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Index Page drdsph_c

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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

       drdsph_c ( Derivative of rectangular w.r.t. spherical )

       void drdsph_c ( SpiceDouble    r,
                       SpiceDouble    colat,
                       SpiceDouble    slon,
                       SpiceDouble    jacobi[3][3] )

#### Abstract

       Compute the Jacobian matrix of the transformation from spherical
       to rectangular coordinates.

#### Required_Reading

       None.

#### Keywords

       COORDINATES
       DERIVATIVES
       MATRIX

#### Brief_I/O

       VARIABLE  I/O  DESCRIPTION
       --------  ---  --------------------------------------------------
       r          I   Distance of a point from the origin.
       colat      I   Angle of the point from the positive z-axis.
       slon       I   Angle of the point from the xy plane.
       jacobi     O   Matrix of partial derivatives.

#### Detailed_Input

       r           isn the distance of a point from the origin.

       colat       is the angle between the point and the positive z-axis,
                   in radians.

       slon        is the angle of the point from the xz plane in radians.
                   The angle increases in the counterclockwise sense
                   about the +z axis.

#### Detailed_Output

       jacobi      is the matrix of partial derivatives of the conversion
                   between spherical and rectangular coordinates,
                   evaluated at the input coordinates. This matrix has
                   the form

                       .-                                  -.
                       |  dx/dr     dx/dcolat     dx/dslon  |
                       |                                    |
                       |  dy/dr     dy/dcolat     dy/dslon  |
                       |                                    |
                       |  dz/dr     dz/dcolat     dz/dslon  |
                       `-                                  -'

                 evaluated at the input values of `r', `slon' and `colat'.
                 Here `x', `y', and `z' are given by the familiar formulae

                      x = r*cos(slon)*sin(colat)
                      y = r*sin(slon)*sin(colat)
                      z = r*cos(colat)

#### Parameters

       None.

#### Exceptions

       Error free.

#### Files

       None.

#### Particulars

       It is often convenient to describe the motion of an object in
       the spherical coordinate system. However, when performing
       vector computations its hard to beat rectangular coordinates.

       To transform states given with respect to spherical coordinates
       to states with respect to rectangular coordinates, one uses
       the Jacobian of the transformation between the two systems.

       Given a state in spherical coordinates

          ( r, colat, slon, dr, dcolat, dslon )

       the velocity in rectangular coordinates is given by the matrix
       equation:
                      t          |                                    t
          (dx, dy, dz)   = jacobi|              * (dr, dcolat, dslon )
                                 |(r,colat,slon)

       This routine computes the matrix

                |
          jacobi|
                |(r,colat,slon)

#### Examples

       The numerical results shown for this example 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 spherical state of the Earth as seen from
          Mars in the IAU_MARS reference frame at January 1, 2005 TDB.
          Map this state back to rectangular coordinates as a check.

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

             KPL/MK

             File name: drdsph_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
                ---------                     --------
                de421.bsp                     Planetary ephemeris
                pck00010.tpc                  Planet orientation and
                                              radii
                naif0009.tls                  Leapseconds

             \begindata

                KERNELS_TO_LOAD = ( 'de421.bsp',
                                    'pck00010.tpc',
                                    'naif0009.tls'  )

             \begintext

             End of meta-kernel

          Example code begins here.

          /.
             Program drdsph_ex1
          ./
          #include <stdio.h>
          #include "SpiceUsr.h"

          int main( )
          {

             /.
             Local variables
             ./
             SpiceDouble          colat;
             SpiceDouble          drectn [3];
             SpiceDouble          et;
             SpiceDouble          jacobi [3][3];
             SpiceDouble          lt;
             SpiceDouble          sphvel [3];
             SpiceDouble          rectan [3];
             SpiceDouble          r;
             SpiceDouble          slon;
             SpiceDouble          state  [6];

             /.
             Load SPK, PCK and LSK kernels, use a meta kernel for
             convenience.
             ./
             furnsh_c ( "drdsph_ex1.tm" );

             /.
             Look up the apparent state of earth as seen from Mars
             at January 1, 2005 TDB, relative to the IAU_MARS reference
             frame.
             ./
             str2et_c ( "January 1, 2005 TDB", &et );

             spkezr_c ( "Earth", et, "IAU_MARS", "LT+S", "Mars", state, &lt );

             /.
             Convert position to spherical coordinates.
             ./
             recsph_c ( state, &r, &colat, &slon );

             /.
             Convert velocity to spherical coordinates.
             ./

             dsphdr_c ( state[0], state[1], state[2], jacobi );

             mxv_c ( jacobi, state+3, sphvel );

             /.
             As a check, convert the spherical state back to
             rectangular coordinates.
             ./
             sphrec_c ( r, colat, slon, rectan );

             drdsph_c ( r, colat, slon, jacobi );

             mxv_c ( jacobi, sphvel, drectn );

             printf( " \n" );
             printf( "Rectangular coordinates:\n" );
             printf( " \n" );
             printf( " X (km)                  =  %17.8e\n", state[0] );
             printf( " Y (km)                  =  %17.8e\n", state[1] );
             printf( " Z (km)                  =  %17.8e\n", state[2] );
             printf( " \n" );
             printf( "Rectangular velocity:\n" );
             printf( " \n" );
             printf( " dX/dt (km/s)            =  %17.8e\n", state[3] );
             printf( " dY/dt (km/s)            =  %17.8e\n", state[4] );
             printf( " dZ/dt (km/s)            =  %17.8e\n", state[5] );
             printf( " \n" );
             printf( "Spherical coordinates:\n" );
             printf( " \n" );
             printf( " Radius     (km)         =  %17.8e\n", r );
             printf( " Colatitude (deg)        =  %17.8e\n", colat/rpd_c() );
             printf( " Longitude  (deg)        =  %17.8e\n", slon/rpd_c()  );
             printf( " \n" );
             printf( "Spherical velocity:\n" );
             printf( " \n" );
             printf( " d Radius/dt     (km/s)  =  %17.8e\n", sphvel[0] );
             printf( " d Colatitude/dt (deg/s) =  %17.8e\n",
                                                     sphvel[1]/rpd_c() );
             printf( " d Longitude/dt  (deg/s) =  %17.8e\n",
                                                     sphvel[2]/rpd_c() );
             printf( " \n" );
             printf( "Rectangular coordinates from inverse mapping:\n" );
             printf( " \n" );
             printf( " X (km)                  =  %17.8e\n", rectan[0] );
             printf( " Y (km)                  =  %17.8e\n", rectan[1] );
             printf( " Z (km)                  =  %17.8e\n", rectan[2] );
             printf( " \n" );
             printf( "Rectangular velocity from inverse mapping:\n" );
             printf( " \n" );
             printf( " dX/dt (km/s)            =  %17.8e\n", drectn[0] );
             printf( " dY/dt (km/s)            =  %17.8e\n", drectn[1] );
             printf( " dZ/dt (km/s)            =  %17.8e\n", drectn[2] );
             printf( " \n" );

             return ( 0 );
          }

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

          Rectangular coordinates:

           X (km)                  =    -7.60961826e+07
           Y (km)                  =     3.24363805e+08
           Z (km)                  =     4.74704840e+07

          Rectangular velocity:

           dX/dt (km/s)            =     2.29520749e+04
           dY/dt (km/s)            =     5.37601112e+03
           dZ/dt (km/s)            =    -2.08811490e+01

          Spherical coordinates:

           Radius     (km)         =     3.36535219e+08
           Colatitude (deg)        =     8.18910134e+01
           Longitude  (deg)        =     1.03202903e+02

          Spherical velocity:

           d Radius/dt     (km/s)  =    -1.12116011e+01
           d Colatitude/dt (deg/s) =     3.31899303e-06
           d Longitude/dt  (deg/s) =    -4.05392876e-03

          Rectangular coordinates from inverse mapping:

           X (km)                  =    -7.60961826e+07
           Y (km)                  =     3.24363805e+08
           Z (km)                  =     4.74704840e+07

          Rectangular velocity from inverse mapping:

           dX/dt (km/s)            =     2.29520749e+04
           dY/dt (km/s)            =     5.37601112e+03
           dZ/dt (km/s)            =    -2.08811490e+01

#### Restrictions

       None.

#### Literature_References

       None.

#### Author_and_Institution

       N.J. Bachman        (JPL)
       J. Diaz del Rio     (ODC Space)
       W.L. Taber          (JPL)
       I.M. Underwood      (JPL)

#### Version

       -CSPICE Version 1.1.0, 01-NOV-2021 (JDR)

           Changed the output argument name "lon" to "slon" for
           consistency with other routines.

           Edited the header to comply with NAIF standard.
           Added complete code example.

       -CSPICE Version 1.0.0, 19-JUL-2001 (WLT) (IMU) (NJB)

#### Index_Entries

       Jacobian of rectangular w.r.t. spherical coordinates

#### Link to routine drdsph_c source file drdsph_c.c

    Fri Dec 31 18:41:04 2021