ExoMarsRSP Test Motion Files
===============================================================================

   This ``aareadme.txt'' file describes the contents of the test_motion
   directory of the spice-pipeline-datapackage. This test motion is
   described by the meta-kernel emrsp_test_rec_0382_v002.tm

   This directory contains the source files used for generating the CKs
   containing test motion for the Rover and its components. These files
   shall be used as a reference of the motion data included in the
   kernels. Details for each component is provided hereafter. Keep in
   mind that the example motion described by the test kernels is merely
   for testing and may not be representative of real data.

   -  Rover motion. Inputs for the SPK (mkspk.input) and CK (msopck.input)
      are provided. As stated in the .setup files, the position and velocity
      of the rover is provided wrt RM_MLG reference frame, similarly, the
      Euler angles for a rotation order Z-Y-X to transform from RM_MLG to
      RM_ROVER reference frame are provided. Note that positions can be
      obtained calling spkpos_c and the Euler angles can be computed calling
      pxform_c in order to compute the rotation matrix from RM_MLG to RM_ROVER
      and then convert it to Euler angles with m2eul_c.

   -  Mast, PTR and Drillbox. For these components, the input and setup files
      for generating the CKs are provided. The input file includes the times
      and the Euler angles in order to transform from the frame specified in
      the setup file by "REFERENCE_FRAME_NAME" to "INSTRUMENT_ID" following
      the rotation order provided by "EULER_ROTATIONS_ORDER". Note that linear
      interpolation is applied between data points.

   -  Wheels. For the wheels, a type 2 CK has been produced (instead of type 3
      as the previous) so instead of providing Euler angles only as input,
      angular velocity is provided, then SPICE extrapolates between data points
      using the current angles and angular velocity.
