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. More... | |
| ~SpacecraftThrusterModel () override=default | |
| Destructor. More... | |
| void | Configure (const Entity &_entity, const std::shared_ptr< const sdf::Element > &_sdf, EntityComponentManager &_ecm, EventManager &_eventMgr) override |
| Configure the system. More... | |
| void | PreUpdate (const UpdateInfo &_info, EntityComponentManager &_ecm) override |
 Public Member Functions inherited from System | |
| System ()=default | |
| Constructor. More... | |
| virtual | ~System ()=default |
| Destructor. More... | |
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. More... | |
| Static Public Attributes inherited from System | |
| constexpr static PriorityType | kDefaultPriority = {0} |
| Default priority value for execution order of the PreUpdate and Update phases. More... | |
| constexpr static std::string_view | kPriorityElementName |
| Name of the XML element from which the priority value will be parsed. More... | |
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
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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()
Constructor.
◆ ~SpacecraftThrusterModel()
|
overridedefault |
Destructor.
Member Function Documentation
◆ Configure()
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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()
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overridevirtual |
Implements ISystemPreUpdate.
The documentation for this class was generated from the following file: