Rocky-7 Frames ---------------------------------------------------------------------- This file contains definition of all frames used in generation of Rocky-7 SPICE kernels including: -- Lavac Lake topocentric frame; -- rover control frame; -- rover frame; -- mast element frames; -- arm element frames; -- mast camera frames; -- rear navigation camera frames. This file must be loaded into a user's programs by LDPOOL subroutine in order to read SPICE data defined relative to any of the frame defined in the file. Revisions ---------------------------------------------------------------------- Version 1.2 Wed Jan 14 14:20:55 PST 1998 --- B.V. Semenov Frame definitons for the mast and rear navigation cameras were added. Version 1.1 Wed Jan 7 09:35:23 PST 1998 --- B.V. Semenov Definition of the RKY7-PANORAMA frame was deleted. Definition for the ROCKY7_CONTROL_FRAME was added. LAVAC_LAKE frame definition was changed from CK-based frame to fixed offset frame. Frame ID codes were modified (where needed) to correspond rover structures ID codes. Version 1.0 Fri Feb 7 09:39:11 PST 1997 --- W.L. Taber Initial release. Lavac Lake Frames ---------------------------------------------------------------------- The frame definition below defines the topocentric frame of Lavac Lake. This the frame in which global station measurements of the rover position were made. Z axis of this frame points from the surface along the normal vector, Y axis points towards North. This is a fixed offset frame. The frame is defined by two fixed rotations relative to the Earth body-fixed frame (IAU_EARTH). The values of rotation angles are based on the Lavac lake's geodetic longitude and latitude which were estimated from maps in the Rand McNally Atlas of the World. This is a 3-2-3 rotation (creating the transformation from Lavac Lake to IAU_EARTH) with defined angles as the negative of the site longitude, the negative of the site colatitude, -90 degrees. LAVAC_LAKE_LATLON = ( 34.68, -116.33, 0.5 ) \begindata FRAME_LAVAC_LAKE = -399900000 FRAME_-399900000_NAME = 'LAVAC_LAKE' FRAME_-399900000_CLASS = 4 FRAME_-399900000_CLASS_ID = -399900000 FRAME_-399900000_CENTER = 399900 TKFRAME_-399900000_RELATIVE = 'IAU_EARTH' TKFRAME_-399900000_SPEC = 'ANGLES' TKFRAME_-399900000_UNITS = 'DEGREES' TKFRAME_-399900000_ANGLES = ( 116.33, -55.32, -90.0 ) TKFRAME_-399900000_AXES = ( 3, 2, 3 ) \begintext The frame definition below defines another topocentric frame of Lavac Lake, the frame in which Rocky-7's motion was controlled. This frame is different from the LAVAC_LAKE frame by 90 degrees rotation about Z axis which makes X axis of the frame to point North. This is a fixed offset frame. \begindata FRAME_ROCKY7_CONTROL_FRAME = -399900001 FRAME_-399900001_NAME = 'ROCKY7_CONTROL_FRAME' FRAME_-399900001_CLASS = 4 FRAME_-399900001_CLASS_ID = -399900001 FRAME_-399900001_CENTER = 399900 TKFRAME_-399900001_SPEC = 'ANGLES' TKFRAME_-399900001_RELATIVE = 'LAVAC_LAKE' TKFRAME_-399900001_ANGLES = ( -90.0, 0.0, 0.0 ) TKFRAME_-399900001_AXES = ( 3, 2, 1 ) TKFRAME_-399900001_UNITS = 'DEGREES' \begintext Rocky-7 Rover Frame ---------------------------------------------------------------------- The next frame definition is for ROCKY-7. The Z axis of the frame points up from the rover's top panel, the X axis point along the rover's wheels towards rover's side opposite to the side on which mast and arm are attached. The origin on the frame is located in center between pairs of adjacent wheels at the ground level. The orientation of this frame will be given relative to the LAVAC_LAKE frame via CK file. \begindata FRAME_ROCKY-7 = -10002000 FRAME_-10002000_NAME = 'ROCKY-7' FRAME_-10002000_CLASS = 3 FRAME_-10002000_CLASS_ID = -10002000 FRAME_-10002000_CENTER = -10002 CK_-10002000_SCLK = -10002 CK_-10002000_SPK = -10002 \begintext Mast Frames ---------------------------------------------------------------------- The next frame definition is for the frame associated with the first piece of the mast of Rocky-7---the torso portion of the mast. The torso portion of the mast has it's axis of rotation about parallel to the z-axis of the Rocky 7 rover. \begindata FRAME_MAST-TORSO = -10002010 FRAME_-10002010_NAME = 'MAST-TORSO' FRAME_-10002010_CLASS = 3 FRAME_-10002010_CLASS_ID = -10002010 FRAME_-10002010_CENTER = -10002010 CK_-10002010_SCLK = -10002 CK_-10002010_SPK = -10002 \begintext The next frame definition is for the frame associated with the second piece of the mast of Rocky-7---the shoulder. The shoulder frame rotates about the y-axis of the torso frame. The y-axis of the shoulder and torso are parallel by construction. \begindata FRAME_MAST-SHOULDER = -10002011 FRAME_-10002011_NAME = 'MAST-SHOULDER' FRAME_-10002011_CLASS = 3 FRAME_-10002011_CLASS_ID = -10002011 FRAME_-10002011_CENTER = -10002011 CK_-10002011_SCLK = -10002 CK_-10002011_SPK = -10002 \begintext The next frame definition is for the frame associated with the third piece of the mast of Rocky-7---the elbow. The elbow rotates about the y-axis of the shoulder frame. The y-axis of the shoulder and elbow are parallel by construction. \begindata FRAME_MAST-ELBOW = -10002012 FRAME_-10002012_NAME = 'MAST-ELBOW' FRAME_-10002012_CLASS = 3 FRAME_-10002012_CLASS_ID = -10002012 FRAME_-10002012_CENTER = -10002012 CK_-10002012_SCLK = -10002 CK_-10002012_SPK = -10002 \begintext Arm Frames ---------------------------------------------------------------------- The next frame definition is for the frame associated with the first piece of the arm of Rocky-7 \begindata FRAME_ARM-TORSO = -10002020 FRAME_-10002020_NAME = 'ARM-TORSO' FRAME_-10002020_CLASS = 3 FRAME_-10002020_CLASS_ID = -10002020 FRAME_-10002020_CENTER = -10002020 CK_-10002020_SCLK = -10002 CK_-10002020_SPK = -10002 \begintext The next frame definition is for the frame associated with the second piece of the arm of Rocky-7 \begindata FRAME_ARM-SHOULDER = -10002021 FRAME_-10002021_NAME = 'ARM-SHOULDER' FRAME_-10002021_CLASS = 3 FRAME_-10002021_CLASS_ID = -10002021 FRAME_-10002021_CENTER = -10002021 CK_-10002021_SCLK = -10002 CK_-10002021_SPK = -10002 \begintext Camera Frames ---------------------------------------------------------------------- The next frame definitions are for the mast camera frames. The mast camera frames are fixed offset frames whose orientation is given relative the MAST-ELBOW frame. Original data provided by Clark Olson from his camera model files contained directions of the left and right mast camera boresight vectors relative to the rover frame for the fully extended up and looking forwards mast position (torso angle = 0 deg, shoulder angle = -90 deg, elbow angle = 0 deg). The units vectors for these direction were: left mast camera 0.999916 -0.002337 0.012731 right mast camera 0.999955 0.002860 0.009047 The same vector expressed in the MAST-ELBOW frame are (coordinates were "switched in the following way Z->X, X->-Z, Y->Y): left mast camera 0.012731 -0.002337 -0.999916 right mast camera 0.009047 0.002860 -0.999955 The following set of Euler angles would define the transformation from the MAST-ELBOW frame to a particular mast camera frame given that in the camera frame X axis is along boresight vector, Y axis is parallel to rover wheels axes and Z is up for the fully extended up mast position (the order of rotation is: first rotation about Y axis, the second about X axis and the third about Z axis): rot 1 (Y) rot 2 (X) rot 3 (Z) left mast camera 89.270545 0.0000000 -0.133900 right mast camera 89.481636 0.0000000 0.163866 The frame definitions for the mast frame are: \begindata FRAME_MAST-LEFT-CAMERA = -10002014 FRAME_-10002014_NAME = 'MAST-LEFT-CAMERA' FRAME_-10002014_CLASS = 4 FRAME_-10002014_CLASS_ID = -10002014 FRAME_-10002014_CENTER = -10002014 TKFRAME_-10002014_RELATIVE = 'MAST-ELBOW' TKFRAME_-10002014_SPEC = 'ANGLES' TKFRAME_-10002014_UNITS = 'DEGREES' TKFRAME_-10002014_ANGLES = ( -89.270545 0.0 0.133900 ) TKFRAME_-10002014_AXES = ( 2, 1, 3 ) FRAME_MAST-RIGHT-CAMERA = -10002015 FRAME_-10002015_NAME = 'MAST-RIGHT-CAMERA' FRAME_-10002015_CLASS = 4 FRAME_-10002015_CLASS_ID = -10002015 FRAME_-10002015_CENTER = -10002015 TKFRAME_-10002015_RELATIVE = 'MAST-ELBOW' TKFRAME_-10002015_SPEC = 'ANGLES' TKFRAME_-10002015_UNITS = 'DEGREES' TKFRAME_-10002015_ANGLES = ( -89.481636 0.0 -0.163866 ) TKFRAME_-10002015_AXES = ( 2, 1, 3 ) \begintext The next frame definitions are for the rear navigation camera frames. The rear navigation camera frames are fixed offset frames whose orientation is given relative the ROCKY-7 frame. Original data provided by Clark Olson from his camera model files contained directions of the rear left and right navigation camera boresight vectors relative to the rover frame. The units vectors for these direction were: rear left camera -0.758458 0.013175 -0.651588 rear right camera -0.758813 -0.005250 -0.651287 The following set of Euler angles would define the transformation from the ROCKY-7 frame to a particular rear camera frame given that in the camera frame X axis is along boresight vector, Y axis is parallel to rover wheels axes and Z is up (the order of rotations is: first rotation about Y axis, the second about X axis and the third about Z axis): rot 1 (Y) rot 2 (X) rot 3 (Z) rear left camera -40.665733 0.0000000 179.245105 rear right camera -40.639396 0.0000000 -179.699195 The frame definitions for the rear camera frames are: \begindata FRAME_REAR-LEFT-NAV-CAMERA = -10002001 FRAME_-10002001_NAME = 'REAR-LEFT-NAV-CAMERA' FRAME_-10002001_CLASS = 4 FRAME_-10002001_CLASS_ID = -10002001 FRAME_-10002001_CENTER = -10002001 TKFRAME_-10002001_RELATIVE = 'ROCKY-7' TKFRAME_-10002001_SPEC = 'ANGLES' TKFRAME_-10002001_UNITS = 'DEGREES' TKFRAME_-10002001_ANGLES = ( 40.665733 0.0 -179.245105 ) TKFRAME_-10002001_AXES = ( 2, 1, 3 ) FRAME_REAR-RIGHT-NAV-CAMERA = -10002002 FRAME_-10002002_NAME = 'REAR-RIGHT-NAV-CAMERA' FRAME_-10002002_CLASS = 4 FRAME_-10002002_CLASS_ID = -10002002 FRAME_-10002002_CENTER = -10002002 TKFRAME_-10002002_RELATIVE = 'ROCKY-7' TKFRAME_-10002002_SPEC = 'ANGLES' TKFRAME_-10002002_UNITS = 'DEGREES' TKFRAME_-10002002_ANGLES = ( 40.639396 0.0 179.699195 ) TKFRAME_-10002002_AXES = ( 2, 1, 3 ) \begintext