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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.
******************************************************************************/
/*
Camera sensor model header file
Author: Alex Reynolds
*/
/*
Metadata for MS GUI:
imdata = {"displayname" : "Ground Station Sensor",
"exclude" : False,
"category" : "Sensors"
}
aliases = {"range_bias" : "Range Bias",
"range_rate_bias" : "Range Rate Bias",
"range_gaussian_noise" : "Range Noise",
"range_rate_gaussian_noise" : "Range Rate Noise",
"rate_sec" : "Rate Sec",
"seed_value" : "EXCLUDE",
"time_in" : "Time",
"range_in" : "Exact Range",
"range_rate_in" : "Exact Range Rate",
"time_measured" : "Time Stamp",
"range_measured" : "Meas. Range",
"range_rate_measured" : "Meas. Range Rate",
}
*/
#ifndef MODELS_SENSORS_SIMPLE_CAMERA_SENSOR_H
#define MODELS_SENSORS_SIMPLE_CAMERA_SENSOR_H
#include "simulation/Model.h"
#include "models/support/BiasNoiseModel.h"
#include "monitors/RateMonitor.h"
namespace warptwin {
/**
* @brief Wrapper for ground station model which perturbs range and range rate for navigation purposes
*
* The ground station sensor model is a wrapper around the
* ground station model which perturbs the range and range
* rate measurements according to the inputs to this model.
*
* This model also downselects rate according to the input
* to this model.
*
* Author: Alex Reynolds <alex.reynolds@attx.tech>
*/
class GroundStationSensor : public Model {
public:
// Model params
// NAME TYPE DEFAULT VALUE
START_PARAMS
/** The bias in the range measurement output described as a single scalar
* Default is no bias. */
SIGNAL(range_bias, double, 0.0)
/** The bias in the range rate measurement output described as a single scalar
* Default is no bias. */
SIGNAL(range_rate_bias, double, 0.0)
/** The one-sigma gaussian noise in range measurement output described as a scalar
* Default is no noise. */
SIGNAL(range_gaussian_noise, double, 0.0)
/** The one-sigma gaussian noise in range rate measurement output described as a scalar
* Default is no noise. */
SIGNAL(range_rate_gaussian_noise,double, 0.0)
/** The rate at which the GS generates an output, in seconds. Setting this value
* to 0 forces the GS to output at the simulation rate. */
SIGNAL(rate_sec, clockwerk::Time, clockwerk::Time(0))
/** Value to seed the internal RNG for this model. */
SIGNAL(seed_value, int, 0)
END_PARAMS
// Model inputs
// NAME TYPE DEFAULT VALUE
START_INPUTS
/** This is the output time from the model. Will be left stale when not updated*/
SIGNAL(time_in, clockwerk::Time, clockwerk::Time(0))
/** This is the input range from the ground station model*/
SIGNAL(range_in, double, 0.0)
/** This is the input range rate from the ground station model*/
SIGNAL(range_rate_in, double, 0.0)
END_INPUTS
// Model outputs
// NAME TYPE DEFAULT VALUE
START_OUTPUTS
/** This is the time output every time a measurement is made. Left stale
* when ground station is masked or due to measurement rate*/
SIGNAL(time_measured, clockwerk::Time, clockwerk::Time(0))
/** This is the range output every time a measurement is made. Left stale
* when ground station is masked or due to measurement rate. Includes bias
* and noise */
SIGNAL(range_measured, double, 0.0)
/** This is the range rate output every time a measurement is made. Left stale
* when ground station is masked or due to measurement rate. Includes bias
* and noise */
SIGNAL(range_rate_measured, double, 0.0)
END_OUTPUTS
/// @brief Accessor for the internal bias and noise model
/// @return Pointer to the bias noise model
warptwin::BiasNoiseModel* biasNoiseModel() {return &_sensor_bias_noise;}
/// @brief Accessor for the internal rate monitor model
/// @return Pointer to the rate monitor model
warptwin::RateMonitor* rateMonitor() {return &_rate_monitor;}
// Model-specific implementations of startup and derivative
GroundStationSensor(Model &pnt, const std::string &m_name="ground_station_sensor");
GroundStationSensor(SimulationExecutive &e, const std::string &m_name="ground_station_sensor");
GroundStationSensor(Model &pnt, int schedule_slot, const std::string &m_name="ground_station_sensor");
GroundStationSensor(SimulationExecutive &e, int schedule_slot, const std::string &m_name="ground_station_sensor");
virtual ~GroundStationSensor() {}
protected:
int16 start() override;
int16 execute() override;
/// @brief Function to configure sensor -- runs in all constructors
void _configureInternal();
/// @brief The bias and noise model for sensor output.
BiasNoiseModel _sensor_bias_noise;
/// @brief Rate monitor to control the rate at which the sensor runs
RateMonitor _rate_monitor;
};
}
#endif
1.16.1