ReactionWheelModel.h

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/*
Reaction wheel model header file
 
Author: Alex Jackson
*/
/*
Metadata for MS GUI:
imdata = {"displayname" : "Reaction Wheel",
          "exclude" : False,
          "category" : "Actuators"
}
aliases = {"sc_body" : "Spacecraft Body",
           "wheel_location__body" : "Wheel Position",
           "quat_wheel_body" : "Wheel Orientation",
           "torque_bias" : "Bias",
           "torque_noise_std" : "Noise",
           "seed_value" : "EXCLUDE",
           "mass" : "Mass",
           "mom_inertia" : "Moment of Inertia",
           "operational" : "Operational",
           "power" : "Power Draw",
           "rad_tolerance" : "Rad. Tolerance",
           "peak_torque" : "Peak Torque",
           "momentum_cap" : "Momentum Cap",
           "torque_com" : "Torque Cmd",
           "momentum" : "Momentum",
           "saturated" : "Saturated",
           "wheel_speed" : "Wheel RPM",
           "power_draw" : "Power Draw",
           "applied_torque" : "Applied Torque",
}
*/
 
#ifndef MODELS_ACTUATORS_REACTION_WHEEL_MODEL_H
#define MODELS_ACTUATORS_REACTION_WHEEL_MODEL_H
 
#include "simulation/Model.h"
#include "core/CartesianVector.hpp"
#include "frames/Body.h"
#include "frames/Node.h"
#include "frames/Joint.h"
#include "models/support/BiasNoiseModel.h"
 
namespace warptwin {
    MODEL(ReactionWheelModel)
    public:
        // Model params
        //         NAME                     TYPE                    DEFAULT VALUE
        START_PARAMS
            SIGNAL(sc_body,                 Body*,                 nullptr)
            SIGNAL(wheel_location__body,    CartesianVector3,      CartesianVector3({0.0, 0.0, 0.0}))
            SIGNAL(quat_wheel_body,         clockwerk::Quaternion,  clockwerk::Quaternion({1.0, 0.0, 0.0, 0.0}))
            SIGNAL(torque_bias,             double,                 0.0)
            SIGNAL(torque_noise_std,        double,                 0.0)
            SIGNAL(seed_value,              int,                    0)
            SIGNAL(mass,                    double,                 0.0)
            SIGNAL(mom_inertia,             double,                 0.0)
            SIGNAL(rad_tolerance,           double,                 0.0)
            SIGNAL(peak_torque,             double,                 0.0)
            SIGNAL(momentum_cap,            double,                 0.0)
            SIGNAL(power,                   double,                 0.0)
            SIGNAL(operational,             bool,                   true)
        END_PARAMS
 
        // Model inputs
        //         NAME                     TYPE                    DEFAULT VALUE
        START_INPUTS 
            SIGNAL(torque_com,               double,                 0.0)
        END_INPUTS
 
        // Model outputs
        //         NAME                     TYPE                    DEFAULT VALUE
        START_OUTPUTS
            SIGNAL(momentum,                double,                 0.0)
            SIGNAL(saturated,               bool,                   false)
            SIGNAL(wheel_speed,             double,                 0.0)
            SIGNAL(power_draw,              double,                 0.0)
            SIGNAL(applied_torque,          double,                 0.0)
        END_OUTPUTS
 
    protected:
        int16 start() override;
        int16 execute() override; 

        BiasNoiseModel _torque_bias_noise;
        
        Node _wheel_node; 

        Matrix3 _mom_inertia_tensor;

        double _torque_perturbation = 0.0;

        double _total_torque = 0.0;

        double _rps_to_rpm = 60.0/(2*M_PI);

        bool _prev_com = false;
 
    };
 
}
 
#endif