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Expose individual bodies NDOF effector #1117

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ced80bd
Change SpinningBody struct to a shared pointer
joaogvcarneiro Sep 26, 2025
98fdf01
Make sure swig wraps the shared_ptr
joaogvcarneiro Sep 26, 2025
c487c99
Add a method to get the SpinningBody structs
joaogvcarneiro Sep 26, 2025
0a094e6
Correct function typo
joaogvcarneiro Sep 26, 2025
aa3d437
Capitalize initial character in all linear translating effectors
joaogvcarneiro Sep 26, 2025
65c9d7f
Change TranslatingBody struct to a shared pointer
joaogvcarneiro Sep 26, 2025
b1a9c8f
Make sure swig wraps the shared_ptr
joaogvcarneiro Sep 26, 2025
30733bc
Add a method to get the TranslatingBody structs
joaogvcarneiro Sep 26, 2025
64bbe88
Add release notes.
joaogvcarneiro Sep 26, 2025
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3 changes: 3 additions & 0 deletions docs/source/Support/bskReleaseNotes.rst
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Expand Up @@ -36,6 +36,9 @@ Version |release|
Users need to use ``ClassicalElements()`` defined in ``orbitalMotion``.
- Fixed bug with recording message payload entries that are 2D arrays. This bug was introduced with the faster recording
strategy added in version 2.78.0.
- Made individual structures for each degree of freedom in :ref:`spinningBodyNDOFStateEffector` and
:ref:`linearTranslationNDOFStateEffector`.
- Capitalized all structures in :ref:`linearTranslationOneDOFStateEffector` and :ref:`linearTranslationNDOFStateEffector`.


Version 2.78.0 (August 30, 2025)
Expand Down
10 changes: 5 additions & 5 deletions examples/scenarioExtendingBoom.py
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Expand Up @@ -131,12 +131,12 @@ def run(show_plots):
scObject.hub.sigma_BNInit = [[0.0], [0.0], [0.0]]
scObject.hub.omega_BN_BInit = [[0.1], [0.1], [0.1]]

translatingBodyEffector = linearTranslationNDOFStateEffector.linearTranslationNDOFStateEffector()
translatingBodyEffector = linearTranslationNDOFStateEffector.LinearTranslationNDOFStateEffector()
translatingBodyEffector.ModelTag = "translatingBodyEffector"
scObject.addStateEffector(translatingBodyEffector)
scSim.AddModelToTask(dynTaskName, translatingBodyEffector)

translatingBody1 = linearTranslationNDOFStateEffector.translatingBody()
translatingBody1 = linearTranslationNDOFStateEffector.TranslatingBody()
translatingBody1.setMass(100)
translatingBody1.setIPntFc_F([[translatingBody1.getMass() / 12 * (3 * (scGeometry.diameterArm / 2) ** 2 + scGeometry.heightArm ** 2), 0.0, 0.0],
[0.0, translatingBody1.getMass() / 12 * (scGeometry.diameterArm / 2) ** 2, 0.0],
Expand All @@ -151,7 +151,7 @@ def run(show_plots):
translatingBody1.setK(100.0)
translatingBodyEffector.addTranslatingBody(translatingBody1)

translatingBody2 = linearTranslationNDOFStateEffector.translatingBody()
translatingBody2 = linearTranslationNDOFStateEffector.TranslatingBody()
translatingBody2.setMass(100)
translatingBody2.setIPntFc_F([[translatingBody2.getMass() / 12 * (3 * (scGeometry.diameterArm / 2) ** 2 + scGeometry.heightArm ** 2), 0.0, 0.0],
[0.0, translatingBody2.getMass() / 12 * (scGeometry.diameterArm / 2) ** 2, 0.0],
Expand Down Expand Up @@ -182,7 +182,7 @@ def run(show_plots):
translatingRigidBodyMsg2 = messaging.LinearTranslationRigidBodyMsg().write(translatingRigidBodyMsgData)
profiler2.linearTranslationRigidBodyInMsg.subscribeTo(translatingRigidBodyMsg2)

translatingBody3 = linearTranslationNDOFStateEffector.translatingBody()
translatingBody3 = linearTranslationNDOFStateEffector.TranslatingBody()
translatingBody3.setMass(100)
translatingBody3.setIPntFc_F([[translatingBody3.getMass() / 12 * (
3 * (scGeometry.diameterArm / 2) ** 2 + scGeometry.heightArm ** 2), 0.0, 0.0],
Expand Down Expand Up @@ -214,7 +214,7 @@ def run(show_plots):
translatingRigidBodyMsg3 = messaging.LinearTranslationRigidBodyMsg().write(translatingRigidBodyMsgData)
profiler3.linearTranslationRigidBodyInMsg.subscribeTo(translatingRigidBodyMsg3)

translatingBody4 = linearTranslationNDOFStateEffector.translatingBody()
translatingBody4 = linearTranslationNDOFStateEffector.TranslatingBody()
translatingBody4.setMass(100)
translatingBody4.setIPntFc_F([[translatingBody4.getMass() / 12 * (
3 * (scGeometry.diameterArm / 2) ** 2 + scGeometry.heightArm ** 2), 0.0, 0.0],
Expand Down
30 changes: 15 additions & 15 deletions ...alBodies/linearTranslationBodiesNDOF/_UnitTest/test_linearTranslationNDOFStateEffector.py
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Expand Up @@ -97,11 +97,11 @@ def translatingBodyNoInput(show_plots):
testProc.addTask(unitTestSim.CreateNewTask(unitTaskName, testProcessRate))

# Create four translating rigid bodies
translatingBodyEffector = linearTranslationNDOFStateEffector.linearTranslationNDOFStateEffector()
translatingBodyEffector = linearTranslationNDOFStateEffector.LinearTranslationNDOFStateEffector()
translatingBodyEffector.ModelTag = "translatingBodyEffector"

# define properties
translatingBody1 = linearTranslationNDOFStateEffector.translatingBody()
translatingBody1 = linearTranslationNDOFStateEffector.TranslatingBody()
translatingBody1.setMass(np.random.uniform(5.0, 50.0))
translatingBody1.setIPntFc_F([[np.random.uniform(5.0, 100.0), 0.0, 0.0],
[0.0, np.random.uniform(5.0, 100.0), 0.0],
Expand All @@ -119,7 +119,7 @@ def translatingBodyNoInput(show_plots):
translatingBody1.setK(np.random.random())
translatingBodyEffector.addTranslatingBody(translatingBody1)

translatingBody2 = linearTranslationNDOFStateEffector.translatingBody()
translatingBody2 = linearTranslationNDOFStateEffector.TranslatingBody()
translatingBody2.setMass(np.random.uniform(5.0, 50.0))
translatingBody2.setIPntFc_F([[np.random.uniform(5.0, 100.0), 0.0, 0.0],
[0.0, np.random.uniform(5.0, 100.0), 0.0],
Expand All @@ -137,7 +137,7 @@ def translatingBodyNoInput(show_plots):
translatingBody2.setK(np.random.random())
translatingBodyEffector.addTranslatingBody(translatingBody2)

translatingBody3 = linearTranslationNDOFStateEffector.translatingBody()
translatingBody3 = linearTranslationNDOFStateEffector.TranslatingBody()
translatingBody3.setMass(np.random.uniform(5.0, 50.0))
translatingBody3.setIPntFc_F([[np.random.uniform(5.0, 100.0), 0.0, 0.0],
[0.0, np.random.uniform(5.0, 100.0), 0.0],
Expand All @@ -155,7 +155,7 @@ def translatingBodyNoInput(show_plots):
translatingBody3.setK(np.random.random())
translatingBodyEffector.addTranslatingBody(translatingBody3)

translatingBody4 = linearTranslationNDOFStateEffector.translatingBody()
translatingBody4 = linearTranslationNDOFStateEffector.TranslatingBody()
translatingBody4.setMass(np.random.uniform(5.0, 50.0))
translatingBody4.setIPntFc_F([[np.random.uniform(5.0, 100.0), 0.0, 0.0],
[0.0, np.random.uniform(5.0, 100.0), 0.0],
Expand Down Expand Up @@ -339,11 +339,11 @@ def translatingBodyLockAxis(show_plots):
testProc.addTask(unitTestSim.CreateNewTask(unitTaskName, testProcessRate))

# Create four translating rigid bodies
translatingBodyEffector = linearTranslationNDOFStateEffector.linearTranslationNDOFStateEffector()
translatingBodyEffector = linearTranslationNDOFStateEffector.LinearTranslationNDOFStateEffector()
translatingBodyEffector.ModelTag = "translatingBodyEffector"

# define properties
translatingBody1 = linearTranslationNDOFStateEffector.translatingBody()
translatingBody1 = linearTranslationNDOFStateEffector.TranslatingBody()
translatingBody1.setMass(np.random.uniform(5.0, 50.0))
translatingBody1.setIPntFc_F([[np.random.uniform(5.0, 100.0), 0.0, 0.0],
[0.0, np.random.uniform(5.0, 100.0), 0.0],
Expand All @@ -361,7 +361,7 @@ def translatingBodyLockAxis(show_plots):
translatingBody1.setK(np.random.random())
translatingBodyEffector.addTranslatingBody(translatingBody1)

translatingBody2 = linearTranslationNDOFStateEffector.translatingBody()
translatingBody2 = linearTranslationNDOFStateEffector.TranslatingBody()
translatingBody2.setMass(np.random.uniform(5.0, 50.0))
translatingBody2.setIPntFc_F([[np.random.uniform(5.0, 100.0), 0.0, 0.0],
[0.0, np.random.uniform(5.0, 100.0), 0.0],
Expand All @@ -379,7 +379,7 @@ def translatingBodyLockAxis(show_plots):
translatingBody2.setK(np.random.random())
translatingBodyEffector.addTranslatingBody(translatingBody2)

translatingBody3 = linearTranslationNDOFStateEffector.translatingBody()
translatingBody3 = linearTranslationNDOFStateEffector.TranslatingBody()
translatingBody3.setMass(np.random.uniform(5.0, 50.0))
translatingBody3.setIPntFc_F([[np.random.uniform(5.0, 100.0), 0.0, 0.0],
[0.0, np.random.uniform(5.0, 100.0), 0.0],
Expand All @@ -397,7 +397,7 @@ def translatingBodyLockAxis(show_plots):
translatingBody3.setK(np.random.random())
translatingBodyEffector.addTranslatingBody(translatingBody3)

translatingBody4 = linearTranslationNDOFStateEffector.translatingBody()
translatingBody4 = linearTranslationNDOFStateEffector.TranslatingBody()
translatingBody4.setMass(np.random.uniform(5.0, 50.0))
translatingBody4.setIPntFc_F([[np.random.uniform(5.0, 100.0), 0.0, 0.0],
[0.0, np.random.uniform(5.0, 100.0), 0.0],
Expand Down Expand Up @@ -588,11 +588,11 @@ def translatingBodyCommandedForce(show_plots):
testProc.addTask(unitTestSim.CreateNewTask(unitTaskName, testProcessRate))

# Create four translating rigid bodies
translatingBodyEffector = linearTranslationNDOFStateEffector.linearTranslationNDOFStateEffector()
translatingBodyEffector = linearTranslationNDOFStateEffector.LinearTranslationNDOFStateEffector()
translatingBodyEffector.ModelTag = "translatingBodyEffector"

# define properties
translatingBody1 = linearTranslationNDOFStateEffector.translatingBody()
translatingBody1 = linearTranslationNDOFStateEffector.TranslatingBody()
translatingBody1.setMass(np.random.uniform(5.0, 50.0))
translatingBody1.setIPntFc_F([[np.random.uniform(5.0, 100.0), 0.0, 0.0],
[0.0, np.random.uniform(5.0, 100.0), 0.0],
Expand All @@ -610,7 +610,7 @@ def translatingBodyCommandedForce(show_plots):
translatingBody1.setK(np.random.random())
translatingBodyEffector.addTranslatingBody(translatingBody1)

translatingBody2 = linearTranslationNDOFStateEffector.translatingBody()
translatingBody2 = linearTranslationNDOFStateEffector.TranslatingBody()
translatingBody2.setMass(np.random.uniform(5.0, 50.0))
translatingBody2.setIPntFc_F([[np.random.uniform(5.0, 100.0), 0.0, 0.0],
[0.0, np.random.uniform(5.0, 100.0), 0.0],
Expand All @@ -628,7 +628,7 @@ def translatingBodyCommandedForce(show_plots):
translatingBody2.setK(np.random.random())
translatingBodyEffector.addTranslatingBody(translatingBody2)

translatingBody3 = linearTranslationNDOFStateEffector.translatingBody()
translatingBody3 = linearTranslationNDOFStateEffector.TranslatingBody()
translatingBody3.setMass(np.random.uniform(5.0, 50.0))
translatingBody3.setIPntFc_F([[np.random.uniform(5.0, 100.0), 0.0, 0.0],
[0.0, np.random.uniform(5.0, 100.0), 0.0],
Expand All @@ -646,7 +646,7 @@ def translatingBodyCommandedForce(show_plots):
translatingBody3.setK(np.random.random())
translatingBodyEffector.addTranslatingBody(translatingBody3)

translatingBody4 = linearTranslationNDOFStateEffector.translatingBody()
translatingBody4 = linearTranslationNDOFStateEffector.TranslatingBody()
translatingBody4.setMass(np.random.uniform(5.0, 50.0))
translatingBody4.setIPntFc_F([[np.random.uniform(5.0, 100.0), 0.0, 0.0],
[0.0, np.random.uniform(5.0, 100.0), 0.0],
Expand Down
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