Module: hingedBodyLinearProfiler
Executive Summary
Linear deployment profiler for single hinged rigid body.
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.
Msg Variable Name |
Msg Type |
Description |
|---|---|---|
hingedRigidBodyReferenceOutMsg |
Output message for reference hinged rigid body state |
Detailed Model Description
This module provides a reference angle and angle rate for a linear deployment of a single hinged rigid body. The user sets a start and stop time, as well as a start and stop angle, and the reference angle and angle rate are calculated for a linear deployment.
User Guide
This section contains a conceptual overview of the code and an example for the prospective user.
Module Setup
The interface module is created in python using:
1testModule = hingedBodyLinearProfiler.HingedBodyLinearProfiler()
2testModule.ModelTag = "deploymentProfiler"
The deployment is defined by four parameters, the starting and ending times and angles. An error will occur if the delta between start and end time is not positive.
A sample setup is done using:
1from Basilisk.utilities import macros
2from math import pi
3
4testModule.startTime = macros.sec2nano(30) # [ns] start the deployment 30 seconds into the simulation
5testModule.endTime = macros.sec2nano(330) # [ns] continue deploying for 300 seconds
6testModule.startTheta = 0 # [rad] starting angle in radians
7testModule.endTheta = 10*pi/180 # [rad] ending angle is 10 degrees in the positive direction as defined by hinged rigid body frame
-
class HingedBodyLinearProfiler : public SysModel
- #include <hingedBodyLinearProfiler.h>
Linear deployment profiler for single hinged rigid body.
Public Functions
-
HingedBodyLinearProfiler()
This is the constructor for the module class. It sets default variable values and initializes the various parts of the model
-
~HingedBodyLinearProfiler()
Module Destructor
-
void Reset(uint64_t CurrentSimNanos)
This method is used to reset the module and checks that required input messages are connected.
- Returns:
void
-
void UpdateState(uint64_t CurrentSimNanos)
This is the main method that gets called every time the module is updated. Outputs a reference theta and theta dot based on the current simulation time relative to the start and stop times for the linear deployment.
- Returns:
void
Public Members
-
uint64_t startTime
[ns] time to begin deployment
-
uint64_t endTime
[ns] time to end deployment
-
double startTheta
[rad] starting hinged rigid body theta position
-
double endTheta
[rad] ending hinged rigid body theta position
-
Message<HingedRigidBodyMsgPayload> hingedRigidBodyReferenceOutMsg
— output message for reference hinged rigid body state (theta, theta dot)
-
BSKLogger bskLogger
— BSK Logging
Private Members
-
double deploymentSlope
[rad/s] slope of deployment
-
HingedBodyLinearProfiler()