BSK_MujocoFSW

class BSK_MujocoFSW.BSKMujocoFSWModels(SimBase, fswRate, config)

Bases: object

Defines the bskSim FSW class

InitAllFSWObjects(SimBase)

Initialize all FSW objects in the simulation

SetAttError()

Define the attitude tracking error module

SetAttRef()

Define the tracking attitude reference pointing module.

SetHingedJointArrayMotor(SimBase)

Define the hinged joint array motor module

SetInertial3D()

Defined the inertial 3D guidance module

SetInertialCartFeedback()

Define the inertial cart feedback module

SetJointMotionCompensator(SimBase)

Define the joint motion compensator module

SetJointProfiler(SimBase)

Define the optional joint reference profiler.

SetJointThrAllocation(SimBase)

Define the joint and thruster allocation module

SetMrpFeedback()

Define the MRP feedback module

SetNavConverter()

Define the nav converter module

SetStateMerge(SimBase)

Define the state merge module

SetThrArmConfig()

Set the thruster arm configuration information

SetThrFiringRound()

Define the thruster firing logic module

SetThrJointCompensation(SimBase)

Define the thruster-joint compensation module

SetThrOnTimeToForce()

Define the thruster on-time to force conversion module

SetTransRef()

Set the translational reference state information

SetVehicleConfiguration()

Set the spacecraft configuration information

setupGatewayMsgs(SimBase)

create stand-alone actuator gateway messages such that different modules can write this message (or it can be left as zero) and provide a common input message for the mujoco actuators

startFiringCancellation(currentSimNanos)

Latch a zero on-time command to clear internal firing timers.

wrapAngle(angle)

Helper function to wrap angles to the range [-pi, pi]