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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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/******************************************************************************
* Copyright (c) ATTX INC 2025. All Rights Reserved.
*
* 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.
******************************************************************************/
/*
SPICE Planet header file
Author: Alex Reynolds
*/
/*
Metadata for MS GUI:
imdata = {"displayname" : "SPICE Planet",
"exclude" : False,
"category" : "Assemblies"
}
aliases = {"enable_attitude" : "EXCLUDE",
"self_id" : "Self",
"inertial_frame" : "Planet Inertial Frame",
"rotating_frame" : "Planet Rotating Frame",
"eq_radius" : "Equatorial Radius",
"flattening" : "Ellipse Flattening",
"mu" : "GM",
"J2" : "J2",
"J3" : "J3",
"mean_ang_vel" : "Planet Ang. Vel.",
"self_id" : "Planet"
}
*/
#ifndef MODELS_ASSEMBLIES_SPICE_PLANET_MODEL_H
#define MODELS_ASSEMBLIES_SPICE_PLANET_MODEL_H
#include "core/CartesianVector.hpp"
#include "simulation/Model.h"
#include "frames/Frame.h"
#include "simulation/SimScheduler.h"
#include "constants/planetdefaults.h"
namespace warptwin {
/**
* @brief High fidelity planet model using the JPL cspice framework under the hood for ultra accurate states
*
* The SPICE planet mode uses the JPL cspice framework to
* generate highly precise planet state.
*
* All planet states are set with the inertial state aligned
* to the J2000 frame. The rotating frame is then set at the
* same position. The root frame is treated as the base of the
* J2000 frame used in SPICE, as observed from the Sun.
* All states are set relative to that point using the TDB
* time maintained by the simulation.
*
* Note that output values semimajor_axis, flattening,
* mu, J2, J3, and mean angular velocity, are not necessarily
* loaded from SPICE. Those parameters are first searched in
* the file clockwerk/utils/planetdefaults.h, which currently
* defines defaults for all planets, Earth's Moon, and the Sun.
* If parameters are not found there, then J2, J3, flattening, mu
* and semimajor_axis are set to zero.
*
* All DISTANCE units are meters or meters/second
* All ANGULAR RATE units are radians/second
*
* Author: Alex Reynolds <alex.reynolds@attx.tech>
*/
class SpicePlanet : public Model {
public:
// Model params
// NAME TYPE DEFAULT VALUE
START_PARAMS
/** This flag enables or disables outputting attitude states from the SPICE planet. True is enabled */
SIGNAL(enable_attitude, int, true)
END_PARAMS
// Model inputs
// NAME TYPE DEFAULT VALUE
START_INPUTS
END_INPUTS
// Model outputs
// NAME TYPE DEFAULT VALUE
START_OUTPUTS
/** A pointer to the spice planet object itself for easy passing to other models.
* Is a void pointer and must be cast in downstream model. Nullptr is set to
* self in constructor. */
SIGNAL(self_id, GraphTreeObject*, nullptr)
/** Accessor to the inertial frame of the planet. Set to point to _planet_inertial in constructor. */
SIGNAL(inertial_frame, Frame*, nullptr)
/** Accessor to the rotating frame of the planet. Set to point to _planet_inertial in constructor. */
SIGNAL(rotating_frame, Frame*, nullptr)
/** Equatorial radius of the planet, in meters. Default is Earth R per WGS84, in meters.
* This value is set to point to the defaults identified in clockwerk/planetdefaults. */
SIGNAL(eq_radius, double, warpos::earth_wgs84.eq_radius)
/** Flattening for the planet. Default is WGS84 flattening.
* This value is set to point to the defaults identified in clockwerk/planetdefaults. */
SIGNAL(flattening, double, warpos::earth_wgs84.flattening)
/** Gravitational parameter for planet. Default is WGS84 value, in m^3/s^2.
* This value is set to point to the defaults identified in clockwerk/planetdefaults. */
SIGNAL(mu, double, warpos::earth_wgs84.mu)
/** J2 parameter for planet. Default is derived from WGS84 but inexact.
* This value is set to point to the defaults identified in clockwerk/planetdefaults. */
SIGNAL(J2, double, warpos::earth_wgs84.J2)
/** J3 parameter for planet. Default is derived from WGS84 but inexact.
* This value is set to point to the defaults identified in clockwerk/planetdefaults. */
SIGNAL(J3, double, warpos::earth_wgs84.J3)
/** Mean angular velocity of the planet. Assumes rotation about Z axis. Default is WGS84 Earth in rad/s.
* This value is set to point to the defaults identified in clockwerk/planetdefaults. */
SIGNAL(mean_ang_vel, CartesianVector3, CartesianVector3({0.0,0.0,warpos::earth_wgs84.mean_ang_vel}))
END_OUTPUTS
// Model-specific implementations of startup and derivative
SpicePlanet(SimulationExecutive &e, const std::string &m_name="earth");
~SpicePlanet();
protected:
int16 start() override;
int16 execute() override;
// The inertial frame of the planet
Frame _planet_inertial = Frame("planet_inertial_frame");
// The planet rotating frame
Frame _planet_rotating = Frame("planet_rotating_frame");
// Temporary state variables to hold calculations from spice
clockwerk::DCM _tmp_dcm_p_pci;
CartesianVector3 _tmp_vec;
std::string _attitude_name;
};
}
#endif
1.16.1