Module: reactionWheelStateEffector¶

Class that is used to implement an effector impacting a dynamic body that does not itself maintain a state or represent a changing component of the body (for example: gravity, thrusters, solar radiation pressure, etc.)

The module PDF Description contains further information on this module’s function, how to run it, as well as testing.

class ReactionWheelStateEffector : public SysModel, public StateEffector ¶

#include <reactionWheelStateEffector.h>

reaction wheel state effector class

Public Functions

ReactionWheelStateEffector()¶

~ReactionWheelStateEffector()¶

void registerStates(DynParamManager &states)¶

void linkInStates(DynParamManager &states)¶

void writeOutputStateMessages(uint64_t integTimeNanos)¶

This method is here to write the output message structure into the specified message.

Return

void

Parameters

integTimeNanos: The current time used for time-stamping the message

void computeDerivatives(double integTime, Eigen::Vector3d rDDot_BN_N, Eigen::Vector3d omegaDot_BN_B, Eigen::Vector3d sigma_BN)¶

void updateEffectorMassProps(double integTime)¶: Method for stateEffector to give mass contributions

void updateContributions(double integTime, BackSubMatrices &backSubContr, Eigen::Vector3d sigma_BN, Eigen::Vector3d omega_BN_B, Eigen::Vector3d g_N)¶: Back-sub contributions

void updateEnergyMomContributions(double integTime, Eigen::Vector3d &rotAngMomPntCContr_B, double &rotEnergyContr, Eigen::Vector3d omega_BN_B)¶: Energy and momentum calculations

void SelfInit()¶

This method is used to clear out the current RW states and make sure that the overall model is ready

Return: void

void CrossInit()¶

This method is used to connect the input command message to the RWs. It sets the message ID based on what it finds for the input string. If the message is not successfully linked, it will warn the user.

Return: void

void addReactionWheel(RWConfigSimMsg *NewRW)¶: class method

void UpdateState(uint64_t CurrentSimNanos)¶

This method is the main cyclical call for the scheduled part of the RW dynamics model. It reads the current commands array and sets the RW configuration data based on that incoming command set. Note that the main dynamical method (ComputeDynamics()) is not called here and is intended to be called from the dynamics plant in the system

Return

void

Parameters

CurrentSimNanos: The current simulation time in nanoseconds

void WriteOutputMessages(uint64_t CurrentClock)¶

This method is here to write the output message structure into the specified message.

Return

void

Parameters

CurrentClock: The current time used for time-stamping the message

void ReadInputs()¶

This method is used to read the incoming command message and set the associated command structure for operating the RWs.

Return: void

void ConfigureRWRequests(double CurrentTime)¶

This method is used to read the new commands vector and set the RW firings appropriately. It assumes that the ReadInputs method has already been run successfully.

Return

void

Parameters

CurrentTime: The current simulation time converted to a double

Public Members

std::vector<RWConfigSimMsg> ReactionWheelData¶: RW information2

Eigen::MatrixXd *g_N¶: [m/s^2] Gravitational acceleration in N frame components

std::string InputCmds¶: message used to read command inputs

std::string OutputDataString¶: port to use for output data

uint64_t OutputBufferCount¶: Count on number of buffers to output

std::vector<RWCmdSimMsg> NewRWCmds¶: Incoming attitude commands

RWSpeedIntMsg outputStates¶: (-) Output data from the reaction wheels

std::string nameOfReactionWheelOmegasState¶: class variable

std::string nameOfReactionWheelThetasState¶: class variable

size_t numRW¶: number of reaction wheels

size_t numRWJitter¶: number of RW with jitter

BSKLogger bskLogger¶: BSK Logging

Private Members

std::vector<std::string> rwOutMsgNames¶: vector with the message names of each RW

std::vector<int64_t> rwOutMsgIds¶: vector with the ID of each RW

int64_t CmdsInMsgID¶: Message ID for incoming data

int64_t StateOutMsgID¶: Message ID for outgoing data

ArrayMotorTorqueIntMsg IncomingCmdBuffer¶: One-time allocation for savings

uint64_t prevCommandTime¶: Time for previous valid thruster firing

StateData *hubSigma¶: class variable

StateData *hubOmega¶: class variable

StateData *hubVelocity¶: class variable

StateData *OmegasState¶: class variable

StateData *thetasState¶: class variable