Whorl.h

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//////////////////////////////////////////////////////////////////////////////////////////////////
/*! \file Whorl.h
*  \brief Provides an encapsulation of the Whorl spacecraft simulator table data and object.
*  \author $Author: jayhawk_hokie $
*  \version $Revision: 1.19 $
*  \date    $Date: 2007/08/31 16:00:19 $
*//////////////////////////////////////////////////////////////////////////////////////////////////
/*! 
*/
//////////////////////////////////////////////////////////////////////////////////////////////////

#ifndef __SSSL_WHORL_H__
#define __SSSL_WHORL_H__

#include <Utils/Error.h>
#include <matrix/Matrix.h>
#include <Sensors/RateGyro.h>
#include <Sensors/DMURateGyro.h>
#include <Sensors/Accelerometer.h>
#include <Sensors/DMUAccelerometer.h>
#include <Sensors/Magnetometer.h>
#include <Sensors/TiltSensor.h>
#include <Actuators/MomentumWheel.h>
#include <Utils/CfgParse.h>
#include <string>
#include <map>

// Orbit Includes
#include <orbit/Orbit.h>
#include <orbit/OrbitState.h>
#include <orbit/orbitstaterep/Keplerian.h>

// transform coe
#include <orbit/orbitstaterep/MappingMeanOsculatingOrbitElements.h>

#include<unistd.h>

using namespace std;
using namespace O_SESSAME;

class Whorl {

        
public:
    // Constructor/Deconstructor
    Whorl( );
    virtual ~Whorl( );
                
        void Initialize( TiXmlHandle tempHandle );

        // Accessor / Setting Functions

        /** @brief Get the recent parameter estimate, a Vector w = [I11, I12, I13, I22, I23, I33, mg r1, mg r2, mg r3, c1, c2, c3] */
        inline Vector GetParameter() { return m_recentParameter; };
        
        /** @brief Get the recent Moment of Inertia matrix in body design axes */
        Matrix GetMOI();
        
        /** @brief Get the recent center of gravity vector, mg*r */
        Vector GetCGVector();
        
        /** @brief Get the recent state estimate, a Vector of qbl and \f$\omega_{bl}\f$ */
        inline Vector GetState() { return m_recentState; };
        
        /** @brief Get the recent attitude estimate, qbl */
        Vector GetQuaternion();
        
        /** @brief Get the recent attitude estimate, mrp */
        Vector GetMRP();
        
        /** @brief Get the recent angular velocity estimate, \f$\omega_{bl}\f$ */
        Vector GetOmegaBL();

        /** @brief Get the recent Reference attitude estimate, qbl */
        Vector GetReferenceQuaternion();
        
        /** @brief Get the recent Reference attitude estimate, mrp */
        Vector GetReferenceMRP();
        
        /** @brief Get the recent Reference angular velocity estimate, \f$\omega_{r}\f$ */
        Vector GetReferenceOmegaBL();
        
        /** @brief Get the recent control Vector */
        inline Vector GetControl() { return m_recentControl; };

        /** @brief Get the recent control error Vector */
        Vector GetControlError( );
        
        /** @brief Get the time of the current estimate */
        inline struct timeval GetTimeOfEstimate() { return m_estimateTime; };
        
        /** @brief Update the recent state Vector */
        inline void SetState(Vector& _updatedState) { m_recentState = _updatedState; };
        
        /** @brief Update the recent parameter Vector */
        inline void SetParameter(Vector& _updatedParameter) { m_recentParameter = _updatedParameter; };
        
        /** @brief Update the recent control Vector */
        inline void SetControl(Vector& _updatedControl) { m_recentControl = _updatedControl; };

        void SetMRPError( Vector _mrpError );

        void SetAngularRateError( Vector _rateError );

        void SetReferenceQuaternion( Vector _quaternion );

        void SetReferenceOmegaBL( Vector _rate );

        /** @brief Sets the time of the current estimate */
        inline void SetTimeOfEstimate(timeval _t) { m_estimateTime = _t; };
        
        /** Hardware accessor functions */
        
                /*! Gets a pointer to a specific rate gyro */
                inline RateGyro* GetRateGyro(string rgName) { return m_rateGyros[rgName]; };
                
                /*! Gets a pointer to a specific rate gyro */
                inline Accelerometer* GetAccelerometer(string accName) { return m_accelerometers[accName]; };
                
                /*! Gets a pointer to a specific momentum wheel */
                inline MomentumWheel* GetMomentumWheel(string mwName) { return m_momentumWheels[mwName]; };
        
                /*! Gets a pointer to the magnetometer */
                inline Magnetometer* GetMagnetometer() { return m_magnetometer; };
        
        /*! \brief Value-Definitions of the different string values */
        enum StringValue{ OFF,
                                ON,
                                molpe,
                                hierax,
                                sphigx };

        /*! \brief Map to associate the strings with the enum values */
        map<string, StringValue> s_mapStringValues;

        char *GetSimulatorName( );

        string GetHardwareFlag( );

        /* Set ECI position and velocity [km, km/s] */
        void SetECI( Vector _ECI );

        /* Set Orbital ELements */
        void SetCOE( Keplerian _COE );

        /* Set Osculating Orbital Elements */
        void SetOscCOE( Keplerian _OscCOE );

        /* Get ECI position and velocity [km, km/s] */
        Vector GetECI( );

        /* Get Orbital ELements */
        Keplerian GetCOE( );
        
        /* Get Osculating Orbital Elements */
        Keplerian GetOscCOE( );

        /* Set Orbit Control Vector [m/s^2] RIC frame */
        void SetOrbitControl( Vector _control );

        /* Get Orbit Control Vector [m/s^2] RIC frame */
        Vector GetOrbitControl( );


protected:

private:

        /* Simulator Name */
        char* m_SimulatorName; // Options: Whorl-I, Whorl-II
  
        string m_HardwareONOFF; // Option for turning hardware on and off
 
        /* Member stringstream in Whorl.h, momentum wheel ON/OFF choices. */
        stringstream m_WheelOptionString;
 
        /** State and time variables */
        Vector  m_recentState;          /**< The most recently estimated state Vector, stored as quaternions (qbl) and angular velocities (\$f\omega\$f) */
        Vector  m_referenceState;
        Vector  m_recentParameter;      /**< The most recently estimated parameter Vector in the body-design frame, w = [I11, I12, I13, I22, I23, I33, mg r1, mg r2, mg r3, c1, c2, c3] */
        Vector  m_recentControl;        /**< The most recently applied control Vector */
        timeval m_estimateTime;         /**< The time of the current estimate */

        Vector m_controlError;
        
        /** Hardware maps */
        map<string, RateGyro*> m_rateGyros;
        map<string, Accelerometer*> m_accelerometers;
        map<string, MomentumWheel*> m_momentumWheels;

        Magnetometer* m_magnetometer;
        
        /* Orbit */
        Vector m_ECI;
        Keplerian m_COE;
        Keplerian m_OscCOE;

        /* Orbit Control Vector [m/s^2] RIC frame */
        Vector m_OrbitControl;

};

#endif 

// Do not change the comments below - they will be added automatically by CVS
/*****************************************************************************
*       $Log: Whorl.h,v $
*       Revision 1.19  2007/08/31 16:00:19  jayhawk_hokie
*       Added Orbit Control Capability.
*       
*       Revision 1.18  2007/05/29 19:14:24  jayhawk_hokie
*       Added Constructor Comments.
*       
*       Revision 1.17  2007/04/09 14:00:10  jayhawk_hokie
*       Modifications to parsing XML config file.
*       
*       Revision 1.16  2007/03/27 19:10:02  jayhawk_hokie
*       Added Switch condition for turning on and off devices.
*       
*       Revision 1.15  2007/01/12 20:30:08  bwilliam
*       Modified to use XML parser and updated hardware maps.
*       
*       Revision 1.14  2005/02/25 18:40:52  cakinli
*       Created Makefiles and organized include directives to reduce the number of
*       include paths.  Reorganized libraries so that there is now one per source
*       directory.  Each directory is self-contained in terms of its Makefile.
*       The local Makefile in each directory includes src/config.mk, which has all
*       the definitions and general and pattern rules.  So at most, to see what
*       goes into building a target, a person needs to examine the Makefile in
*       that directory, and ../config.mk.
*       
*       Revision 1.13  2004/04/28 19:42:56  bstreetman
*       Added Tilt Sensor
*       
*       Revision 1.12  2003/12/09 02:08:42  simpliciter
*       Added GetAccelerometer() function.
*       
*       Revision 1.11  2003/08/18 19:03:49  mavandyk
*       Added initial condition and parameter parsing and pulled out controller and observer stuff.
*       
*       Revision 1.10  2003/08/13 23:16:07  mavandyk
*       Altered structure as outline in meeting.
*       
*       Revision 1.9  2003/08/06 21:44:49  mavandyk
*       Altered to get config parsing to work.
*       
*       Revision 1.8  2003/08/01 11:17:42  mavandyk
*       Fundamental changes to the map structure and fixed bugs.
*       
*       Revision 1.7  2003/07/25 14:25:04  mavandyk
*       Fixed bugs, It compiles.
*       
*       Revision 1.6  2003/07/22 21:26:19  mavandyk
*       Fixed bugs.
*       
*       Revision 1.5  2003/07/10 19:52:30  mavandyk
*       Changed time storage and handling.
*       
*       Revision 1.4  2003/07/09 21:35:19  cakinli
*       Updated Whorl::Initialize(), added getCmdIndex(), and class Measurement.
*       
*       Revision 1.3  2003/07/07 14:37:58  simpliciter
*       Minor modifications.  Measurement stuff needs work.
*       
*       Revision 1.2  2003/07/04 16:12:18  simpliciter
*       Fixed variable and function names.
*       
*       Revision 1.1  2003/07/04 14:08:05  simpliciter
*       Rearranged directory tree.
*       
*       Revision 1.5  2003/07/03 21:18:12  simpliciter
*       Added functions based on requirements of Observer and Controller classes.
*       
*       Revision 1.4  2003/07/03 16:54:48  shoemaker
*       Added semi-working versions of DMU code
*       
*       Revision 1.3  2003/07/02 16:36:32  nicmcp
*       added some comments
*       
*       Revision 1.2  2003/06/17 23:32:28  simpliciter
*       Updated based on comments from Andy.
*       
*       Revision 1.1.1.1  2003/06/06 18:44:15  simpliciter
*       Initial submission.
*       
*       Revision 1.1.1.1  2003/06/06 14:44:15  simpliciter
*       Initial import.
*       
*
******************************************************************************/

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