sc_coord.h

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/*
 * sc_coord.h 
 *
 * Programmers: Joseph Mueller, Mike Paluszek, Lavanya Swetharanyan, Stephanie Thomas, Wil Turner, David Wilson
 *
 * Copyright 1996-2010, Princeton Satellite Systems. All rights reserved.
 *
 * Coordinate transforms.
 */
 
#ifndef __SC_COORD__
#define __SC_COORD__
 
#ifdef AS_OS_WINDOWS
#include "matrixlib.h"
#else
#include <MatrixLib/MatrixLib.h>
#endif
#include "sc_constants.h"
 
extern "C++"
{
    
    typedef struct sun_vector_out_s {
        ml_matrix q_eci_to_body;    
        double angle_solar_wing;    
     } sun_vector_out;
 
ml_matrix az_el_range_range_rate_to_rv( const ml_matrix& q_radar_to_hills, double az, double el, double range, double range_dot );
ml_matrix q_from_u(const ml_matrix &u_catalog, const ml_matrix &u_meas );
double q_to_angle(const ml_matrix &quaternion);
ml_matrix q_to_vec(const ml_matrix &quaternion);
ml_matrix au_to_q(double angle, double unit_vec[3]);
ml_matrix au_to_q(double angle, const ml_matrix &unit_vec);
double q_to_au(const ml_matrix &quaternion, ml_matrix &unit_vec);
 
ml_matrix eul_to_mat(const ml_matrix &euler);
ml_matrix eul_to_q(const ml_matrix &euler);
ml_matrix delta_eul_to_q(const ml_matrix &q, const ml_matrix &euler);
ml_matrix rot_mat_x( const double& a );
ml_matrix rot_mat_y( const double& a );
    ml_matrix rot_mat_z( const double& a );
 
ml_matrix mat_to_q(const ml_matrix &mat);
ml_matrix mat_to_eul(const ml_matrix &mat, const ml_matrix &euler);
ml_matrix u_to_q(const ml_matrix &vec1, const ml_matrix &vec2);
ml_matrix perpendicular(const ml_matrix &vec);
 
 
ml_matrix q_error(const ml_matrix &q_ref, const ml_matrix &q_meas);
ml_matrix qb_to_i_dot(const ml_matrix &quaternion,const ml_matrix &w);
ml_matrix qi_to_b_dot(const ml_matrix &quat, const ml_matrix &w);
ml_matrix qeb_re_ub_to_az_el(const ml_matrix &qEB, const ml_matrix &rE, const ml_matrix &vB);
ml_matrix mat_eci_to_lvlh(const ml_matrix &pos, const ml_matrix &vel);
ml_matrix q_eci_to_lvlh(const ml_matrix &pos, const ml_matrix &vel);
ml_matrix mat_eci_to_hills(const ml_matrix &r, const ml_matrix &v);
ml_matrix q_eci_to_hills(const ml_matrix &r, const ml_matrix &v);
ml_matrix eci_to_hills( const ml_matrix &x0, const ml_matrix &x1 );
ml_matrix hills_to_eci( const ml_matrix &x0, const ml_matrix &xH );
 
// @name Right Ascension and Declination Conversions
ml_matrix q_to_ra_dec(const ml_matrix &quaternion, const ml_matrix &uu);
ml_matrix u_to_ra_dec(const ml_matrix &unit_vec);
ml_matrix u_to_ra_dec(const ml_matrix &unit_vec, bool normalize);
ml_matrix ra_dec_to_q(const ml_matrix &uu, double ra, double dec);
ml_matrix ra_dec_to_u(double ra, double dec);
ml_matrix ra_dec_to_u(const ml_matrix &ra, const ml_matrix &dec);
ml_matrix az_el_to_q( ml_matrix az, ml_matrix el);
ml_matrix az_el_to_q( double az, double el);
 
ml_matrix qslerp(const ml_matrix &quat1, const ml_matrix &quat2, double t);
 
ml_matrix lat_lon_alt_to_pos(double lat, double lon, double h, double f=FLATTENING_FACTOR, double a=RADIUS_EARTH);
ml_matrix lat_lon_alt_to_pos( const ml_matrix& lat_lon_alt, double f=FLATTENING_FACTOR, double a=RADIUS_EARTH);
ml_matrix lat_lon_to_pos(double lat, double lon, double f, double a, bool is_geodetic);
ml_matrix lat_lon_to_pos(double lat, double lon, double f=FLATTENING_FACTOR, double a=RADIUS_EARTH, int type=0);
 
ml_matrix pos_to_lat_lon_alt(const ml_matrix &efPos, double f=FLATTENING_FACTOR, double a=RADIUS_EARTH, double tolerance=1.0e-6);
 
void cart_to_sph( const ml_matrix& x, const ml_matrix& y, const ml_matrix& z, ml_matrix& r, ml_matrix& theta, ml_matrix& phi );
ml_matrix cart_to_sph( const ml_matrix& x );
void sph_to_cart( const ml_matrix& r, const ml_matrix& theta, const ml_matrix& phi, ml_matrix& x, ml_matrix& y, ml_matrix& z );
ml_matrix RPhiTheta2Cart(const ml_matrix& r);
ml_matrix CameraToECI( double az, double el, double tt, const ml_matrix& qECIToBody, const ml_matrix& mBaseToBody );
ml_matrix eci_to_ned( const ml_matrix& r, int opt = 0, double f=FLATTENING_FACTOR );
ml_matrix u_to_az_el( const ml_matrix& u );
ml_matrix u_to_x_z( const ml_matrix& u );
ml_matrix az_el_to_u( double az, double el );
ml_matrix az_el_to_u( const ml_matrix &az, const ml_matrix &el);
ml_matrix q_from_dq( const ml_matrix& q, const ml_matrix& dX );
ml_matrix dq_from_dX( const ml_matrix& dX );
ml_matrix r_lvlh_to_eci( const ml_matrix& r_eci, const ml_matrix& v_eci, const ml_matrix& r );
ml_matrix v_lvlh_to_eci( const ml_matrix& r_eci, const ml_matrix& v_eci, const ml_matrix& v );
ml_matrix r_eci_to_lvlh( const ml_matrix& r_eci, const ml_matrix& v_eci, const ml_matrix& r );
ml_matrix v_eci_to_lvlh( const ml_matrix& r_eci, const ml_matrix& v_eci, const ml_matrix& v );
ml_matrix x_lvlh_to_eci( const ml_matrix& r_eci, const ml_matrix& v_eci, const ml_matrix& x );
ml_matrix x_eci_to_lvlh( const ml_matrix& r_eci, const ml_matrix& v_eci, const ml_matrix& x );
ml_matrix x_lvlh_to_eci( const ml_matrix& x_eci, const ml_matrix& x );
ml_matrix x_eci_to_lvlh( const ml_matrix& x_eci, const ml_matrix& x );
ml_matrix LLAToECEF( const ml_matrix& lla, double rP = RADIUS_EARTH );
ml_matrix small_angles_to_q( const ml_matrix& angle );
ml_matrix spice_to_3_by_3( const ml_matrix& m, int k = 1 );
double esd_to_azim( const ml_matrix& u );
double esd_to_elev( const ml_matrix& u );
ml_matrix azim_elev_to_esd( const double& azim, const double& elev );
ml_matrix ecef_to_esd( const ml_matrix& rEF );
ml_matrix u_eci_to_az_el_body( const ml_matrix& u_eci, const ml_matrix& q_eci_to_body,  const ml_matrix& q_body_to_base);
sun_vector_out sun_vector_pointing( const ml_matrix& u_eci, const ml_matrix& u_sun_eci );
ml_matrix target_from_r_v_d( const ml_matrix& r, double rP, const ml_matrix& v, double d );
ml_matrix ef_to_lla(const ml_matrix& r);
ml_matrix eci_to_llr(const ml_matrix& eciCoord, double jd);
ml_matrix q_from_two_u(const ml_matrix& u, const ml_matrix& v);
}
 
#endif