-KPL/FK

Milani Spacecraft Frames Kernel
=============================================================================

   This frame kernel contains complete set of frame definitions for
   Milani, including definitions for the Milani fixed and Milani science
   instrument frames. This kernel also contains NAIF ID/name mapping for
   the Milani science instruments and s/c structures (see the last section
   of the file).


Version and Date
-----------------------------------------------------------------------------

   Version 0.1 -- May 26, 2023 -- Alfredo Escalante Lopez, ESAC/ESA

      Corrected reference frames diagrams and added VISTA, NAVCAM, LIDAR
      and MLRH reference frames and NAIF ID/body definitions.

   Version 0.0 -- May 24, 2022 -- Alfredo Escalante Lopez, ESAC/ESA

      Preliminary Version. Only basic ID and frame definitions.


References
-----------------------------------------------------------------------------

   1.   ``Frames Required Reading''

   2.   ``Kernel Pool Required Reading''

   3.   ``C-Kernel Required Reading''


Contact Information
-----------------------------------------------------------------------------

   If you have any questions regarding this file contact the
   ESA SPICE Service at ESAC:

           Alfredo Escalante Lopez
           (+34) 91-8131-429
           spice@sciops.esa.int

   or NAIF at JPL:

           Boris Semenov
           +1 (818) 354-8136
           Boris.Semenov@jpl.nasa.gov


Implementation Notes
-----------------------------------------------------------------------------

   This file is used by the SPICE system as follows: programs that make use
   of this frame kernel must "load" the kernel normally during program
   initialization. Loading the kernel associates the data items with
   their names in a data structure called the "kernel pool".  The SPICELIB
   routine FURNSH loads a kernel into the pool as shown below:

     FORTRAN: (SPICELIB)

       CALL FURNSH ( frame_kernel_name )

     C: (CSPICE)

       furnsh_c ( frame_kernel_name );

     IDL: (ICY)

       cspice_furnsh, frame_kernel_name

     MATLAB: (MICE)

       cspice_furnsh ( 'frame_kernel_name' )

     PYTHON: (SPICEYPY)*

       furnsh( frame_kernel_name )

   In order for a program or routine to extract data from the pool, the
   SPICELIB routines GDPOOL, GIPOOL, and GCPOOL are used.  See [2] for
   more details.

   This file was created and may be updated with a text editor or word
   processor.

   * SPICEYPY is a non-official, community developed Python wrapper for the
     NAIF SPICE toolkit. Its development is managed on Github.
     It is available at: https://github.com/AndrewAnnex/SpiceyPy


Milani Mission NAIF ID Codes
-----------------------------------------------------------------------------

   The following names and NAIF ID codes are assigned to the Milani
   spacecraft, its structures and science instruments (the keywords
   implementing these definitions are located in the section "Milani
   Mission NAIF ID Codes -- Definition Section" at the end of this file):

      Milani Spacecraft and Spacecraft Structures names/IDs:

            MILANI                      -99902

            MILANI_SPACECRAFT           -99902000  (synonym: MILANI_SC)

      Milani ASPECT IDs:

            MILANI_ASPECT_VIS           -99902110
            MILANI_ASPECT_NIR1          -99902120
            MILANI_ASPECT_NIR2          -99902130
            MILANI_ASPECT_SWIR          -99902140

      Milani VISTA IDs:

            MILANI_VISTA                -99902210

      Milani NAVCAM IDs:

            MILANI_NAVCAM               -99902310

      Milani LIDAR IDs:

            MILANI_LIDAR                -99902410

      Milani Laser Retroreflectors for Hera (MLRH) IDs:

            MILANI_MLRH_1               -99902511
            MILANI_MLRH_2               -99902512


Milani Mission Frames
-----------------------------------------------------------------------------

   The following Milani frames are defined in this kernel file:

           Name                  Relative to               Type      NAIF ID
      ======================  ========================  ==========  =========

    Spacecraft frames:
    ------------------
      MILANI_SPACECRAFT_D1      J2000                    CK         -99902000
      MILANI_SPACECRAFT_D2      J2000                    CK         -99902001
      MILANI_SPACECRAFT         MILANI_SPACECRAFT_D1     CK         -99902

    ASPECT frames:
    --------------
      MILANI_ASPECT_VIS         MILANI_SPACECRAFT        FIXED      -99902110
      MILANI_ASPECT_NIR1        MILANI_SPACECRAFT        FIXED      -99902120
      MILANI_ASPECT_NIR2        MILANI_SPACECRAFT        FIXED      -99902130
      MILANI_ASPECT_SWIR        MILANI_SPACECRAFT        FIXED      -99902140

    VISTA frames:
    -------------
      MILANI_VISTA              MILANI_SPACECRAFT        FIXED      -99902210

    NAVCAM frames:
    --------------
      MILANI_NAVCAM             MILANI_SPACECRAFT        FIXED      -99902310

    LIDAR frames:
    -------------
      MILANI_LIDAR              MILANI_SPACECRAFT        FIXED      -99902410

    MLRH frames:
    ------------
      MILANI_MLRH_1             MILANI_SPACECRAFT        FIXED      -99902511
      MILANI_MLRH_2             MILANI_SPACECRAFT        FIXED      -99902512


Milani Frames Hierarchy
-----------------------------------------------------------------------------

  The diagram below shows the Milani spacecraft and its structures frame
  hierarchy (not including science instrument frames.)

                                 "J2000" INERTIAL
           +----------------------------------------------------+
           |                            |                       |
           |<-pck                       |                       |<-pck
           |                            |                       |
           V                            |                       V
      "EARTH_FIXED"                     |                 "DIDYMOS_FIXED"
      -------------                     |                 ---------------
                                        |                       |
                                        |<-ck                   |<-dynamic
                                        |                       |
                                        V                       V
                               "MILANI_SPACECRAFT"        "DIMORPHOS_FIXED"
                               -------------------        -----------------
                                        .                       |
                                        .                       |<-dynamic
                                        .                       |
                                        .                       V
                                        .              "DIMORPHOS_IMPACT_TOPO"
                                        .              -----------------------
                                        .
                                        V
                   Individual instrument frame trees are provided
                     in the corresponding sections of this file


Milani Spacecraft and Spacecraft Structures Frames
========================================================================

   This section of the file contains the definitions of the spacecraft
   and spacecraft structures frames.


Milani Spacecraft Frame
--------------------------------------

   The Milani spacecraft frame is defined as follows:

      -  +Z axis is along the nominal boresight direction of the imager,
         pointed toward the asteroid;

      -  +Y axis is along the right solar array direction;

      -  +X axis completes the right-hand frame;

      -  the origin of this frame is the Hera interface point.

   These diagrams illustrate the MILANI_SPACECRAFT frame:


   -X s/c side view:
   -----------------

                                ^
                                | toward asteroid
                                |

                           Science Deck
      .__  __..___________. ._______. .___________..__  ___.
      |  / / ||           | |       | |           ||  / /  |
      |  / / ||           | .       . |           ||  \ \  |
      |  \ \ ||           | |.-----.| |           ||  / /  |
      |  / / ||           |o||+Zsc ||o|           ||  \ \  |
      |  \ \ ||           | ||__^__|| |           ||  / /  |
      |  / / ||           | |   |   | |           ||  / /  |
      .__\ \_..___________. .___|___. .___________..__\ \__.
                   +Ysc<--------x
                               +Xsc
                                                   +Xsc is in the
                                                    the page.


   +Z s/c side (science deck side) view:
   -------------------------------------

                              +Xsc
                            .___^___.
                            | __|__ |
                       +Ysc |'  |  '|
   o==/ /==-============--<o|---o__'|o---===========-=/ /==o
       +Y Solar Array       | +Zsc  |           -Y Solar Array
                            ._______.

                                                   +Zsc is out
                                                    of the page.


   Since the orientation of the MILANI_SPACECRAFT frame is computed
   on-board, sent down in telemetry, and stored in the s/c CK files, it
   is defined as a CK-based frame.

   \begindata

      FRAME_MILANI_SPACECRAFT_D1       = -99902000
      FRAME_-99902000_NAME             = 'MILANI_SPACECRAFT_D1'
      FRAME_-99902000_CLASS            =  3
      FRAME_-99902000_CLASS_ID         = -99902000
      FRAME_-99902000_CENTER           = -99902
      CK_-99902000_SCLK                = -99902
      CK_-99902000_SPK                 = -99902

      FRAME_MILANI_SPACECRAFT_D2       = -99902001
      FRAME_-99902001_NAME             = 'MILANI_SPACECRAFT_D2'
      FRAME_-99902001_CLASS            =  3
      FRAME_-99902001_CLASS_ID         = -99902001
      FRAME_-99902001_CENTER           = -99902
      CK_-99902001_SCLK                = -99902
      CK_-99902001_SPK                 = -99902

      FRAME_MILANI_SPACECRAFT          = -99902
      FRAME_-99902_NAME                = 'MILANI_SPACECRAFT'
      FRAME_-99902_CLASS               =  4
      FRAME_-99902_CLASS_ID            = -99902
      FRAME_-99902_CENTER              = -99902
      TKFRAME_-99902_RELATIVE          = 'MILANI_SPACECRAFT_D1'
      TKFRAME_-99902_SPEC              = 'ANGLES'
      TKFRAME_-99902_UNITS             = 'DEGREES'
      TKFRAME_-99902_AXES              = ( 1,    2,    3   )
      TKFRAME_-99902_ANGLES            = ( 0.0,  0.0,  0.0 )

   \begintext


ASPECT Frames
------------------------------------------------------------------------

   This section of the file contains the definitions of the Asteroid Spectral
   Imager (ASPECT) instrument frames.


ASPECT Frame Tree
~~~~~~~~~~~~~~~~~

   The diagram below shows the ASPECT frame hierarchy.

                                 "J2000" INERTIAL
                    .... ---------------------------------- ...
                                        |
                                        |
                                        |<-ck
                                        |
                                        V
                               "MILANI_SPACECRAFT"
         +----------------------------------------------------------+
         |                    |                    |                |
         |<-fixed             |<-fixed             |<-fixed         |<-fixed
         |                    |                    |                |
         v                    |                    |                v
   "MILANI_ASPECT_VIS"        |                    |       "MILANI_ASPECT_SWIR"
   -------------------        |                    |       --------------------
                              v                    v
                    "MILANI_ASPECT_NIR1"   "MILANI_ASPECT_NIR2"
                    --------------------   --------------------


ASPECT VIS, NIR1, NIR2 and SWIR Frames
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

   The Asteroid Spectral Imager (ASPECT) is rigidly mounted on the spacecraft
   Science Deck. Therefore, the frames associated with it -- the
   MILANI_ASPECT_VIS, MILANI_ASPECT_NIR1, MILANI_ASPECT_NIR2 and
   MILANI_ASPECT_SWIR -- are specified as fixed offset frames with its
   orientation given relative to the MILANI_SPACECRAFT frame.

   The ASPECT frames are defined as follows:

      -  +Z axis are along the nominal boresight direction of the imager, and
         they are nominally co-aligned with the spacecraft +Z axis;

      -  +Y axis is along the right solar array direction, and they are
         nominally co-aligned with the spacecraft +Y axis;

      -  +X axis completes the right-hand frame, and they are nominally
         co-aligned with the spacecraft +X axis;

      -  the origin of this frame is the Hera interface point.


   These diagrams illustrate the nominal ASPECT frames with respect to the
   spacecraft frame.

   +Z s/c side (science deck side) view:
   -------------------------------------

                              +Xasp
                              +Xsc
                            .___^___.
                       +Yasp| __|__ |
                       +Ysc |'  |  '|
   o==/ /==-============--<o|---o__'|o---===========-=/ /==o
       +Y Solar Array       | +Zsc  |           -Y Solar Array
                            ._+Zasp_.

                                                   +Zsc and +Zasp are out
                                                   of the page.


   Nominally the MILANI_ASPECT_VIS, MILANI_ASPECT_NIR1, MILANI_ASPECT_NIR2 and
   MILANI_ASPECT_SWIR frames are co-aligned with the MILANI_SPACECRAFT frame.

   Since the SPICE frames subsystem calls for specifying the reverse
   transformation--going from the instrument or structure frame to the
   base frame--as compared to the description given above, the order of
   rotations assigned to the TKFRAME_*_AXES keyword is also reversed
   compared to the above text, and the signs associated with the
   rotation angles assigned to the TKFRAME_*_ANGLES keyword are the
   opposite from what is written in the above text.

   \begindata

      FRAME_MILANI_ASPECT_VIS            = -99902110
      FRAME_-99902110_NAME               = 'MILANI_ASPECT_VIS'
      FRAME_-99902110_CLASS              =  4
      FRAME_-99902110_CLASS_ID           = -99902110
      FRAME_-99902110_CENTER             = -99902
      TKFRAME_-99902110_RELATIVE         = 'MILANI_SPACECRAFT'
      TKFRAME_-99902110_SPEC             = 'ANGLES'
      TKFRAME_-99902110_UNITS            = 'DEGREES'
      TKFRAME_-99902110_AXES             = ( 3,     2,      1   )
      TKFRAME_-99902110_ANGLES           = ( 0.0,   0.0,    0.0 )

      FRAME_MILANI_ASPECT_NIR1           = -99902120
      FRAME_-99902120_NAME               = 'MILANI_ASPECT_NIR1'
      FRAME_-99902120_CLASS              =  4
      FRAME_-99902120_CLASS_ID           = -99902120
      FRAME_-99902120_CENTER             = -99902
      TKFRAME_-99902120_RELATIVE         = 'MILANI_SPACECRAFT'
      TKFRAME_-99902120_SPEC             = 'ANGLES'
      TKFRAME_-99902120_UNITS            = 'DEGREES'
      TKFRAME_-99902120_AXES             = ( 3,     2,      1   )
      TKFRAME_-99902120_ANGLES           = ( 0.0,   0.0,    0.0 )

      FRAME_MILANI_ASPECT_NIR2           = -99902130
      FRAME_-99902130_NAME               = 'MILANI_ASPECT_NIR2'
      FRAME_-99902130_CLASS              =  4
      FRAME_-99902130_CLASS_ID           = -99902130
      FRAME_-99902130_CENTER             = -99902
      TKFRAME_-99902130_RELATIVE         = 'MILANI_SPACECRAFT'
      TKFRAME_-99902130_SPEC             = 'ANGLES'
      TKFRAME_-99902130_UNITS            = 'DEGREES'
      TKFRAME_-99902130_AXES             = ( 3,     2,      1   )
      TKFRAME_-99902130_ANGLES           = ( 0.0,   0.0,    0.0 )

      FRAME_MILANI_ASPECT_SWIR           = -99902140
      FRAME_-99902140_NAME               = 'MILANI_ASPECT_SWIR'
      FRAME_-99902140_CLASS              =  4
      FRAME_-99902140_CLASS_ID           = -99902140
      FRAME_-99902140_CENTER             = -99902
      TKFRAME_-99902140_RELATIVE         = 'MILANI_SPACECRAFT'
      TKFRAME_-99902140_SPEC             = 'ANGLES'
      TKFRAME_-99902140_UNITS            = 'DEGREES'
      TKFRAME_-99902140_AXES             = ( 3,     2,      1   )
      TKFRAME_-99902140_ANGLES           = ( 0.0,   0.0,    0.0 )

   \begintext


VISTA Frames
------------------------------------------------------------------------

   This section of the file contains the definitions of the Volatile in-Situ
   Thermogravimeter Analyser (VISTA) instrument frames.


VISTA Frame Tree
~~~~~~~~~~~~~~~~

   The diagram below shows the VISTA frame hierarchy.

                                 "J2000" INERTIAL
                    .... ---------------------------------- ...
                                        |
                                        |
                                        |<-ck
                                        |
                                        V
                               "MILANI_SPACECRAFT"
                               -------------------
                                        |
                                        |<-fixed
                                        |
                                        v
                                  "MILANI_VISTA"
                                  --------------


VISTA Frames
~~~~~~~~~~~~

   The Volatile in-Situ Thermogravimeter Analyser (VISTA) is rigidly
   mounted on the spacecraft -X face. Therefore, the frame associated with
   it -- MILANI_VISTA -- is specified as fixed offset frames with its
   orientation given relative to the MILANI_SPACECRAFT frame.

   The VISTA reference frame is defined as follows:

      -  +Z axis is along the nominal boresight direction of the instrument,
         and is nominally co-aligned with the spacecraft -X axis;

      -  +Y axis is along the right solar array direction, and is
         nominally co-aligned with the spacecraft +Y axis;

      -  +X axis completes the right-hand frame, and is nominally
         co-aligned with the spacecraft +Z axis;

      -  the origin of this frame is the Hera interface point.


   These diagrams illustrate the nominal VISTA frames with respect to the
   spacecraft frame.

   -X s/c side view:
   -----------------

                                ^
                                | toward asteroid
                                |

                           Science Deck

                               +Xvis
                                 ^
                                 |
      .__  __..___________. .____|__. .___________..__  ___.
      |  / / ||           | |   .-. | |           ||  \ \  |
      |  \ \ ||    +Yvis<------|-o +Zvis          ||  / /  |
      |  / / ||           | |   '-' | |           ||  \ \  |
      |  \ \ ||           | |.-----.| |           ||  / /  |
      |  / / ||           |o||+Zsc ||o|           ||  \ \  |
      |  \ \ ||           | ||__^__|| |           ||  / /  |
      |  / / ||           | |   |   | |           ||  / /  |
      .__\ \_..___________. .___|___. .___________..__\ \__.
                   +Ysc<--------x
                               +Xsc
                                                   +Zvis and -Xsc are out
                                                   of the page.


   Nominally the MILANI_VISTA reference frame is rotated 90 degrees with
   respect to the MILANI_SPACECRAFT frame around +Ysc axis.

   Since the SPICE frames subsystem calls for specifying the reverse
   transformation--going from the instrument or structure frame to the
   base frame--as compared to the description given above, the order of
   rotations assigned to the TKFRAME_*_AXES keyword is also reversed
   compared to the above text, and the signs associated with the
   rotation angles assigned to the TKFRAME_*_ANGLES keyword are the
   opposite from what is written in the above text.

   \begindata

      FRAME_MILANI_VISTA                 = -99902210
      FRAME_-99902210_NAME               = 'MILANI_VISTA'
      FRAME_-99902210_CLASS              =  4
      FRAME_-99902210_CLASS_ID           = -99902210
      FRAME_-99902210_CENTER             = -99902
      TKFRAME_-99902210_RELATIVE         = 'MILANI_SPACECRAFT'
      TKFRAME_-99902210_SPEC             = 'ANGLES'
      TKFRAME_-99902210_UNITS            = 'DEGREES'
      TKFRAME_-99902210_AXES             = ( 3,     2,      1   )
      TKFRAME_-99902210_ANGLES           = ( 0.0,  90.0,    0.0 )

   \begintext


NAVCAM Frames
------------------------------------------------------------------------

   This section of the file contains the definitions of the Navigation
   Camera (NAVCAM) instrument frames.


NAVCAM Frame Tree
~~~~~~~~~~~~~~~~~

   The diagram below shows the NAVCAM frame hierarchy.

                                 "J2000" INERTIAL
                    .... ---------------------------------- ...
                                        |
                                        |
                                        |<-ck
                                        |
                                        V
                               "MILANI_SPACECRAFT"
                               -------------------
                                        |
                                        |<-fixed
                                        |
                                        v
                                 "MILANI_NAVCAM"
                                 ---------------


NAVCAM Frames
~~~~~~~~~~~~~

   The Navigation Camera (NAVCAM) is rigidly mounted on the spacecraft +Z
   face (nadir direction). Therefore, the frame associated with it --
   MILANI_NAVCAM -- is specified as fixed offset frames with its
   orientation given relative to the MILANI_SPACECRAFT frame.

   The NAVCAM reference frame is defined as follows:

      -  +Z axis is along the nominal boresight direction of the instrument,
         and is nominally co-aligned with the spacecraft +Z axis;

      -  +Y axis is along the right solar array direction, and is
         nominally co-aligned with the spacecraft +Y axis;

      -  +X axis completes the right-hand frame, and is nominally
         co-aligned with the spacecraft +X axis;

      -  the origin of this frame is the Hera interface point.


   These diagrams illustrate the nominal NAVCAM frames with respect to the
   spacecraft frame.

   +Z s/c side (science deck side) view:
   -------------------------------------

                              +Xsc
                            .____^____.
                            |  __|__. |
                       +Ysc | '  | +Xnav
   o==/ /==-============--<o|----o  ^|| ---===========-=/ /==o
       +Y Solar Array       | '+Zsc_|'|           -Y Solar Array
                            |       | |
                          +Ynav<---'o'|
                            .______+Znav

                                                   +Zsc and +Znav are out
                                                   of the page.


   Nominally the MILANI_NAVCAM frame is co-aligned with the
   MILANI_SPACECRAFT frame.

   Since the SPICE frames subsystem calls for specifying the reverse
   transformation--going from the instrument or structure frame to the
   base frame--as compared to the description given above, the order of
   rotations assigned to the TKFRAME_*_AXES keyword is also reversed
   compared to the above text, and the signs associated with the
   rotation angles assigned to the TKFRAME_*_ANGLES keyword are the
   opposite from what is written in the above text.

   \begindata

      FRAME_MILANI_NAVCAM                = -99902310
      FRAME_-99902310_NAME               = 'MILANI_NAVCAM'
      FRAME_-99902310_CLASS              =  4
      FRAME_-99902310_CLASS_ID           = -99902310
      FRAME_-99902310_CENTER             = -99902
      TKFRAME_-99902310_RELATIVE         = 'MILANI_SPACECRAFT'
      TKFRAME_-99902310_SPEC             = 'ANGLES'
      TKFRAME_-99902310_UNITS            = 'DEGREES'
      TKFRAME_-99902310_AXES             = ( 3,     2,      1   )
      TKFRAME_-99902310_ANGLES           = ( 0.0,   0.0,    0.0 )

   \begintext


LIDAR Frames
------------------------------------------------------------------------

   This section of the file contains the definitions of the Light Detection
   and Ranging (LIDAR) instrument frames.


LIDAR Frame Tree
~~~~~~~~~~~~~~~~

   The diagram below shows the LIDAR frame hierarchy.

                                 "J2000" INERTIAL
                    .... ---------------------------------- ...
                                        |
                                        |
                                        |<-ck
                                        |
                                        V
                               "MILANI_SPACECRAFT"
                               -------------------
                                        |
                                        |<-fixed
                                        |
                                        v
                                  "MILANI_LIDAR"
                                  --------------


LIDAR Frames
~~~~~~~~~~~~

   The Light Detection and Ranging (LIDAR) instrument is rigidly mounted on
   the spacecraft +Z face (nadir direction). Therefore, the frame associated
   with it -- MILANI_LIDAR -- is specified as fixed offset frames with its
   orientation given relative to the MILANI_SPACECRAFT frame.

   The LIDAR reference frame is defined as follows:

      -  +Z axis is along the nominal boresight direction of the instrument,
         and is nominally co-aligned with the spacecraft +Z axis;

      -  +Y axis is along the right solar array direction, and is
         nominally co-aligned with the spacecraft +Y axis;

      -  +X axis completes the right-hand frame, and is nominally
         co-aligned with the spacecraft +X axis;

      -  the origin of this frame is the Hera interface point.


   These diagrams illustrate the nominal LIDAR frames with respect to the
   spacecraft frame.

   +Z s/c side (science deck side) view:
   -------------------------------------

                              +Xsc
                            .____^____.
                            |  __|__. |
                       +Ysc | '  | +Xlid
   o==/ /==-============--<o|----o  ^|| ---===========-=/ /==o
       +Y Solar Array       | '+Zsc_|'|           -Y Solar Array
                            |       | |
                          +Ylid<---'o'|
                            .______+Zlid

                                                   +Zsc and +Znav are out
                                                   of the page.


   Nominally the MILANI_LIDAR frame is co-aligned with the
   MILANI_SPACECRAFT frame.

   Since the SPICE frames subsystem calls for specifying the reverse
   transformation--going from the instrument or structure frame to the
   base frame--as compared to the description given above, the order of
   rotations assigned to the TKFRAME_*_AXES keyword is also reversed
   compared to the above text, and the signs associated with the
   rotation angles assigned to the TKFRAME_*_ANGLES keyword are the
   opposite from what is written in the above text.

   \begindata

      FRAME_MILANI_LIDAR                 = -99902410
      FRAME_-99902410_NAME               = 'MILANI_LIDAR'
      FRAME_-99902410_CLASS              =  4
      FRAME_-99902410_CLASS_ID           = -99902410
      FRAME_-99902410_CENTER             = -99902
      TKFRAME_-99902410_RELATIVE         = 'MILANI_SPACECRAFT'
      TKFRAME_-99902410_SPEC             = 'ANGLES'
      TKFRAME_-99902410_UNITS            = 'DEGREES'
      TKFRAME_-99902410_AXES             = ( 3,     2,      1   )
      TKFRAME_-99902410_ANGLES           = ( 0.0,   0.0,    0.0 )

   \begintext


MLRHs Frames
------------------------------------------------------------------------

   This section of the file contains the definitions of the Milani Laser
   Retroreflectors for Hera (MLRH) instrument frames.


MLRH Frame Tree
~~~~~~~~~~~~~~~

   The diagram below shows the MLRH frame hierarchy.

                                 "J2000" INERTIAL
                    .... ---------------------------------- ...
                                        |
                                        |
                                        |<-ck
                                        |
                                        V
                               "MILANI_SPACECRAFT"
                     +-------------------------------------+
                     |                                     |
                     |<-fixed                              |<-fixed
                     |                                     |
                     v                                     v
              "MILANI_MLRH_1"                       "MILANI_MLRH_2"
              ---------------                       ---------------


MLRH Frames
~~~~~~~~~~~

   The Milani Laser Retroreflectors for Hera (MLRH) are rigidly mounted on
   the spacecraft +X and -X faces. Therefore, the frames associated with it
   -- the MILANI_MLRH_1 and MILANI_MLRH_2 -- are specified as fixed offset
   frames with its orientation given relative to the MILANI_SPACECRAFT frame.

   The MLRH_1 frame is defined as follows:

      -  +Z axis is along the nominal boresight direction of the reflector,
         and is nominally co-aligned with the spacecraft +X axis;

      -  +Y axis is along the right solar array direction, and is
         nominally co-aligned with the spacecraft +Y axis;

      -  +X axis completes the right-hand frame, and is nominally
         co-aligned with the spacecraft -Z axis;

      -  the origin of this frame is the Hera interface point.

   The MLRH_2 frame is defined as follows:

      -  +Z axis is along the nominal boresight direction of the reflector,
         and is nominally co-aligned with the spacecraft -X axis;

      -  +Y axis is along the right solar array direction, and is
         nominally co-aligned with the spacecraft +Y axis;

      -  +X axis completes the right-hand frame, and is nominally
         co-aligned with the spacecraft +Z axis;

      -  the origin of this frame is the Hera interface point.


   These diagrams illustrate the nominal MLRH frames with respect to the
   spacecraft frame.

   +Y s/c side view:
   -----------------

                                ^
                                | toward asteroid
                                |
                                     +Xmlrh2
                          Science Deck  ^
                         ._____________.|
                         |      |      ||.
                         |      |      |o'---->+Zmlrh2
                         |      |    +Ymlrh2
                       .-|      o      |
           +Zmlrh1<----'o+Ymlrh1|      |
                        ||      |+Y Solar Array
                        ||      |      |
                 +Xmlrh1V._____________.
                   +Xsc<--------o
                               +Ysc
                                                  +Ymlrh1, +Ymlrh2 and +Ysc
                                                  are out of the page.


   Nominally the MILANI_MLRH_1 and MILANI_MLRH_2 frames are rotated 90 and 270
   degrees respectively with respect to the MILANI_SPACECRAFT frame around
   +Ysc axis.

   Since the SPICE frames subsystem calls for specifying the reverse
   transformation--going from the instrument or structure frame to the
   base frame--as compared to the description given above, the order of
   rotations assigned to the TKFRAME_*_AXES keyword is also reversed
   compared to the above text, and the signs associated with the
   rotation angles assigned to the TKFRAME_*_ANGLES keyword are the
   opposite from what is written in the above text.

   \begindata

      FRAME_MILANI_MLRH_1                = -99902511
      FRAME_-99902511_NAME               = 'MILANI_MLRH_1'
      FRAME_-99902511_CLASS              =  4
      FRAME_-99902511_CLASS_ID           = -99902511
      FRAME_-99902511_CENTER             = -99902
      TKFRAME_-99902511_RELATIVE         = 'MILANI_SPACECRAFT'
      TKFRAME_-99902511_SPEC             = 'ANGLES'
      TKFRAME_-99902511_UNITS            = 'DEGREES'
      TKFRAME_-99902511_AXES             = ( 3,     2,      1   )
      TKFRAME_-99902511_ANGLES           = ( 0.0, -90.0,    0.0 )

      FRAME_MILANI_MLRH_2                = -99902512
      FRAME_-99902512_NAME               = 'MILANI_MLRH_2'
      FRAME_-99902512_CLASS              =  4
      FRAME_-99902512_CLASS_ID           = -99902512
      FRAME_-99902512_CENTER             = -99902
      TKFRAME_-99902512_RELATIVE         = 'MILANI_SPACECRAFT'
      TKFRAME_-99902512_SPEC             = 'ANGLES'
      TKFRAME_-99902512_UNITS            = 'DEGREES'
      TKFRAME_-99902512_AXES             = ( 3,     2,      1   )
      TKFRAME_-99902512_ANGLES           = ( 0.0,  90.0,    0.0 )

   \begintext


Milani NAIF ID Codes to Name Mapping
------------------------------------------------------------------------------

   This section contains name to NAIF ID mappings for the Milani CubeSat.
   Once the contents of this file is loaded into the KERNEL POOL,
   these mappings become available within SPICE, making it possible to use
   names instead of ID code in the high level SPICE routine calls.

  Spacecraft:
  ----------------------------------------------------------------

      This table presents the Milani Spacecraft and its main
      structures' names.

      ---------------------  ---------  --------------------------
       Name                   ID          Synonyms
      ---------------------  ---------  --------------------------
       MILANI                -99902
       MILANI_SPACECRAFT     -99902000    MILANI_SC
      ---------------------  ---------  --------------------------

      Notes:

         -- 'MILANI_SC' and 'MILANI_SPACECRAFT' are synonyms and all map to the
            Milani s/c bus structure ID (-999000);

     \begindata

        NAIF_BODY_NAME += ( 'MILANI'                          )
        NAIF_BODY_CODE += ( -99902                            )

        NAIF_BODY_NAME += ( 'MILANI_SC'                       )
        NAIF_BODY_CODE += ( -99902000                         )

        NAIF_BODY_NAME += ( 'MILANI_SPACECRAFT'               )
        NAIF_BODY_CODE += ( -99902000                         )

     \begintext


  ASPECT:
  -------

    This table summarizes ASPECTs IDs:

      ----------------------  ----------
       Name                    ID
      ----------------------  ----------
      MILANI_ASPECT_VIS        -99902110
      MILANI_ASPECT_NIR1       -99902120
      MILANI_ASPECT_NIR2       -99902130
      MILANI_ASPECT_SWIR       -99902140
      ----------------------  ----------

    Name-ID Mapping keywords:

   \begindata

       NAIF_BODY_NAME += ( 'MILANI_ASPECT_VIS'                )
       NAIF_BODY_CODE += ( -99902110                          )

       NAIF_BODY_NAME += ( 'MILANI_ASPECT_NIR1'               )
       NAIF_BODY_CODE += ( -99902120                          )

       NAIF_BODY_NAME += ( 'MILANI_ASPECT_NIR2'               )
       NAIF_BODY_CODE += ( -99902130                          )

       NAIF_BODY_NAME += ( 'MILANI_ASPECT_SWIR'               )
       NAIF_BODY_CODE += ( -99902140                          )

   \begintext


  VISTA:
  ------

    This table summarizes VISTAs IDs:

      ----------------------  ----------
       Name                    ID
      ----------------------  ----------
      MILANI_VISTA             -99902210
      ----------------------  ----------

    Name-ID Mapping keywords:

   \begindata

       NAIF_BODY_NAME += ( 'MILANI_VISTA'                     )
       NAIF_BODY_CODE += ( -99902210                          )

   \begintext


  NAVCAM:
  -------

    This table summarizes NAVCAMs IDs:

      ----------------------  ----------
       Name                    ID
      ----------------------  ----------
      MILANI_NAVCAM            -99902310
      ----------------------  ----------

    Name-ID Mapping keywords:

   \begindata

       NAIF_BODY_NAME += ( 'MILANI_NAVCAM'                    )
       NAIF_BODY_CODE += ( -99902310                          )

   \begintext


  LIDAR:
  ------

    This table summarizes LIDARs IDs:

      ----------------------  ----------
       Name                    ID
      ----------------------  ----------
      MILANI_LIDAR             -99902410
      ----------------------  ----------

    Name-ID Mapping keywords:

   \begindata

       NAIF_BODY_NAME += ( 'MILANI_LIDAR'                     )
       NAIF_BODY_CODE += ( -99902410                          )

   \begintext


  MLRH:
  -----

    This table summarizes MLRHs IDs:

      ----------------------  ----------
       Name                    ID
      ----------------------  ----------
      MILANI_MLRH_1            -99902511
      MILANI_MLRH_2            -99902512
      ----------------------  ----------

    Name-ID Mapping keywords:

   \begindata

       NAIF_BODY_NAME += ( 'MILANI_MLRH_1'                    )
       NAIF_BODY_CODE += ( -99902511                          )

       NAIF_BODY_NAME += ( 'MILANI_MLRH_2'                    )
       NAIF_BODY_CODE += ( -99902512                          )

   \begintext

End of FK file.