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reformat
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@A-Hayasaka
A-Hayasaka committed Sep 6, 2024
1 parent e404567 commit ea4c0da
Showing 1 changed file with 0 additions and 32 deletions.
32 changes: 0 additions & 32 deletions lib/coordinate.py
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Original file line number Diff line number Diff line change
Expand Up @@ -28,7 +28,6 @@
from numpy.linalg import norm



def quatmult(q, p):
"""Multiplies two quaternions."""
qp0 = q[0] * p[0] - q[1] * p[1] - q[2] * p[2] - q[3] * p[3]
Expand All @@ -38,13 +37,11 @@ def quatmult(q, p):
return np.array([qp0, qp1, qp2, qp3])



def conj(q):
"""Returns conjugate of quaternion."""
return np.array([q[0], -q[1], -q[2], -q[3]])



def normalize(v):
"""Normalizes given vector.
Args:
Expand All @@ -55,7 +52,6 @@ def normalize(v):
return v / norm(v)



def quatrot(q, v):
"""Rotates a vector with coordinate transformation quaternion.
This function calculates conj(q) * v * q, where the sign * means
Expand All @@ -72,7 +68,6 @@ def quatrot(q, v):
return rvq[1:4]



def dcm_from_quat(q):
"""Converts a quaternion to a direction cosine matrix (DCM)."""
C = np.zeros((3, 3))
Expand All @@ -91,7 +86,6 @@ def dcm_from_quat(q):
return C



def quat_from_dcm(C):
"""Converts a direction cosine matrix (DCM) into a quaternion."""
if (1.0 + C[0, 0] + C[1, 1] + C[2, 2]) < 0.0:
Expand All @@ -106,7 +100,6 @@ def quat_from_dcm(C):
return np.array((q0, q1, q2, q3))



def ecef2geodetic(x, y, z):
"""Converts a position in ECEF frame into a geodetic coordinates.
Args:
Expand Down Expand Up @@ -135,7 +128,6 @@ def ecef2geodetic(x, y, z):
return np.array((degrees(lat), degrees(lon), alt))



def geodetic2ecef(lat, lon, alt):
"""Converts a position in geodetic coordinates into an ECEF frame.
Args:
Expand All @@ -161,7 +153,6 @@ def geodetic2ecef(lat, lon, alt):
return np.array((x, y, z))



def ecef2geodetic_sphere(x, y, z):
"""Converts a position in ECEF frame into a spherical coordinates.
This function is DEPRECATED.
Expand All @@ -181,7 +172,6 @@ def ecef2geodetic_sphere(x, y, z):
return np.array((lat, lon, alt))



def geodetic2ecef_sphere(lat, lon, alt):
"""Converts a position in spherical coordinates into an ECEF frame.
This function is DEPRECATED.
Expand All @@ -201,7 +191,6 @@ def geodetic2ecef_sphere(lat, lon, alt):
return np.array((x, y, z))



def ecef2eci(xyz_in, t):
"""Converts a position in ECEF coordinates into an ECI frame.
Args:
Expand All @@ -225,7 +214,6 @@ def ecef2eci(xyz_in, t):
return xyz_out



def eci2ecef(xyz_in, t):
"""Converts a position in ECI coordinates into an ECEF frame.
Args:
Expand All @@ -249,7 +237,6 @@ def eci2ecef(xyz_in, t):
return xyz_out



def vel_ecef2eci(vel_in, pos_in, t):
"""Converts a ground velocity vector in ECEF coordinates into
an inertial velocity vector in ECI frame.
Expand All @@ -271,7 +258,6 @@ def vel_ecef2eci(vel_in, pos_in, t):
return vel_ground_eci + vel_rotation_eci



def vel_eci2ecef(vel_in, pos_in, t):
"""Converts an inertial velocity vector in ECI coordinates into
a ground velocity vector in ECEF frame.
Expand All @@ -292,7 +278,6 @@ def vel_eci2ecef(vel_in, pos_in, t):
return eci2ecef(vel_ground_eci, t)



def quat_eci2ecef(t):
"""Returns coordinates transformation quaternion from the ECI
frame to the ECEF frame.
Expand All @@ -309,7 +294,6 @@ def quat_eci2ecef(t):
)



def quat_ecef2eci(t):
"""Returns coordinates transformation quaternion from the ECEF
frame to the ECI frame.
Expand All @@ -323,7 +307,6 @@ def quat_ecef2eci(t):
return conj(quat_eci2ecef(t))



def quat_ecef2nedc(pos_ecef):
"""(DEPRECATED) Returns coordinates transformation quaternion from
the ECEF frame to the local spherical North-East-Down frame.
Expand All @@ -349,7 +332,6 @@ def quat_ecef2nedc(pos_ecef):
return quat_ecef2ned



def quat_ecef2nedg(pos_ecef):
"""Returns coordinates transformation quaternion from the ECEF
frame to the WGS84 local North-East-Down frame.
Expand Down Expand Up @@ -377,7 +359,6 @@ def quat_ecef2nedg(pos_ecef):
return quat_ecef2ned



def quat_nedg2ecef(pos_ecef):
"""Returns coordinates transformation quaternion from the WGS84
local North-East-Down frame to the ECEF frame.
Expand All @@ -390,7 +371,6 @@ def quat_nedg2ecef(pos_ecef):
return conj(quat_ecef2nedg(pos_ecef))



def quat_nedc2ecef(pos_ecef):
"""(DEPRECATED) Returns coordinates transformation quaternion
from the local spherical North-East-Down frame to the ECEF frame.
Expand All @@ -403,7 +383,6 @@ def quat_nedc2ecef(pos_ecef):
return conj(quat_ecef2nedc(pos_ecef))



def quat_eci2nedg(pos, t):
"""Returns coordinates transformation quaternion from the ECI
frame to the WGS84 local North-East-Down frame.
Expand All @@ -418,7 +397,6 @@ def quat_eci2nedg(pos, t):
return quatmult(quat_eci2ecef(t), quat_ecef2nedg(eci2ecef(pos, t)))



def quat_eci2nedc(pos, t):
"""(DEPRECATED) Returns coordinates transformation quaternion
from the ECI frame to the local spherical North-East-Down frame.
Expand All @@ -433,7 +411,6 @@ def quat_eci2nedc(pos, t):
return quatmult(quat_eci2ecef(t), quat_ecef2nedc(eci2ecef(pos, t)))



def quat_nedg2eci(pos, t):
"""Returns coordinates transformation quaternion from the WGS84
local North-East-Down frame to the ECI frame.
Expand All @@ -448,7 +425,6 @@ def quat_nedg2eci(pos, t):
return conj(quat_eci2nedg(pos, t))



def quat_nedc2eci(pos, t):
"""(DEPRECATED) Returns coordinates transformation quaternion from
the local spherical North-East-Down frame to the ECI frame.
Expand All @@ -463,7 +439,6 @@ def quat_nedc2eci(pos, t):
return conj(quat_eci2nedc(pos, t))



def quat_from_euler(az, el, ro):
"""Converts Euler angles into a coordinate transformation
quaternion.
Expand All @@ -482,7 +457,6 @@ def quat_from_euler(az, el, ro):
return quatmult(qz, quatmult(qy, qx))



def gravity(pos):
"""Calculates gravity acceleration vector at the given position.
This function uses JGM-3 geopotential model.
Expand Down Expand Up @@ -511,7 +485,6 @@ def gravity(pos):
return np.array([fx, fy, fz])



def quat_nedg2body(quat_eci2body, pos, t):
"""Returns coordinates transformation quaternion from the WGS84
local North-East-Down frame to the body frame.
Expand All @@ -529,7 +502,6 @@ def quat_nedg2body(quat_eci2body, pos, t):
return quatmult(conj(q), quat_eci2body)



def euler_from_quat(q):
"""Calculates Euler angles from a coordinate transformation
quaternion.
Expand All @@ -556,7 +528,6 @@ def euler_from_quat(q):
return np.rad2deg(np.array([az, el, ro]))



def euler_from_dcm(C):
"""Calculates Euler angles from a direction cosine matrix.
The sequence of rotation is Z-Y-X (yaw-pitch-roll).
Expand All @@ -577,7 +548,6 @@ def euler_from_dcm(C):
return np.rad2deg(np.array([az, el, ro]))



def dcm_from_thrustvector(pos_eci, u):
"""Calculates direction cosine matrix(DCM) from the position
and the direction of body axis.
Expand All @@ -600,7 +570,6 @@ def dcm_from_thrustvector(pos_eci, u):
return np.vstack((xb_dir, yb_dir, zb_dir))



def eci2geodetic(pos_in, t):
"""Converts a position in ECI frame into a WGS84 geodetic(latitude,
longitude, altitude) coordinates.
Expand All @@ -619,7 +588,6 @@ def eci2geodetic(pos_in, t):
return ecef2geodetic(pos_ecef[0], pos_ecef[1], pos_ecef[2])



def orbital_elements(r_eci, v_eci):
"""Calculates orbital elements from position and velocity vectors.
Args:
Expand Down

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