add branching capabilities to thrusterDynamicEffector

Author: andrewmorell

src/simulation/dynamics/Thrusters/thrusterDynamicEffector/thrusterDynamicEffector.cpp

@@ -180,11 +180,19 @@ void ThrusterDynamicEffector::ConfigureThrustRequests(double currentTime)
 void ThrusterDynamicEffector::UpdateThrusterProperties()
 {
     // Save hub variables
-    Eigen::Vector3d r_BN_N = (Eigen::Vector3d)*this->inertialPositionProperty;
-    Eigen::Vector3d omega_BN_B = this->hubOmega->getState();
     Eigen::MRPd sigma_BN;
-    sigma_BN = (Eigen::Vector3d)this->hubSigma->getState();
+    Eigen::Vector3d omega_BN_B;
+    if (!this->stateNameOfSigma.empty()) {
+        omega_BN_B = this->hubOmega->getState();
+        sigma_BN = (Eigen::Vector3d)this->hubSigma->getState();
+    }
+    else {
+        omega_BN_B = *this->inertialAngVelocityProperty;
+        sigma_BN = (Eigen::Vector3d)*this->inertialAttitudeProperty;
+    }
+
     Eigen::Matrix3d dcm_BN = (sigma_BN.toRotationMatrix()).transpose();
+    Eigen::Vector3d r_BN_N = (Eigen::Vector3d)*this->inertialPositionProperty;
 
     // Define the variables related to which body the thruster is attached to. The F frame represents the platform body where the thruster attaches to
     Eigen::MRPd sigma_FN;
@@ -242,6 +250,16 @@ void ThrusterDynamicEffector::linkInStates(DynParamManager& states){
     }
 }
 
+/*! This method is used to link properties to the thrusters
+ @return void
+ @param properties The parameter manager to collect from
+ */
+void ThrusterDynamicEffector::linkInProperties(DynParamManager& properties){
+    this->inertialAttitudeProperty = properties.getPropertyReference(this->propName_inertialAttitude);
+    this->inertialAngVelocityProperty = properties.getPropertyReference(this->propName_inertialAngVelocity);
+    this->inertialPositionProperty = properties.getPropertyReference(this->propName_inertialPosition);
+}
+
 /*! This method computes the Forces on Torque on the Spacecraft Body.
 
  @param integTime Integration time
@@ -250,7 +268,13 @@ void ThrusterDynamicEffector::linkInStates(DynParamManager& states){
 void ThrusterDynamicEffector::computeForceTorque(double integTime, double timeStep)
 {
     // Save omega_BN_B
-    Eigen::Vector3d omegaLocal_BN_B = this->hubOmega->getState();
+    Eigen::Vector3d omegaLocal_BN_B;
+    if (!this->stateNameOfSigma.empty()) {
+        omegaLocal_BN_B = this->hubOmega->getState();
+    }
+    else {
+        omegaLocal_BN_B = *this->inertialAngVelocityProperty;
+    }
 
     // Force and torque variables
     Eigen::Vector3d SingleThrusterForce;

src/simulation/dynamics/Thrusters/thrusterDynamicEffector/thrusterDynamicEffector.h

@@ -45,13 +45,14 @@ class ThrusterDynamicEffector: public SysModel, public DynamicEffector {
 public:
     ThrusterDynamicEffector();
     ~ThrusterDynamicEffector();
-    void linkInStates(DynParamManager& states);
-    void computeForceTorque(double integTime, double timeStep);
-    void computeStateContribution(double integTime);
-    void Reset(uint64_t CurrentSimNanos);
+    void linkInStates(DynParamManager& states) override;
+    void linkInProperties(DynParamManager& properties) override;
+    void computeForceTorque(double integTime, double timeStep) override;
+    void computeStateContribution(double integTime) override;
+    void Reset(uint64_t CurrentSimNanos) override;
     void addThruster(std::shared_ptr<THRSimConfig> newThruster);
     void addThruster(std::shared_ptr<THRSimConfig> newThruster, Message<SCStatesMsgPayload>* bodyStateMsg);
-    void UpdateState(uint64_t CurrentSimNanos);
+    void UpdateState(uint64_t CurrentSimNanos) override;
     void writeOutputMessages(uint64_t CurrentClock);
     bool ReadInputs();
     void ConfigureThrustRequests(double currentTime);
@@ -75,6 +76,8 @@ class ThrusterDynamicEffector: public SysModel, public DynamicEffector {
 	StateData *hubSigma;                           //!< pointer to the hub attitude states
     StateData *hubOmega;                           //!< pointer to the hub angular velocity states
     Eigen::MatrixXd* inertialPositionProperty;  //!< [m] r_N inertial position relative to system spice zeroBase/refBase
+    Eigen::MatrixXd* inertialAttitudeProperty;  //!< attitude relative to inertial frame
+    Eigen::MatrixXd* inertialAngVelocityProperty;  //!< [rad/s] inertial angular velocity relative to inertial frame
 
     BSKLogger bskLogger;                      //!< -- BSK Logging
 

src/utilities/simIncludeThruster.py

@@ -236,6 +236,37 @@ def addToSpacecraft(self, modelTag, thEffector, sc):
 
         return
 
+    def addToSpacecraftSubcomponent(self, modelTag, thEffector, baseEffector, segment=0):
+        """
+            This function is for adding a thruster cluster to intermediate bodies
+
+            Parameters
+            ----------
+            modelTag:  string
+                module model tag string
+            thEffector: thrusterEffector
+                thruster effector handle
+            baseEffector: intermediate body to be attached to, see table for compatibility guide
+            segment: if subcomponent is multi-body, designate which integer segment
+            default segment to base segment
+        """
+
+        thEffector.ModelTag = modelTag
+
+        for key, th in list(self.thrusterList.items()):
+            thEffector.addThruster(th)
+
+        # Check the type of thruster effector
+        thrusterType = str(type(thEffector))
+        if 'ThrusterDynamicEffector' in thrusterType:
+            baseEffector.addDynamicEffector(thEffector, segment)
+        elif 'ThrusterStateEffector' in thrusterType:
+            baseEffector.addStateEffector(thEffector, segment)
+        else:
+            print("This isn't a thruster effector. You did something wrong.")
+
+        return
+
     def getNumOfDevices(self):
         """
             Returns the number of RW devices setup.