Struct Instrument 

pub struct Instrument {
    pub q_to_i: EulerParameter,
    pub offset_i: Matrix<f64, Const<3>, Const<1>, ArrayStorage<f64, 3, 1>>,
    pub fov: FovShape,
}

Instrument is defined by a mounting Euler Parameter, a mounting translation (“level arm”), and a field of view of the instrument. Notations: frame N is inertial; frame B is body; frame I is instrument.

Fields

q_to_i: EulerParameter

The static rotation from the Parent Frame to the instrument Frame. (How the camera is bolted onto the bus).

offset_i: Matrix<f64, Const<3>, Const<1>, ArrayStorage<f64, 3, 1>>

The translation offset from the Parent Frame origin (CoM) to the instrument origin. (The “Lever Arm”).

fov: FovShape

The geometric definition of the field of view.

Implementations

impl Instrument

pub fn transform_state( &self, q_sc_to_b: EulerParameter, sc_state: CartesianState, ) -> Result<(EulerParameter, CartesianState), PhysicsError>

Computes the state (orientation + Cartesian state) of the instrument at a specific instant, given the spacecraft’s state.

NOTE: This call will return an error if the reference frames are not adequate. Example:

• If the mounting quaterion (q_to_i) frame does not match in sc_attitude_to_body “to” frame IDs

:type q_sc_to_b: Quaternion :type sc_state: Orbit :rtype: tuple[Quaternion, Orbit]

pub fn fov_margin_deg( &self, sc_q_to_b: EulerParameter, sc_state: CartesianState, target_state: CartesianState, ) -> Result<f64, PhysicsError>

Calculates the angular margin to the FOV boundary in degrees.

Arguments

• sc_q_to_b: rotation from the sc_state frame to the body frame in which is expressed the instrument rotation.
• sc_state: state of the spacecraft, typically in an inertial frame
• target_state: state of the target object in the same frame as the sc_state, e.g. IAU Moon if sc_state is in IAU Moon

This is a continuous function suitable for event detection (root finding).

• > 0.0: Target is INSIDE.
• < 0.0: Target is OUTSIDE.
• = 0.0: Target is ON THE BOUNDARY.

NOTE: This call will return an error if the reference frames are not adequate. Example:

• If the mounting rotation “from” frame does not match in sc_attitude_to_body “to” frame IDs
• If the target state frame ID is not identical to the instrument’s inertial state given the sc_attitude Euler Parameter.

:type sc_q_to_b: Quaternion :type sc_state: Orbit :type target_state: Orbit :rtype: float

pub fn is_target_in_fov( &self, sc_attitude_inertial_to_body: EulerParameter, sc_state: CartesianState, target_state: CartesianState, ) -> Result<bool, PhysicsError>

Checks if a target is visible within the Field of View.

:type sc_attitude_inertial_to_body: Quaternion :type sc_state: Orbit :type target_state: Orbit :rtype: bool

pub fn footprint( &self, sc_q_n_to_b: EulerParameter, sc_state_target: CartesianState, q_n_to_target: EulerParameter, resolution: usize, ) -> Result<Vec<CartesianState>, PhysicsError>

Computes the footprint (swath) of the instrument on a target body.

This function projects the edges of the Field of View onto the provided target ellipsoid.

Arguments

• sc_q_n_to_b - The orientation of the spacecraft body relative to Inertial.
• sc_state_target - The inertial state (position/velocity) of the spacecraft.
• q_n_to_target - The orientation of the target body frame relative to Inertial.
• resolution - The number of points to generate along the FOV boundary.

Returns

A vector of Orbit objects, each representing a point on the surface of the target expressed in the target_frame (Fixed).

:type sc_q_n_to_b: Quaternion :type sc_state_target: Orbit :type q_n_to_target: Quaternion :type resolution: int :rtype: list[Orbit]

Trait Implementations

impl Clone for Instrument

fn clone(&self) -> Instrument

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl DataSetT for Instrument

const NAME: &'static str = "Instrument"

impl Debug for Instrument

fn fmt(&self, f: &mut Formatter<'_>) -> Result<(), Error>

Formats the value using the given formatter.

impl<'a> Decode<'a> for Instrument

fn decode<R>(decoder: &mut R) -> Result<Instrument, Error>

where R: Reader<'a>,

Attempt to decode this message using the provided decoder.

fn from_der(bytes: &'a [u8]) -> Result<Self, Error>

Parse Self from the provided DER-encoded byte slice.

impl Default for Instrument

fn default() -> Instrument

Returns the “default value” for a type.

impl Display for Instrument

fn fmt(&self, f: &mut Formatter<'_>) -> Result<(), Error>

Formats the value using the given formatter.

impl Encode for Instrument

fn encoded_len(&self) -> Result<Length, Error>

Compute the length of this value in bytes when encoded as ASN.1 DER.

fn encode(&self, encoder: &mut impl Writer) -> Result<(), Error>

Encode this value as ASN.1 DER using the provided [Writer].

fn encode_to_slice<'a>(&self, buf: &'a mut [u8]) -> Result<&'a [u8], Error>

Encode this value to the provided byte slice, returning a sub-slice containing the encoded message.

fn encode_to_vec(&self, buf: &mut Vec<u8>) -> Result<Length, Error>

Encode this message as ASN.1 DER, appending it to the provided byte vector.

fn to_der(&self) -> Result<Vec<u8>, Error>

Encode this type as DER, returning a byte vector.

impl PartialEq for Instrument

fn eq(&self, other: &Instrument) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl Copy for Instrument

impl StructuralPartialEq for Instrument