make use of provide parent body states

Some methods provide the select parent body kinematic states.  However, the
method was then pulling these same states from the state engine.
In this commit this behavior is cleaned up such that only the provided
kinematic states are being used.

src/simulation/dynamics/HingedRigidBodies/hingedRigidBodyStateEffector.cpp

@@ -108,8 +108,6 @@ void HingedRigidBodyStateEffector::linkInStates(DynParamManager& statesIn)
     tmpMsgName = this->nameOfSpacecraftAttachedTo + "centerOfMassPrimeSC";
     this->cPrime_B = statesIn.getPropertyReference(tmpMsgName);
 
-    this->sigma_BN = statesIn.getStateObject(this->nameOfSpacecraftAttachedTo + this->stateNameOfSigma);
-    this->omega_BN_B = statesIn.getStateObject(this->nameOfSpacecraftAttachedTo + this->stateNameOfOmega);
     this->inertialPositionProperty = statesIn.getPropertyReference(this->nameOfSpacecraftAttachedTo + this->propName_inertialPosition);
     this->inertialVelocityProperty = statesIn.getPropertyReference(this->nameOfSpacecraftAttachedTo + this->propName_inertialVelocity);
 
@@ -185,7 +183,8 @@ void HingedRigidBodyStateEffector::updateContributions(double integTime, BackSub
 {
     // - Find dcm_BN
     Eigen::MRPd sigmaLocal_PN;
-    sigmaLocal_PN = sigma_BN;
+    this->sigma_BN = sigma_BN;
+    sigmaLocal_PN = this->sigma_BN;
     Eigen::Matrix3d dcm_PN;
     Eigen::Matrix3d dcm_NP;
     dcm_NP = sigmaLocal_PN.toRotationMatrix();
@@ -198,7 +197,8 @@ void HingedRigidBodyStateEffector::updateContributions(double integTime, BackSub
     g_P = dcm_PN*gLocal_N;
 
     // - Define omega_BN_S
-    this->omegaLoc_PN_P = omega_BN_B;
+    this->omega_BN_B = omega_BN_B;
+    this->omegaLoc_PN_P = this->omega_BN_B;
     this->omega_PN_S = this->dcm_SP*this->omegaLoc_PN_P;
     // - Define omegaTildeLoc_BN_B
     this->omegaTildeLoc_PN_P = eigenTilde(this->omegaLoc_PN_P);
@@ -246,7 +246,8 @@ void HingedRigidBodyStateEffector::computeDerivatives(double integTime, Eigen::V
     Eigen::Vector3d rDDotLoc_PN_N = rDDot_BN_N;
     Eigen::MRPd sigmaLocal_PN;
     Eigen::Vector3d omegaDotLoc_PN_P;
-    sigmaLocal_PN = sigma_BN;
+    this->sigma_BN = sigma_BN;  // store current hub attitude
+    sigmaLocal_PN = this->sigma_BN;
 
     // - Find rDDotLoc_BN_B
     Eigen::Matrix3d dcm_PN;
@@ -368,7 +369,7 @@ void HingedRigidBodyStateEffector::computePanelInertialStates()
 {
     // inertial attitude
     Eigen::MRPd sigmaBN;
-    sigmaBN = (Eigen::Vector3d)this->sigma_BN->getState();
+    sigmaBN = this->sigma_BN;
     Eigen::Matrix3d dcm_NP = sigmaBN.toRotationMatrix();  // assumes P and B are idential
     Eigen::Matrix3d dcm_SN;
     dcm_SN = this->dcm_SP*dcm_NP.transpose();
@@ -377,7 +378,7 @@ void HingedRigidBodyStateEffector::computePanelInertialStates()
 
     // inertial angular velocity
     Eigen::Vector3d omega_BN_B;
-    omega_BN_B = (Eigen::Vector3d)this->omega_BN_B->getState();
+    omega_BN_B = this->omega_BN_B;
     this->omega_SN_S = this->dcm_SP * ( omega_BN_B + this->thetaDot*this->sHat2_P);
 
     // inertial position vector

src/simulation/dynamics/HingedRigidBodies/hingedRigidBodyStateEffector.h

@@ -84,8 +84,8 @@ class HingedRigidBodyStateEffector : public StateEffector, public SysModel {
     Eigen::Vector3d v_SN_N;          //!< [m/s] inertial velocity vector of S relative to inertial frame
     Eigen::Vector3d sigma_SN;        //!< -- MRP attitude of panel frame S relative to inertial frame
     Eigen::Vector3d omega_SN_S;      //!< [rad/s] inertial panel frame angular velocity vector
-    StateData *sigma_BN;             //!< Hub/Inertial attitude represented by MRP
-    StateData *omega_BN_B;           //!< Hub/Inertial angular velocity vector in B frame components
+    Eigen::MRPd sigma_BN{0.0, 0.0, 0.0};         //!< Hub/Inertial attitude represented by MRP
+    Eigen::Vector3d omega_BN_B{0.0, 0.0, 0.0};  //!< Hub/Inertial angular velocity vector in B frame components
     StateData *thetaState;           //!< -- state manager of theta for hinged rigid body
     Eigen::MatrixXd *inertialPositionProperty;  //!< [m] r_N inertial position relative to system spice zeroBase/refBase
     Eigen::MatrixXd *inertialVelocityProperty;  //!< [m] v_N inertial velocity relative to system spice zeroBase/refBase

src/simulation/dynamics/LinearSpringMassDamper/linearSpringMassDamper.cpp

@@ -59,11 +59,6 @@ LinearSpringMassDamper::~LinearSpringMassDamper()
 /*! Method for spring mass damper particle to access the states that it needs. It needs gravity and the hub states */
 void LinearSpringMassDamper::linkInStates(DynParamManager& statesIn)
 {
-    // - Grab access to the hub states
-	this->omegaState = statesIn.getStateObject(this->stateNameOfOmega);
-	this->sigmaState = statesIn.getStateObject(this->stateNameOfSigma);
-	this->velocityState = statesIn.getStateObject(this->stateNameOfVelocity);
-
     // - Grab access to gravity
     this->g_N = statesIn.getPropertyReference(this->propName_vehicleGravity);
 
@@ -141,7 +136,7 @@ void LinearSpringMassDamper::updateContributions(double integTime, BackSubMatric
     Eigen::MRPd sigmaLocal_BN;
     Eigen::Matrix3d dcm_BN;
     Eigen::Matrix3d dcm_NB;
-    sigmaLocal_BN = (Eigen::Vector3d ) this->sigmaState->getState();
+    sigmaLocal_BN = (Eigen::Vector3d ) sigma_BN;
     dcm_NB = sigmaLocal_BN.toRotationMatrix();
     dcm_BN = dcm_NB.transpose();
 
@@ -158,7 +153,7 @@ void LinearSpringMassDamper::updateContributions(double integTime, BackSubMatric
     this->bRho = -this->rTilde_PcB_B*this->pHat_B;
 
     // - Define cRho
-    Eigen::Vector3d omega_BN_B_local = this->omegaState->getState();
+    Eigen::Vector3d omega_BN_B_local = omega_BN_B;
     Eigen::Matrix3d omegaTilde_BN_B_local;
     omegaTilde_BN_B_local = eigenTilde(omega_BN_B_local);
 	cRho = 1.0/(this->massSMD)*(this->pHat_B.dot(this->massSMD * g_B) - this->k*this->rho - this->c*this->rhoDot
@@ -184,16 +179,16 @@ void LinearSpringMassDamper::computeDerivatives(double integTime, Eigen::Vector3
 	// - Find DCM
 	Eigen::MRPd sigmaLocal_BN;
 	Eigen::Matrix3d dcm_BN;
-	sigmaLocal_BN = (Eigen::Vector3d) this->sigmaState->getState();
+	sigmaLocal_BN = (Eigen::Vector3d) sigma_BN;
 	dcm_BN = (sigmaLocal_BN.toRotationMatrix()).transpose();
 
 	// - Set the derivative of rho to rhoDot
 	this->rhoState->setDerivative(this->rhoDotState->getState());
 
 	// - Compute rhoDDot
 	Eigen::MatrixXd conv(1,1);
-    Eigen::Vector3d omegaDot_BN_B_local = this->omegaState->getStateDeriv();
-    Eigen::Vector3d rDDot_BN_N_local = this->velocityState->getStateDeriv();
+    Eigen::Vector3d omegaDot_BN_B_local = omegaDot_BN_B;
+    Eigen::Vector3d rDDot_BN_N_local = rDDot_BN_N;
 	Eigen::Vector3d rDDot_BN_B_local = dcm_BN*rDDot_BN_N_local;
     conv(0, 0) = this->aRho.dot(rDDot_BN_B_local) + this->bRho.dot(omegaDot_BN_B_local) + this->cRho;
 	this->rhoDotState->setDerivative(conv);
@@ -211,7 +206,7 @@ void LinearSpringMassDamper::updateEnergyMomContributions(double integTime, Eige
 {
     //  - Get variables needed for energy momentum calcs
     Eigen::Vector3d omegaLocal_BN_B;
-    omegaLocal_BN_B = omegaState->getState();
+    omegaLocal_BN_B = omega_BN_B;
     Eigen::Vector3d rDotPcB_B;
 
     // - Find rotational angular momentum contribution from hub
@@ -228,7 +223,7 @@ void LinearSpringMassDamper::calcForceTorqueOnBody(double integTime, Eigen::Vect
 {
     // - Get the current omega state
     Eigen::Vector3d omegaLocal_BN_B;
-    omegaLocal_BN_B = this->omegaState->getState();
+    omegaLocal_BN_B = omega_BN_B;
     Eigen::Matrix3d omegaLocalTilde_BN_B;
     omegaLocalTilde_BN_B = eigenTilde(omegaLocal_BN_B);
 

src/simulation/dynamics/LinearSpringMassDamper/linearSpringMassDamper.h

@@ -61,9 +61,6 @@ class LinearSpringMassDamper :
     Eigen::MatrixXd *c_B;            //!< [m] Vector from point B to CoM of s/c in B frame components
     Eigen::MatrixXd *cPrime_B;       //!< [m/s] Body time derivative of vector c_B in B frame components
 	StateData *rhoDotState;		   //!< -- state data for time derivative of rho;
-	StateData *omegaState;         //!< -- state data for the hubs omega_BN_B
-	StateData *sigmaState;         //!< -- state data for the hubs sigma_BN
-	StateData *velocityState;      //!< -- state data for the hubs rDot_BN_N
     static uint64_t effectorID;    //!< [] ID number of this panel
 
 public:
@@ -82,4 +79,3 @@ class LinearSpringMassDamper :
 
 
 #endif /* LINEAR_SPRING_MASS_DAMPER_H */
-

src/simulation/dynamics/NHingedRigidBodies/nHingedRigidBodyStateEffector.cpp

@@ -68,10 +68,7 @@ void NHingedRigidBodyStateEffector::WriteOutputMessages(uint64_t CurrentClock)
 /*! This method allows the HRB state effector to have access to the hub states and gravity*/
 void NHingedRigidBodyStateEffector::linkInStates(DynParamManager& statesIn)
 {
-    // - Get access to the hubs sigma, omegaBN_B and velocity needed for dynamic coupling and gravity
-    this->hubVelocity = statesIn.getStateObject(this->stateNameOfVelocity);
-    this->hubSigma = statesIn.getStateObject(this->stateNameOfSigma);
-    this->hubOmega = statesIn.getStateObject(this->stateNameOfOmega);
+    // - Get access to the hub states
     this->g_N = statesIn.getPropertyReference(this->propName_vehicleGravity);
 
     return;
@@ -213,7 +210,7 @@ void NHingedRigidBodyStateEffector::updateContributions(double integTime, BackSu
     Eigen::MRPd sigmaLocal_BN;
     Eigen::Matrix3d dcm_BN;
     Eigen::Matrix3d dcm_NB;
-    sigmaLocal_BN = (Eigen::Vector3d )this->hubSigma->getState();
+    sigmaLocal_BN = (Eigen::Vector3d )sigma_BN;
     dcm_NB = sigmaLocal_BN.toRotationMatrix();
     dcm_BN = dcm_NB.transpose();
 
@@ -224,7 +221,7 @@ void NHingedRigidBodyStateEffector::updateContributions(double integTime, BackSu
     g_B = dcm_BN*gLocal_N;
 
     // - Define omega_BN_S
-    this->omegaLoc_BN_B = this->hubOmega->getState();
+    this->omegaLoc_BN_B = omega_BN_B;
     std::vector<HingedPanel>::iterator PanelIt;
     for(PanelIt=this->PanelVec.begin(); PanelIt!=this->PanelVec.end(); PanelIt++){
         PanelIt->omega_BN_S = PanelIt->dcm_SB*this->omegaLoc_BN_B;
@@ -451,9 +448,9 @@ void NHingedRigidBodyStateEffector::computeDerivatives(double integTime, Eigen::
     Eigen::Vector3d rDDotLoc_BN_N;
     Eigen::MRPd sigmaLocal_BN;
     Eigen::Vector3d omegaDotLoc_BN_B;
-    rDDotLoc_BN_N = this->hubVelocity->getStateDeriv();
-    sigmaLocal_BN = (Eigen::Vector3d )this->hubSigma->getState();
-    omegaDotLoc_BN_B = this->hubOmega->getStateDeriv();
+    rDDotLoc_BN_N = rDDot_BN_N;
+    sigmaLocal_BN = (Eigen::Vector3d )sigma_BN;
+    omegaDotLoc_BN_B = omegaDot_BN_B;
 
     // - Find rDDotLoc_BN_B
     Eigen::Matrix3d dcm_BN;
@@ -484,7 +481,7 @@ void NHingedRigidBodyStateEffector::updateEnergyMomContributions(double integTim
 {
     // - Get the current omega state
     Eigen::Vector3d omegaLocal_BN_B;
-    omegaLocal_BN_B = hubOmega->getState();
+    omegaLocal_BN_B = omega_BN_B;
 
     Eigen::Vector3d omega_SN_B;
     Eigen::Matrix3d IPntS_B;

src/simulation/dynamics/NHingedRigidBodies/nHingedRigidBodyStateEffector.h

@@ -85,9 +85,6 @@ class NHingedRigidBodyStateEffector : public StateEffector, public SysModel {
     Eigen::Vector3d bTheta;         //!< -- term needed for back substitution
     Eigen::Vector3d omegaLoc_BN_B;  //!< [rad/s] local copy of omegaBN
     Eigen::Matrix3d omegaTildeLoc_BN_B; //!< -- tilde matrix of omegaBN
-    StateData *hubSigma;            //!< -- state manager access to the hubs MRP state
-    StateData *hubOmega;            //!< -- state manager access to the hubs omegaBN_B state
-    StateData *hubVelocity;         //!< -- state manager access to the hubs rDotBN_N state
     Eigen::MatrixXd *g_N;           //!< [m/s^2] Gravitational acceleration in N frame components
     static uint64_t effectorID;        //!< [] ID number of this panel
 

src/simulation/dynamics/VSCMGs/vscmgStateEffector.cpp

@@ -52,10 +52,8 @@ VSCMGStateEffector::~VSCMGStateEffector()
 
 void VSCMGStateEffector::linkInStates(DynParamManager& statesIn)
 {
-	//! - Get access to the hubs sigma, omegaBN_B and velocity needed for dynamic coupling
-	this->hubSigma = statesIn.getStateObject(this->stateNameOfSigma);
 	this->hubOmega = statesIn.getStateObject(this->stateNameOfOmega);
-	this->hubVelocity = statesIn.getStateObject(this->stateNameOfVelocity);
+	//! - Get access to the hub states
     this->g_N = statesIn.getPropertyReference(this->propName_vehicleGravity);
 
 	return;
@@ -284,13 +282,13 @@ void VSCMGStateEffector::updateContributions(double integTime, BackSubMatrices &
 
 
     //! - Find dcm_BN
-    sigmaBNLocal = (Eigen::Vector3d )this->hubSigma->getState();
+    sigmaBNLocal = (Eigen::Vector3d ) sigma_BN;
     dcm_NB = sigmaBNLocal.toRotationMatrix();
     dcm_BN = dcm_NB.transpose();
     //! - Map gravity to body frame
     g_B = dcm_BN*gLocal_N;
 
-	omegaLoc_BN_B = this->hubOmega->getState();
+	omegaLoc_BN_B = omega_BN_B;
 
     std::vector<VSCMGConfigMsgPayload>::iterator it;
 	for(it=VSCMGData.begin(); it!=VSCMGData.end(); it++)
@@ -412,10 +410,10 @@ void VSCMGStateEffector::computeDerivatives(double integTime, Eigen::Vector3d rD
 	std::vector<VSCMGConfigMsgPayload>::iterator it;
 
 	//! Grab necessarry values from manager
-	omegaDotBNLoc_B = this->hubOmega->getStateDeriv();
+	omegaDotBNLoc_B = omegaDot_BN_B;
 	omegaLoc_BN_B = this->hubOmega->getState();
-	rDDotBNLoc_N = this->hubVelocity->getStateDeriv();
-	sigmaBNLocal = (Eigen::Vector3d )this->hubSigma->getState();
+	rDDotBNLoc_N = rDDot_BN_N;
+	sigmaBNLocal = (Eigen::Vector3d ) sigma_BN;
 	dcm_NB = sigmaBNLocal.toRotationMatrix();
 	dcm_BN = dcm_NB.transpose();
 	rDDotBNLoc_B = dcm_BN*rDDotBNLoc_N;

src/simulation/dynamics/VSCMGs/vscmgStateEffector.h

@@ -50,7 +50,7 @@ class VSCMGStateEffector:  public SysModel, public StateEffector {
 	void linkInStates(DynParamManager& states);
     void updateEffectorMassProps(double integTime);
     void Reset(uint64_t CurrentSimNanos);
-    void AddVSCMG(VSCMGConfigMsgPayload *NewVSCMG); 
+    void AddVSCMG(VSCMGConfigMsgPayload *NewVSCMG);
 	void UpdateState(uint64_t CurrentSimNanos);
 	void WriteOutputMessages(uint64_t CurrentClock);
 	void ReadInputs();
@@ -82,13 +82,11 @@ class VSCMGStateEffector:  public SysModel, public StateEffector {
     VSCMGArrayTorqueMsgPayload incomingCmdBuffer; 	//!< -- One-time allocation for savings
 	uint64_t prevCommandTime;                  	//!< -- Time for previous valid thruster firing
 
-	StateData *hubSigma;                        //!< class variable
 	StateData *hubOmega;                        //!< class variable
-	StateData *hubVelocity;                     //!< class variable
-	StateData *OmegasState;                     //!< class variable
-	StateData *thetasState;                     //!< class variable
-	StateData *gammasState;                     //!< class variable
-	StateData *gammaDotsState;                  //!< class variable
+	StateData *OmegasState;                     //!< [rad/s] RW spin state
+	StateData *thetasState;                     //!< [rad] RW angle
+	StateData *gammasState;                     //!< [rad] CMG gimbal angle
+	StateData *gammaDotsState;                  //!< [rad/s] CMG gimbal angle rate
 
 };
 

src/simulation/dynamics/dualHingedRigidBodies/dualHingedRigidBodyStateEffector.cpp

@@ -114,8 +114,6 @@ void DualHingedRigidBodyStateEffector::linkInStates(DynParamManager& statesIn)
     // - Get access to the hubs sigma, omegaBN_B and velocity needed for dynamic coupling
     this->g_N = statesIn.getPropertyReference(this->nameOfSpacecraftAttachedTo + "g_N");
 
-    this->sigma_BNState = statesIn.getStateObject(this->nameOfSpacecraftAttachedTo + this->stateNameOfSigma);
-    this->omega_BN_BState = statesIn.getStateObject(this->nameOfSpacecraftAttachedTo + this->stateNameOfOmega);
     this->inertialPositionProperty = statesIn.getPropertyReference(this->nameOfSpacecraftAttachedTo + this->propName_inertialPosition);
     this->inertialVelocityProperty = statesIn.getPropertyReference(this->nameOfSpacecraftAttachedTo + this->propName_inertialVelocity);
     this->v_BN_NState = statesIn.getStateObject(this->nameOfSpacecraftAttachedTo + this->stateNameOfVelocity);
@@ -220,7 +218,8 @@ void DualHingedRigidBodyStateEffector::updateContributions(double integTime, Bac
     gLocal_N = *this->g_N;
 
     // - Find dcmBN
-    sigmaPNLocal = (Eigen::Vector3d )this->sigma_BNState->getState();
+    this->sigma_BN = sigma_BN;
+    sigmaPNLocal = this->sigma_BN;
     dcmNP = sigmaPNLocal.toRotationMatrix();
     dcmPN = dcmNP.transpose();
     // - Map gravity to body frame
@@ -232,7 +231,8 @@ void DualHingedRigidBodyStateEffector::updateContributions(double integTime, Bac
     Eigen::Vector3d gravTorquePan2PntH2 = -this->d2*this->sHat21_P.cross(this->mass2*g_P);
 
     // - Define omegaBN_S
-    this->omega_PNLoc_P = this->omega_BN_BState->getState();
+    this->omega_BN_B = omega_BN_B;
+    this->omega_PNLoc_P = this->omega_BN_B;
     this->omega_PN_S1 = this->dcm_S1P*this->omega_PNLoc_P;
     this->omega_PN_S2 = this->dcm_S2P*this->omega_PNLoc_P;
     // - Define omegaTildeBNLoc_B
@@ -296,8 +296,9 @@ void DualHingedRigidBodyStateEffector::computeDerivatives(double integTime, Eige
 
     // Grab necessarry values from manager (these have been previously computed in hubEffector)
     rDDotBNLoc_N = this->v_BN_NState->getStateDeriv();
-    sigmaBNLocal = (Eigen::Vector3d )this->sigma_BNState->getState();
-    omegaDotBNLoc_B = this->omega_BN_BState->getStateDeriv();
+    this->sigma_BN = sigma_BN;
+    sigmaBNLocal = this->sigma_BN;
+    omegaDotBNLoc_B = omegaDot_BN_B;
     dcmNB = sigmaBNLocal.toRotationMatrix();
     dcmBN = dcmNB.transpose();
     rDDotBNLoc_B = dcmBN*rDDotBNLoc_N;
@@ -319,7 +320,8 @@ void DualHingedRigidBodyStateEffector::updateEnergyMomContributions(double integ
 {
     // - Get the current omega state
     Eigen::Vector3d omegaLocal_PN_P;
-    omegaLocal_PN_P = this->omega_BN_BState->getState();
+    this->omega_BN_B = omega_BN_B;
+    omegaLocal_PN_P = this->omega_BN_B;
 
     // - Find rotational angular momentum contribution from hub
     Eigen::Vector3d omega_S1P_P;
@@ -418,14 +420,14 @@ void DualHingedRigidBodyStateEffector::computePanelInertialStates()
 {
     // inertial attitudes
     Eigen::MRPd sigmaPN;
-    sigmaPN = (Eigen::Vector3d)this->sigma_BNState->getState();
+    sigmaPN = this->sigma_BN;
     Eigen::Matrix3d dcm_NP = sigmaPN.toRotationMatrix();
     this->sigma_SN[0] = eigenMRPd2Vector3d(eigenC2MRP(this->dcm_S1P*dcm_NP.transpose()));
     this->sigma_SN[1] = eigenMRPd2Vector3d(eigenC2MRP(this->dcm_S2P*dcm_NP.transpose()));
 
     // inertial angular velocities
     Eigen::Vector3d omega_PN_P;
-    omega_PN_P = (Eigen::Vector3d)this->omega_BN_BState->getState();
+    omega_PN_P = this->omega_BN_B;
     this->omega_SN_S[0] = this->dcm_S1P * ( omega_PN_P + this->theta1Dot*this->sHat12_P);
     this->omega_SN_S[1] = this->dcm_S1P * ( omega_PN_P + this->theta2Dot*this->sHat22_P);
 

src/simulation/dynamics/dualHingedRigidBodies/dualHingedRigidBodyStateEffector.h

@@ -131,13 +131,13 @@ class DualHingedRigidBodyStateEffector : public StateEffector, public SysModel {
     Eigen::Vector3d v_SN_N[2];        //!< [m/s] inertial velocity vector of S relative to inertial frame
     Eigen::Vector3d sigma_SN[2];      //!< -- MRP attitude of panel frame S relative to inertial frame
     Eigen::Vector3d omega_SN_S[2];    //!< [rad/s] inertial panel frame angular velocity vector
-    StateData *sigma_BNState;         //!< Hub/Inertial attitude represented by MRP
-    StateData *omega_BN_BState;       //!< Hub/Inertial angular velocity vector in B frame components
+    Eigen::MRPd sigma_BN{0.0, 0.0, 0.0};        //!< Hub/Inertial attitude represented by MRP of body relative to inertial frame
+    Eigen::Vector3d omega_BN_B{0.0, 0.0, 0.0};  //!< Hub/Inertial angular velocity vector in B frame components
     StateData *v_BN_NState;           //!< Hub/Inertial velocity vector in inertial frame components
     Eigen::MatrixXd *inertialPositionProperty;  //!< [m] r_N inertial position relative to system spice zeroBase/refBase
     Eigen::MatrixXd *inertialVelocityProperty;  //!< [m] v_N inertial velocity relative to system spice zeroBase/refBase
     Eigen::MatrixXd *g_N;             //!< [m/s^2] Gravitational acceleration in N frame components
-    
+
 };
 
 

src/simulation/dynamics/prescribedMotion/prescribedMotionStateEffector.cpp

@@ -126,8 +126,6 @@ void PrescribedMotionStateEffector::writeOutputStateMessages(uint64_t currentClo
 void PrescribedMotionStateEffector::linkInStates(DynParamManager& statesIn)
 {
     // Get access to the hub states needed for dynamic coupling
-    this->hubSigma = statesIn.getStateObject(this->stateNameOfSigma);
-    this->hubOmega = statesIn.getStateObject(this->stateNameOfOmega);
     this->inertialPositionProperty = statesIn.getPropertyReference(this->propName_inertialPosition);
     this->inertialVelocityProperty = statesIn.getPropertyReference(this->propName_inertialVelocity);
 }