ControlMomentGyro Class Reference

#include <ControlMomentGyro.h>

Inheritance diagram for ControlMomentGyro:

[legend]Collaboration diagram for ControlMomentGyro:

[legend]List of all members.

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Detailed Description

Class to interface with control moment gyros

Definition at line 32 of file ControlMomentGyro.h.

Public Member Functions
	ControlMomentGyro ()
	ControlMomentGyro (cfgBody &cfgdat)
virtual	~ControlMomentGyro ()
void	SetWheelSpeed (double wheelOmega)
void	SetWheelTorque (double wheelTorque)
void	SetAngle (double wheelAngle)
void	SetGimbalRate (double gimbalRate)
int	Stop ()
int	Initialize ()
int	Deinitialize ()
void	SetWheelAxis (const Vector &newWheelAxis)
void	SetPort (string Port)
double	GetWheelSpeed ()
double	GetWheelTorque ()
double	GetAngle ()
Vector	GetCMGAxis () const
int	getGyroCount () const
virtual int	GetWheelCount ()
bool	IsActive ()
	Returns the current state of m_bActiveState.
Vector	GetLocation () const
	Returns the physical location of the device with respect to whorl body coordinates.
void	SetLocation (const Vector &newDeviceLocation)
	Specify the physical location of the device with respect to whorl body coordinates.
Static Public Attributes
const bool	c_bNotActive = false
	a constant bool that is equal to false.
const bool	c_bActive = true
	a constant bool that is equal to true.
Protected Attributes
char *	name
Private Attributes
double	m_CurrentWheelSpeed
double	m_CurrentWheelTorque
double	m_CurrentAngle
Vector	m_CMGAxis
double	m_CurrentLAVelocity
double	m_CurrentLAAcceleration
PhysicalControlMomentGyro	m_PhysicalCMG
Static Private Attributes
int	gyroCount = 0

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Constructor & Destructor Documentation

ControlMomentGyro::ControlMomentGyro (   )

Default Constructor Definition at line 19 of file ControlMomentGyro.cpp.

ControlMomentGyro::ControlMomentGyro (  cfgBody &  cfgdat  )

Constructor accepting a cfg object Definition at line 74 of file ControlMomentGyro.cpp. References getCmdIndex(), cfgBody::keys, m_PhysicalCMG, PhysicalControlMomentGyro::SetDaisyChainNumber(), PhysicalControlMomentGyro::SetDaisyChainPort(), PhysicalControlMomentGyro::SetWheelTorqueLimits(), and cfgBody::vals.

ControlMomentGyro::~ControlMomentGyro (   )  [virtual]

Default Deconstructor Definition at line 24 of file ControlMomentGyro.cpp. References Deinitialize(), gyroCount, and Stop().

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Member Function Documentation

int ControlMomentGyro::Deinitialize (   )  [virtual]

Deinitialize all CMG components Reimplemented from Device. Definition at line 108 of file ControlMomentGyro.cpp. References PhysicalControlMomentGyro::Deinitialize(), and m_PhysicalCMG. Referenced by main(), and ~ControlMomentGyro().

double ControlMomentGyro::GetAngle (   )

Returns the current angle of the wheel axis with respect to its center line in radians Definition at line 147 of file ControlMomentGyro.cpp. References m_CurrentAngle, m_PhysicalCMG, and PhysicalControlMomentGyro::QueryAngle().

Vector ControlMomentGyro::GetCMGAxis (   )  const

Returns a 3x1 vector of the CMG axis Definition at line 154 of file ControlMomentGyro.cpp. References O_SESSAME::Vector.

int ControlMomentGyro::getGyroCount (   )  const

Returns the total number of CMGs instantiated Definition at line 160 of file ControlMomentGyro.cpp.

Vector Device::GetLocation (   )  const [inherited]

Returns the physical location of the device with respect to whorl body coordinates. Returns: Physical center of the device [x,y,z]^T (meters). Definition at line 75 of file Device.cpp. References O_SESSAME::Vector.

virtual int Actuator::GetWheelCount (   )  [inline, virtual, inherited]

Reimplemented in MomentumWheel. Definition at line 27 of file Actuator.h.

double ControlMomentGyro::GetWheelSpeed (   )

Returns the current angular velocity of the CMG wheel in rad/sec Definition at line 134 of file ControlMomentGyro.cpp. References m_CurrentWheelSpeed, m_PhysicalCMG, and PhysicalControlMomentGyro::QueryWheelSpeed().

double ControlMomentGyro::GetWheelTorque (   )

Returns the current torque output to the CMG wheel in N-m Definition at line 140 of file ControlMomentGyro.cpp. References m_CurrentWheelTorque, m_PhysicalCMG, and PhysicalControlMomentGyro::QueryWheelTorque().

int ControlMomentGyro::Initialize (   )  [virtual]

Initialize the both the linear actuator and wheel on the CMG chain Reimplemented from Actuator. Definition at line 65 of file ControlMomentGyro.cpp. References PhysicalControlMomentGyro::Initialize(), m_PhysicalCMG, and PhysicalControlMomentGyro::SetDaisyChainPort(). Referenced by main().

bool Device::IsActive (   )  [inherited]

Returns the current state of m_bActiveState. Author: Andrew Turner Date: March 25, 1999 This member function is used to inspect the state of the device External Methods Called: None Assumptions: None Definition at line 59 of file Device.cpp. Referenced by Device::Device().

void ControlMomentGyro::SetAngle (  double  wheelAngle  )

Set the angle of the wheel axis with respect to the center of its travel Parameters: wheelAngle  The desired angle og the wjheel axis with respect to the center of the CMG's motion in radians Definition at line 49 of file ControlMomentGyro.cpp. References PhysicalControlMomentGyro::CommandAngle(), and m_PhysicalCMG. Referenced by main().

void ControlMomentGyro::SetGimbalRate (  double  gimbalRate  )

Set the gimbal angle rate of the CMG Parameters: gimbalrate  The deisred gimbal angle rate in rad/sec Definition at line 54 of file ControlMomentGyro.cpp. References PhysicalControlMomentGyro::CommandGimbalRate(), and m_PhysicalCMG.

void Device::SetLocation (  const Vector &  newDeviceLocation  )  [inherited]

Specify the physical location of the device with respect to whorl body coordinates. Parameters: newDeviceLocation  Physical center of the device [x,y,z]^T (meters). Definition at line 67 of file Device.cpp. References Device::m_Location, and O_SESSAME::Vector.

void ControlMomentGyro::SetPort (  string  Port  )

Set communications port Definition at line 125 of file ControlMomentGyro.cpp. References m_PhysicalCMG, and PhysicalControlMomentGyro::SetDaisyChainPort().

void ControlMomentGyro::SetWheelAxis (  const Vector &  newWheelAxis  )

Set the axis of the CMG with a 3x1 vector Definition at line 120 of file ControlMomentGyro.cpp. References m_CMGAxis, and O_SESSAME::Vector.

void ControlMomentGyro::SetWheelSpeed (  double  wheelOmega  )

Set the speed of the CMG wheel Parameters: wheelOmega  Desired speed of the wheel in rad/sec Definition at line 39 of file ControlMomentGyro.cpp. References PhysicalControlMomentGyro::CommandWheelSpeed(), and m_PhysicalCMG. Referenced by main().

void ControlMomentGyro::SetWheelTorque (  double  wheelTorque  )

Set the torque output to the wheel of the CMG Parameters: wheelTorque  Desired torque put on the wheel in N-m Definition at line 44 of file ControlMomentGyro.cpp. References PhysicalControlMomentGyro::CommandWheelTorque(), and m_PhysicalCMG.

int ControlMomentGyro::Stop (   )  [virtual]

Stop the CMG wheel Implements Actuator. Definition at line 59 of file ControlMomentGyro.cpp. References m_PhysicalCMG, and PhysicalControlMomentGyro::Stop(). Referenced by main(), and ~ControlMomentGyro().

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Member Data Documentation

const bool Device::c_bActive = true [static, inherited]

a constant bool that is equal to true. Used for setting the active state Definition at line 50 of file Device.h. Referenced by Device::Initialize().

const bool Device::c_bNotActive = false [static, inherited]

a constant bool that is equal to false. Used for setting the active state. Definition at line 48 of file Device.h. Referenced by Device::Deinitialize(), and Device::Device().

int ControlMomentGyro::gyroCount = 0 [static, private]

Static integer that holds the total number of CMGs instantiated Definition at line 18 of file ControlMomentGyro.cpp. Referenced by ~ControlMomentGyro().

Vector ControlMomentGyro::m_CMGAxis [private]

3x1 Vector that holds axis of the CMG Definition at line 117 of file ControlMomentGyro.h. Referenced by SetWheelAxis().

double ControlMomentGyro::m_CurrentAngle [private]

Double that holds the current angle of the wheel axis with respect to its center point in radians Definition at line 114 of file ControlMomentGyro.h. Referenced by GetAngle().

double ControlMomentGyro::m_CurrentLAAcceleration [private]

Double that holds the accelerations setting for the linear actuator Definition at line 123 of file ControlMomentGyro.h.

double ControlMomentGyro::m_CurrentLAVelocity [private]

Double that holds the velocity setting for the linear actuator Definition at line 120 of file ControlMomentGyro.h.

double ControlMomentGyro::m_CurrentWheelSpeed [private]

Double that holds the current angular velocity of the CMG wheel in rad/sec Definition at line 108 of file ControlMomentGyro.h. Referenced by GetWheelSpeed().

double ControlMomentGyro::m_CurrentWheelTorque [private]

Double that holds the current torque output to the wheel in N-m Definition at line 111 of file ControlMomentGyro.h. Referenced by GetWheelTorque().

PhysicalControlMomentGyro ControlMomentGyro::m_PhysicalCMG [private]

Memeber PhysicalControlMomentGyro object Definition at line 126 of file ControlMomentGyro.h. Referenced by ControlMomentGyro(), Deinitialize(), GetAngle(), GetWheelSpeed(), GetWheelTorque(), Initialize(), SetAngle(), SetGimbalRate(), SetPort(), SetWheelSpeed(), SetWheelTorque(), and Stop().

char* Device::name [protected, inherited]

Definition at line 56 of file Device.h.

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

• ControlMomentGyro.h
• ControlMomentGyro.cpp

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