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WarpTwin
Documentation for WarpTwin models and classes.
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WarpTwin
Documentation for WarpTwin models and classes.
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/******************************************************************************
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*
* This software and associated documentation (the "Software") are the
* proprietary and confidential information of ATTX INC. The Software is
* furnished under a license agreement between ATTX and the user organization
* and may be used or copied only in accordance with the terms of the agreement.
* Refer to 'license/attx_license.adoc' for standard license terms.
*
* EXPORT CONTROL NOTICE: THIS SOFTWARE MAY INCLUDE CONTENT CONTROLLED UNDER THE
* INTERNATIONAL TRAFFIC IN ARMS REGULATIONS (ITAR) OR THE EXPORT ADMINISTRATION
* REGULATIONS (EAR99). No part of the Software may be used, reproduced, or
* transmitted in any form or by any means, for any purpose, without the express
* written permission of ATTX INC.
******************************************************************************/
/*
Simple thruster model header file
Author: Alex Reynolds
*/
/*
Metadata for MS GUI:
imdata = {"displayname" : "Simple Thruster",
"exclude" : False,
"category" : "Actuators"
}
aliases = {"control_body" : "Spacecraft",
"thruster_location__body" : "Position",
"thruster_pointing__body" : "Pointing Vector",
"thrust_bias" : "Bias",
"thrust_noise_std" : "Noise",
"g" : "EXCLUDE",
"seed_value" : "EXCLUDE",
"mdot" : "Mass Flow Rate",
"Isp" : "Specific Impulse",
"applied_thrust" : "EXCLUDE",
"applied_force__body" : "Applied Force",
}
*/
#ifndef MODELS_ACTUATORS_SIMPLE_THRUSTER_MODEL_H
#define MODELS_ACTUATORS_SIMPLE_THRUSTER_MODEL_H
#include "simulation/Model.h"
#include "core/CartesianVector.hpp"
#include "frames/Body.h"
#include "frames/Node.h"
#include "models/support/BiasNoiseModel.h"
#include "constants/planetdefaults.h"
namespace warptwin {
const double ON_STATE = 1e-15; // Mdot threshold below which thruster is considered "off"
enum cmds_e {
OFF,
ON
};
/**
* @brief Simple thruster model
*
* This is a simple model of a thruster which applies a thrust force according
* to mass flow and the specific impulse of the thruster. Force is applied to
* a node attached to the referenced body frame. The force applied by the
* thruster will produce a force and moment to the body as determined by the
* WarpTwin dynamics.
*
* Noise is applied as a gaussian noise which is updated every time the thruster
* command toggles from off to on.
*
* @author Alex Reynolds <alex.reynolds@attx.tech>
*/
MODEL(SimpleThrusterModel)
public:
// Model params
// NAME TYPE DEFAULT VALUE
START_PARAMS
/** The body which will be controlled by this model. The thruster force will be applied to a
* node aligned to this body, and WarpTwin will translate to force and torque at the body */
SIGNAL(control_body, Body*, nullptr)
/** The thruster location relative to the provided body in the body frame*/
SIGNAL(thruster_location__body, CartesianVector3, CartesianVector3({0.0, 0.0, 0.0}))
/** The thruster pointing vector in the body frame. This vector is the PLUME DIRECTION, so
* the actual force applied by the thruster is in the opposite direction of this vector. */
SIGNAL(thruster_pointing__body, CartesianVector3, CartesianVector3({0.0, 0.0, 0.0}))
/** The bias in the thruster which is applied to every firing. */
SIGNAL(thrust_bias, double, 0.0)
/** The standard deviation of thruster noise which is applied firing to firing. A new noise
* draw is taken every time command toggles off to on. */
SIGNAL(thrust_noise_std, double, 0.0)
/** The Earth gravity in the units system of choice for the thruster (used in Isp calculation). Default is Metric.*/
SIGNAL(g, double, warpos::earth_wgs84.mean_gravity)
/** Value to seed the internal RNG for this model. */
SIGNAL(seed_value, int, 0)
END_PARAMS
// Model inputs
// NAME TYPE DEFAULT VALUE
START_INPUTS
/** The mass flow rate through the thruster at the current time. */
SIGNAL(mdot, double, 0.0)
/** The specific impulse of the thruster at the current time. */
SIGNAL(Isp, double, 0.0)
END_INPUTS
// Model outputs
// NAME TYPE DEFAULT VALUE
START_OUTPUTS
/** The thrust applied by the thruster at its location on the spacecraft body */
SIGNAL(applied_thrust, double, 0.0)
/** The force applied by the thruster as a vector value in the body frame.
* This is an informational output. Force is automatically applied to the node. */
SIGNAL(applied_force__body, CartesianVector3, CartesianVector3({0.0, 0.0, 0.0}))
END_OUTPUTS
// Getters for handles to respective frames
// TODO: Fix this to not be needed because these can all be public. Until then it's here
clockwerk::DataIO<Node*> thrusterNode = clockwerk::DataIO<Node*>(this, "thrusterNode", &_thruster_node);
protected:
int16 start() override;
int16 execute() override;
/// @brief The bias and noise model for thrust output.
BiasNoiseModel _thruster_bias_noise;
/// @brief The node at which thrust is applied.
Node _thruster_node;
/// @brief Our nominal thrust calculation from Isp and the like.
double _nominal_thrust = 0.0;
/// @brief Value to hold perturbation to thrust
double _thrust_perturbation = 0.0;
/// @brief Value to hold total thrust calculation
double _total_thrust = 0.0;
/// @brief Value to hold last thrust command
int _cmd_state = OFF;
int _prev_cmd = OFF;
};
}
#endif
1.16.1