Wrappers for azlrec, dazldr, drdazl, recazl (#27)

* added azlrec, recazl, dazldr, drdazl routines

* added tests for azlrec

* added tests for recazl

* added tests for drdazl and dazldr

* extend docstrings for azlrec, dazldr, drdazl, recazl

* fix docs in reclat

* tentative fix to CI.yml

* fix env for SPICEApplication tests

.github/workflows/CI.yml

@@ -45,7 +45,6 @@ jobs:
             ${{ runner.os }}-
       - uses: julia-actions/julia-buildpkg@v1
       - uses: julia-actions/julia-runtest@v1
-        with:
         env:
           GROUP: ${{ matrix.package}}
       - uses: julia-actions/julia-processcoverage@v1

Project.toml

@@ -8,13 +8,14 @@ LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
 
 [extras]
 LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
-Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
+Pkg = "44cfe95a-1eb2-52ea-b672-e2afdf69b78f"
 Random = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c"
 RemoteFiles = "cbe49d4c-5af1-5b60-bb70-0a60aa018e1b"
+Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
 
 [compat]
 julia = "1.6"
 CSPICE_jll = "67"
 
 [targets]
-test = ["LinearAlgebra", "Test", "Random", "RemoteFiles"]
+test = ["LinearAlgebra", "Pkg", "Random", "RemoteFiles", "Test"]

src/a.jl

@@ -1,4 +1,6 @@
-export axisar
+export
+    axisar,
+    azlrec
 
 """
     axisar(axis, angle)
@@ -24,3 +26,31 @@ function axisar(axis, angle)
     ccall((:axisar_c, libcspice), Cvoid, (Ref{SpiceDouble}, SpiceDouble, Ref{SpiceDouble}), axis, angle, r)
     permutedims(r)
 end
+
+"""
+    azlrec(range, az, el, azccw, elplsz)
+
+Convert from range, azimuth and elevation of a point to rectangular coordinates.
+
+### Arguments ###
+
+- `range`: Distance of the point from the origin
+- `az`: Azimuth in radians
+- `el`: Elevation in radians
+- `azccw`: Flag indicating how azimuth is measured. If `true`, the azimuth increases in the counterclockwise direction; otherwise it increases in the clockwise direction
+- `elplsz`: Flag indicating how elevation is measured. If `true`, the elevation increases from the XY plane toward +Z; otherwise toward -Z
+
+### Output ###
+
+- `rectan`: Rectangular coordinates of the point
+
+### References ###
+
+- [NAIF Documentation](https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/cspice/azlrec_c.html)
+"""
+function azlrec(range, az, el, azccw, elplsz)
+    rectan = Array{SpiceDouble}(undef, 3)
+    ccall((:azlrec_c, libcspice), Cvoid, (SpiceDouble, SpiceDouble, SpiceDouble, SpiceBoolean, SpiceBoolean, Ref{SpiceDouble}), 
+        range, az, el, azccw, elplsz, rectan)
+    rectan
+end

src/d.jl

@@ -28,6 +28,7 @@ export
     dasopr,
     dasopw,
     dasrfr,
+    dazldr,
     dcyldr,
     deltet,
     dgeodr,
@@ -43,6 +44,7 @@ export
     dpmax,
     dpmin,
     dpr,
+    drdazl,
     drdcyl,
     drdgeo,
     drdlat,
@@ -785,6 +787,36 @@ function dasrfr(handle, idwlen=128, ifnlen=256)
     Int(nresvr[]), Int(nresvc[]), Int(ncomr[]), Int(ncomc[])
 end
 
+"""
+    dazldr(x, y, z, azccw, elplsz)
+
+Compute the Jacobian matrix of the transformation from rectangular to azimuth/elevation coordinates.
+
+### Arguments ###
+
+- `x`: X-coordinate of point
+- `y`: Y-coordinate of point
+- `z`: Z-coordinate of point
+- `azccw`: Flag indicating how azimuth is measured. If `true`, the azimuth increases in the counterclockwise direction; otherwise it increases in the clockwise direction
+- `elplsz`: Flag indicating how elevation is measured. If `true`, the elevation increases from the XY plane toward +Z; otherwise toward -Z
+
+### Output ###
+
+Returns the matrix of partial derivatives.
+
+### References ###
+
+- [NAIF Documentation](https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/cspice/dazldr_c.html)
+"""
+function dazldr(x, y, z, azccw, elplsz)
+    jacobi = Array{SpiceDouble}(undef, 3, 3)
+    ccall((:dazldr_c, libcspice), Cvoid,
+          (SpiceDouble, SpiceDouble, SpiceDouble, SpiceBoolean, SpiceBoolean, Ref{SpiceDouble}),
+          x, y, z, azccw, elplsz, jacobi)
+    handleerror()
+    permutedims(jacobi)
+end
+
 """
     dcyldr(x, y, z)
 
@@ -1177,6 +1209,36 @@ end
 """
 dpr
 
+"""
+    drdazl(range, az, el, azccw, elplsz)
+
+Compute the Jacobian matrix of the transformation from azimuth/elevation to rectangular coordinates.
+
+### Arguments ###
+
+- `range`: Distance of a point from the origin
+- `az`: Azimuth of input point in radians
+- `el`: Elevation of input point in radians
+- `azccw`: Flag indicating how azimuth is measured. If `true`, the azimuth increases in the counterclockwise direction; otherwise it increases in the clockwise direction
+- `elplsz`: Flag indicating how elevation is measured. If `true`, the elevation increases from the XY plane toward +Z; otherwise toward -Z
+
+### Output ###
+
+Returns the matrix of partial derivatives.
+
+### References ###
+
+- [NAIF Documentation](https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/cspice/drdazl_c.html)
+"""
+function drdazl(range, az, el, azccw, elplsz)
+    jacobi = Array{SpiceDouble}(undef, 3, 3)
+    ccall((:drdazl_c, libcspice), Cvoid,
+          (SpiceDouble, SpiceDouble, SpiceDouble, SpiceBoolean, SpiceBoolean, Ref{SpiceDouble}),
+          range, az, el, azccw, elplsz, jacobi)
+    handleerror()
+    permutedims(jacobi)
+end
+
 """
     drdcyl(r, lon, z)
 

src/r.jl

@@ -2,6 +2,7 @@ export
     radrec,
     rav2xf,
     raxisa,
+    recazl,
     reccyl,
     recgeo,
     reclat,
@@ -110,6 +111,40 @@ function raxisa(matrix)
     axis, angle[]
 end
 
+"""
+    recazl(rectan, azccw, elplsz)
+
+Convert rectangular coordinates of a point to range, azimuth and elevation.
+
+### Arguments ###
+
+- `rectan`: Rectangular coordinates of a point
+- `azccw`: Flag indicating how azimuth is measured. If `true`, the azimuth increases in the counterclockwise direction; otherwise it increases in the clockwise direction
+- `elplsz`: Flag indicating how elevation is measured. If `true`, the elevation increases from the XY plane toward +Z; otherwise toward -Z
+
+### Output ###
+
+Returns a tuple consisting of:
+
+- `range`: Distance of the point from the origin
+- `az`: Azimuth in radians
+- `el`: Elevation in radians
+
+### References ###
+
+- [NAIF Documentation](https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/cspice/recazl_c.html)
+"""
+function recazl(rectan, azccw, elplsz)
+    @checkdims 3 rectan
+    range = Ref{SpiceDouble}()
+    az = Ref{SpiceDouble}()
+    el = Ref{SpiceDouble}()
+    ccall((:recazl_c, libcspice), Cvoid,
+          (Ref{SpiceDouble}, SpiceBoolean, SpiceBoolean, Ref{SpiceDouble}, Ref{SpiceDouble}, Ref{SpiceDouble}),
+          collect(rectan), azccw, elplsz, range, az, el)
+    range[], az[], el[]
+end
+
 """
     reccyl(rectan)
 
@@ -189,8 +224,8 @@ Convert from rectangular coordinates to latitudinal coordinates.
 Returns a tuple consisting of:
 
 - `rad`: Distance of the point from the origin
-- `lon`: Planetographic longitude of the point (radians)
-- `lat`: Planetographic latitude of the point (radians)
+- `lon`: Longitude of the point (radians)
+- `lat`: Latitude of the point (radians)
 
 ### References ###
 

test/a.jl

@@ -1,7 +1,68 @@
 @testset "A" begin
-    axis = [0.0, 0.0, 1.0]
-    output = axisar(axis, π/2)
-    expected = [0.0 -1.0 0.0; 1.0 0.0 0.0; 0.0 0.0 1.0]
-    @test output ≈ expected
-    @test_throws ArgumentError axisar(axis[1:2], π/2)
+    @testset "axisar" begin
+        axis = [0.0, 0.0, 1.0]
+        output = axisar(axis, π/2)
+        expected = [0.0 -1.0 0.0; 1.0 0.0 0.0; 0.0 0.0 1.0]
+        @test output ≈ expected
+        @test_throws ArgumentError axisar(axis[1:2], π/2)
+    end
+    @testset "azlrec" begin
+        exp01 = [0.0, 0.0, 0.0]
+        exp02 = [1.0, 0.0, 0.0]
+        exp03 = [-0.0, -1.0, 0.0]
+        exp04 = [0.0, 0.0, -1.0]
+        exp05 = [-1.0, 0.0, 0.0]
+        exp06 = [0.0, 1.0, 0.0]
+        exp07 = [0.0, 0.0, 1.0]
+        exp08 = [1.0, -1.0, 0.0]
+        exp09 = [1.0, 0.0, -1.0]
+        exp10 = [-0.0, -1.0, -1.0]
+        exp11 = [1.0, -1.0, -1.0]
+
+        act01 = collect(azlrec(0.0, deg2rad(0.0), deg2rad(0.0), true, true))
+        act02 = collect(azlrec(1.0, deg2rad(0.0), deg2rad(0.0), true, true))
+        act03 = collect(azlrec(1.0, deg2rad(270.0), deg2rad(0.0), true, true))
+        act04 = collect(azlrec(1.0, deg2rad(0.0), deg2rad(-90.0), true, true))
+        act05 = collect(azlrec(1.0, deg2rad(180.0), deg2rad(0.0), true, true))
+        act06 = collect(azlrec(1.0, deg2rad(90.0), deg2rad(0.0), true, true))
+        act07 = collect(azlrec(1.0, deg2rad(0.0), deg2rad(90.0), true, true))
+        act08 = collect(azlrec(sqrt(2.0), deg2rad(315.0), deg2rad(0.0), true, true))
+        act09 = collect(azlrec(sqrt(2.0), deg2rad(0.0), deg2rad(-45.0), true, true))
+        act10 = collect(azlrec(sqrt(2.0), deg2rad(270.0), deg2rad(-45.0), true, true))
+        act11 = collect(azlrec(sqrt(3.0), deg2rad(315.0), deg2rad(-35.264389682754654), true, true))
+
+        @testset for i in eachindex(act01, exp01)
+            @test act01[i] ≈ exp01[i] atol=1e-16
+        end
+        @testset for i in eachindex(act02, exp02)
+            @test act02[i] ≈ exp02[i] atol=1e-16
+        end
+        @testset for i in eachindex(act03, exp03)
+            @test act03[i] ≈ exp03[i] atol=1e-15
+        end
+        @testset for i in eachindex(act04, exp04)
+            @test act04[i] ≈ exp04[i] atol=1e-16
+        end
+        @testset for i in eachindex(act05, exp05)
+            @test act05[i] ≈ exp05[i] atol=1e-15
+        end
+        @testset for i in eachindex(act06, exp06)
+            @test act06[i] ≈ exp06[i] atol=1e-16
+        end
+        @testset for i in eachindex(act07, exp07)
+            @test act07[i] ≈ exp07[i] atol=1e-16
+        end
+        @testset for i in eachindex(act08, exp08)
+            @test act08[i] ≈ exp08[i] atol=1e-15
+        end
+        @testset for i in eachindex(act09, exp09)
+            @test act09[i] ≈ exp09[i] atol=1e-15
+        end
+        @testset for i in eachindex(act10, exp10)
+            @test act10[i] ≈ exp10[i] atol=1e-15
+        end
+        @testset for i in eachindex(act11, exp11)
+            @test act11[i] ≈ exp11[i] atol=1e-15
+        end
+    end
 end

test/d.jl

@@ -195,6 +195,18 @@
             kclear()
         end
     end
+    @testset "dazldr" begin
+        out1 = dazldr(1.0, 1.0, 0.0, true, true)
+        exp1 = [sqrt(2.0)/2.0 sqrt(2.0)/2.0 0.0;
+                -0.5 0.5 0.0;
+                -0.0 -0.0 sqrt(2.0)/2.0]
+        out2 = dazldr(1.0, 1.0, 0.0, false, false)
+        exp2 = [sqrt(2.0)/2.0 sqrt(2.0)/2.0 0.0;
+                0.5 -0.5 -0.0;
+                0.0 0.0 -sqrt(2.0)/2.0]
+        @test out1 ≈ exp1
+        @test out2 ≈ exp2
+    end
     @testset "dcyldr" begin
         output = dcyldr(1.0, 0.0, 0.0)
         expected = [1.0 0.0 0.0;
@@ -348,6 +360,18 @@
     @testset "dpr" begin
         @test SPICE._dpr() == rad2deg(1.0)
     end
+    @testset "drdazl" begin
+        out1 = drdazl(1.0, deg2rad(45.0), 0.0, true, true)
+        exp1 = [sqrt(2.0)/2.0 -sqrt(2.0)/2.0 -0.0;
+                sqrt(2.0)/2.0 sqrt(2.0)/2.0 -0.0;
+                0.0 0.0 1.0]
+        out2 = drdazl(1.0, deg2rad(45.0), 0.0, false, false)
+        exp2 = [sqrt(2.0)/2.0 -sqrt(2.0)/2.0 -0.0;
+                -sqrt(2.0)/2.0 -sqrt(2.0)/2.0 0.0;
+                -0.0 -0.0 -1.0]
+        @test out1 ≈ exp1
+        @test out2 ≈ exp2
+    end
     @testset "drdcyl" begin
         output = drdcyl(1.0, deg2rad(180.0), 1.0)
         expected = [-1.0 0.0 0.0;

test/r.jl

@@ -31,6 +31,55 @@ using LinearAlgebra: I
         @test_throws SpiceError raxisa(randn(3, 3))
         @test_throws ArgumentError raxisa(randn(2, 2))
     end
+    @testset "recazl" begin
+        exp01 = [0.0, 0.0, 0.0]
+        exp02 = [1.0, 0.0, 0.0]
+        exp03 = [1.0, deg2rad(270.0), 0.0]
+        exp04 = [1.0, 0.0, deg2rad(-90.0)]
+        exp05 = [1.0, deg2rad(180.0), 0.0]
+        exp06 = [1.0, deg2rad(90.0), 0.0]
+        exp07 = [1.0, 0.0, deg2rad(90.0)]
+        exp08 = [sqrt(2.0), deg2rad(315.0), 0.0]
+        exp09 = [sqrt(2.0), 0.0, deg2rad(-45.0)]
+        exp10 = [sqrt(2.0), deg2rad(270.0), deg2rad(-45.0)]
+        exp11 = [sqrt(3.0), deg2rad(315.0), deg2rad(-35.264389682754654)]
+
+        @test all(recazl([0.0, 0.0, 0.0], false, false) .≈ exp01)
+        @test all(recazl([1.0, 0.0, 0.0], false, false) .≈ exp02)
+        @test all(recazl([0.0, 1.0, 0.0], false, false) .≈ exp03)
+        @test all(recazl([0.0, 0.0, 1.0], false, false) .≈ exp04)
+        @test all(recazl([-1.0, 0.0, 0.0], false, false) .≈ exp05)
+        @test all(recazl([0.0, -1.0, 0.0], false, false) .≈ exp06)
+        @test all(recazl([0.0, 0.0, -1.0], false, false) .≈ exp07)
+        @test all(recazl([1.0, 1.0, 0.0], false, false) .≈ exp08)
+        @test all(recazl([1.0, 0.0, 1.0], false, false) .≈ exp09)
+        @test all(recazl([0.0, 1.0, 1.0], false, false) .≈ exp10)
+        @test all(recazl([1.0, 1.0, 1.0], false, false) .≈ exp11)
+
+        exp21 = [0.0, 0.0, 0.0]
+        exp22 = [1.0, 0.0, 0.0]
+        exp23 = [1.0, deg2rad(90.0), 0.0]
+        exp24 = [1.0, 0.0, deg2rad(90.0)]
+        exp25 = [1.0, deg2rad(180.0), 0.0]
+        exp26 = [1.0, deg2rad(270.0), 0.0]
+        exp27 = [1.0, 0.0, deg2rad(-90.0)]
+        exp28 = [sqrt(2.0), deg2rad(45.0), 0.0]
+        exp29 = [sqrt(2.0), 0.0, deg2rad(45.0)]
+        exp30 = [sqrt(2.0), deg2rad(90.0), deg2rad(45.0)]
+        exp31 = [sqrt(3.0), deg2rad(45.0), deg2rad(35.264389682754654)]
+
+        @test all(recazl([0.0, 0.0, 0.0], true, true) .≈ exp21)
+        @test all(recazl([1.0, 0.0, 0.0], true, true) .≈ exp22)
+        @test all(recazl([0.0, 1.0, 0.0], true, true) .≈ exp23)
+        @test all(recazl([0.0, 0.0, 1.0], true, true) .≈ exp24)
+        @test all(recazl([-1.0, 0.0, 0.0], true, true) .≈ exp25)
+        @test all(recazl([0.0, -1.0, 0.0], true, true) .≈ exp26)
+        @test all(recazl([0.0, 0.0, -1.0], true, true) .≈ exp27)
+        @test all(recazl([1.0, 1.0, 0.0], true, true) .≈ exp28)
+        @test all(recazl([1.0, 0.0, 1.0], true, true) .≈ exp29)
+        @test all(recazl([0.0, 1.0, 1.0], true, true) .≈ exp30)
+        @test all(recazl([1.0, 1.0, 1.0], true, true) .≈ exp31)
+    end
     @testset "reccyl" begin
         expected1 = (0.0, 0.0, 0.0)
         expected2 = (1.0, π/2, 0.0)

test/runtests.jl

@@ -165,7 +165,7 @@ if get(ENV, "GROUP", "SPICE") == "SPICE"
 
 else
     import Pkg
-    Pkg.activate(joinpath(@__DIR__, "lib", ENV["GROUP"]))
+    Pkg.activate(joinpath(dirname(@__DIR__), "lib", ENV["GROUP"]))
     Pkg.instantiate()
     Pkg.test()
 end