3. Frame#

class Frame(name: str)#

Bases: object

Contains information about the reference frame attached to a quantity.

The reference frame notation strictly follows SPICE structure.

Parameters:: name (str) – The name of the Frame object.

:raises ValueError(`'NAME is not in the list of recognized frames. Please create a new frame.'): | Raised when the frame that want to be used hasn't been defined yet (in SPICE). :raises ValueError(``’Epoch array must be in TDB (ephemeris time).’:py:class:`): | Raised when the epoch array do not use TBD as query time. :raises ValueError(`’DCM Rotation Matrix should be a square Matrix.’:py:class:`): | Raised when the Direction Cosine Matrix is not a N x N square matrix. :raises ValueError(`’DCM Rotation Matrix should be an Orthonormal Matrix.’``:py:class:`): | Raised when the Direction Cosine Matrix is not orhonormal (the column vectors do not form an orthonormal set).

See also

scarabaeus.ArrayWFrame

References

https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/Tutorials/pdf/individual_docs/21_fk.pdf

Examples

# import libraries
import scarabaeus as scb
import numpy as np

# load spice kernels (needed to load SPICE frames)
furnshKernelFilename = os.getcwd() + "/data/Kernels/kernels.tm"
scb.SpiceManager.load_kernel_from_mkfile(furnshKernelFilename)

# Method (1) - generate common frames objects
(J2000,ITRF93,ECLIPJ2000,IAUEARTH) = scb.Frame.generate_common_frames()

# Method (2) - generate specific frames objects
J2000 = scb.Frame("J2000")
ITRF93 = scb.Frame("ITRF93")
IAUEARTH = scb.Frame("IAU_EARTH")

# Print at screen frame object properties
J2000.disp_properties()
ITRF93.disp_properties()

# Print at screen all existing SPICE frames
print(scb.SpiceManager.list_all_frames())

# Get frame transformations (DCM and translation) between 'J2000' and 'IAUEARTH' at a given epoch
epoch_array = scb.EpochArray(np.array(86400*365*25), 'TDB')
# Get rotation and translation components between
R = scb.Frame.get_DCM(frame_source = J2000, frame_target = IAUEARTH, epoch = epoch_array)
t = scb.Frame.get_translation(frame_source = J2000, frame_target = IAUEARTH, epoch = epoch_array)
# Get full (4x4) transformation matrix between 'J2000' and 'IAUEARTH'
T = scb.Frame.get_transformation(frame_source = J2000, frame_target = IAUEARTH, epoch = epoch_array)

Attributes

`class_id`	The class ID the SPICE frame (SPICE compatible).
`frame_class`	The class of the SPICE frame (SPICE compatible).
`frame_id`	The frame ID (SPICE compatible).
`name`	The name of the frame.
`origin`	The origin of the frame (SPICE compatible).
`origin_name`	The name of the origin of the frame (SPICE compatible).

Methods

`disp_properties`()	Displays the frame object properties.
`generate_common_frames`()	Gets a set of common frames.
`get_DCM`(source_frame, target_frame, epoch)	Gets the Direction Cosine Matrix (DCM) given the source and target frames at a given epoch.
`get_transformation`(source_frame, ...)	Get 4x4 transformation matrix that combine rotation and translation between source and target frames at a given epoch.
`get_translation`(source_frame, target_frame, ...)	Get the translation vector between origin of reference frames given the source and target frames at a given epoch.
`write_ck_frame`(file_name, frame_name, ...)	Generate a CK SPICE frame [1].
`write_pck_frame`(file_name, frame_name, ...)	Generates a PCK SPICE frame [1].
`write_tk_frame`(file_name, frame_name, ...[, ...])	Generate a TK SPICE frame [1].

static generate_common_frames()#

Gets a set of common frames. Generates 4 frames widely used frames.

Returns:: cmon_frame – A tuple of common frames.
Return type:: tuple[Frame]

Examples

# initial setup
import scarabaeus as scb

# get the common frames
J2000, ITRF93, ECLIPJ2000, IAUEARTH = scb.Frame.generate_common_frames()

static get_DCM(source_frame: Self, target_frame: Self, epoch: EpochArray) → ndarray#

Gets the Direction Cosine Matrix (DCM) given the source and target frames at a given epoch.

Parameters:

source_frame (Frame) – The source frame which the DCM performs a transformation from.
target_frame (Frame) – The target frame which the DCM performs a transformation to.
epoch (EpochArray) – The ephemeris time at which the transformation holds.

Returns:

DCM – The requested DCM.

Return type:

numpy.ndarray

static get_transformation(source_frame: Self, target_frame: Self, epoch: EpochArray) → ArrayWUnits#

Get 4x4 transformation matrix that combine rotation and translation between source and target frames at a given epoch. :param source_frame: The source frame which the transformation matrix needs to be computed from. :type source_frame: Frame :param target_frame: The target frame which the transformation matrix needs to be computed to. :type target_frame: Frame :param epoch: The ephemeris time at which the transformation holds. :type epoch: EpochArray

Returns:: T – The requested (4x4) transformation matrix T.
Return type:: ArrayWUnits

static get_translation(source_frame: Self, target_frame: Self, epoch: EpochArray) → ArrayWUnits#

Get the translation vector between origin of reference frames given the source and target frames at a given epoch.

Parameters:

source_frame (Frame) – The source frame which the translation vector needs to be computed from.
target_frame (Frame) – The target frame which the translation vector needs to be computed to.
epoch (EpochArray) – The ephemeris time at which the transformation holds.

Returns:

vec – The requested translation vector between origins.

Return type:

ArrayWUnits

static write_ck_frame(file_name: str, frame_name: str, frame_id: int, center_id: int, sclk_id: int, spk_id: int) → None#

Generate a CK SPICE frame [1].

Parameters:

file_name (str) – The output file name (e.g., “MGS_FRAME_TEST.tf”).
frame_name (str) – The name of the frame (e.g., “MGS_SPACECRAFT”).
frame_id (int) – The unique frame ID (e.g., -94000).
center_id (int) – The body ID at the center of the frame (e.g., -94).
sclk_id (int) – The spacecraft clock ID associated with the frame (e.g., -94).
spk_id (int) – The SPK ID associated with the frame (e.g., -94).

Return type:

None

References

[1] (1,2)

https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/req/frames.html

Examples

# initial setup
import scarabaeus as scb
import os

furnshKernelFilename = os.getcwd() + "/data/Kernels/kernels.tm"
scb.SpiceManager.load_kernel_from_mkfile(furnshKernelFilename)

scb.Frame.write_ck_frame(
        file_name="MGS_FRAME_TEST.tf",
        frame_name="MGS_SPACECRAFT",
        frame_id=-94000,
        center_id=-94,
        sclk_id=-94,
        spk_id=-94
    )

static write_pck_frame(file_name: str, frame_name: str, frame_class: int, frame_id: int) → None#

Generates a PCK SPICE frame [1].

Parameters:

file_name (str) – The name of the output file (e.g., “EROS_FRAME_TEST.pck”).
frame_name (str) – The name of the frame (e.g., “EROS_FIXED”).
frame_class (int) – The frame class (e.g., 2).
frame_id (int) – The frame ID (e.g., 2000433).

Return type:

None

References

[1] (1,2)

https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/req/frames.html

Examples

# initial setup
import scarabaeus as scb
import os

furnshKernelFilename = os.getcwd() + "/data/Kernels/kernels.tm"
scb.SpiceManager.load_kernel_from_mkfile(furnshKernelFilename)

scb.Frame.write_pck_frame(
    file_name="EROS_FRAME_TEST.pck",
    frame_name = "EROS_FIXED",
    frame_class = 2,
    frame_id = 2000433)

static write_tk_frame(file_name: str, frame_name: str, frame_id: int, center_id: int, relative_frame: int, matrix: list = None)#

Generate a TK SPICE frame [1].

Parameters:

file_name (str) – The output file name (e.g., “MARS_FRAME_TEST.tf”).
frame_name (str) – The name of the frame (e.g., “MARS_FIXED”).
frame_id (int) – The unique frame ID (e.g., 1400499).
center_id (int) – The body ID at the center of the frame (e.g., 499).
relative_frame (int) – The relative reference frame (e.g., “IAU_MARS”).
matrix (list, optional) – 3x3 transformation matrix. Defaults to the identity matrix.

Return type:

None

References

[1] (1,2)

https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/req/frames.html

Examples

# initial setup
import scarabaeus as scb
import os

furnshKernelFilename = os.getcwd() + "/data/Kernels/kernels.tm"
scb.SpiceManager.load_kernel_from_mkfile(furnshKernelFilename)

scb.Frame.write_tk_frame(
    file_name="MARS_FRAME_TEST.tf",
    frame_name="MARS_FIXED",
    frame_id=1400499,
    center_id=499,
    relative_frame="IAU_MARS",
    matrix=[[1, 0, 0], [0, 1, 0], [0, 0, 1]]

)

disp_properties() → None#: Displays the frame object properties.

property class_id: int#: The class ID the SPICE frame (SPICE compatible).

property frame_class: int#: The class of the SPICE frame (SPICE compatible).

property frame_id: int#: The frame ID (SPICE compatible).

property name: str#: The name of the frame.

property origin: int#: The origin of the frame (SPICE compatible).

property origin_name: str#: The name of the origin of the frame (SPICE compatible).

3. Frame#

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