drdpgr_c |

## Procedurevoid drdpgr_c ( ConstSpiceChar * body, SpiceDouble lon, SpiceDouble lat, SpiceDouble alt, SpiceDouble re, SpiceDouble f, SpiceDouble jacobi[3][3] ) ## AbstractThis routine computes the Jacobian matrix of the transformation from planetographic to rectangular coordinates. ## Required_ReadingNone. ## KeywordsCOORDINATES DERIVATIVES MATRIX ## Brief_I/OVariable I/O Description -------- --- -------------------------------------------------- body I Name of body with which coordinates are associated. lon I Planetographic longitude of a point (radians). lat I Planetographic latitude of a point (radians). alt I Altitude of a point above reference spheroid. re I Equatorial radius of the reference spheroid. f I Flattening coefficient. jacobi O Matrix of partial derivatives. ## Detailed_Inputbody Name of the body with which the planetographic coordinate system is associated. `body' is used by this routine to look up from the kernel pool the prime meridian rate coefficient giving the body's spin sense. See the Files and Particulars header sections below for details. lon Planetographic longitude of the input point. This is the angle between the prime meridian and the meridian containing the input point. For bodies having prograde (aka direct) rotation, the direction of increasing longitude is positive west: from the +X axis of the rectangular coordinate system toward the -Y axis. For bodies having retrograde rotation, the direction of increasing longitude is positive east: from the +X axis toward the +Y axis. The earth, moon, and sun are exceptions: planetographic longitude is measured positive east for these bodies. The default interpretation of longitude by this and the other planetographic coordinate conversion routines can be overridden; see the discussion in Particulars below for details. Longitude is measured in radians. On input, the range of longitude is unrestricted. lat Planetographic latitude of the input point. For a point P on the reference spheroid, this is the angle between the XY plane and the outward normal vector at P. For a point P not on the reference spheroid, the planetographic latitude is that of the closest point to P on the spheroid. Latitude is measured in radians. On input, the range of latitude is unrestricted. alt Altitude of point above the reference spheroid. Units of `alt' must match those of `re'. re Equatorial radius of a reference spheroid. This spheroid is a volume of revolution: its horizontal cross sections are circular. The shape of the spheroid is defined by an equatorial radius `re' and a polar radius `rp'. Units of `re' must match those of `alt'. f Flattening coefficient = (re-rp) / re where `rp' is the polar radius of the spheroid, and the units of `rp' match those of `re'. ## Detailed_OutputJACOBI is the matrix of partial derivatives of the conversion from planetographic to rectangular coordinates. It has the form .- -. | DX/DLON DX/DLAT DX/DALT | | DY/DLON DY/DLAT DY/DALT | | DZ/DLON DZ/DLAT DZ/DALT | `- -' evaluated at the input values of `lon', `lat' and `alt'. ## ParametersNone. ## Exceptions1) If the body name `body' cannot be mapped to a NAIF ID code, and if `body' is not a string representation of an integer, the error SPICE(IDCODENOTFOUND) will be signaled. 2) If the kernel variable BODY<ID code>_PGR_POSITIVE_LON is present in the kernel pool but has a value other than one of 'EAST' 'WEST' the error SPICE(INVALIDOPTION) will be signaled. Case and blanks are ignored when these values are interpreted. 3) If polynomial coefficients for the prime meridian of `body' are not available in the kernel pool, and if the kernel variable BODY<ID code>_PGR_POSITIVE_LON is not present in the kernel pool, the error SPICE(MISSINGDATA) will be signaled. 4) If the equatorial radius is non-positive, the error SPICE(VALUEOUTOFRANGE) is signaled. 5) If the flattening coefficient is greater than or equal to one, the error SPICE(VALUEOUTOFRANGE) is signaled. 6) The error SPICE(EMPTYSTRING) is signaled if the input string `body' does not contain at least one character, since the input string cannot be converted to a Fortran-style string in this case. 7) The error SPICE(NULLPOINTER) is signaled if the input string pointer `body' is null. ## FilesThis routine expects a kernel variable giving body's prime meridian angle as a function of time to be available in the kernel pool. Normally this item is provided by loading a PCK file. The required kernel variable is named BODY<body ID>_PM where <body ID> represents a string containing the NAIF integer ID code for `body'. For example, if `body' is "JUPITER", then the name of the kernel variable containing the prime meridian angle coefficients is BODY599_PM See the PCK Required Reading for details concerning the prime meridian kernel variable. The optional kernel variable BODY<body ID>_PGR_POSITIVE_LON also is normally defined via loading a text kernel. When this variable is present in the kernel pool, the prime meridian coefficients for `body' are not required by this routine. See the Particulars section below for details. ## ParticularsIt is often convenient to describe the motion of an object in the planetographic coordinate system. However, when performing vector computations it's hard to beat rectangular coordinates. To transform states given with respect to planetographic coordinates to states with respect to rectangular coordinates, one makes use of the Jacobian of the transformation between the two systems. Given a state in planetographic coordinates ( lon, lat, alt, dlon, dlat, dalt ) the velocity in rectangular coordinates is given by the matrix equation: t | t (dx, dy, dz) = jacobi| * (dlon, dlat, dalt) |(lon,lat,alt) This routine computes the matrix | jacobi| |(lon,lat,alt) In the planetographic coordinate system, longitude is defined using the spin sense of the body. Longitude is positive to the west if the spin is prograde and positive to the east if the spin is retrograde. The spin sense is given by the sign of the first degree term of the time-dependent polynomial for the body's prime meridian Euler angle "W": the spin is retrograde if this term is negative and prograde otherwise. For the sun, planets, most natural satellites, and selected asteroids, the polynomial expression for W may be found in a SPICE PCK kernel. The earth, moon, and sun are exceptions: planetographic longitude is measured positive east for these bodies. If you wish to override the default sense of positive longitude for a particular body, you can do so by defining the kernel variable BODY<body ID>_PGR_POSITIVE_LON where <body ID> represents the NAIF ID code of the body. This variable may be assigned either of the values 'WEST' 'EAST' For example, you can have this routine treat the longitude of the earth as increasing to the west using the kernel variable assignment BODY399_PGR_POSITIVE_LON = 'WEST' Normally such assignments are made by placing them in a text kernel and loading that kernel via furnsh_c. The definition of this kernel variable controls the behavior of the CSPICE planetographic routines pgrrec_c recpgr_c dpgrdr_c ## ExamplesNumerical results shown for this example may differ between platforms as the results depend on the SPICE kernels used as input and the machine specific arithmetic implementation. Find the planetographic state of the earth as seen from Mars in the J2000 reference frame at January 1, 2005 TDB. Map this state back to rectangular coordinates as a check. #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 pgrvel [3]; SpiceDouble radii [3]; SpiceDouble re; SpiceDouble rectan [3]; SpiceDouble rp; SpiceDouble state [6]; SpiceInt n; /. Load a PCK file containing a triaxial ellipsoidal shape model and orientation data for Mars. ./ furnsh_c ( "pck00008.tpc" ); /. Load an SPK file giving ephemerides of earth and Mars. ./ furnsh_c ( "de405.bsp" ); /. Load a leapseconds kernel to support time conversion. ./ furnsh_c ( "naif0007.tls" ); /. 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. ./ bodvrd_c ( "MARS", "RADII", 3, &n, radii ); /. Compute flattening coefficient. ./ re = radii[0]; rp = radii[2]; f = ( re - rp ) / re; /. Look up the geometric state of earth as seen from Mars at January 1, 2005 TDB, relative to the J2000 reference frame. ./ str2et_c ( "January 1, 2005 TDB", &et); spkezr_c ( "Earth", et, "J2000", "LT+S", "Mars", state, < ); /. Convert position to planetographic coordinates. ./ recpgr_c ( "mars", state, re, f, &lon, &lat, &alt ); /. Convert velocity to planetographic coordinates. ./ dpgrdr_c ( "MARS", state[0], state[1], state[2], re, f, jacobi ); mxv_c ( jacobi, state+3, pgrvel ); /. As a check, convert the planetographic state back to rectangular coordinates. ./ pgrrec_c ( "mars", lon, lat, alt, re, f, rectan ); ## RestrictionsNone. ## Literature_ReferencesNone. ## Author_and_InstitutionN.J. Bachman (JPL) W.L. Taber (JPL) ## Version-CSPICE Version 1.0.0, 26-DEC-2004 (NJB) (WLT) ## Index_EntriesJacobian of rectangular w.r.t. planetographic coordinates |

Wed Apr 5 17:54:32 2017