Implement x

src/r.jl

@@ -0,0 +1,29 @@
+export rav2xf
+
+"""
+    rav2xf(rot, av)
+
+Determine a state transformation matrix from a rotation matrix and the angular
+velocity of the rotation.
+
+### Arguments ###
+
+- `rot`: Rotation matrix
+- `av`: Angular velocity vector
+
+### Output ###
+
+Returns state transformation matrix associated with `rot` and `av`.
+
+### References ###
+
+- [NAIF Documentation](https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/cspice/rav2xf_c.html)
+"""
+function rav2xf(rot, av)
+    xform = Array{SpiceDouble}(undef, 6, 6)
+    ccall((:rav2xf_c, libcspice), Cvoid,
+          (Ptr{SpiceDouble}, Ptr{SpiceDouble}, Ptr{SpiceDouble}),
+          rot, av, xform)
+    xform
+end
+

src/x.jl

@@ -1,11 +1,122 @@
-export xf2eul
+export xf2eul,
+    xf2rav,
+    xfmsta,
+    xpose6,
+    xpose,
+    xposeg
 
+"""
+    xf2eul(xform, axisa, axisb, axisc)
+
+Convert a state transformation matrix to Euler angles and their derivatives
+with respect to a specified set of axes.
+
+### Arguments ###
+
+- `xform`: A state transformation matrix
+- `axisa`: Axis A of the Euler angle factorization
+- `axisb`: Axis B of the Euler angle factorization
+- `axisc`: Axis C of the Euler angle factorization
+
+### Output ###
+
+Returns a tuple of an array of Euler angles and their derivatives and a boolean
+that indicates whether these are a unique representation.
+
+### References ###
+
+- [NAIF Documentation](https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/cspice/xf2eul_c.html)
+"""
 function xf2eul(xform, axisa, axisb, axisc)
     eulang = Array{SpiceDouble}(undef, 6)
     unique = Ref{SpiceBoolean}()
     ccall((:xf2eul_c, libcspice), Cvoid,
           (Ptr{SpiceDouble}, SpiceInt, SpiceInt, SpiceInt, Ptr{SpiceDouble}, Ref{SpiceBoolean}),
           permutedims(xform), axisa, axisb, axisc, eulang, unique)
     handleerror()
-    eulang, unique[]
+    eulang, Bool(unique[])
+end
+
+"""
+    xf2rav(xform)
+
+Determines the rotation matrix and angular velocity of the rotation from a
+state transformation matrix.
+
+### Arguments ###
+
+- `xform`: State transformation matrix
+
+### Output ###
+
+Returns a tuple of the rotation matrix and the angular velocity vector
+associated with `xform`.
+
+### References ###
+
+- [NAIF Documentation](https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/cspice/xf2rav_c.html)
+"""
+function xf2rav(xform)
+    rot = Array{SpiceDouble}(undef, 3, 3)
+    av = Array{SpiceDouble}(undef, 3)
+    ccall((:xf2rav_c, libcspice), Cvoid,
+          (Ptr{SpiceDouble}, Ptr{SpiceDouble}, Ptr{SpiceDouble}),
+          xform, rot, av)
+    rot, av
+end
+
+"""
+    xfmsta(input_state, input_coord_sys, output_coord_sys, body)
+
+Transform a state between coordinate systems.
+
+### Arguments ###
+
+- `input_state`: Input state
+- `input_coord_sys`: Current (input) coordinate system
+- `output_coord_sys: Desired (output) coordinate system
+- `body`: Name or NAIF ID of body with which coordinates are associated (if applicable)
+
+### Output ###
+
+Returns the converted output state.
+
+### References ###
+
+- [NAIF Documentation](https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/cspice/xfmsta_c.html)
+"""
+function xfmsta(input_state, input_coord_sys, output_coord_sys, body)
+    output_state = Array{SpiceDouble}(undef, 6)
+    ccall((:xfmsta_c, libcspice), Cvoid,
+          (Ptr{SpiceDouble}, Cstring, Cstring, Cstring, Ptr{SpiceDouble}),
+          input_state, input_coord_sys, output_coord_sys, body, output_state)
+    handleerror()
+    output_state
+end
+
+function _xpose6(m)
+    mout = Array{SpiceDouble}(undef, 6, 6)
+    ccall((:xpose6_c, libcspice), Cvoid, (Ptr{SpiceDouble}, Ptr{SpiceDouble}), m, mout)
+    mout
 end
+
+@deprecate xpose6 transpose
+
+function _xpose(m)
+    mout = Array{SpiceDouble}(undef, 3, 3)
+    ccall((:xpose_c, libcspice), Cvoid, (Ptr{SpiceDouble}, Ptr{SpiceDouble}), m, mout)
+    mout
+end
+
+@deprecate xpose transpose
+
+function _xposeg(matrix)
+    m, n = size(matrix)
+    mout = Array{SpiceDouble}(undef, n, m)
+    ccall((:xposeg_c, libcspice), Cvoid,
+          (Ptr{SpiceDouble}, SpiceInt, SpiceInt, Ptr{SpiceDouble}), matrix, n, m, mout)
+    mout
+end
+
+@deprecate xposeg transpose
+

test/x.jl

@@ -1,8 +1,46 @@
-@testset "X" begin 
-    furnsh(path(CORE, :pck))
-    sx = sxform("J2000", "IAU_JUPITER", 0.0)
-    eulang, unique = xf2eul(sx, 3, 1, 3)
-    @test round.(eulang.*100000)./100000 == [-3.10768, 0.44513, -1.83172, -0.0, 0.0, 0.0]
-    @test_throws SpiceException xf2eul(sx, 4, 1, 4)
-    unload(path(CORE, :pck))
-end 
+@testset "X" begin
+    let
+        furnsh(path(CORE, :pck))
+        sx = sxform("J2000", "IAU_JUPITER", 0.0)
+        eulang, unique = xf2eul(sx, 3, 1, 3)
+        @test eulang ≈ [-3.10768, 0.44513, -1.83172, -0.0, 0.0, 0.0] rtol=1e-5
+        @test_throws SpiceException xf2eul(sx, 4, 1, 4)
+        unload(path(CORE, :pck))
+    end
+    let
+        e1 = [1.0, 0.0, 0.0]
+        rz1 = [0.0 1.0 0.0; -1.0 0.0 0.0; 0.0 0.0 1.0]
+        xform = rav2xf(rz1, e1)
+        rz2, e2 = xf2rav(xform)
+        @test e1 ≈ e2
+        @test rz1 ≈ rz2
+    end
+    let
+        furnsh(path(CORE, :lsk), path(CORE, :spk))
+        et = str2et("July 4, 2003 11:00 AM PST")
+        state, lt = spkezr("Mars", et, "J2000", "Earth", abcorr="LT+S")
+        expected_lt = 269.6898813661505
+        expected_state = [7.38222353105354905128e+07,  -2.71279189984722770751e+07,
+                          -1.87413063014898747206e+07,  -6.80851334001380692484e+00,
+                          7.51399612408221173609e+00,   3.00129849265935222391e+00]
+        @test lt ≈ expected_lt
+        @test state ≈ expected_state
+        state_lat = xfmsta(state, "rectangular", "latitudinal", " ")
+        expected_lat_state = [8.08509924324866235256e+07,  -3.52158255331780634112e-01,
+                              -2.33928262716770696272e-01,  -9.43348972618204761886e+00,
+                               5.98157681117165682860e-08,   1.03575559016377728336e-08]
+        @test state_lat ≈ expected_lat_state
+        kclear()
+    end
+    let a = randn(6, 6)
+        @test SPICE._xpose6(a) == transpose(a)
+        @test SPICE._xposeg(a) == transpose(a)
+    end
+    let a = randn(3, 3)
+        @test SPICE._xpose(a) == transpose(a)
+        @test SPICE._xposeg(a) == transpose(a)
+    end
+    let a = randn(3, 5)
+        @test SPICE._xposeg(a) == transpose(a)
+    end
+end