Support 1DOF hingedPanel branching with dynamic effectors #1155
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schaubh
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schaubh
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Nov 9, 2025
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Nice work. Some small things to address with my comments.
The integrated test, however, is regularly failing on my computer.
| Eigen::Matrix3d ISPrimePntS_P; //!< [kg-m^2/s] time body derivative IPntS in body frame components | ||
| Eigen::Vector3d omegaLoc_PN_P; //!< [rad/s] local copy of omegaBN | ||
| Eigen::Vector3d omega_BN_B{0.0, 0.0, 0.0}; //!< Hub/Inertial angular velocity vector in B frame components | ||
| Eigen::MRPd sigma_BN{0.0, 0.0, 0.0}; //!< Hub/Inertial attitude represented by MRP |
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MRP is not a vector quantity. Should be moved to next section listing matrices, including the DCMs.
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| %include "architecture/utilities/bskException.swg" | ||
| %default_bsk_exception(); | ||
| %feature("python:kwargs") HingedRigidBodyStateEffector::addDynamicEffector; |
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Why is this needed? This method is defined in the *.h file already and will thus get swig'd?
| { | ||
| // - Compute the force and torque contributions from the dynamicEffectors | ||
| (*dynIt)->computeForceTorque(integTime, double(0.0)); | ||
| attBodyForce_S += (*dynIt)->forceExternal_B; |
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add a comment here why S and B frames are the same.
| r_ScN_N_log = np.zeros_like(inertialPropLog.r_BN_N) | ||
| for i in range(len(inertialPropLog.sigma_BN)): | ||
| q_i = inertialPropLog.sigma_BN[i, :] # MRP at timestep i | ||
| dcm_NP = np.transpose(rbk.MRP2C(q_i)) |
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Is the P and B frame the same here?
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Description
That adds support for 1DOF Hinged Rigid Body State Effector to be the parent for Dynamic Effectors
Verification
Used hinged rigid body state effector properties to calculate the angular momentum and delta v and compared it to the modified equations of motion output angular momentum and delta v in test_effectorBranching_integrated.py and plots them against each other to verify dynamics. Additionally, a scenario with 5 different spacecraft was written and compared plotted dynamics variables to intuitive values and behaviors. One spacecraft exhibited natural dynamics. Two were enacted on by external force and an additional two were enacted on by external torque. The force and torque were located on the hub and on the hinged rigid body state effector for each.
Documentation
Added a note to
docs/source/Support/bskReleaseNotes.rst. Changed the yellow cells associated with 1DOF HRB to green inbskPrinciples-11.rst. Occasional lines of RST documentation embedded throughout certain scripts using //!< in header file variable definitions, or /*! */ just before method definitions in cpp files. These show up in pages like https://avslab.github.io/basilisk/Documentation/simulation/dynamics/HingedRigidBodies/hingedRigidBodyStateEffector.html at the end of the file after the documentation generated by the standalone .rst file.Future work
2DOF HRB and NDOF HRB augmented to support dynamic effectors.