Module: hubEffector
This class is an instantiation of the stateEffector abstract class and is for the hub of the s/c. The hub
has 4 states: r_BN_N, rDot_BN_N, sigma_BN and omega_BN_B. The hub utilizes the back-substitution method for calculating
its derivatives using contributions from Module: stateEffector and Module: dynamicEffector.
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class HubEffector : public StateEffector
- #include <hubEffector.h>
spaecraft hub effector class
Public Functions
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HubEffector()
— Contructor
This is the constructor, setting variables to default values
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~HubEffector()
— Destructor
This is the destructor, nothing to report here
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virtual void linkInStates(DynParamManager &statesIn)
— Method to give the hub access to states
This method allows the hub access to gravity and also gets access to the properties in the dyn Manager because uses these values in the computeDerivatives method call
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virtual void registerStates(DynParamManager &states)
— Method for the hub to register some states
This method allows the hub to register its states: r_BN_N, v_BN_N, sigma_BN and omega_BN_B
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virtual void updateEffectorMassProps(double integTime)
— Method for the hub to update its mass props for the s/c
This method allows the hub to give its mass properties to the spacecraft
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virtual void computeDerivatives(double integTime, Eigen::Vector3d rDDot_BN_N, Eigen::Vector3d omegaDot_BN_B, Eigen::Vector3d sigma_BN)
— Method for the hub to compute it’s derivatives
This method is for computing the derivatives of the hub: rDDot_BN_N and omegaDot_BN_B, along with the kinematic derivatives
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virtual void updateEnergyMomContributions(double integTime, Eigen::Vector3d &rotAngMomPntCContr_B, double &rotEnergyContr, Eigen::Vector3d omega_BN_B)
— Add contributions to energy and momentum
This method is for computing the energy and momentum contributions from the hub
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virtual void modifyStates(double integTime)
— Method to switch MRPs
This method is for switching the MRPs
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virtual void prependSpacecraftNameToStates()
class method
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void matchGravitytoVelocityState(Eigen::Vector3d v_CN_N)
method to set the gravity velocity to base velocity
This method is used to set the gravitational velocity state equal to the base velocity state
Public Members
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double mHub
[kg] mass of the hub
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uint64_t MRPSwitchCount
— Count on times we’ve shadowed
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std::string nameOfHubPosition
— Identifier for hub position states
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std::string nameOfHubVelocity
— Identifier for hub velocity states
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std::string nameOfHubSigma
— Identifier for hub sigmaBN states
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std::string nameOfHubOmega
— Identifier for hub omegaBN_B states
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std::string nameOfHubGravVelocity
— Identified for hub gravitational DV state
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std::string nameOfBcGravVelocity
— Identified for point Bc gravitational DV state
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Eigen::Vector3d r_BcB_B
[m] vector from point B to CoM of hub in B frame components
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Eigen::Matrix3d IHubPntBc_B
[kg m^2] Inertia of hub about point Bc in B frame components
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BackSubMatrices hubBackSubMatrices
class method
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Eigen::Vector3d r_CN_NInit
[m] Initial position of the spacecraft wrt to base
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Eigen::Vector3d v_CN_NInit
[m/s Initial velocity of the spacecraft wrt base
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Eigen::Vector3d sigma_BNInit
— Initial attitude of the spacecraft wrt base
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Eigen::Vector3d omega_BN_BInit
[r/s] Initial attitude rate of the spacecraf wrt base
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BSKLogger bskLogger
— BSK Logging
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HubEffector()