removed deprecated code
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@ -119,22 +119,10 @@ void SafeCtrl::calculateRotationalRateTorque(const double satRotRateRef, const d
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const double *sunDirRefB, double &errorAngle,
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const double gainParallel, const double gainOrtho) {
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// calculate torque for parallel rotational rate
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if ((isfinite(errorAngle)) and
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(errorAngle < (double)acsParameters->safeModeControllerParameters.angleStartSpin)) {
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double satRotRateNorm = VectorOperations<double>::norm(satRotRateParallelB, 3);
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double satRotRateUnitVec[3] = {0, 0, 0};
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VectorOperations<double>::normalize(satRotRateParallelB, satRotRateUnitVec, 3);
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VectorOperations<double>::mulScalar(satRotRateUnitVec, satRotRateRef - satRotRateNorm,
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cmdParallel, 3);
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} else {
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VectorOperations<double>::mulScalar(cmdParallel, -gainParallel, cmdParallel, 3);
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}
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VectorOperations<double>::mulScalar(cmdParallel, -gainParallel, cmdParallel, 3);
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// calculate torque for orthogonal rotational rate
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VectorOperations<double>::mulScalar(satRotRateOrthogonalB, -gainOrtho, cmdOrtho, 3);
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if (cos(VectorOperations<double>::dot(sunDirB, sunDirRefB)) < 0) {
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VectorOperations<double>::mulScalar(cmdOrtho, -1, cmdOrtho, 3);
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}
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}
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void SafeCtrl::calculateAngleErrorTorque(const double *sunDirB, const double *sunDirRefB,
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