VSCMGConfigMsgPayload¶
Enums
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struct VSCMGConfigMsgPayload¶
- #include <VSCMGConfigMsgPayload.h>
Structure used to define the individual VSCMG configuration data message.
Public Members
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VSCMGModels VSCMGModel¶
[-], Type of imbalance model to use
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Eigen::Vector3d rGB_B¶
[m], position vector of the VSCMG relative to the spacecraft body frame
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Eigen::Vector3d gsHat0_B¶
module variable
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Eigen::Vector3d gsHat_B¶
[-] spin axis unit vector in body frame
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Eigen::Vector3d gtHat0_B¶
module variable
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Eigen::Vector3d gtHat_B¶
module variable
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Eigen::Vector3d ggHat_B¶
module variable
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Eigen::Vector3d w2Hat0_B¶
[-] initial torque axis unit vector in body frame
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Eigen::Vector3d w2Hat_B¶
module variable
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Eigen::Vector3d w3Hat0_B¶
[-] initial gimbal axis unit vector in body frame
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Eigen::Vector3d w3Hat_B¶
module variable
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double massV¶
[kg]
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double massG¶
[kg]
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double massW¶
[kg]
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double theta¶
[rad], wheel angle
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double Omega¶
[rad/s], wheel speed
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double gamma¶
[s], gimbal angle
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double gammaDot¶
[rad/s], gimbal rate
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double IW1¶
[kg-m^2], spin axis gsHat rotor moment of inertia
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double IW2¶
[kg-m^2], gtHat axis rotor moment of inertia
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double IW3¶
[kg-m^2], ggHat axis rotor moment of inertia
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double IW13¶
[kg-m^2], x-z inertia of wheel about wheel center in wheel frame (imbalance)
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double IG1¶
[kg-m^2]
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double IG2¶
[kg-m^2]
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double IG3¶
[kg-m^2]
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double IG12¶
[kg-m^2]
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double IG13¶
[kg-m^2]
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double IG23¶
[kg-m^2]
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double IV1¶
[kg-m^2]
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double IV2¶
[kg-m^2]
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double IV3¶
[kg-m^2]
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double rhoG¶
module variable
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double rhoW¶
module variable
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double U_s¶
[kg-m], static imbalance
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double U_d¶
[kg-m^2], dynamic imbalance
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Eigen::Vector3d rGcG_G¶
module variable
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double d¶
[m], wheel center of mass offset from wheel frame origin
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double l¶
module variable
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double L¶
module variable
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double u_s_current¶
[N-m], current motor torque
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double u_s_max = -1.0¶
[N-m], Max torque
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double u_s_min¶
[N-m], Min torque
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double u_s_f¶
[N-m], Coulomb friction torque magnitude
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double Omega_max = -1.0¶
[rad/s], max wheel speed
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double wheelLinearFrictionRatio¶
[%] ratio relative to max speed value up to which the friction behaves linearly
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double u_g_current¶
[N-m], current motor torque
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double u_g_max = -1.0¶
[N-m], Max torque
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double u_g_min¶
[N-m], Min torque
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double u_g_f¶
[N-m], Coulomb friction torque magnitude
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double gammaDot_max¶
[rad/s], max wheel speed
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double gimbalLinearFrictionRatio¶
[%] ratio relative to max speed value up to which the friction behaves linearly
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Eigen::Matrix3d IGPntGc_B¶
module variable
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Eigen::Matrix3d IWPntWc_B¶
module variable
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Eigen::Matrix3d IPrimeGPntGc_B¶
module variable
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Eigen::Matrix3d IPrimeWPntWc_B¶
module variable
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Eigen::Vector3d rGcG_B¶
module variable
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Eigen::Vector3d rGcB_B¶
module variable
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Eigen::Vector3d rWcB_B¶
module variable
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Eigen::Vector3d rWcG_B¶
module variable
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Eigen::Matrix3d rTildeGcB_B¶
module variable
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Eigen::Matrix3d rTildeWcB_B¶
module variable
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Eigen::Vector3d rPrimeGcB_B¶
module variable
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Eigen::Vector3d rPrimeWcB_B¶
module variable
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Eigen::Matrix3d rPrimeTildeGcB_B¶
module variable
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Eigen::Matrix3d rPrimeTildeWcB_B¶
module variable
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Eigen::Vector3d aOmega¶
[-], parameter used in coupled jitter back substitution
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Eigen::Vector3d bOmega¶
[-], parameter used in coupled jitter back substitution
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double cOmega¶
[-], parameter used in coupled jitter back substitution
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double dOmega¶
module variable
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double eOmega¶
module variable
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Eigen::Vector3d agamma¶
module variable
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Eigen::Vector3d bgamma¶
module variable
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double cgamma¶
module variable
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double dgamma¶
module variable
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double egamma¶
module variable
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Eigen::Vector3d p¶
module variable
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Eigen::Vector3d q¶
module variable
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double s¶
module variable
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double gravityTorqueWheel_s¶
module variable
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double gravityTorqueGimbal_g¶
module variable
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VSCMGModels VSCMGModel¶