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Support 1DOF hingedPanel branching with dynamic effectors #1155

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Support 1DOF hingedPanel branching with dynamic effectors #1155

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068d5c8
formatting clean up
andrewmorell Oct 27, 2025
93f6f7d
convert HRB1DOF properties to MatrixXd to work with property manager
DavilaDawg Oct 23, 2025
c3a69d9
define the HRB1DOF method for attaching dynamic effectors
DavilaDawg Sep 11, 2025
3cdb48b
add property linking between HRB1DOF and attached effectors
andrewmorell Oct 27, 2025
16d7c66
loop through to collect forces and torques from connected dynamic eff…
andrewmorell Oct 27, 2025
bfc9c85
add HRB 1DOF to integrated test
DavilaDawg Oct 14, 2025
0580211
modify Allowable Configurations table
DavilaDawg Nov 6, 2025
263c40e
add note detailing changes in bskReleaseNotes.rst
DavilaDawg Oct 28, 2025
6bdb5d5
formatting clean up
DavilaDawg Nov 13, 2025
96484e0
convert HRB1DOF properties to MatrixXd to work with property manager
DavilaDawg Oct 23, 2025
609e889
define the HRB1DOF method for attaching dynamic effectors
DavilaDawg Sep 11, 2025
ac9d106
add property linking between HRB1DOF and attached effectors
andrewmorell Oct 27, 2025
a3b1fe8
loop through to collect forces and torques from connected dynamic eff…
andrewmorell Oct 27, 2025
0c00342
add HRB 1DOF to integrated test
DavilaDawg Oct 14, 2025
d89b28b
modify Allowable Configurations table
DavilaDawg Nov 6, 2025
1cbe641
add note detailing changes in bskReleaseNotes.rst
DavilaDawg Oct 28, 2025
99da5cc
[squash] remove white space from cpp file
DavilaDawg Nov 13, 2025
cfa111c
[squash] remove whitespace from test
DavilaDawg Nov 13, 2025
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11 changes: 11 additions & 0 deletions src/simulation/dynamics/HingedRigidBodies/hingedRigidBodyStateEffector.cpp
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Expand Up @@ -114,6 +114,17 @@ void HingedRigidBodyStateEffector::linkInStates(DynParamManager& statesIn)
return;
}

void HingedRigidBodyStateEffector::addDynamicEffector(DynamicEffector *newDynamicEffector, int segment)
{
if (segment != 1) {
bskLogger.bskLog(BSK_ERROR, "Specifying attachment to a non-existent hinged rigid body linkage because this is 1DOF.");
}

this->assignStateParamNames<DynamicEffector *>(newDynamicEffector);

this->dynEffectors.push_back(newDynamicEffector);
}

/*! This method allows the HRB state effector to register its states: theta and thetaDot with the dyn param manager */
void HingedRigidBodyStateEffector::registerStates(DynParamManager& states)
{
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3 changes: 3 additions & 0 deletions src/simulation/dynamics/HingedRigidBodies/hingedRigidBodyStateEffector.h
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Expand Up @@ -22,6 +22,7 @@

#include <Eigen/Dense>
#include "simulation/dynamics/_GeneralModuleFiles/stateEffector.h"
#include "simulation/dynamics/_GeneralModuleFiles/dynamicEffector.h"
#include "simulation/dynamics/_GeneralModuleFiles/stateData.h"
#include "architecture/_GeneralModuleFiles/sys_model.h"
#include "architecture/utilities/avsEigenMRP.h"
Expand Down Expand Up @@ -55,6 +56,7 @@ class HingedRigidBodyStateEffector : public StateEffector, public SysModel {
Message<SCStatesMsgPayload> hingedRigidBodyConfigLogOutMsg; //!< panel state config log message name
HingedRigidBodyMsgPayload HRBoutputStates; //!< instance of messaging system message struct
BSKLogger bskLogger; //!< -- BSK Logging
std::vector<DynamicEffector*> dynEffectors; //!< Vector of dynamic effectors attached

private:
static uint64_t effectorID; //!< [] ID number of this panel
Expand Down Expand Up @@ -113,6 +115,7 @@ class HingedRigidBodyStateEffector : public StateEffector, public SysModel {
void UpdateState(uint64_t CurrentSimNanos) override;
void registerStates(DynParamManager& statesIn) override; //!< -- Method for registering the HRB states
void linkInStates(DynParamManager& states) override; //!< -- Method for getting access to other states
void addDynamicEffector(DynamicEffector *newDynamicEffector, int segment = 1) override; //!< -- Method for adding attached dynamic effector
void updateContributions(double integTime, BackSubMatrices & backSubContr, Eigen::Vector3d sigma_BN, Eigen::Vector3d omega_BN_B, Eigen::Vector3d g_N) override; //!< -- Method for back-sub contributions
void computeDerivatives(double integTime, Eigen::Vector3d rDDot_BN_N, Eigen::Vector3d omegaDot_BN_B, Eigen::Vector3d sigma_BN) override; //!< -- Method for HRB to compute its derivatives
void updateEffectorMassProps(double integTime) override; //!< -- Method for giving the s/c the HRB mass props and prop rates
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1 change: 1 addition & 0 deletions src/simulation/dynamics/HingedRigidBodies/hingedRigidBodyStateEffector.i
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Expand Up @@ -22,6 +22,7 @@

%include "architecture/utilities/bskException.swg"
%default_bsk_exception();
%feature("python:kwargs") HingedRigidBodyStateEffector::addDynamicEffector;

%{
#include "hingedRigidBodyStateEffector.h"
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