Index Page ckgpav_c
A B C D E F G H I J K L M N O P Q R S T U V W X
Procedure Abstract Required_Reading Keywords Brief_I/O Detailed_Input | Detailed_Output Parameters Exceptions Files Particulars Examples | Restrictions Literature_References Author_and_Institution Version Index_Entries
#### Procedure
       void ckgpav_c ( SpiceInt            inst,
                       SpiceDouble         sclkdp,
                       SpiceDouble         tol,
                       ConstSpiceChar    * ref,
                       SpiceDouble         cmat[3][3],
                       SpiceDouble         av[3],
                       SpiceDouble       * clkout,
                       SpiceBoolean      * found      )
#### Abstract
       Get pointing (attitude) and angular velocity for a specified
       spacecraft clock time.
#### Required_Reading
       CK
       SCLK
#### Keywords
       POINTING
#### Brief_I/O
       Variable  I/O  Description
       --------  ---  --------------------------------------------------
       inst       I   NAIF ID of instrument, spacecraft, or structure.
       sclkdp     I   Encoded spacecraft clock time.
       tol        I   Time tolerance.
       ref        I   Reference frame.
       cmat       O   C-matrix pointing data.
       av         O   Angular velocity vector.
       clkout     O   Output encoded spacecraft clock time.
       found      O   True when requested pointing is available.
#### Detailed_Input
       inst       is the NAIF integer ID for the instrument, spacecraft, or
                  other structure for which pointing and angular velocity
                  are requested. For brevity we will refer to this object
                  as the "instrument," and the frame fixed to this object
                  as the "instrument frame" or "instrument-fixed" frame.

       sclkdp     is the encoded spacecraft clock time for which
                  pointing and angular velocity are requested.

                  The CSPICE routines scencd_c and sce2c_c respectively
                  convert spacecraft clock strings and ephemeris time
                  to encoded spacecraft clock.  The inverse conversions
                  are performed by scdecd_c and sct2e_c.

       tol        is a time tolerance in ticks, the units of encoded
                  spacecraft clock time.

                  The CSPICE routine sctiks_c converts a spacecraft clock
                  tolerance duration from its character string
                  representation to ticks.  scfmt_c performs the inverse
                  conversion.

                  The C-matrix - angular velocity vector pair returned by
                  ckgpav_c is the one whose time tag is closest to `sclkdp'
                  and within `tol' units of `sclkdp'.  (More in
                  Particulars, below.)

                  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        is the desired reference frame for the returned pointing
                  and angular velocity. The returned C-matrix `cmat' gives
                  the orientation of the instrument designated by `inst'
                  relative to the frame designated by `ref'.  When a vector
                  specified relative to frame `ref' is left-multiplied by
                  `cmat', the vector is rotated to the frame associated
                  with `inst'.  The returned angular velocity vector `av'
                  expresses the angular velocity of the instrument
                  designated by `inst' relative to the frame designated by
                  `ref'.  See the discussion of `cmat' and `av' below
                  for details.

                  Consult the SPICE document "Frames" for a discussion
                  of supported reference frames.
#### Detailed_Output
       cmat       is a rotation matrix that transforms the 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 `clkout' (see
                  below).

                  Thus, if a vector v has components x,y,z in the `ref'
                  reference frame, then v has components x',y',z' in the
                  instrument fixed frame at time `clkout':

                       [ x' ]     [          ] [ x ]
                       | y' |  =  |   cmat   | | y |
                       [ z' ]     [          ] [ z ]

                  If you know x', y', z', use the transpose of the
                  C-matrix to determine x, y, z as follows:

                       [ x ]      [          ]T    [ x' ]
                       | y |  =   |   cmat   |     | y' |
                       [ z ]      [          ]     [ z' ]
                               (Transpose of cmat)

       av         is the angular velocity vector.  This is the axis about
                  which the reference frame tied to the instrument is
                  rotating in the right-handed sense at time `clkout'. The
                  magnitude of `av' is the magnitude of the instantaneous
                  velocity of the rotation, in radians per second.
                  The components of `av' are given relative to the
                  reference frame specified by the input argument `ref'.

       clkout     is the encoded spacecraft clock time associated with
                  the returned C-matrix and the returned angular
                  velocity vector. This value may differ from the
                  requested time, but never by more than the input
                  tolerance `tol'.

                  The particulars section below describes the search
                  algorithm used by ckgpav_c to satisfy a pointing request.
                  This algorithm determines the pointing instance
                  (and therefore the associated time value) that is
                  returned.

       found      is SPICETRUE if a record was found to satisfy the
                  pointing request.  `found' will be SPICEFALSE otherwise.
#### Parameters
       None.
#### Exceptions
       1)  If a C-kernel file has not been loaded using furnsh_c prior to a
           call to this routine, an error is signaled by a routine in the
           call tree of this routine.

       2)  If `tol' is negative, found is set to SPICEFALSE.

       3)  If `ref' is not a supported reference frame, an error is
           signaled by a routine in the call tree of this routine and
           `found' is set to SPICEFALSE.
#### Files
       ckgpav_c searches through files loaded by furnsh_c to locate a
       segment that satisfies the request for pointing and angular velocity
       for the instrument `inst' at time `sclkdp'. You must load at least
       one C-kernel file via furnsh_c prior to calling this routine.
#### Particulars
       How the tolerance argument is used
       ==================================

       Reading a type 1 CK segment (discrete pointing instances)
       ---------------------------------------------------------

       In the diagram below

          - "0" is used to represent discrete pointing instances
            (quaternions, angular velocity vectors, and associated
            time tags).

          - "( )" are used to represent the end points of the time
            interval covered by a segment in a CK file.

          - `sclkdp' is the time at which you requested pointing.
            The location of `sclkdp' relative to the time tags of the
            pointing instances is indicated by the "+" sign.

          - `tol' is the time tolerance specified in the pointing
            request.  The square brackets "[ ]" represent the
            endpoints of the time interval

               sclkdp-tol : sclkdp+tol

          - The quaternions occurring in the segment need not be
            evenly spaced in time.

       Case 1:  pointing is available
       ------------------------------

                                sclkdp
                                     \   tol
                                      | /
                                      |/\
       Your request                [--+--]
                                   .  .  .
       Segment      (0-----0--0--0--0--0--0---0--0------------0--0--0--0)
                                       ^
                                       |
                           ckgpav_c returns this instance.

       Case 2:  pointing is not available
       ----------------------------------

                                                     sclkdp
                                                        \   tol
                                                         | /
                                                         |/\
       Your request                                   [--+--]
                                                      .  .  .
       Segment      (0-----0--0--0--0--0--0---0--0--0---------0--0--0--0)

                           ckgpav_c returns no pointing; the output
                           `found' flag is set to SPICEFALSE.

       Reading a type 2, 3, 4, or 5 CK segment (continuous pointing)
       -------------------------------------------------------------

       In the diagrams below

          - "==" is used to represent periods of continuous pointing.

          - "--" is used to represent gaps in the pointing coverage.

          - "( )" are used to represent the end points of the time
            interval covered by a segment in a CK file.

          - `sclkdp' is the time at which you requested pointing.
            The location of `sclkdp' relative to the time tags of the
            pointing instances is indicated by the "+" sign.

          - `tol' is the time tolerance specified in the pointing
            request.  The square brackets "[ ]" represent the
            endpoints of the time interval

               sclkdp-tol : sclkdp+tol

          - The quaternions occurring in the periods of continuous
            pointing need not be evenly spaced in time.

       Case 1:  pointing is available at the request time
       --------------------------------------------------

                               sclkdp
                                     \   tol
                                      | /
                                      |/\
       Your request                [--+--]
                                   .  .  .
                                   .  .  .
                                   .  .  .
       Segment            (==---===========---=======----------===--)
                                      ^
                                      |

                     The request time lies within an interval where
                     continuous pointing is available. ckgpav_c returns
                     pointing at the requested epoch.

       Case 2:  pointing is available "near" the request time
       ------------------------------------------------------

                                      sclkdp
                                            \   tol
                                             | /
                                             |/\
       Your request                       [--+--]
                                          .  .  .
       Segment            (==---===========----=======---------===--)
                                               ^
                                               |

                     The request time lies in a gap:  an interval where
                     continuous pointing is *not* available.  ckgpav_c
                     returns pointing for the epoch closest to the
                     request time `sclkdp'.

       Case 3:  pointing is not available
       ----------------------------------

                                                   sclkdp
                                                         \   tol
                                                          | /
                                                          |/\
       Your request                                    [--+--]
                                                       .  .  .
       Segment            (==---===========----=======---------===--)

                           ckgpav_c returns no pointing; the output
                           `found' flag is set to SPICEFALSE.

       Tolerance and segment priority
       ==============================

       ckgpav_c searches through loaded C-kernels to satisfy a pointing
       request. Last-loaded files are searched first. Individual files are
       searched in backwards order, so that between competing segments
       (segments containing data for the same object, for overlapping time
       ranges), the one closest to the end of the file has highest
       priority. ckgpav_c considers only those segments that contain both
       pointing and angular velocity data, as indicated by the segment
       descriptor.

       The search ends when a segment is found that can provide pointing
       and angular velocity for the specified instrument at a time
       falling within the specified tolerance on either side of the
       request time. Within that segment, the instance closest to the
       input time is located and returned.

       The following four cases illustrate this search procedure. Segments
       A and B are in the same file, with segment A located further
       towards the end of the file than segment B. Both segments A and B
       contain discrete pointing data, indicated by the number 0.

       Case 1:  Pointing is available in the first segment searched.
                Because segment A has the highest priority and can
                satisfy the request, segment B is not searched.

                                    sclkdp
                                          \  tol
                                           | /
                                           |/\
       Your request                     [--+--]
                                        .  .  .
       Segment A          (0-----------------0--------0--0-----0)
                                             ^
                                             |
                                             |
                                 ckgpav_c returns this instance

       Segment B     (0--0--0--0--0--0--0--0--0--0--0--0--0--0--0--0--0)

       Case 2:  Pointing is not available in the first segment searched.
                Because segment A cannot satisfy the request, segment B
                is searched.

                               sclkdp
                                    \   tol
                                     | /
                                     |/\
       Your request               [--+--]
                                  .  .  .
       Segment A          (0-----------------0--------0--0-----0)
                                  .  .  .
       Segment B     (0--0--0--0--0--0--0--0--0--0--0--0--0--0--0--0--0)
                                     ^
                                     |
                         ckgpav_c returns this instance

       Segments that contain continuous pointing data are searched in the
       same manner as segments containing discrete pointing data. For
       request times that fall within the bounds of continuous intervals,
       ckgpav_c will return pointing at the request time. When the request
       time does not fall within an interval, then a time at an endpoint of
       an interval may be returned if it is the closest time in the segment
       to the user request time and is also within the tolerance.

       In the following examples, segment A is located further towards the
       end of the file than segment C. Segment A contains discrete pointing
       data and segment C contains continuous data, indicated by the "="
       character.

       Case 3:  Pointing is not available in the first segment searched.
                Because segment A cannot satisfy the request, segment C
                is searched.

                               sclkdp
                                     \  tol
                                      | /
                                      |/\
       Your request                [--+--]
                                   .  .  .
                                   .  .  .
       Segment A          (0-----------------0--------0--0-----0)
                                   .  .  .
                                   .  .  .
       Segment C          (---=============-----====--------==--)
                                      ^
                                      |
                                      |
                           ckgpav_c returns this instance

       In the next case, assume that the order of segments A and C in the
       file is reversed:  A is now closer to the front, so data from
       segment C are considered first.

       Case 4:  Pointing is available in the first segment searched.
                Because segment C has the highest priority and can
                satisfy the request, segment A is not searched.

                                               sclkdp
                                              /
                                             |  tol
                                             | /
                                             |/\
       Your request                       [--+--]
                                          .  .  .
                                          .  .  .
       Segment C          (---=============-----====--------==--)
                                               ^
                                               |
                                  ckgpav_c returns this instance

       Segment A          (0-----------------0--------0--0-----0)
                                             ^
                                             |
                                       "Best" answer

       The next case illustrates an unfortunate side effect of using
       a non-zero tolerance when reading multi-segment CKs with
       continuous data. In all cases when the look-up interval
       formed using tolerance overlaps a segment boundary and
       the request time falls within the coverage of the lower
       priority segment, the data at the end of the higher priority
       segment will be picked instead of the data from the lower
       priority segment.

       Case 5:  Pointing is available in the first segment searched.
                Because segment C has the highest priority and can
                satisfy the request, segment A is not searched.

                                               sclkdp
                                              /
                                             |  tol
                                             | /
                                             |/\
       Your request                       [--+--]
                                          .  .  .
                                          .  .  .
       Segment C                                (===============)
                                                ^
                                                |
                                  ckgpav_c returns this instance

       Segment A          (=====================)
                                             ^
                                             |
                                       "Best" answer
#### Examples
       Suppose you have two C-kernel files containing pointing for the
       Voyager 2 narrow angle camera.  One file contains predict (planned)
       values, and the other contains corrected pointing for a selected
       group of images, that is, for a subset of images from the first
       file.

       The following example program uses ckgpav_c to get C-matrices and
       associated angular velocity vectors for a set of images whose
       SCLK counts (un-encoded character string versions) are contained
       in the array `sclkch'.

       If available, the program will get the corrected pointing values.
       Otherwise, predict values will be used.

       For each C-matrix, a unit pointing vector is constructed and printed
       along with the angular velocity vector.

       Note: if the C-kernels of interest do not contain angular velocity
       data, then the CSPICE routine ckgp_c should be used to read the
       pointing data.  An example program in the header of the CSPICE
       routine ckgp_c demonstrates this.

          #include <stdio.h>
          #include "SpiceUsr.h"

          int main ()
          {
             /.
             Constants for this program:

             -- The code for the Voyager 2 spacecraft clock is -32

             -- The code for the narrow angle camera on the Voyager 2
                spacecraft is -32001.

            --  Spacecraft clock times for successive Voyager images always
                differ by more than 0:0:400.  This is an acceptable
                tolerance, and must be converted to "ticks" (units of
                encoded SCLK) for input to ckgpav_c.

             -- The reference frame we want is FK4.

             -- The narrow angle camera boresight defines the third
                axis of the instrument-fixed reference frame.
                Therefore, the vector ( 0, 0, 1 ) represents
                the boresight direction in the camera-fixed frame.
             ./

             #define   SC        -32
             #define   INST      -32001
             #define   REF       "FK4"
             #define   TOLVGR    "0:0:400"
             #define   NPICS     2
             #define   MAXCLK    30
             #define   CKPRED    "voyager2_predict.bc"
             #define   CKCORR    "voyager2_corrected.bc"
             #define   SCLK      "voyager2_sclk.tsc"

             SpiceBoolean            found;

             SpiceChar               sclkch  [NPICS][MAXCLK] =

                                             { { "4/08966:30:768" },
                                               { "4/08970:58:768" } };

             SpiceChar               clkch   [MAXCLK];

             SpiceDouble             av      [3];
             SpiceDouble             cmat    [3][3];
             SpiceDouble             clkout;
             SpiceDouble             sclkdp;
             SpiceDouble             toltik;
             SpiceDouble             vinert  [3];

             SpiceInt                i;

             /.
             Loading the files in this order ensures that the
             corrected file will get searched first.
             ./
             furnsh_c ( CKPRED );
             furnsh_c ( CKCORR );

             /.
             Need to load a Voyager 2 SCLK kernel to convert from
             clock string to ticks.  Although not required for
             the Voyager spacecraft clocks, most modern spacecraft
             clocks require a leapseconds kernel to be loaded in
             addition to an SCLK kernel.
             ./
             furnsh_c ( SCLK );

             /.
             Convert tolerance from VGR formatted character string
             SCLK to ticks, which are units of encoded SCLK.
             ./
             sctiks_c ( SC, TOLVGR, &toltik );

             for ( i = 0;  i < NPICS;  i++ )
             {

                /.
                ckgpav_c requires encoded spacecraft clock time.
                ./
                scencd_c ( SC, sclkch[ i ], &sclkdp );

                ckgpav_c ( INST,  sclkdp,  toltik,   REF,
                           cmat,  av,      &clkout,  &found );

                if ( found )
                {
                   /.
                   The boresight vector, relative to inertial coordinates,
                   is just the third row of the C-matrix.
                   ./
                   vequ_c   ( cmat[2], vinert );

                   scdecd_c ( SC, clkout, MAXCLK, clkch  );

                   printf ( "VGR 2 SCLK time: %s\n", clkch  );

                   printf ( "VGR 2 NA ISS boresight pointing vector: "
                            "%f %f %f\n",
                            vinert[0],
                            vinert[1],
                            vinert[2]                               );

                   printf ( "Angular velocity vector: %f %f %f\n",
                                                      av[0],
                                                      av[1],
                                                      av[2]         );
                }
                else
                {
                   printf ( "Pointing not found for time %s\n", sclkch[i] );
                }

             }

             return ( 0 );
          }
#### Restrictions
       Only loaded C-kernel segments containing both pointing and angular
       velocity data will be searched by this reader.  Segments containing
       only pointing data will be skipped over.
#### Literature_References
       None.
#### Author_and_Institution
       C.H. Acton     (JPL)
       N.J. Bachman   (JPL)
       W.L. Taber     (JPL)
       J.M. Lynch     (JPL)
       B.V. Semenov   (JPL)
       M.J. Spencer   (JPL)
       R.E. Thurman   (JPL)
       I.M. Underwood (JPL)
#### Version
       -CSPICE Version 1.2.3, 03-JUN-2010 (BVS)

          Header update: description of the tolerance and Particulars
          section were expanded to address some problems arising from
          using a non-zero tolerance.

       -CSPICE Version 1.2.2, 29-JAN-2004 (NJB)

          Header update:  the description of the input argument `ref'
          was expanded.

       -CSPICE Version 1.2.1, 27-JUL-2003 (CHA) (NJB)

          Various header corrections were made.

       -CSPICE Version 1.2.0, 02-SEP-1999 (NJB)

          Local type logical variable now used for found flag used in
          interface of ckgpav_.

       -CSPICE Version 1.1.0, 08-FEB-1998 (NJB)

          References to C2F_CreateStr_Sig were removed; code was
          cleaned up accordingly.  String checks are now done using
          the macro CHKFSTR.

       -CSPICE Version 1.0.0, 25-OCT-1997 (NJB)

          Based on SPICELIB Version 5.0.0, 28-JUL-1997 (WLT)
#### Index_Entries
       get ck pointing and angular velocity
#### Link to routine ckgpav_c source file ckgpav_c.c

    Wed Jun  9 13:05:19 2010