Program Listing for File SpiceFrame.h

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/**
 * @file
 * @brief Contains the declarations for the SpiceFrame and SpiceFrameToFrame classes.
 */

#pragma once

#include "EdgeFrameToFrame.h"
#include "Frame.h"
#include <filesystem>

namespace Karana::Frame {

    namespace kc = Karana::Core;
    namespace km = Karana::Math;

    // source for NAIF IDs https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/req/naif_ids.html

    /**
     * @class SpiceFrame
     * @brief Class for frames associated with Spice/NAIF bodies
     *
     * See \sref{frames_layer_sec} for more discussion on
     * the frames layer.
     */
    class SpiceFrame : public Frame {

        /* for acced to _naif_body_id */
        friend class SpiceFrameToFrame;

      public:
        /**
         * @brief Method to load a NAIF kernel.
         * @param path path to the kernel
         */
        static void loadNaifKernel(const std::filesystem::path &path);

        /**
         * @brief Factory method to look up, or create a SpiceFrame
         *
         * If the NAIF frame id is unspecified, then the default frame for
         * the NAIF body is used.
         *
         * @param fc the FrameContainer
         * @param naif_body_id the NAIF body id
         * @param naif_frame_id the NAIF frame id
         * @return a new SpiceFrame instance
         */
        static kc::ks_ptr<SpiceFrame> lookupOrCreate(kc::ks_ptr<FrameContainer> fc,
                                                     unsigned int naif_body_id,
                                                     unsigned int naif_frame_id = 999999);

        /**
         * @brief SpiceFrame constructor. The constructor is not meant to be called directly.
         *        Please use the create(...) method instead to create an instance.
         *
         * @param fc the FrameContainer
         * @param naif_body_id the NAIF body id
         * @param naif_frame_id the NAIF frame id
         */
        SpiceFrame(kc::ks_ptr<FrameContainer> fc,
                   unsigned int naif_body_id,
                   unsigned int naif_frame_id = 999999);

      protected:
        /**
         * @brief Discard the SpiceFrame.
         * @param base - Base pointer to SpiceFrame.
         */
        void _discard(kc::ks_ptr<Base> &base) override;

        /// The Spice NAIF frame ID for this SpiceFrame.
        unsigned int _naif_frame_id;

        /// The Spice body frame ID for this SpiceFrame.
        unsigned int _naif_body_id;
    };

    /**
     * @class SpiceFrameToFrame
     * @brief Class for edges connecting SpiceFrame pairs
     */
    class SpiceFrameToFrame : public EdgeFrameToFrame {

      public:
        /**
         * @brief Factory method to look up or create a SpiceFrameToFrame
         *
         * @param oframe the SpiceFrame oframe
         * @param pframe the SpiceFrame pframe
         * @return a SpiceFrameToFrame instance
         */
        static kc::ks_ptr<SpiceFrameToFrame> lookupOrCreate(kc::ks_ptr<SpiceFrame> &oframe,
                                                            kc::ks_ptr<SpiceFrame> &pframe);

        /**
         * @brief Constructor
         * @param oframe the SpiceFrame oframe
         * @param pframe the SpiceFrame pframe
         */
        SpiceFrameToFrame(kc::ks_ptr<SpiceFrame> &oframe, kc::ks_ptr<SpiceFrame> &pframe);

      protected:
        void _computeTransform(Karana::Math::HomTran &T) override;
        void _computeVelocity(Karana::Math::SpatialVector &V) override;
        void _computeAccel(Karana::Math::SpatialVector &a) override;
    };

} // namespace Karana::Frame