Module: hingedRigidBodyMotorSensor
Executive Summary
Outputs measured angle and angle rate for a hinged rigid body. By default the angle measurement does not contain any measurement errors. The module can be configured to add gaussian noise, a bias or a discretization error to the measured state.
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 |
|---|---|---|
hingedRigidBodyMotorSensorInMsg |
input hinged rigid body state |
|
hingedRigidBodyMotorSensorOutMsg |
sensed hinged rigid body state |
Detailed Model Description
This module adds optional noise, bias, and discretization to a hinged rigid body state.
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 = hingedRigidBodyMotorSensor.HingedRigidBodyMotorSensor()
2testModule.ModelTag = "motorSensor"
The sensor adds an optional noise (defined by a standard deviation), bias, and discretization to theta and thetaDot.
If no noise is specified then the default behavior is for the actual panel states to be passed along as the
sensed state.
A sample setup is done using:
1testModule.thetaNoiseStd = thetaNoiseStd # [rad]
2testModule.thetaDotNoiseStd = thetaDotNoiseStd # [rad/s]
3testModule.thetaBias = thetaBias # [rad]
4testModule.thetaDotBias = thetaDotBias # [rad/s]
5testModule.thetaLSB = thetaLSB # [rad] smallest resolution of sensor
6testModule.thetaDotLSB = thetaDotLSB # [rad/s] smallest sensor rate resolution
When discretizing, the value is rounded up or down to the nearest sensor state resolution. The seed used for the noise can also be changed using:
1testModule.RNGSeed = newSeed
Where newSeed is the unsigned integer value of the new RNG seed.
-
class HingedRigidBodyMotorSensor : public SysModel
- #include <hingedRigidBodyMotorSensor.h>
Outputs measured angle and angle rate for a hinged rigid body, adding optional noise, bias, and discretization.
Public Functions
-
HingedRigidBodyMotorSensor()
This is the constructor for the module class. It sets default variable values and initializes the various parts of the model
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~HingedRigidBodyMotorSensor()
Module Destructor
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void Reset(uint64_t CurrentSimNanos)
This method is used to reset the module and checks that required input messages are connect.
- Returns:
void
-
void UpdateState(uint64_t CurrentSimNanos)
This is the main method that gets called every time the module is updated. Adds Gaussian noise and bias and diescretizes output.
- Returns:
void
-
void setRNGSeed(unsigned int newSeed)
for setting the seed
This allows the RNGSeed to be changed.
- Returns:
void
Public Members
-
double thetaNoiseStd
[rad] standard deviation for Gaussian noise to theta
-
double thetaDotNoiseStd
[rad/s] standard deviation for Gaussian noise to theta dot
-
double thetaBias
[rad] bias added to true theta
-
double thetaDotBias
[rad/s] bias added to true theta dot
-
double thetaLSB
[rad] discretization for theta
-
double thetaDotLSB
[rad/s] discretization for theta dot
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ReadFunctor<HingedRigidBodyMsgPayload> hingedRigidBodyMotorSensorInMsg
input message for true rigid body state (theta, theta dot)
-
Message<HingedRigidBodyMsgPayload> hingedRigidBodyMotorSensorOutMsg
output message for sensed rigid body state
-
BSKLogger bskLogger
— BSK Logging
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HingedRigidBodyMotorSensor()