SpacecraftThrusterModel Class Reference

This system applies a thrust force to models with RCS-like thrusters. See tutorials/spacecraft_thrusters.md for a tutorial usage. Below follow the minimum necessary parameters needed by the plugin: More...

#include <SpacecraftThrusterModel.hh>

Public Member Functions
	SpacecraftThrusterModel ()
	Constructor.
	~SpacecraftThrusterModel () override=default
	Destructor.
void	Configure (const Entity &_entity, const std::shared_ptr< const sdf::Element > &_sdf, EntityComponentManager &_ecm, EventManager &_eventMgr) override
	Configure the system.
void	PreUpdate (const UpdateInfo &_info, EntityComponentManager &_ecm) override
Public Member Functions inherited from System
	System ()=default
	Constructor.
virtual	~System ()=default
	Destructor.
Public Member Functions inherited from ISystemConfigure
virtual	~ISystemConfigure ()=default
Public Member Functions inherited from ISystemPreUpdate
virtual	~ISystemPreUpdate ()=default

Additional Inherited Members
Public Types inherited from System
using	PriorityType = int32_t
	Signed integer type used for specifying priority of the execution order of PreUpdate and Update phases.
Static Public Attributes inherited from System
static constexpr PriorityType	kDefaultPriority = {0}
	Default priority value for execution order of the PreUpdate and Update phases.
static constexpr std::string_view	kPriorityElementName
	Name of the XML element from which the priority value will be parsed.

Detailed Description

This system applies a thrust force to models with RCS-like thrusters. See tutorials/spacecraft_thrusters.md for a tutorial usage. Below follow the minimum necessary parameters needed by the plugin:

Parameters

link_name	Name of the link that the thruster is attached to.
actuator_number	Index of the element to be used from the actuators message for a joint.
duty_cycle_frequency	Frequency of the duty cycle signal in Hz.
max_thrust	Maximum thrust force in Newtons, applied on the «on» phase of the duty cycle.
topic	Name of the topic where the commanded normalized thrust is published. Unit is <0, 1>, corresponding to the percentage of the duty cycle that the thruster is on. Default uses the models name.
sub_topic	[optional] Name of the sub_topic to listen to actuator message on.

This plugin replicates the PWM thruster behavior in: Nakka, Yashwanth Kumar, et al. "A six degree-of-freedom spacecraft dynamics simulator for formation control research." 2018 AAS/AIAA Astrodynamics Specialist Conference. 2018. -> 'Thruster Firing Time' Phodapol, S. (2023). Predictive Controllers for Load Transportation in Microgravity Environments (Dissertation). -> '5.3.4 PWM Controller Node' Retrieved from https://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-344440

Constructor & Destructor Documentation

SpacecraftThrusterModel()

SpacecraftThrusterModel

(

)

Constructor.

~SpacecraftThrusterModel()

~SpacecraftThrusterModel ( )

overridedefault

Destructor.

Member Function Documentation

Configure()

void Configure ( const Entity &  _entity, const std::shared_ptr< const sdf::Element > &  _sdf, EntityComponentManager &  _ecm, EventManager &  _eventMgr  )

overridevirtual

Configure the system.

Parameters

[in]	_entity	The entity this plugin is attached to.
[in]	_sdf	The SDF Element associated with this system plugin.
[in]	_ecm	The EntityComponentManager of the given simulation instance.
[in]	_eventMgr	The EventManager of the given simulation instance.

Implements ISystemConfigure.

PreUpdate()

void PreUpdate ( const UpdateInfo &  _info, EntityComponentManager &  _ecm  )

overridevirtual

Implements ISystemPreUpdate.

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The documentation for this class was generated from the following file:

• SpacecraftThrusterModel.hh