attRefCorrection#
Executive Summary#
This module reads in the attitude reference message and adjusts it by a fixed rotation. This allows a general body-fixed frame \(B\) to align with this corrected reference frame \(R\).
Message Connection Descriptions#
The following table lists all the module input and output messages. The module msg connection is set by the user from python. The msg type contains a link to the message structure definition, while the description provides information on what this message is used for.
Msg Variable Name |
Msg Type |
Description |
|---|---|---|
attRefInMsg |
attitude reference input message |
|
attRefOutMsg |
corrected attitude reference input message |
Detailed Module Description#
This module is an attitude reference message feed-through module where a fixed orientation offset can be applied to the output attitude \(\sigma_{R/N}\). In not all cases do we wish to drive a body-fixed frame \(\mathcal B\) to a reference frame \(\mathcal R\). Therefore, we introduce a fixed offset \(\sigma_{R/R0}\) and add this to the input \(\sigma_{R0/N}\). This resulted in a corrected reference frame to control the \(\mathcal B\) to.
This relationship can be found by using the addition of two mrps using the rigid body kinematics library, which is what the algorithm uses internally.
User Guide#
The only variable that is set with this module is the sigma_RR0 MRP to rotate from the original
reference frame to corrected reference frame.
Class AttRefCorrection#
-
class AttRefCorrection : public SysModel#
This module reads in the attitude reference message and adjusts it by a fixed rotation. This allows a general body-fixed frame B to align with this corrected reference frame.
Public Functions
-
void reset(uint64_t callTime) final#
This method performs a complete reset of the module. Local module variables that retain time varying states between function calls are reset to their default values. Check if required input messages are connected.
- Parameters:
callTime – [ns] time the method is called
- Returns:
void
-
void updateState(uint64_t callTime) final#
Corrects the reference attitude message by a fixed rotation
- Parameters:
callTime – The clock time at which the function was called (nanoseconds)
- Returns:
void
-
void setSigmaRR0(const Eigen::Vector3d &sigma)#
Setter method for the current MRP attitude coordinate set with respect to the input reference
- Parameters:
sigmaRR0 – [-] current MRP attitude coordinate set with respect to the input reference
- Returns:
void
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const Eigen::Vector3d getSigmaRR0() const#
Getter method for the current MRP attitude coordinate set with respect to the input reference
- Returns:
const Eigen::Vector3d
Public Members
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ReadFunctor<AttRefMsgPayload> attRefInMsg#
attitude reference input message
-
Message<AttRefMsgPayload> attRefOutMsg#
corrected attitude reference input message
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void reset(uint64_t callTime) final#