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<title>The "Astronomy" framework. Reference frames</title>
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<h2>
4. Reference frames</h2>
<blockquote>
<p>
<b> <a href="referenceframes.html#Introduction">
4.1 Introduction</a> </b>
</p>
<p>
<b><a href="referenceframes.html#RigidFrame">4.2 Rigid frame </a></b>
</p>
<p>
<b><a href="referenceframes.html#MovedFrame"> 4.3 Moved frame</a></b>
</p>
<p>
<b><a href="referenceframes.html#Relative">4.4 Relative measurements</a></b></p>
</blockquote>
<h2><a name="Introduction"></a>
4.1 Introduction</h2>
<blockquote>
<p>
This software enables us to operate with 3D reference frames. Every frame may have
a parent frame. The number of parents of every frame should not exceed one.
Position, orientation, linear and angular veloctity of every frame are relative
to its parent frame. If a frame have no a parent then its parameters are relative
to the single dedicated frame that we shall call <em>zero frame</em>. A link of frame
to its parent corresponds to the <img alt="Link between frames" src="images/framelinkbutton.jpg" />
button.</p>
<p>
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</blockquote>
<h2>
<a name="RigidFrame">4.2 Rigid frame </a></h2>
<p>
Rigid frame corresponds to the
<img src="images/referenceframebutton.jpg" />
button. Its property editor is shown below:</p>
<p>
<img alt="Fixed frame" src="images/fixedreferenceframepropertyeditor.jpg" /></p>
<p>
This editor enables us to edit fixed coordinates and transformation matrix.</p>
<h2>
<a name="MovedFrame"> 4.3 Moved frame</a></h2>
<p>
The moved frame corrsponds to the
<img alt="Moved Frame" src="images/formulareferenceframebutton.jpg" /> button.
Its property editor is shown below:</p>
<p>
<img alt="Moved Frame" src="images/movedframeproperties.jpg" /></p>
<p>
This editor enables us to link data-in to 7 motion parameters. First three
define <em>x(t)</em>, <em>y(t)</em>, <em>z(t) . </em>Latest four formulas defines
angular evolution (we use components of orientation quaternion). This component
implements the <em>Data consumer</em> interface. So it should be linked by
<img alt="Information link" src="images/inflinkbtn.jpg" />
arrow(s) to its information provider(s).</p>
<h2>
<a name="Relative">4.4 Relative measurements</a>
</h2>
<p>
We may obtain parameters of motion of one frame relative to another. To do this
use the
<img alt="Relative measurements" src="images/relativemeasurementsbtn.jpg" />
component. It should be linked to the two frames as it is shown below</p>
<p>
<img alt="Relative mesurements scenario" src="images/relativemesurementsscn.jpg" /></p>
<p>
In this picture we have two frames: <strong>Frame</strong> and <strong>Base frame</strong>.
The <strong>Measurements</strong> object provides information about
motion parameters of <strong>Frame</strong> relatively to <strong>Base frame.
</strong>The <strong>Measurements</strong> object is also a provider
of information. Every information consumer may be linked by an
<img alt="Information link" src="images/inflinkbtn.jpg" />
to the <strong>Measurements</strong> object.</p>
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Ph. D. Petr Ivankov worked as scientific researcher at Russian Mission Control Centre since 1978 up to 2000. Now he is engaged by Aviation training simulators http://dinamika-avia.com/ . His additional interests are:
1) Noncommutative geometry
http://front.math.ucdavis.edu/author/P.Ivankov
2) Literary work (Russian only)
http://zhurnal.lib.ru/editors/3/3d_m/
3) Scientific articles
http://arxiv.org/find/all/1/au:+Ivankov_Petr/0/1/0/all/0/1
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