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//
// GENERATED FILE
//
use super::*;
use crate::SpiceContext;
use f2rust_std::*;
const DX: i32 = 1;
const DY: i32 = 2;
const DZ: i32 = 3;
const DR: i32 = 1;
const DLON: i32 = 2;
/// Derivative of rectangular w.r.t. cylindrical
///
/// Compute the Jacobian matrix of the transformation from
/// cylindrical to rectangular coordinates.
///
/// # Brief I/O
///
/// ```text
/// VARIABLE I/O DESCRIPTION
/// -------- --- --------------------------------------------------
/// R I Distance of a point from the origin.
/// CLON I Angle of the point from the XZ plane in radians.
/// Z I Height of the point above the XY plane.
/// JACOBI O Matrix of partial derivatives.
/// ```
///
/// # Detailed Input
///
/// ```text
/// R is the distance of the point of interest from Z-axis.
///
/// CLON is the cylindrical angle (in radians) of the point of
/// interest from the XZ plane. The angle increases in
/// the counterclockwise sense about the +Z axis.
///
/// Z is the height of the point above XY plane.
/// ```
///
/// # Detailed Output
///
/// ```text
/// JACOBI is the matrix of partial derivatives of the conversion
/// between cylindrical and rectangular coordinates. It
/// has the form
///
/// .- -.
/// | DX/DR DX/DCLON DX/DZ |
/// | |
/// | DY/DR DY/DCLON DY/DZ |
/// | |
/// | DZ/DR DZ/DCLON DZ/DZ |
/// `- -'
///
/// evaluated at the input values of R, CLON and Z.
/// Here X, Y, and Z are given by the familiar formulae
///
/// X = R*COS(CLON)
/// Y = R*SIN(CLON)
/// Z = Z
/// ```
///
/// # Exceptions
///
/// ```text
/// Error free.
/// ```
///
/// # Particulars
///
/// ```text
/// It is often convenient to describe the motion of an object in
/// the cylindrical coordinate system. However, when performing
/// vector computations its hard to beat rectangular coordinates.
///
/// To transform states given with respect to cylindrical coordinates
/// to states with respect to rectangular coordinates, one uses
/// the Jacobian of the transformation between the two systems.
///
/// Given a state in cylindrical coordinates
///
/// ( r, clon, z, dr, dclon, dz )
///
/// the velocity in rectangular coordinates is given by the matrix
/// equation:
/// t | t
/// (dx, dy, dz) = JACOBI| * (dr, dclon, dz)
/// |(r,clon,z)
///
/// This routine computes the matrix
///
/// |
/// JACOBI|
/// |(r,clon,z)
/// ```
///
/// # Examples
///
/// ```text
/// The numerical results shown for this example may differ across
/// platforms. The results depend on the SPICE kernels used as
/// input, the compiler and supporting libraries, and the machine
/// specific arithmetic implementation.
///
/// 1) Find the cylindrical state of the Earth as seen from
/// Mars in the IAU_MARS reference frame at January 1, 2005 TDB.
/// Map this state back to rectangular coordinates as a check.
///
/// Use the meta-kernel shown below to load the required SPICE
/// kernels.
///
///
/// KPL/MK
///
/// File name: drdcyl_ex1.tm
///
/// This meta-kernel is intended to support operation of SPICE
/// example programs. The kernels shown here should not be
/// assumed to contain adequate or correct versions of data
/// required by SPICE-based user applications.
///
/// In order for an application to use this meta-kernel, the
/// kernels referenced here must be present in the user's
/// current working directory.
///
/// The names and contents of the kernels referenced
/// by this meta-kernel are as follows:
///
/// File name Contents
/// --------- --------
/// de421.bsp Planetary ephemeris
/// pck00010.tpc Planet orientation and
/// radii
/// naif0009.tls Leapseconds
///
///
/// \begindata
///
/// KERNELS_TO_LOAD = ( 'de421.bsp',
/// 'pck00010.tpc',
/// 'naif0009.tls' )
///
/// \begintext
///
/// End of meta-kernel
///
///
/// Example code begins here.
///
///
/// PROGRAM DRDCYL_EX1
/// IMPLICIT NONE
///
/// C
/// C SPICELIB functions
/// C
/// DOUBLE PRECISION RPD
///
/// C
/// C Local parameters
/// C
/// CHARACTER*(*) FMT1
/// PARAMETER ( FMT1 = '(A,E18.8)' )
/// C
/// C Local variables
/// C
/// DOUBLE PRECISION CLON
/// DOUBLE PRECISION DRECTN ( 3 )
/// DOUBLE PRECISION ET
/// DOUBLE PRECISION JACOBI ( 3, 3 )
/// DOUBLE PRECISION LT
/// DOUBLE PRECISION CYLVEL ( 3 )
/// DOUBLE PRECISION RECTAN ( 3 )
/// DOUBLE PRECISION R
/// DOUBLE PRECISION STATE ( 6 )
/// DOUBLE PRECISION Z
///
/// C
/// C Load SPK, PCK and LSK kernels, use a meta kernel for
/// C convenience.
/// C
/// CALL FURNSH ( 'drdcyl_ex1.tm' )
///
/// C
/// C Look up the apparent state of earth as seen from Mars
/// C at January 1, 2005 TDB, relative to the IAU_MARS
/// C reference frame.
/// C
/// CALL STR2ET ( 'January 1, 2005 TDB', ET )
///
/// CALL SPKEZR ( 'Earth', ET, 'IAU_MARS', 'LT+S',
/// . 'Mars', STATE, LT )
///
/// C
/// C Convert position to cylindrical coordinates.
/// C
/// CALL RECCYL ( STATE, R, CLON, Z )
///
/// C
/// C Convert velocity to cylindrical coordinates.
/// C
///
/// CALL DCYLDR ( STATE(1), STATE(2), STATE(3), JACOBI )
///
/// CALL MXV ( JACOBI, STATE(4), CYLVEL )
///
/// C
/// C As a check, convert the cylindrical state back to
/// C rectangular coordinates.
/// C
/// CALL CYLREC ( R, CLON, Z, RECTAN )
///
/// CALL DRDCYL ( R, CLON, Z, JACOBI )
///
/// CALL MXV ( JACOBI, CYLVEL, DRECTN )
///
///
/// WRITE(*,*) ' '
/// WRITE(*,*) 'Rectangular coordinates:'
/// WRITE(*,*) ' '
/// WRITE(*,FMT1) ' X (km) = ', STATE(1)
/// WRITE(*,FMT1) ' Y (km) = ', STATE(2)
/// WRITE(*,FMT1) ' Z (km) = ', STATE(3)
/// WRITE(*,*) ' '
/// WRITE(*,*) 'Rectangular velocity:'
/// WRITE(*,*) ' '
/// WRITE(*,FMT1) ' dX/dt (km/s) = ', STATE(4)
/// WRITE(*,FMT1) ' dY/dt (km/s) = ', STATE(5)
/// WRITE(*,FMT1) ' dZ/dt (km/s) = ', STATE(6)
/// WRITE(*,*) ' '
/// WRITE(*,*) 'Cylindrical coordinates:'
/// WRITE(*,*) ' '
/// WRITE(*,FMT1) ' Radius (km) = ', R
/// WRITE(*,FMT1) ' Longitude (deg) = ', CLON/RPD()
/// WRITE(*,FMT1) ' Z (km) = ', Z
/// WRITE(*,*) ' '
/// WRITE(*,*) 'Cylindrical velocity:'
/// WRITE(*,*) ' '
/// WRITE(*,FMT1) ' d Radius/dt (km/s) = ', CYLVEL(1)
/// WRITE(*,FMT1) ' d Longitude/dt (deg/s) = ',
/// . CYLVEL(2)/RPD()
/// WRITE(*,FMT1) ' d Z/dt (km/s) = ', CYLVEL(3)
/// WRITE(*,*) ' '
/// WRITE(*,*) 'Rectangular coordinates from inverse ' //
/// . 'mapping:'
/// WRITE(*,*) ' '
/// WRITE(*,FMT1) ' X (km) = ', RECTAN(1)
/// WRITE(*,FMT1) ' Y (km) = ', RECTAN(2)
/// WRITE(*,FMT1) ' Z (km) = ', RECTAN(3)
/// WRITE(*,*) ' '
/// WRITE(*,*) 'Rectangular velocity from inverse mapping:'
/// WRITE(*,*) ' '
/// WRITE(*,FMT1) ' dX/dt (km/s) = ', DRECTN(1)
/// WRITE(*,FMT1) ' dY/dt (km/s) = ', DRECTN(2)
/// WRITE(*,FMT1) ' dZ/dt (km/s) = ', DRECTN(3)
/// WRITE(*,*) ' '
/// END
///
///
/// When this program was executed on a Mac/Intel/gfortran/64-bit
/// platform, the output was:
///
///
/// Rectangular coordinates:
///
/// X (km) = -0.76096183E+08
/// Y (km) = 0.32436380E+09
/// Z (km) = 0.47470484E+08
///
/// Rectangular velocity:
///
/// dX/dt (km/s) = 0.22952075E+05
/// dY/dt (km/s) = 0.53760111E+04
/// dZ/dt (km/s) = -0.20881149E+02
///
/// Cylindrical coordinates:
///
/// Radius (km) = 0.33317039E+09
/// Longitude (deg) = 0.10320290E+03
/// Z (km) = 0.47470484E+08
///
/// Cylindrical velocity:
///
/// d Radius/dt (km/s) = -0.83496628E+01
/// d Longitude/dt (deg/s) = -0.40539288E-02
/// d Z/dt (km/s) = -0.20881149E+02
///
/// Rectangular coordinates from inverse mapping:
///
/// X (km) = -0.76096183E+08
/// Y (km) = 0.32436380E+09
/// Z (km) = 0.47470484E+08
///
/// Rectangular velocity from inverse mapping:
///
/// dX/dt (km/s) = 0.22952075E+05
/// dY/dt (km/s) = 0.53760111E+04
/// dZ/dt (km/s) = -0.20881149E+02
/// ```
///
/// # Author and Institution
///
/// ```text
/// J. Diaz del Rio (ODC Space)
/// W.L. Taber (JPL)
/// I.M. Underwood (JPL)
/// E.D. Wright (JPL)
/// ```
///
/// # Version
///
/// ```text
/// - SPICELIB Version 1.1.0, 26-OCT-2021 (JDR)
///
/// Edited the header to comply with NAIF standard.
/// Added complete code example.
///
/// Changed the input argument name LONG to CLON for consistency
/// with other routines.
///
/// - SPICELIB Version 1.0.1, 12-NOV-2013 (EDW)
///
/// Trivial edit to header, deleted trailing whitespace
/// on lines.
///
/// - SPICELIB Version 1.0.0, 19-JUL-2001 (WLT) (IMU)
/// ```
pub fn drdcyl(r: f64, clon: f64, z: f64, jacobi: &mut [[f64; 3]; 3]) {
DRDCYL(r, clon, z, jacobi.as_flattened_mut());
}
//$Procedure DRDCYL (Derivative of rectangular w.r.t. cylindrical)
pub fn DRDCYL(R: f64, CLON: f64, Z: f64, JACOBI: &mut [f64]) {
let mut JACOBI = DummyArrayMut2D::new(JACOBI, 1..=3, 1..=3);
//
// Local parameters
//
JACOBI[[DX, DR]] = f64::cos(CLON);
JACOBI[[DY, DR]] = f64::sin(CLON);
JACOBI[[DZ, DR]] = 0.0;
JACOBI[[DX, DLON]] = -(f64::sin(CLON) * R);
JACOBI[[DY, DLON]] = (f64::cos(CLON) * R);
JACOBI[[DZ, DLON]] = 0.0;
JACOBI[[DX, DZ]] = 0.0;
JACOBI[[DY, DZ]] = 0.0;
JACOBI[[DZ, DZ]] = 1.0;
}