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OREKIT (ORbits Extrapolation KIT) is a low level space dynamics library.
It provides basic elements (orbits, dates, attitude, frames ...) and
various algorithms to handle them (conversions, analytical and numerical
propagation, pointing ...).
/* Copyright 2002-2018 CS Systèmes d'Information
* Licensed to CS Systèmes d'Information (CS) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership.
* CS licenses this file to You under the Apache License, Version 2.0
* (the "License"); you may not use this file except in compliance with
* the License. You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
package org.orekit.propagation;
import java.util.ArrayList;
import java.util.Collections;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
import java.util.stream.Stream;
import org.hipparchus.Field;
import org.hipparchus.RealFieldElement;
import org.hipparchus.analysis.interpolation.FieldHermiteInterpolator;
import org.hipparchus.exception.LocalizedCoreFormats;
import org.hipparchus.exception.MathIllegalArgumentException;
import org.hipparchus.exception.MathIllegalStateException;
import org.hipparchus.util.MathArrays;
import org.orekit.attitudes.FieldAttitude;
import org.orekit.attitudes.LofOffset;
import org.orekit.errors.OrekitException;
import org.orekit.errors.OrekitExceptionWrapper;
import org.orekit.errors.OrekitIllegalArgumentException;
import org.orekit.errors.OrekitMessages;
import org.orekit.frames.FieldTransform;
import org.orekit.frames.Frame;
import org.orekit.frames.LOFType;
import org.orekit.orbits.FieldOrbit;
import org.orekit.orbits.PositionAngle;
import org.orekit.time.FieldAbsoluteDate;
import org.orekit.time.FieldTimeInterpolable;
import org.orekit.time.FieldTimeShiftable;
import org.orekit.time.FieldTimeStamped;
import org.orekit.utils.TimeStampedFieldPVCoordinates;
/** This class is the representation of a complete state holding orbit, attitude
* and mass information at a given date.
*
* It contains an {@link FieldOrbit orbital state} at a current
* {@link FieldAbsoluteDate} both handled by an {@link FieldOrbit}, plus the current
* mass and attitude. FieldOrbitand state are guaranteed to be consistent in terms
* of date and reference frame. The spacecraft state may also contain additional
* states, which are simply named double arrays which can hold any user-defined
* data.
*
*
* The state can be slightly shifted to close dates. This shift is based on
* a simple Keplerian model for orbit, a linear extrapolation for attitude
* taking the spin rate into account and no mass change. It is not
* intended as a replacement for proper orbit and attitude propagation but
* should be sufficient for either small time shifts or coarse accuracy.
*
*
* The instance {@code FieldSpacecraftState} is guaranteed to be immutable.
*
* @see org.orekit.propagation.numerical.NumericalPropagator
* @author Fabien Maussion
* @author Véronique Pommier-Maurussane
* @author Luc Maisonobe
*/
public class FieldSpacecraftState >
implements FieldTimeStamped, FieldTimeShiftable, T>, FieldTimeInterpolable, T> {
/** Default mass. */
private static final double DEFAULT_MASS = 1000.0;
/**
* tolerance on date comparison in {@link #checkConsistency(FieldOrbit, FieldAttitude)}. 100 ns
* corresponds to sub-mm accuracy at LEO orbital velocities.
*/
private static final double DATE_INCONSISTENCY_THRESHOLD = 100e-9;
/** Orbital state. */
private final FieldOrbit orbit;
/** FieldAttitude. */
private final FieldAttitude attitude;
/** Current mass (kg). */
private final T mass;
/** Additional states. */
private final Map additional;
/** Build a spacecraft state from orbit only.
* FieldAttitude and mass are set to unspecified non-null arbitrary values.
* @param orbit the orbit
* @exception OrekitException if default attitude cannot be computed
*/
public FieldSpacecraftState(final FieldOrbit orbit)
throws OrekitException {
this(orbit,
new LofOffset(orbit.getFrame(), LOFType.VVLH).getAttitude(orbit, orbit.getDate(), orbit.getFrame()),
orbit.getA().getField().getZero().add(DEFAULT_MASS), null);
}
/** Build a spacecraft state from orbit and attitude provider.
* Mass is set to an unspecified non-null arbitrary value.
* @param orbit the orbit
* @param attitude attitude
* @exception IllegalArgumentException if orbit and attitude dates
* or frames are not equal
*/
public FieldSpacecraftState(final FieldOrbit orbit, final FieldAttitude attitude)
throws IllegalArgumentException {
this(orbit, attitude, orbit.getA().getField().getZero().add(DEFAULT_MASS), null);
}
/** Create a new instance from orbit and mass.
* FieldAttitude law is set to an unspecified default attitude.
* @param orbit the orbit
* @param mass the mass (kg)
* @exception OrekitException if default attitude cannot be computed
*/
public FieldSpacecraftState(final FieldOrbit orbit, final T mass)
throws OrekitException {
this(orbit,
new LofOffset(orbit.getFrame(), LOFType.VVLH).getAttitude(orbit, orbit.getDate(), orbit.getFrame()),
mass, null);
}
/** Build a spacecraft state from orbit, attitude provider and mass.
* @param orbit the orbit
* @param attitude attitude
* @param mass the mass (kg)
* @exception IllegalArgumentException if orbit and attitude dates
* or frames are not equal
*/
public FieldSpacecraftState(final FieldOrbit orbit, final FieldAttitude attitude, final T mass)
throws IllegalArgumentException {
this(orbit, attitude, mass, null);
}
/** Build a spacecraft state from orbit only.
* FieldAttitude and mass are set to unspecified non-null arbitrary values.
* @param orbit the orbit
* @param additional additional states
* @exception OrekitException if default attitude cannot be computed
*/
public FieldSpacecraftState(final FieldOrbit orbit, final Map additional)
throws OrekitException {
this(orbit,
new LofOffset(orbit.getFrame(), LOFType.VVLH).getAttitude(orbit, orbit.getDate(), orbit.getFrame()),
orbit.getA().getField().getZero().add(DEFAULT_MASS), additional);
}
/** Build a spacecraft state from orbit and attitude provider.
* Mass is set to an unspecified non-null arbitrary value.
* @param orbit the orbit
* @param attitude attitude
* @param additional additional states
* @exception IllegalArgumentException if orbit and attitude dates
* or frames are not equal
*/
public FieldSpacecraftState(final FieldOrbit orbit, final FieldAttitude attitude, final Map additional)
throws IllegalArgumentException {
this(orbit, attitude, orbit.getA().getField().getZero().add(DEFAULT_MASS), additional);
}
/** Create a new instance from orbit and mass.
* FieldAttitude law is set to an unspecified default attitude.
* @param orbit the orbit
* @param mass the mass (kg)
* @param additional additional states
* @exception OrekitException if default attitude cannot be computed
*/
public FieldSpacecraftState(final FieldOrbit orbit, final T mass, final Map additional)
throws OrekitException {
this(orbit,
new LofOffset(orbit.getFrame(), LOFType.VVLH).getAttitude(orbit, orbit.getDate(), orbit.getFrame()),
mass, additional);
}
/** Build a spacecraft state from orbit, attitude provider and mass.
* @param orbit the orbit
* @param attitude attitude
* @param mass the mass (kg)
* @param additional additional states (may be null if no additional states are available)
* @exception IllegalArgumentException if orbit and attitude dates
* or frames are not equal
*/
public FieldSpacecraftState(final FieldOrbit orbit, final FieldAttitude attitude,
final T mass, final Map additional)
throws IllegalArgumentException {
checkConsistency(orbit, attitude);
this.orbit = orbit;
this.attitude = attitude;
this.mass = mass;
if (additional == null) {
this.additional = Collections.emptyMap();
} else {
this.additional = new HashMap(additional.size());
for (final Map.Entry entry : additional.entrySet()) {
this.additional.put(entry.getKey(), entry.getValue().clone());
}
}
}
/** Convert a {@link SpacecraftState}.
* @param field field to which the elements belong
* @param state state to convert
*/
public FieldSpacecraftState(final Field field, final SpacecraftState state) {
final double[] stateD = new double[6];
final double[] stateDotD = state.getOrbit().hasDerivatives() ? new double[6] : null;
state.getOrbit().getType().mapOrbitToArray(state.getOrbit(), PositionAngle.TRUE, stateD, stateDotD);
final T[] stateF = MathArrays.buildArray(field, 6);
for (int i = 0; i < stateD.length; ++i) {
stateF[i] = field.getZero().add(stateD[i]);
}
final T[] stateDotF;
if (stateDotD == null) {
stateDotF = null;
} else {
stateDotF = MathArrays.buildArray(field, 6);
for (int i = 0; i < stateDotD.length; ++i) {
stateDotF[i] = field.getZero().add(stateDotD[i]);
}
}
final FieldAbsoluteDate dateF = new FieldAbsoluteDate<>(field, state.getDate());
this.orbit = state.getOrbit().getType().mapArrayToOrbit(stateF, stateDotF,
PositionAngle.TRUE,
dateF, state.getMu(), state.getFrame());
this.attitude = new FieldAttitude<>(field, state.getAttitude());
this.mass = field.getZero().add(state.getMass());
final Map additionalD = state.getAdditionalStates();
if (additionalD.isEmpty()) {
this.additional = Collections.emptyMap();
} else {
this.additional = new HashMap(additionalD.size());
for (final Map.Entry entry : additionalD.entrySet()) {
final T[] array = MathArrays.buildArray(field, entry.getValue().length);
for (int k = 0; k < array.length; ++k) {
array[k] = field.getZero().add(entry.getValue()[k]);
}
this.additional.put(entry.getKey(), array);
}
}
}
/** Add an additional state.
*
* {@link FieldSpacecraftState SpacecraftState} instances are immutable,
* so this method does not change the instance, but rather
* creates a new instance, which has the same orbit, attitude, mass
* and additional states as the original instance, except it also
* has the specified state. If the original instance already had an
* additional state with the same name, it will be overridden. If it
* did not have any additional state with that name, the new instance
* will have one more additional state than the original instance.
*
* @param name name of the additional state
* @param value value of the additional state
* @return a new instance, with the additional state added
* @see #hasAdditionalState(String)
* @see #getAdditionalState(String)
* @see #getAdditionalStates()
*/
@SafeVarargs
public final FieldSpacecraftState addAdditionalState(final String name, final T... value) {
final Map newMap = new HashMap(additional.size() + 1);
newMap.putAll(additional);
newMap.put(name, value.clone());
return new FieldSpacecraftState<>(orbit, attitude, mass, newMap);
}
/** Check orbit and attitude dates are equal.
* @param orbitN the orbit
* @param attitudeN attitude
* @exception IllegalArgumentException if orbit and attitude dates
* are not equal
*/
private void checkConsistency(final FieldOrbit orbitN, final FieldAttitude attitudeN)
throws IllegalArgumentException {
if (orbitN.getDate().durationFrom(attitudeN.getDate()).abs().getReal() >
DATE_INCONSISTENCY_THRESHOLD) {
throw new OrekitIllegalArgumentException(OrekitMessages.ORBIT_AND_ATTITUDE_DATES_MISMATCH,
orbitN.getDate(), attitudeN.getDate());
}
if (orbitN.getFrame() != attitudeN.getReferenceFrame()) {
throw new OrekitIllegalArgumentException(OrekitMessages.FRAMES_MISMATCH,
orbitN.getFrame().getName(),
attitudeN.getReferenceFrame().getName());
}
}
/** Get a time-shifted state.
*
* The state can be slightly shifted to close dates. This shift is based on
* a simple Keplerian model for orbit, a linear extrapolation for attitude
* taking the spin rate into account and neither mass nor additional states
* changes. It is not intended as a replacement for proper orbit
* and attitude propagation but should be sufficient for small time shifts
* or coarse accuracy.
*
*
* As a rough order of magnitude, the following table shows the extrapolation
* errors obtained between this simple shift method and an {@link
* org.orekit.propagation.numerical.NumericalPropagator numerical
* propagator} for a low Earth Sun Synchronous Orbit, with a 20x20 gravity field,
* Sun and Moon third bodies attractions, drag and solar radiation pressure.
* Beware that these results will be different for other orbits.
*
*
* Extrapolation Error
* interpolation time (s)
* position error without derivatives (m) position error with derivatives (m) 60 18 1.1 120 72 9.1 300 447 140 600 1601 1067 900 3141 3307
* @param dt time shift in seconds
* @return a new state, shifted with respect to the instance (which is immutable)
* except for the mass which stay unchanged
*/
public FieldSpacecraftState shiftedBy(final double dt) {
return new FieldSpacecraftState<>(orbit.shiftedBy(dt), attitude.shiftedBy(dt),
mass, additional);
}
/** Get a time-shifted state.
*
* The state can be slightly shifted to close dates. This shift is based on
* a simple Keplerian model for orbit, a linear extrapolation for attitude
* taking the spin rate into account and neither mass nor additional states
* changes. It is not intended as a replacement for proper orbit
* and attitude propagation but should be sufficient for small time shifts
* or coarse accuracy.
*
*
* As a rough order of magnitude, the following table shows the extrapolation
* errors obtained between this simple shift method and an {@link
* org.orekit.propagation.numerical.NumericalPropagator numerical
* propagator} for a low Earth Sun Synchronous Orbit, with a 20x20 gravity field,
* Sun and Moon third bodies attractions, drag and solar radiation pressure.
* Beware that these results will be different for other orbits.
*
*
* Extrapolation Error
* interpolation time (s)
* position error without derivatives (m) position error with derivatives (m) 60 18 1.1 120 72 9.1 300 447 140 600 1601 1067 900 3141 3307
* @param dt time shift in seconds
* @return a new state, shifted with respect to the instance (which is immutable)
* except for the mass which stay unchanged
*/
public FieldSpacecraftState shiftedBy(final T dt) {
return new FieldSpacecraftState<>(orbit.shiftedBy(dt), attitude.shiftedBy(dt),
mass, additional);
}
/** Get an interpolated instance.
*
* The additional states that are interpolated are the ones already present
* in the instance. The sample instances must therefore have at least the same
* additional states has the instance. They may have more additional states,
* but the extra ones will be ignored.
*
*
* As this implementation of interpolation is polynomial, it should be used only
* with small samples (about 10-20 points) in order to avoid Runge's phenomenon
* and numerical problems (including NaN appearing).
*
* @param date interpolation date
* @param sample sample points on which interpolation should be done
* @return a new instance, interpolated at specified date
* @exception OrekitException if the number of point is too small for interpolating
*/
public FieldSpacecraftState interpolate(final FieldAbsoluteDate date,
final Stream> sample)
throws OrekitException {
// prepare interpolators
final List> orbits = new ArrayList<>();
final List> attitudes = new ArrayList<>();
final FieldHermiteInterpolator massInterpolator = new FieldHermiteInterpolator<>();
final Map> additionalInterpolators =
new HashMap>(additional.size());
for (final String name : additional.keySet()) {
additionalInterpolators.put(name, new FieldHermiteInterpolator<>());
}
// extract sample data
try {
sample.forEach(state -> {
try {
final T deltaT = state.getDate().durationFrom(date);
orbits.add(state.getOrbit());
attitudes.add(state.getAttitude());
final T[] mm = MathArrays.buildArray(orbit.getA().getField(), 1);
mm[0] = state.getMass();
massInterpolator.addSamplePoint(deltaT,
mm);
for (final Map.Entry> entry : additionalInterpolators.entrySet()) {
entry.getValue().addSamplePoint(deltaT, state.getAdditionalState(entry.getKey()));
}
} catch (OrekitException oe) {
throw new OrekitExceptionWrapper(oe);
}
});
} catch (OrekitExceptionWrapper oew) {
throw oew.getException();
}
// perform interpolations
final FieldOrbit interpolatedOrbit = orbit.interpolate(date, orbits);
final FieldAttitude interpolatedAttitude = attitude.interpolate(date, attitudes);
final T interpolatedMass = massInterpolator.value(orbit.getA().getField().getZero())[0];
final Map interpolatedAdditional;
if (additional.isEmpty()) {
interpolatedAdditional = null;
} else {
interpolatedAdditional = new HashMap(additional.size());
for (final Map.Entry> entry : additionalInterpolators.entrySet()) {
interpolatedAdditional.put(entry.getKey(), entry.getValue().value(orbit.getA().getField().getZero()));
}
}
// create the complete interpolated state
return new FieldSpacecraftState<>(interpolatedOrbit, interpolatedAttitude,
interpolatedMass, interpolatedAdditional);
}
/** Gets the current orbit.
* @return the orbit
*/
public FieldOrbit getOrbit() {
return orbit;
}
/** Get the date.
* @return date
*/
public FieldAbsoluteDate getDate() {
return orbit.getDate();
}
/** Get the inertial frame.
* @return the frame
*/
public Frame getFrame() {
return orbit.getFrame();
}
/** Check if an additional state is available.
* @param name name of the additional state
* @return true if the additional state is available
* @see #addAdditionalState(String, RealFieldElement...)
* @see #getAdditionalState(String)
* @see #getAdditionalStates()
*/
public boolean hasAdditionalState(final String name) {
return additional.containsKey(name);
}
/** Check if two instances have the same set of additional states available.
*
* Only the names and dimensions of the additional states are compared,
* not their values.
*
* @param state state to compare to instance
* @exception OrekitException if either instance or state supports an additional
* state not supported by the other one
* @exception MathIllegalArgumentException if an additional state does not have
* the same dimension in both states
*/
public void ensureCompatibleAdditionalStates(final FieldSpacecraftState state)
throws OrekitException, MathIllegalArgumentException {
// check instance additional states is a subset of the other one
for (final Map.Entry entry : additional.entrySet()) {
final T[] other = state.additional.get(entry.getKey());
if (other == null) {
throw new OrekitException(OrekitMessages.UNKNOWN_ADDITIONAL_STATE,
entry.getKey());
}
if (other.length != entry.getValue().length) {
throw new MathIllegalStateException(LocalizedCoreFormats.DIMENSIONS_MISMATCH,
other.length, entry.getValue().length);
}
}
if (state.additional.size() > additional.size()) {
// the other state has more additional states
for (final String name : state.additional.keySet()) {
if (!additional.containsKey(name)) {
throw new OrekitException(OrekitMessages.UNKNOWN_ADDITIONAL_STATE,
name);
}
}
}
}
/** Get an additional state.
* @param name name of the additional state
* @return value of the additional state
* @exception OrekitException if no additional state with that name exists
* @see #addAdditionalState(String, RealFieldElement...)
* @see #hasAdditionalState(String)
* @see #getAdditionalStates()
*/
public T[] getAdditionalState(final String name) throws OrekitException {
if (!additional.containsKey(name)) {
throw new OrekitException(OrekitMessages.UNKNOWN_ADDITIONAL_STATE, name);
}
return additional.get(name).clone();
}
/** Get an unmodifiable map of additional states.
* @return unmodifiable map of additional states
* @see #addAdditionalState(String, RealFieldElement...)
* @see #hasAdditionalState(String)
* @see #getAdditionalState(String)
*/
public Map getAdditionalStates() {
return Collections.unmodifiableMap(additional);
}
/** Compute the transform from orbite/attitude reference frame to spacecraft frame.
* The spacecraft frame origin is at the point defined by the orbit,
* and its orientation is defined by the attitude.
* @return transform from specified frame to current spacecraft frame
*/
public FieldTransform toTransform() {
final FieldAbsoluteDate date = orbit.getDate();
return new FieldTransform<>(date,
new FieldTransform<>(date, orbit.getPVCoordinates().negate()),
new FieldTransform<>(date, attitude.getOrientation()));
}
/** Get the central attraction coefficient.
* @return mu central attraction coefficient (m^3/s^2)
*/
public double getMu() {
return orbit.getMu();
}
/** Get the Keplerian period.
* The Keplerian period is computed directly from semi major axis
* and central acceleration constant.
* @return Keplerian period in seconds
*/
public T getKeplerianPeriod() {
return orbit.getKeplerianPeriod();
}
/** Get the Keplerian mean motion.
* The Keplerian mean motion is computed directly from semi major axis
* and central acceleration constant.
* @return Keplerian mean motion in radians per second
*/
public T getKeplerianMeanMotion() {
return orbit.getKeplerianMeanMotion();
}
/** Get the semi-major axis.
* @return semi-major axis (m)
*/
public T getA() {
return orbit.getA();
}
/** Get the first component of the eccentricity vector (as per equinoctial parameters).
* @return e cos(ω + Ω), first component of eccentricity vector
* @see #getE()
*/
public T getEquinoctialEx() {
return orbit.getEquinoctialEx();
}
/** Get the second component of the eccentricity vector (as per equinoctial parameters).
* @return e sin(ω + Ω), second component of the eccentricity vector
* @see #getE()
*/
public T getEquinoctialEy() {
return orbit.getEquinoctialEy();
}
/** Get the first component of the inclination vector (as per equinoctial parameters).
* @return tan(i/2) cos(Ω), first component of the inclination vector
* @see #getI()
*/
public T getHx() {
return orbit.getHx();
}
/** Get the second component of the inclination vector (as per equinoctial parameters).
* @return tan(i/2) sin(Ω), second component of the inclination vector
* @see #getI()
*/
public T getHy() {
return orbit.getHy();
}
/** Get the true latitude argument (as per equinoctial parameters).
* @return v + ω + Ω true latitude argument (rad)
* @see #getLE()
* @see #getLM()
*/
public T getLv() {
return orbit.getLv();
}
/** Get the eccentric latitude argument (as per equinoctial parameters).
* @return E + ω + Ω eccentric latitude argument (rad)
* @see #getLv()
* @see #getLM()
*/
public T getLE() {
return orbit.getLE();
}
/** Get the mean latitude argument (as per equinoctial parameters).
* @return M + ω + Ω mean latitude argument (rad)
* @see #getLv()
* @see #getLE()
*/
public T getLM() {
return orbit.getLM();
}
// Additional orbital elements
/** Get the eccentricity.
* @return eccentricity
* @see #getEquinoctialEx()
* @see #getEquinoctialEy()
*/
public T getE() {
return orbit.getE();
}
/** Get the inclination.
* @return inclination (rad)
* @see #getHx()
* @see #getHy()
*/
public T getI() {
return orbit.getI();
}
/** Get the {@link TimeStampedFieldPVCoordinates} in orbit definition frame.
* Compute the position and velocity of the satellite. This method caches its
* results, and recompute them only when the method is called with a new value
* for mu. The result is provided as a reference to the internally cached
* {@link TimeStampedFieldPVCoordinates}, so the caller is responsible to copy it in a separate
* {@link TimeStampedFieldPVCoordinates} if it needs to keep the value for a while.
* @return pvCoordinates in orbit definition frame
*/
public TimeStampedFieldPVCoordinates getPVCoordinates() {
return orbit.getPVCoordinates();
}
/** Get the {@link TimeStampedFieldPVCoordinates} in given output frame.
* Compute the position and velocity of the satellite. This method caches its
* results, and recompute them only when the method is called with a new value
* for mu. The result is provided as a reference to the internally cached
* {@link TimeStampedFieldPVCoordinates}, so the caller is responsible to copy it in a separate
* {@link TimeStampedFieldPVCoordinates} if it needs to keep the value for a while.
* @param outputFrame frame in which coordinates should be defined
* @return pvCoordinates in orbit definition frame
* @exception OrekitException if the transformation between frames cannot be computed
*/
public TimeStampedFieldPVCoordinates getPVCoordinates(final Frame outputFrame)
throws OrekitException {
return orbit.getPVCoordinates(outputFrame);
}
/** Get the attitude.
* @return the attitude.
*/
public FieldAttitude getAttitude() {
return attitude;
}
/** Gets the current mass.
* @return the mass (kg)
*/
public T getMass() {
return mass;
}
/**To convert a FieldSpacecraftState instance into a SpacecraftState instance.
*
* @return SpacecraftState instance with the same properties
*/
public SpacecraftState toSpacecraftState() {
final Map map;
if (additional.isEmpty()) {
map = Collections.emptyMap();
} else {
map = new HashMap<>(additional.size());
for (final Map.Entry entry : additional.entrySet()) {
final double[] array = new double[entry.getValue().length];
for (int k = 0; k < array.length; ++k) {
array[k] = entry.getValue()[k].getReal();
}
map.put(entry.getKey(), array);
}
}
return new SpacecraftState(orbit.toOrbit(), attitude.toAttitude(), mass.getReal(), map);
}
}