.. _torque2Dipole: Module: torque2Dipole ===================== Executive Summary ----------------- This module computes a Body frame reequested dipole given a requested body torque and magnetic field vector. Message Connection Descriptions ------------------------------- The following table lists all the module input and output messages. The module msg connection is set by the user from python. The msg type contains a link to the message structure definition, while the description provides information on what this message is used for. .. list-table:: Module I/O Messages :widths: 25 25 50 :header-rows: 1 * - Msg Variable Name - Msg Type - Description * - tamSensorBodyInMsg - :ref:`TAMSensorBodyMsgPayload` - input message for magnetic field sensor data * - tauRequestInMsg - :ref:`CmdTorqueBodyMsgPayload` - input message containing control torque in the Body frame * - dipoleRequestOutMsg - :ref:`DipoleRequestBodyMsgPayload` - output message containing dipole request in the Body frame Detailed Module Description --------------------------- The following presents the mathematics for converting a requested Body torque into a requested Body dipole to be produced the torque rods given the local magnetic field vector. The desired Body frame dipole is given by .. math:: {}^{\cal B} {\pmb\mu}_{\text{desired}} = \frac{1}{|\bf b|^2} {}^{\cal B}{\bf b} \times \ {}^{\cal B} {\pmb\tau}_{\text{desired}} = [G_t] {\pmb\mu}_{\text{cmd}} where :math:`\bf b` is the local magnetic field vector and :math:`[G_t]` is a 3 :math:`\times N_{\text{MTB}}` matrix that transforms the individual rod dipoles to the Body frame. User Guide ---------- See the example script :ref:`scenarioMtbMomentumManagementSimple` for an illustration on how to use this module. ---- .. autodoxygenfile:: torque2Dipole.h :project: torque2Dipole