Merge pull request #90 from ut-issl/feature/add_torque_generator

Add torque generator
ut-issl · Jan 22, 2024 · 88d9ffb · 88d9ffb
2 parents 6fcfc5a + c1de90a
commit 88d9ffb
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Showing 4 changed files with 25 additions and 1 deletion.
diff --git a/s2e-ff/data/initialize_files/components/torque_generator.ini b/s2e-ff/data/initialize_files/components/torque_generator.ini
@@ -0,0 +1,10 @@
+[TORQUE_GENERATOR]
+// Standard deviation of torque magnitude error [Nm]
+torque_magnitude_standard_deviation_Nm = 0.001
+
+// Standard deviation of torque direction error [deg]
+torque_direction_standard_deviation_deg = 1
+
+[COMPONENT_BASE]
+// Prescaler with respect to the component update period
+prescaler = 1
diff --git a/s2e-ff/data/initialize_files/ff_satellite.ini b/s2e-ff/data/initialize_files/ff_satellite.ini
@@ -140,4 +140,5 @@ relative_velocity_sensor_file = ../../data/initialize_files/components/relative_
 laser_distance_meter_file = ../../data/initialize_files/components/laser_distance_meter.ini
 qpd_positioning_sensor_file = ../../data/initialize_files/components/qpd_positioning_sensor.ini
 force_generator_file = ../../data/initialize_files/components/force_generator.ini
+torque_generator_file = ../../data/initialize_files/components/torque_generator.ini
 relative_attitude_controller_file = ../../data/initialize_files/components/relative_attitude_controller.ini
diff --git a/s2e-ff/src/simulation/spacecraft/ff_components.cpp b/s2e-ff/src/simulation/spacecraft/ff_components.cpp
@@ -48,6 +48,9 @@ FfComponents::FfComponents(const Dynamics* dynamics, const Structure* structure,
   const std::string force_generator_file = sat_file.ReadString(section_name.c_str(), "force_generator_file");
   force_generator_ = new ForceGenerator(InitializeForceGenerator(clock_gen, force_generator_file, dynamics_));
 
+  const std::string torque_generator_file = sat_file.ReadString(section_name.c_str(), "torque_generator_file");
+  torque_generator_ = new TorqueGenerator(InitializeTorqueGenerator(clock_gen, torque_generator_file, dynamics_));
+
   const std::string relative_attitude_controller_file = sat_file.ReadString(section_name.c_str(), "relative_attitude_controller_file");
   relative_attitude_controller_ = new RelativeAttitudeController(InitializeRelativeAttitudeController(
       clock_gen, relative_attitude_controller_file, *rel_info_, local_env_->GetCelestialInformation(), *dynamics_, sat_id));
@@ -58,6 +61,12 @@ FfComponents::FfComponents(const Dynamics* dynamics, const Structure* structure,
   force_N[1] = 0.0;
   force_N[2] = 0.0;
   // force_generator_->SetForce_b_N(force_N);
+
+  libra::Vector<3> torque_Nm;
+  torque_Nm[0] = 0.1;
+  torque_Nm[1] = 0.0;
+  torque_Nm[2] = 0.0;
+  // torque_generator_->SetTorque_b_Nm(torque_Nm);
 }
 
 FfComponents::~FfComponents() {
@@ -66,6 +75,7 @@ FfComponents::~FfComponents() {
   delete relative_attitude_sensor_;
   delete relative_velocity_sensor_;
   delete force_generator_;
+  delete torque_generator_;
   delete relative_attitude_controller_;
   delete laser_distance_meter_;
   delete qpd_positioning_sensor_;
@@ -80,8 +90,8 @@ Vector<3> FfComponents::GenerateForce_b_N() {
 }
 
 Vector<3> FfComponents::GenerateTorque_b_Nm() {
-  // No attitude control component
   Vector<3> torque_b_Nm_(0.0);
+  torque_b_Nm_ += torque_generator_->GetGeneratedTorque_b_Nm();
   return torque_b_Nm_;
 }
 
@@ -91,6 +101,7 @@ void FfComponents::LogSetup(Logger& logger) {
   logger.AddLogList(relative_attitude_sensor_);
   logger.AddLogList(relative_velocity_sensor_);
   logger.AddLogList(force_generator_);
+  logger.AddLogList(torque_generator_);
   logger.AddLogList(laser_distance_meter_);
   logger.AddLogList(qpd_positioning_sensor_);
 }
diff --git a/s2e-ff/src/simulation/spacecraft/ff_components.hpp b/s2e-ff/src/simulation/spacecraft/ff_components.hpp
@@ -14,6 +14,7 @@
 
 // include for components
 #include <components/ideal/force_generator.hpp>
+#include <components/ideal/torque_generator.hpp>
 #include <components/real/cdh/on_board_computer.hpp>
 
 #include "../../components/aocs/initialize_relative_distance_sensor.hpp"
@@ -73,6 +74,7 @@ class FfComponents : public InstalledComponents {
   QpdPositioningSensor* qpd_positioning_sensor_;
   // Actuators
   ForceGenerator* force_generator_;                           //!< Example of force generator
+  TorqueGenerator* torque_generator_;                         //!< Example of torque generator
   RelativeAttitudeController* relative_attitude_controller_;  //!< Example of attitude controller
 
   // References