/* $Procedure ET2STR ( Convert ET to String for FRMDIFF Output ) */
/* Subroutine */ int et2str_(doublereal *et, char *timfmt, integer *sclkid,
char *string, ftnlen timfmt_len, ftnlen string_len)
{
extern /* Subroutine */ int sce2c_(integer *, doublereal *, doublereal *),
sce2s_(integer *, doublereal *, char *, ftnlen), chkin_(char *,
ftnlen);
doublereal sclkd, ticks;
extern /* Subroutine */ int dpstr_(doublereal *, integer *, char *,
ftnlen);
extern logical eqstr_(char *, char *, ftnlen, ftnlen);
extern /* Subroutine */ int sc01s2d_(integer *, char *, doublereal *,
ftnlen);
extern logical return_(void);
extern /* Subroutine */ int timout_(doublereal *, char *, char *, ftnlen,
ftnlen), chkout_(char *, ftnlen);
/* $ Abstract */
/* Converts ET to a string for FRMDIFF output. */
/* $ 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 */
/* None. */
/* $ Keywords */
/* None. */
/* $ Declarations */
/* $ Abstract */
/* Include Section: FRMDIFF Global Parameters */
/* $ 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. */
/* $ Author_and_Institution */
/* B.V. Semenov (JPL) */
/* $ Version */
/* - Version 1.0.0, 09-DEC-2008 (BVS). */
/* -& */
/* Program name and version. */
/* Command line keys. */
/* Command line key values. */
/* Max and min number orientations that the program can handle. */
/* Default number orientations. */
/* Maximum number of IDs in a CK or a binary PCK file */
/* Line size parameters. */
/* Version, help, usage and header display parameters. */
/* DAF descriptor size and component counts. */
/* Cell lower boundary. */
/* Maximum allowed number of coverage windows. */
/* Smallest allowed step. */
/* Fraction of step to be used as pad at the end of intervals. */
/* End of FRMDIFF parameters. */
/* $ Brief_I/O */
/* Variable I/O Description */
/* -------- --- -------------------------------------------------- */
/* ET I ET time */
/* TIMFMT I Output format (per FRMDIFF spec) */
/* SCLKIF I SCLK ID */
/* STRING O Output time string */
/* $ Detailed_Input */
/* TBD. */
/* $ Detailed_Output */
/* TBD. */
/* $ Parameters */
/* None */
/* $ Exceptions */
/* None. */
/* $ Files */
/* None. */
/* $ Particulars */
/* TBD. */
/* $ Examples */
/* None. */
/* $ Restrictions */
/* None. */
/* $ Literature_References */
/* None. */
/* $ Author_and_Institution */
/* B.V. Semenov (JPL) */
/* $ Version */
/* - Version 1.0.0, 30-AUG-2008 (BVS) */
/* Initial version. */
/* -& */
/* SPICELIB functions */
/* Local variables */
/* Standard SPICE error handling. */
if (return_()) {
return 0;
} else {
chkin_("ET2STR", (ftnlen)6);
}
/* Convert ET to string depending on specified type. */
if (eqstr_(timfmt, "et", timfmt_len, (ftnlen)2)) {
/* Output string should contain ET seconds. Use DPSTR. */
dpstr_(et, &c__14, string, string_len);
if (*(unsigned char *)string == ' ') {
*(unsigned char *)string = '+';
}
} else if (eqstr_(timfmt, "ticks", timfmt_len, (ftnlen)5)) {
/* Output string should contain SCLK ticks. Use SCE2C and */
/* DPSTR. */
sce2c_(sclkid, et, &ticks);
dpstr_(&ticks, &c__14, string, string_len);
} else if (eqstr_(timfmt, "sclk", timfmt_len, (ftnlen)4)) {
/* Output string should contain SCLK string. Use SCE2S. */
sce2s_(sclkid, et, string, string_len);
} else if (eqstr_(timfmt, "sclkd", timfmt_len, (ftnlen)5)) {
/* Output string should contain decimal SCLK. Convert ET to SCLK */
/* string, then string to decimal form, and package decimal form */
/* back into a string :). */
sce2s_(sclkid, et, string, string_len);
sc01s2d_(sclkid, string, &sclkd, string_len);
dpstr_(&sclkd, &c__14, string, string_len);
} else {
/* Output string should be set by TIMOUT using provided TIMFMT. */
timout_(et, timfmt, string, timfmt_len, string_len);
}
/* All done. */
chkout_("ET2STR", (ftnlen)6);
return 0;
} /* et2str_ */
/* $Procedure CKFROT ( C-kernel, find rotation ) */
/* Subroutine */ int ckfrot_(integer *inst, doublereal *et, doublereal *
rotate, integer *ref, logical *found)
{
logical have, pfnd, sfnd;
doublereal time;
extern /* Subroutine */ int sce2c_(integer *, doublereal *, doublereal *);
char segid[40];
extern /* Subroutine */ int chkin_(char *, ftnlen);
doublereal descr[5];
extern /* Subroutine */ int dafus_(doublereal *, integer *, integer *,
doublereal *, integer *), ckbss_(integer *, doublereal *,
doublereal *, logical *), ckpfs_(integer *, doublereal *,
doublereal *, doublereal *, logical *, doublereal *, doublereal *,
doublereal *, logical *), cksns_(integer *, doublereal *, char *,
logical *, ftnlen), xpose_(doublereal *, doublereal *);
extern logical failed_(void);
doublereal av[3];
integer handle;
extern /* Subroutine */ int ckhave_(logical *);
logical needav;
extern /* Subroutine */ int ckmeta_(integer *, char *, integer *, ftnlen);
integer sclkid;
extern /* Subroutine */ int chkout_(char *, ftnlen);
doublereal clkout;
extern logical return_(void), zzsclk_(integer *, integer *);
doublereal dcd[2];
integer icd[6];
doublereal tol, rot[9] /* was [3][3] */;
/* $ Abstract */
/* Find the rotation from a C-kernel Id to the native */
/* frame at the time requested. */
/* $ 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 */
/* POINTING */
/* $ Declarations */
/* $ Brief_I/O */
/* Variable I/O Description */
/* -------- --- -------------------------------------------------- */
/* INST I NAIF instrument ID. */
/* ET I Epoch measured in seconds past J2000. */
/* ROTATE O rotation from CK platform to frame REF. */
/* REF O Reference frame. */
/* FOUND O True when requested pointing is available. */
/* $ Detailed_Input */
/* INST is the unique NAIF integer ID for the spacecraft */
/* instrument for which data is being requested. */
/* ET is the epoch for which the state rotation */
/* is desired. ET should be given in seconds past the */
/* epoch of J2000. */
/* $ Detailed_Output */
/* ROTATE is a rotation matrix that converts */
/* positions relative to the input frame (given by INST) */
/* to positions relative to the frame REF. */
/* Thus, if a state S has components x,y,z,dx,dy,dz */
/* in the frame of INST, frame, then S has components */
/* x', y', z', dx', dy', dz' in frame REF. */
/* [ x' ] [ ] [ x ] */
/* | y' | = | ROTATE | | y | */
/* [ z' ] [ ] [ z ] */
/* REF is the id-code reference frame to which ROTATE will */
/* transform states. */
/* FOUND is true if a record was found to satisfy the pointing */
/* request. FOUND will be false otherwise. */
/* $ Parameters */
/* None. */
/* $ Exceptions */
/* 1) If a C-kernel file is not loaded using CKLPF prior to calling */
/* this routine, an error is signalled by a routine that this */
/* routine calls. */
/* $ Files */
/* CKFROT searches through files loaded by CKLPF to locate a segment */
/* that can satisfy the request for position rotation */
/* for instrument INST at time ET. You must load a C-kernel */
/* file using CKLPF before calling this routine. */
/* $ Particulars */
/* CKFROT searches through files loaded by CKLPF to satisfy a */
/* pointing request. Last-loaded files are searched first, and */
/* individual files are searched in backwards order, giving */
/* priority to segments that were added to a file later than the */
/* others. CKFROT considers only those segments that contain */
/* angular velocity data. */
/* The search ends when a segment is found that can give pointing */
/* for the specified instrument at the request time. */
/* $ Examples */
/* None. */
/* $ Restrictions */
/* A C-kernel file should have been loaded by CKLPF. */
/* In addition it is helpful to load a CK-info file into the */
/* Kernel pool. This file should have the following variables */
/* defined. */
/* CK_<INST>_SCLK = SCLK idcode that yields SCLK mapping for INST. */
/* CK_<INST>_SPK = SPK idcode that yields ephemeris for INST. */
/* where <INST> is the integer string corresponding to INST. */
/* $ Literature_References */
/* None. */
/* $ Author_and_Institution */
/* W.L. Taber (JPL) */
/* $ Version */
/* - SPICELIB Version 1.2.0, 17-FEB-2000 (WLT) */
/* The routine now checks to make sure convert ET to TICKS */
/* and that at least one C-kernel is loaded before trying */
/* to look up the transformation. Also the routine now calls */
/* SCE2C instead of SCE2T. */
/* - SPICELIB Version 1.0.0, 03-MAR-1999 (WLT) */
/* -& */
/* $ Index_Entries */
/* get instrument frame rotation and reference frame */
/* -& */
/* SPICELIB functions */
/* Local parameters */
/* NDC is the number of double precision components in an */
/* unpacked C-kernel segment descriptor. */
/* NIC is the number of integer components in an unpacked */
/* C-kernel segment descriptor. */
/* NC is the number of components in a packed C-kernel */
/* descriptor. All DAF summaries have this formulaic */
/* relationship between the number of its integer and */
/* double precision components and the number of packed */
/* components. */
/* IDLEN is the length of the C-kernel segment identifier. */
/* All DAF names have this formulaic relationship */
/* between the number of summary components and */
/* the length of the name (You will notice that */
/* a name and a summary have the same length in bytes.) */
/* Local variables */
/* Set FOUND to FALSE right now in case we end up */
/* returning before doing any work. */
*found = FALSE_;
*ref = 0;
/* Standard SPICE error handling. */
if (return_()) {
return 0;
} else {
chkin_("CKFROT", (ftnlen)6);
}
/* We don't need angular velocity data. */
/* Assume the segment won't be found until it really is. */
needav = FALSE_;
tol = 0.;
/* Begin a search for this instrument and time, and get the first */
/* applicable segment. */
ckhave_(&have);
ckmeta_(inst, "SCLK", &sclkid, (ftnlen)4);
if (! have) {
chkout_("CKFROT", (ftnlen)6);
return 0;
} else if (! zzsclk_(inst, &sclkid)) {
chkout_("CKFROT", (ftnlen)6);
return 0;
}
sce2c_(&sclkid, et, &time);
ckbss_(inst, &time, &tol, &needav);
cksns_(&handle, descr, segid, &sfnd, (ftnlen)40);
/* Keep trying candidate segments until a segment can produce a */
/* pointing instance within the specified time tolerance of the */
/* input time. */
/* Check FAILED to prevent an infinite loop if an error is detected */
/* by a SPICELIB routine and the error handling is not set to abort. */
while(sfnd && ! failed_()) {
ckpfs_(&handle, descr, &time, &tol, &needav, rot, av, &clkout, &pfnd);
if (pfnd) {
/* Found one. Fetch the ID code of the reference frame */
/* from the descriptor. */
dafus_(descr, &c__2, &c__6, dcd, icd);
*ref = icd[1];
*found = TRUE_;
/* We now have the rotation matrix from */
/* REF to INS. We invert ROT to get the rotation */
/* from INST to REF. */
xpose_(rot, rotate);
chkout_("CKFROT", (ftnlen)6);
return 0;
}
cksns_(&handle, descr, segid, &sfnd, (ftnlen)40);
}
chkout_("CKFROT", (ftnlen)6);
return 0;
} /* ckfrot_ */