Package com.irurueta.navigation.frames

Class ECEFFrame

java.lang.Object

com.irurueta.navigation.frames.ECIorECEFFrame<ECEFFrame>

com.irurueta.navigation.frames.ECEFFrame

All Implemented Interfaces:

Frame, Serializable, Cloneable

public class ECEFFrame
extends ECIorECEFFrame<ECEFFrame>
implements Cloneable

Contains position, velocity and coordinates transformation matrix expressed in ECEF frame. Position and velocity of this frame is expressed along ECEF axes as described here: FrameType.EARTH_CENTERED_EARTH_FIXED_FRAME.

See Also:

• Serialized Form

Field Summary

Fields inherited from class com.irurueta.navigation.frames.ECIorECEFFrame

c, clazz, NUM_POSITION_COORDINATES, NUM_VELOCITY_COORDINATES, vx, vy, vz, x, y, z

Constructor Summary

Constructors

Constructor	Description
ECEFFrame()	Constructor.
ECEFFrame(double x, double y, double z)	Constructor.
ECEFFrame(double x, double y, double z, double vx, double vy, double vz)	Constructor.
ECEFFrame(double x, double y, double z, double vx, double vy, double vz, CoordinateTransformation c)	Constructor.
ECEFFrame(double x, double y, double z, CoordinateTransformation c)	Constructor.
ECEFFrame(double x, double y, double z, ECEFVelocity velocity)	Constructor.
ECEFFrame(double x, double y, double z, ECEFVelocity velocity, CoordinateTransformation c)	Constructor.
ECEFFrame(double x, double y, double z, com.irurueta.units.Speed speedX, com.irurueta.units.Speed speedY, com.irurueta.units.Speed speedZ)	Constructor.
ECEFFrame(double x, double y, double z, com.irurueta.units.Speed speedX, com.irurueta.units.Speed speedY, com.irurueta.units.Speed speedZ, CoordinateTransformation c)	Constructor.
ECEFFrame(com.irurueta.geometry.Point3D position)	Constructor.
ECEFFrame(com.irurueta.geometry.Point3D position, double vx, double vy, double vz)	Constructor.
ECEFFrame(com.irurueta.geometry.Point3D position, double vx, double vy, double vz, CoordinateTransformation c)	Constructor.
ECEFFrame(com.irurueta.geometry.Point3D position, CoordinateTransformation c)	Constructor.
ECEFFrame(com.irurueta.geometry.Point3D position, ECEFVelocity velocity)	Constructor.
ECEFFrame(com.irurueta.geometry.Point3D position, ECEFVelocity velocity, CoordinateTransformation c)	Constructor.
ECEFFrame(com.irurueta.geometry.Point3D position, com.irurueta.units.Speed speedX, com.irurueta.units.Speed speedY, com.irurueta.units.Speed speedZ)	Constructor.
ECEFFrame(com.irurueta.geometry.Point3D position, com.irurueta.units.Speed speedX, com.irurueta.units.Speed speedY, com.irurueta.units.Speed speedZ, CoordinateTransformation c)	Constructor.
ECEFFrame(CoordinateTransformation c)	Constructor.
ECEFFrame(ECEFFrame input)	Constructor.
ECEFFrame(ECEFPosition position)	Constructor.
ECEFFrame(ECEFPosition position, double vx, double vy, double vz)	Constructor.
ECEFFrame(ECEFPosition position, double vx, double vy, double vz, CoordinateTransformation c)	Constructor.
ECEFFrame(ECEFPosition position, CoordinateTransformation c)	Constructor.
ECEFFrame(ECEFPosition position, ECEFVelocity velocity)	Constructor.
ECEFFrame(ECEFPosition position, ECEFVelocity velocity, CoordinateTransformation c)	Constructor.
ECEFFrame(ECEFPosition position, com.irurueta.units.Speed speedX, com.irurueta.units.Speed speedY, com.irurueta.units.Speed speedZ)	Constructor.
ECEFFrame(ECEFPosition position, com.irurueta.units.Speed speedX, com.irurueta.units.Speed speedY, com.irurueta.units.Speed speedZ, CoordinateTransformation c)	Constructor.
ECEFFrame(ECEFPositionAndVelocity positionAndVelocity)	Constructor.
ECEFFrame(ECEFPositionAndVelocity positionAndVelocity, CoordinateTransformation c)	Constructor.
ECEFFrame(com.irurueta.units.Distance positionX, com.irurueta.units.Distance positionY, com.irurueta.units.Distance positionZ)	Constructor.
ECEFFrame(com.irurueta.units.Distance positionX, com.irurueta.units.Distance positionY, com.irurueta.units.Distance positionZ, double vx, double vy, double vz)	Constructor.
ECEFFrame(com.irurueta.units.Distance positionX, com.irurueta.units.Distance positionY, com.irurueta.units.Distance positionZ, double vx, double vy, double vz, CoordinateTransformation c)	Constructor.
ECEFFrame(com.irurueta.units.Distance positionX, com.irurueta.units.Distance positionY, com.irurueta.units.Distance positionZ, CoordinateTransformation c)	Constructor.
ECEFFrame(com.irurueta.units.Distance positionX, com.irurueta.units.Distance positionY, com.irurueta.units.Distance positionZ, ECEFVelocity velocity)	Constructor.
ECEFFrame(com.irurueta.units.Distance positionX, com.irurueta.units.Distance positionY, com.irurueta.units.Distance positionZ, ECEFVelocity velocity, CoordinateTransformation c)	Constructor.
ECEFFrame(com.irurueta.units.Distance positionX, com.irurueta.units.Distance positionY, com.irurueta.units.Distance positionZ, com.irurueta.units.Speed speedX, com.irurueta.units.Speed speedY, com.irurueta.units.Speed speedZ)	Constructor.
ECEFFrame(com.irurueta.units.Distance positionX, com.irurueta.units.Distance positionY, com.irurueta.units.Distance positionZ, com.irurueta.units.Speed speedX, com.irurueta.units.Speed speedY, com.irurueta.units.Speed speedZ, CoordinateTransformation c)	Constructor.

Method Summary

Modifier and Type	Method	Description
protected Object	clone()	Makes a copy of this instance.
CoordinateTransformation	getCoordinateTransformation()	Gets coordinate transformation matrix.
void	getCoordinateTransformation(CoordinateTransformation result)	Gets coordinate transformation matrix.
ECEFPosition	getECEFPosition()	Gets cartesian position.
void	getECEFPosition(ECEFPosition result)	Gets cartesian position.
ECEFVelocity	getECEFVelocity()	Gets cartesian velocity.
void	getECEFVelocity(ECEFVelocity result)	Gets cartesian velocity.
ECEFPositionAndVelocity	getPositionAndVelocity()	Gets cartesian position and velocity.
void	getPositionAndVelocity(ECEFPositionAndVelocity result)	Gets cartesian position and velocity.
static boolean	isValidCoordinateTransformation(CoordinateTransformation c)	Checks whether provided coordinate transformation is valid or not.
void	setCoordinateTransformation(CoordinateTransformation c)	Sets coordinate transformation matrix.
void	setPosition(ECEFPosition position)	Sets cartesian position.
void	setPositionAndVelocity(ECEFPositionAndVelocity positionAndVelocity)	Sets cartesian position and velocity.
void	setVelocity(ECEFVelocity velocity)	Sets cartesian velocity.

Methods inherited from class com.irurueta.navigation.frames.ECIorECEFFrame

copyFrom, copyTo, equals, equals, getCoordinateTransformationMatrix, getCoordinateTransformationMatrix, getCoordinateTransformationRotation, getCoordinateTransformationRotation, getPosition, getPosition, getPositionNorm, getPositionNormAsDistance, getPositionNormAsDistance, getPositionX, getPositionX, getPositionY, getPositionY, getPositionZ, getPositionZ, getSpeedX, getSpeedX, getSpeedY, getSpeedY, getSpeedZ, getSpeedZ, getVelocityNorm, getVelocityNormAsSpeed, getVelocityNormAsSpeed, getVx, getVy, getVz, getX, getY, getZ, hashCode, setCoordinates, setCoordinateTransformationMatrix, setCoordinateTransformationMatrix, setCoordinateTransformationRotation, setPosition, setPositionCoordinates, setPositionX, setPositionY, setPositionZ, setSpeedCoordinates, setSpeedX, setSpeedY, setSpeedZ, setVelocityCoordinates, setVx, setVy, setVz, setX, setY, setZ

Methods inherited from class java.lang.Object

finalize, getClass, notify, notifyAll, toString, wait, wait, wait

Constructor Details

ECEFFrame

public ECEFFrame()

Constructor. Initializes position and velocity coordinates to zero and the coordinate transformation matrix to the identity.

ECEFFrame

public ECEFFrame(CoordinateTransformation c)
          throws InvalidSourceAndDestinationFrameTypeException

Constructor.

Parameters:

c - Body to ECEF coordinate transformation matrix to be set.

Throws:

InvalidSourceAndDestinationFrameTypeException - if source or destination frame types are invalid.

ECEFFrame

public ECEFFrame(double x,
 double y,
 double z)

Constructor.

Parameters:

x - cartesian x coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

y - cartesian y coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

z - cartesian z coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

ECEFFrame

public ECEFFrame(com.irurueta.geometry.Point3D position)

Constructor.

Parameters:

position - body position expressed in meters (m) and resolved along ECEF-frame axes.

ECEFFrame

public ECEFFrame(com.irurueta.units.Distance positionX,
 com.irurueta.units.Distance positionY,
 com.irurueta.units.Distance positionZ)

Constructor.

Parameters:

positionX - cartesian x coordinate of body position to be set resolved along ECEF-frame axes.

positionY - cartesian y coordinate of body position to be set resolved along ECEF-frame axes.

positionZ - cartesian z coordinate of body position to be set resolved along ECEF-frame axes.

ECEFFrame

public ECEFFrame(ECEFPosition position)

Constructor.

Parameters:

position - cartesian position.

ECEFFrame

public ECEFFrame(double x,
 double y,
 double z,
 double vx,
 double vy,
 double vz)

Constructor.

Parameters:

x - cartesian x coordinate of body position expressed in meters (m) and resolved along ECEF-frame axes.

y - cartesian y coordinate of body position expressed in meters (m) and resolved along ECEF-frame axes.

z - cartesian z coordinate of body position expressed in meters (m) and resolved along ECEF-frame axes.

vx - x coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

vy - y coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

vz - z coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

ECEFFrame

public ECEFFrame(ECEFPosition position,
 double vx,
 double vy,
 double vz)

Constructor.

Parameters:

position - cartesian position.

vx - x coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

vy - y coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

vz - z coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

ECEFFrame

public ECEFFrame(com.irurueta.geometry.Point3D position,
 double vx,
 double vy,
 double vz)

Constructor.

Parameters:

position - body position expressed in meters (m) and resolved along ECEF-frame axes.

vx - x coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

vy - y coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

vz - z coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

ECEFFrame

public ECEFFrame(com.irurueta.geometry.Point3D position,
 com.irurueta.units.Speed speedX,
 com.irurueta.units.Speed speedY,
 com.irurueta.units.Speed speedZ)

Constructor.

Parameters:

position - body position expressed in meters (m) and resolved along ECEF-frame axes.

speedX - x coordinate of velocity to be set resolved along ECEF-frame axes.

speedY - y coordinate of velocity to be set resolved along ECEF-frame axes.

speedZ - z coordinate of velocity to be set resolved along ECEF-frame axes.

ECEFFrame

public ECEFFrame(ECEFPosition position,
 com.irurueta.units.Speed speedX,
 com.irurueta.units.Speed speedY,
 com.irurueta.units.Speed speedZ)

Constructor.

Parameters:

position - cartesian position.

speedX - x coordinate of velocity to be set resolved along ECEF-frame axes.

speedY - y coordinate of velocity to be set resolved along ECEF-frame axes.

speedZ - z coordinate of velocity to be set resolved along ECEF-frame axes.

ECEFFrame

public ECEFFrame(com.irurueta.geometry.Point3D position,
 ECEFVelocity velocity)

Constructor.

Parameters:

position - body position expressed in meters (m) and resolved along ECEF-frame axes.

velocity - velocity to be set resolved along ECEF-frame axes.

ECEFFrame

public ECEFFrame(double x,
 double y,
 double z,
 com.irurueta.units.Speed speedX,
 com.irurueta.units.Speed speedY,
 com.irurueta.units.Speed speedZ)

Constructor.

Parameters:

x - cartesian x coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

y - cartesian y coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

z - cartesian z coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

speedX - x coordinate of velocity to be set resolved along ECEF-frame axes.

speedY - y coordinate of velocity to be set resolved along ECEF-frame axes.

speedZ - z coordinate of velocity to be set resolved along ECEF-frame axes.

ECEFFrame

public ECEFFrame(double x,
 double y,
 double z,
 ECEFVelocity velocity)

Constructor.

Parameters:

x - cartesian x coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

y - cartesian y coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

z - cartesian z coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

velocity - velocity to be set resolved along ECEF-frame axes.

ECEFFrame

public ECEFFrame(com.irurueta.units.Distance positionX,
 com.irurueta.units.Distance positionY,
 com.irurueta.units.Distance positionZ,
 double vx,
 double vy,
 double vz)

Constructor.

Parameters:

positionX - cartesian x coordinate of body position to be set, resolved along ECEF-frame axes.

positionY - cartesian y coordinate of body position to be set, resolved along ECEF-frame axes.

positionZ - cartesian z coordinate of body position to be set, resolved along ECEF-frame axes.

vx - x coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

vy - y coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

vz - z coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

ECEFFrame

public ECEFFrame(com.irurueta.units.Distance positionX,
 com.irurueta.units.Distance positionY,
 com.irurueta.units.Distance positionZ,
 com.irurueta.units.Speed speedX,
 com.irurueta.units.Speed speedY,
 com.irurueta.units.Speed speedZ)

Constructor.

Parameters:

positionX - cartesian x coordinate of body position to be set, resolved along ECEF-frame axes.

positionY - cartesian y coordinate of body position to be set, resolved along ECEF-frame axes.

positionZ - cartesian z coordinate of body position to be set, resolved along ECEF-frame axes.

speedX - x coordinate of velocity to be set, resolved along ECEF-frame axes.

speedY - y coordinate of velocity to be set, resolved along ECEF-frame axes.

speedZ - z coordinate of velocity to be set, resolved along ECEF-frame axes.

ECEFFrame

public ECEFFrame(com.irurueta.units.Distance positionX,
 com.irurueta.units.Distance positionY,
 com.irurueta.units.Distance positionZ,
 ECEFVelocity velocity)

Constructor.

Parameters:

positionX - cartesian x coordinate of body position to be set, resolved along ECEF-frame axes.

positionY - cartesian y coordinate of body position to be set, resolved along ECEF-frame axes.

positionZ - cartesian z coordinate of body position to be set, resolved along ECEF-frame axes.

velocity - velocity to be set resolved along ECEF-frame axes.

ECEFFrame

public ECEFFrame(ECEFPosition position,
 ECEFVelocity velocity)

Constructor.

Parameters:

position - cartesian position.

velocity - velocity to be set resolved along ECEF-frame axes.

ECEFFrame

public ECEFFrame(ECEFPositionAndVelocity positionAndVelocity)

Constructor.

Parameters:

positionAndVelocity - position and velocity to be set resolved along ECEF-frame axes.

ECEFFrame

public ECEFFrame(double x,
 double y,
 double z,
 CoordinateTransformation c)
          throws InvalidSourceAndDestinationFrameTypeException

Constructor.

Parameters:

x - cartesian x coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

y - cartesian y coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

z - cartesian z coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

c - Body to ECEF coordinate transformation matrix to be set.

Throws:

InvalidSourceAndDestinationFrameTypeException - if source or destination frame types are invalid.

ECEFFrame

public ECEFFrame(ECEFPosition position,
 CoordinateTransformation c)
          throws InvalidSourceAndDestinationFrameTypeException

Constructor.

Parameters:

position - cartesian position.

c - Body to ECEF coordinate transformation matrix to be set.

Throws:

InvalidSourceAndDestinationFrameTypeException - if source or destination frame types are invalid.

ECEFFrame

public ECEFFrame(com.irurueta.geometry.Point3D position,
 CoordinateTransformation c)
          throws InvalidSourceAndDestinationFrameTypeException

Constructor.

Parameters:

position - body position expressed in meters (m) and resolved along ECEF-frame axes.

c - Body to ECEF coordinate transformation matrix to be set.

Throws:

InvalidSourceAndDestinationFrameTypeException - if source or destination frame types are invalid.

ECEFFrame

public ECEFFrame(com.irurueta.units.Distance positionX,
 com.irurueta.units.Distance positionY,
 com.irurueta.units.Distance positionZ,
 CoordinateTransformation c)
          throws InvalidSourceAndDestinationFrameTypeException

Constructor.

Parameters:

positionX - cartesian x coordinate of body position to be set, resolved along ECEF-frame axes.

positionY - cartesian y coordinate of body position to be set, resolved along ECEF-frame axes.

positionZ - cartesian z coordinate of body position to be set, resolved along ECEF-frame axes.

c - Body to ECEF coordinate transformation matrix to be set.

Throws:

InvalidSourceAndDestinationFrameTypeException - if source or destination frame types are invalid.

ECEFFrame

public ECEFFrame(double x,
 double y,
 double z,
 double vx,
 double vy,
 double vz,
 CoordinateTransformation c)
          throws InvalidSourceAndDestinationFrameTypeException

Constructor.

Parameters:

x - cartesian x coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

y - cartesian y coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

z - cartesian z coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

vx - x coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

vy - y coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

vz - z coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

c - Body to ECEF coordinate transformation matrix to be set.

Throws:

InvalidSourceAndDestinationFrameTypeException - if source or destination frame types are invalid.

ECEFFrame

public ECEFFrame(ECEFPosition position,
 double vx,
 double vy,
 double vz,
 CoordinateTransformation c)
          throws InvalidSourceAndDestinationFrameTypeException

Constructor.

Parameters:

position - cartesian position.

vx - x coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

vy - y coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

vz - z coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

c - Body to ECEF coordinate transformation matrix to be set.

Throws:

InvalidSourceAndDestinationFrameTypeException - if source or destination frame types are invalid.

ECEFFrame

public ECEFFrame(double x,
 double y,
 double z,
 ECEFVelocity velocity,
 CoordinateTransformation c)
          throws InvalidSourceAndDestinationFrameTypeException

Constructor.

Parameters:

x - cartesian x coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

y - cartesian y coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

z - cartesian z coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

velocity - velocity to be set resolved along ECEF-frame axes.

c - Body to ECEF coordinate transformation matrix to be set.

Throws:

InvalidSourceAndDestinationFrameTypeException - if source or destination frame types are invalid.

ECEFFrame

public ECEFFrame(ECEFPosition position,
 ECEFVelocity velocity,
 CoordinateTransformation c)
          throws InvalidSourceAndDestinationFrameTypeException

Constructor.

Parameters:

position - cartesian position.

velocity - velocity to be set resolved along ECEF-frame axes.

c - Body to ECEF coordinate transformation matrix to be set.

Throws:

InvalidSourceAndDestinationFrameTypeException - if source or destination frame types are invalid.

ECEFFrame

public ECEFFrame(ECEFPositionAndVelocity positionAndVelocity,
 CoordinateTransformation c)
          throws InvalidSourceAndDestinationFrameTypeException

Constructor.

Parameters:

positionAndVelocity - position and velocity to be set resolved along ECEF-frame axes.

c - Body to ECEF coordinate transformation matrix to be set.

Throws:

InvalidSourceAndDestinationFrameTypeException - if source or destination frame types are invalid.

ECEFFrame

public ECEFFrame(com.irurueta.geometry.Point3D position,
 double vx,
 double vy,
 double vz,
 CoordinateTransformation c)
          throws InvalidSourceAndDestinationFrameTypeException

Constructor.

Parameters:

position - body position expressed in meters (m) and resolved along ECEF-frame axes.

vx - x coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

vy - y coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

vz - z coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

c - Body to ECEF coordinate transformation matrix to be set.

Throws:

InvalidSourceAndDestinationFrameTypeException - if source or destination frame types are invalid.

ECEFFrame

public ECEFFrame(com.irurueta.geometry.Point3D position,
 ECEFVelocity velocity,
 CoordinateTransformation c)
          throws InvalidSourceAndDestinationFrameTypeException

Constructor.

Parameters:

position - body position expressed in meters (m) and resolved along ECEF-frame axes.

velocity - velocity to be set resolved along ECEF-frame axes.

c - Body to ECEF coordinate transformation matrix to be set.

Throws:

InvalidSourceAndDestinationFrameTypeException - if source or destination frame types are invalid.

ECEFFrame

public ECEFFrame(com.irurueta.geometry.Point3D position,
 com.irurueta.units.Speed speedX,
 com.irurueta.units.Speed speedY,
 com.irurueta.units.Speed speedZ,
 CoordinateTransformation c)
          throws InvalidSourceAndDestinationFrameTypeException

Constructor.

Parameters:

position - body position expressed in meters (m) and resolved along ECEF-frame axes.

speedX - x coordinate of velocity to be set, resolved along ECEF-frame axes.

speedY - y coordinate of velocity to be set, resolved along ECEF-frame axes.

speedZ - z coordinate of velocity to be set, resolved along ECEF-frame axes.

c - Body to ECEF coordinate transformation matrix to be set.

Throws:

InvalidSourceAndDestinationFrameTypeException - if source or destination frame types are invalid.

ECEFFrame

public ECEFFrame(ECEFPosition position,
 com.irurueta.units.Speed speedX,
 com.irurueta.units.Speed speedY,
 com.irurueta.units.Speed speedZ,
 CoordinateTransformation c)
          throws InvalidSourceAndDestinationFrameTypeException

Constructor.

Parameters:

position - cartesian position.

speedX - x coordinate of velocity to be set, resolved along ECEF-frame axes.

speedY - y coordinate of velocity to be set, resolved along ECEF-frame axes.

speedZ - z coordinate of velocity to be set, resolved along ECEF-frame axes.

c - Body to ECEF coordinate transformation matrix to be set.

Throws:

InvalidSourceAndDestinationFrameTypeException - if source or destination frame types are invalid.

ECEFFrame

public ECEFFrame(double x,
 double y,
 double z,
 com.irurueta.units.Speed speedX,
 com.irurueta.units.Speed speedY,
 com.irurueta.units.Speed speedZ,
 CoordinateTransformation c)
          throws InvalidSourceAndDestinationFrameTypeException

Constructor.

Parameters:

x - cartesian x coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

y - cartesian y coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

z - cartesian z coordinate of body position expressed in meters (m) with respect ECEF frame, resolved along ECEF-frame axes.

speedX - x coordinate of velocity to be set, resolved along ECEF-frame axes.

speedY - y coordinate of velocity to be set, resolved along ECEF-frame axes.

speedZ - z coordinate of velocity to be set, resolved along ECEF-frame axes.

c - Body to ECEF coordinate transformation matrix to be set.

Throws:

InvalidSourceAndDestinationFrameTypeException - if source or destination frame types are invalid.

ECEFFrame

public ECEFFrame(com.irurueta.units.Distance positionX,
 com.irurueta.units.Distance positionY,
 com.irurueta.units.Distance positionZ,
 double vx,
 double vy,
 double vz,
 CoordinateTransformation c)
          throws InvalidSourceAndDestinationFrameTypeException

Constructor.

Parameters:

positionX - cartesian x coordinate of body position to be set, resolved along ECEF-frame axes.

positionY - cartesian y coordinate of body position to be set, resolved along ECEF-frame axes.

positionZ - cartesian z coordinate of body position to be set, resolved along ECEF-frame axes.

vx - x coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

vy - y coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

vz - z coordinate of velocity of body frame expressed in meters per second (m/s) and resolved along ECEF-frame axes.

c - Body to ECEF coordinate transformation matrix to be set.

Throws:

InvalidSourceAndDestinationFrameTypeException - if source or destination frame types are invalid.

ECEFFrame

public ECEFFrame(com.irurueta.units.Distance positionX,
 com.irurueta.units.Distance positionY,
 com.irurueta.units.Distance positionZ,
 ECEFVelocity velocity,
 CoordinateTransformation c)
          throws InvalidSourceAndDestinationFrameTypeException

Constructor.

Parameters:

positionX - cartesian x coordinate of body position to be set, resolved along ECEF-frame axes.

positionY - cartesian y coordinate of body position to be set, resolved along ECEF-frame axes.

positionZ - cartesian z coordinate of body position to be set, resolved along ECEF-frame axes.

velocity - velocity to be set resolved along ECEF-frame axes.

c - Body to ECEF coordinate transformation matrix to be set.

Throws:

InvalidSourceAndDestinationFrameTypeException - if source or destination frame types are invalid.

ECEFFrame

public ECEFFrame(com.irurueta.units.Distance positionX,
 com.irurueta.units.Distance positionY,
 com.irurueta.units.Distance positionZ,
 com.irurueta.units.Speed speedX,
 com.irurueta.units.Speed speedY,
 com.irurueta.units.Speed speedZ,
 CoordinateTransformation c)
          throws InvalidSourceAndDestinationFrameTypeException

Constructor.

Parameters:

positionX - cartesian x coordinate of body position to be set, resolved along ECEF-frame axes.

positionY - cartesian y coordinate of body position to be set, resolved along ECEF-frame axes.

positionZ - cartesian z coordinate of body position to be set, resolved along ECEF-frame axes.

speedX - x coordinate of velocity to be set, resolved along ECEF-frame axes.

speedY - y coordinate of velocity to be set, resolved along ECEF-frame axes.

speedZ - z coordinate of velocity to be set, resolved along ECEF-frame axes.

c - Body to ECEF coordinate transformation matrix to be set.

Throws:

InvalidSourceAndDestinationFrameTypeException - if source or destination frame types are invalid.

ECEFFrame

public ECEFFrame(ECEFFrame input)

Constructor.

Parameters:

input - ECEF frame to copy data from.

Method Details

getECEFPosition

public void getECEFPosition(ECEFPosition result)

Gets cartesian position.

Parameters:

result - instance where cartesian position will be stored.

getECEFPosition

public ECEFPosition getECEFPosition()

Gets cartesian position.

Returns:

cartesian position.

setPosition

public void setPosition(ECEFPosition position)

Sets cartesian position.

Parameters:

position - cartesian position to be set.

getECEFVelocity

public void getECEFVelocity(ECEFVelocity result)

Gets cartesian velocity.

Parameters:

result - instance where cartesian velocity will be stored.

getECEFVelocity

public ECEFVelocity getECEFVelocity()

Gets cartesian velocity.

Returns:

cartesian velocity.

setVelocity

public void setVelocity(ECEFVelocity velocity)

Sets cartesian velocity.

Parameters:

velocity - cartesian velocity to be set.

getPositionAndVelocity

public void getPositionAndVelocity(ECEFPositionAndVelocity result)

Gets cartesian position and velocity.

Parameters:

result - instance where cartesian position and velocity will be stored.

getPositionAndVelocity

public ECEFPositionAndVelocity getPositionAndVelocity()

Gets cartesian position and velocity.

Returns:

cartesian position and velocity.

setPositionAndVelocity

public void setPositionAndVelocity(ECEFPositionAndVelocity positionAndVelocity)

Sets cartesian position and velocity.

Parameters:

positionAndVelocity - cartesian position and velocity.

getCoordinateTransformation

public CoordinateTransformation getCoordinateTransformation()

Gets coordinate transformation matrix.

Specified by:

getCoordinateTransformation in interface Frame

Returns:

coordinate transformation matrix.

getCoordinateTransformation

public void getCoordinateTransformation(CoordinateTransformation result)

Gets coordinate transformation matrix.

Specified by:

getCoordinateTransformation in interface Frame

Parameters:

result - instance where coordinate transformation matrix will be copied to.

setCoordinateTransformation

public void setCoordinateTransformation(CoordinateTransformation c)
                                 throws InvalidSourceAndDestinationFrameTypeException

Sets coordinate transformation matrix. Provided value must be a body to ECEF transformation matrix.

Specified by:

setCoordinateTransformation in interface Frame

Parameters:

c - coordinate transformation matrix to be set.

Throws:

InvalidSourceAndDestinationFrameTypeException - if source or destination frame types are invalid.

isValidCoordinateTransformation

public static boolean isValidCoordinateTransformation(CoordinateTransformation c)

Checks whether provided coordinate transformation is valid or not. Only body to ECEF transformation matrices are considered to be valid.

Parameters:

c - coordinate transformation matrix to be checked.

Returns:

true if provided value is valid, false otherwise.

clone

protected Object clone()
                throws CloneNotSupportedException

Makes a copy of this instance.

Overrides:

clone in class Object

Returns:

a copy of this instance.

Throws:

CloneNotSupportedException - if clone fails for some reason.