Feature/effector branching

src/simulation/dynamics/Thrusters/thrusterDynamicEffector/_UnitTest/test_thruster_dynamics_attached_body.py

@@ -46,9 +46,9 @@ def thrusterEffectorAllTests(show_plots):
 # provide a unique test method name, starting with test_
 def test_unitThrusters(show_plots, long_angle, lat_angle, location, rate):
     r"""
-    This unit test checks the functionality of attaching a dynamic thruster to a body other than the hub. Although the
-    attached body is fixed with respect to the hub, the point where the thruster is attached now has an additional
-    offset and a different orientation.
+    This unit test checks the functionality of attaching a dynamic thruster to a body other than the hub using the
+    messaging system. Although the attached body is fixed with respect to the hub, the point where the thruster is
+    attached now has an additional offset and a different orientation.
 
     The unit test sets up the thruster as normal, but then converts the direction and location to take into account the
     attached body for testing purposes. The thruster is set to fire for the first half of the simulation, and then turn

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

@@ -38,6 +38,9 @@ ThrusterDynamicEffector::ThrusterDynamicEffector()
     forceExternal_N.fill(0.0);
     this->stateDerivContribution.resize(1);
     this->stateDerivContribution.setZero();
+
+    /* this effector can be attached onto a state effector */
+    this->isAttachableToStateEffector = true;
     return;
 }
 
@@ -180,11 +183,19 @@ 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 +253,16 @@ 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 +271,13 @@ 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