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dgeodr_c

 Procedure Abstract Required_Reading Keywords Brief_I/O Detailed_Input Detailed_Output Parameters Exceptions Files Particulars Examples Restrictions Literature_References Author_and_Institution Version Index_Entries

#### Procedure

```   dgeodr_c ( Derivative of geodetic w.r.t. rectangular )

void dgeodr_c ( SpiceDouble   x,
SpiceDouble   y,
SpiceDouble   z,
SpiceDouble   re,
SpiceDouble   f,
SpiceDouble   jacobi[3][3] )

```

#### Abstract

```   Compute the Jacobian matrix of the transformation from
rectangular to geodetic coordinates.
```

```   None.
```

#### Keywords

```   COORDINATES
DERIVATIVES
MATRIX

```

#### Brief_I/O

```   VARIABLE  I/O  DESCRIPTION
--------  ---  --------------------------------------------------
x          I   X-coordinate of point.
y          I   Y-coordinate of point.
z          I   Z-coordinate of point.
re         I   Equatorial radius of the reference spheroid.
f          I   Flattening coefficient.
jacobi     O   Matrix of partial derivatives.
```

#### Detailed_Input

```   x,
y,
z           are the rectangular coordinates of the point at
which the Jacobian of the map from rectangular
to geodetic coordinates is desired.

re          Equatorial radius of the reference spheroid.

f           Flattening coefficient = (re-rp) / re,  where rp is
the polar radius of the spheroid. (More importantly
rp = re*(1-f).)
```

#### Detailed_Output

```   jacobi      is the matrix of partial derivatives of the conversion
between rectangular and geodetic coordinates. It
has the form

.-                            -.
|  dlon/dx   dlon/dy  dlon/dz  |
|  dlat/dx   dlat/dy  dlat/dz  |
|  dalt/dx   dalt/dy  dalt/dz  |
`-                            -'

evaluated at the input values of x, y, and z.
```

#### Parameters

```   None.
```

#### Exceptions

```   1)  If the input point is on the Z-axis (X and Y = 0), the Jacobian
is undefined, the error SPICE(POINTONZAXIS) is signaled by a
routine in the call tree of this routine.

2)  If the flattening coefficient is greater than or equal to one,
the error SPICE(VALUEOUTOFRANGE) is signaled by a routine in the
call tree of this routine.

3)  If the equatorial radius is not positive, the error
this routine.
```

#### Files

```   None.
```

#### Particulars

```   When performing vector calculations with velocities it is
usually most convenient to work in rectangular coordinates.
However, once the vector manipulations have been performed,
it is often desirable to convert the rectangular representations
into geodetic coordinates to gain insights about phenomena
in this coordinate frame.

To transform rectangular velocities to derivatives of coordinates
in a geodetic system, one uses the Jacobian of the transformation
between the two systems.

Given a state in rectangular coordinates

( x, y, z, dx, dy, dz )

the velocity in geodetic coordinates is given by the matrix
equation:
t          |                     t
(dlon, dlat, dalt)   = jacobi|       * (dx, dy, dz)
|(x,y,z)

This routine computes the matrix

|
jacobi|
|(x, y, z)
```

#### Examples

```   The numerical results shown for this example may differ across
platforms. The results depend on the SPICE kernels used as
input, the compiler and supporting libraries, and the machine
specific arithmetic implementation.

1) Find the geodetic state of the earth as seen from
Mars in the IAU_MARS reference frame at January 1, 2005 TDB.
Map this state back to rectangular coordinates as a check.

Use the meta-kernel shown below to load the required SPICE
kernels.

KPL/MK

File name: dgeodr_ex1.tm

This meta-kernel is intended to support operation of SPICE
example programs. The kernels shown here should not be
assumed to contain adequate or correct versions of data
required by SPICE-based user applications.

In order for an application to use this meta-kernel, the
kernels referenced here must be present in the user's
current working directory.

The names and contents of the kernels referenced
by this meta-kernel are as follows:

File name                     Contents
---------                     --------
de421.bsp                     Planetary ephemeris
pck00010.tpc                  Planet orientation and
naif0009.tls                  Leapseconds

\begindata

'pck00010.tpc',
'naif0009.tls'  )

\begintext

End of meta-kernel

Example code begins here.

/.
Program dgeodr_ex1
./
#include <stdio.h>
#include "SpiceUsr.h"

int main( )
{

/.
Local variables
./
SpiceDouble          alt;
SpiceDouble          drectn [3];
SpiceDouble          et;
SpiceDouble          f;
SpiceDouble          jacobi [3][3];
SpiceDouble          lat;
SpiceDouble          lon;
SpiceDouble          lt;
SpiceDouble          geovel [3];
SpiceDouble          re;
SpiceDouble          rectan [3];
SpiceDouble          rp;
SpiceDouble          state  [6];

SpiceInt             n;

/.
Load SPK, PCK, and LSK kernels, use a meta kernel for
convenience.
./
furnsh_c ( "dgeodr_ex1.tm" );

/.
Look up the radii for Mars.  Although we
omit it here, we could first call badkpv_c
to make sure the variable BODY499_RADII
has three elements and numeric data type.
If the variable is not present in the kernel
pool, bodvrd_c will signal an error.
./

/.
Compute flattening coefficient.
./
f   =  ( re - rp ) / re;

/.
Look up the apparent state of earth as seen from Mars at
January 1, 2005 TDB, relative to the IAU_MARS reference
frame.
./
str2et_c ( "January 1, 2005 TDB", &et );

spkezr_c ( "Earth", et, "IAU_MARS", "LT+S", "Mars", state, &lt );

/.
Convert position to geodetic coordinates.
./
recgeo_c ( state, re, f, &lon, &lat, &alt );

/.
Convert velocity to geodetic coordinates.
./

dgeodr_c ( state[0], state[1], state[2], re, f, jacobi );

mxv_c ( jacobi, state+3, geovel );

/.
As a check, convert the geodetic state back to
rectangular coordinates.
./
georec_c ( lon, lat, alt, re, f, rectan );

drdgeo_c ( lon, lat, alt, re, f, jacobi );

mxv_c ( jacobi, geovel, drectn );

printf( " \n" );
printf( "Rectangular coordinates:\n" );
printf( " \n" );
printf( " X (km)                 =  %17.8e\n", state[0] );
printf( " Y (km)                 =  %17.8e\n", state[1] );
printf( " Z (km)                 =  %17.8e\n", state[2] );
printf( " \n" );
printf( "Rectangular velocity:\n" );
printf( " \n" );
printf( " dX/dt (km/s)           =  %17.8e\n", state[3] );
printf( " dY/dt (km/s)           =  %17.8e\n", state[4] );
printf( " dZ/dt (km/s)           =  %17.8e\n", state[5] );
printf( " \n" );
printf( "Ellipsoid shape parameters: \n" );
printf( " \n" );
printf( " Equatorial radius (km) =  %17.8e\n", re );
printf( " Polar radius      (km) =  %17.8e\n", rp );
printf( " Flattening coefficient =  %17.8e\n", f );
printf( " \n" );
printf( "Geodetic coordinates:\n" );
printf( " \n" );
printf( " Longitude (deg)        =  %17.8e\n", lon / rpd_c() );
printf( " Latitude  (deg)        =  %17.8e\n", lat / rpd_c() );
printf( " Altitude  (km)         =  %17.8e\n", alt );
printf( " \n" );
printf( "Geodetic velocity:\n" );
printf( " \n" );
printf( " d Longitude/dt (deg/s) =  %17.8e\n", geovel[0]/rpd_c() );
printf( " d Latitude/dt  (deg/s) =  %17.8e\n", geovel[1]/rpd_c() );
printf( " d Altitude/dt  (km/s)  =  %17.8e\n", geovel[2] );
printf( " \n" );
printf( "Rectangular coordinates from inverse mapping:\n" );
printf( " \n" );
printf( " X (km)                 =  %17.8e\n", rectan[0] );
printf( " Y (km)                 =  %17.8e\n", rectan[1] );
printf( " Z (km)                 =  %17.8e\n", rectan[2] );
printf( " \n" );
printf( "Rectangular velocity from inverse mapping:\n" );
printf( " \n" );
printf( " dX/dt (km/s)           =  %17.8e\n", drectn[0] );
printf( " dY/dt (km/s)           =  %17.8e\n", drectn[1] );
printf( " dZ/dt (km/s)           =  %17.8e\n", drectn[2] );
printf( " \n" );

return ( 0 );
}

When this program was executed on a Mac/Intel/cc/64-bit
platform, the output was:

Rectangular coordinates:

X (km)                 =    -7.60961826e+07
Y (km)                 =     3.24363805e+08
Z (km)                 =     4.74704840e+07

Rectangular velocity:

dX/dt (km/s)           =     2.29520749e+04
dY/dt (km/s)           =     5.37601112e+03
dZ/dt (km/s)           =    -2.08811490e+01

Ellipsoid shape parameters:

Flattening coefficient =     5.88600756e-03

Geodetic coordinates:

Longitude (deg)        =     1.03202903e+02
Latitude  (deg)        =     8.10898757e+00
Altitude  (km)         =     3.36531823e+08

Geodetic velocity:

d Longitude/dt (deg/s) =    -4.05392876e-03
d Latitude/dt  (deg/s) =    -3.31899337e-06
d Altitude/dt  (km/s)  =    -1.12116015e+01

Rectangular coordinates from inverse mapping:

X (km)                 =    -7.60961826e+07
Y (km)                 =     3.24363805e+08
Z (km)                 =     4.74704840e+07

Rectangular velocity from inverse mapping:

dX/dt (km/s)           =     2.29520749e+04
dY/dt (km/s)           =     5.37601112e+03
dZ/dt (km/s)           =    -2.08811490e+01
```

#### Restrictions

```   None.
```

#### Literature_References

```   None.
```

#### Author_and_Institution

```   N.J. Bachman        (JPL)
J. Diaz del Rio     (ODC Space)
W.L. Taber          (JPL)
```

#### Version

```   -CSPICE Version 1.0.1, 01-NOV-2021 (JDR)

Edited the header to comply with NAIF standard.
```   Jacobian of geodetic  w.r.t. rectangular coordinates
`Fri Dec 31 18:41:04 2021`