irfpy.jna.frame1

A frame definition. JNA frame and SC frame is supported.

JNA frame and SC frame conversion is supported. Since they are rigidly related, implementation is simple.

• Xjna = Xsc

• Yjna = Zsc

• Zjna = -Ysc

Note

The definition of JNA frame (frame1) differs from the definition of JNA frame (irfpy.jna.frame0). (It has flipped 180 degrees around y.)

There is also a definition of angles: \(\theta\) and \(\phi\). This is based on the CENA definition (CENA calibration report). The functions jna2angles() and angles2jna() will convert them each other.

irfpy.jna.frame1.jna2nsc(vec)

JNA to SC.

Parameters

vec – Vector in JNA frame. (3,) or (3, N) shaped numpy array.

>>> r_jna = np.array([1, 3, 5])
>>> r_nsc = jna2nsc(r_jna)
>>> print(r_nsc)
[ 1 -5  3]

Multiple vector conversion is supported. Shape should be (3, N), where N is the number of vectors. The returned is also (3, N) shape.

>>> rs_jna = np.array([[1, 2, 3, 4, 5], [6, 7, 8, 9, 10], [11, 12, 13, 14, 15]])
>>> print(rs_jna.shape)
(3, 5)
>>> rs_nsc = jna2nsc(rs_jna)
>>> print(rs_nsc.shape)
(3, 5)
>>> print(rs_nsc[:, 0])
[  1 -11   6]

irfpy.jna.frame1.nsc2jna(vec)

SC frame vector, vec, is converted to JNA frame.

Parameters

vec – Vector in NSC frame. (3,) or (3, N) shaped numpy array.

>>> r_jna = np.array([-1, 2, 8])
>>> r_nsc = nsc2jna(r_jna)
>>> print(r_nsc)
[-1  8 -2]

irfpy.jna.frame1.jna2sc(vec)

Conversion from JNA frame to Spacecraft frame.

Input is a Vector3d instance or array-like. Return is Vector3d or numpy.array.

>>> vjna = Vector3d(1,2,3)   # v is in the JNA frame
>>> vsc = jna2sc(vjna)
>>> print(vsc.x, vsc.y, vsc.z)
1 -3 2

>>> vjna = [-1, -2, -3]
>>> vsc = jna2sc(vjna)   # Return is numpy.array
>>> print(vsc.shape)
(3,)
>>> print(vsc)
[-1  3 -2]

irfpy.jna.frame1.sc2jna(vec)

Conversion from SC frame to JNA frame.

Input is a Vector3d instance or array-like. Return is Vector3d or numpy.array.

>>> vsc = Vector3d(1,2,3)
>>> vjna = sc2jna(vsc)
>>> print(vjna.x, vjna.y, vjna.z)
1 3 -2

>>> vsc = [-1, -2, -3]
>>> vjna = sc2jna(vsc)   # Return is numpy.array
>>> print(vjna.shape)
(3,)
>>> print(vjna)
[-1 -3  2]

irfpy.jna.frame1.get_sc2jna_matrix()

>>> vsc = [-1, -2, -3]
>>> m = get_sc2jna_matrix()
>>> print(m.dot(vsc))
[-1 -3  2]

irfpy.jna.frame1.jna2angles2(xarr, yarr, zarr)

Return the JNA-angle from vector

See definition of angle in jna2angles().

Parameters

• xarr – X cooridnates (array also acceptable)

• yarr – Y cooridnates (array also acceptable)

• zarr – Z cooridnates (array also acceptable)

>>> theta, phi = jna2angles2([1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, -1])
>>> theta = np.rad2deg(theta)
>>> phi = np.rad2deg(phi)
>>> print('%.2f %.2f %.2f %.2f' % (theta[0], theta[1], theta[2], theta[3]))
0.00 0.00 -90.00 90.00
>>> print('%.2f %.2f %.2f %.2f' % (phi[0], phi[1], phi[2], phi[3]))
90.00 0.00 0.00 0.00

irfpy.jna.frame1.jna2angles(vec, degrees=False)

Conversion in JNA frame from a vector to SC frame in angles.

The input is array-like or Vector3d instance. The output is a pair of the angle, (\(\theta\), \(\phi\)), defined as follows. The unit is the radian unless degrees argument is set.

\(\theta\) is defined as follows: \(\theta\) =0 is in x-y plane of JNA frame and positive for negative Z. \(\phi\) is define as follows: +y is 0, and +x is 90 degrees.

>>> jna2angles([1, 0, 0], degrees=True)
(0.0, 90.0)
>>> jna2angles([0, 1, 0], degrees=True)
(0.0, 0.0)
>>> jna2angles([0, 0, 1], degrees=True)
(-90.0, 0.0)
>>> jna2angles([0, 0, -1], degrees=True)
(90.0, 0.0)

irfpy.jna.frame1.angles2jna(theta, phi, degrees=False, vector3d=False)

Conversion from angles to vectors for JNA frame.

See jna2angles() for definition of angles.

Input is two angles. If degrees is set, the given angles are considered as in degrees. Otherwise, they are considered as radians.

Output is the instance of numpy.array for default, or irfpy.util.vector3d.Vector3d if vector3d option is set.

>>> v = angles2jna(0, 90, degrees=True, vector3d=True)
>>> v_exp = Vector3d(1, 0, 0)
>>> v_exp.sub(v)
>>> print(v_exp.length() < 1e-5)
True

>>> v = angles2jna(0, 0, degrees=True, vector3d=True)
>>> v_exp = Vector3d(0, 1, 0)
>>> v_exp.sub(v)
>>> print(v_exp.length() < 1e-5)
True

>>> v = angles2jna(-90, 0, degrees=True, vector3d=True)
>>> v_exp = Vector3d(0, 0, 1)
>>> v_exp.sub(v)
>>> print(v_exp.length() < 1e-5)
True

>>> v = angles2jna(90, 0, degrees=True, vector3d=True)
>>> v_exp = Vector3d(0, 0, -1)
>>> v_exp.sub(v)
>>> print(v_exp.length() < 1e-5)
True