TorqueCoilModel.h

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/*
Reaction wheel model header file
 
Author: Alex Jackson
*/
/*
Metadata for MS GUI:
imdata = {"displayname" : "Torque Coil",
          "exclude" : False,
          "category" : "Actuators"
}
aliases = {"sc_body" : "Spacecraft Body",
           "torque_vector__body" : "Torque Vector",
           "current_noise_std" : "Noise",
           "seed_value" : "EXCLUDE",
           "area" : "Area",
           "mom_inertia" : "Moment of Inertia",
           "loops" : "Number of Loops",
           "misalignment_std" : "Misalignment",
           "input_current" : "Input Current",
           "mag_field_vec__NED" : "Mag Field Vec",
           "power_draw" : "Power Draw",
           "applied_torque_body__body" : "Applied Torque",
}
*/
 
#ifndef MODELS_ACTUATORS_TORQUE_COIL_MODEL_H
#define MODELS_ACTUATORS_TORQUE_COIL_MODEL_H
 
#include "simulation/Model.h"
#include "core/CartesianVector.hpp"
#include "frames/Joint.h"
#include "models/support/BiasNoiseModel.h"
 
namespace warptwin {
    MODEL(TorqueCoilModel)
    public:
        // Model params
        //         NAME                     TYPE                            DEFAULT VALUE
        START_PARAMS
            SIGNAL(sc_body,                 Body*,                          nullptr)
            SIGNAL(mag_frame,             Frame*,                 nullptr)
            SIGNAL(torque_vector__body,     CartesianVector3,             CartesianVector3({1.0, 0.0, 0.0}))
            SIGNAL(current_noise_std,       double,                         0.0)
            SIGNAL(seed_value,              int,                            0)
            SIGNAL(area,                    double,                         1.0)
            SIGNAL(loops,                   double,                         1.0)
            SIGNAL(misalignment_std,        double,                         0.0)
            SIGNAL(resistance,              double,                         0.0)
            SIGNAL(idle_power,              double,                         0.0)
        END_PARAMS
 
        // Model inputs
        //         NAME                     TYPE                            DEFAULT VALUE
        START_INPUTS 
            SIGNAL(input_current,             double,                         0.0)
            SIGNAL(mag_field_vec__mag,      CartesianVector3,               CartesianVector3({1.0, 0.0, 0.0}))
        END_INPUTS
 
        // Model outputs
        //         NAME                     TYPE                    DEFAULT VALUE
        START_OUTPUTS
            SIGNAL(power_draw,              double,                 0.0)
            SIGNAL(applied_torque_body__body,          CartesianVector3,       CartesianVector3({0.0, 0.0, 0.0}))
        END_OUTPUTS
 
        int16 activate() override;
        int16 deactivate() override;
 
    protected:
        int16 start() override;
        int16 execute() override; 

        BiasNoiseModel _current_bias_noise;
        
        Node _coil_node; 

        double _perturbation = 0.0;

        CartesianVector3 _torque_vec; 

        CartesianVector3 _z_axis;

        clockwerk::DCM _DCM_Body_Mag;

        double _misalignment_x = 0.0;
        double _misalignment_y = 0.0;
        double _misalignment_z = 0.0;

        clockwerk::Quaternion _tempQuat;

        double _theta = 0.0;
        CartesianVector3 _evec;

        CartesianVector3 _mag_field_vec_body;
 
    };
 
}
 
#endif