/* $Procedure CKW01 ( C-Kernel, write segment to C-kernel, data type 1 ) */
/* Subroutine */ int ckw01_(integer *handle, doublereal *begtim, doublereal *
endtim, integer *inst, char *ref, logical *avflag, char *segid,
integer *nrec, doublereal *sclkdp, doublereal *quats, doublereal *
avvs, ftnlen ref_len, ftnlen segid_len)
{
/* System generated locals */
integer i__1, i__2;
doublereal d__1;
/* Local variables */
integer ndir, i__;
extern /* Subroutine */ int chkin_(char *, ftnlen), dafps_(integer *,
integer *, doublereal *, integer *, doublereal *);
doublereal descr[5];
extern /* Subroutine */ int errch_(char *, char *, ftnlen, ftnlen);
integer index, value;
extern /* Subroutine */ int errdp_(char *, doublereal *, ftnlen), dafada_(
doublereal *, integer *), dafbna_(integer *, doublereal *, char *,
ftnlen), dafena_(void);
extern logical failed_(void);
integer refcod;
extern /* Subroutine */ int namfrm_(char *, integer *, ftnlen);
extern integer lastnb_(char *, ftnlen);
doublereal dirent;
extern /* Subroutine */ int sigerr_(char *, ftnlen), chkout_(char *,
ftnlen), setmsg_(char *, ftnlen), errint_(char *, integer *,
ftnlen);
extern logical vzerog_(doublereal *, integer *), return_(void);
doublereal dcd[2];
integer icd[6];
/* $ Abstract */
/* Add a type 1 segment to a C-kernel. */
/* $ 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 */
/* DAF */
/* SCLK */
/* $ Keywords */
/* POINTING */
/* UTILITY */
/* $ Declarations */
/* $ Brief_I/O */
/* Variable I/O Description */
/* -------- --- -------------------------------------------------- */
/* HANDLE I Handle of an open CK file. */
/* BEGTIM I The beginning encoded SCLK of the segment. */
/* ENDTIM I The ending encoded SCLK of the segment. */
/* INST I The NAIF instrument ID code. */
/* REF I The reference frame of the segment. */
/* AVFLAG I True if the segment will contain angular velocity. */
/* SEGID I Segment identifier. */
/* NREC I Number of pointing records. */
/* SCLKDP I Encoded SCLK times. */
/* QUATS I SPICE quaternions representing instrument pointing. */
/* AVVS I Angular velocity vectors. */
/* $ Detailed_Input */
/* HANDLE is the handle of the CK file to which the segment will */
/* be written. The file must have been opened with write */
/* access. */
/* BEGTIM is the beginning encoded SCLK time of the segment. This */
/* value should be less than or equal to the first time in */
/* the segment. */
/* ENDTIM is the encoded SCLK time at which the segment ends. */
/* This value should be greater than or equal to the last */
/* time in the segment. */
/* INST is the NAIF integer ID code for the instrument. */
/* REF is a character string which specifies the */
/* reference frame of the segment. This should be one of */
/* the frames supported by the SPICELIB routine NAMFRM */
/* which is an entry point of FRAMEX. */
/* AVFLAG is a logical flag which indicates whether or not the */
/* segment will contain angular velocity. */
/* SEGID is the segment identifier. A CK segment identifier may */
/* contain up to 40 characters. */
/* NREC is the number of pointing instances in the segment. */
/* SCLKDP are the encoded spacecraft clock times associated with */
/* each pointing instance. These times must be strictly */
/* increasing. */
/* QUATS is an array of SPICE-style quaternions representing a */
/* sequence of C-matrices. See the discussion of */
/* quaternion styles in Particulars below. */
/* AVVS are the angular velocity vectors ( optional ). */
/* If AVFLAG is FALSE then this array is ignored by the */
/* routine, however it still must be supplied as part of */
/* the calling sequence. */
/* $ Detailed_Output */
/* None. See Files section. */
/* $ Parameters */
/* None. */
/* $ Exceptions */
/* 1) If HANDLE is not the handle of a C-kernel opened for writing */
/* the error will be diagnosed by routines called by this */
/* routine. */
/* 2) If SEGID is more than 40 characters long, the error */
/* SPICE(SEGIDTOOLONG) is signalled. */
/* 3) If SEGID contains any nonprintable characters, the error */
/* SPICE(NONPRINTABLECHARS) is signalled. */
/* 4) If the first encoded SCLK time is negative then the error */
/* SPICE(INVALIDSCLKTIME) is signalled. If any subsequent times */
/* are negative the error SPICE(TIMESOUTOFORDER) is signalled. */
/* 5) If the encoded SCLK times are not strictly increasing, */
/* the error SPICE(TIMESOUTOFORDER) is signalled. */
/* 6) If BEGTIM is greater than SCLKDP(1) or ENDTIM is less than */
/* SCLKDP(NREC), the error SPICE(INVALIDDESCRTIME) is */
/* signalled. */
/* 7) If the name of the reference frame is not one of those */
/* supported by the routine NAMFRM, the error */
/* SPICE(INVALIDREFFRAME) is signalled. */
/* 8) If NREC, the number of pointing records, is less than or */
/* equal to 0, the error SPICE(INVALIDNUMRECS) is signalled. */
/* 9) If the squared length of any quaternion differes from 1 */
/* by more than 1.0D-2, the error SPICE(NONUNITQUATERNION) is */
/* signalled. */
/* $ Files */
/* This routine adds a type 1 segment to a C-kernel. The C-kernel */
/* may be either a new one or an existing one opened for writing. */
/* $ Particulars */
/* For a detailed description of a type 1 CK segment please see the */
/* CK Required Reading. */
/* This routine relieves the user from performing the repetitive */
/* calls to the DAF routines necessary to construct a CK segment. */
/* Quaternion Styles */
/* ----------------- */
/* There are different "styles" of quaternions used in */
/* science and engineering applications. Quaternion styles */
/* are characterized by */
/* - The order of quaternion elements */
/* - The quaternion multiplication formula */
/* - The convention for associating quaternions */
/* with rotation matrices */
/* Two of the commonly used styles are */
/* - "SPICE" */
/* > Invented by Sir William Rowan Hamilton */
/* > Frequently used in mathematics and physics textbooks */
/* - "Engineering" */
/* > Widely used in aerospace engineering applications */
/* SPICELIB subroutine interfaces ALWAYS use SPICE quaternions. */
/* Quaternions of any other style must be converted to SPICE */
/* quaternions before they are passed to SPICELIB routines. */
/* Relationship between SPICE and Engineering Quaternions */
/* ------------------------------------------------------ */
/* Let M be a rotation matrix such that for any vector V, */
/* M*V */
/* is the result of rotating V by theta radians in the */
/* counterclockwise direction about unit rotation axis vector A. */
/* Then the SPICE quaternions representing M are */
/* (+/-) ( cos(theta/2), */
/* sin(theta/2) A(1), */
/* sin(theta/2) A(2), */
/* sin(theta/2) A(3) ) */
/* while the engineering quaternions representing M are */
/* (+/-) ( -sin(theta/2) A(1), */
/* -sin(theta/2) A(2), */
/* -sin(theta/2) A(3), */
/* cos(theta/2) ) */
/* For both styles of quaternions, if a quaternion q represents */
/* a rotation matrix M, then -q represents M as well. */
/* Given an engineering quaternion */
/* QENG = ( q0, q1, q2, q3 ) */
/* the equivalent SPICE quaternion is */
/* QSPICE = ( q3, -q0, -q1, -q2 ) */
/* Associating SPICE Quaternions with Rotation Matrices */
/* ---------------------------------------------------- */
/* Let FROM and TO be two right-handed reference frames, for */
/* example, an inertial frame and a spacecraft-fixed frame. Let the */
/* symbols */
/* V , V */
/* FROM TO */
/* denote, respectively, an arbitrary vector expressed relative to */
/* the FROM and TO frames. Let M denote the transformation matrix */
/* that transforms vectors from frame FROM to frame TO; then */
/* V = M * V */
/* TO FROM */
/* where the expression on the right hand side represents left */
/* multiplication of the vector by the matrix. */
/* Then if the unit-length SPICE quaternion q represents M, where */
/* q = (q0, q1, q2, q3) */
/* the elements of M are derived from the elements of q as follows: */
/* +- -+ */
/* | 2 2 | */
/* | 1 - 2*( q2 + q3 ) 2*(q1*q2 - q0*q3) 2*(q1*q3 + q0*q2) | */
/* | | */
/* | | */
/* | 2 2 | */
/* M = | 2*(q1*q2 + q0*q3) 1 - 2*( q1 + q3 ) 2*(q2*q3 - q0*q1) | */
/* | | */
/* | | */
/* | 2 2 | */
/* | 2*(q1*q3 - q0*q2) 2*(q2*q3 + q0*q1) 1 - 2*( q1 + q2 ) | */
/* | | */
/* +- -+ */
/* Note that substituting the elements of -q for those of q in the */
/* right hand side leaves each element of M unchanged; this shows */
/* that if a quaternion q represents a matrix M, then so does the */
/* quaternion -q. */
/* To map the rotation matrix M to a unit quaternion, we start by */
/* decomposing the rotation matrix as a sum of symmetric */
/* and skew-symmetric parts: */
/* 2 */
/* M = [ I + (1-cos(theta)) OMEGA ] + [ sin(theta) OMEGA ] */
/* symmetric skew-symmetric */
/* OMEGA is a skew-symmetric matrix of the form */
/* +- -+ */
/* | 0 -n3 n2 | */
/* | | */
/* OMEGA = | n3 0 -n1 | */
/* | | */
/* | -n2 n1 0 | */
/* +- -+ */
/* The vector N of matrix entries (n1, n2, n3) is the rotation axis */
/* of M and theta is M's rotation angle. Note that N and theta */
/* are not unique. */
/* Let */
/* C = cos(theta/2) */
/* S = sin(theta/2) */
/* Then the unit quaternions Q corresponding to M are */
/* Q = +/- ( C, S*n1, S*n2, S*n3 ) */
/* The mappings between quaternions and the corresponding rotations */
/* are carried out by the SPICELIB routines */
/* Q2M {quaternion to matrix} */
/* M2Q {matrix to quaternion} */
/* M2Q always returns a quaternion with scalar part greater than */
/* or equal to zero. */
/* SPICE Quaternion Multiplication Formula */
/* --------------------------------------- */
/* Given a SPICE quaternion */
/* Q = ( q0, q1, q2, q3 ) */
/* corresponding to rotation axis A and angle theta as above, we can */
/* represent Q using "scalar + vector" notation as follows: */
/* s = q0 = cos(theta/2) */
/* v = ( q1, q2, q3 ) = sin(theta/2) * A */
/* Q = s + v */
/* Let Q1 and Q2 be SPICE quaternions with respective scalar */
/* and vector parts s1, s2 and v1, v2: */
/* Q1 = s1 + v1 */
/* Q2 = s2 + v2 */
/* We represent the dot product of v1 and v2 by */
/* <v1, v2> */
/* and the cross product of v1 and v2 by */
/* v1 x v2 */
/* Then the SPICE quaternion product is */
/* Q1*Q2 = s1*s2 - <v1,v2> + s1*v2 + s2*v1 + (v1 x v2) */
/* If Q1 and Q2 represent the rotation matrices M1 and M2 */
/* respectively, then the quaternion product */
/* Q1*Q2 */
/* represents the matrix product */
/* M1*M2 */
/* $ Examples */
/* C */
/* C This example writes a type 1 C-kernel segment for the */
/* C Galileo scan platform to a previously opened file attached to */
/* C HANDLE. */
/* C */
/* C Assume arrays of quaternions, angular velocities, and the */
/* C associated SCLK times are produced elsewhere. */
/* C */
/* . */
/* . */
/* . */
/* C */
/* C The subroutine CKW01 needs the following items for the */
/* C segment descriptor: */
/* C */
/* C 1) SCLK limits of the segment. */
/* C 2) Instrument code. */
/* C 3) Reference frame. */
/* C 4) The angular velocity flag. */
/* C */
/* BEGTIM = SCLK ( 1 ) */
/* ENDTIM = SCLK ( NREC ) */
/* INST = -77001 */
/* REF = 'J2000' */
/* AVFLAG = .TRUE. */
/* SEGID = 'GLL SCAN PLT - DATA TYPE 1' */
/* C */
/* C Write the segment. */
/* C */
/* CALL CKW01 ( HANDLE, BEGTIM, ENDTIM, INST, REF, AVFLAG, */
/* . SEGID, NREC, SCLKDP, QUATS, AVVS ) */
/* $ Restrictions */
/* None. */
/* $ Literature_References */
/* None. */
/* $ Author_and_Institution */
/* W.L. Taber (JPL) */
/* K.R. Gehringer (JPL) */
/* N.J. Bachman (JPL) */
/* J.M. Lynch (JPL) */
/* $ Version */
/* - SPICELIB Version 3.0.0, 01-JUN-2010 (NJB) */
/* The check for non-unit quaternions has been replaced */
/* with a check for zero-length quaternions. */
/* - SPICELIB Version 2.2.0, 26-FEB-2008 (NJB) */
/* Updated header; added information about SPICE */
/* quaternion conventions. */
/* Minor typo in a long error message was corrected. */
/* - SPICELIB Version 2.1.0, 22-FEB-1999 (WLT) */
/* Added check to make sure that all quaternions are unit */
/* length to single precision. */
/* - SPICELIB Version 2.0.0, 28-DEC-1993 (WLT) */
/* The routine was upgraded to support non-inertial reference */
/* frames. */
/* - SPICELIB Version 1.1.1, 05-SEP-1993 (KRG) */
/* Removed all references to a specific method of opening the CK */
/* file in the $ Brief_I/O, $ Detailed_Input, $ Exceptions, */
/* $ Files, and $ Examples sections of the header. It is assumed */
/* that a person using this routine has some knowledge of the DAF */
/* system and the methods for obtaining file handles. */
/* - SPICELIB Version 1.1.0, 25-NOV-1992 (JML) */
/* If the number of pointing records is not positive an error */
/* is now signalled. */
/* FAILED is checked after the call to DAFBNA. */
/* The variable HLDCLK was removed from the loop where the times */
/* were checked. */
/* - 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) (NJB) */
/* -& */
/* $ Index_Entries */
/* write ck type_1 pointing data segment */
/* -& */
/* $ Revisions */
/* - SPICELIB Version 1.1.1, 05-SEP-1993 (KRG) */
/* Removed all references to a specific method of opening the CK */
/* file in the $ Brief_I/O, $ Detailed_Input, $ Exceptions, */
/* $ Files, and $ Examples sections of the header. It is assumed */
/* that a person using this routine has some knowledge of the DAF */
/* system and the methods for obtaining file handles. */
/* - SPICELIB Version 1.1.0, 25-NOV-1992 (JML) */
/* If the number of pointing records is not positive an error */
/* is now signalled. */
/* FAILED is checked after the call to DAFBNA. */
/* The variable HLDCLK was removed from the loop where the times */
/* were checked. */
/* - 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) (NJB) */
/* -& */
/* SPICELIB functions */
/* Local parameters */
/* SIDLEN is the maximum number of characters allowed in a CK */
/* segment identifier. */
/* NDC is the size of a packed CK segment descriptor. */
/* ND is the number of double precision components in a CK */
/* segment descriptor. */
/* NI is the number of integer components in a CK segment */
/* descriptor. */
/* DTYPE is the data type of the segment that this routine */
/* operates on. */
/* FPRINT is the integer value of the first printable ASCII */
/* character. */
/* LPRINT is the integer value of the last printable ASCII */
/* character. */
/* Local variables */
/* Standard SPICE error handling. */
if (return_()) {
return 0;
}
chkin_("CKW01", (ftnlen)5);
/* The first thing that we will do is create the segment descriptor. */
/* The structure of the segment descriptor is as follows. */
/* DCD( 1 ) and DCD( 2 ) -- SCLK limits of the segment. */
/* ICD( 1 ) -- Instrument code. */
/* ICD( 2 ) -- Reference frame ID. */
/* ICD( 3 ) -- Data type of the segment. */
/* ICD( 4 ) -- Angular rates flag. */
/* ICD( 5 ) -- Beginning address of segment. */
/* ICD( 6 ) -- Ending address of segment. */
/* Make sure that there is a positive number of pointing records. */
if (*nrec <= 0) {
setmsg_("# is an invalid number of pointing instances for type 1.", (
ftnlen)56);
errint_("#", nrec, (ftnlen)1);
sigerr_("SPICE(INVALIDNUMREC)", (ftnlen)20);
chkout_("CKW01", (ftnlen)5);
return 0;
}
/* Check that the SCLK bounds on the segment are reasonable. */
if (*begtim > sclkdp[0]) {
setmsg_("The first d.p. component of the descriptor is invalid. DCD("
"1) = # and SCLKDP(1) = # ", (ftnlen)84);
errdp_("#", begtim, (ftnlen)1);
errdp_("#", sclkdp, (ftnlen)1);
sigerr_("SPICE(INVALIDDESCRTIME)", (ftnlen)23);
chkout_("CKW01", (ftnlen)5);
return 0;
}
if (*endtim < sclkdp[*nrec - 1]) {
setmsg_("The second d.p. component of the descriptor is invalid. DCD"
"(2) = # and SCLKDP(NREC) = # ", (ftnlen)88);
errdp_("#", endtim, (ftnlen)1);
errdp_("#", &sclkdp[*nrec - 1], (ftnlen)1);
sigerr_("SPICE(INVALIDDESCRTIME)", (ftnlen)23);
chkout_("CKW01", (ftnlen)5);
return 0;
}
dcd[0] = *begtim;
dcd[1] = *endtim;
/* Get the NAIF integer code for the reference frame. */
namfrm_(ref, &refcod, ref_len);
if (refcod == 0) {
setmsg_("The reference frame # is not supported.", (ftnlen)39);
errch_("#", ref, (ftnlen)1, ref_len);
sigerr_("SPICE(INVALIDREFFRAME)", (ftnlen)22);
chkout_("CKW01", (ftnlen)5);
return 0;
}
/* Assign values to the integer components of the segment descriptor. */
icd[0] = *inst;
icd[1] = refcod;
icd[2] = 1;
if (*avflag) {
icd[3] = 1;
} else {
icd[3] = 0;
}
/* Now pack the segment descriptor. */
dafps_(&c__2, &c__6, dcd, icd, descr);
/* Check that all the characters in the segid can be printed. */
i__1 = lastnb_(segid, segid_len);
for (i__ = 1; i__ <= i__1; ++i__) {
value = *(unsigned char *)&segid[i__ - 1];
if (value < 32 || value > 126) {
setmsg_("The segment identifier contains nonprintable characters",
(ftnlen)55);
sigerr_("SPICE(NONPRINTABLECHARS)", (ftnlen)24);
chkout_("CKW01", (ftnlen)5);
return 0;
}
}
/* Also check to see if the segment identifier is too long. */
if (lastnb_(segid, segid_len) > 40) {
setmsg_("Segment identifier contains more than 40 characters.", (
ftnlen)52);
sigerr_("SPICE(SEGIDTOOLONG)", (ftnlen)19);
chkout_("CKW01", (ftnlen)5);
return 0;
}
/* Now check that the encoded SCLK times are positive and strictly */
/* increasing. */
/* Check that the first time is nonnegative. */
if (sclkdp[0] < 0.) {
setmsg_("The first SCLKDP time: # is negative.", (ftnlen)37);
errdp_("#", sclkdp, (ftnlen)1);
sigerr_("SPICE(INVALIDSCLKTIME)", (ftnlen)22);
chkout_("CKW01", (ftnlen)5);
return 0;
}
/* Now check that the times are ordered properly. */
i__1 = *nrec;
for (i__ = 2; i__ <= i__1; ++i__) {
if (sclkdp[i__ - 1] <= sclkdp[i__ - 2]) {
setmsg_("The SCLKDP times are not strictly increasing. SCLKDP(#)"
" = # and SCLKDP(#) = #.", (ftnlen)78);
errint_("#", &i__, (ftnlen)1);
errdp_("#", &sclkdp[i__ - 1], (ftnlen)1);
i__2 = i__ - 1;
errint_("#", &i__2, (ftnlen)1);
errdp_("#", &sclkdp[i__ - 2], (ftnlen)1);
sigerr_("SPICE(TIMESOUTOFORDER)", (ftnlen)22);
chkout_("CKW01", (ftnlen)5);
return 0;
}
}
/* Make sure that the quaternions are non-zero. This is just */
/* a check for uninitialized data. */
i__1 = *nrec;
for (i__ = 1; i__ <= i__1; ++i__) {
if (vzerog_(&quats[(i__ << 2) - 4], &c__4)) {
setmsg_("The quaternion at index # has magnitude zero.", (ftnlen)
45);
errint_("#", &i__, (ftnlen)1);
sigerr_("SPICE(ZEROQUATERNION)", (ftnlen)21);
chkout_("CKW01", (ftnlen)5);
return 0;
}
}
/* No more checks, begin writing the segment. */
dafbna_(handle, descr, segid, segid_len);
if (failed_()) {
chkout_("CKW01", (ftnlen)5);
return 0;
}
/* Now add the quaternions and optionally, the angular velocity */
/* vectors. */
if (*avflag) {
i__1 = *nrec;
for (i__ = 1; i__ <= i__1; ++i__) {
dafada_(&quats[(i__ << 2) - 4], &c__4);
dafada_(&avvs[i__ * 3 - 3], &c__3);
}
} else {
i__1 = *nrec;
for (i__ = 1; i__ <= i__1; ++i__) {
dafada_(&quats[(i__ << 2) - 4], &c__4);
}
}
/* Add the SCLK times. */
dafada_(sclkdp, nrec);
/* The time tag directory. The Ith element is defined to be the */
/* average of the (I*100)th and the (I*100+1)st SCLK time. */
ndir = (*nrec - 1) / 100;
index = 100;
i__1 = ndir;
for (i__ = 1; i__ <= i__1; ++i__) {
dirent = (sclkdp[index - 1] + sclkdp[index]) / 2.;
dafada_(&dirent, &c__1);
index += 100;
}
/* Finally, the number of records. */
d__1 = (doublereal) (*nrec);
dafada_(&d__1, &c__1);
/* End the segment. */
dafena_();
chkout_("CKW01", (ftnlen)5);
return 0;
} /* ckw01_ */
/* $Procedure CKW05 ( Write CK segment, type 5 ) */
/* Subroutine */ int ckw05_(integer *handle, integer *subtyp, integer *degree,
doublereal *begtim, doublereal *endtim, integer *inst, char *ref,
logical *avflag, char *segid, integer *n, doublereal *sclkdp,
doublereal *packts, doublereal *rate, integer *nints, doublereal *
starts, ftnlen ref_len, ftnlen segid_len)
{
/* System generated locals */
integer i__1, i__2;
doublereal d__1;
/* Local variables */
integer addr__, i__;
extern /* Subroutine */ int chkin_(char *, ftnlen), dafps_(integer *,
integer *, doublereal *, integer *, doublereal *);
doublereal descr[5];
extern /* Subroutine */ int errch_(char *, char *, ftnlen, ftnlen),
errdp_(char *, doublereal *, ftnlen), dafada_(doublereal *,
integer *);
doublereal dc[2];
extern /* Subroutine */ int dafbna_(integer *, doublereal *, char *,
ftnlen);
integer ic[6];
extern /* Subroutine */ int dafena_(void);
extern logical failed_(void);
integer chrcod, refcod;
extern integer bsrchd_(doublereal *, integer *, doublereal *);
extern /* Subroutine */ int namfrm_(char *, integer *, ftnlen);
extern integer lastnb_(char *, ftnlen);
integer packsz;
extern /* Subroutine */ int sigerr_(char *, ftnlen), chkout_(char *,
ftnlen), setmsg_(char *, ftnlen), errint_(char *, integer *,
ftnlen);
extern integer lstltd_(doublereal *, integer *, doublereal *);
extern logical vzerog_(doublereal *, integer *), return_(void);
integer winsiz;
extern logical odd_(integer *);
/* $ Abstract */
/* Write a type 5 segment to a CK file. */
/* $ 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 */
/* NAIF_IDS */
/* ROTATION */
/* TIME */
/* $ Keywords */
/* POINTING */
/* FILES */
/* $ Declarations */
/* $ Abstract */
/* Declare parameters specific to CK type 05. */
/* $ 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 */
/* $ Keywords */
/* CK */
/* $ Restrictions */
/* None. */
/* $ Author_and_Institution */
/* N.J. Bachman (JPL) */
/* $ Literature_References */
/* None. */
/* $ Version */
/* - SPICELIB Version 1.0.0, 20-AUG-2002 (NJB) */
/* -& */
/* CK type 5 subtype codes: */
/* Subtype 0: Hermite interpolation, 8-element packets. Quaternion */
/* and quaternion derivatives only, no angular velocity */
/* vector provided. Quaternion elements are listed */
/* first, followed by derivatives. Angular velocity is */
/* derived from the quaternions and quaternion */
/* derivatives. */
/* Subtype 1: Lagrange interpolation, 4-element packets. Quaternion */
/* only. Angular velocity is derived by differentiating */
/* the interpolating polynomials. */
/* Subtype 2: Hermite interpolation, 14-element packets. */
/* Quaternion and angular angular velocity vector, as */
/* well as derivatives of each, are provided. The */
/* quaternion comes first, then quaternion derivatives, */
/* then angular velocity and its derivatives. */
/* Subtype 3: Lagrange interpolation, 7-element packets. Quaternion */
/* and angular velocity vector provided. The quaternion */
/* comes first. */
/* Packet sizes associated with the various subtypes: */
/* End of file ck05.inc. */
/* $ Brief_I/O */
/* Variable I/O Description */
/* -------- --- -------------------------------------------------- */
/* HANDLE I Handle of an CK file open for writing. */
/* SUBTYP I CK type 5 subtype code. */
/* DEGREE I Degree of interpolating polynomials. */
/* BEGTIM I Start time of interval covered by segment. */
/* ENDTIM I End time of interval covered by segment. */
/* INST I NAIF code for a s/c instrument or structure. */
/* REF I Reference frame name. */
/* AVFLAG I True if the segment will contain angular velocity. */
/* SEGID I Segment identifier. */
/* N I Number of packets. */
/* SCLKDP I Encoded SCLK times. */
/* PACKTS I Array of packets. */
/* RATE I Nominal SCLK rate in seconds per tick. */
/* NINTS I Number of intervals. */
/* STARTS I Encoded SCLK interval start times. */
/* MAXDEG P Maximum allowed degree of interpolating polynomial. */
/* $ Detailed_Input */
/* HANDLE is the file handle of a CK file that has been */
/* opened for writing. */
/* SUBTYP is an integer code indicating the subtype of the */
/* the segment to be created. */
/* DEGREE is the degree of the polynomials used to */
/* interpolate the quaternions contained in the input */
/* packets. All components of the quaternions are */
/* interpolated by polynomials of fixed degree. */
/* BEGTIM, */
/* ENDTIM are the beginning and ending encoded SCLK times */
/* for which the segment provides pointing */
/* information. BEGTIM must be less than or equal to */
/* ENDTIM, and at least one data packet must have a */
/* time tag T such that */
/* BEGTIM < T < ENDTIM */
/* - - */
/* INST is the NAIF integer code for the instrument or */
/* structure for which a segment is to be created. */
/* REF is the NAIF name for a reference frame relative to */
/* which the pointing information for INST is */
/* specified. */
/* AVFLAG is a logical flag which indicates whether or not */
/* the segment will contain angular velocity. */
/* SEGID is the segment identifier. A CK segment */
/* identifier may contain up to 40 characters. */
/* N is the number of packets in the input packet */
/* array. */
/* SCLKDP are the encoded spacecraft clock times associated */
/* with each pointing instance. These times must be */
/* strictly increasing. */
/* PACKTS contains a time-ordered array of data packets */
/* representing the orientation of INST relative to */
/* the frame REF. Each packet contains a SPICE-style */
/* quaternion and optionally, depending on the */
/* segment subtype, attitude derivative data, from */
/* which a C-matrix and an angular velocity vector */
/* may be derived. */
/* See the discussion of quaternion styles in */
/* Particulars below. */
/* The C-matrix represented by the Ith data packet is */
/* a rotation matrix that transforms the components */
/* of a vector expressed in the base frame specified */
/* by REF to components expressed in the instrument */
/* fixed frame at the time SCLKDP(I). */
/* Thus, if a vector V has components x, y, z in the */
/* base frame, then V has components x', y', z' */
/* in the instrument fixed frame where: */
/* [ x' ] [ ] [ x ] */
/* | y' | = | CMAT | | y | */
/* [ z' ] [ ] [ z ] */
/* The attitude derivative information in PACKTS(I) */
/* gives the angular velocity of the instrument fixed */
/* frame at time SCLKDP(I) with respect to the */
/* reference frame specified by REF. */
/* The direction of an angular velocity vector gives */
/* the right-handed axis about which the instrument */
/* fixed reference frame is rotating. The magnitude */
/* of the vector is the magnitude of the */
/* instantaneous velocity of the rotation, in radians */
/* per second. */
/* Packet contents and the corresponding */
/* interpolation methods depend on the segment */
/* subtype, and are as follows: */
/* Subtype 0: Hermite interpolation, 8-element */
/* packets. Quaternion and quaternion */
/* derivatives only, no angular */
/* velocity vector provided. */
/* Quaternion elements are listed */
/* first, followed by derivatives. */
/* Angular velocity is derived from */
/* the quaternions and quaternion */
/* derivatives. */
/* Subtype 1: Lagrange interpolation, 4-element */
/* packets. Quaternion only. Angular */
/* velocity is derived by */
/* differentiating the interpolating */
/* polynomials. */
/* Subtype 2: Hermite interpolation, 14-element */
/* packets. Quaternion and angular */
/* angular velocity vector, as well as */
/* derivatives of each, are provided. */
/* The quaternion comes first, then */
/* quaternion derivatives, then */
/* angular velocity and its */
/* derivatives. */
/* Subtype 3: Lagrange interpolation, 7-element */
/* packets. Quaternion and angular */
/* velocity vector provided. The */
/* quaternion comes first. */
/* Angular velocity is always specified relative to */
/* the base frame. */
/* RATE is the nominal rate of the spacecraft clock */
/* associated with INST. Units are seconds per */
/* tick. RATE is used to scale angular velocity */
/* to radians/second. */
/* NINTS is the number of intervals that the pointing */
/* instances are partitioned into. */
/* STARTS are the start times of each of the interpolation */
/* intervals. These times must be strictly increasing */
/* and must coincide with times for which the segment */
/* contains pointing. */
/* $ Detailed_Output */
/* None. See $Particulars for a description of the effect of this */
/* routine. */
/* $ Parameters */
/* MAXDEG is the maximum allowed degree of the interpolating */
/* polynomial. If the value of MAXDEG is increased, */
/* the SPICELIB routine CKPFS must be changed */
/* accordingly. In particular, the size of the */
/* record passed to CKRnn and CKEnn must be */
/* increased, and comments describing the record size */
/* must be changed. */
/* $ Exceptions */
/* If any of the following exceptions occur, this routine will return */
/* without creating a new segment. */
/* 1) If HANDLE is not the handle of a C-kernel opened for writing */
/* the error will be diagnosed by routines called by this */
/* routine. */
/* 2) If the last non-blank character of SEGID occurs past index 40, */
/* the error SPICE(SEGIDTOOLONG) is signaled. */
/* 3) If SEGID contains any nonprintable characters, the error */
/* SPICE(NONPRINTABLECHARS) is signaled. */
/* 4) If the first encoded SCLK time is negative then the error */
/* SPICE(INVALIDSCLKTIME) is signaled. If any subsequent times */
/* are negative the error will be detected in exception (5). */
/* 5) If the encoded SCLK times are not strictly increasing, */
/* the error SPICE(TIMESOUTOFORDER) is signaled. */
/* 6) If the name of the reference frame is not one of those */
/* supported by the routine FRAMEX, the error */
/* SPICE(INVALIDREFFRAME) is signaled. */
/* 7) If the number of packets N is not at least 1, the error */
/* SPICE(TOOFEWPACKETS) will be signaled. */
/* 8) If NINTS, the number of interpolation intervals, is less than */
/* or equal to 0, the error SPICE(INVALIDNUMINTS) is signaled. */
/* 9) If the encoded SCLK interval start times are not strictly */
/* increasing, the error SPICE(TIMESOUTOFORDER) is signaled. */
/* 10) If an interval start time does not coincide with a time for */
/* which there is an actual pointing instance in the segment, */
/* then the error SPICE(INVALIDSTARTTIME) is signaled. */
/* 11) This routine assumes that the rotation between adjacent */
/* quaternions that are stored in the same interval has a */
/* rotation angle of THETA radians, where */
/* 0 < THETA < pi. */
/* _ */
/* The routines that evaluate the data in the segment produced */
/* by this routine cannot distinguish between rotations of THETA */
/* radians, where THETA is in the interval [0, pi), and */
/* rotations of */
/* THETA + 2 * k * pi */
/* radians, where k is any integer. These "large" rotations will */
/* yield invalid results when interpolated. You must ensure that */
/* the data stored in the segment will not be subject to this */
/* sort of ambiguity. */
/* 12) If any quaternion has magnitude zero, the error */
/* SPICE(ZEROQUATERNION) is signaled. */
/* 13) If the interpolation window size implied by DEGREE is not */
/* even, the error SPICE(INVALIDDEGREE) is signaled. The window */
/* size is DEGREE+1 for Lagrange subtypes and is (DEGREE+1)/2 */
/* for Hermite subtypes. */
/* 14) If an unrecognized subtype code is supplied, the error */
/* SPICE(NOTSUPPORTED) is signaled. */
/* 15) If DEGREE is not at least 1 or is greater than MAXDEG, the */
/* error SPICE(INVALIDDEGREE) is signaled. */
/* 16) If the segment descriptor bounds are out of order, the */
/* error SPICE(BADDESCRTIMES) is signaled. */
/* 17) If there is no element of SCLKDP that lies between BEGTIM and */
/* ENDTIM inclusive, the error SPICE(EMPTYSEGMENT) is signaled. */
/* 18) If RATE is zero, the error SPICE(INVALIDVALUE) is signaled. */
/* $ Files */
/* A new type 5 CK segment is written to the CK file attached */
/* to HANDLE. */
/* $ Particulars */
/* This routine writes a CK type 5 data segment to the open CK */
/* file according to the format described in the type 5 section of */
/* the CK Required Reading. The CK file must have been opened with */
/* write access. */
/* Quaternion Styles */
/* ----------------- */
/* There are different "styles" of quaternions used in */
/* science and engineering applications. Quaternion styles */
/* are characterized by */
/* - The order of quaternion elements */
/* - The quaternion multiplication formula */
/* - The convention for associating quaternions */
/* with rotation matrices */
/* Two of the commonly used styles are */
/* - "SPICE" */
/* > Invented by Sir William Rowan Hamilton */
/* > Frequently used in mathematics and physics textbooks */
/* - "Engineering" */
/* > Widely used in aerospace engineering applications */
/* SPICELIB subroutine interfaces ALWAYS use SPICE quaternions. */
/* Quaternions of any other style must be converted to SPICE */
/* quaternions before they are passed to SPICELIB routines. */
/* Relationship between SPICE and Engineering Quaternions */
/* ------------------------------------------------------ */
/* Let M be a rotation matrix such that for any vector V, */
/* M*V */
/* is the result of rotating V by theta radians in the */
/* counterclockwise direction about unit rotation axis vector A. */
/* Then the SPICE quaternions representing M are */
/* (+/-) ( cos(theta/2), */
/* sin(theta/2) A(1), */
/* sin(theta/2) A(2), */
/* sin(theta/2) A(3) ) */
/* while the engineering quaternions representing M are */
/* (+/-) ( -sin(theta/2) A(1), */
/* -sin(theta/2) A(2), */
/* -sin(theta/2) A(3), */
/* cos(theta/2) ) */
/* For both styles of quaternions, if a quaternion q represents */
/* a rotation matrix M, then -q represents M as well. */
/* Given an engineering quaternion */
/* QENG = ( q0, q1, q2, q3 ) */
/* the equivalent SPICE quaternion is */
/* QSPICE = ( q3, -q0, -q1, -q2 ) */
/* Associating SPICE Quaternions with Rotation Matrices */
/* ---------------------------------------------------- */
/* Let FROM and TO be two right-handed reference frames, for */
/* example, an inertial frame and a spacecraft-fixed frame. Let the */
/* symbols */
/* V , V */
/* FROM TO */
/* denote, respectively, an arbitrary vector expressed relative to */
/* the FROM and TO frames. Let M denote the transformation matrix */
/* that transforms vectors from frame FROM to frame TO; then */
/* V = M * V */
/* TO FROM */
/* where the expression on the right hand side represents left */
/* multiplication of the vector by the matrix. */
/* Then if the unit-length SPICE quaternion q represents M, where */
/* q = (q0, q1, q2, q3) */
/* the elements of M are derived from the elements of q as follows: */
/* +- -+ */
/* | 2 2 | */
/* | 1 - 2*( q2 + q3 ) 2*(q1*q2 - q0*q3) 2*(q1*q3 + q0*q2) | */
/* | | */
/* | | */
/* | 2 2 | */
/* M = | 2*(q1*q2 + q0*q3) 1 - 2*( q1 + q3 ) 2*(q2*q3 - q0*q1) | */
/* | | */
/* | | */
/* | 2 2 | */
/* | 2*(q1*q3 - q0*q2) 2*(q2*q3 + q0*q1) 1 - 2*( q1 + q2 ) | */
/* | | */
/* +- -+ */
/* Note that substituting the elements of -q for those of q in the */
/* right hand side leaves each element of M unchanged; this shows */
/* that if a quaternion q represents a matrix M, then so does the */
/* quaternion -q. */
/* To map the rotation matrix M to a unit quaternion, we start by */
/* decomposing the rotation matrix as a sum of symmetric */
/* and skew-symmetric parts: */
/* 2 */
/* M = [ I + (1-cos(theta)) OMEGA ] + [ sin(theta) OMEGA ] */
/* symmetric skew-symmetric */
/* OMEGA is a skew-symmetric matrix of the form */
/* +- -+ */
/* | 0 -n3 n2 | */
/* | | */
/* OMEGA = | n3 0 -n1 | */
/* | | */
/* | -n2 n1 0 | */
/* +- -+ */
/* The vector N of matrix entries (n1, n2, n3) is the rotation axis */
/* of M and theta is M's rotation angle. Note that N and theta */
/* are not unique. */
/* Let */
/* C = cos(theta/2) */
/* S = sin(theta/2) */
/* Then the unit quaternions Q corresponding to M are */
/* Q = +/- ( C, S*n1, S*n2, S*n3 ) */
/* The mappings between quaternions and the corresponding rotations */
/* are carried out by the SPICELIB routines */
/* Q2M {quaternion to matrix} */
/* M2Q {matrix to quaternion} */
/* M2Q always returns a quaternion with scalar part greater than */
/* or equal to zero. */
/* SPICE Quaternion Multiplication Formula */
/* --------------------------------------- */
/* Given a SPICE quaternion */
/* Q = ( q0, q1, q2, q3 ) */
/* corresponding to rotation axis A and angle theta as above, we can */
/* represent Q using "scalar + vector" notation as follows: */
/* s = q0 = cos(theta/2) */
/* v = ( q1, q2, q3 ) = sin(theta/2) * A */
/* Q = s + v */
/* Let Q1 and Q2 be SPICE quaternions with respective scalar */
/* and vector parts s1, s2 and v1, v2: */
/* Q1 = s1 + v1 */
/* Q2 = s2 + v2 */
/* We represent the dot product of v1 and v2 by */
/* <v1, v2> */
/* and the cross product of v1 and v2 by */
/* v1 x v2 */
/* Then the SPICE quaternion product is */
/* Q1*Q2 = s1*s2 - <v1,v2> + s1*v2 + s2*v1 + (v1 x v2) */
/* If Q1 and Q2 represent the rotation matrices M1 and M2 */
/* respectively, then the quaternion product */
/* Q1*Q2 */
/* represents the matrix product */
/* M1*M2 */
/* $ Examples */
/* Suppose that you have data packets and are prepared to produce */
/* a segment of type 5 in a CK file. */
/* The following code fragment could be used to add the new segment */
/* to a previously opened CK file attached to HANDLE. The file must */
/* have been opened with write access. */
/* C */
/* C Create a segment identifier. */
/* C */
/* SEGID = 'MY_SAMPLE_CK_TYPE_5_SEGMENT' */
/* C */
/* C Write the segment. */
/* C */
/* CALL CKW05 ( HANDLE, SUBTYP, DEGREE, BEGTIM, ENDTIM, */
/* . INST, REF, AVFLAG, SEGID, N, */
/* . SCLKDP, PACKTS, RATE, NINTS, STARTS ) */
/* $ Restrictions */
/* None. */
/* $ Literature_References */
/* None. */
/* $ Author_and_Institution */
/* N.J. Bachman (JPL) */
/* W.L. Taber (JPL) */
/* K.R. Gehringer (JPL) */
/* J.M. Lynch (JPL) */
/* $ Version */
/* - SPICELIB Version 2.0.0, 08-FEB-2010 (NJB) */
/* The check for non-unit quaternions has been replaced */
/* with a check for zero-length quaternions. */
/* - SPICELIB Version 1.1.0, 26-FEB-2008 (NJB) */
/* Updated header; added information about SPICE */
/* quaternion conventions. */
/* Minor typo in a long error message was corrected. */
/* - SPICELIB Version 1.0.1, 07-JAN-2005 (NJB) */
/* Description in Detailed_Input header section of */
/* constraints on BEGTIM and ENDTIM was corrected. */
/* - SPICELIB Version 1.0.0, 30-AUG-2002 (NJB) (KRG) (JML) (WLT) */
/* -& */
/* $ Index_Entries */
/* write ck type_5 data segment */
/* -& */
/* $ Revisions */
/* - SPICELIB Version 2.0.0, 08-FEB-2010 (NJB) */
/* The check for non-unit quaternions has been replaced */
/* with a check for zero-length quaternions. */
/* This change was made to accommodate CK generation, */
/* via the non-SPICE utility MEX2KER, for European missions. */
/* -& */
/* SPICELIB functions */
/* Local parameters */
/* Packet structure parameters */
/* Local variables */
/* Standard SPICE error handling. */
if (return_()) {
return 0;
} else {
chkin_("CKW05", (ftnlen)5);
}
/* Make sure that the number of packets is positive. */
if (*n < 1) {
setmsg_("At least 1 packet is required for CK type 5. Number of pack"
"ets supplied: #", (ftnlen)75);
errint_("#", n, (ftnlen)1);
sigerr_("SPICE(TOOFEWPACKETS)", (ftnlen)20);
chkout_("CKW05", (ftnlen)5);
return 0;
}
/* Make sure that there is a positive number of interpolation */
/* intervals. */
if (*nints <= 0) {
setmsg_("# is an invalid number of interpolation intervals for type "
"5.", (ftnlen)61);
errint_("#", nints, (ftnlen)1);
sigerr_("SPICE(INVALIDNUMINTS)", (ftnlen)21);
chkout_("CKW05", (ftnlen)5);
return 0;
}
/* Get the NAIF integer code for the reference frame. */
namfrm_(ref, &refcod, ref_len);
if (refcod == 0) {
setmsg_("The reference frame # is not supported.", (ftnlen)39);
errch_("#", ref, (ftnlen)1, ref_len);
sigerr_("SPICE(INVALIDREFFRAME)", (ftnlen)22);
chkout_("CKW05", (ftnlen)5);
return 0;
}
/* Check to see if the segment identifier is too long. */
if (lastnb_(segid, segid_len) > 40) {
setmsg_("Segment identifier contains more than 40 characters.", (
ftnlen)52);
sigerr_("SPICE(SEGIDTOOLONG)", (ftnlen)19);
chkout_("CKW05", (ftnlen)5);
return 0;
}
/* Now check that all the characters in the segment identifier */
/* can be printed. */
i__1 = lastnb_(segid, segid_len);
for (i__ = 1; i__ <= i__1; ++i__) {
chrcod = *(unsigned char *)&segid[i__ - 1];
if (chrcod < 32 || chrcod > 126) {
setmsg_("The segment identifier contains nonprintable characters",
(ftnlen)55);
sigerr_("SPICE(NONPRINTABLECHARS)", (ftnlen)24);
chkout_("CKW05", (ftnlen)5);
return 0;
}
}
/* Now check that the encoded SCLK times are positive and strictly */
/* increasing. */
/* Check that the first time is nonnegative. */
if (sclkdp[0] < 0.) {
setmsg_("The first SCLKDP time: # is negative.", (ftnlen)37);
errdp_("#", sclkdp, (ftnlen)1);
sigerr_("SPICE(INVALIDSCLKTIME)", (ftnlen)22);
chkout_("CKW05", (ftnlen)5);
return 0;
}
/* Now check that the times are ordered properly. */
i__1 = *n;
for (i__ = 2; i__ <= i__1; ++i__) {
if (sclkdp[i__ - 1] <= sclkdp[i__ - 2]) {
setmsg_("The SCLKDP times are not strictly increasing. SCLKDP(#)"
" = # and SCLKDP(#) = #.", (ftnlen)78);
errint_("#", &i__, (ftnlen)1);
errdp_("#", &sclkdp[i__ - 1], (ftnlen)1);
i__2 = i__ - 1;
errint_("#", &i__2, (ftnlen)1);
errdp_("#", &sclkdp[i__ - 2], (ftnlen)1);
sigerr_("SPICE(TIMESOUTOFORDER)", (ftnlen)22);
chkout_("CKW05", (ftnlen)5);
return 0;
}
}
/* Now check that the interval start times are ordered properly. */
i__1 = *nints;
for (i__ = 2; i__ <= i__1; ++i__) {
if (starts[i__ - 1] <= starts[i__ - 2]) {
setmsg_("The interval start times are not strictly increasing. S"
"TARTS(#) = # and STARTS(#) = #.", (ftnlen)86);
errint_("#", &i__, (ftnlen)1);
errdp_("#", &starts[i__ - 1], (ftnlen)1);
i__2 = i__ - 1;
errint_("#", &i__2, (ftnlen)1);
errdp_("#", &starts[i__ - 2], (ftnlen)1);
sigerr_("SPICE(TIMESOUTOFORDER)", (ftnlen)22);
chkout_("CKW05", (ftnlen)5);
return 0;
}
}
/* Now make sure that all of the interval start times coincide with */
/* one of the times associated with the actual pointing. */
i__1 = *nints;
for (i__ = 1; i__ <= i__1; ++i__) {
/* We know the SCLKDP array is ordered, so a binary search is */
/* ok. */
if (bsrchd_(&starts[i__ - 1], n, sclkdp) == 0) {
setmsg_("Interval start time number # is invalid. STARTS(#) = *",
(ftnlen)54);
errint_("#", &i__, (ftnlen)1);
errint_("#", &i__, (ftnlen)1);
errdp_("*", &starts[i__ - 1], (ftnlen)1);
sigerr_("SPICE(INVALIDSTARTTIME)", (ftnlen)23);
chkout_("CKW05", (ftnlen)5);
return 0;
}
}
/* Set the window, packet size and angular velocity flag, all of */
/* which are functions of the subtype. */
if (*subtyp == 0) {
winsiz = (*degree + 1) / 2;
packsz = 8;
} else if (*subtyp == 1) {
winsiz = *degree + 1;
packsz = 4;
} else if (*subtyp == 2) {
winsiz = (*degree + 1) / 2;
packsz = 14;
} else if (*subtyp == 3) {
winsiz = *degree + 1;
packsz = 7;
} else {
setmsg_("CK type 5 subtype <#> is not supported.", (ftnlen)39);
errint_("#", subtyp, (ftnlen)1);
sigerr_("SPICE(NOTSUPPORTED)", (ftnlen)19);
chkout_("CKW05", (ftnlen)5);
return 0;
}
/* Make sure that the quaternions are non-zero. This is just */
/* a check for uninitialized data. */
i__1 = *n;
for (i__ = 1; i__ <= i__1; ++i__) {
/* We have to address the quaternion explicitly, since the shape */
/* of the packet array is not known at compile time. */
addr__ = packsz * (i__ - 1) + 1;
if (vzerog_(&packts[addr__ - 1], &c__4)) {
setmsg_("The quaternion at index # has magnitude zero.", (ftnlen)
45);
errint_("#", &i__, (ftnlen)1);
sigerr_("SPICE(ZEROQUATERNION)", (ftnlen)21);
chkout_("CKW05", (ftnlen)5);
return 0;
}
}
/* Make sure that the degree of the interpolating polynomials is */
/* in range. */
if (*degree < 1 || *degree > 15) {
setmsg_("The interpolating polynomials have degree #; the valid degr"
"ee range is [1, #]", (ftnlen)77);
errint_("#", degree, (ftnlen)1);
errint_("#", &c__15, (ftnlen)1);
sigerr_("SPICE(INVALIDDEGREE)", (ftnlen)20);
chkout_("CKW05", (ftnlen)5);
return 0;
}
/* Make sure that the window size is even. If not, the input */
/* DEGREE is incompatible with the subtype. */
if (odd_(&winsiz)) {
setmsg_("The interpolating polynomials have degree #; for CK type 5,"
" the degree must be equivalent to 3 mod 4 for Hermite interp"
"olation and odd for for Lagrange interpolation.", (ftnlen)166)
;
errint_("#", degree, (ftnlen)1);
sigerr_("SPICE(INVALIDDEGREE)", (ftnlen)20);
chkout_("CKW05", (ftnlen)5);
return 0;
}
/* If we made it this far, we're ready to start writing the segment. */
/* Create the segment descriptor. */
/* Assign values to the integer components of the segment descriptor. */
ic[0] = *inst;
ic[1] = refcod;
ic[2] = 5;
if (*avflag) {
ic[3] = 1;
} else {
ic[3] = 0;
}
dc[0] = *begtim;
dc[1] = *endtim;
/* Make sure the descriptor times are in increasing order. */
if (*endtim < *begtim) {
setmsg_("Descriptor bounds are non-increasing: #:#", (ftnlen)41);
errdp_("#", begtim, (ftnlen)1);
errdp_("#", endtim, (ftnlen)1);
sigerr_("SPICE(BADDESCRTIMES)", (ftnlen)20);
chkout_("CKW05", (ftnlen)5);
return 0;
}
/* Make sure that at least one time tag lies between BEGTIM and */
/* ENDTIM. The first time tag not less than BEGTIM must exist */
/* and must be less than or equal to ENDTIM. */
i__ = lstltd_(begtim, n, sclkdp);
if (i__ == *n) {
setmsg_("All time tags are less than segment start time #.", (ftnlen)
49);
errdp_("#", begtim, (ftnlen)1);
sigerr_("SPICE(EMPTYSEGMENT)", (ftnlen)19);
chkout_("CKW05", (ftnlen)5);
return 0;
} else if (sclkdp[i__] > *endtim) {
setmsg_("No time tags lie between the segment start time # and segme"
"nt end time #", (ftnlen)72);
errdp_("#", begtim, (ftnlen)1);
errdp_("#", endtim, (ftnlen)1);
sigerr_("SPICE(EMPTYSEGMENT)", (ftnlen)19);
chkout_("CKW05", (ftnlen)5);
return 0;
}
/* The clock rate must be non-zero. */
if (*rate == 0.) {
setmsg_("The SCLK rate RATE was zero.", (ftnlen)28);
sigerr_("SPICE(INVALIDVALUE)", (ftnlen)19);
chkout_("CKW05", (ftnlen)5);
return 0;
}
/* Now pack the segment descriptor. */
dafps_(&c__2, &c__6, dc, ic, descr);
/* Begin a new segment. */
dafbna_(handle, descr, segid, segid_len);
if (failed_()) {
chkout_("CKW05", (ftnlen)5);
return 0;
}
/* The type 5 segment structure is eloquently described by this */
/* diagram from the CK Required Reading: */
/* +-----------------------+ */
/* | Packet 1 | */
/* +-----------------------+ */
/* | Packet 2 | */
/* +-----------------------+ */
/* . */
/* . */
/* . */
/* +-----------------------+ */
/* | Packet N | */
/* +-----------------------+ */
/* | Epoch 1 | */
/* +-----------------------+ */
/* | Epoch 2 | */
/* +-----------------------+ */
/* . */
/* . */
/* . */
/* +----------------------------+ */
/* | Epoch N | */
/* +----------------------------+ */
/* | Epoch 100 | (First directory) */
/* +----------------------------+ */
/* . */
/* . */
/* . */
/* +----------------------------+ */
/* | Epoch ((N-1)/100)*100 | (Last directory) */
/* +----------------------------+ */
/* | Start time 1 | */
/* +----------------------------+ */
/* | Start time 2 | */
/* +----------------------------+ */
/* . */
/* . */
/* . */
/* +----------------------------+ */
/* | Start time M | */
/* +----------------------------+ */
/* | Start time 100 | (First interval start */
/* +----------------------------+ time directory) */
/* . */
/* . */
/* . */
/* +----------------------------+ */
/* | Start time ((M-1)/100)*100 | (Last interval start */
/* +----------------------------+ time directory) */
/* | Seconds per tick | */
/* +----------------------------+ */
/* | Subtype code | */
/* +----------------------------+ */
/* | Window size | */
/* +----------------------------+ */
/* | Number of interp intervals | */
/* +----------------------------+ */
/* | Number of packets | */
/* +----------------------------+ */
i__1 = *n * packsz;
dafada_(packts, &i__1);
dafada_(sclkdp, n);
i__1 = (*n - 1) / 100;
for (i__ = 1; i__ <= i__1; ++i__) {
dafada_(&sclkdp[i__ * 100 - 1], &c__1);
}
/* Now add the interval start times. */
dafada_(starts, nints);
/* And the directory of interval start times. The directory of */
/* start times will simply be every (DIRSIZ)th start time. */
i__1 = (*nints - 1) / 100;
for (i__ = 1; i__ <= i__1; ++i__) {
dafada_(&starts[i__ * 100 - 1], &c__1);
}
/* Add the SCLK rate, segment subtype, window size, interval */
/* count, and packet count. */
dafada_(rate, &c__1);
d__1 = (doublereal) (*subtyp);
dafada_(&d__1, &c__1);
d__1 = (doublereal) winsiz;
dafada_(&d__1, &c__1);
d__1 = (doublereal) (*nints);
dafada_(&d__1, &c__1);
d__1 = (doublereal) (*n);
dafada_(&d__1, &c__1);
/* As long as nothing went wrong, end the segment. */
if (! failed_()) {
dafena_();
}
chkout_("CKW05", (ftnlen)5);
return 0;
} /* ckw05_ */
