CSPICE APIs for accessing SPICE kernel data
CSPICE APIs for computing derived geometry
CSPICE APIs for finding times of geometric events
CSPICE APIs for coordinate conversions
CSPICE APIs for operations with 3D vectors and matrices
Miscellaneous CSPICE APIs
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Loading and Unloading SPICE Kernels
APIs:
- furnsh_c - loads an individual kernel or a collection of kernels
- unload_c - unloads an individual kernel or a collection of kernels
Brief Example:
Generic LSK and PCK files listed in a meta-kernel named
"mykernels.furnsh" and containing
\begindata
KERNELS_TO_LOAD = (
'/kernels/gen/lsk/naif0008.tls'
'/kernels/gen/pck/pck00008.tps'
)
\begintext
are loaded with a single call to furnsh_c:
furnsh_c ( "mykernels.furnsh" );
Reference documents:
- kernel.req - reference on loading/unloading kernels and text kernel format
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Converting between UTC and Ephemeris Time (LSK)
APIs:
- furnsh_c - loads an individual kernel or a collection of kernels
- str2et_c - converts a time string to ET seconds past J2000
- timout_c - converts ET seconds past J2000 to a time string
Brief Example:
The following example loads an LSK file, converts a UTC string to ET
seconds, adds 1 day and converts TDB seconds back to a UTC string in
ISO DOY format:
SpiceDouble et;
SpiceChar utc[32];
/*
load LSK file
*/
furnsh_c ( "naif0008.tls" );
/*
convert UTC to ET
*/
str2et_c ( "2005 DEC 31 12:00", &et );
/*
add 1 day to ET and convert it back to UTC
*/
timout_c ( et+spd_c(), "YYYY-DOYTHR:MN:SC.### ::RND", 32, utc );
Reference documents:
- time.req - reference on time systems and conversions supported in SPICE
- kernel.req - reference on loading/unloading kernels and text kernel format
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Converting between Ephemeris Time and Spacecraft Clock (SCLK)
APIs:
- furnsh_c - loads individual kernels and collections of kernels
- scs2e_c - converts an SCLK string to ET seconds past J2000
- sce2s_c - converts ET seconds past J2000 to SCLK string
- sct2e_c - converts an encoded SCLK to ET seconds past J2000
- sce2c_c - converts ET seconds past J2000 to encoded SCLK
- scencd_c - converts an SCLK string to encoded SCLK
- scdecd_c - converts an encoded SCLK to SCLK string
Brief Example:
The following example loads an LSK file and an MGS SCLK file, then
converts an MGS SCLK string to ET and encoded SCLK:
SpiceChar * sclk;
SpiceDouble et;
SpiceDouble sclkdp;
SpiceInt scid = -94;
/*
load LSK and SCLK files
*/
furnsh_c ( "naif0008.tls" );
furnsh_c ( "mgs_sclkscet_00061.tsc" );
/*
convert string SCLK to ET and to encoded SCLK
*/
sclk = "820584056:121";
scs2e_c ( scid, sclk, &et );
scencd_c ( scid, sclk, &sclkdp );
Reference documents:
- sclk.req - reference on on-board clock (SCLK) implementation in SPICE
- kernel.req - reference on loading/unloading kernels and text kernel format
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Constants and Orientation for Natural Bodies (PCK)
APIs:
- furnsh_c - loads individual kernels and collections of kernels
- bodfnd_c - determines whether values exist for some item for a body in the kernel pool.
- bodvrd_c - retrieves from the kernel pool the values of an item associated with a body.
- pxform_c - returns the 3x3 matrix rotating a position vector one frame to another.
- sxform_c - returns the 6x6 matrix rotating a state vector from one frame to another.
- pckfrm_c - finds the set of reference frame class ID codes of all frames in a binary PCK file.
- pckcov_c - finds the coverage window for a reference frame in a binary PCK file.
Brief Example:
The following example retrieves radii for Mars and computes
orientation of the Mars body-fixed frame:
SpiceDouble et;
SpiceDouble mat[3][3];
SpiceDouble radii[3];
SpiceInt n;
/*
load LSK and PCK files
*/
furnsh_c ( "naif0008.tls" );
furnsh_c ( "pck00008.tpc" );
/*
retrieve Mars radii
*/
bodvrd_c ( "MARS", "RADII", 3, &n, radii );
/*
convert UTC to ET
*/
str2et_c ( "2005-DEC-28 12:00", &et );
/*
compute Mars orientation relative to the J2000 frame
*/
pxform_c ( "J2000", "IAU_MARS", et, mat );
Reference documents:
- pck.req - reference on Planetary Constants Kernel (PCK) subsystem of SPICE
- kernel.req - reference on loading/unloading kernels and text kernel format
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Computing Transformations Between Frames (FK)
APIs:
- furnsh_c - loads individual kernels and collections of kernels
- pxform_c - returns the 3x3 matrix rotating a position vector one frame to another.
- sxform_c - returns the 6x6 matrix rotating a state vector from one frame to another.
Brief Example:
The following example computes orientation of the CASSINI ISS WAC
camera relative to the Saturn body-fixed frame:
SpiceDouble et;
SpiceDouble mat[3][3];
/*
load kernels: LSK, PCK, CASSINI SCLK, FK and CK
*/
furnsh_c ( "naif0008.tls" );
furnsh_c ( "pck00008.tpc" );
furnsh_c ( "cas00101.tsc" );
furnsh_c ( "cas_v39.tf" );
furnsh_c ( "05362_06002ra.bc" );
/*
convert UTC to ET
*/
str2et_c ( "2005-DEC-28 12:00", &et );
/*
compute orientation of CASSINI relative to J2000 frame
*/
pxform_c ( "IAU_SATURN", "CASSINI_ISS_WAC", et, mat );
Reference documents:
- frames.req - reference on Frames Kernel (FK) and Frames subsystem of SPICE
- kernel.req - reference on loading/unloading kernels and text kernel format
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Computing Positions of Spacecraft and Natural Bodies (SPK)
APIs:
- furnsh_c - loads individual kernels and collections of kernels
- spkezr_c - returns the state of a target body relative to an observing body
- spkpos_c - returns the position of a target body relative to an observing body.
- spkobj_c - finds the set of ID codes for all objects in a specified SPK file.
- spkcov_c - finds the coverage window for a specified object in a specified SPK file.
Brief Example:
The following example computes the geometric state (position and
velocity) of MGS relative to Mars in the J2000 reference frame:
SpiceDouble et;
SpiceDouble state[6];
SpiceDouble lt;
/*
load kernels: LSK and MGS and DE SPKs
*/
furnsh_c ( "naif0008.tls" );
furnsh_c ( "de405.bsp" );
furnsh_c ( "mgs_ext22.bsp" );
/*
convert UTC to ET
*/
str2et_c ( "2006 JAN 31 01:00", &et );
/*
compute geometric state of MGS relative to Mars
*/
spkezr_c ( "MGS", et, "J2000", "NONE", "MARS", state,
< );
Reference documents:
- spk.req - reference on Spacecraft and Planet Ephemeris (SPK) subsystem of SPICE
- frames.req - reference on Frames Kernel (FK) and Frames subsystem of SPICE
- kernel.req - reference on loading/unloading kernels and text kernel format
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Computing Orientation for Spacecraft and Instruments (CK)
APIs:
- furnsh_c - loads individual kernels and collections of kernels
- pxform_c - returns the 3x3 matrix rotating a position vector one frame to another.
- sxform_c - returns the 6x6 matrix rotating a state vector from one frame to another.
- ckobj_c - finds the set of ID codes for all objects in a specified CK file.
- ckcov_c - finds the coverage window for a specified object in a specified CK file.
- ckgp_c - gets pointing for a specified CK ID at a specified SCLK time.
- ckgpav_c - gets pointing and angular velocity for a specified CK ID at a specified SCLK time.
Brief Example:
The following example computes orientation of the CASSINI spacecraft
provided in CK files using the Frames subsystem routine pxform_c:
SpiceDouble et;
SpiceDouble mat[3][3];
/*
load kernels: LSK, CASSINI SCLK, FK and CK
*/
furnsh_c ( "naif0008.tls" );
furnsh_c ( "cas00101.tsc" );
furnsh_c ( "cas_v39.tf" );
furnsh_c ( "05362_06002ra.bc" );
/*
convert UTC to ET
*/
str2et_c ( "2005-DEC-28 12:00", &et );
/*
compute orientation of CASSINI relative to J2000 frame
*/
pxform_c ( "J2000", "CASSINI_SC_COORD", et, mat );
Reference documents:
- ck.req - reference on spacecraft orientation (CK) subsystem of SPICE
- frames.req - reference on Frames Kernel (FK) and Frames subsystem of SPICE
- kernel.req - reference on loading/unloading kernels and text kernel format
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Retrieving Instrument Parameters (IK)
APIs:
- furnsh_c - loads individual kernels and collections of kernels
- getfov_c - returns the field-of-view (FOV) configuration for a specified instrument.
- gdpool_c - returns the double precision value of a kernel variable from the kernel pool.
- gipool_c - returns the integer value of a kernel variable from the kernel pool.
- gcpool_c - returns the character value of a kernel variable from the kernel pool.
Brief Example:
The following example retrieves the M01 THEMIS IR camera focal
length and FOV parameters:
SpiceBoolean found;
SpiceChar frame[32];
SpiceChar shape[32];
SpiceDouble fl;
SpiceDouble bsight[3];
SpiceDouble bounds[4][3];
SpiceInt n;
/*
load THEMIS IK
*/
furnsh_c ( "m01_themis_v31.ti" );
/*
retrieve M01 THEMIS IR pixel size
*/
gdpool_c ( "INS-53031_FOCAL_LENGTH", 0, 1, &n, &fl,
&found );
/*
retrieve M01 THEMIS IR FOV parameters
*/
getfov_c ( -53031, 4, 32, 32, shape, frame, bsight, &n,
bounds );
Reference documents:
- kernel.req - reference on loading/unloading kernels and text kernel format
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Mapping Between Object Names and NAIF IDs
APIs:
- furnsh_c - loads individual kernels and collections of kernels
- bodc2n_c - translates the NAIF integer code of a body into a common name for that body.
- bodn2c_c - translates the name of a body or object to the corresponding NAIF integer ID code.
Brief Example:
The following example uses bodn2c_c to get the NAIF ID for Phobos
(built into the SPICE system) and for the M01 THEMIS IR camera
(defined in the M01 FK file):
SpiceBoolean found;
Spiceint phobos_id;
Spiceint themis_ir_id;
/*
load FK defining M01 name-ID mappings
*/
furnsh_c ( "m01_v28.tf" );
/*
get NAIF ID for Phobos
*/
bodn2c_c ( "PHOBOS", &phobos_id, &found );
/*
get NAIF ID for THEMIS IR camera
*/
bodn2c_c ( "M01_THEMIS_IR", &themis_ir_id, &found );
Reference documents:
- naif_ids.req - reference on object names and IDs supported in SPICE
- kernel.req - reference on loading/unloading kernels and text kernel format
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Computing Planetocentric, Planetodetic, and Planetographic Coordinates
APIs:
- reclat_c - converts from rectangular to planetocentric coordinates.
- latrec_c - converts from planetocentric to rectangular coordinates.
- srfrec_c - converts from planetocentric lat/lon of a surface point on a body to rectangular coordinates.
- recgeo_c - converts from rectangular to geodetic coordinates.
- georec_c - converts from geodetic to rectangular coordinates.
- recpgr_c - converts from rectangular to planetographic coordinates.
- pgrrec_c - converts from planetographic to rectangular coordinates.
Brief Example:
The following example computes the planetocentric, planetodetic and
planetographic coordinates for a point given as a Cartesian vector
with respect to Mars in the Mars body-fixed frame (IAU_MARS):
SpiceDouble vec[3];
SpiceDouble radii[3];
SpiceDouble f;
SpiceDouble pcr, pclon, pclat;
SpiceDouble pdalt, pdlon, pdlat;
SpiceDouble pgalt, pglon, pglat;
SpiceInt n;
/*
load PCK file
*/
furnsh_c( "pck00008.tpc" );
/*
retrieve Mars radii
*/
bodvrd_c( "MARS", "RADII", 3, &n, radii );
/*
package 3D vector
*/
vpack_c ( 3373.850, -351.034, -117.267, vec );
/*
compute planetocentric coordinates
*/
reclat_c( vec, &pcr, &pclon, &pclat );
/*
compute planetodetic coordinates
*/
recgeo_c( vec, radii[0], f, &pdlon, &pdlat,
&pdalt );
/*
compute planetographic coordinates
*/
recpgr_c( "MARS", vec, radii[0], f, &pglon, &pglat,
&pgalt );
Reference documents:
- pck.req - reference on Planetary Constants Kernel (PCK) subsystem of SPICE
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Computing Surface Intercept Point
APIs:
- sincpt_c - computes the surface intercept point of the ray on a body at a specified epoch.
Brief Example:
The following example computes the surface intercept point of the
MGS MOC NA camera boresight with the surface of Mars:
SpiceBoolean found;
SpiceChar frame[32];
SpiceChar shape[32];
SpiceDouble et;
SpiceDouble bsight[3];
SpiceDouble bounds [4][3];
SpiceDouble spoint[3];
SpiceDouble trgepc;
SpiceDouble srfvec[3];
SpiceInt n;
/*
load kernels: LSK, PCK, MGS SCLK, planet/satellite
ephemeris SPK, MGS spacecraft SPK, MGS spacecraft
CK, MGS FK, and MOC IK
*/
furnsh_c ( "naif0008.tls" );
furnsh_c ( "mars_iau2000_v0.tpc" );
furnsh_c ( "mgs_sclkscet_00061.tsc" );
furnsh_c ( "mar063.bsp" );
furnsh_c ( "mgs_ext22.bsp" );
furnsh_c ( "mgs_sc_ext22.bc" );
furnsh_c ( "mgs_v10.tf" );
furnsh_c ( "mgs_moc_v20.ti" );
/*
retrieve MOC NA camera boresight direction
*/
getfov_c ( -94031, 4, 32, 32, shape, frame, bsight, &n,
bounds );
/*
convert UTC to ET
*/
str2et_c ( "2006 JAN 31 01:00", &et );
/*
compute surface intercept point
*/
sincpt_c ( "Ellipsoid", "MARS", et, "IAU_MARS",
"CN+S", "MGS", frame, bsight,
spoint, &trgepc, srfvec, &found );
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Computing Sub-observer and Sub-solar Points
APIs:
- subpnt_c - computes the sub-observer point on a body at a particular epoch.
- subslr_c - computes the sub-solar point on a body as seen by an observer at a particular epoch.
Brief Example:
The following example computes the sub-spacecraft and sub-solar
points on Mars for MGS:
SpiceDouble et;
SpiceDouble subsc[3];
SpiceDouble subsolar[3];
SpiceDouble srfvec[3];
SpiceDouble trgepc;
/*
load kernels: LSK, PCK, planet/satellite SPK
and MGS spacecraft SPK
*/
furnsh_c ( "naif0008.tls" );
furnsh_c ( "mars_iau2000_v0.tpc" );
furnsh_c ( "mar063.bsp" );
furnsh_c ( "mgs_ext22.bsp" );
/*
convert UTC to ET
*/
str2et_c ( "2006 JAN 31 01:00", &et );
/*
compute sub-spacecraft point
*/
subpnt_c ( "Near point: ellipsoid",
"MARS", et, "IAU_MARS", "LT+S", "MGS",
subsc, &trgepc, srfvec );
/*
compute sub-solar point
*/
subslr_c ( "Near point: ellipsoid",
"MARS", et, "IAU_MARS", "LT+S", "MGS",
subsolar, &trgepc, srfvec );
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Computing Illumination Angles
APIs:
- ilumin_c - finds the illumination angles at a specified surface point of a target body.
Brief Example:
The following example computes the illumination angles for a point
specified using planetocentric coordinates, observed by MGS:
SpiceDouble r = 3390.42;
SpiceDouble lon = 175.30;
SpiceDouble lat = -14.59;
SpiceDouble point[3];
SpiceDouble et;
SpiceDouble srfvec[3];
SpiceDouble trgepc;
SpiceDouble phase, solar, emissn;
/*
load kernels: LSK, PCK, planet/satellite SPK
and MGS spacecraft SPK
*/
furnsh_c ( "naif0008.tls" );
furnsh_c ( "mars_iau2000_v0.tpc" );
furnsh_c ( "mar063.bsp" );
furnsh_c ( "mgs_ext22.bsp" );
/*
convert planetocentric r/lon/lat to Cartesian vector
*/
latrec_c( r, lon * rpd_c(), lat * rpd_c(), point );
/*
convert UTC to ET
*/
str2et_c ( "2006 JAN 31 01:00", &et );
/*
compute illumination angles
*/
ilumin_c ( "Ellipsoid", "MARS", et, "IAU_MARS",
"LT+S", "MGS", point,
&trgepc, srfvec, &phase, &solar, &emissn );
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Computing and Propagating Orbital Elements
APIs:
- conics_c - determines the state of an orbiting body from a set orbital elements.
- oscelt_c - determines the set of orbital elements corresponding to the state of a body.
Brief Example:
The following example computes the set of orbital elements for the
state of the Mars Express spacecraft at a given time:
SpiceInt n;
SpiceDouble gm;
SpiceDouble et;
SpiceDouble state[6];
SpiceDouble lt;
SpiceDouble elts[8];
/*
load kernels: LSK, MEX trajectory SPK, and gravity PCK
*/
furnsh_c ( "naif0008.tls" );
furnsh_c ( "ORMM__050901000000_00165.BSP" );
furnsh_c ( "DE403-MASSES.TPC" );
/*
retrieve GM for Mars
*/
bodvrd_c ( "MARS", "GM", 1, &n, gm );
/*
convert UTC to ET
*/
str2et_c ( "2005 SEP 02 04:50:45", &et );
/*
compute state of MEX at given UTC
*/
spkezr_c ( "MEX", et, "MARSIAU", "NONE", "MARS",
state, < );
/*
compute orbital elements
*/
oscelt_c ( state, et, gm, elts );
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Finding times of events satisfying numerical constraints
APIs:
- gfdist_c - determines time intervals when a specified constraint on observer-target distance is met.
- gfposc_c - determines time intervals when a coordinate of an observer-target position vector satisfies a numerical constraint.
- gfrr_c - determines time intervals when a specified constraint on the observer-target range rate is met.
- gfsep_c - determines time intervals when the angular separation between the position vectors of two target bodies relative to an observer satisfies a numerical relationship.
- gfsntc_c - determines time intervals when a coordinate of a ray-surface intercept position vector satisfies a numerical constraint.
- gfsubc_c - determines time intervals when a coordinate of a sub-observer point position vector satisfies a numerical constraint.
Brief Example:
The following example determines time intervals between Jan 1 and
and April 1, 2007 when the distance between the Moon and the Earth
was greater than 400,000 km.
#define MAXWIN 200
SPICEDOUBLE_CELL ( cnfine, MAXWIN );
SPICEDOUBLE_CELL ( result, MAXWIN );
SpiceDouble adjust;
SpiceDouble et0;
SpiceDouble et1;
SpiceDouble refval;
SpiceDouble step;
/*
Load kernels.
*/
furnsh_c( "naif0008.tls" );
furnsh_c( "de421.bsp" );
/*
Store the time bounds in the confinement window.
*/
str2et_c ( "2007 JAN 1", &et0 );
str2et_c ( "2007 APR 1", &et1 );
wninsd_c ( et0, et1, &cnfine );
/*
Set search parameters. Use a step size of 1 day (in units of
seconds).
*/
step = spd_c();
refval = 4.e5;
adjust = 0.0;
/*
Perform search.
*/
gfdist_c ( "MOON", "NONE", "EARTH", ">", refval,
adjust, step, MAXWIN, &cnfine, &result );
Reference documents:
- gf.req - reference on the Geometry Finder (GF) subsystem of SPICE
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Finding times of events satisfying FOV constraints
APIs:
- gfrfov_c - determines time intervals when a specified ray intersects the space bounded by the field-of-view (FOV) of a specified instrument.
- gftfov_c - determines time intervals when a specified ephemeris object intersects the space bounded by the field-of-view (FOV) of a specified instrument.
Brief Example:
The following example determines time intervals between 09:00 and
11:15 UTC on Jun 11, 2004 when Saturn's satellite Phoebe was within
the FOV of the Cassini narrow angle camera (CASSINI_ISS_NAC).
#define MAXWIN 10000
SPICEDOUBLE_CELL ( cnfine, MAXWIN );
SPICEDOUBLE_CELL ( result, MAXWIN );
SpiceDouble et0;
SpiceDouble et1;
SpiceDouble stepsz;
/*
Load kernels.
*/
furnsh_c( "naif0009.tls" );
furnsh_c( "cpck05Mar2004.tpc" );
furnsh_c( "981005_PLTEPH-DE405S.bsp" );
furnsh_c( "020514_SE_SAT105.bsp" );
furnsh_c( "030201AP_SK_SM546_T45.bsp" );
furnsh_c( "cas_v37.tf" );
furnsh_c( "04135_04171pc_psiv2.bc" );
furnsh_c( "cas00084.tsc" );
furnsh_c( "cas_iss_v09.ti" );
/*
Store the time bounds in the confinement window.
*/
str2et_c ( "2004 JUN 11 09:00", &et0 );
str2et_c ( "2004 JUN 11 11:15", &et1 );
wninsd_c ( et0, et1, &cnfine );
/*
Set search parameters. Use a step size of 10 seconds.
*/
stepsz = 10.0;
/*
Perform search.
*/
gftfov_c ( "CASSINI_ISS_NAC", "PHOEBE", "ELLIPSOID",
"IAU_PHOEBE", "LT+S", "CASSINI",
stepsz, &cnfine, &result );
Reference documents:
- gf.req - reference on the Geometry Finder (GF) subsystem of SPICE
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Finding times of occultations
APIs:
- gfoclt_c - determines time intervals when an observer sees one target occulted by another.
Brief Example:
The following example determines time intervals in December, 2001
when the Sun is occulted by the Moon (solar eclipses) as seen from
the center of the Earth.
#define MAXWIN 200
SPICEDOUBLE_CELL ( cnfine, MAXWIN );
SPICEDOUBLE_CELL ( result, MAXWIN );
SpiceDouble et0;
SpiceDouble et1;
SpiceDouble step;
/*
Load kernels.
*/
furnsh_c( "naif0008.tls" );
furnsh_c( "de421.bsp" );
furnsh_c( "pck00008.tpc" );
/*
Store the time bounds the confinement window.
*/
str2et_c ( "2001 DEC 01", &et0 );
str2et_c ( "2002 JAN 01", &et1 );
wninsd_c ( et0, et1, &cnfine );
/*
Set search parameters. Select a 3-minute step.
*/
step = 180.0;
/*
Perform search.
*/
gfoclt_c ( "ANY",
"MOON", "ELLIPSOID", "IAU_MOON",
"SUN", "ELLIPSOID", "IAU_SUN",
"LT", "EARTH", step,
&cnfine, &result );
Reference documents:
- gf.req - reference on the Geometry Finder (GF) subsystem of SPICE
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Converting from and to rectangular coordinates
APIs:
- reclat_c - converts from rectangular to latitudinal coordinates.
- latrec_c - converts from latitudinal to rectangular coordinates.
- srfrec_c - converts from planetocentric lat/lon of a surface point on a body to rectangular coordinates.
- recgeo_c - converts from rectangular to geodetic coordinates.
- georec_c - converts from geodetic to rectangular coordinates.
- recpgr_c - converts from rectangular to planetographic coordinates.
- pgrrec_c - converts from planetographic to rectangular coordinates.
- recrad_c - converts from rectangular coordinates to range, right ascension, and declination.
- radrec_c - converts from range, right ascension, and declination to rectangular coordinates.
- recsph_c - converts from rectangular to spherical coordinates.
- sphrec_c - converts from spherical to rectangular coordinates.
- reccyl_c - converts from rectangular to cylindrical coordinates.
- cylrec_c - converts from cylindrical to rectangular coordinates.
Brief Example:
The following example computes the planetocentric, planetodetic and
planetographic coordinates for a point given as a Cartesian vector
with respect to Mars in the Mars body-fixed frame (IAU_MARS):
SpiceDouble vec[3];
SpiceDouble radii[3];
SpiceDouble f;
SpiceDouble pcr, pclon, pclat;
SpiceDouble pdalt, pdlon, pdlat;
SpiceDouble pgalt, pglon, pglat;
SpiceInt n;
/*
load PCK file
*/
furnsh_c( "pck00008.tpc" );
/*
retrieve Mars radii
*/
bodvrd_c( "MARS", "RADII", 3, &n, radii );
/*
pack 3D vector
*/
vpack_c ( 3373.850, -351.034, -117.267, vec );
/*
compute planetocentric coordinates
*/
reclat_c( vec, &pcr, &pclon, &pclat );
/*
compute planetodetic coordinates
*/
recgeo_c( vec, radii[0], f, &pdlon, &pdlat,
&pdalt );
/*
compute planetographic coordinates
*/
recpgr_c( "MARS", vec, radii[0], f, &pglon, &pglat,
&pgalt );
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Converting from and to Spherical Coordinates
APIs:
- sphrec_c - converts from spherical to rectangular coordinates.
- recsph_c - converts from rectangular to spherical coordinates.
- sphcyl_c - converts from spherical to cylindrical coordinates.
- cylsph_c - converts from cylindrical to spherical coordinates.
- sphlat_c - converts from spherical to latitudinal coordinates.
- latsph_c - converts from latitudinal to spherical coordinates.
Brief Example:
The following example computes the spherical coordinates of a point
specified as a Cartesian vector:
SpiceDouble vec[3];
SpiceDouble r;
SpiceDouble colat;
SpiceDouble lon;
vpack_c ( 1.0, 1.0, 1.0, vec );
recsph_c ( vec, &r, &colat, &lon );
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Converting from and to cylindrical coordinates
APIs:
- cylrec_c - converts from cylindrical to rectangular coordinates.
- reccyl_c - converts from rectangular to cylindrical coordinates.
- cylsph_c - converts from cylindrical to spherical coordinates.
- sphcyl_c - converts from spherical to cylindrical coordinates.
- cyllat_c - converts from cylindrical to latitudinal coordinates.
- latcyl_c - converts from latitudinal to cylindrical coordinates.
Brief Example:
The following example computes the cylindrical coordinates of a
point specified as a Cartesian vector:
SpiceDouble vec[3];
SpiceDouble r;
SpiceDouble lon;
SpiceDouble z;
vpack_c ( 1.0, 1.0, 1.0, vec );
reccyl_c ( vec, &r, &lon, &z );
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Converting from and to Latitudinal Coordinates
APIs:
- latrec_c - converts from latitudinal to rectangular coordinates.
- reclat_c - converts from rectangular to latitudinal coordinates.
- latsph_c - converts from latitudinal to spherical coordinates.
- sphlat_c - converts from spherical to latitudinal coordinates.
- latcyl_c - converts from latitudinal to cylindrical coordinates.
- cyllat_c - converts from cylindrical to latitudinal coordinates.
Brief Example:
The following example converts the planetocentric coordinates of a
point to a Cartesian vector:
SpiceDouble vec[3];
SpiceDouble r = 3390.42;
SpiceDouble lon = 175.30;
SpiceDouble lat = -14.59;
latrec_c( r, lon * rpd_c(), lat * rpd_c(), vec );
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Converting from and to R, RA, and DEC
APIs:
- radrec_c - converts from range, right ascension, and declination to rectangular coordinates.
- recrad_c - converts from rectangular coordinates to range, right ascension, and declination.
Brief Example:
The following example computes the unit vector corresponding to an
RA and DEC given in degrees:
SpiceDouble ra = 120.0;
SpiceDouble dec = -30.0;
SpiceDouble vec[3];
radrec_c( 1.0, ra * rpd_c(), dec * rpd_c(), vec );
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Converting from and to Geodetic Coordinates
APIs:
- georec_c - converts from geodetic to rectangular coordinates.
- recgeo_c - converts from rectangular to geodetic coordinates.
Brief Example:
The following example converts the areodetic coordinates of a
landing site (Lon = 175.3 deg, Lat = -14.59 deg, Alt = -1.91 km),
given relative to the IAU 2000 Mars ellipsoid, to a Cartesian
vector:
SpiceDouble lon;
SpiceDouble lat;
SpiceDouble alt;
SpiceDouble radii[3];
SpiceDouble f;
SpiceDouble vec[3];
SpiceInt n;
furnsh_c( "pck00008.tpc" );
bodvrd_c( "MARS", "RADII", 3, &n, radii );
lon = 175.30 * rpd_c();
lat = -14.59 * rpd_c();
alt = -1.91;
f = (radii[0]-radii[2])/radii[0];
georec_c( lon, lat, alt, radii[0], f, vec );
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Performing simple operations on 3D vectors
APIs:
- vpack_c - packs three scalar components into a vector.
- vupack_c - unpacks three scalar components from a vector.
- vadd_c - adds two 3D vectors.
- vsub_c - computes the difference between two 3D vectors.
- vcrss_c - computes the cross product of two 3D vectors.
- vdot_c - computes the dot product of two 3D vectors.
- vrel_c - returns the relative difference between two 3D vectors
- vscl_c - multiplies a scalar and a 3D vector.
- vminus_c - negates a 3D vector.
- vequ_c - makes one 3D vector equal to another.
- vzero_c - indicates whether a 3D vector is the zero vector.
- vsep_c - finds the separation angle between two 3D vectors.
- vdist_c - returns the distance between two 3D vectors.
- vnorm_c - computes the magnitude of a 3D vector.
- vhat_c - finds the unit vector along a 3D vector.
- ucrss_c - computes the normalized cross product of two 3D vectors.
- unorm_c - normalizes a 3D vector and return its magnitude.
Brief Example:
The following example prints the angular separation between two 3D
vectors in degrees:
SpiceDouble a[3];
SpiceDouble b[3];
vpack_c( 1.0, 0.0, 0.0, a );
vpack_c( 1.0, 1.0, 0.0, b );
printf( "angular separation, deg = %12.3f\n",
vsep_c(a,b) * dpr_c() );
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Projecting, Combining and Rotating 3D vectors
APIs:
- vperp_c - finds the component of a 3D vector that is perpendicular to a second 3D vector.
- vproj_c - finds the projection of one 3D vector onto another 3D vector.
- vrotv_c - rotates a 3D vector about a specified axis 3D vector by a specified angle.
- rotvec_c - transform a 3D vector to a new coordinate system rotated by an angle about X, Y, or Z.
- vlcom_c - computes the vector linear combination a*v1 + b*v2 of two 3D vectors.
- vlcom3_c - computes the vector linear combination a*v1 + b*v2 + c*v3 of three 3D vectors.
Brief Example:
The following example finds the projection of one 3D vector onto
another 3D vector:
SpiceDouble a[3];
SpiceDouble b[3];
SpiceDouble c[3];
vproj_c( a, b, c );
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Performing Simple Operations on 3x3 Matrices
APIs:
- mxm_c - multiplies two 3x3 matrices.
- mxmt_c - multiplies a 3x3 matrix and the transpose of another 3x3 matrix.
- mxv_c - multiplies a 3x3 matrix with a 3D vector.
- mtxm_c - multiplies the transpose of a 3x3 matrix and a 3x3 matrix.
- mtxv_c - multiplies the transpose of a 3x3 matrix on the left with a 3D vector on the right.
- vtmv_c - multiplies the transpose of a 3D vector, a 3x3 matrix, and a 3D vector.
- xpose_c - transposes a 3x3 matrix.
- mequ_c - sets one 3x3 matrix equal to another.
- det_c - computes the determinant of a 3x3 matrix.
- trace_c - returns the trace of a 3x3 matrix.
Brief Example:
The following example multiples two matrices and converts the
resulting matrix to a SPICE-style quaternion:
SpiceDouble mat1[3][3];
SpiceDouble mat2[3][3];
SpiceDouble mat3[3][3];
SpiceDouble q[4];
mxm_c( mat1, mat2, mat3 );
m2q_c( mat3, q );
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Creating and Converting Transformation Matrices
APIs:
- rotate_c - calculates the 3x3 matrix for a rotation of an angle about the X, Y or Z axis.
- rotmat_c - applies a rotation of an angle about the X, Y, or Z axis to a matrix.
- twovec_c - builds the transformation to a frame based on two vectors.
- eul2m_c - constructs a rotation matrix from a set of Euler angles.
- m2eul_c - factors a matrix as a product of three rotations about specified axes.
- raxisa_c - computes the axis of the rotation given by a matrix and the angle about that axis.
- axisar_c - construct a rotation matrix that rotates vectors by an angle about an axis.
- m2q_c - finds a unit quaternion corresponding to a specified rotation matrix.
- q2m_c - find the rotation matrix corresponding to a specified unit quaternion.
Brief Example:
The following example creates a transformation matrix from right
ascension, declination, and twist given in degrees:
SpiceDouble ra = 10.0;
SpiceDouble dec = 20.0;
SpiceDouble twist = -135.0;
SpiceDouble mat[3][3];
ra = ra * rpd_c();
dec = dec * rpd_c();
twist = twist * rpd_c();
eul2m_c( twist, halfpi_c() - dec, ra, 3, 2, 3, mat );
Reference documents:
- rotation.req - reference on different representations of rotation transformations
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Accessing Physical and Mathematical Constants
APIs:
- halfpi_c - returns half the value of pi.
- pi_c - returns the value of pi.
- twopi_c - returns twice the value of pi.
- dpr_c - returns the number of degrees per radian.
- rpd_c - returns the number of radians per degree.
- spd_c - returns the number of seconds in a day.
- jyear_c - returns the number of seconds per Julian year.
- tyear_c - returns the number of seconds per tropical year.
- clight_c - returns the speed of light in vacuo (km/sec)
- b1900_c - returns the Julian Date corresponding to Besselian date 1900.0.
- b1950_c - returns the Julian Date corresponding to Besselian date 1950.0.
- j1900_c - returns the Julian Date of 1899 DEC 31 12:00:00 (1900 JAN 0.5).
- j1950_c - returns the Julian Date of 1950 JAN 01 00:00:00 (1950 JAN 1.0).
- j2000_c - returns the Julian Date of 2000 JAN 01 12:00:00 (2000 JAN 1.5).
- j2100_c - returns the Julian Date of 2100 JAN 01 12:00:00 (2100 JAN 1.5).
Brief Example:
The following example sets angle to pi/2 and prints it in degrees:
SpiceDouble angle;
angle = halfpi_c();
printf( "angle, deg = %12.3f\n", angle * dpr_c() );
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