Table of contents
CSPICE_CKW01 adds a type 1 segment to a C-kernel.
Given:
handle file handle for an open CK file, returned from cspice_ckopn.
[1,1] = size(handle); int32 = class(handle)
begtim encoded SCLK segment begin time.
[1,1] = size(begtim); double = class(begtim)
endtim encoded SCLK segment end time.
[1,1] = size(endtim); double = class(endtim)
inst NAIF instrument ID code.
[1,1] = size(inst); int32 = class(inst)
ref name of the reference frame for the segment.
[1,c1] = size(ref); char = class(ref)
or
[1,1] = size(ref); cell = class(ref)
avflag a boolean signifying if the segment will contain
angular velocity.
[1,1] = size(avflag); logical = class(avflag)
segid name to identify the segment.
[1,c2] = size(segid); char = class(segid)
or
[1,1] = size(segid); cell = class(segid)
sclkdp array containing the encoded SCLK times for the data.
[n,1] = size(sclkdp); double = class(sclkdp)
quats array of SPICE style quaternions representing instrument
pointing.
[4,n] = size(quats); double = class(quats)
avvs array of angular velocity vectors in units of radians per
second.
[3,n] = size(avvs); double = class(avvs)
the call:
cspice_ckw01( handle, ...
begtim, ...
endtim, ...
inst , ...
ref , ...
avflag, ...
segid , ...
sclkdp, ...
quats , ...
avvs )
returns:
None.
None.
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.
1) The following example creates a CK file with a type 1 segment
from a series of pointing instances that represent a structure
initially aligned with the J2000 frame, and which is rotating
about the J2000 z-axis. There will be one pointing instance per
10-tick interval.
Example code begins here.
function ckw01_ex1()
INST1 = -77701;
NCOMCH = 10;
REF = 'J2000';
SEGID1 = 'Test type 1 test CK';
SECPERTICK = 0.001;
SPACING = 10.0;
MAXREC = 50;
%
% Note, sclkdp is a vector input, not a vectorized scalar.
%
sclkdp = [1:MAXREC]';
sclkdp = (sclkdp - 1)*SPACING;
spinrate = [1:MAXREC]*1.e-6;
theta = [0:MAXREC-1]*SPACING;
theta = theta .* spinrate;
%
% Create a zero-filled array for the angular velocity
% vectors. This allocates the needed memory and
% defines a variable of the correct shape.
%
expavvs = zeros( [3 MAXREC] );
a1 = zeros( [1 MAXREC] );
a2 = a1;
r = cspice_eul2m( theta, a2, a1, 3, 1 ,3 );
q = cspice_m2q( r );
%
% Fill the z component of the expavvs vectors with the
% corresponding spinrate element scaled to SECPERTICK.
%
expavvs(3,:) = spinrate/SECPERTICK;
begtim = sclkdp(1);
endtim = sclkdp(MAXREC);
avflag = 1;
%
% Open a new CK, write the data, catch any errors.
%
try
handle = cspice_ckopn( 'ckw01_ex1.bc', 'ck', 0);
cspice_ckw01( handle, ...
begtim, ...
endtim, ...
INST1 , ...
REF , ...
avflag, ...
SEGID1, ...
sclkdp, ...
q , ...
expavvs )
catch
error( [ 'Failure: ' lasterr] )
end
cspice_ckcls(handle)
When this program is executed, no output is presented on
screen. After run completion, a new CK file exists in the
output directory.
For a detailed description of a type 1 CK segment please see the
CK Required Reading.
This routine relieves the user from performing the repetitive
calls to the DAF routines necessary to construct a CK segment.
Quaternion Styles
-----------------
There are different "styles" of quaternions used in
science and engineering applications. Quaternion styles
are characterized by
- The order of quaternion elements
- The quaternion multiplication formula
- The convention for associating quaternions
with rotation matrices
Two of the commonly used styles are
- "SPICE"
> Invented by Sir William Rowan Hamilton
> Frequently used in mathematics and physics textbooks
- "Engineering"
> Widely used in aerospace engineering applications
Mice routine interfaces ALWAYS use SPICE quaternions.
Quaternions of any other style must be converted to SPICE
quaternions before they are passed to Mice routines.
Relationship between SPICE and Engineering Quaternions
------------------------------------------------------
Let `m' be a rotation matrix such that for any vector `v',
m*v
is the result of rotating `v' by theta radians in the
counterclockwise direction about unit rotation axis vector `a'.
Then the SPICE quaternions representing `m' are
(+/-) ( cos(theta/2),
sin(theta/2) a(1),
sin(theta/2) a(2),
sin(theta/2) a(3) )
while the engineering quaternions representing `m' are
(+/-) ( -sin(theta/2) a(1),
-sin(theta/2) a(2),
-sin(theta/2) a(3),
cos(theta/2) )
For both styles of quaternions, if a quaternion q represents
a rotation matrix `m', then -q represents `m' as well.
Given an engineering quaternion
qeng = ( q0, q1, q2, q3 )
the equivalent SPICE quaternion is
qspice = ( q3, -q0, -q1, -q2 )
Associating SPICE Quaternions with Rotation Matrices
----------------------------------------------------
Let `from' and `to' be two right-handed reference frames, for
example, an inertial frame and a spacecraft-fixed frame. Let the
symbols
v , v
from to
denote, respectively, an arbitrary vector expressed relative to
the `from' and `to' frames. Let `m' denote the transformation matrix
that transforms vectors from frame `from' to frame `to'; then
v = m * v
to from
where the expression on the right hand side represents left
multiplication of the vector by the matrix.
Then if the unit-length SPICE quaternion q represents `m', where
q = (q0, q1, q2, q3)
the elements of `m' are derived from the elements of q as follows:
.- -.
| 2 2 |
| 1 - 2*( q2 + q3 ) 2*(q1*q2 - q0*q3) 2*(q1*q3 + q0*q2) |
| |
| |
| 2 2 |
m = | 2*(q1*q2 + q0*q3) 1 - 2*( q1 + q3 ) 2*(q2*q3 - q0*q1) |
| |
| |
| 2 2 |
| 2*(q1*q3 - q0*q2) 2*(q2*q3 + q0*q1) 1 - 2*( q1 + q2 ) |
| |
`- -'
Note that substituting the elements of -q for those of q in the
right hand side leaves each element of `m' unchanged; this shows
that if a quaternion q represents a matrix `m', then so does the
quaternion -q.
To map the rotation matrix `m' to a unit quaternion, we start by
decomposing the rotation matrix as a sum of symmetric
and skew-symmetric parts:
2
m = [ i + (1-cos(theta)) omega ] + [ sin(theta) omega ]
symmetric skew-symmetric
`omega' is a skew-symmetric matrix of the form
.- -.
| 0 -n3 n2 |
| |
omega = | n3 0 -n1 |
| |
| -n2 n1 0 |
`- -'
The vector N of matrix entries (n1, n2, n3) is the rotation axis
of `m' and theta is M's rotation angle. Note that N and theta
are not unique.
Let
C = cos(theta/2)
s = sin(theta/2)
Then the unit quaternions `q' corresponding to `m' are
`q' = +/- ( C, s*n1, s*n2, s*n3 )
The mappings between quaternions and the corresponding rotations
are carried out by the Mice routines
cspice_q2m {quaternion to matrix}
cspice_m2q {matrix to quaternion}
cspice_m2q always returns a quaternion with scalar part greater than
or equal to zero.
SPICE Quaternion Multiplication Formula
---------------------------------------
Given a SPICE quaternion
q = ( q0, q1, q2, q3 )
corresponding to rotation axis `a' and angle theta as above, we can
represent `q' using "scalar + vector" notation as follows:
s = q0 = cos(theta/2)
v = ( q1, q2, q3 ) = sin(theta/2) * a
q = s + v
Let `q1' and `q2' be SPICE quaternions with respective scalar
and vector parts s1, s2 and v1, v2:
q1 = s1 + v1
q2 = s2 + v2
We represent the dot product of v1 and v2 by
<v1, v2>
and the cross product of v1 and v2 by
v1 x v2
Then the SPICE quaternion product is
q1*q2 = s1*s2 - <v1,v2> + s1*v2 + s2*v1 + (v1 x v2)
If `q1' and `q2' represent the rotation matrices `m1' and `m2'
respectively, then the quaternion product
q1*q2
represents the matrix product
m1*m2
1) If `handle' is not the handle of a C-kernel opened for writing,
an error is signaled by a routine in the call tree of this
routine.
2) If `segid' is more than 40 characters long, the error
SPICE(SEGIDTOOLONG) is signaled by a routine in the call tree
of this routine.
3) If `segid' contains any nonprintable characters, the error
SPICE(NONPRINTABLECHARS) is signaled by a routine in the call
tree of this routine.
4) If the first encoded SCLK time is negative, the error
SPICE(INVALIDSCLKTIME) is signaled by a routine in the call
tree of this routine.
5) If the second encoded SCLK or any subsequent times, or if the
encoded SCLK times are not strictly increasing, the error
SPICE(TIMESOUTOFORDER) is signaled by a routine in the call
tree of this routine.
6) If `begtim' is greater than sclkdp(1) or `endtim' is less than
sclkdp(nrec), where `nrec' is the number of pointing records,
the error SPICE(INVALIDDESCRTIME) is signaled by a routine in
the call tree of this routine.
7) If the name of the reference frame is not one of those
supported by the routine cspice_namfrm, the error
SPICE(INVALIDREFFRAME) is signaled by a routine in the call
tree of this routine.
8) If `nrec', the number of pointing records, is less than or
equal to 0, the error SPICE(INVALIDNUMREC) is signaled by a
routine in the call tree of this routine.
9) If any quaternion has magnitude zero, the error
SPICE(ZEROQUATERNION) is signaled by a routine in the call
tree of this routine.
10) If any of the input arguments, `handle', `begtim', `endtim',
`inst', `ref', `avflag', `segid', `sclkdp', `quats' or `avvs',
is undefined, an error is signaled by the Matlab error
handling system.
11) If any of the input arguments, `handle', `begtim', `endtim',
`inst', `ref', `avflag', `segid', `sclkdp', `quats' or `avvs',
is not of the expected type, or it does not have the expected
dimensions and size, an error is signaled by the Mice
interface.
12) If the input vector arguments `sclkdp', `quats' and `avvs' do
not have the same dimension (N), an error is signaled by the
Mice interface.
This routine adds a type 1 segment to a C-kernel. The C-kernel
may be either a new one or an existing one opened for writing.
None.
MICE.REQ
CK.REQ
DAF.REQ
SCLK.REQ
None.
J. Diaz del Rio (ODC Space)
E.D. Wright (JPL)
-Mice Version 1.1.0, 25-AUG-2021 (EDW) (JDR)
Changed input argument names "begtime" and "endtime" to "begtim"
and "endtim".
Edited the header to comply with NAIF standard. Added example's
problem statement.
Added -Parameters, -Exceptions, -Files, -Restrictions,
-Literature_References and -Author_and_Institution sections.
Eliminated use of "lasterror" in rethrow.
Removed reference to the function's corresponding CSPICE header from
-Required_Reading section.
-Mice Version 1.0.1, 29-OCT-2014 (EDW)
Edited -I/O section to conform to NAIF standard for Mice
documentation.
-Mice Version 1.0.0, 22-NOV-2005 (EDW)
write CK type_1 pointing data segment
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