eive-obsw/mission/controller/acs/ActuatorCmd.h

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#ifndef ACTUATORCMD_H_
#define ACTUATORCMD_H_
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#include "AcsParameters.h"
#include "MultiplicativeKalmanFilter.h"
#include "SensorProcessing.h"
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#include "SensorValues.h"
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class ActuatorCmd {
public:
ActuatorCmd(AcsParameters *acsParameters_); // Input mode ?
virtual ~ActuatorCmd();
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/*
* @brief: scalingTorqueRws() scales the torque via maximum part in case this part is
* higher then the maximum torque
* @param: rwTrq given torque for reaction wheels
* rwTrqScaled possible scaled torque
*/
void scalingTorqueRws(const double *rwTrq, double *rwTrqScaled);
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/*
* @brief: cmdSpeedToRws() will set the maximum possible torque for the reaction
* wheels, also will calculate the needed revolutions per minute for the RWs, which will be given
* as Input to the RWs
* @param: rwTrqIn given torque from pointing controller
* rwTrqNS Nullspace torque
* rwCmdSpeed output revolutions per minute for every
* reaction wheel
*/
void cmdSpeedToRws(const int32_t *speedRw0, const int32_t *speedRw1, const int32_t *speedRw2,
const int32_t *speedRw3, const double *rwTorque, double *rwCmdSpeed);
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/*
* @brief: cmdDipolMtq() gives the commanded dipol moment for the magnetorques
*
* @param: dipolMoment given dipol moment in spacecraft frame
* dipolMomentActuator resulting dipol moment in actuator reference frame
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*/
void cmdDipolMtq(const double *dipolMoment, double *dipolMomentActuator);
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protected:
private:
AcsParameters acsParameters;
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};
#endif /* ACTUATORCMD_H_ */