Obtain SPICE position information for a body. More...

#include <SpicePosition.h>

Inheritance diagram for Isis::SpicePosition:

Collaboration diagram for Isis::SpicePosition:

Public Types
enum	Source { Spice, Memcache, HermiteCache, PolyFunction, PolyFunctionOverHermiteConstant }
	This enum indicates the status of the object. More...

enum	PartialType { WRT_X, WRT_Y, WRT_Z }

enum	OverrideType { NoOverrides, ScaleOnly, BaseAndScale }

Public Member Functions
	SpicePosition (int targetCode, int observerCode)
	Construct an empty SpicePosition class using valid body codes. More...

virtual	~SpicePosition ()
	Destructor. More...

void	SetTimeBias (double timeBias)
	Apply a time bias when invoking SetEphemerisTime method. More...

double	GetTimeBias () const
	Returns the value of the time bias added to ET. More...

virtual void	SetAberrationCorrection (const QString &correction)
	Set the aberration correction (light time) More...

virtual QString	GetAberrationCorrection () const
	Returns current state of stellar aberration correction. More...

double	GetLightTime () const
	Return the light time coorection value. More...

const std::vector< double > &	SetEphemerisTime (double et)
	Return J2000 coordinate at given time. More...

double	EphemerisTime () const
	Return the current ephemeris time. More...

const std::vector< double > &	GetCenterCoordinate ()
	Compute and return the coordinate at the center time. More...

const std::vector< double > &	Coordinate ()
	Return the current J2000 position. More...

const std::vector< double > &	Velocity ()
	Return the current J2000 velocity. More...

bool	HasVelocity ()
	Return the flag indicating whether the velocity exists. More...

void	LoadCache (double startTime, double endTime, int size)
	Cache J2000 position over a time range. More...

void	LoadCache (double time)
	Cache J2000 position for a time. More...

void	LoadCache (Table &table)
	Cache J2000 positions using a table file. More...

Table	LineCache (const QString &tableName)
	Return a table with J2000 to reference positions. More...

Table	LoadHermiteCache (const QString &tableName)
	Cache J2000 position over existing cached time range using polynomials stored as Hermite cubic spline knots. More...

void	ReloadCache ()
	Cache J2000 positions over existing cached time range using polynomials. More...

void	ReloadCache (Table &table)
	Cache J2000 position over existing cached time range using table. More...

Table	Cache (const QString &tableName)
	Return a table with J2000 positions. More...

bool	IsCached () const
	Is this position cached. More...

void	SetPolynomial (const Source type=PolyFunction)
	Set the coefficients of a polynomial fit to each of the components (X, Y, Z) of the position vector for the time period covered by the cache, component = c0 + c1t + c2t**2 + ... More...

void	SetPolynomial (const std::vector< double > &XC, const std::vector< double > &YC, const std::vector< double > &ZC, const Source type=PolyFunction)
	Set the coefficients of a polynomial (parabola) fit to each of the three coordinates of the position vector for the time period covered by the cache, coord = c0 + c1t + c2t**2 + ... More...

void	GetPolynomial (std::vector< double > &XC, std::vector< double > &YC, std::vector< double > &ZC)
	Return the coefficients of a polynomial fit to each of the three coordinates of the position for the time period covered by the cache, angle = c0 + c1t + c2t**2 + ... More...

void	SetPolynomialDegree (int degree)
	Set the polynomial degree. More...

Source	GetSource ()
	Return the source of the position. More...

void	ComputeBaseTime ()
	Compute the base time using cached times. More...

double	GetBaseTime ()
	Return the base time for the position. More...

void	SetOverrideBaseTime (double baseTime, double timeScale)
	Set an override base time to be used with observations on scanners to allow all images in an observation to use the same base time and polynomials for the positions. More...

double	GetTimeScale ()
	Return the time scale for the position. More...

double	DPolynomial (const int coeffIndex)
	Evaluate the derivative of the fit polynomial (parabola) defined by the given coefficients with respect to the coefficient at the given index, at the current time. More...

std::vector< double >	CoordinatePartial (SpicePosition::PartialType partialVar, int coeffIndex)
	Set the coefficients of a polynomial fit to each of the three coordinates of the position vector for the time period covered by the cache,. More...

std::vector< double >	VelocityPartial (SpicePosition::PartialType partialVar, int coeffIndex)
	Compute the derivative of the velocity with respect to the specified variable. More...

void	Memcache2HermiteCache (double tolerance)
	This method reduces the cache for position, time and velocity to the minimum number of values needed to interpolate the J2000 coordinates using a Hermite spline, given a tolerance of deviation from the NAIF values. More...

std::vector< double >	Extrapolate (double timeEt)
	Extrapolate position for a given time assuming a constant velocity. More...

std::vector< double >	HermiteCoordinate ()
	This method returns the Hermite coordinate for the current time for PolyFunctionOverHermiteConstant functions. More...

Protected Member Functions
void	SetEphemerisTimeMemcache ()
	This is a protected method that is called by SetEphemerisTime() when Source type is Memcache. More...

void	SetEphemerisTimeHermiteCache ()
	This is a protected method that is called by SetEphemerisTime() when Source type is HermiteCache. More...

virtual void	SetEphemerisTimeSpice ()
	This is a protected method that is called by SetEphemerisTime() when Source type is Spice. More...

void	SetEphemerisTimePolyFunction ()
	This is a protected method that is called by SetEphemerisTime() when Source type is PolyFunction. More...

void	SetEphemerisTimePolyFunctionOverHermiteConstant ()
	This is a protected method that is called by SetEphemerisTime() when Source type is PolyFunctionOverHermiteConstant. More...

std::vector< int >	HermiteIndices (double tol, std::vector< int > indexList)
	This method is called by Memcache2HermiteCache() to determine which indices from the orginal cache should be saved in the reduced cache. More...

	SpicePosition (int targetCode, int observerCode, bool swapObserverTarget)
	Constructor for swapping observer/target order. More...

int	getObserverCode () const
	Returns observer code. More...

int	getTargetCode () const
	Returns target code. More...

double	getAdjustedEphemerisTime () const
	Returns adjusted ephemeris time. More...

void	computeStateVector (double et, int target, int observer, const QString &refFrame, const QString &abcorr, double state[6], bool &hasVelocity, double &lightTime) const
	Computes the state vector of the target w.r.t observer. More...

void	setStateVector (const double state[6], const bool &hasVelocity)
	Sets the state of target relative to observer. More...

void	setLightTime (const double &lightTime)
	Inheritors can set the light time if indicated. More...

Private Member Functions
void	init (int targetCode, int observerCode, const bool &swapObserverTarget=false)
	Internal initialization of the object support observer/target swap. More...

void	ClearCache ()
	Removes the entire cache from memory. More...

void	LoadTimeCache ()
	Load the time cache. More...

void	CacheLabel (Table &table)
	Add labels to a SpicePosition table. More...

double	ComputeVelocityInTime (PartialType var)
	Compute the velocity with respect to time instead of scaled time. More...

Private Attributes
int	p_targetCode
	target body code More...

int	p_observerCode
	observer body code More...

double	p_timeBias
	iTime bias when reading kernels More...

QString	p_aberrationCorrection
	Light time correction to apply. More...

double	p_et
	Current ephemeris time. More...

std::vector< double >	p_coordinate
	J2000 position at time et. More...

std::vector< double >	p_velocity
	J2000 velocity at time et. More...

NumericalApproximation *	p_xhermite
	Hermite spline for x coordinate if Source == HermiteCache. More...

NumericalApproximation *	p_yhermite
	Hermite spline for y coordinate if Source == HermiteCache. More...

NumericalApproximation *	p_zhermite
	Hermite spline for z coordinate if Source == HermiteCache. More...

Source	p_source
	Enumerated value for the location of the SPK information used. More...

std::vector< double >	p_cacheTime
	iTime for corresponding position More...

std::vector< std::vector< double > >	p_cache
	Cached positions. More...

std::vector< std::vector< double > >	p_cacheVelocity
	Cached velocities. More...

std::vector< double >	p_coefficients [3]
	Coefficients of polynomials fit to 3 coordinates. More...

double	p_baseTime
	Base time used in fit equations. More...

double	p_timeScale
	Time scale used in fit equations. More...

bool	p_degreeApplied
	Flag indicating whether or not a polynomial. More...

int	p_degree
	Degree of polynomial function fit to the coordinates of the position. More...

double	p_fullCacheStartTime
	Original start time of the complete cache after spiceinit. More...

double	p_fullCacheEndTime
	Original end time of the complete cache after spiceinit. More...

double	p_fullCacheSize
	Orignial size of the complete cache after spiceinit. More...

bool	p_hasVelocity
	Flag to indicate velocity is available. More...

OverrideType	p_override
	Time base and scale override options;. More...

double	p_overrideBaseTime
	Value set by caller to override computed base time. More...

double	p_overrideTimeScale
	Value set by caller to override computed time scale. More...

bool	m_swapObserverTarget

double	m_lt
	!< Swap traditional order More...

Detailed Description

Obtain SPICE position information for a body.

This class will obtain the J2000 body position between a target and observer body. For example, a spacecraft and Mars or the Sun and Mars. It is essentially a C++ wrapper to the NAIF spkez_c routine. Therefore, appropriate NAIF kernels are expected to be loaded prior to using this class. The position can be returned with or without one way light time corrections between the two bodies. See NAIF required reading for more information regarding this subject at ftp://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/ascii/individual_docs/spk.req

An important functionality of this class is the ability to cache the positions so they do not have to be constantly read from the NAIF kernels. Onced the data is cached the NAIF kernels can be unloaded too.

Author: 2005-12-01 Jeff Anderson

History:

2003-12-01 Jeff Anderson Original Version derived from Spice class

2006-03-23 Jeff Anderson Added check to SetEphemeris to return if the time did not change. Should speed up line scan cameras

2007-07-10 Debbie A. Cook Added else to method SetAberrationCorrection to separate error section from the rest of the code

2007-08-24 Debbie A. Cook Added members p_coefficients, enums PartialType and Coefficient, and methods ReloadCache, SetPolynomial, GetPolynomial, ComputeBaseTime, DPolynomial, and CoordinatePartial to support solving for instrument position in BundleAdjust

2008-01-10 Debbie A. Cook The function was changed from Parabola to Poly1D. New methods GetBaseTime and SetOverrideBaseTime were added

2008-02-07 Jeannie Walldren Poly1D was changed to PolynomialUnivariate

2008-02-10 Debbie A. Cook Removed the (-1.) in case A of DPolynomial since it was not actually part of the position derivation but how it was being applied in BundleAdjust.

2008-06-18 Steven Lambright Fixed documentation

2008-06-25 Debbie A. Cook Added members p_velocity, p_cacheVelocity, and p_hasVelocity; also added methods Velocity() and HasVelocity() to support miniRF.

2008-06-26 Debbie A. Cook Replaced Naif error handling calls with Isis NaifStatus

2009-08-03 Jeannie Walldren - Added methods ReloadCache( table ), HermiteIndices(), Memcache2HermiteCache() to allow for downsized instrument position tables in labels of Isis cubes and added methods SetEphemerisTimeSpice(), SetEphemerisTimeHermiteCache(), and SetEphemerisTimeMemcache() to make software more readable.

2009-08-14 Debbie A. Cook - Corrected loop counter in HermiteIndices

2009-08-27 Jeannie Walldren - Added documentation.

2009-10-20 Debbie A. Cook - Corrected calculation of extremum in ReloadCache

2009-11-06 Debbie A. Cook - Added velocity partial derivative method

2009-12-15 Debbie A. Cook - Changed enumerated partial types and argument list for CoordinatePartial and VelocityPartial

2010-03-19 Debbie A. Cook - Added argument coeffIndex to method Velocity Partial

2010-12-07 Steven Lambright - Moved the cubic hermite splines to member scope for efficiency. It was a significant overhead to keep reconstructing these. Created ClearCache() to help increase code reusability.

2011-02-12 Debbie A. Cook - Added PolyFunction to source types and new method SetEphemerisTimePolyFunction to support the new type. Also added method SetPolynomialDegree to allow the degree of the polynomials fit to the position coordinates to be changed. The fit polynomial was changed from a fixed 2nd order polynomial to an nth degree polynomial with one independent variable. Added private class members p_fullCacheStartTime, p_fullCacheEndTime, and p_fullCacheSize. Added p_timeScale, GetBaseTime(), SetOverrideBaseTime, GetTimeScale(), Extrapolate(double timeEt), and ComputeVelocityInTime(PartialType var). The function was changed from a Parabola to Polynomial1Variable, now called PolynomialUnivariate.

2011-02-14 Debbie A. Cook - Corrected previous update for Hermite case. Created a special member, p_overrideScale, for Hermite case. Also removed obsolete enum Coefficient.

2011-02-17 Debbie A. Cook - Corrected missed problem with degree forced to be 2 and corrected calculation of velocity partial

2011-02-22 Debbie A. Cook - Corrected Extrapolation method

2011-02-28 Debbie A. Cook - Fixed typo in LoadCache and potential memory problem in SetPolynomial

2011-04-10 Debbie A. Cook - Added GetSource method to support spkwriter.

2011-05-27 Debbie A. Cook - Renamed old ReloadCache method for converting polynomial functions to Hermite cubic splines to LoadHermiteCache for use with spkwriter.

2012-03-31 Debbie A. Cook - Programmer notes: Added new interpolation algorithm, PolyFunctionOverHermiteConstant, and new supporting method, SetEphemerisTimePolyOverHermiteConstant. Also added argument to SetPolynomial methods for type. LineCache and ReloadCache were modified to allow other function types beyond the PolyFunction. Added new method to return Hermite coordinate.

2012-10-25 Jeannie Backer - Brought class closer to Isis3 standards: Ordered includes in cpp file, replaced quotation marks with angle braces in 3rd party includes, fixed history indentation. References #1181.

2012-10-31 Kris Becker - Added implementation for swapping of observer/target and light time correction to surface. Added a new, special protected constructor; virtualized the SetEphemerisTimeSpice method which allows for specialized determination of light time corrections; generalized the retrieval of body state vectors (computeStateVector); added many new, mostly protected, ssupport routines for this generalization. Fixes (mostly) #0909, #1136 and #1223.

2013-03-28 Debbie A. Cook - Fixed bug causing jigsaw to fail with a singular definite matrix on radar data. The bug was in the method VelocityPartial and occurred when the et = baseTime and the coeffIndex was 0. This caused the derivative equation to be 0 * 0 ** -1. This update fixes issue #1582.

2015-02-20 Jeannie Backer - Improved error messages.

2015-07-21 Kristin Berry - Added additional NaifStatus::CheckErrors() to see if any NAIF errors were signaled. References #2248.

2015-08-25 Kristin Berry - Moved check to make sure a polynomial exists to earlier in LoadHermiteCache. Was failing due to lack of a polynomial with a confusing error message before the check.

2017-08-18 Tyler Wilson, Summer Stapleton, Ian Humphrey - Added opening/closing brackets to SetEphemerisTimePolyFunction() so this class compiles without warnings under C++14. References #4809.

Definition at line 183 of file SpicePosition.h.

Member Enumeration Documentation

◆ Source

enum Isis::SpicePosition::Source

This enum indicates the status of the object.

The class expects functions to be after MemCache in the list.

Enumerator
Spice	Object is reading directly from the kernels.
Memcache	Object is reading from cached table.
HermiteCache	Object is reading from splined table.
PolyFunction	Object is calculated from nth degree polynomial.
PolyFunctionOverHermiteConstant	Object is reading from splined.

Definition at line 190 of file SpicePosition.h.

Constructor & Destructor Documentation

◆ SpicePosition() [1/2]

Isis::SpicePosition::SpicePosition	(	int	targetCode,
		int	observerCode
	)

Construct an empty SpicePosition class using valid body codes.

See required reading ftp://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/ascii/individual_docs/naif_ids.req

Parameters

targetCode	Valid naif body name.
observerCode	Valid naif body name.

Definition at line 29 of file SpicePosition.cpp.

References init().

◆ ~SpicePosition()

Isis::SpicePosition::~SpicePosition ( )

virtual

Destructor.

Free the memory allocated by this SpicePosition instance.

Definition at line 126 of file SpicePosition.cpp.

References ClearCache().

◆ SpicePosition() [2/2]

Isis::SpicePosition::SpicePosition	(	int	targetCode,
		int	observerCode,
		bool	swapObserverTarget
	)

protected

Constructor for swapping observer/target order.

This specialized constructor is provided to expressly support swap of observer/target order in the NAIF spkez_c/spkezp_c routines when determining the state of spacecraft and target body.

Traditionally, ISIS3 (and ISIS2!) has had the target/observer order swapped improperly to determine state vector between the two bodies. This constructor provides a transaitional path to correct this in a controlled way. See SpacecraftPosition for details.

Note that the targetCode and observerCode are always provided in the same order as the orignal constructor (i.e., targetCode=s/c, observerCode=planet) as the swapObserverTarget boolean parameter provides the means to properly implement the swap internally.

It is not as simple as simply swapping the codes in the constructor as internal representation of the state vector is in body fixed state of the target body relative to observer. If the swap is invoked, the state vector must be inverted.

Author: 2012-10-29 Kris Becker

Parameters

targetCode	Traditional s/c code
observerCode	Traditional target/planet code
swapObserverTarget	True indicates implement the observer/target swap, false will invoke preexisting behavior

Definition at line 62 of file SpicePosition.cpp.

References init().

Member Function Documentation

◆ Cache()

Table Isis::SpicePosition::Cache ( const QString & tableName )

Return a table with J2000 positions.

Return a table containg the cached coordinates with the given name. The table will have four or seven columns, J2000 x,y,z (optionally vx,vy,vx) and the ephemeris time.

Parameters

tableName Name of the table to create and return

History:

2009-08-03 Jeannie Walldren - Added CacheType keyword to output table. This is based on p_source and will be read by LoadCache(Table).

2011-01-05 Debbie A. Cook - Added PolyFunction

Definition at line 479 of file SpicePosition.cpp.

References _FILEINFO_, CacheLabel(), Isis::TableField::Double, Isis::IException::Io, LineCache(), Memcache2HermiteCache(), p_baseTime, p_cache, p_cacheTime, p_cacheVelocity, p_coefficients, p_degree, p_fullCacheSize, p_hasVelocity, p_source, p_timeScale, PolyFunction, and PolyFunctionOverHermiteConstant.

Referenced by LineCache(), and LoadHermiteCache().

◆ CacheLabel()

void Isis::SpicePosition::CacheLabel ( Table & table )

private

Add labels to a SpicePosition table.

Return a table containing the labels defining the position table.

Parameters

Table Table to receive labels

Definition at line 589 of file SpicePosition.cpp.

References HermiteCache, Isis::Blob::Label(), Memcache, p_fullCacheEndTime, p_fullCacheSize, p_fullCacheStartTime, p_source, and Isis::toString().

Referenced by Cache().

◆ ClearCache()

void Isis::SpicePosition::ClearCache ( )

private

Removes the entire cache from memory.

Definition at line 1609 of file SpicePosition.cpp.

References p_cache, p_cacheTime, p_cacheVelocity, p_xhermite, p_yhermite, and p_zhermite.

Referenced by LoadHermiteCache(), ReloadCache(), and ~SpicePosition().

◆ ComputeBaseTime()

void Isis::SpicePosition::ComputeBaseTime ( )

Compute the base time using cached times.

Definition at line 1040 of file SpicePosition.cpp.

References p_baseTime, p_cacheTime, p_override, p_overrideBaseTime, p_overrideTimeScale, and p_timeScale.

Referenced by Memcache2HermiteCache(), SetEphemerisTimeHermiteCache(), and SetPolynomial().

◆ computeStateVector()

void Isis::SpicePosition::computeStateVector	(	double	et,
		int	target,
		int	observer,
		const QString &	refFrame,
		const QString &	abcorr,
		double	state[6],
		bool &	hasVelocity,
		double &	lightTime
	)		const

protected

Computes the state vector of the target w.r.t observer.

This method computes the state vector of the target that is relative of the observer. It first attempts to retrieve with velocity vectors. If that fails, it makes an additional attempt to get the state w/o velocity vectors. The final result is indicated by the hasVelocity parameter.

The parameters to this routine are the same as the NAIF spkez_c/spkezp_c routines. See http://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/cspice/spkez_c.html for complete description.

Note that this routine does not actually affect the internals of this object (hence the constness of the method). It is up to the caller to apply the results and potentially handle swapping of observer/target and light time correction. See SpacecraftPosition for additional details on this application of the results.

Author: 2012-10-29 Kris Becker

Parameters

et	Time to compute state vector for
target	NAIF target code
observer	NAIF observer code
refFrame	Reference frame to express coordinates in (e.g., J2000)
abcorr	Stellar aberration correction option
state	Returns the 6-element state vector in target body fixed coordinates
hasVelocity	Returns knowledge of whether the velocity vector is valid
lightTime	Returns the light time correct resulting from the request if applicable

Definition at line 1879 of file SpicePosition.cpp.

References Isis::NaifStatus::CheckErrors().

Referenced by Isis::SpacecraftPosition::SetEphemerisTimeSpice(), and SetEphemerisTimeSpice().

◆ ComputeVelocityInTime()

double Isis::SpicePosition::ComputeVelocityInTime ( PartialType var )

private

Compute the velocity with respect to time instead of scaled time.

Parameters

coef	A SpicePosition polynomial function partial type

History:: 2011-02-12 Debbie A. Cook - Original version.

Definition at line 1740 of file SpicePosition.cpp.

References p_baseTime, p_coefficients, p_degree, p_et, and p_timeScale.

Referenced by SetEphemerisTimePolyFunction().

◆ Coordinate()

const std::vector<double>& Isis::SpicePosition::Coordinate ( )

inline

Return the current J2000 position.

Definition at line 221 of file SpicePosition.h.

References p_coordinate.

Referenced by GetCenterCoordinate(), Isis::RadarGroundMap::GetXY(), Isis::RadarGroundMap::SetFocalPlane(), and Isis::RadarGroundMap::SetGround().

◆ CoordinatePartial()

std::vector< double > Isis::SpicePosition::CoordinatePartial	(	SpicePosition::PartialType	partialVar,
		int	coeffIndex
	)

Set the coefficients of a polynomial fit to each of the three coordinates of the position vector for the time period covered by the cache,.

coordinate = c0 + c1*t + c2*t**2 + ... cn*t**n, where t = (time - p_basetime) / p_timeScale.

Parameters

partialVar Designated variable of the partial derivative

Returns: Derivative of j2000 vector calculated with polynomial with respect to partialVar

Definition at line 1091 of file SpicePosition.cpp.

References DPolynomial().

Referenced by Isis::CameraGroundMap::GetdXYdPosition(), and Isis::RadarGroundMap::GetdXYdPosition().

◆ DPolynomial()

double Isis::SpicePosition::DPolynomial ( const int coeffIndex )

Evaluate the derivative of the fit polynomial (parabola) defined by the given coefficients with respect to the coefficient at the given index, at the current time.

Parameters

coeffIndex Index of coefficient to differentiate with respect to

Returns: The derivative evaluated at the current time

Definition at line 1168 of file SpicePosition.cpp.

References _FILEINFO_, p_baseTime, p_degree, p_et, p_timeScale, Isis::IException::Programmer, and Isis::toString().

Referenced by CoordinatePartial().

◆ EphemerisTime()

double Isis::SpicePosition::EphemerisTime ( ) const

inline

Return the current ephemeris time.

Definition at line 214 of file SpicePosition.h.

References p_et.

Referenced by getAdjustedEphemerisTime().

◆ Extrapolate()

std::vector< double > Isis::SpicePosition::Extrapolate ( double timeEt )

Extrapolate position for a given time assuming a constant velocity.

The position and velocity at the current time will be used to extrapolate position at the input time. If velocity does not exist, the value at the current time will be output. The caller must make sure to call SetEphemerisTime to set the time to the time to be used for the extrapolation.

Parameters

[in]	timeEt	The time of the position to be extrapolated
[out]	An	extrapolated position at the input time

Definition at line 1763 of file SpicePosition.cpp.

References p_coordinate, p_et, p_hasVelocity, and p_velocity.

◆ GetAberrationCorrection()

QString Isis::SpicePosition::GetAberrationCorrection ( ) const

virtual

Returns current state of stellar aberration correction.

The aberration correction is the value of the parameter that will be provided to the spkez_c/spkezp_c routines when determining the targer/observer vector state. See SetAberrationCorrection() for valid values.

Author: 2012-10-29 Kris Becker

Reimplemented in Isis::SpacecraftPosition.

Definition at line 206 of file SpicePosition.cpp.

References p_aberrationCorrection.

Referenced by SetEphemerisTimeSpice().

◆ getAdjustedEphemerisTime()

double Isis::SpicePosition::getAdjustedEphemerisTime ( ) const

protected

Returns adjusted ephemeris time.

This method returns the actual ephemeris time adjusted by a specifed time bias. The bias typically comes explicitly from the camera model but could be adjusted by the environment they are utlized in.

Author: 2012-10-29 Kris Becker

Returns: double Adjusted ephemeris time with time bias applied

Definition at line 1842 of file SpicePosition.cpp.

References EphemerisTime(), and GetTimeBias().

Referenced by Isis::SpacecraftPosition::SetEphemerisTimeSpice(), and SetEphemerisTimeSpice().

◆ GetBaseTime()

double Isis::SpicePosition::GetBaseTime ( )

inline

Return the base time for the position.

Definition at line 272 of file SpicePosition.h.

References p_baseTime.

◆ GetCenterCoordinate()

const std::vector< double > & Isis::SpicePosition::GetCenterCoordinate ( )

Compute and return the coordinate at the center time.

Definition at line 1723 of file SpicePosition.cpp.

References Coordinate(), p_fullCacheEndTime, p_fullCacheStartTime, and SetEphemerisTime().

◆ GetLightTime()

double Isis::SpicePosition::GetLightTime ( ) const

Return the light time coorection value.

This method returns the light time correction of the last call to SetEphemerisTimeSpice. This is the actual time after adjustments that has resulting int the adjustment of the target body. The observer position should be unchanged.

Author: 2012-10-29 Kris Becker

Returns: double Returns the light time determined from the last call to SetEphemerisTime[Spice].

Definition at line 223 of file SpicePosition.cpp.

References m_lt.

◆ getObserverCode()

int Isis::SpicePosition::getObserverCode ( ) const

protected

Returns observer code.

This methods returns the proper observer code as specified in constructor. Code has been subjected to swapping if requested.

Author: 2012-10-29 Kris Becker

Returns: int NAIF code of observer

Definition at line 1812 of file SpicePosition.cpp.

References p_observerCode.

Referenced by Isis::SpacecraftPosition::SetEphemerisTimeSpice(), and SetEphemerisTimeSpice().

◆ GetPolynomial()

void Isis::SpicePosition::GetPolynomial	(	std::vector< double > &	XC,
		std::vector< double > &	YC,
		std::vector< double > &	ZC
	)

Return the coefficients of a polynomial fit to each of the three coordinates of the position for the time period covered by the cache, angle = c0 + c1*t + c2*t**2 + ...

cn*t**n, where t = (time - p_basetime) / p_timeScale.

Parameters

[out]	XC	Coefficients of fit to first coordinate of position
[out]	YC	Coefficients of fit to second coordinate of position
[out]	ZC	Coefficients of fit to third coordinate of position

Definition at line 1027 of file SpicePosition.cpp.

References p_coefficients.

◆ GetSource()

Source Isis::SpicePosition::GetSource ( )

inline

Return the source of the position.

Definition at line 265 of file SpicePosition.h.

References p_source.

◆ getTargetCode()

int Isis::SpicePosition::getTargetCode ( ) const

protected

Returns target code.

This methods returns the proper target code as specified in constructor. Code has been subjected to swapping if requested.

Author: 2012-10-29 Kris Becker

Returns: int NAIF code for target body

Definition at line 1826 of file SpicePosition.cpp.

References p_targetCode.

Referenced by Isis::SpacecraftPosition::SetEphemerisTimeSpice(), and SetEphemerisTimeSpice().

◆ GetTimeBias()

double Isis::SpicePosition::GetTimeBias ( ) const

Returns the value of the time bias added to ET.

Author: 2012-10-29 Kris Becker

Returns: double Returns time bias for current object

Definition at line 154 of file SpicePosition.cpp.

References p_timeBias.

Referenced by getAdjustedEphemerisTime().

◆ GetTimeScale()

double Isis::SpicePosition::GetTimeScale ( )

inline

Return the time scale for the position.

Definition at line 279 of file SpicePosition.h.

References p_timeScale.

◆ HasVelocity()

bool Isis::SpicePosition::HasVelocity ( )

inline

Return the flag indicating whether the velocity exists.

Definition at line 229 of file SpicePosition.h.

References p_hasVelocity.

◆ HermiteCoordinate()

std::vector< double > Isis::SpicePosition::HermiteCoordinate ( )

This method returns the Hermite coordinate for the current time for PolyFunctionOverHermiteConstant functions.

See also: SetEphemerisTime()

History:: 2012-02-05 Debbie A. Cook - Original version

Definition at line 1783 of file SpicePosition.cpp.

References _FILEINFO_, p_coordinate, p_source, PolyFunctionOverHermiteConstant, Isis::IException::Programmer, and SetEphemerisTimeHermiteCache().

◆ HermiteIndices()

std::vector< int > Isis::SpicePosition::HermiteIndices	(	double	tolerance,
		std::vector< int >	indexList
	)

protected

This method is called by Memcache2HermiteCache() to determine which indices from the orginal cache should be saved in the reduced cache.

It is a recursive method that starts with an index list of 3 elements (first, center and last index values) and adds values to this list if the tolerance is not met.

Parameters

tolerance	Maximum error allowed between NAIF kernel coordinate values and values interpolated by the Hermite spline.
indexList	Vector containing the list of indices to be kept in the cache. This list grows as the method is recursively called

Returns: vector/<double> Vector containing final list of indices that will be kept for the Hermite cache.

History:

2009-08-03 Jeannie Walldren - Original version.

2009-08-14 Debbie A. Cook - Corrected indexing error in loop.

Definition at line 1540 of file SpicePosition.cpp.

References _FILEINFO_, Isis::NumericalApproximation::AddCubicHermiteDeriv(), Isis::NumericalApproximation::AddData(), Isis::NumericalApproximation::CubicHermite, Isis::NumericalApproximation::Evaluate(), Isis::IException::Io, p_baseTime, p_cache, p_cacheTime, p_cacheVelocity, p_hasVelocity, and p_timeScale.

Referenced by Memcache2HermiteCache().

◆ init()

void Isis::SpicePosition::init	(	int	targetCode,
		int	observerCode,
		const bool &	swapObserverTarget = `false`
	)

private

Internal initialization of the object support observer/target swap.

This initailizer provides options to swap observer/target properly.

Author: 2012-10-29 Kris Becker

Parameters

targetCode	Traditional s/c code
observerCode	Traditional target/planet code
swapObserverTarget	True indicates implement the observer/target swap, false will invoke preexisting behavior

Definition at line 79 of file SpicePosition.cpp.

References m_lt, p_aberrationCorrection, p_baseTime, p_coefficients, p_coordinate, p_degree, p_degreeApplied, p_et, p_fullCacheEndTime, p_fullCacheSize, p_fullCacheStartTime, p_hasVelocity, p_observerCode, p_override, p_source, p_targetCode, p_timeBias, p_timeScale, p_velocity, p_xhermite, p_yhermite, p_zhermite, and Spice.

Referenced by SpicePosition().

◆ IsCached()

bool Isis::SpicePosition::IsCached ( ) const

inline

Is this position cached.

Definition at line 246 of file SpicePosition.h.

References p_cache.

◆ LineCache()

Table Isis::SpicePosition::LineCache ( const QString & tableName )

Return a table with J2000 to reference positions.

Return a table containing the cached positions with the given name. The table will have seven columns, positionX, positionY, positionZ, angular velocity X, angular velocity Y, angular velocity Z, and time of J2000 position.

Parameters

tableName Name of the table to create and return

History:: 2012-01-25 Debbie A. Cook - Modified error checking for p_source to allow all function sources (>=HermiteCache)

Definition at line 635 of file SpicePosition.cpp.

References _FILEINFO_, Cache(), HermiteCache, Memcache, p_source, Isis::IException::Programmer, and ReloadCache().

Referenced by Cache().

◆ LoadCache() [1/3]

void Isis::SpicePosition::LoadCache	(	double	startTime,
		double	endTime,
		int	size
	)

Cache J2000 position over a time range.

This method will load an internal cache with coordinates over a time range. This prevents the NAIF kernels from being read over-and-over again and slowing a application down due to I/O performance. Once the cache has been loaded then the kernels can be unloaded from the NAIF system.

Parameters

startTime	Starting ephemeris time in seconds for the cache
endTime	Ending ephemeris time in seconds for the cache
size	Number of coordinates/positions to keep in the cache

Definition at line 287 of file SpicePosition.cpp.

References _FILEINFO_, HermiteCache, LoadTimeCache(), Memcache, p_cache, p_cacheTime, p_cacheVelocity, p_coordinate, p_fullCacheEndTime, p_fullCacheSize, p_fullCacheStartTime, p_hasVelocity, p_source, p_velocity, Isis::IException::Programmer, and SetEphemerisTime().

Referenced by LoadCache(), and ReloadCache().

◆ LoadCache() [2/3]

void Isis::SpicePosition::LoadCache ( double time )

Cache J2000 position for a time.

This method will load an internal cache with coordinates for a single time (e.g. useful for framing cameras). This prevents the NAIF kernels from being read over-and-over again and slowing a application down due to I/O performance. Once the cache has been loaded then the kernels can be unloaded from the NAIF system. This calls the LoadCache(stime,etime,size) method using the time as both the starting and ending time with a size of 1.

Parameters

time	single ephemeris time in seconds to cache

Definition at line 335 of file SpicePosition.cpp.

References LoadCache().

◆ LoadCache() [3/3]

void Isis::SpicePosition::LoadCache ( Table & table )

Cache J2000 positions using a table file.

This method will load an internal cache with coordinates from an ISIS table file. The table must have 4 columns, or 7 (if velocity) is included, and at least one row. The 4 columns contain the following information, body position x,y,z in J2000 and the ephemeris time of that position. If there are multiple rows it is assumed you can interpolate position at times in between the rows.

Parameters

table An ISIS table blob containing valid J2000 coordinate/time values

History:

2009-08-03 Jeannie Walldren - Reads CacheType keyword from table and sets p_source. If no CacheType keyword, we know this is an older image, so set p_source to Memcache.

2011-01-05 Debbie A. Cook - Added PolyFunction type

2011-04-08 Debbie A. Cook - Corrected loop counter in PolyFunction section to only go up to table.Records() - 1

Definition at line 362 of file SpicePosition.cpp.

References _FILEINFO_, Isis::TableRecord::Fields(), Isis::PvlObject::findKeyword(), Isis::PvlObject::hasKeyword(), HermiteCache, Isis::IException::Io, Isis::Blob::Label(), Memcache, Isis::Blob::Name(), p_cache, p_cacheTime, p_cacheVelocity, p_fullCacheEndTime, p_fullCacheSize, p_fullCacheStartTime, p_hasVelocity, p_override, p_overrideTimeScale, p_source, PolyFunction, Isis::IException::Programmer, Isis::Table::Records(), SetOverrideBaseTime(), SetPolynomial(), SetPolynomialDegree(), and Isis::toDouble().

◆ LoadHermiteCache()

Table Isis::SpicePosition::LoadHermiteCache ( const QString & tableName )

Cache J2000 position over existing cached time range using polynomials stored as Hermite cubic spline knots.

This method will reload an internal cache with positions formed from a cubic Hermite spline over a time range. The method assumes a polynomial function has been fit to the coordinates of the positions and calculates the spline from the polynomial function.

Definition at line 720 of file SpicePosition.cpp.

References _FILEINFO_, Cache(), ClearCache(), Isis::BasisFunction::Coefficient(), Isis::BasisFunction::Evaluate(), HermiteCache, p_baseTime, p_cache, p_cacheTime, p_cacheVelocity, p_coefficients, p_coordinate, p_degree, p_et, p_fullCacheEndTime, p_fullCacheSize, p_fullCacheStartTime, p_hasVelocity, p_source, p_velocity, PolyFunction, Isis::IException::Programmer, Isis::BasisFunction::SetCoefficients(), and SetEphemerisTime().

◆ LoadTimeCache()

void Isis::SpicePosition::LoadTimeCache ( )

private

Load the time cache.

This method should works with the LoadCache(startTime, endTime, size) method to load the time cache.

Definition at line 1706 of file SpicePosition.cpp.

References p_cacheTime, p_fullCacheEndTime, p_fullCacheSize, and p_fullCacheStartTime.

Referenced by LoadCache(), and ReloadCache().

◆ Memcache2HermiteCache()

void Isis::SpicePosition::Memcache2HermiteCache ( double tolerance )

This method reduces the cache for position, time and velocity to the minimum number of values needed to interpolate the J2000 coordinates using a Hermite spline, given a tolerance of deviation from the NAIF values.

Parameters

tolerance Maximum error allowed between NAIF kernel coordinate values and values interpolated by the Hermite spline.

History:: 2009-08-03 Jeannie Walldren - Original version.

Definition at line 1480 of file SpicePosition.cpp.

References _FILEINFO_, ComputeBaseTime(), HermiteCache, HermiteIndices(), Memcache, p_cache, p_cacheTime, p_cacheVelocity, p_override, p_overrideTimeScale, p_source, and Isis::IException::Programmer.

Referenced by Cache().

◆ ReloadCache() [1/2]

void Isis::SpicePosition::ReloadCache ( )

Cache J2000 positions over existing cached time range using polynomials.

This method will reload an internal cache with positions calculated from functions fit to the coordinates of the position over a time range.

History:: 2012-01-25 Debbie A. Cook - Modified error checking for type to allow all function types (>=HermiteCache)

Definition at line 660 of file SpicePosition.cpp.

References _FILEINFO_, Isis::NaifStatus::CheckErrors(), HermiteCache, LoadTimeCache(), Memcache, p_cache, p_cacheTime, p_cacheVelocity, p_coordinate, p_degree, p_et, p_fullCacheSize, p_source, p_velocity, Isis::IException::Programmer, and SetEphemerisTime().

Referenced by LineCache().

◆ ReloadCache() [2/2]

void Isis::SpicePosition::ReloadCache ( Table & table )

Cache J2000 position over existing cached time range using table.

This method will reload an internal cache with positions formed from coordinates in a table

Parameters

table An ISIS table blob containing valid J2000 coordinate/time values.

History:: 2009-08-03 Jeannie Walldren - Original version.

Definition at line 1696 of file SpicePosition.cpp.

References ClearCache(), LoadCache(), p_source, and Spice.

◆ SetAberrationCorrection()

void Isis::SpicePosition::SetAberrationCorrection ( const QString & correction )

virtual

Set the aberration correction (light time)

See NAIF required reading for more information on this correction at ftp://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/ascii/individual_docs/spk.req

Parameters

correction This value must be one of the following: "NONE", "LT", "LT+S", "CN", "CN+S", "XLT", "XLT+S", "XCN" and "XCN+S" where LT is a correction for planetary aberration (light time), CN is converged Newtonian, XLT is transmission case using Newtonian formulation, XCN is transmission case using converged Newtonian formuation and S a correction for stellar aberration. See http://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/cspice/spkezr_c.html for additional information on the "abcorr" parameters. If never called the default is "LT+S".

History:: 2012-10-10 Kris Becker - Added support for all current abcorr parameters options in the NAIF spkezX functions.

Reimplemented in Isis::SpacecraftPosition.

Definition at line 179 of file SpicePosition.cpp.

References _FILEINFO_, p_aberrationCorrection, and Isis::IException::Programmer.

Referenced by Isis::LoHighCamera::LoHighCamera(), Isis::LoMediumCamera::LoMediumCamera(), Isis::Mariner10Camera::Mariner10Camera(), and Isis::SpacecraftPosition::SetAberrationCorrection().

◆ SetEphemerisTime()

const std::vector< double > & Isis::SpicePosition::SetEphemerisTime ( double et )

Return J2000 coordinate at given time.

This method returns the J2000 coordinates (x,y,z) of the body at a given et in seconds. The coordinates are obtained from either a valid NAIF spk kernel, or alternatively from an internal cache loaded from an ISIS Table object. In the first case, the SPK kernel must contain positions for the body code specified in the constructor at the given time and it must be loaded using the SpiceKernel class.

Parameters

et	ephemeris time in seconds

History:: 2009-08-03 Jeannie Walldren - Moved code to individual methods for each Source type to make software more readable.

Definition at line 242 of file SpicePosition.cpp.

References Isis::NaifStatus::CheckErrors(), HermiteCache, Memcache, p_coordinate, p_et, p_source, PolyFunction, PolyFunctionOverHermiteConstant, SetEphemerisTimeHermiteCache(), SetEphemerisTimeMemcache(), SetEphemerisTimePolyFunction(), SetEphemerisTimePolyFunctionOverHermiteConstant(), and SetEphemerisTimeSpice().

Referenced by GetCenterCoordinate(), LoadCache(), LoadHermiteCache(), ReloadCache(), and SetPolynomial().

◆ SetEphemerisTimeHermiteCache()

void Isis::SpicePosition::SetEphemerisTimeHermiteCache ( )

protected

This is a protected method that is called by SetEphemerisTime() when Source type is HermiteCache.

It calculates J2000 coordinates (x,y,z) of the body that correspond to a given et in seconds. These coordinates are obtained by using a Hermite spline to interpolate values from an internal reduced cache loaded from an ISIS Table object.

See also: SetEphemerisTime()

History:: 2009-08-03 Jeannie Walldren - Original version

Definition at line 1281 of file SpicePosition.cpp.

References _FILEINFO_, Isis::NumericalApproximation::AddCubicHermiteDeriv(), Isis::NumericalApproximation::AddData(), ComputeBaseTime(), Isis::NumericalApproximation::CubicHermite, Isis::NumericalApproximation::Evaluate(), Isis::NumericalApproximation::EvaluateCubicHermiteFirstDeriv(), Isis::NumericalApproximation::Extrapolate, Isis::IException::Io, p_baseTime, p_cache, p_cacheTime, p_cacheVelocity, p_coordinate, p_et, p_hasVelocity, p_override, p_overrideTimeScale, p_timeScale, p_velocity, p_xhermite, p_yhermite, and p_zhermite.

Referenced by HermiteCoordinate(), SetEphemerisTime(), and SetEphemerisTimePolyFunctionOverHermiteConstant().

◆ SetEphemerisTimeMemcache()

void Isis::SpicePosition::SetEphemerisTimeMemcache ( )

protected

This is a protected method that is called by SetEphemerisTime() when Source type is Memcache.

It calculates J2000 coordinates (x,y,z) of the body that correspond to a given et in seconds. These coordinates are obtained from an internal cache loaded from an ISIS Table object.

See also: SetEphemerisTime()

History:: 2009-08-03 Jeannie Walldren - Original version (moved code from SetEphemerisTime() to its own method)

Definition at line 1218 of file SpicePosition.cpp.

References p_cache, p_cacheTime, p_cacheVelocity, p_coordinate, p_et, p_hasVelocity, and p_velocity.

Referenced by SetEphemerisTime().

◆ SetEphemerisTimePolyFunction()

void Isis::SpicePosition::SetEphemerisTimePolyFunction ( )

protected

This is a protected method that is called by SetEphemerisTime() when Source type is PolyFunction.

It calculates J2000 coordinates (x,y,z) of the body that correspond to a given et in seconds. These coordinates are obtained by using an nth degree polynomial function fit to each coordinate of the position vector.

See also: SetEphemerisTime()

History:: 2011-01-05 Debbie A. Cook - Original version

Definition at line 1369 of file SpicePosition.cpp.

References ComputeVelocityInTime(), Isis::BasisFunction::Evaluate(), p_baseTime, p_cacheVelocity, p_coefficients, p_coordinate, p_degree, p_et, p_hasVelocity, p_timeScale, p_velocity, and Isis::BasisFunction::SetCoefficients().

Referenced by SetEphemerisTime(), and SetEphemerisTimePolyFunctionOverHermiteConstant().

◆ SetEphemerisTimePolyFunctionOverHermiteConstant()

void Isis::SpicePosition::SetEphemerisTimePolyFunctionOverHermiteConstant ( )

protected

This is a protected method that is called by SetEphemerisTime() when Source type is PolyFunctionOverHermiteConstant.

It calculates J2000 coordinates (x,y,z) of the body that correspond to a given et in seconds. These coordinates are obtained by adding a constant cubic Hermite spline added to an nth degree polynomial function fit to each coordinate of the position vector.

See also: SetEphemerisTime()

History:: 2012-01-25 Debbie A. Cook - Original version

Definition at line 1418 of file SpicePosition.cpp.

References p_coordinate, p_velocity, SetEphemerisTimeHermiteCache(), and SetEphemerisTimePolyFunction().

Referenced by SetEphemerisTime().

◆ SetEphemerisTimeSpice()

void Isis::SpicePosition::SetEphemerisTimeSpice ( )

protectedvirtual

This is a protected method that is called by SetEphemerisTime() when Source type is Spice.

It calculates J2000 coordinates (x,y,z) of the body that correspond to a given et in seconds. The coordinates are obtained from a valid NAIF spk kernel. The SPK kernel must contain positions for the body code specified in the constructor at the given time and it must be loaded using the SpiceKernel class.

See also: SetEphemerisTime()

History:: 2009-08-03 Jeannie Walldren - Original version (moved code from SetEphemerisTime() to its own method)

Reimplemented in Isis::SpacecraftPosition.

Definition at line 1449 of file SpicePosition.cpp.

References computeStateVector(), GetAberrationCorrection(), getAdjustedEphemerisTime(), getObserverCode(), getTargetCode(), setLightTime(), and setStateVector().

Referenced by SetEphemerisTime(), and Isis::SpacecraftPosition::SetEphemerisTimeSpice().

◆ setLightTime()

void Isis::SpicePosition::setLightTime ( const double & lightTime )

protected

Inheritors can set the light time if indicated.

Definition at line 1961 of file SpicePosition.cpp.

References m_lt.

Referenced by Isis::SpacecraftPosition::SetEphemerisTimeSpice(), and SetEphemerisTimeSpice().

◆ SetOverrideBaseTime()

void Isis::SpicePosition::SetOverrideBaseTime	(	double	baseTime,
		double	timeScale
	)

Set an override base time to be used with observations on scanners to allow all images in an observation to use the same base time and polynomials for the positions.

Parameters

[in] baseTime The baseTime to use and override the computed base time

History:: 2011-04-08 Debbie A. Cook - Corrected p_override set to BaseAndScale

Definition at line 1071 of file SpicePosition.cpp.

References p_override, p_overrideBaseTime, and p_overrideTimeScale.

Referenced by Isis::BundleObservation::initializeExteriorOrientation(), and LoadCache().

◆ SetPolynomial() [1/2]

void Isis::SpicePosition::SetPolynomial ( const Source type = PolyFunction )

Set the coefficients of a polynomial fit to each of the components (X, Y, Z) of the position vector for the time period covered by the cache, component = c0 + c1*t + c2*t**2 + ...

cn*t**n, where t = (time - p_baseTime) / p_timeScale.

< Basis function fit to X

< Basis function fit to Y

< Basis function fit to Z

Definition at line 855 of file SpicePosition.cpp.

References Isis::LeastSquares::AddKnown(), Isis::BasisFunction::Coefficient(), Isis::BasisFunction::Coefficients(), ComputeBaseTime(), Isis::LineEquation::Intercept(), p_baseTime, p_cache, p_cacheTime, p_coordinate, p_degree, p_source, p_timeScale, PolyFunction, PolyFunctionOverHermiteConstant, SetEphemerisTime(), Isis::LineEquation::Slope(), and Isis::LeastSquares::Solve().

Referenced by Isis::BundleObservation::applyParameterCorrections(), Isis::BundleObservation::initializeExteriorOrientation(), LoadCache(), and SetPolynomialDegree().

◆ SetPolynomial() [2/2]

void Isis::SpicePosition::SetPolynomial	(	const std::vector< double > &	XC,
		const std::vector< double > &	YC,
		const std::vector< double > &	ZC,
		const Source	type = `PolyFunction`
	)

Set the coefficients of a polynomial (parabola) fit to each of the three coordinates of the position vector for the time period covered by the cache, coord = c0 + c1*t + c2*t**2 + ...

cn*t**n, where t = (time - p_baseTime) / p_timeScale.

Parameters

[in]	XC	Coefficients of fit to X coordinate
[in]	YC	Coefficients of fit to Y coordinate
[in]	ZC	Coefficients of fit to Z coordinate

History:: 2012-02-05 Debbie A. Cook - Added type argument

Definition at line 978 of file SpicePosition.cpp.

References ComputeBaseTime(), p_coefficients, p_degree, p_degreeApplied, p_et, p_source, Isis::BasisFunction::SetCoefficients(), and SetEphemerisTime().

◆ SetPolynomialDegree()

void Isis::SpicePosition::SetPolynomialDegree ( int degree )

Set the polynomial degree.

Set the degree of the polynomials to be fit to the three position coordinates for the time period covered by the cache, coordinate = c0 + c1*t + c2*t**2 + ...

cn*t**n, where t = (time - p_baseTime) / p_timeScale, and n = p_degree.

Parameters

[in] degree Degree of the polynomial to be fit

Definition at line 1640 of file SpicePosition.cpp.

References p_coefficients, p_degree, p_degreeApplied, p_fullCacheSize, and SetPolynomial().

Referenced by Isis::BundleObservation::initializeExteriorOrientation(), and LoadCache().

◆ setStateVector()

void Isis::SpicePosition::setStateVector	(	const double	state[6],
		const bool &	hasVelocity
	)

protected

Sets the state of target relative to observer.

This method sets the state of the target (vector) relative to the observer. Note that is the only place where the swap of observer/target adjustment to the state vector is handled. All contributors to this computation must compute the state vector representing the position and velocity of the target relative to the observer where the first three components of state[] are the x-, y- and z-component cartesian coordinates of the target's position; the last three are the corresponding velocity vector.

This routine maintains the directional integrity of the state vector should the observer/target be swapped. See the documentation for the spkez_c at http://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/cspice/spkez_c.html.

Author: 2012-10-29 Kris Becker

Parameters

state	State vector. First three components of this 6 element array is the body fixed coordinates of the vector from the target to the observer. The last three components are the velocity state.
hasVelocity	If true, then the velocity components of the state vector are valid, otherwise they should be ignored.

Definition at line 1931 of file SpicePosition.cpp.

References p_coordinate, p_hasVelocity, and p_velocity.

Referenced by Isis::SpacecraftPosition::SetEphemerisTimeSpice(), and SetEphemerisTimeSpice().

◆ SetTimeBias()

void Isis::SpicePosition::SetTimeBias ( double timeBias )

Apply a time bias when invoking SetEphemerisTime method.

The bias is used only when reading from NAIF kernels. It is added to the ephermeris time passed into SetEphemerisTime and then the body position is read from the NAIF kernels and returned. When the cache is loaded from a table the bias is ignored as it is assumed to have already been applied. If this method is never called the default bias is 0.0 seconds.

Parameters

timeBias time bias in seconds

Definition at line 143 of file SpicePosition.cpp.

References p_timeBias.

◆ Velocity()

const std::vector< double > & Isis::SpicePosition::Velocity ( )

Return the current J2000 velocity.

Return the velocity vector if available.

Returns: The velocity vector evaluated at the current time

Definition at line 1193 of file SpicePosition.cpp.

References _FILEINFO_, p_hasVelocity, p_velocity, and Isis::IException::Programmer.

Referenced by Isis::RadarGroundMap::GetXY(), Isis::RadarGroundMap::SetFocalPlane(), and Isis::RadarGroundMap::SetGround().

◆ VelocityPartial()

std::vector< double > Isis::SpicePosition::VelocityPartial	(	SpicePosition::PartialType	partialVar,
		int	coeffIndex
	)

Compute the derivative of the velocity with respect to the specified variable.

The velocity is the derivative of the coordinate with respect to time.

coordinate = C0 + C1*t + C2*t**2 + ... +Cn*t**n , where t = (time - p_basetime) / p_timeScale. velocity = (1/p_timeScale) * (C1 + 2*C2*t + ... + n*Cn*t**(n-1)) partial(velocity) with respect to C0 = 0. partial(velocity) with respect to C1 = 1/p_timeScale. partial(velocity) with respect to C2 = 2*t/p_timeScale partial(velocity) with respect to CN = n*t**(n-1)/p_timeScale

Parameters

partialVar Designated variable of the partial derivative

Returns: Derivative of j2000 velocity vector calculated with respect to partialVar

Definition at line 1132 of file SpicePosition.cpp.

References p_baseTime, p_et, and p_timeScale.

Referenced by Isis::RadarGroundMap::GetdXYdPosition().

Member Data Documentation

◆ m_lt

double Isis::SpicePosition::m_lt

private

!< Swap traditional order

Definition at line 363 of file SpicePosition.h.

Referenced by GetLightTime(), init(), and setLightTime().

◆ p_aberrationCorrection

QString Isis::SpicePosition::p_aberrationCorrection

private

Light time correction to apply.

Definition at line 328 of file SpicePosition.h.

Referenced by GetAberrationCorrection(), init(), and SetAberrationCorrection().

◆ p_baseTime

double Isis::SpicePosition::p_baseTime

private

Base time used in fit equations.

Definition at line 347 of file SpicePosition.h.

Referenced by Cache(), ComputeBaseTime(), ComputeVelocityInTime(), DPolynomial(), GetBaseTime(), HermiteIndices(), init(), LoadHermiteCache(), SetEphemerisTimeHermiteCache(), SetEphemerisTimePolyFunction(), SetPolynomial(), and VelocityPartial().

◆ p_cache

std::vector<std::vector<double> > Isis::SpicePosition::p_cache

private

Cached positions.

Definition at line 343 of file SpicePosition.h.

Referenced by Cache(), ClearCache(), HermiteIndices(), IsCached(), LoadCache(), LoadHermiteCache(), Memcache2HermiteCache(), ReloadCache(), SetEphemerisTimeHermiteCache(), SetEphemerisTimeMemcache(), and SetPolynomial().

◆ p_cacheTime

std::vector<double> Isis::SpicePosition::p_cacheTime

private

iTime for corresponding position

Definition at line 342 of file SpicePosition.h.

Referenced by Cache(), ClearCache(), ComputeBaseTime(), HermiteIndices(), LoadCache(), LoadHermiteCache(), LoadTimeCache(), Memcache2HermiteCache(), ReloadCache(), SetEphemerisTimeHermiteCache(), SetEphemerisTimeMemcache(), and SetPolynomial().

◆ p_cacheVelocity

std::vector<std::vector<double> > Isis::SpicePosition::p_cacheVelocity

private

Cached velocities.

Definition at line 344 of file SpicePosition.h.

Referenced by Cache(), ClearCache(), HermiteIndices(), LoadCache(), LoadHermiteCache(), Memcache2HermiteCache(), ReloadCache(), SetEphemerisTimeHermiteCache(), SetEphemerisTimeMemcache(), and SetEphemerisTimePolyFunction().

◆ p_coefficients

std::vector<double> Isis::SpicePosition::p_coefficients[3]

private

Coefficients of polynomials fit to 3 coordinates.

Definition at line 345 of file SpicePosition.h.

Referenced by Cache(), ComputeVelocityInTime(), GetPolynomial(), init(), LoadHermiteCache(), SetEphemerisTimePolyFunction(), SetPolynomial(), and SetPolynomialDegree().

◆ p_coordinate

std::vector<double> Isis::SpicePosition::p_coordinate

private

J2000 position at time et.

Definition at line 331 of file SpicePosition.h.

Referenced by Coordinate(), Extrapolate(), HermiteCoordinate(), init(), LoadCache(), LoadHermiteCache(), ReloadCache(), SetEphemerisTime(), SetEphemerisTimeHermiteCache(), SetEphemerisTimeMemcache(), SetEphemerisTimePolyFunction(), SetEphemerisTimePolyFunctionOverHermiteConstant(), SetPolynomial(), and setStateVector().

◆ p_degree

int Isis::SpicePosition::p_degree

private

Degree of polynomial function fit to the coordinates of the position.

Definition at line 352 of file SpicePosition.h.

Referenced by Cache(), ComputeVelocityInTime(), DPolynomial(), init(), LoadHermiteCache(), ReloadCache(), SetEphemerisTimePolyFunction(), SetPolynomial(), and SetPolynomialDegree().

◆ p_degreeApplied

bool Isis::SpicePosition::p_degreeApplied

private

Flag indicating whether or not a polynomial.

Definition at line 349 of file SpicePosition.h.

Referenced by init(), SetPolynomial(), and SetPolynomialDegree().

◆ p_et

double Isis::SpicePosition::p_et

private

Current ephemeris time.

Definition at line 330 of file SpicePosition.h.

Referenced by ComputeVelocityInTime(), DPolynomial(), EphemerisTime(), Extrapolate(), init(), LoadHermiteCache(), ReloadCache(), SetEphemerisTime(), SetEphemerisTimeHermiteCache(), SetEphemerisTimeMemcache(), SetEphemerisTimePolyFunction(), SetPolynomial(), and VelocityPartial().

◆ p_fullCacheEndTime

double Isis::SpicePosition::p_fullCacheEndTime

private

Original end time of the complete cache after spiceinit.

Definition at line 354 of file SpicePosition.h.

Referenced by CacheLabel(), GetCenterCoordinate(), init(), LoadCache(), LoadHermiteCache(), and LoadTimeCache().

◆ p_fullCacheSize

double Isis::SpicePosition::p_fullCacheSize

private

Orignial size of the complete cache after spiceinit.

Definition at line 355 of file SpicePosition.h.

Referenced by Cache(), CacheLabel(), init(), LoadCache(), LoadHermiteCache(), LoadTimeCache(), ReloadCache(), and SetPolynomialDegree().

◆ p_fullCacheStartTime

double Isis::SpicePosition::p_fullCacheStartTime

private

Original start time of the complete cache after spiceinit.

Definition at line 353 of file SpicePosition.h.

Referenced by CacheLabel(), GetCenterCoordinate(), init(), LoadCache(), LoadHermiteCache(), and LoadTimeCache().

◆ p_hasVelocity

bool Isis::SpicePosition::p_hasVelocity

private

Flag to indicate velocity is available.

Definition at line 356 of file SpicePosition.h.

Referenced by Cache(), Extrapolate(), HasVelocity(), HermiteIndices(), init(), LoadCache(), LoadHermiteCache(), SetEphemerisTimeHermiteCache(), SetEphemerisTimeMemcache(), SetEphemerisTimePolyFunction(), setStateVector(), and Velocity().

◆ p_observerCode

int Isis::SpicePosition::p_observerCode

private

observer body code

Definition at line 325 of file SpicePosition.h.

Referenced by getObserverCode(), and init().

◆ p_override

OverrideType Isis::SpicePosition::p_override

private

Time base and scale override options;.

Definition at line 357 of file SpicePosition.h.

Referenced by ComputeBaseTime(), init(), LoadCache(), Memcache2HermiteCache(), SetEphemerisTimeHermiteCache(), and SetOverrideBaseTime().

◆ p_overrideBaseTime

double Isis::SpicePosition::p_overrideBaseTime

private

Value set by caller to override computed base time.

Definition at line 358 of file SpicePosition.h.

Referenced by ComputeBaseTime(), and SetOverrideBaseTime().

◆ p_overrideTimeScale

double Isis::SpicePosition::p_overrideTimeScale

private

Value set by caller to override computed time scale.

Definition at line 359 of file SpicePosition.h.

Referenced by ComputeBaseTime(), LoadCache(), Memcache2HermiteCache(), SetEphemerisTimeHermiteCache(), and SetOverrideBaseTime().

◆ p_source

Source Isis::SpicePosition::p_source

private

Enumerated value for the location of the SPK information used.

Definition at line 341 of file SpicePosition.h.

Referenced by Cache(), CacheLabel(), GetSource(), HermiteCoordinate(), init(), LineCache(), LoadCache(), LoadHermiteCache(), Memcache2HermiteCache(), ReloadCache(), SetEphemerisTime(), and SetPolynomial().

◆ p_targetCode

int Isis::SpicePosition::p_targetCode

private

target body code

Definition at line 324 of file SpicePosition.h.

Referenced by getTargetCode(), and init().

◆ p_timeBias

double Isis::SpicePosition::p_timeBias

private

iTime bias when reading kernels

Definition at line 327 of file SpicePosition.h.

Referenced by GetTimeBias(), init(), and SetTimeBias().

◆ p_timeScale

double Isis::SpicePosition::p_timeScale

private

Time scale used in fit equations.

Definition at line 348 of file SpicePosition.h.

Referenced by Cache(), ComputeBaseTime(), ComputeVelocityInTime(), DPolynomial(), GetTimeScale(), HermiteIndices(), init(), SetEphemerisTimeHermiteCache(), SetEphemerisTimePolyFunction(), SetPolynomial(), and VelocityPartial().

◆ p_velocity

std::vector<double> Isis::SpicePosition::p_velocity

private

J2000 velocity at time et.

Definition at line 332 of file SpicePosition.h.

Referenced by Extrapolate(), init(), LoadCache(), LoadHermiteCache(), ReloadCache(), SetEphemerisTimeHermiteCache(), SetEphemerisTimeMemcache(), SetEphemerisTimePolyFunction(), SetEphemerisTimePolyFunctionOverHermiteConstant(), setStateVector(), and Velocity().

◆ p_xhermite

NumericalApproximation* Isis::SpicePosition::p_xhermite

private

Hermite spline for x coordinate if Source == HermiteCache.

Definition at line 335 of file SpicePosition.h.

Referenced by ClearCache(), init(), and SetEphemerisTimeHermiteCache().

◆ p_yhermite

NumericalApproximation* Isis::SpicePosition::p_yhermite

private

Hermite spline for y coordinate if Source == HermiteCache.

Definition at line 337 of file SpicePosition.h.

Referenced by ClearCache(), init(), and SetEphemerisTimeHermiteCache().

◆ p_zhermite

NumericalApproximation* Isis::SpicePosition::p_zhermite

private

Hermite spline for z coordinate if Source == HermiteCache.

Definition at line 339 of file SpicePosition.h.

Referenced by ClearCache(), init(), and SetEphemerisTimeHermiteCache().

The documentation for this class was generated from the following files:

src/base/objs/SpicePosition/SpicePosition.h
src/base/objs/SpicePosition/SpicePosition.cpp

Public Types

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

◆ Source

Constructor & Destructor Documentation

◆ SpicePosition() [1/2]

◆ ~SpicePosition()

◆ SpicePosition() [2/2]

Member Function Documentation

◆ Cache()

◆ CacheLabel()

◆ ClearCache()

◆ ComputeBaseTime()

◆ computeStateVector()

◆ ComputeVelocityInTime()

◆ Coordinate()

◆ CoordinatePartial()

◆ DPolynomial()

◆ EphemerisTime()

◆ Extrapolate()

◆ GetAberrationCorrection()

◆ getAdjustedEphemerisTime()

◆ GetBaseTime()

◆ GetCenterCoordinate()

◆ GetLightTime()

◆ getObserverCode()

◆ GetPolynomial()

◆ GetSource()

◆ getTargetCode()

◆ GetTimeBias()

◆ GetTimeScale()

◆ HasVelocity()

◆ HermiteCoordinate()

◆ HermiteIndices()

◆ init()

◆ IsCached()

◆ LineCache()

◆ LoadCache() [1/3]

◆ LoadCache() [2/3]

◆ LoadCache() [3/3]

◆ LoadHermiteCache()

◆ LoadTimeCache()

◆ Memcache2HermiteCache()

◆ ReloadCache() [1/2]

◆ ReloadCache() [2/2]

◆ SetAberrationCorrection()

◆ SetEphemerisTime()

◆ SetEphemerisTimeHermiteCache()

◆ SetEphemerisTimeMemcache()

◆ SetEphemerisTimePolyFunction()

◆ SetEphemerisTimePolyFunctionOverHermiteConstant()

◆ SetEphemerisTimeSpice()

◆ setLightTime()

◆ SetOverrideBaseTime()

◆ SetPolynomial() [1/2]

◆ SetPolynomial() [2/2]

◆ SetPolynomialDegree()

◆ setStateVector()

◆ SetTimeBias()

◆ Velocity()

◆ VelocityPartial()

Member Data Documentation

◆ m_lt

◆ p_aberrationCorrection

◆ p_baseTime

◆ p_cache

◆ p_cacheTime

◆ p_cacheVelocity

◆ p_coefficients

◆ p_coordinate

◆ p_degree

◆ p_degreeApplied

◆ p_et

◆ p_fullCacheEndTime

◆ p_fullCacheSize

◆ p_fullCacheStartTime