Module: sphericalPendulum
Executive Summary
This class in an instantiation of the state effector class and implements an effector representing spherical pendulum.
The module
PDF Description
contains further information on this module’s function,
how to run it, as well as testing.
Message Connection Descriptions
This state effector does not have any input or output messages
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class SphericalPendulum : public StateEffector, public SysModel, public FuelSlosh
- #include <sphericalPendulum.h>
spherical pendulum state effector model
Public Functions
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SphericalPendulum()
— Contructor
This is the constructor, setting variables to default values
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~SphericalPendulum()
— Destructor
This is the destructor, nothing to report here
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void registerStates(DynParamManager &states)
— Method for FSP to register its states
This is the method for the spherical pendulum to register its states: l and lDot
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void linkInStates(DynParamManager &states)
— Method for FSP to get access of other states
Method for spherical pendulum to access the states that it needs. It needs gravity and the hub states
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void updateEffectorMassProps(double integTime)
— Method for FSP to add its contributions to mass props
This is the method for the FSP to add its contributions to the mass props and mass prop rates of the vehicle
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void modifyStates(double integTime)
— Method to force states modification during integration
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void retrieveMassValue(double integTime)
This is method is used to pass mass properties information to the fuelTank
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void updateContributions(double integTime, BackSubMatrices &backSubContr, Eigen::Vector3d sigma_BN, Eigen::Vector3d omega_BN_B, Eigen::Vector3d g_N)
— Back-sub contributions
This method is for the FSP to add its contributions to the back-sub method
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void updateEnergyMomContributions(double integTime, Eigen::Vector3d &rotAngMomPntCContr_B, double &rotEnergyContr, Eigen::Vector3d omega_BN_B)
— Energy and momentum calculations
This method is for the FSP to add its contributions to energy and momentum
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void computeDerivatives(double integTime, Eigen::Vector3d rDDot_BN_N, Eigen::Vector3d omegaDot_BN_B, Eigen::Vector3d sigma_BN)
— Method for each stateEffector to calculate derivatives
This method is used to define the derivatives of the FSP. One is the trivial kinematic derivative and the other is derived using the back-sub method
Public Members
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double pendulumRadius
[m] distance between the center of the tank and the spherical pendulum mass
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double phiDotInit
[rad/s] Initial value for spherical pendulum pendulum offset derivative
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double thetaDotInit
[rad/s] Initial value for spherical pendulum pendulum offset derivative
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double massInit
[m] Initial value for spherical pendulum pendulum mass
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std::string nameOfPhiState
[-] Identifier for the phi state data container
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std::string nameOfThetaState
[-] Identifier for the theta state data container
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std::string nameOfPhiDotState
[-] Identifier for the phiDot state data container
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std::string nameOfThetaDotState
[-] Identifier for the thetaDot state data container
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std::string nameOfMassState
[-] Identifier for the mass state data container
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BSKLogger bskLogger
— BSK Logging
Private Members
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double phiInit
[rad] Initial value for spherical pendulum pendulum offset
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double thetaInit
[rad] Initial value for spherical pendulum pendulum offset
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double phi
[rad] spherical pendulum displacement in P0 frame
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double theta
[rad] spherical pendulum displacement in P0 frame
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double phiDot
[rad/s] time derivative of displacement in P0 frame
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double thetaDot
[rad/s] time derivative of displacement in P0 frame
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double massFSP
[kg] mass of spherical pendulum pendulum
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double cPhi
— Term needed for back-sub method
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double cTheta
— Term needed for back-sub method
Private Static Attributes
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static uint64_t effectorID = 1
[] ID number of this panel
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SphericalPendulum()