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Refactor/358 fix dcm facet srp dynamic effector #359

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Refactor/358 fix dcm facet srp dynamic effector #359

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1c015dc
Apply negative to facet attitude computation
leahkiner Nov 22, 2024
0a80604
Fix facet transformation documentation
leahkiner Nov 22, 2024
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8 changes: 4 additions & 4 deletions ...simulation/dynamics/facetSRPDynamicEffector/_UnitTest/test_unitFacetSRPDynamicEffector.py
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Expand Up @@ -66,7 +66,7 @@ def test_facetSRPTestFunction(show_plots, facetRotAngle1, facetRotAngle2):
facetRotAngle1 (double): [rad] Articulation angle for facets 7 and 8 (solar panel 1)
facetRotAngle2 (double): [rad] Articulation angle for facets 9 and 10 (solar panel 2)
"""

[testResults, testMessage] = facetSRPTestFunction(show_plots, facetRotAngle1, facetRotAngle2)

assert testResults < 1, testMessage
Expand Down Expand Up @@ -121,7 +121,7 @@ def facetSRPTestFunction(show_plots, facetRotAngle1, facetRotAngle2):
facetRotAngle1MessageData.theta = facetRotAngle1
facetRotAngle1MessageData.thetaDot = 0.0
facetRotAngle1Message = messaging.HingedRigidBodyMsg().write(facetRotAngle1MessageData)

facetRotAngle2MessageData = messaging.HingedRigidBodyMsgPayload()
facetRotAngle2MessageData.theta = facetRotAngle2
facetRotAngle2MessageData.thetaDot = 0.0
Expand Down Expand Up @@ -291,11 +291,11 @@ def checkFacetSRPForce(index, facetRotAngle1, facetRotAngle2, area, specCoeff, d

# Rotate the articulated facet normal vectors
if (index == 6 or index == 7):
prv_BB0 = facetRotAngle1 * facetRotAxis
prv_BB0 = -facetRotAngle1 * facetRotAxis
dcm_BB0 = rbk.PRV2C(prv_BB0)
facetNormal = np.matmul(dcm_BB0, facetNormal)
if (index == 8 or index == 9):
prv_BB0 = facetRotAngle2 * facetRotAxis
prv_BB0 = -facetRotAngle2 * facetRotAxis
dcm_BB0 = rbk.PRV2C(prv_BB0)
facetNormal = np.matmul(dcm_BB0, facetNormal)

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6 changes: 3 additions & 3 deletions src/simulation/dynamics/facetSRPDynamicEffector/facetSRPDynamicEffector.cpp
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Expand Up @@ -176,9 +176,9 @@ void FacetSRPDynamicEffector::computeForceTorque(double callTime, double timeSte
double articulationAngle = facetArticulationAngleList.at(articulatedIndex);

// Determine the required DCM that rotates the facet normal vector through the articulation angle
double prv_BB0[3] = {articulationAngle * scGeometry.facetRotAxes_B[i][0],
articulationAngle * scGeometry.facetRotAxes_B[i][1],
articulationAngle * scGeometry.facetRotAxes_B[i][2]};
double prv_BB0[3] = {-articulationAngle * scGeometry.facetRotAxes_B[i][0],
-articulationAngle * scGeometry.facetRotAxes_B[i][1],
-articulationAngle * scGeometry.facetRotAxes_B[i][2]};
PRV2C(prv_BB0, dcmBB0);
dcm_BB0 = c2DArray2EigenMatrix3d(dcmBB0);

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8 changes: 4 additions & 4 deletions src/simulation/dynamics/facetSRPDynamicEffector/facetSRPDynamicEffector.rst
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Expand Up @@ -8,9 +8,9 @@ articulating facets. The unit test for this module shows how to set up this part

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
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.

.. list-table:: Module I/O Messages
Expand Down Expand Up @@ -48,7 +48,7 @@ required to rotate the given facet normal vector through the current facet artic
principal rotation vector (PRV) transformation where:

.. math::
[\mathcal{B}_0\mathcal{B}] = \text{PRV2C}(\phi, \boldsymbol{\hat{a}})
[\mathcal{B}\mathcal{B}_0] = \text{PRV2C}(-\phi, \boldsymbol{\hat{a}})

and

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