MRPTracking.h

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//////////////////////////////////////////////////////////////////////////////////////////////////
/*! \file MRPTracking.h
 *  \brief The MRPTracking class contains the control law for MRP and angular velocity control.
 *         It is derived from the Contorller class.
 *  \author $Author: jayhawk_hokie $
 *  \version $Revision: 1.3 $
 *  \date    $Date: 2007/09/05 16:44:41 $
*//////////////////////////////////////////////////////////////////////////////////////////////////
/*! 
*/
//////////////////////////////////////////////////////////////////////////////////////////////////

#ifndef __SSSL_MRPTracking_H__
#define __SSSL_MRPTracking_H__

#include "Controller.h"

using namespace std;
using namespace O_SESSAME;

class MRPTracking : public Controller 
{
        public:
                /*! \brief Constructor */
                MRPTracking( );

                /*! \brief Constructor 
                 *  @param ptr_whorl is a pointer to the whorl object.
                 */
                MRPTracking( Whorl* ptr_whorl );
        
                /*! \brief Destructor */
                virtual ~MRPTracking( );
                
                /*! \brief Initializes the default controller */
                int Initialize( );
                
                /*! \brief Runs the MRP tracking controller, which is a Lyapunov based control law
                 *         that tracks the attitude.
                 */
                int Run( );
                        
        protected:
                /*! \brief Member matrix value that is the angular rate Gain Matrix for 
                 *  the tracking control law. */        
                Matrix m_gainMatrix;

                /*! \brief Member scalar value that is the MRP Gain for the tracking control law. */ 
                double m_mrpGain;

                /*! \brief Member scalar value that keeps track of the previous time. Needed by reference model. */
                double m_previousTime;
                
                /*! \brief Member value that is the control torque vector 
                 *      determined from control law. */
                Vector m_controlTorque;

};

#endif
                        
// Do not change the comments below - they will be added automatically by CVS
/*****************************************************************************
*       $Log: MRPTracking.h,v $
*       Revision 1.3  2007/09/05 16:44:41  jayhawk_hokie
*       *** empty log message ***
*       
*       Revision 1.2  2007/07/24 09:26:41  jayhawk_hokie
*       Updated.
*       
*       Revision 1.1  2007/05/23 22:26:01  jayhawk_hokie
*       Initial submission.
*       
*       
*
******************************************************************************/

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