THRArmConfigMsgPayload

struct THRArmConfigMsgPayload

#include <THRArmConfigMsgPayload.h>

Structure used by the messaging system to communicate details about the spacecraft system configuration for spacecraft with thruster arms.

Public Members

double hubMass

[kg] mass of the spacecraft’s hub

std::vector<double> r_BcB_B

[m] position vector from the hub body frame origin to the hub center of mass (body frame)

std::vector<int> bodyArmIdx

[-] index for which arm a body belongs to

std::vector<int> bodyJointIdx

[-] local joint index of the closest parent joint for each body

std::vector<double> bodyMass

[kg] mass of each arm body

std::vector<double> r_LcP_P

[m] position vector from the parent joint to the body center of mass (parent joint’s frame), column-major order

std::vector<int> armJointCount

[-] list of the number of hinged joints in each thruster arm

std::vector<double> r_CP_P

[m] position vector from the parent joint to the child joint(parent joint’s frame), column-major order

std::vector<double> shat_P

[-] spin axis unit vector of a child joint (parent joint’s frame), column-major order

std::vector<double> dcm_C0P

[-] direction cosine matrix from the child joint frame zero angle orientation to the parent joint frame, column-major order

std::vector<int> armTreeIdx

[-] index for which kinematic tree each thruster arm belongs to

std::vector<int> thrArmIdx

[-] index for which arm a thruster belongs to

std::vector<int> thrArmJointIdx

[-] local joint index of the closest parent joint for each thruster

std::vector<double> r_TP_P

[m] position vector from the closest parent joint to the thruster (parent joint’s frame), column-major order

std::vector<double> fhat_P

[-] force axis unit vector of a thruster (parent joint’s frame), column-major order