Understanding HingedRigidBodyStateEffector #407
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The hinged rigid body module assumes the panel frame is rotating about the 2nd body axis. The module documentation at links to the journal paper that discusses this work in more detail. Or, see the dissertation by Dr. Cody Allard (No. 15) at http://hanspeterschaub.info/phd.html This module has some assumptions on the hinged body as outlined in this paper and dissertation. There is a newer effector called the |
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Hey all,
I am working on a simulation for Solar Panel Deployment using the
HingedRigidBodyStateEffector
module. I have used the example scenarioDeployingPanel.py for reference and it works (mostly). As I was going through the code ofHingedRigidBodyStateEffector
module I encountered the functionHingedRigidBodyStateEffector::updateEffectorMassProps
where multiple frame conversions using DCMs are done. These conversions are to convert from hinge frame to body frame mostly. There is one conversionthis->dcm_SH = eigenM2(this->theta);
which I am not able to understand. This code line means that we are converting the frame about the 2nd axis of the hinged body. Now from what I see is that this means my solar panel deployment is supposed to be happening about the Y axis. Why and how this axis was fixed? And also, there is no formal documentation available for it! @schaubh please help!Beta Was this translation helpful? Give feedback.
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