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Required Reading


   CSPICE_CKGPAV returns pointing (attitude) and angular velocity
   for a specified object at a user specified spacecraft clock time.



      inst     NAIF ID for the instrument, spacecraft, or other structure for
               which pointing is requested. The frame fixed to this object is
               called the "instrument frame" or "instrument-fixed" frame.

               [1,1] = size(inst); int32 = class(inst)

      sclkdp   encoded spacecraft clock time(s) for which pointing is

               [1,n] = size(sclkdp); double = class(sclkdp)

      tol      time tolerance given in ticks (+/-), the units of encoded
               spacecraft clock time, about 'sclkdp'

               [1,1] = size(tol); double = class(tol)

                  The C-matrix returned by cspice_ckgpav, if any, is the one
                  whose time tag is closest to 'sclkdp' and within 'tol'
                  units of 'sclkdp'.

               In general, because using a non-zero tolerance affects
               selection of the segment from which the data is obtained,
               users are strongly discouraged from using a non-zero
               tolerance when reading CKs with continuous data. Using
               a non-zero tolerance should be reserved exclusively to
               reading CKs with discrete data because in practice
               obtaining data from such CKs using a zero tolerance is
               often not possible due to time round off.

      ref      naming the desired reference frame for the returned pointing.

               [1,m] = size(ref); char = class(ref)

   the call:

      [ cmat, av, clkout, found ] = cspice_ckgpav( inst, sclkdp, tol, ref)


      cmat     rotation matrix(ces) that transform components of a vector
               expressed in the frame specified by 'ref' to components
               expressed in the frame tied to the instrument, spacecraft, or
               other structure at time(s) 'clkout'.

               If [1,1] = size(sclkdp) then [3,3]   = size(cmat)
               If [1,n] = size(sclkdp) then [3,3,n] = size(cmat)
                                             double = class(cmat)

      av       angular velocity measured in radians per second (this is the
               axis about which the reference frame tied to the instrument is
               rotating in the right-handed sense at time 'clkout')

               [3,n] = size(av); double = class(av)

      clkout   encoded spacecraft clock time(s) associated with the returned
               C-matrix 'cmat' (this value may differ from the requested time,
               but never by more than the input tolerance 'tol').

               [1,n] = size(clkout); double = class(clkout)

      found    the flag(s) indicating if the requested pointing is found.

               [1,n] = size(found); logical = class(found)

               'cmat', 'av', 'clkout', and 'found' return with the same
               vectorization measure (N) as 'sclkdp'.


   Any numerical 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.

      % Load the CK pointing file.
      CK     = '/kernels/cassini/ck/030810_031019_c39_port1_pa.bc';
      cspice_furnsh( CK )

      % Need to load a Cassini SCLK kernel to convert from
      % clock string to ticks and the leapseconds kernel.
      SCLK   = '/kernels/cassini/sclk/cas00082.tsc';
      cspice_furnsh( SCLK )
      cspice_furnsh( '' )

      % The code for the Cassini spacecraft is -82
      SC     = -82;

      % The code for the Cassini spacecraft bus is -82000.
      INST   = -82000;

      % The reference frame we want is J2000.
      REF    = 'J2000';

      % The bus boresight has direction ( 0, 0, 1 ) in the
      % bus (instrument) frame.
      BORE   = [ 0.; 0.; 1.];

      % The spacecraft clock ticks every 1/256 of a second.
      TICS   =  256.;

      % Two Cassini clock strings of interest.
      SCLKCH =  strvcat( '1440000000.000' , '1445000000.000' );

      % Calculate a tolerance for pointing data. Use 5 seconds,
      % convert to ticks by multiplying by the number of ticks
      % per second.
      toltik = 5. * TICS;

      % cspice_ckgpav requires encoded spacecraft clock time.
      sclkdp = cspice_scencd( SC, SCLKCH );

      % Retrieve the 'REF' reference frame to 'INST' reference frame
      % transformation matrix at time sclkdp with a tolerance
      % 'toltik'.
      %   [INST] = [cmat][ref]
      [ cmat, av, clkout, found ] = cspice_ckgpav( INST, sclkdp, toltik, REF);

      for n=1:2

         if( found(n) )

            % Transform the 'BORE' vector from 'INST' reference frame to
            % 'REF' frame.
            %                T
            %  [ref] = [cmat] [INST]
            bore_ref = cmat(:,:,n)' * BORE;

            txt = sprintf( 'At SCLK time               : %s', SCLKCH(n,:) );
            disp( txt )

            txt = sprintf(                                             ...
                  'The boresight vector       : %11.8f %11.8f %11.8f', ...
                                                               bore_ref );
            disp( txt )

            txt = sprintf(                                            ...
                 'The angular velocity vector: %10.7e %10.7e %10.7e', ...
                                                               av(:,n) );
            disp( txt )

            disp( ' ' )


            txt = sprintf( 'At SCLK time       : %s pointing not found', ...
                                                              SCLKCH(n,:) );
            disp( txt )
            disp( ' ' )



   MATLAB outputs:

      At SCLK time               : 1440000000.000
      The boresight vector       : -0.25517775  0.88933091  0.37944018
      The angular velocity vector: -3.1532789e-13 -7.8841788e-09 1.7857623e-08

      At SCLK time               : 1445000000.000
      The boresight vector       : -0.31149356  0.87452887  0.37171362
      The angular velocity vector: -8.0798136e-11 -7.1102943e-10 1.5325493e-09



Required Reading

   For important details concerning this module's function, please refer to
   the CSPICE routine ckgpav_c.



   -Mice Version 1.2.0, 08-NOV-2012, EDW (JPL), SCK (JPL)

       I/O descriptions edits to conform to Mice documentation format.

      "logical" call replaced with "zzmice_logical."

   -Mice Version 1.1.1, 03-JUN-2010, BVS (JPL)

      Edits to header. Added warning regarding non-zero tolerance.

   -Mice Version 1.1.0, 23-FEB-2009, EDW (JPL)

      Added zzmice_str call on input 'ref' to convert string cells to
      character arrays if 'ref' has type string cells. Added proper
      markers for usage string variable types.

   -Mice Version 1.0.0, 22-NOV-2005, EDW (JPL)


   get ck pointing and angular velocity

Wed Apr  5 18:00:30 2017