to know the direction of rotation of the target */
/* body, as shown below. */
/* CALL BODVCD ( BODY, 'PM', 3, DIM, VALUES ) */
/* IF ( VALUES(2) .GT. 0.D0 ) THEN */
/* PGLONG = PCLONG */
/* ELSE */
/* PGLONG = TWOPI() - PCLONG */
/* END IF */
/* Note that the items necessary to compute the transformation */
/* TIPM must have been loaded into the kernel pool (by one or more */
/* previous calls to FURNSH). */
/* $ Restrictions */
/* None. */
/* $ Literature_References */
/* 1) Refer to the NAIF_IDS required reading file for a complete */
/* list of the NAIF integer ID codes for bodies. */
/* $ Author_and_Institution */
/* N.J. Bachman (JPL) */
/* W.L. Taber (JPL) */
/* I.M. Underwood (JPL) */
/* K.S. Zukor (JPL) */
/* $ Version */
/* - SPICELIB Version 4.1.1, 01-FEB-2008 (NJB) */
/* The routine was updated to improve the error messages created */
/* when required PCK data are not found. Now in most cases the */
/* messages are created locally rather than by the kernel pool */
/* access routines. In particular missing binary PCK data will */
/* be indicated with a reasonable error message. */
/* - SPICELIB Version 4.1.0, 25-AUG-2005 (NJB) */
/* Updated to remove non-standard use of duplicate arguments */
/* in MXM call. */
/* Calls to ZZBODVCD have been replaced with calls to */
/* BODVCD. */
/* - SPICELIB Version 4.0.0, 12-FEB-2004 (NJB) */
/* Code has been updated to support satellite ID codes in the */
/* range 10000 to 99999 and to allow nutation precession angles */
/* to be associated with any object. */
/* Implementation changes were made to improve robustness */
/* of the code. */
/* - SPICELIB Version 3.2.0, 22-MAR-1995 (KSZ) */
/* Gets TSIPM matrix from PCKMAT (instead of Euler angles */
/* from PCKEUL.) */
/* - SPICELIB Version 3.0.0, 10-MAR-1994 (KSZ) */
/* Ability to get Euler angles from binary PCK file added. */
/* This uses the new routine PCKEUL. */
/* - SPICELIB Version 2.0.1, 10-MAR-1992 (WLT) */
/* Comment section for permuted index source lines was added */
/* following the header. */
/* - SPICELIB Version 2.0.0, 04-SEP-1991 (NJB) */
/* Updated to handle P_constants referenced to different epochs */
/* and inertial reference frames. */
/* The header was updated to specify that the inertial reference */
/* frame used by BODMAT is restricted to be J2000. */
/* - SPICELIB Version 1.0.0, 31-JAN-1990 (WLT) (IMU) */
/* -& */
/* $ Index_Entries */
/* fetch transformation matrix for a body */
/* transformation from j2000 position to bodyfixed */
/* transformation from j2000 to bodyfixed coordinates */
/* -& */
/* $ Revisions */
/* - SPICELIB Version 4.1.0, 25-AUG-2005 (NJB) */
/* Updated to remove non-standard use of duplicate arguments */
/* in MXM call. */
/* Calls to ZZBODVCD have been replaced with calls to */
/* BODVCD. */
/* - SPICELIB Version 4.0.0, 12-FEB-2004 (NJB) */
/* Code has been updated to support satellite ID codes in the */
/* range 10000 to 99999 and to allow nutation precession angles */
/* to be associated with any object. */
/* Calls to deprecated kernel pool access routine RTPOOL */
/* were replaced by calls to GDPOOL. */
/* Calls to BODVAR have been replaced with calls to */
/* ZZBODVCD. */
/* - SPICELIB Version 3.2.0, 22-MAR-1995 (KSZ) */
/* BODMAT now get the TSIPM matrix from PCKMAT, and */
/* unpacks TIPM from it. Also the calculated but unused */
/* variable LAMBDA was removed. */
/* - SPICELIB Version 3.0.0, 10-MAR-1994 (KSZ) */
/* BODMAT now uses new software to check for the */
/* existence of binary PCK files, search the for */
/* data corresponding to the requested body and time, */
/* and return the appropriate Euler angles, using the */
/* new routine PCKEUL. Otherwise the code calculates */
/* the Euler angles from the P_constants kernel file. */
/* - SPICELIB Version 2.0.0, 04-SEP-1991 (NJB) */
/* Updated to handle P_constants referenced to different epochs */
/* and inertial reference frames. */
/* The header was updated to specify that the inertial reference */
/* frame used by BODMAT is restricted to be J2000. */
/* BODMAT now checks the kernel pool for presence of the */
/* variables */
/* BODY#_CONSTANTS_REF_FRAME */
/* and */
/* BODY#_CONSTANTS_JED_EPOCH */
/* where # is the NAIF integer code of the barycenter of a */
/* planetary system or of a body other than a planet or */
/* satellite. If either or both of these variables are */
/* present, the P_constants for BODY are presumed to be */
/* referenced to the specified inertial frame or epoch. */
/* If the epoch of the constants is not J2000, the input */
/* time ET is converted to seconds past the reference epoch. */
/* If the frame of the constants is not J2000, the rotation from */
/* the P_constants' frame to body-fixed coordinates is */
/* transformed to the rotation from J2000 coordinates to */
/* body-fixed coordinates. */
/* For efficiency reasons, this routine now duplicates much */
/* of the code of BODEUL so that it doesn't have to call BODEUL. */
/* In some cases, BODEUL must covert Euler angles to a matrix, */
/* rotate the matrix, and convert the result back to Euler */
/* angles. If this routine called BODEUL, then in such cases */
/* this routine would convert the transformed angles back to */
/* a matrix. That would be a bit much.... */
/* - Beta Version 1.1.0, 16-FEB-1989 (IMU) (NJB) */
/* Examples section completed. Declaration of unused variable */
/* FOUND removed. */
/* -& */
/* SPICELIB functions */
/* Local parameters */
/* Local variables */
/* Saved variables */
/* Initial values */
/* Standard SPICE Error handling. */
if (return_()) {
return 0;
} else {
chkin_("BODMAT", (ftnlen)6);
}
/* Get the code for the J2000 frame, if we don't have it yet. */
if (first) {
irfnum_("J2000", &j2code, (ftnlen)5);
first = FALSE_;
}
/* Get Euler angles from high precision data file. */
pckmat_(body, et, &ref, tsipm, &found);
if (found) {
for (i__ = 1; i__ <= 3; ++i__) {
for (j = 1; j <= 3; ++j) {
tipm[(i__1 = i__ + j * 3 - 4) < 9 && 0 <= i__1 ? i__1 :
s_rnge("tipm", i__1, "bodmat_", (ftnlen)485)] = tsipm[
(i__2 = i__ + j * 6 - 7) < 36 && 0 <= i__2 ? i__2 :
s_rnge("tsipm", i__2, "bodmat_", (ftnlen)485)];
}
}
} else {
/* The data for the frame of interest are not available in a */
/* loaded binary PCK file. This is not an error: the data may be */
/* present in the kernel pool. */
/* Conduct a non-error-signaling check for the presence of a */
/* kernel variable that is required to implement an IAU style */
/* body-fixed reference frame. If the data aren't available, we */
/* don't want BODVCD to signal a SPICE(KERNELVARNOTFOUND) error; */
/* we want to issue the error signal locally, with a better error */
/* message. */
s_copy(item, "BODY#_PM", (ftnlen)32, (ftnlen)8);
repmi_(item, "#", body, item, (ftnlen)32, (ftnlen)1, (ftnlen)32);
dtpool_(item, &found, &nw, dtype, (ftnlen)32, (ftnlen)1);
if (! found) {
/* Now we do have an error. */
/* We don't have the data we'll need to produced the requested */
/* state transformation matrix. In order to create an error */
/* message understandable to the user, find, if possible, the */
/* name of the reference frame associated with the input body. */
/* Note that the body is really identified by a PCK frame class */
/* ID code, though most of the documentation just calls it a */
/* body ID code. */
ccifrm_(&c__2, body, &frcode, fixfrm, ¢, &found, (ftnlen)32);
etcal_(et, timstr, (ftnlen)35);
s_copy(errmsg, "PCK data required to compute the orientation of "
"the # # for epoch # TDB were not found. If these data we"
"re to be provided by a binary PCK file, then it is possi"
"ble that the PCK file does not have coverage for the spe"
"cified body-fixed frame at the time of interest. If the "
"data were to be provided by a text PCK file, then possib"
"ly the file does not contain data for the specified body"
"-fixed frame. In either case it is possible that a requi"
"red PCK file was not loaded at all.", (ftnlen)1840, (
ftnlen)475);
/* Fill in the variable data in the error message. */
if (found) {
/* The frame system knows the name of the body-fixed frame. */
setmsg_(errmsg, (ftnlen)1840);
errch_("#", "body-fixed frame", (ftnlen)1, (ftnlen)16);
errch_("#", fixfrm, (ftnlen)1, (ftnlen)32);
errch_("#", timstr, (ftnlen)1, (ftnlen)35);
} else {
/* The frame system doesn't know the name of the */
/* body-fixed frame, most likely due to a missing */
/* frame kernel. */
suffix_("#", &c__1, errmsg, (ftnlen)1, (ftnlen)1840);
setmsg_(errmsg, (ftnlen)1840);
errch_("#", "body-fixed frame associated with the ID code", (
ftnlen)1, (ftnlen)44);
errint_("#", body, (ftnlen)1);
errch_("#", timstr, (ftnlen)1, (ftnlen)35);
errch_("#", "Also, a frame kernel defining the body-fixed fr"
"ame associated with body # may need to be loaded.", (
ftnlen)1, (ftnlen)96);
errint_("#", body, (ftnlen)1);
}
sigerr_("SPICE(FRAMEDATANOTFOUND)", (ftnlen)24);
chkout_("BODMAT", (ftnlen)6);
return 0;
}
/* Find the body code used to label the reference frame and epoch */
/* specifiers for the orientation constants for BODY. */
/* For planetary systems, the reference frame and epoch for the */
/* orientation constants is associated with the system */
/* barycenter, not with individual bodies in the system. For any */
/* other bodies, (the Sun or asteroids, for example) the body's */
/* own code is used as the label. */
refid = zzbodbry_(body);
/* Look up the epoch of the constants. The epoch is specified */
/* as a Julian ephemeris date. The epoch defaults to J2000. */
s_copy(item, "BODY#_CONSTANTS_JED_EPOCH", (ftnlen)32, (ftnlen)25);
repmi_(item, "#", &refid, item, (ftnlen)32, (ftnlen)1, (ftnlen)32);
gdpool_(item, &c__1, &c__1, &dim, &conepc, &found, (ftnlen)32);
if (found) {
/* The reference epoch is returned as a JED. Convert to */
/* ephemeris seconds past J2000. Then convert the input ET to */
/* seconds past the reference epoch. */
conepc = spd_() * (conepc - j2000_());
epoch = *et - conepc;
} else {
epoch = *et;
}
/* Look up the reference frame of the constants. The reference */
/* frame is specified by a code recognized by CHGIRF. The */
/* default frame is J2000, symbolized by the code J2CODE. */
s_copy(item, "BODY#_CONSTANTS_REF_FRAME", (ftnlen)32, (ftnlen)25);
repmi_(item, "#", &refid, item, (ftnlen)32, (ftnlen)1, (ftnlen)32);
gdpool_(item, &c__1, &c__1, &dim, &conref, &found, (ftnlen)32);
if (found) {
ref = i_dnnt(&conref);
} else {
ref = j2code;
}
/* Whatever the body, it has quadratic time polynomials for */
/* the RA and Dec of the pole, and for the rotation of the */
/* Prime Meridian. */
s_copy(item, "POLE_RA", (ftnlen)32, (ftnlen)7);
cleard_(&c__3, rcoef);
bodvcd_(body, item, &c__3, &na, rcoef, (ftnlen)32);
s_copy(item, "POLE_DEC", (ftnlen)32, (ftnlen)8);
cleard_(&c__3, dcoef);
bodvcd_(body, item, &c__3, &nd, dcoef, (ftnlen)32);
s_copy(item, "PM", (ftnlen)32, (ftnlen)2);
cleard_(&c__3, wcoef);
bodvcd_(body, item, &c__3, &nw, wcoef, (ftnlen)32);
/* There may be additional nutation and libration (THETA) terms. */
ntheta = 0;
na = 0;
nd = 0;
nw = 0;
s_copy(item, "NUT_PREC_ANGLES", (ftnlen)32, (ftnlen)15);
if (bodfnd_(&refid, item, (ftnlen)32)) {
bodvcd_(&refid, item, &c__100, &ntheta, tcoef, (ftnlen)32);
ntheta /= 2;
}
s_copy(item, "NUT_PREC_RA", (ftnlen)32, (ftnlen)11);
if (bodfnd_(body, item, (ftnlen)32)) {
bodvcd_(body, item, &c__100, &na, ac, (ftnlen)32);
}
s_copy(item, "NUT_PREC_DEC", (ftnlen)32, (ftnlen)12);
if (bodfnd_(body, item, (ftnlen)32)) {
bodvcd_(body, item, &c__100, &nd, dc, (ftnlen)32);
}
s_copy(item, "NUT_PREC_PM", (ftnlen)32, (ftnlen)11);
if (bodfnd_(body, item, (ftnlen)32)) {
bodvcd_(body, item, &c__100, &nw, wc, (ftnlen)32);
}
/* Computing MAX */
i__1 = max(na,nd);
if (max(i__1,nw) > ntheta) {
setmsg_("Insufficient number of nutation/precession angles for b"
"ody * at time #.", (ftnlen)71);
errint_("*", body, (ftnlen)1);
errdp_("#", et, (ftnlen)1);
sigerr_("SPICE(KERNELVARNOTFOUND)", (ftnlen)24);
chkout_("BODMAT", (ftnlen)6);
return 0;
}
/* Evaluate the time polynomials at EPOCH. */
d__ = epoch / spd_();
t = d__ / 36525.;
ra = rcoef[0] + t * (rcoef[1] + t * rcoef[2]);
dec = dcoef[0] + t * (dcoef[1] + t * dcoef[2]);
w = wcoef[0] + d__ * (wcoef[1] + d__ * wcoef[2]);
/* Add nutation and libration as appropriate. */
i__1 = ntheta;
for (i__ = 1; i__ <= i__1; ++i__) {
theta = (tcoef[(i__2 = (i__ << 1) - 2) < 200 && 0 <= i__2 ? i__2 :
s_rnge("tcoef", i__2, "bodmat_", (ftnlen)700)] + t *
tcoef[(i__3 = (i__ << 1) - 1) < 200 && 0 <= i__3 ? i__3 :
s_rnge("tcoef", i__3, "bodmat_", (ftnlen)700)]) * rpd_();
sinth[(i__2 = i__ - 1) < 100 && 0 <= i__2 ? i__2 : s_rnge("sinth",
i__2, "bodmat_", (ftnlen)702)] = sin(theta);
costh[(i__2 = i__ - 1) < 100 && 0 <= i__2 ? i__2 : s_rnge("costh",
i__2, "bodmat_", (ftnlen)703)] = cos(theta);
}
ra += vdotg_(ac, sinth, &na);
dec += vdotg_(dc, costh, &nd);
w += vdotg_(wc, sinth, &nw);
/* Convert from degrees to radians and mod by two pi. */
ra *= rpd_();
dec *= rpd_();
w *= rpd_();
d__1 = twopi_();
ra = d_mod(&ra, &d__1);
d__1 = twopi_();
dec = d_mod(&dec, &d__1);
d__1 = twopi_();
w = d_mod(&w, &d__1);
/* Convert to Euler angles. */
phi = ra + halfpi_();
delta = halfpi_() - dec;
/* Produce the rotation matrix defined by the Euler angles. */
eul2m_(&w, &delta, &phi, &c__3, &c__1, &c__3, tipm);
}
/* Convert TIPM to the J2000-to-bodyfixed rotation, if is is not */
/* already referenced to J2000. */
if (ref != j2code) {
/* Find the transformation from the J2000 frame to the frame */
/* designated by REF. Form the transformation from `REF' */
/* coordinates to body-fixed coordinates. Compose the */
/* transformations to obtain the J2000-to-body-fixed */
/* transformation. */
irfrot_(&j2code, &ref, j2ref);
mxm_(tipm, j2ref, tmpmat);
moved_(tmpmat, &c__9, tipm);
}
/* TIPM now gives the transformation from J2000 to */
/* body-fixed coordinates at epoch ET seconds past J2000, */
/* regardless of the epoch and frame of the orientation constants */
/* for the specified body. */
chkout_("BODMAT", (ftnlen)6);
return 0;
} /* bodmat_ */
/* $Procedure ZZEPRCSS ( Earth precession, 1976 IAU model ) */
/* Subroutine */ int zzeprcss_(doublereal *et, doublereal *precm)
{
/* System generated locals */
doublereal d__1, d__2;
/* Local variables */
doublereal zeta;
extern /* Subroutine */ int eul2m_(doublereal *, doublereal *, doublereal
*, integer *, integer *, integer *, doublereal *);
doublereal t, scale, z__, theta;
extern doublereal jyear_(void), rpd_(void);
/* $ Abstract */
/* Return the 1976 IAU Earth precession matrix for a specified time. */
/* $ 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 */
/* ROTATION */
/* $ Keywords */
/* FRAMES */
/* GEOMETRY */
/* MATRIX */
/* TRANSFORMATION */
/* $ Declarations */
/* $ Brief_I/O */
/* Variable I/O Description */
/* -------- --- -------------------------------------------------- */
/* ET I Ephemeris time, in seconds past J2000. */
/* PRECM O Precession matrix at ET. */
/* $ Detailed_Input */
/* ET is the epoch at which the precession matrix is */
/* to be computed. ET is barycentric dynamical time, */
/* expressed as seconds past J2000. */
/* $ Detailed_Output */
/* PRECM is a 3x3 matrix representing the precession of */
/* the Earth from J2000 to the epoch ET. The */
/* rows of PRECM are the basis vectors for the Earth */
/* mean equator and equinox frame of date, evaluated */
/* at ET. */
/* $ Parameters */
/* None. */
/* $ Exceptions */
/* Error free. */
/* $ Files */
/* None. */
/* $ Particulars */
/* According to reference [2], the precession model used in this */
/* routine is that used in the JPL navigation program "Regres." */
/* The precession matrix is defined using the Euler angles */
/* zeta , z , and theta */
/* A A A */
/* Equation (5-147) of [2] gives the matrix determined by these */
/* angles as */
/* A = [ -z ] [ theta ] [ -zeta ] */
/* A 3 A 2 A 3 */
/* Formulas for the Euler angles are from [2], equation */
/* (5-143): */
/* 2 3 */
/* zeta = 2306".2181*T + 0".30188*T + 0".017998*T */
/* A */
/* 2 3 */
/* z = 2306".2181*T + 1".09468*T + 0".018203*T */
/* A */
/* 2 3 */
/* theta = 2004".3109*T - 0".42665*T - 0".041833*T */
/* A */
/* $ Examples */
/* 1) Convert a vector V from J2000 to Earth Mean equator and equinox */
/* of date coordinates at epoch ET. Call the resulting vector */
/* VMOD. */
/* CALL ZZEPRCSS ( ET, PRECM ) */
/* CALL MXV ( PRECM, V, VMOD ) */
/* $ Restrictions */
/* 1) This is a preliminary version of the routine. */
/* 2) Though reference [1] does not specify limitations on the */
/* range of valid time inputs for this precession model, the */
/* fact that the rotation angles used in the model are defined */
/* by polynomials implies that the model is not valid for all */
/* time. */
/* $ Literature_References */
/* [1] "Explanatory Supplement to the Astronomical Almanac" */
/* edited by P. Kenneth Seidelmann. University Science */
/* Books, 20 Edgehill Road, Mill Valley, CA 94941 (1992) */
/* [2] "Section 5, Geocentric Space-Fixed Position, Velocity, and */
/* Acceleration Vectors of Tracking Station" by T. D. Moyer. */
/* Draft of JPL Publication documenting the JPL navigation */
/* program "Regres." */
/* $ Author_and_Institution */
/* N.J. Bachman (JPL) */
/* $ Version */
/* - Beta Version 1.0.0, 24-SEP-1996 (NJB) */
/* -& */
/* $ Index_Entries */
/* Earth precession matrix based on 1976 IAU model */
/* -& */
/* SPICELIB functions */
/* Local parameters */
/* Local variables */
/* No check-in required; this routine does not participate in */
/* SPICELIB error handling. */
/* Compute the precession angles first. The time argument has */
/* units of Julian centuries. The polynomial expressions yield */
/* angles in units of arcseconds prior to scaling. After scaling, */
/* the angles are in units of radians. */
t = *et / (jyear_() * 100.);
scale = rpd_() / 3600.;
zeta = t * (t * (t * .017998 + .30188) + 2306.2181) * scale;
z__ = t * (t * (t * .018203 + 1.09468) + 2306.2181) * scale;
theta = t * (t * (t * -.041833 - .42665) + 2004.3109) * scale;
/* Now compute the precession matrix. */
d__1 = -z__;
d__2 = -zeta;
eul2m_(&d__1, &theta, &d__2, &c__3, &c__2, &c__3, precm);
return 0;
} /* zzeprcss_ */
/* $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 ZZEPRC76 ( Earth precession, 1976 IAU model ) */
/* Subroutine */ int zzeprc76_(doublereal *et, doublereal *precxf)
{
doublereal cent, zeta, t, scale, z__, theta, dzeta;
extern doublereal jyear_(void);
extern /* Subroutine */ int eul2xf_(doublereal *, integer *, integer *,
integer *, doublereal *);
doublereal dz, ts, dtheta, eulang[6];
extern doublereal rpd_(void);
/* $ Abstract */
/* SPICE Private routine intended solely for the support of SPICE */
/* routines. Users should not call this routine directly due */
/* to the volatile nature of this routine. */
/* Compute the state transformation matrix implementing the IAU 1876 */
/* precession model. */
/* $ 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 */
/* ROTATION */
/* $ Keywords */
/* FRAMES */
/* GEOMETRY */
/* MATRIX */
/* PRIVATE */
/* TRANSFORMATION */
/* $ Declarations */
/* $ Brief_I/O */
/* Variable I/O Description */
/* -------- --- -------------------------------------------------- */
/* ET I Ephemeris time, in seconds past J2000 TDB. */
/* PRECXF O Precession state transformation matrix at ET. */
/* $ Detailed_Input */
/* ET is the epoch at which the precession matrix is */
/* to be computed. ET is barycentric dynamical time, */
/* expressed as seconds past J2000. */
/* $ Detailed_Output */
/* PRECXF is a 6x6 matrix that transforms states from the */
/* J2000 frame to the mean equator and equinox frame */
/* of the earth at the epoch ET. */
/* $ Parameters */
/* None. */
/* $ Exceptions */
/* Error free. */
/* $ Files */
/* None. */
/* $ Particulars */
/* According to reference [2], the precession model used in this */
/* routine is that used in the JPL navigation program "Regres." */
/* The precession matrix is defined using the Euler angles */
/* zeta , z , and theta */
/* A A A */
/* Equation (5-147) of [2] gives the matrix determined by these */
/* angles as */
/* A = [ -z ] [ theta ] [ -zeta ] */
/* A 3 A 2 A 3 */
/* Formulas for the Euler angles are from [2], equation */
/* (5-143): */
/* 2 3 */
/* zeta = 2306".2181*T + 0".30188*T + 0".017998*T */
/* A */
/* 2 3 */
/* z = 2306".2181*T + 1".09468*T + 0".018203*T */
/* A */
/* 2 3 */
/* theta = 2004".3109*T - 0".42665*T - 0".041833*T */
/* A */
/* $ Examples */
/* 1) Convert a state vector S from J2000 to Earth Mean equator and */
/* equinox of date coordinates at epoch ET. Call the resulting */
/* vector SMOD. */
/* CALL ZZEPRC76 ( ET, PRECXF ) */
/* CALL MXVG ( PRECXF, S, 6, 6, SMOD ) */
/* $ Restrictions */
/* 1) This is a SPICE private routine; the routine is subject to */
/* change without notice. User applications should not call this */
/* routine. */
/* 2) Though reference [1] does not specify limitations on the range */
/* of valid time inputs for this precession model, the fact that */
/* the rotation angles used in the model are defined by */
/* polynomials implies that the model is not valid for all time. */
/* $ Literature_References */
/* [1] "Explanatory Supplement to the Astronomical Almanac" */
/* edited by P. Kenneth Seidelmann. University Science */
/* Books, 20 Edgehill Road, Mill Valley, CA 94941 (1992) */
/* [2] "Section 5, Geocentric Space-Fixed Position, Velocity, and */
/* Acceleration Vectors of Tracking Station" by T. D. Moyer. */
/* Draft of JPL Publication documenting the JPL navigation */
/* program "Regres." */
/* $ Author_and_Institution */
/* N.J. Bachman (JPL) */
/* $ Version */
/* - SPICELIB Version 2.0.0, 18-DEC-2004 (NJB) */
/* -& */
/* $ Index_Entries */
/* IAU 1976 earth precession transformation */
/* -& */
/* SPICELIB functions */
/* Local parameters */
/* Local variables */
/* No check-in required; this routine does not participate in */
/* SPICELIB error handling. */
/* Compute the precession angles first. The time argument has */
/* units of Julian centuries. The polynomial expressions yield */
/* angles in units of arcseconds prior to scaling. After scaling, */
/* the angles are in units of radians. */
cent = jyear_() * 100.;
t = *et / cent;
scale = rpd_() / 3600.;
zeta = t * (t * (t * .017998 + .30188) + 2306.2181) * scale;
z__ = t * (t * (t * .018203 + 1.09468) + 2306.2181) * scale;
theta = t * (t * (t * -.041833 - .42665) + 2004.3109) * scale;
ts = 1. / cent;
dzeta = ts * (t * (t * 3 * .017998 + .60375999999999996) + 2306.2181) *
scale;
dz = ts * (t * (t * 3 * .018203 + 2.1893600000000002) + 2306.2181) *
scale;
dtheta = ts * (t * (t * 3 * -.041833 - .85329999999999995) + 2004.3109) *
scale;
/* Now compute the precession matrix. */
eulang[0] = -z__;
eulang[1] = theta;
eulang[2] = -zeta;
eulang[3] = -dz;
eulang[4] = dtheta;
eulang[5] = -dzeta;
eul2xf_(eulang, &c__3, &c__2, &c__3, precxf);
return 0;
} /* zzeprc76_ */
