Add rotations using Euler parameters and MRPs

Cargo.toml

@@ -16,7 +16,7 @@ exclude = ["cspice"]
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
 [dependencies]
-hifitime = {version = "3.8.0"}
+hifitime = "3.8"
 memmap2 = "0.7.0"
 crc32fast = "1.3.0"
 der = {version = "0.6.0", features = ["derive", "alloc", "real"]}
@@ -36,11 +36,11 @@ heapless = "0.7.16"
 
 [dev-dependencies]
 rust-spice = "0.7.4"
-parquet = "44.0.0"
-arrow = "44.0.0"
+parquet = "46.0.0"
+arrow = "46.0.0"
 criterion = "0.5"
 iai = "0.1"
-polars = {version = "0.30", features = ["lazy", "parquet"]}
+polars = {version = "0.32", features = ["lazy", "parquet"]}
 rayon = "1.7"
 
 [features]

benches/crit_jpl_ephemerides.rs

@@ -1,6 +1,6 @@
 use anise::{
     constants::frames::{EARTH_J2000, LUNA_J2000},
-    file_mmap,
+    file2heap,
     prelude::*,
 };
 use criterion::{black_box, criterion_group, criterion_main, Criterion};
@@ -21,7 +21,7 @@ fn benchmark_spice_single_hop_type2_cheby(time_it: TimeSeries) {
     }
 }
 
-fn benchmark_anise_single_hop_type2_cheby(ctx: &Context, time_it: TimeSeries) {
+fn benchmark_anise_single_hop_type2_cheby(ctx: &Almanac, time_it: TimeSeries) {
     for epoch in time_it {
         black_box(
             ctx.translate_from_to_km_s_geometric(EARTH_J2000, LUNA_J2000, epoch)
@@ -38,9 +38,9 @@ pub fn criterion_benchmark(c: &mut Criterion) {
 
     // Load ANISE data
     let path = "./data/de440s.bsp";
-    let buf = file_mmap!(path).unwrap();
+    let buf = file2heap!(path).unwrap();
     let spk = SPK::parse(buf).unwrap();
-    let ctx = Context::from_spk(&spk).unwrap();
+    let ctx = Almanac::from_spk(&spk).unwrap();
 
     // Load SPICE data
     spice::furnsh("data/de440s.bsp");

benches/crit_spacecraft_ephemeris.rs

@@ -1,4 +1,4 @@
-use anise::{constants::frames::EARTH_J2000, file_mmap, prelude::*};
+use anise::{constants::frames::EARTH_J2000, file2heap, prelude::*};
 
 use criterion::{black_box, criterion_group, criterion_main, Criterion};
 
@@ -23,7 +23,7 @@ fn benchmark_spice_single_hop_type13_hermite(time_it: TimeSeries) {
     spice::unload("data/gmat-hermite.bsp");
 }
 
-fn benchmark_anise_single_hop_type13_hermite(ctx: &Context, time_it: TimeSeries) {
+fn benchmark_anise_single_hop_type13_hermite(ctx: &Almanac, time_it: TimeSeries) {
     let my_sc_j2k = Frame::from_ephem_j2000(-10000001);
     for epoch in time_it {
         black_box(
@@ -40,13 +40,13 @@ pub fn criterion_benchmark(c: &mut Criterion) {
     let time_it = TimeSeries::exclusive(start_epoch, end_epoch - time_step, time_step);
 
     let path = "./data/de440s.bsp";
-    let buf = file_mmap!(path).unwrap();
+    let buf = file2heap!(path).unwrap();
     let spk = SPK::parse(buf).unwrap();
 
-    let buf = file_mmap!("data/gmat-hermite.bsp").unwrap();
+    let buf = file2heap!("data/gmat-hermite.bsp").unwrap();
     let spacecraft = SPK::parse(buf).unwrap();
 
-    let ctx = Context::from_spk(&spk)
+    let ctx = Almanac::from_spk(&spk)
         .unwrap()
         .load_spk(&spacecraft)
         .unwrap();

benches/iai_jpl_ephemerides.rs

@@ -1,6 +1,6 @@
 use anise::{
     constants::frames::{EARTH_J2000, LUNA_J2000},
-    file_mmap,
+    file2heap,
     prelude::*,
 };
 
@@ -38,9 +38,9 @@ fn benchmark_anise_single_hop_type2_cheby() {
     let time_it = TimeSeries::exclusive(start_epoch, end_epoch - time_step, time_step);
 
     let path = "./data/de440s.bsp";
-    let buf = file_mmap!(path).unwrap();
+    let buf = file2heap!(path).unwrap();
     let spk = SPK::parse(buf).unwrap();
-    let ctx = Context::from_spk(&spk).unwrap();
+    let ctx = Almanac::from_spk(&spk).unwrap();
 
     for epoch in time_it {
         black_box(

benches/iai_spacecraft_ephemeris.rs

@@ -1,4 +1,4 @@
-use anise::{constants::frames::EARTH_J2000, file_mmap, prelude::*};
+use anise::{constants::frames::EARTH_J2000, file2heap, prelude::*};
 
 use iai::black_box;
 use spice;
@@ -24,13 +24,13 @@ fn benchmark_anise_single_hop_type13_hermite() {
     let epoch = Epoch::from_gregorian_hms(2000, 1, 1, 14, 0, 0, TimeScale::UTC);
 
     let path = "./data/de440s.bsp";
-    let buf = file_mmap!(path).unwrap();
+    let buf = file2heap!(path).unwrap();
     let spk = SPK::parse(buf).unwrap();
 
-    let buf = file_mmap!("data/gmat-hermite.bsp").unwrap();
+    let buf = file2heap!("data/gmat-hermite.bsp").unwrap();
     let spacecraft = SPK::parse(buf).unwrap();
 
-    let ctx = Context::from_spk(&spk)
+    let ctx = Almanac::from_spk(&spk)
         .unwrap()
         .load_spk(&spacecraft)
         .unwrap();

src/context/bpc.rs → src/almanac/bpc.rs

@@ -15,11 +15,11 @@ use crate::naif::pck::BPCSummaryRecord;
 use crate::naif::BPC;
 use log::error;
 
-use super::{Context, MAX_LOADED_BPCS};
+use super::{Almanac, MAX_LOADED_BPCS};
 
-impl<'a: 'b, 'b> Context<'a> {
+impl<'a: 'b, 'b> Almanac<'a> {
     /// Loads a Binary Planetary Constants kernel.
-    pub fn load_bpc(&self, bpc: &'b BPC) -> Result<Context<'b>, AniseError> {
+    pub fn load_bpc(&self, bpc: &'b BPC) -> Result<Almanac<'b>, AniseError> {
         // This is just a bunch of pointers so it doesn't use much memory.
         let mut me = self.clone();
         let mut data_idx = MAX_LOADED_BPCS;

src/context/mod.rs → src/almanac/mod.rs

@@ -23,12 +23,12 @@ pub const MAX_PLANETARY_DATA: usize = 64;
 pub mod bpc;
 pub mod spk;
 
-/// A SPICE context contains all of the loaded SPICE data.
+/// An Almanac contains all of the loaded SPICE and ANISE data.
 ///
 /// # Limitations
 /// The stack space required depends on the maximum number of each type that can be loaded.
 #[derive(Clone, Default)]
-pub struct Context<'a> {
+pub struct Almanac<'a> {
     /// NAIF SPK is kept unchanged
     pub spk_data: [Option<&'a SPK>; MAX_LOADED_SPKS],
     /// NAIF BPC is kept unchanged
@@ -39,7 +39,7 @@ pub struct Context<'a> {
     pub spacecraft_data: DataSet<'a, SpacecraftData<'a>, MAX_SPACECRAFT_DATA>,
 }
 
-impl<'a> fmt::Display for Context<'a> {
+impl<'a> fmt::Display for Almanac<'a> {
     fn fmt(&self, f: &mut fmt::Formatter<'_>) -> Result<(), fmt::Error> {
         write!(
             f,

src/context/spk.rs → src/almanac/spk.rs

@@ -16,17 +16,17 @@ use crate::naif::SPK;
 use log::error;
 
 // TODO: Switch these to build constants so that it's configurable when building the library.
-use super::{Context, MAX_LOADED_SPKS};
+use super::{Almanac, MAX_LOADED_SPKS};
 
-impl<'a: 'b, 'b> Context<'a> {
-    pub fn from_spk(spk: &'a SPK) -> Result<Context<'a>, AniseError> {
+impl<'a: 'b, 'b> Almanac<'a> {
+    pub fn from_spk(spk: &'a SPK) -> Result<Almanac<'a>, AniseError> {
         let me = Self::default();
         me.load_spk(spk)
     }
 
     /// Loads a new SPK file into a new context.
     /// This new context is needed to satisfy the unloading of files. In fact, to unload a file, simply let the newly loaded context drop out of scope and Rust will clean it up.
-    pub fn load_spk(&self, spk: &'b SPK) -> Result<Context<'b>, AniseError> {
+    pub fn load_spk(&self, spk: &'b SPK) -> Result<Almanac<'b>, AniseError> {
         // This is just a bunch of pointers so it doesn't use much memory.
         let mut me = self.clone();
         // Parse as SPK and place into the SPK list if there is room

src/bin/anise/main.rs

@@ -4,7 +4,7 @@
 use anise::cli::args::{Actions, Args};
 use anise::cli::inspect::{BpcRow, SpkRow};
 use anise::cli::CliErrors;
-use anise::file_mmap;
+use anise::file2heap;
 use anise::naif::daf::{FileRecord, NAIFRecord, NAIFSummaryRecord};
 use anise::naif::kpl::parser::convert_tpc;
 use anise::prelude::*;
@@ -35,7 +35,7 @@
             crc32_checksum,
         } => {
             let path_str = file.clone();
-            match file_mmap!(file) {
+            match file2heap!(file) {
                 Ok(bytes) => {
                     // Try to load this as a dataset by first trying to load the metadata
                     if let Ok(metadata) = Metadata::decode_header(&bytes) {
@@ -107,7 +107,7 @@
         }
         Actions::Inspect { file } => {
             let path_str = file.clone();
-            match file_mmap!(file) {
+            match file2heap!(file) {
                 Ok(bytes) => {
                     // Load the header only
                     let file_record = FileRecord::read_from(&bytes[..FileRecord::SIZE]).unwrap();

src/ephemerides/paths.rs

@@ -11,7 +11,7 @@
 use hifitime::Epoch;
 use log::error;
 
-use crate::context::Context;
+use crate::almanac::Almanac;
 use crate::errors::InternalErrorKind;
 use crate::naif::daf::NAIFSummaryRecord;
 use crate::NaifId;
@@ -23,7 +23,7 @@ use crate::{
 /// **Limitation:** no translation or rotation may have more than 8 nodes.
 pub const MAX_TREE_DEPTH: usize = 8;
 
-impl<'a> Context<'a> {
+impl<'a> Almanac<'a> {
     /// Returns the center of all of the loaded ephemerides, typically this should be the Solar System Barycenter.
     ///
     /// # Algorithm

src/ephemerides/translate_to_parent.rs

@@ -10,8 +10,8 @@
 
 use log::trace;
 
+use crate::almanac::Almanac;
 use crate::astro::Aberration;
-use crate::context::Context;
 use crate::errors::IntegrityErrorKind;
 use crate::hifitime::Epoch;
 use crate::math::units::*;
@@ -20,7 +20,7 @@ use crate::naif::daf::NAIFDataSet;
 use crate::naif::spk::datatypes::{HermiteSetType13, LagrangeSetType9, Type2ChebyshevSet};
 use crate::{errors::AniseError, prelude::Frame};
 
-impl<'a> Context<'a> {
+impl<'a> Almanac<'a> {
     /// Returns the position vector and velocity vector of the `source` with respect to its parent in the ephemeris at the provided epoch,
     /// and in the provided distance and time units.
     ///

src/ephemerides/translations.rs

@@ -8,8 +8,8 @@
  * Documentation: https://nyxspace.com/
  */
 
+use crate::almanac::Almanac;
 use crate::astro::Aberration;
-use crate::context::Context;
 use crate::hifitime::Epoch;
 use crate::math::cartesian::CartesianState;
 use crate::math::units::*;
@@ -22,7 +22,7 @@ use crate::{
 /// **Limitation:** no translation or rotation may have more than 8 nodes.
 pub const MAX_TREE_DEPTH: usize = 8;
 
-impl<'a> Context<'a> {
+impl<'a> Almanac<'a> {
     /// Returns the position vector, velocity vector, and acceleration vector needed to translate the `from_frame` to the `to_frame`.
     ///
     /// **WARNING:** This function only performs the translation and no rotation whatsoever. Use the `transform_from_to` function instead to include rotations.

src/errors.rs

@@ -58,6 +58,10 @@ pub enum AniseError {
         exp: Semver,
     },
     DecodingError(der::Error),
+    IncompatibleRotation {
+        from: i32,
+        to: i32,
+    },
 }
 
 #[derive(Copy, Clone, PartialEq, Eq, Debug)]

src/frames/celestial_frame.rs

@@ -8,7 +8,7 @@
  * Documentation: https://nyxspace.com/
  */
 
-use crate::{context::Context, prelude::AniseError, NaifId};
+use crate::{almanac::Almanac, prelude::AniseError, NaifId};
 
 use super::{Frame, FrameTrait};
 use core::fmt;
@@ -48,7 +48,7 @@ impl fmt::Display for CelestialFrame {
     }
 }
 
-impl<'a> Context<'a> {
+impl<'a> Almanac<'a> {
     /// Tries to find the celestial frame data given the ephemeris center name and the orientation name.
     /// # Note
     /// The ephemeris name MUST match the name of the planetary constant.

src/frames/geodetic_frame.rs

@@ -10,7 +10,7 @@
 
 use super::{celestial_frame::CelestialFrame, CelestialFrameTrait, Frame, FrameTrait};
 use crate::{
-    context::Context, prelude::AniseError, structure::planetocentric::ellipsoid::Ellipsoid, NaifId,
+    almanac::Almanac, prelude::AniseError, structure::planetocentric::ellipsoid::Ellipsoid, NaifId,
 };
 use core::fmt;
 
@@ -85,7 +85,7 @@ impl Into<Frame> for GeodeticFrame {
     }
 }
 
-impl<'a> Context<'a> {
+impl<'a> Almanac<'a> {
     /// Tries to find the geodetic frame data given the ephemeris center name and the orientation name.
     /// # Note
     /// The ephemeris name MUST match the name of the planetary constant.

src/lib.rs

@@ -12,10 +12,10 @@ extern crate const_format;
 extern crate hifitime;
 extern crate log;
 
+pub mod almanac;
 pub mod astro;
 pub mod cli;
 pub mod constants;
-pub mod context;
 pub mod ephemerides;
 pub mod errors;
 pub mod frames;
@@ -29,8 +29,8 @@ pub mod time {
 }
 
 pub mod prelude {
+    pub use crate::almanac::Almanac;
     pub use crate::astro::Aberration;
-    pub use crate::context::Context;
     pub use crate::errors::AniseError;
     pub use crate::frames::*;
     pub use crate::math::units::*;
@@ -48,7 +48,7 @@ pub(crate) type NaifId = i32;
 
 /// Memory maps a file and **copies** the data on the heap prior to returning a pointer to this heap data.
 #[macro_export]
-macro_rules! file_mmap {
+macro_rules! file2heap {
     ($filename:tt) => {
         match File::open($filename) {
             Err(e) => Err(AniseError::IOError(e.kind())),
@@ -66,3 +66,20 @@ macro_rules! file_mmap {
         }
     };
 }
+
+/// Memory maps a file and **copies** the data on the heap prior to returning a pointer to this heap data.
+#[macro_export]
+macro_rules! file_mmap {
+    ($filename:tt) => {
+        match File::open($filename) {
+            Err(e) => Err(AniseError::IOError(e.kind())),
+            Ok(file) => unsafe {
+                use memmap2::MmapOptions;
+                match MmapOptions::new().map(&file) {
+                    Err(_) => Err(AniseError::IOUnknownError),
+                    Ok(mmap) => Ok(mmap),
+                }
+            },
+        }
+    };
+}

src/math/mod.rs

@@ -10,15 +10,18 @@
 
 // Vector3 is nalgebra's Vector3 with a 64-bit floating point representation.
 pub type Vector3 = nalgebra::Vector3<f64>;
+pub type Vector4 = nalgebra::Vector4<f64>;
 pub type Vector6 = nalgebra::Vector6<f64>;
+pub type Matrix3 = nalgebra::Matrix3<f64>;
+pub type Matrix6 = nalgebra::Matrix6<f64>;
 
 pub mod angles;
 pub mod cartesian;
 pub mod interpolation;
 pub mod polyfit;
+pub mod rotation;
 pub mod units;
 pub mod utils;
-// pub mod rotation;
 
 /// Returns the projection of a onto b
 pub fn projv(a: &Vector3, b: &Vector3) -> Vector3 {