Model to implement 6-DOF dynamics. More...

#include <SixDOFDynamicsModel.h>

Inheritance diagram for modelspace::SixDOFDynamicsModel:

Classes
struct	Inputs

struct	Outputs

struct	Params

Public Member Functions
	SixDOFDynamicsModel (cfspp::FlightExecutive &executive)

virtual	~SixDOFDynamicsModel ()

void	reset ()
	Function to reset our integrator for next step. More...

Public Member Functions inherited from cfspp::App
	App (FlightExecutive &executive, const char *name, uint16 apid, uint8 instance=0)
	Executive-based constructor for the task. More...

virtual	~App ()
	Destructor. Doesn't really do anything. More...

int16	startup ()
	Initialize the app. Should be called once before step. More...

int16	step ()
	Step the app by a single step. Maps params, inputs, etc. to outputs. More...

virtual int16	activate ()
	Activate the app. The app will step when active. More...

virtual int16	deactivate ()
	Deactivate the app. The app will not step when deactivated. More...

virtual int16	command (uint16 apid, uint8 *buffer, uint16 size)
	Process commands issued to the app. More...

log_level_e	logLevel ()
	Get the log level set for the executive. More...

void	logLevel (log_level_e log_level)
	Set the executive log level. More...

bool	isStarted ()
	Return whether task startup has been run. More...

uint16	apid ()
	Get the apid for this app. More...

uint8 &	instance ()
	Get the instance of this app (used to differentiate between multiple instances of the same app) More...

Public Member Functions inherited from clockwerk::GraphTreeObject
	GraphTreeObject (const char gt_nme="", GraphTreeObject *storage_array=nullptr, uint32 storage_size=0)
	Name-based constructor for GraphTreeObject which will have no children by default. More...

virtual	~GraphTreeObject ()
	Destructor. More...

GraphTreeObject *	parent ()
	Functions to get object's parent/children. More...

GraphTreeObject **	children ()

GraphTreeObject *	childAtIndex (uint8 i) const

int16	parent (GraphTreeObject *new_parent)
	Function to assign the node's parent via pointer. More...

int16	parent (GraphTreeObject &new_parent)
	Function to assign the node's parent via reference. More...

uint8	nChildren () const
	Getters for number of children and descendants. More...

uint16	nDescendants () const

uint8	capacity () const

const char *	name () const
	Getter and setter for object name. More...

int16	name (const char *new_name)

uint8	rank ()
	Getter for the object rank. More...

int8	type ()
	Function to indicate type – -1 by default unless implemented downstream. More...

bool	loggable ()
	Getter for object logability flag – note no setter because should only be set by this or a derived class in its definition. More...

GraphTreeObject *	getRootDataPointer ()
	Get the pointer to the highest object in the graph tree. More...

virtual int16	str (char *output, size_t size) const
	Get object represented as string. More...

virtual int16	fromStr (const char *val)
	Set value of graphtreeobject from string. More...

Public Attributes
Params	params = Params(this, "params")

Inputs	inputs = Inputs(this, "inputs")

Outputs	outputs = Outputs(this, "outputs")

Public Attributes inherited from cfspp::App
clockwerk::DataIO< bool >	active = clockwerk::DataIO<bool>(this, "active", true)
	The active flag for the task – set to true by default. More...

Protected Member Functions
int16	start () override

int16	execute () override

int	_integrateRecursiveForwardEuler (Frame *frame_ptr)
	Function to recursively integrate the frame tree via forward euler. More...

int	_integrateRecursiveRk4 (Frame *frame_ptr)
	Function to recursively integrate the frame tree via RK4. More...

int	_recurseRefreshFrameIntegratorSet (Frame *frame_ptr)
	Function to recursively loop through frames and set their integrators. More...

Protected Member Functions inherited from clockwerk::GraphTreeObject
int16	_setStorage (GraphTreeObject **storage_array, uint8 storage_size)
	Getter for object's string address. More...

void	_recalculateDescendants ()
	Function to recursively re-calculate the number of descendants of a given node on the tree. More...

void	_recalculateRank ()
	Function to recursively re-calculate the rank of a given node on the tree. More...

int16	_addChild (GraphTreeObject *child)
	Function to decompose a string into a series of substrings via indexing. More...

int16	_removeChild (GraphTreeObject *child)
	Function to remove a child from the graph node's children. More...

Protected Attributes
unsigned int	_integrator_step_num = 0
	Variables to track integrator type and steps. More...

unsigned int	_integrator_steps_per_step = 0

std::list< cfspp::ForwardEulerIntegrator< NUM_INTEGRATED_STATES > >	_fe_integrators
	Vectors of integrators – allows for dynamic integrator numbers. More...

std::list< cfspp::RK4Integrator< NUM_INTEGRATED_STATES > >	_rk4_integrators

cfspp::RK4Integrator< NUM_INTEGRATED_STATES > *	_rk4_ptr

cfspp::ForwardEulerIntegrator< NUM_INTEGRATED_STATES > *	_fe_ptr

FrameDynamics	_frame_dynamics
	Our dynamics model for frames. More...

std::array< double, NUM_INTEGRATED_STATES >	_tmp_state

std::vector< GraphTreeObject * >	_frame_children

clockwerk::Time	_half_step_size
	Temporary variable for time calculation in RK4. More...

Protected Attributes inherited from cfspp::App
FlightExecutive &	exc
	Override our executive to include the FlightExecutive instead. More...

int16	_error = 0
	Internal variable to track and return error on app step through. More...

uint16	_apid = 0
	Internal variable to hold the APID for this app. More...

bool	_is_started = false
	Flag indicating whether app has been started or not. More...

log_level_e	_local_log_level = log_level_e::LOG_WARNING
	The log level for this particular app. More...

GraphTreeObject *	_app_children [MAXIMUM_APP_CHILDREN]
	Local storage for App children so it can live on the graph tree. More...

uint8	_instance
	Instance number of this app. Used to differentiate between multiple instances of the same app. More...

Protected Attributes inherited from clockwerk::GraphTreeObject
GraphTreeObject *	_parent = nullptr

GraphTreeObject **	_children_ptr = nullptr

uint32	_max_num_children = 0

uint16	_num_descendants = 0

char	_name [MAXIMUM_NAME_CHARS] = ""
	String name for object. More...

uint8	_num_children = 0
	Number of direct children of the tree (not including the tree itself) More...

uint8	_rank = 0

int8	_graph_tree_type = BASE_GRAPH_TREE
	Variable to store graph tree object type. More...

bool	_loggable = false
	Variable to indicate whether the selected object is loggable. Set to false by default. More...

uint32	_index = 0
	Index pointing to the next write location for the graph tree children. More...

Detailed Description

Model to implement 6-DOF dynamics.

This file defines the dynamics used for 6-DOF simulation.

It inherits from the classical model architecture, but is designed to execute in a manner that propagates dynamics forward in time.

Tasks executed and order of operations: Start step: Nothing Derivative:

Ensures frames are up to date by evaluating current state
Articulates forces and moments applied at nodes through the kinematics chain to the appropriate bodies
Determines frame motion on the basis of applied forces/moments
Integrates/updates frame states on the basis of kinematics – note the critical difference in model scheme here – this model updates frame states in derivative, and therefore must run at the end of the model order after forces and moments have been calculated. It cannot be used as a standard model End step: Nothing

Key restrictions

Must run at the end of model chain
Must be one, and only one, instance of this model for every simulation instance that uses 6-DOF frame dynamics

Constructor & Destructor Documentation

◆ SixDOFDynamicsModel()

modelspace::SixDOFDynamicsModel::SixDOFDynamicsModel ( cfspp::FlightExecutive & executive )

Model-specific implementations of startup and derivative Must be scheduled manually to derivative

◆ ~SixDOFDynamicsModel()

virtual modelspace::SixDOFDynamicsModel::~SixDOFDynamicsModel ( )

inlinevirtual

Member Function Documentation

◆ _integrateRecursiveForwardEuler()

int modelspace::SixDOFDynamicsModel::_integrateRecursiveForwardEuler ( Frame * frame_ptr )

protected

Function to recursively integrate the frame tree via forward euler.

Parameters

frame_ptr Pointer to the root frame

Returns: Error code corresponding to success/failure

◆ _integrateRecursiveRk4()

int modelspace::SixDOFDynamicsModel::_integrateRecursiveRk4 ( Frame * frame_ptr )

protected

Function to recursively integrate the frame tree via RK4.

Parameters

frame_ptr Pointer to the root frame

Returns: Error code corresponding to success/failure

◆ _recurseRefreshFrameIntegratorSet()

int modelspace::SixDOFDynamicsModel::_recurseRefreshFrameIntegratorSet ( Frame * frame_ptr )

protected

Function to recursively loop through frames and set their integrators.

Returns: Error code corresponding to success/failure

◆ execute()

int16 modelspace::SixDOFDynamicsModel::execute ( )

overrideprotectedvirtual

Reimplemented from cfspp::App.

◆ reset()

void modelspace::SixDOFDynamicsModel::reset ( )

inline

Function to reset our integrator for next step.

◆ start()

int16 modelspace::SixDOFDynamicsModel::start ( )

overrideprotectedvirtual

Reimplemented from cfspp::App.

Member Data Documentation

◆ _fe_integrators

std::list<cfspp::ForwardEulerIntegrator<NUM_INTEGRATED_STATES> > modelspace::SixDOFDynamicsModel::_fe_integrators

protected

Vectors of integrators – allows for dynamic integrator numbers.

◆ _fe_ptr

cfspp::ForwardEulerIntegrator<NUM_INTEGRATED_STATES>* modelspace::SixDOFDynamicsModel::_fe_ptr

protected

◆ _frame_children

std::vector<GraphTreeObject*> modelspace::SixDOFDynamicsModel::_frame_children

protected

◆ _frame_dynamics

FrameDynamics modelspace::SixDOFDynamicsModel::_frame_dynamics

protected

Our dynamics model for frames.

◆ _half_step_size

clockwerk::Time modelspace::SixDOFDynamicsModel::_half_step_size

protected

Temporary variable for time calculation in RK4.

◆ _integrator_step_num

unsigned int modelspace::SixDOFDynamicsModel::_integrator_step_num = 0

protected

Variables to track integrator type and steps.

◆ _integrator_steps_per_step

unsigned int modelspace::SixDOFDynamicsModel::_integrator_steps_per_step = 0

protected

◆ _rk4_integrators

std::list<cfspp::RK4Integrator<NUM_INTEGRATED_STATES> > modelspace::SixDOFDynamicsModel::_rk4_integrators

protected

◆ _rk4_ptr

cfspp::RK4Integrator<NUM_INTEGRATED_STATES>* modelspace::SixDOFDynamicsModel::_rk4_ptr

protected

◆ _tmp_state

std::array<double, NUM_INTEGRATED_STATES> modelspace::SixDOFDynamicsModel::_tmp_state

protected

Temporary variables to hold state output from integrator and frame children for recursion

◆ inputs

Inputs modelspace::SixDOFDynamicsModel::inputs = Inputs(this, "inputs")

◆ outputs

Outputs modelspace::SixDOFDynamicsModel::outputs = Outputs(this, "outputs")

◆ params

Params modelspace::SixDOFDynamicsModel::params = Params(this, "params")

The documentation for this class was generated from the following files:

/home/mickey/Documents/modelspace/cpp/src/models/support/SixDOFDynamicsModel.h
/home/mickey/Documents/modelspace/cpp/src/models/support/SixDOFDynamicsModel.cpp

Classes

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ SixDOFDynamicsModel()

◆ ~SixDOFDynamicsModel()

Member Function Documentation

◆ _integrateRecursiveForwardEuler()

◆ _integrateRecursiveRk4()

◆ _recurseRefreshFrameIntegratorSet()

◆ execute()

◆ reset()

◆ start()

Member Data Documentation

◆ _fe_integrators

◆ _fe_ptr

◆ _frame_children

◆ _frame_dynamics

◆ _half_step_size

◆ _integrator_step_num

◆ _integrator_steps_per_step

◆ _rk4_integrators

◆ _rk4_ptr

◆ _tmp_state

◆ inputs

◆ outputs

◆ params