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Index Page xfmsta_c
Table of contents
Procedure Abstract Required_Reading Keywords Brief_I/O Detailed_Input | Detailed_Output Parameters Exceptions Files Particulars Examples | Restrictions Literature_References Author_and_Institution Version Index_Entries
#### Procedure
       xfmsta_c ( Transform state between coordinate systems )

       void xfmsta_c ( ConstSpiceDouble     istate[6],
                       ConstSpiceChar     * icosys,
                       ConstSpiceChar     * ocosys,
                       ConstSpiceChar     * body,
                       SpiceDouble          ostate[6]  )
#### Abstract
       Transform a state between coordinate systems.
#### Required_Reading
       None.
#### Keywords
       CONVERSION
       COORDINATE
       EPHEMERIS
       STATE
#### Brief_I/O
       VARIABLE  I/O  DESCRIPTION
       --------  ---  --------------------------------------------------
       istate     I   Input state.
       icosys     I   Current (input) coordinate system.
       ocosys     I   Desired (output) coordinate system.
       body       I   Name or NAIF ID of body with which
                      coordinates are associated (if applicable).
       ostate     O   Converted output state.
#### Detailed_Input
       istate      is a state vector in the input `icosys' coordinate
                   system representing position and velocity.

                   All angular measurements must be in radians.

                   Note: body radii values taken from the kernel
                   pool are used when converting to or from geodetic or
                   planetographic coordinates. It is the user's
                   responsibility to verify the distance inputs are in
                   the same units as the radii in the kernel pool,
                   typically kilometers.

       icosys      is the name of the coordinate system that the input
                   state vector `istate' is currently in.

                   `icosys' may be any of the following:

                      "RECTANGULAR"
                      "CYLINDRICAL"
                      "LATITUDINAL"
                      "SPHERICAL"
                      "GEODETIC"
                      "PLANETOGRAPHIC"

                   Leading spaces, trailing spaces, and letter case
                   are ignored. For example, " cyLindRical  " would be
                   accepted.

       ocosys      is the name of the coordinate system that the state
                   should be converted to.

                   Please see the description of `icosys' for details.

       body        is the name or NAIF ID of the body associated with the
                   planetographic or geodetic coordinate system.

                   If neither of the coordinate system choices are
                   geodetic or planetographic, `body' is ignored. It may
                   be a blank string.

                   Examples of accepted body names or IDs are:

                      "Earth"
                      "399"

                   Leading spaces, trailing spaces, and letter case are
                   ignored.
#### Detailed_Output
       ostate      is the state vector that has been converted to the
                   output coordinate system `ocosys'.
#### Parameters
       None.
#### Exceptions
       1)  If either the input or output coordinate system is not
           recognized, the error SPICE(COORDSYSNOTREC) is signaled by a
           routine in the call tree of this routine.

       2)  If the input body name cannot be converted to a NAIF ID
           (applies to geodetic and planetographic coordinate systems),
           the error SPICE(IDCODENOTFOUND) is signaled by a routine in
           the call tree of this routine.

       3)  If the input state `istate' is not valid, meaning the position
           but not the velocity is along the Z-axis, the error
           SPICE(INVALIDSTATE) is signaled by a routine in the call tree
           of this routine.

           Note: If both the input position and velocity are along
           the Z-axis and the output coordinate system is not
           rectangular, the velocity can still be calculated even
           though the Jacobian is undefined. This case will not
           signal an error. An example of the input position and
           velocity along the Z-axis is below.

                         Term    Value
                         -----   ------
                           x       0
                           y       0
                           z       z
                         dx/dt     0
                         dy/dt     0
                         dz/dt   dz_dt

       4)  If either the input or output coordinate system is geodetic or
           planetographic and at least one of the body's radii is less
           than or equal to zero, the error SPICE(INVALIDRADIUS) is
           signaled by a routine in the call tree of this routine.

       5)  If either the input or output coordinate system is geodetic or
           planetographic and the difference of the equatorial and polar
           radii divided by the equatorial radius would produce numeric
           overflow, the error SPICE(INVALIDRADIUS) is signaled by a
           routine in the call tree of this routine.

       6)  If the product of the Jacobian and velocity components may
           lead to numeric overflow, the error SPICE(NUMERICOVERFLOW) is
           signaled by a routine in the call tree of this routine.

       7)  If radii for `body' are not found in the kernel pool, an error
           is signaled by a routine in the call tree of this routine.

       8)  If the size of the `body' radii kernel variable is not three,
           an error is signaled by a routine in the call tree of this
           routine.

       9)  If any of the three `body' radii is less-than or equal to zero,
           an error is signaled by a routine in the call tree of this
           routine.

       10) If body's equatorial radii are not equal and either the input
           or output coordinate system is geodetic or planetographic, the
           error SPICE(NOTSUPPORTED) is signaled by a routine in the call
           tree of this routine.

       11) If any of the `icosys', `ocosys' or `body' input string
           pointers is null, the error SPICE(NULLPOINTER) is signaled.

       12) If any of the `icosys', `ocosys' or `body' input strings has
           zero length, the error SPICE(EMPTYSTRING) is signaled.
#### Files
       SPK, PCK, CK, and FK kernels may be required.

       If the input or output coordinate systems are either geodetic or
       planetographic, a PCK providing the radii of the body
       name `body' must be loaded via furnsh_c.

       Kernel data are normally loaded once per program run, NOT every
       time this routine is called.
#### Particulars
       Input Order
       -----------

       The input and output states will be structured by the
       following descriptions.

       For rectangular coordinates, the state vector is the following
       in which `x', `y', and `z' are the rectangular position components and
       `dx', `dy', and `dz' are the time derivatives of each position
       component.

               istate = ( x, y, z, dx, dy, dz )

       For cylindrical coordinates, the state vector is the following
       in which `r' is the radius, `long' is the longitudes, `z' is the
       height, and `dr', `dlong', and `dz' are the time derivatives of each
       position component.

               istate = ( r, long, z, dr, dlong, dz )

       For latitudinal coordinates, the state vector is the following
       in which `r' is the radius, `long' is the longitude, `lat' is the
       latitude, and `dr', `dlong', and `dlat' are the time derivatives of
       each position component.

               istate = ( r, long, lat, dr, dlong, dlat )

       For spherical coordinates, the state vector is the following in
       which `r' is the radius, `colat' is the colatitude, `long' is the
       longitude, and `dr', `dcolat', and `dlong' are the time derivatives of
       each position component.

               istate = ( r, colat, long, dr, dcolat, dlong )

       For geodetic coordinates, the state vector is the following in
       which `long' is the longitude, `lat' is the latitude, `alt' is the
       altitude, and `dlong', `dlat', and `dalt' are the time derivatives of
       each position component.

               istate = ( long, lat, alt, dlong, dlat, dalt )

       For planetographic coordinates, the state vector is the
       following in which `long' is the longitude, `lat' is the latitude,
       `alt' is the altitude, and `dlong', `dlat', and `dalt' are the time
       derivatives of each position component.

               istate = ( long, lat, alt, dlong, dlat, dalt )

       Input Boundaries
       ----------------

       There are intervals the input angles must fall within if
       the input coordinate system is not rectangular. These
       intervals are provided below.

          Input variable    Input meaning   Input interval [rad]
          --------------    -------------   ------------------------
              long           Longitude        0     <= long  <  2*pi
              lat            Latitude        -pi/2  <= lat   <= pi/2
              colat          Colatitude       0     <= colat <= pi
#### Examples
       The numerical results shown for these examples may differ across
       platforms. The results depend on the SPICE kernels used as
       input, the compiler and supporting libraries, and the machine
       specific arithmetic implementation.

       1) Find the apparent state of Phoebe as seen by CASSINI in the
          J2000 frame at 2004 Jun 11 19:32:00. Transform the state
          from rectangular to latitudinal coordinates. For verification,
          transform the state back from latitudinal to rectangular
          coordinates.

          Use the meta-kernel shown below to load the required SPICE
          kernels.

             KPL/MK

             File name: xfmsta_ex1.tm

             This meta-kernel is intended to support operation of SPICE
             example programs. The kernels shown here should not be
             assumed to contain adequate or correct versions of data
             required by SPICE-based user applications.

             In order for an application to use this meta-kernel, the
             kernels referenced here must be present in the user's
             current working directory.

             The names and contents of the kernels referenced
             by this meta-kernel are as follows:

                File name                        Contents
                ---------                        --------
                pck00010.tpc                     Planet orientation and
                                                 radii
                naif0012.tls                     Leapseconds
                041014R_SCPSE_01066_04199.bsp    CASSINI, planetary and
                                                 Saturn Satellite
                                                 ephemeris

             \begindata

                KERNELS_TO_LOAD = ( 'naif0012.tls',
                                    '041014R_SCPSE_01066_04199.bsp',
                                    'pck00010.tpc'                 )

             \begintext

             End of meta-kernel

          Example code begins here.

          /.
             Program xfmsta_ex1
          ./

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

          int main()
          {

             /.
             Constants
             ./

             #define METAKR "xfmsta_ex1.tm"

             /.
             Local variables

             `et' is the ephemeris time (TDB) corresponding to the
             observation.
             ./
             SpiceDouble             et;
             SpiceDouble             lt;

             /.
             `state_rec' is the state of Phoebe with respect to CASSINI
             in rectangular coordinates. `state_lat' is the state
             transformed in latitudinal coordinates. `state_rec2' is the
             state transformed back into rectangular coordinates from
             latitudinal.
             ./
             SpiceDouble             state_rec  [6];
             SpiceDouble             state_lat  [6];
             SpiceDouble             state_rec2 [6];

             /.
             The required kernels must be loaded.
             ./
             furnsh_c ( METAKR );

             /.
             Calculate the state at 2004 Jun 11 19:32:00 UTC.
             ./
             str2et_c ( "2004-JUN-11-19:32:00", &et );

             /.
             Calculate the apparent state of Phoebe as seen by
             Cassini in the J2000 frame.
             ./
             spkezr_c ( "phoebe",  et, "iau_phoebe", "lt+s",
                        "cassini", state_rec, &lt           );

             /.
             Transform the state from rectangular to latitudinal.
             Notice that since neither the input nor output
             coordinate frames are 'geodetic' or 'planetographic',
             the input for the body name is a blank string.
             ./
             xfmsta_c ( state_rec, "rectangular", "latitudinal",
                        " ", state_lat );

             /.
             Transform the state back to rectangular from latitudinal.
             The result should be very close to `state_rec'.
             ./
             xfmsta_c ( state_lat, "latitudinal", "rectangular",
                        " ", state_rec2 );

             /.
             Report the results.
             ./
             printf ( "\n"
                      "Phoebe as seen by Cassini - rectangular\n"
                      "  Position [km]:\n"
                      "    %16.6f %16.6f %16.6f\n"
                      "  Velocity [km/s]:\n"
                      "    %16.6f %16.6f %16.6f\n\n"
                      "Phoebe as seen by Cassini - latitudinal\n"
                      "  Position [km, rad, rad]:\n"
                      "    %16.6f %16.6f %16.6f\n"
                      "  Velocity [km/s, rad/s, rad/s]:\n"
                      "    %16.6f %16.6f %16.6f\n\n"
                      "Verification:\n"
                      "Phoebe as seen by Cassini - rectangular\n"
                      "  Position [km]:\n"
                      "    %16.6f %16.6f %16.6f\n"
                      "  Velocity [km/s]:\n"
                      "    %16.6f %16.6f %16.6f\n",
                      state_rec [0], state_rec [1], state_rec [2],
                      state_rec [3], state_rec [4], state_rec [5],
                      state_lat [0], state_lat [1], state_lat [2],
                      state_lat [3], state_lat [4], state_lat [5],
                      state_rec2[0], state_rec2[1], state_rec2[2],
                      state_rec2[3], state_rec2[4], state_rec2[5] );

             return( 0 );
          }

          When this program was executed on a Mac/Intel/cc/64-bit
          platform, the output was:

          Phoebe as seen by Cassini - rectangular
            Position [km]:
                  -2059.271283      -942.128329       -95.837672
            Velocity [km/s]:
                      3.910113        -4.228139        -1.526561

          Phoebe as seen by Cassini - latitudinal
            Position [km, rad, rad]:
                   2266.580876        -2.712515        -0.042296
            Velocity [km/s, rad/s, rad/s]:
                     -1.730462         0.002416        -0.000706

          Verification:
          Phoebe as seen by Cassini - rectangular
            Position [km]:
                  -2059.271283      -942.128329       -95.837672
            Velocity [km/s]:
                      3.910113        -4.228139        -1.526561

       2) Transform a given state from cylindrical to planetographic
          coordinates with respect to Earth.

          Use the PCK kernel below to load the required triaxial
          ellipsoidal shape model and orientation data for the Earth.

             pck00010.tpc

          Example code begins here.

          /.
             Program xfmsta_ex2
          ./

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

          int main()
          {

             /.
             Local variables

             `state_cyl' is the state in cylindrical coordinates.
             `state_pln' is the state transformed into planetographic
             coordinates. `state_cyl2' is the state transformed
             back into cylindrical coordinates from planetographic.
             ./
             SpiceDouble     state_cyl  [6] = {1, 0.5, 0.5, 0.2, 0.1, -0.2};
             SpiceDouble     state_pln  [6];
             SpiceDouble     state_cyl2 [6];

             /.
             The required kernels must be loaded.
             ./
             furnsh_c ( "pck00010.tpc" );

             /.
             Transform the state from cylindrical to planetographic.
             Note that since one of the coordinate systems is
             planetographic, the body name must be input.
             ./
             xfmsta_c ( state_cyl, "cylindrical", "planetographic",
                        "earth", state_pln );

             /.
             Transform the state back to cylindrical from planetographic.
             The result should be very close to `state_cyl'.
             ./
             xfmsta_c ( state_pln, "planetographic", "cylindrical",
                        "earth", state_cyl2 );

             /.
             Report the results.
             ./
             printf ( "\n"
                      "Cylindrical state\n"
                      "  Position [km, rad, km]:\n"
                      "    %16.6f %16.6f %16.6f\n"
                      "  Velocity [km/s, rad/s, km/s]:\n"
                      "    %16.6f %16.6f %16.6f\n\n"
                      "Planetographic state\n"
                      "  Position  [rad, rad, km]:\n"
                      "    %16.6f %16.6f %16.6f\n"
                      "  Velocity [rad/s, rad/s, km/s]:\n"
                      "    %16.6f %16.6f %16.6f\n\n"
                      "Verification:  Cylindrical state\n"
                      "  Position [km, rad, km]:\n"
                      "    %16.6f %16.6f %16.6f\n"
                      "  Velocity [km/s, rad/s, km/s]:\n"
                      "    %16.6f %16.6f %16.6f\n",
                      state_cyl [0], state_cyl [1], state_cyl [2],
                      state_cyl [3], state_cyl [4], state_cyl [5],
                      state_pln [0], state_pln [1], state_pln [2],
                      state_pln [3], state_pln [4], state_pln [5],
                      state_cyl2[0], state_cyl2[1], state_cyl2[2],
                      state_cyl2[3], state_cyl2[4], state_cyl2[5] );

             return( 0 );
          }

          When this program was executed on a Mac/Intel/cc/64-bit
          platform, the output was:

          Cylindrical state
            Position [km, rad, km]:
                      1.000000         0.500000         0.500000
            Velocity [km/s, rad/s, km/s]:
                      0.200000         0.100000        -0.200000

          Planetographic state
            Position  [rad, rad, km]:
                      0.500000         1.547722     -6356.240364
            Velocity [rad/s, rad/s, km/s]:
                      0.100000        -0.004722        -0.195332

          Verification:  Cylindrical state
            Position [km, rad, km]:
                      1.000000         0.500000         0.500000
            Velocity [km/s, rad/s, km/s]:
                      0.200000         0.100000        -0.200000
#### Restrictions
       None.
#### Literature_References
       None.
#### Author_and_Institution
       J. Diaz del Rio     (ODC Space)
       S.C. Krening        (JPL)
       B.V. Semenov        (JPL)
#### Version
       -CSPICE Version 1.2.0, 01-NOV-2021 (JDR)

           Updated -Exceptions section with description of missing
           exceptions and its format to comply with NAIF standard.

           Changed argument names "input_state", "input_coord_sys",
           "output_coord_sys" and "output_state" to "istate", "icosys",
           "ocosys" and "ostate" for consistency with other functions.

           Edits to the header to comply with NAIF standard.
           Added missing begintext tag in example's meta-kernel.

           Updated Examples' kernels set to use PDS archived data.

       -CSPICE Version 1.1.0, 09-FEB-2017 (BVS)

           BUG FIX: the routine no longer allows converting to and from
           geodetic and planetographic coordinates for bodies with
           unequal equatorial radii. Previously it arbitrarily picked the
           first and the third radii to compute body's flattening
           coefficient.

       -CSPICE Version 1.0.0, 30-JAN-2011 (SCK)
#### Index_Entries
       state transformation between coordinate systems
       convert state
#### Link to routine xfmsta_c source file xfmsta_c.c

    Fri Dec 31 18:41:15 2021