Package com.irurueta.navigation.inertial.estimators

Class ECIKinematicsEstimator

java.lang.Object
com.irurueta.navigation.inertial.estimators.ECIKinematicsEstimator
public class ECIKinematicsEstimator extends Object
Estimates body kinematics (specific force applied to a body and its angular rates) with respect and resolved along ECI-frame axes. This implementation is based on the equations defined in "Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems, Second Edition" and on the companion software available at: https://github.com/ymjdz/MATLAB-Codes/blob/master/Kinematics_ECI.m

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    private static final double
    ALPHA_THRESHOLD
    Alpha threshold.
    private static final int
    ROWS
    Number of rows.
    private static final double
    SCALING_THRESHOLD
    Scaling threshold.

  • Constructor Summary

    Constructors
    Constructor
    Description
    ECIKinematicsEstimator()
     

  • Method Summary

    Modifier and Type
    Method
    Description
    void
    estimate(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vx, double vy, double vz, double oldVx, double oldVy, double oldVz, double x, double y, double z, BodyKinematics result)
    Estimates body kinematics (specific force applied to a body and its angular rates)..
    void
    estimate(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vx, double vy, double vz, double oldVx, double oldVy, double oldVz, com.irurueta.geometry.Point3D position, BodyKinematics result)
    Estimates body kinematics (specific force applied to a body and its angular rates)..
    void
    estimate(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vx, com.irurueta.units.Speed vy, com.irurueta.units.Speed vz, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz, double x, double y, double z, BodyKinematics result)
    Estimates body kinematics (specific force applied to a body and its angular rates)..
    void
    estimate(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vx, com.irurueta.units.Speed vy, com.irurueta.units.Speed vz, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz, com.irurueta.geometry.Point3D position, BodyKinematics result)
    Estimates body kinematics (specific force applied to a body and its angular rates)..
    void
    estimate(double timeInterval, com.irurueta.navigation.frames.ECIFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics result)
    Estimates body kinematics (specific force applied to a body and its angular rates).
    void
    estimate(double timeInterval, com.irurueta.navigation.frames.ECIFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz, BodyKinematics result)
    Estimates body kinematics (specific force applied to a body and its angular rates).
    void
    estimate(double timeInterval, com.irurueta.navigation.frames.ECIFrame frame, com.irurueta.navigation.frames.ECIFrame oldFrame, BodyKinematics result)
    Estimates body kinematics (specific force applied to a body and its angular rates).
    void
    estimate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vx, double vy, double vz, double oldVx, double oldVy, double oldVz, double x, double y, double z, BodyKinematics result)
    Estimates body kinematics (specific force applied to a body and its angular rates)..
    void
    estimate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vx, double vy, double vz, double oldVx, double oldVy, double oldVz, com.irurueta.geometry.Point3D position, BodyKinematics result)
    Estimates body kinematics (specific force applied to a body and its angular rates)..
    void
    estimate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vx, com.irurueta.units.Speed vy, com.irurueta.units.Speed vz, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz, double x, double y, double z, BodyKinematics result)
    Estimates body kinematics (specific force applied to a body and its angular rates)..
    void
    estimate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vx, com.irurueta.units.Speed vy, com.irurueta.units.Speed vz, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz, com.irurueta.geometry.Point3D position, BodyKinematics result)
    Estimates body kinematics (specific force applied to a body and its angular rates)..
    void
    estimate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECIFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics result)
    Estimates body kinematics (specific force applied to a body and its angular rates).
    void
    estimate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECIFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz, BodyKinematics result)
    Estimates body kinematics (specific force applied to a body and its angular rates).
    void
    estimate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECIFrame frame, com.irurueta.navigation.frames.ECIFrame oldFrame, BodyKinematics result)
    Estimates body kinematics (specific force applied to a body and its angular rates).
    BodyKinematics
    estimateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vx, double vy, double vz, double oldVx, double oldVy, double oldVz, double x, double y, double z)
    Estimates body kinematics (specific force applied to a body and its angular rates)..
    BodyKinematics
    estimateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vx, double vy, double vz, double oldVx, double oldVy, double oldVz, com.irurueta.geometry.Point3D position)
    Estimates body kinematics (specific force applied to a body and its angular rates)..
    BodyKinematics
    estimateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vx, com.irurueta.units.Speed vy, com.irurueta.units.Speed vz, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz, double x, double y, double z)
    Estimates body kinematics (specific force applied to a body and its angular rates)..
    BodyKinematics
    estimateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vx, com.irurueta.units.Speed vy, com.irurueta.units.Speed vz, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz, com.irurueta.geometry.Point3D position)
    Estimates body kinematics (specific force applied to a body and its angular rates)..
    BodyKinematics
    estimateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECIFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz)
    Estimates body kinematics (specific force applied to a body and its angular rates).
    BodyKinematics
    estimateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECIFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz)
    Estimates body kinematics (specific force applied to a body and its angular rates).
    BodyKinematics
    estimateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECIFrame frame, com.irurueta.navigation.frames.ECIFrame oldFrame)
    Estimates body kinematics (specific force applied to a body and its angular rates).
    BodyKinematics
    estimateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vx, double vy, double vz, double oldVx, double oldVy, double oldVz, double x, double y, double z)
    Estimates body kinematics (specific force applied to a body and its angular rates)..
    BodyKinematics
    estimateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vx, double vy, double vz, double oldVx, double oldVy, double oldVz, com.irurueta.geometry.Point3D position)
    Estimates body kinematics (specific force applied to a body and its angular rates)..
    BodyKinematics
    estimateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vx, com.irurueta.units.Speed vy, com.irurueta.units.Speed vz, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz, double x, double y, double z)
    Estimates body kinematics (specific force applied to a body and its angular rates)..
    BodyKinematics
    estimateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vx, com.irurueta.units.Speed vy, com.irurueta.units.Speed vz, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz, com.irurueta.geometry.Point3D position)
    Estimates body kinematics (specific force applied to a body and its angular rates)..
    BodyKinematics
    estimateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECIFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz)
    Estimates body kinematics (specific force applied to a body and its angular rates).
    BodyKinematics
    estimateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECIFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz)
    Estimates body kinematics (specific force applied to a body and its angular rates).
    BodyKinematics
    estimateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECIFrame frame, com.irurueta.navigation.frames.ECIFrame oldFrame)
    Estimates body kinematics (specific force applied to a body and its angular rates).
    static void
    estimateKinematics(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vx, double vy, double vz, double oldVx, double oldVy, double oldVz, double x, double y, double z, BodyKinematics result)
    Estimates body kinematics (specific force applied to a body and its angular rates).
    static void
    estimateKinematics(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vx, double vy, double vz, double oldVx, double oldVy, double oldVz, com.irurueta.geometry.Point3D position, BodyKinematics result)
    Estimates body kinematics (specific force applied to a body and its angular rates)..
    static void
    estimateKinematics(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vx, com.irurueta.units.Speed vy, com.irurueta.units.Speed vz, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz, double x, double y, double z, BodyKinematics result)
    Estimates body kinematics (specific force applied to a body and its angular rates)..
    static void
    estimateKinematics(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vx, com.irurueta.units.Speed vy, com.irurueta.units.Speed vz, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz, com.irurueta.geometry.Point3D position, BodyKinematics result)
    Estimates body kinematics (specific force applied to a body and its angular rates)..
    static void
    estimateKinematics(double timeInterval, com.irurueta.navigation.frames.ECIFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics result)
    Estimates body kinematics (specific force applied to a body and its angular rates).
    static void
    estimateKinematics(double timeInterval, com.irurueta.navigation.frames.ECIFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz, BodyKinematics result)
    Estimates body kinematics (specific force applied to a body and its angular rates).
    static void
    estimateKinematics(double timeInterval, com.irurueta.navigation.frames.ECIFrame frame, com.irurueta.navigation.frames.ECIFrame oldFrame, BodyKinematics result)
    Estimates body kinematics (specific force applied to a body and its angular rates).
    static void
    estimateKinematics(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vx, double vy, double vz, double oldVx, double oldVy, double oldVz, double x, double y, double z, BodyKinematics result)
    Estimates body kinematics (specific force applied to a body and its angular rates)..
    static void
    estimateKinematics(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vx, double vy, double vz, double oldVx, double oldVy, double oldVz, com.irurueta.geometry.Point3D position, BodyKinematics result)
    Estimates body kinematics (specific force applied to a body and its angular rates)..
    static void
    estimateKinematics(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vx, com.irurueta.units.Speed vy, com.irurueta.units.Speed vz, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz, double x, double y, double z, BodyKinematics result)
    Estimates body kinematics (specific force applied to a body and its angular rates)..
    static void
    estimateKinematics(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vx, com.irurueta.units.Speed vy, com.irurueta.units.Speed vz, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz, com.irurueta.geometry.Point3D position, BodyKinematics result)
    Estimates body kinematics (specific force applied to a body and its angular rates)..
    static void
    estimateKinematics(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECIFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics result)
    Estimates body kinematics (specific force applied to a body and its angular rates).
    static void
    estimateKinematics(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECIFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz, BodyKinematics result)
    Estimates body kinematics (specific force applied to a body and its angular rates).
    static void
    estimateKinematics(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECIFrame frame, com.irurueta.navigation.frames.ECIFrame oldFrame, BodyKinematics result)
    Estimates body kinematics (specific force applied to a body and its angular rates).
    static BodyKinematics
    estimateKinematicsAndReturnNew(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vx, double vy, double vz, double oldVx, double oldVy, double oldVz, double x, double y, double z)
    Estimates body kinematics (specific force applied to a body and its angular rates)..
    static BodyKinematics
    estimateKinematicsAndReturnNew(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vx, double vy, double vz, double oldVx, double oldVy, double oldVz, com.irurueta.geometry.Point3D position)
    Estimates body kinematics (specific force applied to a body and its angular rates)..
    static BodyKinematics
    estimateKinematicsAndReturnNew(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vx, com.irurueta.units.Speed vy, com.irurueta.units.Speed vz, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz, double x, double y, double z)
    Estimates body kinematics (specific force applied to a body and its angular rates)..
    static BodyKinematics
    estimateKinematicsAndReturnNew(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vx, com.irurueta.units.Speed vy, com.irurueta.units.Speed vz, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz, com.irurueta.geometry.Point3D position)
    Estimates body kinematics (specific force applied to a body and its angular rates)..
    static BodyKinematics
    estimateKinematicsAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECIFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz)
    Estimates body kinematics (specific force applied to a body and its angular rates).
    static BodyKinematics
    estimateKinematicsAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECIFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz)
    Estimates body kinematics (specific force applied to a body and its angular rates).
    static BodyKinematics
    estimateKinematicsAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECIFrame frame, com.irurueta.navigation.frames.ECIFrame oldFrame)
    Estimates body kinematics (specific force applied to a body and its angular rates).
    static BodyKinematics
    estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vx, double vy, double vz, double oldVx, double oldVy, double oldVz, double x, double y, double z)
    Estimates body kinematics (specific force applied to a body and its angular rates)..
    static BodyKinematics
    estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vx, double vy, double vz, double oldVx, double oldVy, double oldVz, com.irurueta.geometry.Point3D position)
    Estimates body kinematics (specific force applied to a body and its angular rates)..
    static BodyKinematics
    estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vx, com.irurueta.units.Speed vy, com.irurueta.units.Speed vz, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz, double x, double y, double z)
    Estimates body kinematics (specific force applied to a body and its angular rates)..
    static BodyKinematics
    estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vx, com.irurueta.units.Speed vy, com.irurueta.units.Speed vz, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz, com.irurueta.geometry.Point3D position)
    Estimates body kinematics (specific force applied to a body and its angular rates)..
    static BodyKinematics
    estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECIFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz)
    Estimates body kinematics (specific force applied to a body and its angular rates).
    static BodyKinematics
    estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECIFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz)
    Estimates body kinematics (specific force applied to a body and its angular rates).
    static BodyKinematics
    estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECIFrame frame, com.irurueta.navigation.frames.ECIFrame oldFrame)
    Estimates body kinematics (specific force applied to a body and its angular rates).

    Methods inherited from class java.lang.Object

    clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

  • Field Details

  • Constructor Details

    • ECIKinematicsEstimator

      public ECIKinematicsEstimator()

  • Method Details

    • estimate

      public void estimate(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vx, double vy, double vz, double oldVx, double oldVy, double oldVz, double x, double y, double z, BodyKinematics result)
      Estimates body kinematics (specific force applied to a body and its angular rates)..
      Parameters:
      timeInterval - time interval between epochs expressed in seconds (s).
      c - body-to-ECI-frame coordinate transformation.
      oldC - previous body-to-ECI-frame coordinate transformation.
      vx - x coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      vy - y coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      vz - z coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      oldVx - x coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      oldVy - y coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      oldVz - z coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      x - cartesian x coordinate of body position expressed in meters (m) and resolved along ECI-frame axes.
      y - cartesian y coordinate of body position expressed in meters (m) and resolved along ECI-frame axes.
      z - cartesian z coordinate of body position expressed in meters (m) and resolved along ECI-frame axes.
      result - instance where estimated body kinematics will be stored.
      Throws:
      IllegalArgumentException - if provided time interval is negative or coordinates transformation matrices are not ECI frame valid.

    • estimate

      public void estimate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vx, double vy, double vz, double oldVx, double oldVy, double oldVz, double x, double y, double z, BodyKinematics result)
      Estimates body kinematics (specific force applied to a body and its angular rates)..
      Parameters:
      timeInterval - time interval between epochs.
      c - body-to-ECI-frame coordinate transformation.
      oldC - previous body-to-ECI-frame coordinate transformation.
      vx - x coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      vy - y coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      vz - z coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      oldVx - x coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      oldVy - y coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      oldVz - z coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      x - cartesian x coordinate of body position expressed in meters (m) and resolved along ECI-frame axes.
      y - cartesian y coordinate of body position expressed in meters (m) and resolved along ECI-frame axes.
      z - cartesian z coordinate of body position expressed in meters (m) and resolved along ECI-frame axes.
      result - instance where estimated body kinematics will be stored.
      Throws:
      IllegalArgumentException - if provided time interval is negative or coordinates transformation matrices are not ECI frame valid.

    • estimate

      public void estimate(double timeInterval, com.irurueta.navigation.frames.ECIFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics result)
      Estimates body kinematics (specific force applied to a body and its angular rates).
      Parameters:
      timeInterval - time interval between epochs expressed in seconds (s).
      frame - body ECI frame containing current position, velocity and body-to-ECI frame coordinate transformation.
      oldC - previous body-to-ECI-frame coordinate transformation.
      oldVx - x coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      oldVy - y coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      oldVz - z coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      result - instance where estimated body kinematics will be stored.
      Throws:
      IllegalArgumentException - if provided time interval is negative or coordinates transformation matrices are not ECI frame valid.

    • estimate

      public void estimate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECIFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics result)
      Estimates body kinematics (specific force applied to a body and its angular rates).
      Parameters:
      timeInterval - time interval between epochs.
      frame - body ECI frame containing current position, velocity and body-to-ECI frame coordinate transformation.
      oldC - previous body-to-ECI-frame coordinate transformation.
      oldVx - x coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      oldVy - y coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      oldVz - z coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      result - instance where estimated body kinematics will be stored.
      Throws:
      IllegalArgumentException - if provided time interval is negative or coordinates transformation matrices are not ECI frame valid.

    • estimate

      public void estimate(double timeInterval, com.irurueta.navigation.frames.ECIFrame frame, com.irurueta.navigation.frames.ECIFrame oldFrame, BodyKinematics result)
      Estimates body kinematics (specific force applied to a body and its angular rates).
      Parameters:
      timeInterval - time interval between epochs expressed in seconds (s).
      frame - body ECI frame containing current position, velocity and body-to-ECI frame coordinate transformation.
      oldFrame - body ECI frame containing previous position, velocity and body-to-ECI frame coordinate transformation. Notice that previous position contained in this frame is ignored.
      result - instance where body kinematics estimation will be stored.
      Throws:
      IllegalArgumentException - if provided time interval is negative.

    • estimate

      public void estimate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECIFrame frame, com.irurueta.navigation.frames.ECIFrame oldFrame, BodyKinematics result)
      Estimates body kinematics (specific force applied to a body and its angular rates).
      Parameters:
      timeInterval - time interval between epochs.
      frame - body ECI frame containing current position, velocity and body-to-ECI frame coordinate transformation.
      oldFrame - body ECI frame containing previous position, velocity and body-to-ECI frame coordinate transformation. Notice that previous position contained in this frame is ignored.
      result - instance where body kinematics estimation will be stored.
      Throws:
      IllegalArgumentException - if provided time interval is negative.

    • estimate

      public void estimate(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vx, com.irurueta.units.Speed vy, com.irurueta.units.Speed vz, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz, double x, double y, double z, BodyKinematics result)
      Estimates body kinematics (specific force applied to a body and its angular rates)..
      Parameters:
      timeInterval - time interval between epochs expressed in seconds (s).
      c - body-to-ECI-frame coordinate transformation.
      oldC - previous body-to-ECI-frame coordinate transformation.
      vx - x coordinate of velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      vy - y coordinate of velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      vz - z coordinate of velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      oldVx - x coordinate of previous velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      oldVy - y coordinate of previous velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      oldVz - z coordinate of previous velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      x - cartesian x coordinate of body position expressed in meters (m) and resolved along ECI-frame axes.
      y - cartesian y coordinate of body position expressed in meters (m) and resolved along ECI-frame axes.
      z - cartesian z coordinate of body position expressed in meters (m) and resolved along ECI-frame axes.
      result - instance where estimated body kinematics will be stored.
      Throws:
      IllegalArgumentException - if provided time interval is negative or coordinates transformation matrices are not ECI frame valid.

    • estimate

      public void estimate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vx, com.irurueta.units.Speed vy, com.irurueta.units.Speed vz, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz, double x, double y, double z, BodyKinematics result)
      Estimates body kinematics (specific force applied to a body and its angular rates)..
      Parameters:
      timeInterval - time interval between epochs.
      c - body-to-ECI-frame coordinate transformation.
      oldC - previous body-to-ECI-frame coordinate transformation.
      vx - x coordinate of velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      vy - y coordinate of velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      vz - z coordinate of velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      oldVx - x coordinate of previous velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      oldVy - y coordinate of previous velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      oldVz - z coordinate of previous velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      x - cartesian x coordinate of body position expressed in meters (m) and resolved along ECI-frame axes.
      y - cartesian y coordinate of body position expressed in meters (m) and resolved along ECI-frame axes.
      z - cartesian z coordinate of body position expressed in meters (m) and resolved along ECI-frame axes.
      result - instance where estimated body kinematics will be stored.
      Throws:
      IllegalArgumentException - if provided time interval is negative or coordinates transformation matrices are not ECI frame valid.

    • estimate

      public void estimate(double timeInterval, com.irurueta.navigation.frames.ECIFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz, BodyKinematics result)
      Estimates body kinematics (specific force applied to a body and its angular rates).
      Parameters:
      timeInterval - time interval between epochs expressed in seconds (s).
      frame - body ECI frame containing current position, velocity and body-to-ECI frame coordinate transformation.
      oldC - previous body-to-ECI-frame coordinate transformation.
      oldVx - x coordinate of previous velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      oldVy - y coordinate of previous velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      oldVz - z coordinate of previous velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      result - instance where estimated body kinematics will be stored.
      Throws:
      IllegalArgumentException - if provided time interval is negative or coordinates transformation matrices are not ECI frame valid.

    • estimate

      public void estimate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECIFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz, BodyKinematics result)
      Estimates body kinematics (specific force applied to a body and its angular rates).
      Parameters:
      timeInterval - time interval between epochs.
      frame - body ECI frame containing current position, velocity and body-to-ECI frame coordinate transformation.
      oldC - previous body-to-ECI-frame coordinate transformation.
      oldVx - x coordinate of previous velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      oldVy - y coordinate of previous velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      oldVz - z coordinate of previous velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      result - instance where estimated body kinematics will be stored.
      Throws:
      IllegalArgumentException - if provided time interval is negative or coordinates transformation matrices are not ECI frame valid.

    • estimate

      public void estimate(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vx, double vy, double vz, double oldVx, double oldVy, double oldVz, com.irurueta.geometry.Point3D position, BodyKinematics result)
      Estimates body kinematics (specific force applied to a body and its angular rates)..
      Parameters:
      timeInterval - time interval between epochs expressed in seconds (s).
      c - body-to-ECI-frame coordinate transformation.
      oldC - previous body-to-ECI-frame coordinate transformation.
      vx - x coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      vy - y coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      vz - z coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      oldVx - x coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      oldVy - y coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      oldVz - z coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      position - body position expressed in meters (m) with respect ECI frame, resolved along ECI-frame axes.
      result - instance where estimated body kinematics will be stored.
      Throws:
      IllegalArgumentException - if provided time interval is negative or coordinates transformation matrices are not ECI frame valid.

    • estimate

      public void estimate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vx, double vy, double vz, double oldVx, double oldVy, double oldVz, com.irurueta.geometry.Point3D position, BodyKinematics result)
      Estimates body kinematics (specific force applied to a body and its angular rates)..
      Parameters:
      timeInterval - time interval between epochs.
      c - body-to-ECI-frame coordinate transformation.
      oldC - previous body-to-ECI-frame coordinate transformation.
      vx - x coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      vy - y coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      vz - z coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      oldVx - x coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      oldVy - y coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      oldVz - z coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      position - body position expressed in meters (m) with respect ECI frame, resolved along ECI-frame axes.
      result - instance where estimated body kinematics will be stored.
      Throws:
      IllegalArgumentException - if provided time interval is negative or coordinates transformation matrices are not ECI frame valid.

    • estimate

      public void estimate(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vx, com.irurueta.units.Speed vy, com.irurueta.units.Speed vz, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz, com.irurueta.geometry.Point3D position, BodyKinematics result)
      Estimates body kinematics (specific force applied to a body and its angular rates)..
      Parameters:
      timeInterval - time interval between epochs expressed in seconds (s).
      c - body-to-ECI-frame coordinate transformation.
      oldC - previous body-to-ECI-frame coordinate transformation.
      vx - x coordinate of velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      vy - y coordinate of velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      vz - z coordinate of velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      oldVx - x coordinate of previous velocity of body frame respect ECI frame, resolved along ECI-frame axes.
      oldVy - y coordinate of previous velocity of body frame respect ECI frame, resolved along ECI-frame axes.
      oldVz - z coordinate of previous velocity of body frame respect ECI frame, resolved along ECI-frame axes.
      position - body position expressed in meters (m) with respect ECI frame, resolved along ECI-frame axes.
      result - instance where estimated body kinematics will be stored.
      Throws:
      IllegalArgumentException - if provided time interval is negative or coordinates transformation matrices are not ECI frame valid.

    • estimate

      public void estimate(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vx, com.irurueta.units.Speed vy, com.irurueta.units.Speed vz, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz, com.irurueta.geometry.Point3D position, BodyKinematics result)
      Estimates body kinematics (specific force applied to a body and its angular rates)..
      Parameters:
      timeInterval - time interval between epochs.
      c - body-to-ECI-frame coordinate transformation.
      oldC - previous body-to-ECI-frame coordinate transformation.
      vx - x coordinate of velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      vy - y coordinate of velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      vz - z coordinate of velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      oldVx - x coordinate of previous velocity of body frame respect ECI frame, resolved along ECI-frame axes.
      oldVy - y coordinate of previous velocity of body frame respect ECI frame, resolved along ECI-frame axes.
      oldVz - z coordinate of previous velocity of body frame respect ECI frame, resolved along ECI-frame axes.
      position - body position expressed in meters (m) with respect ECI frame, resolved along ECI-frame axes.
      result - instance where estimated body kinematics will be stored.
      Throws:
      IllegalArgumentException - if provided time interval is negative or coordinates transformation matrices are not ECI frame valid.

    • estimateAndReturnNew

      public BodyKinematics estimateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vx, double vy, double vz, double oldVx, double oldVy, double oldVz, double x, double y, double z)
      Estimates body kinematics (specific force applied to a body and its angular rates)..
      Parameters:
      timeInterval - time interval between epochs expressed in seconds (s).
      c - body-to-ECI-frame coordinate transformation.
      oldC - previous body-to-ECI-frame coordinate transformation.
      vx - x coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      vy - y coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      vz - z coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      oldVx - x coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      oldVy - y coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      oldVz - z coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      x - cartesian x coordinate of body position expressed in meters (m) and resolved along ECI-frame axes.
      y - cartesian y coordinate of body position expressed in meters (m) and resolved along ECI-frame axes.
      z - cartesian z coordinate of body position expressed in meters (m) and resolved along ECI-frame axes.
      Returns:
      a new body kinematics instance.
      Throws:
      IllegalArgumentException - if provided time interval is negative or coordinates transformation matrices are not ECI frame valid.

    • estimateAndReturnNew

      public BodyKinematics estimateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vx, double vy, double vz, double oldVx, double oldVy, double oldVz, double x, double y, double z)
      Estimates body kinematics (specific force applied to a body and its angular rates)..
      Parameters:
      timeInterval - time interval between epochs.
      c - body-to-ECI-frame coordinate transformation.
      oldC - previous body-to-ECI-frame coordinate transformation.
      vx - x coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      vy - y coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      vz - z coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      oldVx - x coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      oldVy - y coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      oldVz - z coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      x - cartesian x coordinate of body position expressed in meters (m) and resolved along ECI-frame axes.
      y - cartesian y coordinate of body position expressed in meters (m) and resolved along ECI-frame axes.
      z - cartesian z coordinate of body position expressed in meters (m) and resolved along ECI-frame axes.
      Returns:
      a new body kinematics instance.
      Throws:
      IllegalArgumentException - if provided time interval is negative or coordinates transformation matrices are not ECI frame valid.

    • estimateAndReturnNew

      public BodyKinematics estimateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECIFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz)
      Estimates body kinematics (specific force applied to a body and its angular rates).
      Parameters:
      timeInterval - time interval between epochs expressed in seconds (s).
      frame - body ECI frame containing current position, velocity and body-to-ECI frame coordinate transformation.
      oldC - previous body-to-ECI-frame coordinate transformation.
      oldVx - x coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      oldVy - y coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      oldVz - z coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      Returns:
      a new body kinematics instance.
      Throws:
      IllegalArgumentException - if provided time interval is negative or coordinates transformation matrices are not ECI frame valid.

    • estimateAndReturnNew

      public BodyKinematics estimateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECIFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz)
      Estimates body kinematics (specific force applied to a body and its angular rates).
      Parameters:
      timeInterval - time interval between epochs.
      frame - body ECI frame containing current position, velocity and body-to-ECI frame coordinate transformation.
      oldC - previous body-to-ECI-frame coordinate transformation.
      oldVx - x coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      oldVy - y coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      oldVz - z coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      Returns:
      a new body kinematics instance.
      Throws:
      IllegalArgumentException - if provided time interval is negative or coordinates transformation matrices are not ECI frame valid.

    • estimateAndReturnNew

      public BodyKinematics estimateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECIFrame frame, com.irurueta.navigation.frames.ECIFrame oldFrame)
      Estimates body kinematics (specific force applied to a body and its angular rates).
      Parameters:
      timeInterval - time interval between epochs expressed in seconds (s).
      frame - body ECI frame containing current position, velocity and body-to-ECI frame coordinate transformation.
      oldFrame - body ECI frame containing previous position, velocity and body-to-ECI frame coordinate transformation. Notice that previous position contained in this frame is ignored.
      Returns:
      a new body kinematics instance.
      Throws:
      IllegalArgumentException - if provided time interval is negative.

    • estimateAndReturnNew

      public BodyKinematics estimateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECIFrame frame, com.irurueta.navigation.frames.ECIFrame oldFrame)
      Estimates body kinematics (specific force applied to a body and its angular rates).
      Parameters:
      timeInterval - time interval between epochs.
      frame - body ECI frame containing current position, velocity and body-to-ECI frame coordinate transformation.
      oldFrame - body ECI frame containing previous position, velocity and body-to-ECI frame coordinate transformation. Notice that previous position contained in this frame is ignored.
      Returns:
      a new body kinematics instance.
      Throws:
      IllegalArgumentException - if provided time interval is negative.

    • estimateAndReturnNew

      public BodyKinematics estimateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vx, com.irurueta.units.Speed vy, com.irurueta.units.Speed vz, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz, double x, double y, double z)
      Estimates body kinematics (specific force applied to a body and its angular rates)..
      Parameters:
      timeInterval - time interval between epochs expressed in seconds (s).
      c - body-to-ECI-frame coordinate transformation.
      oldC - previous body-to-ECI-frame coordinate transformation.
      vx - x coordinate of velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      vy - y coordinate of velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      vz - z coordinate of velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      oldVx - x coordinate of previous velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      oldVy - y coordinate of previous velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      oldVz - z coordinate of previous velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      x - cartesian x coordinate of body position expressed in meters (m) and resolved along ECI-frame axes.
      y - cartesian y coordinate of body position expressed in meters (m) and resolved along ECI-frame axes.
      z - cartesian z coordinate of body position expressed in meters (m) and resolved along ECI-frame axes.
      Returns:
      a new body kinematics instance.
      Throws:
      IllegalArgumentException - if provided time interval is negative or coordinates transformation matrices are not ECI frame valid.

    • estimateAndReturnNew

      public BodyKinematics estimateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vx, com.irurueta.units.Speed vy, com.irurueta.units.Speed vz, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz, double x, double y, double z)
      Estimates body kinematics (specific force applied to a body and its angular rates)..
      Parameters:
      timeInterval - time interval between epochs.
      c - body-to-ECI-frame coordinate transformation.
      oldC - previous body-to-ECI-frame coordinate transformation.
      vx - x coordinate of velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      vy - y coordinate of velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      vz - z coordinate of velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      oldVx - x coordinate of previous velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      oldVy - y coordinate of previous velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      oldVz - z coordinate of previous velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      x - cartesian x coordinate of body position expressed in meters (m) and resolved along ECI-frame axes.
      y - cartesian y coordinate of body position expressed in meters (m) and resolved along ECI-frame axes.
      z - cartesian z coordinate of body position expressed in meters (m) and resolved along ECI-frame axes.
      Returns:
      a new body kinematics instance.
      Throws:
      IllegalArgumentException - if provided time interval is negative or coordinates transformation matrices are not ECI frame valid.

    • estimateAndReturnNew

      public BodyKinematics estimateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECIFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz)
      Estimates body kinematics (specific force applied to a body and its angular rates).
      Parameters:
      timeInterval - time interval between epochs expressed in seconds (s).
      frame - body ECI frame containing current position, velocity and body-to-ECI frame coordinate transformation.
      oldC - previous body-to-ECI-frame coordinate transformation.
      oldVx - x coordinate of previous velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      oldVy - y coordinate of previous velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      oldVz - z coordinate of previous velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      Returns:
      a new body kinematics instance.
      Throws:
      IllegalArgumentException - if provided time interval is negative or coordinates transformation matrices are not ECI frame valid.

    • estimateAndReturnNew

      public BodyKinematics estimateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECIFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz)
      Estimates body kinematics (specific force applied to a body and its angular rates).
      Parameters:
      timeInterval - time interval between epochs.
      frame - body ECI frame containing current position, velocity and body-to-ECI frame coordinate transformation.
      oldC - previous body-to-ECI-frame coordinate transformation.
      oldVx - x coordinate of previous velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      oldVy - y coordinate of previous velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      oldVz - z coordinate of previous velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      Returns:
      a new body kinematics instance.
      Throws:
      IllegalArgumentException - if provided time interval is negative or coordinates transformation matrices are not ECI frame valid.

    • estimateAndReturnNew

      public BodyKinematics estimateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vx, double vy, double vz, double oldVx, double oldVy, double oldVz, com.irurueta.geometry.Point3D position)
      Estimates body kinematics (specific force applied to a body and its angular rates)..
      Parameters:
      timeInterval - time interval between epochs expressed in seconds (s).
      c - body-to-ECI-frame coordinate transformation.
      oldC - previous body-to-ECI-frame coordinate transformation.
      vx - x coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      vy - y coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      vz - z coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      oldVx - x coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      oldVy - y coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      oldVz - z coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      position - body position expressed in meters (m) with respect ECI frame, resolved along ECI-frame axes.
      Returns:
      a new body kinematics instance.
      Throws:
      IllegalArgumentException - if provided time interval is negative or coordinates transformation matrices are not ECI frame valid.

    • estimateAndReturnNew

      public BodyKinematics estimateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vx, double vy, double vz, double oldVx, double oldVy, double oldVz, com.irurueta.geometry.Point3D position)
      Estimates body kinematics (specific force applied to a body and its angular rates)..
      Parameters:
      timeInterval - time interval between epochs.
      c - body-to-ECI-frame coordinate transformation.
      oldC - previous body-to-ECI-frame coordinate transformation.
      vx - x coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      vy - y coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      vz - z coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      oldVx - x coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      oldVy - y coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      oldVz - z coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      position - body position expressed in meters (m) with respect ECI frame, resolved along ECI-frame axes.
      Returns:
      a new body kinematics instance.
      Throws:
      IllegalArgumentException - if provided time interval is negative or coordinates transformation matrices are not ECI frame valid.

    • estimateAndReturnNew

      public BodyKinematics estimateAndReturnNew(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vx, com.irurueta.units.Speed vy, com.irurueta.units.Speed vz, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz, com.irurueta.geometry.Point3D position)
      Estimates body kinematics (specific force applied to a body and its angular rates)..
      Parameters:
      timeInterval - time interval between epochs expressed in seconds (s).
      c - body-to-ECI-frame coordinate transformation.
      oldC - previous body-to-ECI-frame coordinate transformation.
      vx - x coordinate of velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      vy - y coordinate of velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      vz - z coordinate of velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      oldVx - x coordinate of previous velocity of body frame respect ECI frame, resolved along ECI-frame axes.
      oldVy - y coordinate of previous velocity of body frame respect ECI frame, resolved along ECI-frame axes.
      oldVz - z coordinate of previous velocity of body frame respect ECI frame, resolved along ECI-frame axes.
      position - body position expressed in meters (m) with respect ECI frame, resolved along ECI-frame axes.
      Returns:
      a new body kinematics instance.
      Throws:
      IllegalArgumentException - if provided time interval is negative or coordinates transformation matrices are not ECI frame valid.

    • estimateAndReturnNew

      public BodyKinematics estimateAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vx, com.irurueta.units.Speed vy, com.irurueta.units.Speed vz, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz, com.irurueta.geometry.Point3D position)
      Estimates body kinematics (specific force applied to a body and its angular rates)..
      Parameters:
      timeInterval - time interval between epochs.
      c - body-to-ECI-frame coordinate transformation.
      oldC - previous body-to-ECI-frame coordinate transformation.
      vx - x coordinate of velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      vy - y coordinate of velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      vz - z coordinate of velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      oldVx - x coordinate of previous velocity of body frame respect ECI frame, resolved along ECI-frame axes.
      oldVy - y coordinate of previous velocity of body frame respect ECI frame, resolved along ECI-frame axes.
      oldVz - z coordinate of previous velocity of body frame respect ECI frame, resolved along ECI-frame axes.
      position - body position expressed in meters (m) with respect ECI frame, resolved along ECI-frame axes.
      Returns:
      a new body kinematics instance.
      Throws:
      IllegalArgumentException - if provided time interval is negative or coordinates transformation matrices are not ECI frame valid.

    • estimateKinematics

      public static void estimateKinematics(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vx, double vy, double vz, double oldVx, double oldVy, double oldVz, double x, double y, double z, BodyKinematics result)
      Estimates body kinematics (specific force applied to a body and its angular rates).
      Parameters:
      timeInterval - time interval between epochs expressed in seconds (s).
      c - body-to-ECI-frame coordinate transformation.
      oldC - previous body-to-ECI-frame coordinate transformation.
      vx - x coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      vy - y coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      vz - z coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      oldVx - x coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      oldVy - y coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      oldVz - z coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      x - cartesian x coordinate of body position expressed in meters (m) and resolved along ECI-frame axes.
      y - cartesian y coordinate of body position expressed in meters (m) and resolved along ECI-frame axes.
      z - cartesian z coordinate of body position expressed in meters (m) and resolved along ECI-frame axes.
      result - instance where estimated body kinematics will be stored.
      Throws:
      IllegalArgumentException - if provided time interval is negative or coordinates transformation matrices are not ECI frame valid.

    • estimateKinematics

      public static void estimateKinematics(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vx, double vy, double vz, double oldVx, double oldVy, double oldVz, double x, double y, double z, BodyKinematics result)
      Estimates body kinematics (specific force applied to a body and its angular rates)..
      Parameters:
      timeInterval - time interval between epochs.
      c - body-to-ECI-frame coordinate transformation.
      oldC - previous body-to-ECI-frame coordinate transformation.
      vx - x coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      vy - y coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      vz - z coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      oldVx - x coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      oldVy - y coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      oldVz - z coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      x - cartesian x coordinate of body position expressed in meters (m) and resolved along ECI-frame axes.
      y - cartesian y coordinate of body position expressed in meters (m) and resolved along ECI-frame axes.
      z - cartesian z coordinate of body position expressed in meters (m) and resolved along ECI-frame axes.
      result - instance where estimated body kinematics will be stored.
      Throws:
      IllegalArgumentException - if provided time interval is negative or coordinates transformation matrices are not ECI frame valid.

    • estimateKinematics

      public static void estimateKinematics(double timeInterval, com.irurueta.navigation.frames.ECIFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics result)
      Estimates body kinematics (specific force applied to a body and its angular rates).
      Parameters:
      timeInterval - time interval between epochs expressed in seconds (s).
      frame - body ECI frame containing current position, velocity and body-to-ECI frame coordinate transformation.
      oldC - previous body-to-ECI-frame coordinate transformation.
      oldVx - x coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      oldVy - y coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      oldVz - z coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      result - instance where estimated body kinematics will be stored.
      Throws:
      IllegalArgumentException - if provided time interval is negative or coordinates transformation matrices are not ECI frame valid.

    • estimateKinematics

      public static void estimateKinematics(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECIFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz, BodyKinematics result)
      Estimates body kinematics (specific force applied to a body and its angular rates).
      Parameters:
      timeInterval - time interval between epochs.
      frame - body ECI frame containing current position, velocity and body-to-ECI frame coordinate transformation.
      oldC - previous body-to-ECI-frame coordinate transformation.
      oldVx - x coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      oldVy - y coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      oldVz - z coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      result - instance where estimated body kinematics will be stored.
      Throws:
      IllegalArgumentException - if provided time interval is negative or coordinates transformation matrices are not ECI frame valid.

    • estimateKinematics

      public static void estimateKinematics(double timeInterval, com.irurueta.navigation.frames.ECIFrame frame, com.irurueta.navigation.frames.ECIFrame oldFrame, BodyKinematics result)
      Estimates body kinematics (specific force applied to a body and its angular rates).
      Parameters:
      timeInterval - time interval between epochs expressed in seconds (s).
      frame - body ECI frame containing current position, velocity and body-to-ECI frame coordinate transformation.
      oldFrame - body ECI frame containing previous position, velocity and body-to-ECI frame coordinate transformation. Notice that previous position contained in this frame is ignored.
      result - instance where body kinematics estimation will be stored.
      Throws:
      IllegalArgumentException - if provided time interval is negative.

    • estimateKinematics

      public static void estimateKinematics(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECIFrame frame, com.irurueta.navigation.frames.ECIFrame oldFrame, BodyKinematics result)
      Estimates body kinematics (specific force applied to a body and its angular rates).
      Parameters:
      timeInterval - time interval between epochs.
      frame - body ECI frame containing current position, velocity and body-to-ECI frame coordinate transformation.
      oldFrame - body ECI frame containing previous position, velocity and body-to-ECI frame coordinate transformation. Notice that previous position contained in this frame is ignored.
      result - instance where body kinematics estimation will be stored.
      Throws:
      IllegalArgumentException - if provided time interval is negative.

    • estimateKinematics

      public static void estimateKinematics(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vx, com.irurueta.units.Speed vy, com.irurueta.units.Speed vz, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz, double x, double y, double z, BodyKinematics result)
      Estimates body kinematics (specific force applied to a body and its angular rates)..
      Parameters:
      timeInterval - time interval between epochs expressed in seconds (s).
      c - body-to-ECI-frame coordinate transformation.
      oldC - previous body-to-ECI-frame coordinate transformation.
      vx - x coordinate of velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      vy - y coordinate of velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      vz - z coordinate of velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      oldVx - x coordinate of previous velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      oldVy - y coordinate of previous velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      oldVz - z coordinate of previous velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      x - cartesian x coordinate of body position expressed in meters (m) and resolved along ECI-frame axes.
      y - cartesian y coordinate of body position expressed in meters (m) and resolved along ECI-frame axes.
      z - cartesian z coordinate of body position expressed in meters (m) and resolved along ECI-frame axes.
      result - instance where estimated body kinematics will be stored.
      Throws:
      IllegalArgumentException - if provided time interval is negative or coordinates transformation matrices are not ECI frame valid.

    • estimateKinematics

      public static void estimateKinematics(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vx, com.irurueta.units.Speed vy, com.irurueta.units.Speed vz, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz, double x, double y, double z, BodyKinematics result)
      Estimates body kinematics (specific force applied to a body and its angular rates)..
      Parameters:
      timeInterval - time interval between epochs.
      c - body-to-ECI-frame coordinate transformation.
      oldC - previous body-to-ECI-frame coordinate transformation.
      vx - x coordinate of velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      vy - y coordinate of velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      vz - z coordinate of velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      oldVx - x coordinate of previous velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      oldVy - y coordinate of previous velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      oldVz - z coordinate of previous velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      x - cartesian x coordinate of body position expressed in meters (m) and resolved along ECI-frame axes.
      y - cartesian y coordinate of body position expressed in meters (m) and resolved along ECI-frame axes.
      z - cartesian z coordinate of body position expressed in meters (m) and resolved along ECI-frame axes.
      result - instance where estimated body kinematics will be stored.
      Throws:
      IllegalArgumentException - if provided time interval is negative or coordinates transformation matrices are not ECI frame valid.

    • estimateKinematics

      public static void estimateKinematics(double timeInterval, com.irurueta.navigation.frames.ECIFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz, BodyKinematics result)
      Estimates body kinematics (specific force applied to a body and its angular rates).
      Parameters:
      timeInterval - time interval between epochs expressed in seconds (s).
      frame - body ECI frame containing current position, velocity and body-to-ECI frame coordinate transformation.
      oldC - previous body-to-ECI-frame coordinate transformation.
      oldVx - x coordinate of previous velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      oldVy - y coordinate of previous velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      oldVz - z coordinate of previous velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      result - instance where estimated body kinematics will be stored.
      Throws:
      IllegalArgumentException - if provided time interval is negative or coordinates transformation matrices are not ECI frame valid.

    • estimateKinematics

      public static void estimateKinematics(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECIFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz, BodyKinematics result)
      Estimates body kinematics (specific force applied to a body and its angular rates).
      Parameters:
      timeInterval - time interval between epochs.
      frame - body ECI frame containing current position, velocity and body-to-ECI frame coordinate transformation.
      oldC - previous body-to-ECI-frame coordinate transformation.
      oldVx - x coordinate of previous velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      oldVy - y coordinate of previous velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      oldVz - z coordinate of previous velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      result - instance where estimated body kinematics will be stored.
      Throws:
      IllegalArgumentException - if provided time interval is negative or coordinates transformation matrices are not ECI frame valid.

    • estimateKinematics

      public static void estimateKinematics(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vx, double vy, double vz, double oldVx, double oldVy, double oldVz, com.irurueta.geometry.Point3D position, BodyKinematics result)
      Estimates body kinematics (specific force applied to a body and its angular rates)..
      Parameters:
      timeInterval - time interval between epochs expressed in seconds (s).
      c - body-to-ECI-frame coordinate transformation.
      oldC - previous body-to-ECI-frame coordinate transformation.
      vx - x coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      vy - y coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      vz - z coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      oldVx - x coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      oldVy - y coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      oldVz - z coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      position - body position expressed in meters (m) with respect ECI frame, resolved along ECI-frame axes.
      result - instance where estimated body kinematics will be stored.
      Throws:
      IllegalArgumentException - if provided time interval is negative or coordinates transformation matrices are not ECI frame valid.

    • estimateKinematics

      public static void estimateKinematics(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vx, double vy, double vz, double oldVx, double oldVy, double oldVz, com.irurueta.geometry.Point3D position, BodyKinematics result)
      Estimates body kinematics (specific force applied to a body and its angular rates)..
      Parameters:
      timeInterval - time interval between epochs.
      c - body-to-ECI-frame coordinate transformation.
      oldC - previous body-to-ECI-frame coordinate transformation.
      vx - x coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      vy - y coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      vz - z coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      oldVx - x coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      oldVy - y coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      oldVz - z coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      position - body position expressed in meters (m) with respect ECI frame, resolved along ECI-frame axes.
      result - instance where estimated body kinematics will be stored.
      Throws:
      IllegalArgumentException - if provided time interval is negative or coordinates transformation matrices are not ECI frame valid.

    • estimateKinematics

      public static void estimateKinematics(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vx, com.irurueta.units.Speed vy, com.irurueta.units.Speed vz, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz, com.irurueta.geometry.Point3D position, BodyKinematics result)
      Estimates body kinematics (specific force applied to a body and its angular rates)..
      Parameters:
      timeInterval - time interval between epochs expressed in seconds (s).
      c - body-to-ECI-frame coordinate transformation.
      oldC - previous body-to-ECI-frame coordinate transformation.
      vx - x coordinate of velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      vy - y coordinate of velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      vz - z coordinate of velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      oldVx - x coordinate of previous velocity of body frame respect ECI frame, resolved along ECI-frame axes.
      oldVy - y coordinate of previous velocity of body frame respect ECI frame, resolved along ECI-frame axes.
      oldVz - z coordinate of previous velocity of body frame respect ECI frame, resolved along ECI-frame axes.
      position - body position expressed in meters (m) with respect ECI frame, resolved along ECI-frame axes.
      result - instance where estimated body kinematics will be stored.
      Throws:
      IllegalArgumentException - if provided time interval is negative or coordinates transformation matrices are not ECI frame valid.

    • estimateKinematics

      public static void estimateKinematics(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vx, com.irurueta.units.Speed vy, com.irurueta.units.Speed vz, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz, com.irurueta.geometry.Point3D position, BodyKinematics result)
      Estimates body kinematics (specific force applied to a body and its angular rates)..
      Parameters:
      timeInterval - time interval between epochs.
      c - body-to-ECI-frame coordinate transformation.
      oldC - previous body-to-ECI-frame coordinate transformation.
      vx - x coordinate of velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      vy - y coordinate of velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      vz - z coordinate of velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      oldVx - x coordinate of previous velocity of body frame respect ECI frame, resolved along ECI-frame axes.
      oldVy - y coordinate of previous velocity of body frame respect ECI frame, resolved along ECI-frame axes.
      oldVz - z coordinate of previous velocity of body frame respect ECI frame, resolved along ECI-frame axes.
      position - body position expressed in meters (m) with respect ECI frame, resolved along ECI-frame axes.
      result - instance where estimated body kinematics will be stored.
      Throws:
      IllegalArgumentException - if provided time interval is negative or coordinates transformation matrices are not ECI frame valid.

    • estimateKinematicsAndReturnNew

      public static BodyKinematics estimateKinematicsAndReturnNew(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vx, double vy, double vz, double oldVx, double oldVy, double oldVz, double x, double y, double z)
      Estimates body kinematics (specific force applied to a body and its angular rates)..
      Parameters:
      timeInterval - time interval between epochs expressed in seconds (s).
      c - body-to-ECI-frame coordinate transformation.
      oldC - previous body-to-ECI-frame coordinate transformation.
      vx - x coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      vy - y coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      vz - z coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      oldVx - x coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      oldVy - y coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      oldVz - z coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      x - cartesian x coordinate of body position expressed in meters (m) and resolved along ECI-frame axes.
      y - cartesian y coordinate of body position expressed in meters (m) and resolved along ECI-frame axes.
      z - cartesian z coordinate of body position expressed in meters (m) and resolved along ECI-frame axes.
      Returns:
      a new body kinematics instance.
      Throws:
      IllegalArgumentException - if provided time interval is negative or coordinates transformation matrices are not ECI frame valid.

    • estimateKinematicsAndReturnNew

      public static BodyKinematics estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vx, double vy, double vz, double oldVx, double oldVy, double oldVz, double x, double y, double z)
      Estimates body kinematics (specific force applied to a body and its angular rates)..
      Parameters:
      timeInterval - time interval between epochs.
      c - body-to-ECI-frame coordinate transformation.
      oldC - previous body-to-ECI-frame coordinate transformation.
      vx - x coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      vy - y coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      vz - z coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      oldVx - x coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      oldVy - y coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      oldVz - z coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      x - cartesian x coordinate of body position expressed in meters (m) and resolved along ECI-frame axes.
      y - cartesian y coordinate of body position expressed in meters (m) and resolved along ECI-frame axes.
      z - cartesian z coordinate of body position expressed in meters (m) and resolved along ECI-frame axes.
      Returns:
      a new body kinematics instance.
      Throws:
      IllegalArgumentException - if provided time interval is negative or coordinates transformation matrices are not ECI frame valid.

    • estimateKinematicsAndReturnNew

      public static BodyKinematics estimateKinematicsAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECIFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz)
      Estimates body kinematics (specific force applied to a body and its angular rates).
      Parameters:
      timeInterval - time interval between epochs expressed in seconds (s).
      frame - body ECI frame containing current position, velocity and body-to-ECI frame coordinate transformation.
      oldC - previous body-to-ECI-frame coordinate transformation.
      oldVx - x coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      oldVy - y coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      oldVz - z coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      Returns:
      a new body kinematics instance.
      Throws:
      IllegalArgumentException - if provided time interval is negative or coordinates transformation matrices are not ECI frame valid.

    • estimateKinematicsAndReturnNew

      public static BodyKinematics estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECIFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, double oldVx, double oldVy, double oldVz)
      Estimates body kinematics (specific force applied to a body and its angular rates).
      Parameters:
      timeInterval - time interval between epochs.
      frame - body ECI frame containing current position, velocity and body-to-ECI frame coordinate transformation.
      oldC - previous body-to-ECI-frame coordinate transformation.
      oldVx - x coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      oldVy - y coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      oldVz - z coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      Returns:
      a new body kinematics instance.
      Throws:
      IllegalArgumentException - if provided time interval is negative or coordinates transformation matrices are not ECI frame valid.

    • estimateKinematicsAndReturnNew

      public static BodyKinematics estimateKinematicsAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECIFrame frame, com.irurueta.navigation.frames.ECIFrame oldFrame)
      Estimates body kinematics (specific force applied to a body and its angular rates).
      Parameters:
      timeInterval - time interval between epochs expressed in seconds (s).
      frame - body ECI frame containing current position, velocity and body-to-ECI frame coordinate transformation.
      oldFrame - body ECI frame containing previous position, velocity and body-to-ECI frame coordinate transformation. Notice that previous position contained in this frame is ignored.
      Returns:
      a new body kinematics instance.
      Throws:
      IllegalArgumentException - if provided time interval is negative.

    • estimateKinematicsAndReturnNew

      public static BodyKinematics estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECIFrame frame, com.irurueta.navigation.frames.ECIFrame oldFrame)
      Estimates body kinematics (specific force applied to a body and its angular rates).
      Parameters:
      timeInterval - time interval between epochs.
      frame - body ECI frame containing current position, velocity and body-to-ECI frame coordinate transformation.
      oldFrame - body ECI frame containing previous position, velocity and body-to-ECI frame coordinate transformation. Notice that previous position contained in this frame is ignored.
      Returns:
      a new body kinematics instance.
      Throws:
      IllegalArgumentException - if provided time interval is negative.

    • estimateKinematicsAndReturnNew

      public static BodyKinematics estimateKinematicsAndReturnNew(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vx, com.irurueta.units.Speed vy, com.irurueta.units.Speed vz, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz, double x, double y, double z)
      Estimates body kinematics (specific force applied to a body and its angular rates)..
      Parameters:
      timeInterval - time interval between epochs expressed in seconds (s).
      c - body-to-ECI-frame coordinate transformation.
      oldC - previous body-to-ECI-frame coordinate transformation.
      vx - x coordinate of velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      vy - y coordinate of velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      vz - z coordinate of velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      oldVx - x coordinate of previous velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      oldVy - y coordinate of previous velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      oldVz - z coordinate of previous velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      x - cartesian x coordinate of body position expressed in meters (m) and resolved along ECI-frame axes.
      y - cartesian y coordinate of body position expressed in meters (m) and resolved along ECI-frame axes.
      z - cartesian z coordinate of body position expressed in meters (m) and resolved along ECI-frame axes.
      Returns:
      a new body kinematics instance.
      Throws:
      IllegalArgumentException - if provided time interval is negative or coordinates transformation matrices are not ECI frame valid.

    • estimateKinematicsAndReturnNew

      public static BodyKinematics estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vx, com.irurueta.units.Speed vy, com.irurueta.units.Speed vz, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz, double x, double y, double z)
      Estimates body kinematics (specific force applied to a body and its angular rates)..
      Parameters:
      timeInterval - time interval between epochs.
      c - body-to-ECI-frame coordinate transformation.
      oldC - previous body-to-ECI-frame coordinate transformation.
      vx - x coordinate of velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      vy - y coordinate of velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      vz - z coordinate of velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      oldVx - x coordinate of previous velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      oldVy - y coordinate of previous velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      oldVz - z coordinate of previous velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      x - cartesian x coordinate of body position expressed in meters (m) and resolved along ECI-frame axes.
      y - cartesian y coordinate of body position expressed in meters (m) and resolved along ECI-frame axes.
      z - cartesian z coordinate of body position expressed in meters (m) and resolved along ECI-frame axes.
      Returns:
      a new body kinematics instance.
      Throws:
      IllegalArgumentException - if provided time interval is negative or coordinates transformation matrices are not ECI frame valid.

    • estimateKinematicsAndReturnNew

      public static BodyKinematics estimateKinematicsAndReturnNew(double timeInterval, com.irurueta.navigation.frames.ECIFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz)
      Estimates body kinematics (specific force applied to a body and its angular rates).
      Parameters:
      timeInterval - time interval between epochs expressed in seconds (s).
      frame - body ECI frame containing current position, velocity and body-to-ECI frame coordinate transformation.
      oldC - previous body-to-ECI-frame coordinate transformation.
      oldVx - x coordinate of previous velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      oldVy - y coordinate of previous velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      oldVz - z coordinate of previous velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      Returns:
      a new body kinematics instance.
      Throws:
      IllegalArgumentException - if provided time interval is negative or coordinates transformation matrices are not ECI frame valid.

    • estimateKinematicsAndReturnNew

      public static BodyKinematics estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.ECIFrame frame, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz)
      Estimates body kinematics (specific force applied to a body and its angular rates).
      Parameters:
      timeInterval - time interval between epochs.
      frame - body ECI frame containing current position, velocity and body-to-ECI frame coordinate transformation.
      oldC - previous body-to-ECI-frame coordinate transformation.
      oldVx - x coordinate of previous velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      oldVy - y coordinate of previous velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      oldVz - z coordinate of previous velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      Returns:
      a new body kinematics instance.
      Throws:
      IllegalArgumentException - if provided time interval is negative or coordinates transformation matrices are not ECI frame valid.

    • estimateKinematicsAndReturnNew

      public static BodyKinematics estimateKinematicsAndReturnNew(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vx, double vy, double vz, double oldVx, double oldVy, double oldVz, com.irurueta.geometry.Point3D position)
      Estimates body kinematics (specific force applied to a body and its angular rates)..
      Parameters:
      timeInterval - time interval between epochs expressed in seconds (s).
      c - body-to-ECI-frame coordinate transformation.
      oldC - previous body-to-ECI-frame coordinate transformation.
      vx - x coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      vy - y coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      vz - z coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      oldVx - x coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      oldVy - y coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      oldVz - z coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      position - body position expressed in meters (m) with respect ECI frame, resolved along ECI-frame axes.
      Returns:
      a new body kinematics instance.
      Throws:
      IllegalArgumentException - if provided time interval is negative or coordinates transformation matrices are not ECI frame valid.

    • estimateKinematicsAndReturnNew

      public static BodyKinematics estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vx, double vy, double vz, double oldVx, double oldVy, double oldVz, com.irurueta.geometry.Point3D position)
      Estimates body kinematics (specific force applied to a body and its angular rates)..
      Parameters:
      timeInterval - time interval between epochs.
      c - body-to-ECI-frame coordinate transformation.
      oldC - previous body-to-ECI-frame coordinate transformation.
      vx - x coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      vy - y coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      vz - z coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      oldVx - x coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      oldVy - y coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      oldVz - z coordinate of previous velocity of body frame expressed in meters per second (m/s) and resolved along ECI-frame axes.
      position - body position expressed in meters (m) with respect ECI frame, resolved along ECI-frame axes.
      Returns:
      a new body kinematics instance.
      Throws:
      IllegalArgumentException - if provided time interval is negative or coordinates transformation matrices are not ECI frame valid.

    • estimateKinematicsAndReturnNew

      public static BodyKinematics estimateKinematicsAndReturnNew(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vx, com.irurueta.units.Speed vy, com.irurueta.units.Speed vz, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz, com.irurueta.geometry.Point3D position)
      Estimates body kinematics (specific force applied to a body and its angular rates)..
      Parameters:
      timeInterval - time interval between epochs expressed in seconds (s).
      c - body-to-ECI-frame coordinate transformation.
      oldC - previous body-to-ECI-frame coordinate transformation.
      vx - x coordinate of velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      vy - y coordinate of velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      vz - z coordinate of velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      oldVx - x coordinate of previous velocity of body frame respect ECI frame, resolved along ECI-frame axes.
      oldVy - y coordinate of previous velocity of body frame respect ECI frame, resolved along ECI-frame axes.
      oldVz - z coordinate of previous velocity of body frame respect ECI frame, resolved along ECI-frame axes.
      position - body position expressed in meters (m) with respect ECI frame, resolved along ECI-frame axes.
      Returns:
      a new body kinematics instance.
      Throws:
      IllegalArgumentException - if provided time interval is negative or coordinates transformation matrices are not ECI frame valid.

    • estimateKinematicsAndReturnNew

      public static BodyKinematics estimateKinematicsAndReturnNew(com.irurueta.units.Time timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, com.irurueta.units.Speed vx, com.irurueta.units.Speed vy, com.irurueta.units.Speed vz, com.irurueta.units.Speed oldVx, com.irurueta.units.Speed oldVy, com.irurueta.units.Speed oldVz, com.irurueta.geometry.Point3D position)
      Estimates body kinematics (specific force applied to a body and its angular rates)..
      Parameters:
      timeInterval - time interval between epochs.
      c - body-to-ECI-frame coordinate transformation.
      oldC - previous body-to-ECI-frame coordinate transformation.
      vx - x coordinate of velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      vy - y coordinate of velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      vz - z coordinate of velocity of body frame with respect ECI frame, resolved along ECI-frame axes.
      oldVx - x coordinate of previous velocity of body frame respect ECI frame, resolved along ECI-frame axes.
      oldVy - y coordinate of previous velocity of body frame respect ECI frame, resolved along ECI-frame axes.
      oldVz - z coordinate of previous velocity of body frame respect ECI frame, resolved along ECI-frame axes.
      position - body position expressed in meters (m) with respect ECI frame, resolved along ECI-frame axes.
      Returns:
      a new body kinematics instance.
      Throws:
      IllegalArgumentException - if provided time interval is negative or coordinates transformation matrices are not ECI frame valid.