;+
; FUNCTION: MAVEN_SPACECRAFT_VERTICES
;
; PURPOSE: Collection of MAVEN spacecraft/instrument vertices and
; rotation matrices for the purpose of plotting a model in
; IDL. Vertices are in units of [mm] and in MAVEN_SPACECRAFT
; coordinates.
;
; INPUT: None.
;
; OUTPUT: Structure containing vertices and rotation matrices.
;
; KEYWORDS:
;
; PREC: Number of points per side.
;
; CREATED BY: Roberto Livi on 2015-02-23.
;
; VERSION:
; $LastChangedBy: rlivi2 $
; $LastChangedDate: 2015-02-23 13:05:25$
; $LastChangedRevision: 25460 $
; $URL svn+ssh://thmsvn@ambrosia.ssl.berkeley.edu/repos/spdsoft/trunk/projects/maven/sta/mvn_sta_gen_snapshot/mvn_sta_3d_snap.pro $
;-
;; APP Rotatation
PRO mvn_spc_vertices_rotate_app, arad_inner, arad_outer
;; Common Block
COMMON mvn_spc_vertices, inst
;; Check structure
IF SIZE(inst, /type) NE 8 THEN $
stop, 'Common block not initiated (outer).'
;; Outer gimbal (X-axis) (closer to APP platform)
ith = arad_outer
;; Location of rotation axis
foc = rebin(inst.g2_gim_loc,3,8)
;; Rotation matrix around X
mm = [[1, 0, 0],$
[0, cos(ith),-sin(ith)],$
[0, sin(ith), cos(ith)]]
;; Apply rotation to vertices
inst.inst_loc = ((inst.sta_loc-inst.g2_gim_loc) ## mm) + $
inst.g2_gim_loc
inst.vertex[*,*,11] = ((inst.apa_body-foc) ## mm) + foc
inst.vertex[*,*,12] = ((inst.apb_body-foc) ## mm) + foc
inst.vertex[*,*,13] = ((inst.sba_body-foc) ## mm) + foc
inst.vertex[*,*,14] = ((inst.sba_body-foc) ## mm) + foc
;; APP Rotatation about iner gimbal
;; (Y-axis) (closer to spacecraft)
jth = arad_inner
;; Location of rotation axis
foc = rebin(inst.g1_gim_loc,3,8)
;; Rotation matrix around Y
mm = [[ cos(jth), 0, sin(jth)],$
[ 0, 1, 0],$
[-sin(jth), 0, cos(jth)]]
;; Apply rotation to vertices
inst.inst_loc = ((inst.inst_loc-inst.g1_gim_loc) ## mm) + $
inst.g1_gim_loc
inst.vertex[*,*,10] = ((inst.vertex[*,*,10]-foc) ## mm) + foc
inst.vertex[*,*,11] = ((inst.vertex[*,*,11]-foc) ## mm) + foc
inst.vertex[*,*,12] = ((inst.vertex[*,*,12]-foc) ## mm) + foc
inst.vertex[*,*,13] = ((inst.vertex[*,*,13]-foc) ## mm) + foc
inst.vertex[*,*,14] = ((inst.vertex[*,*,14]-foc) ## mm) + foc
END
;;##############################################################
;; Main Function
;;##############################################################
pro maven_spacecraft_vertices, prec=prec, $
plot1=plot1,$
plot2=plot2
;; Initiate Common Block
COMMON mvn_spc_vertices, inst
;;##################################################
;; Vertices of MAVEN in MAVEN Spacecraft coordinates
;; Inner Gimbal
g1_gim_loc = [ 2588.00, 272.00, 2060.00]
;; Outer Gimbal
g2_gim_loc = [ 2775.00, 204.00, 2060.00]
;; STATIC
sta_loc = [ 3126.00, -449.00, 1847.00]
;; SWEA
swe_loc = [-2359.00, 0.00,-1115.00]
;; SWIA
swi_loc = [-1223.00,-1245.00, 1969.00]
;; SEP +X/+Y
sep_py_loc = [ 1245.00, 1143.00, 2080.00]
;; SEP +X/-Y
sep_my_loc = [ 1245.00,-1143.00, 2080.00]
;; Main Body
main_body=[$
[-1143.00, 1143.00, 1984.00],$
[ 1143.00, 1143.00, 1984.00],$
[-1143.00,-1143.00, 1984.00],$
[ 1143.00,-1143.00, 1984.00],$
[-1143.00, 1143.00, 340.00],$
[ 1143.00, 1143.00, 340.00],$
[-1143.00,-1143.00, 340.00],$
[ 1143.00,-1143.00, 340.00]]
;; Main Body Indices
main_body_ind=[$
[0,1,3,2],$ ;+z side 1
[4,5,7,6],$ ;-z side 2
[0,2,6,4],$ ;+x side 3
[1,5,7,3],$ ;-x side 4
[0,1,5,4],$ ;+y side 3
[2,6,7,3]] ;-y side 4
;; Antenna Body
val1=1000.*cos(45.*!DTOR)
val2= 208.*cos(45.*!DTOR)
ant_body_ind=main_body_ind
ant_body=[$
[-1.*val1, val1, 1984.00],$
[ val1, val1, 1984.00],$
[-1.*val1,-1.*val1, 1984.00],$
[ val1,-1.*val1, 1984.00],$
[-1.*val2, val2, 2957.00],$
[ val2, val2, 2957.00],$
[-1.*val2,-1.*val2, 2957.00],$
[ val2,-1.*val2, 2957.00]]
;;+Y Solar Panel
;;Part 1
py_solar1_ind=main_body_ind
py_solar1=[$
[-1066.00, 1143.00, 1983.00],$
[ 1066.00, 1143.00, 1983.00],$
[-1066.00, 3060.00, 1983.00],$
[ 1066.00, 3060.00, 1983.00],$
[-1066.00, 1143.00, 1954.00],$
[ 1066.00, 1143.00, 1954.00],$
[-1066.00, 3060.00, 1954.00],$
[ 1066.00, 3060.00, 1954.00]]
;;Part 2
py_solar2_ind=main_body_ind
py_solar2=[$
[ -996.00, 3060.00, 1983.00],$
[ 996.00, 3060.00, 1983.00],$
[ -996.00, 3060.00, 1983.00],$
[ 996.00, 3060.00, 1983.00],$
[ -996.00, 5657.00, 2663.00],$
[ 996.00, 5657.00, 2663.00],$
[ -996.00, 5657.00, 2633.00],$
[ 996.00, 5657.00, 2633.00]]
;;-Y Solar Panel
;;Part 1
my_solar1_ind=main_body_ind
my_solar1=[$
[-1066.00,-1143.00, 1983.00],$
[ 1066.00,-1143.00, 1983.00],$
[-1066.00,-3060.00, 1983.00],$
[ 1066.00,-3060.00, 1983.00],$
[-1066.00,-1143.00, 1954.00],$
[ 1066.00,-1143.00, 1954.00],$
[-1066.00,-3060.00, 1954.00],$
[ 1066.00,-3060.00, 1954.00]]
;;Part 2
my_solar2_ind=py_solar2_ind
my_solar2=[$
[ -996.00,-3060.00, 1983.00],$
[ 996.00,-3060.00, 1983.00],$
[ -996.00,-3060.00, 1983.00],$
[ 996.00,-3060.00, 1983.00],$
[ -996.00,-5657.00, 2663.00],$
[ 996.00,-5657.00, 2663.00],$
[ -996.00,-5657.00, 2633.00],$
[ 996.00,-5657.00, 2633.00]]
;;+Y LPW
py_lpw_ind=main_body_ind
py_lpw=[$
[-4756.00, 6627.00,-1819.00],$
[-4756.00, 6623.00,-1819.00],$
[-1143.00, 204.00, 614.00],$
[-1143.00, 208.00, 614.00],$
[-4756.00, 6627.00,-1815.00],$
[-4756.00, 6623.00,-1815.00],$
[-1143.00, 204.00, 610.00],$
[-1143.00, 208.00, 610.00]]
;;-Y LPW
my_lpw_ind=main_body_ind
my_lpw=[$
[-4756.00,-6627.00,-1819.00],$
[-4756.00,-6623.00,-1819.00],$
[-1143.00, -204.00, 614.00],$
[-1143.00, -208.00, 614.00],$
[-4756.00,-6627.00,-1815.00],$
[-4756.00,-6623.00,-1815.00],$
[-1143.00, -204.00, 610.00],$
[-1143.00, -208.00, 610.00]]
;;APP Boom
app_body_ind=main_body_ind
app_body=[$
[ 2503.00, 141.00, 1984.00],$
[ 1078.00, 141.00, 1984.00],$
[ 2503.00, 266.00, 1984.00],$
[ 1078.00, 266.00, 1984.00],$
[ 2503.00, 141.00, 2103.00],$
[ 1078.00, 141.00, 2103.00],$
[ 2503.00, 266.00, 2103.00],$
[ 1078.00, 266.00, 2103.00]]
;; Gimbal #1 - Inner
;; (Closer to Spacecraft)
gi1_body_ind=main_body_ind
gi1_body=[$
[ 2503.00, 123.00, 1980.00],$
[ 2667.00, 123.00, 1980.00],$
[ 2503.00, 424.00, 1980.00],$
[ 2667.00, 424.00, 1980.00],$
[ 2503.00, 123.00, 2151.00],$
[ 2667.00, 123.00, 2151.00],$
[ 2503.00, 424.00, 2151.00],$
[ 2667.00, 424.00, 2151.00]]
;; Gimbal #2 - Outer
;; Closer to APP
gi2_body_ind=main_body_ind
gi2_body=[$
[ 2883.00, 50.00, 1882.00],$
[ 2667.00, 50.00, 1882.00],$
[ 2883.00, 347.00, 1882.00],$
[ 2667.00, 347.00, 1882.00],$
[ 2883.00, 50.00, 2218.00],$
[ 2667.00, 50.00, 2218.00],$
[ 2883.00, 347.00, 2218.00],$
[ 2667.00, 347.00, 2218.00]]
;; APP Platform A
apa_body_ind=main_body_ind
apa_body = [$
[ 2883.00, 812.00, 2246.00],$
[ 2916.00, 812.00, 2246.00],$
[ 2883.00, -63.00, 2246.00],$
[ 2916.00, -63.00, 2246.00],$
[ 2883.00, 812.00, 1876.00],$
[ 2916.00, 812.00, 1876.00],$
[ 2883.00, -63.00, 1876.00],$
[ 2916.00, -63.00, 1876.00]]
;; APP Platform B
apb_body_ind=main_body_ind
apb_body = [$
[ 3330.00, 812.00, 1949.00],$
[ 2916.00, 812.00, 1949.00],$
[ 3330.00,-370.00, 1949.00],$
[ 2916.00,-370.00, 1949.00],$
[ 3330.00, 812.00, 1909.00],$
[ 2916.00, 812.00, 1909.00],$
[ 3330.00,-370.00, 1909.00],$
[ 2916.00,-370.00, 1909.00]]
;; STATIC Body A
sba_body_ind=main_body_ind
sba_body = [$
[ 3195.00,-224.00, 1773.00],$
[ 3052.00,-224.00, 1773.00],$
[ 3195.00,-370.00, 1773.00],$
[ 3052.00,-370.00, 1773.00],$
[ 3195.00,-224.00, 1909.00],$
[ 3052.00,-224.00, 1909.00],$
[ 3195.00,-370.00, 1909.00],$
[ 3052.00,-370.00, 1909.00]]
;; STATIC Body B
sbb_body_ind=main_body_ind
sbb_body = [$
[ 3195.00,-519.00, 1778.00],$
[ 3052.00,-519.00, 1778.00],$
[ 3195.00,-370.00, 1778.00],$
[ 3052.00,-370.00, 1778.00],$
[ 3195.00,-519.00, 1918.00],$
[ 3052.00,-519.00, 1918.00],$
[ 3195.00,-370.00, 1918.00],$
[ 3052.00,-370.00, 1918.00]]
;;SWEA Boom
swe_boom_ind=main_body_ind
swe_boom=[$
[-1000.00, -66.00, 384.00],$
[-1100.00, -66.00, 384.00],$
[-1000.00, 66.00, 384.00],$
[-1100.00, 66.00, 384.00],$
[-2331.00, -66.00, -973.00],$
[-2431.00, -66.00, -973.00],$
[-2331.00, 66.00, -973.00],$
[-2431.00, 66.00, -973.00]]
;;----------------------------------------------------
;; Rotation Matrix from MAVEN_SPACECRAFT to INSTRUMENT
;;
;; NOTE:
;; Used as follows:
;; IDL>to_pos = rotation_matrix # from_pos
;; When using the rotation matrix from
;; cspice_pxform we must first
;; perform a transpose:
;; IDL> cspice_pxform, 'MAVEN_SPACECRAFT',$
;; 'MAVEN_INSTUMENT',et,inst_rot
;; IDL> rotation_matrix=transpose(inst_rot)
;; IDL> to_pos = rotation_matrix # from_pos
;; ------------------ STATIC --------------------------
;; Initialize position of APP
;; APP Gimbal 2 Rotation
ith = 180.*!DTOR - 155.*!DTOR
foc = rebin(g2_gim_loc,3,8)
mm = [[1, 0, 0],$
[0, cos(ith),-sin(ith)],$
[0, sin(ith), cos(ith)]]
apa_body = (temporary(apa_body)-foc) ## mm + foc
apb_body = (temporary(apb_body)-foc) ## mm + foc
sba_body = (temporary(sba_body)-foc) ## mm + foc
sbb_body = (temporary(sbb_body)-foc) ## mm + foc
sta_loc = (temporary(sta_loc)-foc) ## mm + foc
;; ------------------- SWEA ----------------------------
;; + 140 degrees around Zs/c
;; Same as :
;; IDL> cspice_pxform, 'MAVEN_SPACECRAFT',$
;; 'MAVEN_SWEA',et,swea_rot
;; IDL> swea_rot=transpose(swea_rot)
th = 140.D*!DTOR
swea_rot=[$
[cos(th), -1.*sin(th), 0.],$
[sin(th), cos(th), 0.],$
[ 0., 0., 1.]]
;; ------------------ SWIA -----------------------------
;; 1: +90 degrees around Xs/c
;; 2: +90 degrees around Zs/c
;; Same as:
;; IDL> cspice_pxform, 'MAVEN_SPACECRAFT',$
;; 'MAVEN_SWIA',et,swia_rot
;; IDL> swia_rot=transpose(swia_rot)
;; From cspice_pxform
;; swia_rot=transpose([$
;; [ 0.D, 0.D, 1.D],$
;; [ -1.D, 0.D, 0.D],$
;; [ 0.D, -1.D, 0.D]])
th = 90.D*!DTOR
swia_rot1=[$
[ 1.D, 0.D, 0.D],$
[ 0.D, cos(th), -sin(th)],$
[ 0.D, sin(th), cos(th)]]
swia_rot2=[$
[ cos(th),-sin(th), 0.D],$
[ sin(th), cos(th), 0.D],$
[ 0.D, 0.D, 1.D]]
swia_rot=swia_rot2 # swia_rot1
;; -------------------- SEP1 ---------------------------
;; From cspice_pxform
sep1_rot=transpose([$
[0.D, -0.70710678, 0.70710678],$
[1.D, 0.D, 0.D],$
[0.D, 0.70710678, 0.70710678]])
;; -------------------- SEP2 ---------------------------
;; From cspice_pxform
sep2_rot=transpose([$
[0.D, 0.70710678, 0.70710678],$
[1.D, 0.D, 0.D],$
[0.D, -0.70710678, 0.70710678]])
;; Collect rotation matrices
rot_matrix_name=['SWEA','SWIA','SEP1','SEP2']
rot_matrix=[[[swea_rot]],$
[[swia_rot]],$
[[sep1_rot]],$
[[sep2_rot]]]
;; Names
names=['main_body_ind', 'ant_body_ind', 'py_solar1_ind',$
'py_solar2_ind', 'my_solar1_ind', 'my_solar2_ind',$
'py_lpw_ind', 'my_lpw_ind', 'app_body_ind', $
'gi1_body_ind', 'gi2_body_ind', 'apa_body_ind', $
'apb_body_ind', 'sba_body_ind', 'sbb_body_ind', $
'swe_boom_ind']
;; Index
index=[[main_body_ind], [ant_body_ind], [py_solar1_ind],$
[py_solar2_ind], [my_solar1_ind], [my_solar2_ind],$
[py_lpw_ind], [my_lpw_ind], [app_body_ind], $
[gi1_body_ind], [gi2_body_ind], [apa_body_ind], $
[apb_body_ind], [sba_body_ind], [sbb_body_ind], $
[swe_boom_ind]]
;; Array=[4, 6, #-of-object]
n1 = 4
n2 = 6
n3 = n_elements(index)/n1/n2
index = reform(index, n1, n2, n3)
;; Vertex
vertex=[[[main_body], [ant_body], [py_solar1],$
[py_solar2], [my_solar1], [my_solar2],$
[py_lpw], [my_lpw], [app_body], $
[gi1_body], [gi2_body], [apa_body], $
[apb_body], [sba_body], [sbb_body], $
[swe_boom]]]
;; array=[3, 8, #-of-objects]
nn1 = 3
nn2 = 8
nn3 = n_elements(vertex)/nn1/nn2
vertex=reform(vertex, nn1, nn2, nn3)
;; Create XYZ coordinates for plotting
xx = fltarr(n3,5.*n2)
yy = fltarr(n3,5.*n2)
zz = fltarr(n3,5.*n2)
;; Cycle through all objects
FOR iobj=0, n3-1 DO BEGIN
;; Cycle through all 8 vertices.
ll = indgen(5)
FOR i=0, n2-1 DO BEGIN
box = vertex[*,*,iobj]
ind = index[*,*,iobj]
indd = [ind[*,i],ind[0,i]]
;; Generate PREC number of points
;; between two vertices.
;; Repeat for all indices.
xx[iobj,ll] = reform(box[0,indd])
yy[iobj,ll] = reform(box[1,indd])
zz[iobj,ll] = reform(box[2,indd])
ll = ll+5
ENDFOR
ENDFOR
;; prec - Number of points between vertices
IF ~keyword_set(prec) then prec=100
;; Expand using 'prec'
nn = 5.*n2
xx_new = fltarr(n3,(nn-1)*prec+1)
yy_new = fltarr(n3,(nn-1)*prec+1)
zz_new = fltarr(n3,(nn-1)*prec+1)
FOR iobj=0, n3-1 DO BEGIN
xx_new[iobj,*] = interpol(xx[iobj,*],findgen(nn),$
findgen((nn-1)*prec+1)/prec)
yy_new[iobj,*] = interpol(yy[iobj,*],findgen(nn),$
findgen((nn-1)*prec+1)/prec)
zz_new[iobj,*] = interpol(zz[iobj,*],findgen(nn),$
findgen((nn-1)*prec+1)/prec)
ENDFOR
;; Final Structure
inst = {vertex:vertex, $
n1:n1,n2:n2,n3:n3,$
nn1:nn1,nn2:nn2,nn3:nn3,$
prec:prec,$
x_sc:xx,$
y_sc:yy,$
z_sc:zz,$
x_sc_res:xx_new,$
y_sc_res:yy_new,$
z_sc_res:zz_new,$
index:index,names:names, $
rot_matrix:rot_matrix,$
rot_matrix_name:rot_matrix_name,$
gi1_body:gi1_body,$
gi2_body:gi2_body,$
apa_body:apa_body,$
apb_body:apb_body,$
sba_body:sba_body,$
sbb_body:sbb_body,$
g1_gim_loc:g1_gim_loc,$
g2_gim_loc:g2_gim_loc,$
sta_loc:sta_loc,$
swe_loc:swe_loc,$
swi_loc:swi_loc,$
sep_py_loc:sep_py_loc,$
sep_my_loc:sep_my_loc,$
inst_loc:sta_loc}
END