PlanetRelativeStatesModel.h

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/*
Planet relative states model header file
 
Author: Gabriel Heredia Acevedo
*/
 
#ifndef MODELS_STATES_PLANET_RELATIVE_STATES_MODEL_H
#define MODELS_STATES_PLANET_RELATIVE_STATES_MODEL_H
 
#include "core/macros.h"
#include "simulation/Model.h"
#include "utils/planetdefaults.h"
 
namespace modelspace {
 
    class Executive;
 
    // Define this enum since this can only have one of these two values
    enum radius_type_e {
        EQUATORIAL,
        POLAR
    };
 
    /**
     * @brief   Planet relative states model
     * 
     * This model is a one-stop-shop for useful states of a vehicle relative to a 
     * celestial body. It uses the FrameStateSensor and planetrelutils from 
     * clockwerk internally then returns results every step. It is primarily a 
     * configuration wrapper model -- that is, it does the large majority of its 
     * work in startup, and adds little to no functionality at runtime, and instead
     * runs the innter frame state sensor and planetrelutils, which do the heavy 
     * lifting.
     * 
     * @author Gabe Heredia Acevedo <gabe@attx.tech>
    */
    class PlanetRelativeStatesModel : public Model {
    public:
        // Model params
        //         NAME                     TYPE                    DEFAULT VALUE
        START_PARAMS
            /** This is the equatorial radius of the planet. Default is Earth in meters */
            SIGNAL(equatorial_radius,       double,                 clockwerk::earth_wgs84.semimajor_axis)
            /** The celestial body’s flattening parameter */
            SIGNAL(flattening,              double,                 1.0/clockwerk::earth_wgs84.flattening)
            /** This is the elevation mask value, in radians, for the ground station. Default is zero degrees*/
            SIGNAL(centric_by,              int,                    radius_type_e::EQUATORIAL)
        END_PARAMS
 
        // Model inputs
        //         NAME                      TYPE                    DEFAULT VALUE
        START_INPUTS
            //TODO: Inputs might not be needed
            /** The cartesian position coordinates we will use to perform our calculations relative to the reference frame, typically Planet Centered Relative frame. */
            SIGNAL(pos__pcr,      CartesianVector3D,      CartesianVector3D({0.0, 0.0, 0.0}))
            /** The cartesian velocity coordinates we will use to perform our calculations relative to the reference frame, typically Planet Centered Relative frame. */
            SIGNAL(vel__pcr,      CartesianVector3D,      CartesianVector3D({0.0, 0.0, 0.0}))
            /** The quaternion which represents the nodal attitude relative to the reference frame, typically Planet Centered Relative frame. */
            SIGNAL(quat_obj_pcr,                 QuaternionD,            QuaternionD({1.0, 0.0, 0.0, 0.0}))
            /** The attitude rate which represents the nodal attitude rate relative to the reference frame, typically Planet Centered Relative frame. */
            SIGNAL(angular_velocity_wrt_PCR, CartesianVector3D,      CartesianVector3D({0.0, 0.0, 0.0}))
        END_INPUTS
 
        // Model outputs
        //         NAME                            TYPE                    DEFAULT VALUE
        START_OUTPUTS
            /** The nodal position relative to the reference frame, expressed in the NED detic frame.*/
            SIGNAL(pos_coord_ned_d,                CartesianVector3D,      CartesianVector3D({0.0, 0.0, 0.0}))
            /** The nodal velocity relative to the reference frame, expressed in the NED detic frame.*/
            SIGNAL(vel_coord_ned_d,                CartesianVector3D,      CartesianVector3D({0.0, 0.0, 0.0}))
            /** The nodal attitude quaternion relative to the reference frame, expressed in the NED detic frame.*/
            SIGNAL(quat_obj_pcr_ned_d,                 QuaternionD,            QuaternionD({1.0, 0.0, 0.0, 0.0}))
            /** The nodal attitude rate relative to the reference frame, expressed in the NED detic frame.*/
            SIGNAL(angular_velocity_wrt_PCR_ned_d, CartesianVector3D,      CartesianVector3D({0.0, 0.0, 0.0}))
            /** The nodal position relative to the reference frame, expressed in the ENU detic frame.*/
            SIGNAL(pos_coord_enu_d,                CartesianVector3D,      CartesianVector3D({0.0, 0.0, 0.0}))
            /** The nodal velocity relative to the reference frame, expressed in the ENU detic frame.*/
            SIGNAL(vel_coord_enu_d,                CartesianVector3D,      CartesianVector3D({0.0, 0.0, 0.0}))
            /** The nodal attitude quaternion relative to the reference frame, expressed in the ENU detic frame.*/
            SIGNAL(quat_obj_pcr_enu_d,                 QuaternionD,            QuaternionD({1.0, 0.0, 0.0, 0.0}))
            /** The nodal attitude rate relative to the reference frame, expressed in the ENU detic frame.*/
            SIGNAL(angular_velocity_wrt_PCR_enu_d, CartesianVector3D,      CartesianVector3D({0.0, 0.0, 0.0}))
 
            /** The nodal position relative to the reference frame, expressed in the NED centric frame.*/
            SIGNAL(pos_coord_ned_c,                CartesianVector3D,      CartesianVector3D({0.0, 0.0, 0.0}))
            /** The nodal velocity relative to the reference frame, expressed in the NED centric frame.*/
            SIGNAL(vel_coord_ned_c,                CartesianVector3D,      CartesianVector3D({0.0, 0.0, 0.0}))
            /** The nodal attitude quaternion relative to the reference frame, expressed in the NED centric frame.*/
            SIGNAL(quat_obj_pcr_ned_c,                 QuaternionD,            QuaternionD({1.0, 0.0, 0.0, 0.0}))
            /** The nodal attitude rate relative to the reference frame, expressed in the NED centric frame.*/
            SIGNAL(angular_velocity_wrt_PCR_ned_c, CartesianVector3D,      CartesianVector3D({0.0, 0.0, 0.0}))
            /** The nodal position relative to the reference frame, expressed in the ENU centric frame.*/
            SIGNAL(pos_coord_enu_c,                CartesianVector3D,      CartesianVector3D({0.0, 0.0, 0.0}))
            /** The nodal velocity relative to the reference frame, expressed in the ENU centric frame.*/
            SIGNAL(vel_coord_enu_c,                CartesianVector3D,      CartesianVector3D({0.0, 0.0, 0.0}))
            /** The nodal attitude quaternion relative to the reference frame, expressed in the ENU centric frame.*/
            SIGNAL(quat_obj_pcr_enu_c,                 QuaternionD,            QuaternionD({1.0, 0.0, 0.0, 0.0}))
            /** The nodal attitude rate relative to the reference frame, expressed in the ENU centric frame.*/
            SIGNAL(angular_velocity_wrt_PCR_enu_c, CartesianVector3D,      CartesianVector3D({0.0, 0.0, 0.0}))
 
            /** The nodal detic latitude relative to the reference frame. Takes into account the ellipsoidal form of the celestial body.*/
            SIGNAL(latitude_detic,                 double,                 0.0)
            /** The nodal centric latitude relative to the reference frame. Assumes the celestial body is spherical.*/
            SIGNAL(latitude_centric,               double,                 0.0)
            /** The nodal detic altitude relative to the reference frame. Takes into account the ellipsoidal form of the celestial body.*/
            SIGNAL(altitude_detic,                 double,                 0.0)
            /** The nodal centric altitude relative to the reference frame. Assumes the celestial body is spherical.*/
            SIGNAL(altitude_centric,               double,                 0.0)
            /** The nodal longitude relative to the reference frame.*/
            SIGNAL(longitude,                      double,                 0.0)
        END_OUTPUTS
 
        // Model-specific implementations of startup and derivative
        PlanetRelativeStatesModel();
        PlanetRelativeStatesModel(Model &pnt, const std::string &m_name="planet_rel");
        PlanetRelativeStatesModel(SimulationExecutive &e, const std::string &m_name="planet_rel");
        PlanetRelativeStatesModel(Model &pnt, int schedule_slot, const std::string &m_name="planet_rel");
        PlanetRelativeStatesModel(SimulationExecutive &e, int schedule_slot, const std::string &m_name="planet_rel");
        ~PlanetRelativeStatesModel() {}
 
    protected:
        int start();
        int execute();
 
        int _updateStates();
 
        /// @brief The radius set by the enum centric_by
        double radius;
        double polar_radius;
    };
}
 
#endif