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Feature/932 configure prescribed motion for effector branching #1134

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6ba747e
Modify stateEffector class for prescribed motion branching
leahkiner Oct 6, 2025
dc1170b
Remove unneeded zero vectors
leahkiner Oct 6, 2025
eebfbd7
Configure prescribedMotion class for effector branching
leahkiner Oct 3, 2025
c4cf3a2
Add setters and getters to prescribed motion module
leahkiner Oct 6, 2025
71ae6bf
Configure spinningBodyOneDOF for prescribed motion branching
leahkiner Oct 3, 2025
4af409a
Configure spinningBodyTwoDOF for prescribed motion branching
leahkiner Oct 3, 2025
c6367a0
Configure linearTranslationOneDOF for prescribed motion branching
leahkiner Oct 3, 2025
d9bc51b
Add test for prescribed motion branching
leahkiner Oct 3, 2025
b9d8c55
Add prescribed motion branching example scenarios
leahkiner Oct 7, 2025
b467dcd
Condense branching scenarios using lists
leahkiner Oct 7, 2025
a4d6bc6
Refactor prescribed motion basic functionality test
leahkiner Oct 7, 2025
0b3c3b3
Update prescribed motion documentation
leahkiner Oct 6, 2025
0d84979
Update bskReleaseNotes
leahkiner Oct 7, 2025
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6 changes: 6 additions & 0 deletions docs/source/Support/bskReleaseNotes.rst
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Expand Up @@ -38,6 +38,12 @@ Version |release|
- Fixed bug with recording message payload entries that are 2D arrays. This bug was introduced with the faster recording
strategy added in version 2.8.0.
- Add a desired relative attitude between spacecraft in :ref:`constraintDynamicEffector`.
- Configured the :ref:`prescribedMotionStateEffector` module for attachment of other state effectors to it
rather than the spacecraft hub.
- Configured the :ref:`spinningBodyOneDOFStateEffector`, :ref:`spinningBodyTwoDOFStateEffector`, and
:ref:`linearTranslationOneDOFStateEffector` modules for optional attachment to the prescribed motion state effector.
- Added two example branching scenarios to illustrate the prescribed motion branching capability. See
:ref:`scenarioPrescribedMotoinWithTranslationBranching` and :ref:`scenarioPrescribedMotoinWithRotationBranching`.


Version 2.8.0 (August 30, 2025)
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748 changes: 748 additions & 0 deletions docs/source/_images/static/scenarioPrescribedMotionWithRotationBranching.svg
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710 changes: 710 additions & 0 deletions docs/source/_images/static/scenarioPrescribedMotionWithTranslationBranching.svg
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64 changes: 30 additions & 34 deletions examples/scenarioDeployingSolarArrays.py
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Expand Up @@ -252,36 +252,32 @@ def run(show_plots):
array2ElementList.append(prescribedMotionStateEffector.PrescribedMotionStateEffector())
array1ElementList[i].ModelTag = "array1Element" + str(i + 1)
array2ElementList[i].ModelTag = "array2Element" + str(i + 1)
array1ElementList[i].mass = mass_element # [kg]
array2ElementList[i].mass = mass_element # [kg]
array1ElementList[i].IPntPc_P = IElement_PntPc_P # [kg m^2]
array2ElementList[i].IPntPc_P = IElement_PntPc_P # [kg m^2]
array1ElementList[i].r_MB_B = r_M1B_B # [m]
array2ElementList[i].r_MB_B = r_M2B_B # [m]
array1ElementList[i].r_PcP_P = [- radius_array * np.cos(72 * macros.D2R),
array1ElementList[i].setMass(mass_element) # [kg]
array2ElementList[i].setMass(mass_element) # [kg]
array1ElementList[i].setIPntPc_P(IElement_PntPc_P) # [kg m^2]
array2ElementList[i].setIPntPc_P(IElement_PntPc_P) # [kg m^2]
array1ElementList[i].setR_MB_B(r_M1B_B) # [m]
array2ElementList[i].setR_MB_B(r_M2B_B) # [m]
array1ElementList[i].setR_PcP_P([- radius_array * np.cos(72 * macros.D2R),
0.0,
(1/3) * radius_array * np.sin(72 * macros.D2R)] # [m] For triangular wedge
array2ElementList[i].r_PcP_P = [radius_array * np.cos(72 * macros.D2R),
(1/3) * radius_array * np.sin(72 * macros.D2R)]) # [m] For triangular wedge
array2ElementList[i].setR_PcP_P([radius_array * np.cos(72 * macros.D2R),
0.0,
(1/3) * radius_array * np.sin(72 * macros.D2R)] # [m] For triangular wedge
array1ElementList[i].r_PM_M = r_PM1_M1Init1 # [m]
array2ElementList[i].r_PM_M = r_PM2_M2Init1 # [m]
array1ElementList[i].rPrime_PM_M = np.array([0.0, 0.0, 0.0]) # [m/s]
array2ElementList[i].rPrime_PM_M = np.array([0.0, 0.0, 0.0]) # [m/s]
array1ElementList[i].rPrimePrime_PM_M = np.array([0.0, 0.0, 0.0]) # [m/s^2]
array2ElementList[i].rPrimePrime_PM_M = np.array([0.0, 0.0, 0.0]) # [m/s^2]
array1ElementList[i].omega_PM_P = np.array([0.0, 0.0, 0.0]) # [rad/s]
array2ElementList[i].omega_PM_P = np.array([0.0, 0.0, 0.0]) # [rad/s]
array1ElementList[i].omegaPrime_PM_P = np.array([0.0, 0.0, 0.0]) # [rad/s^2]
array2ElementList[i].omegaPrime_PM_P = np.array([0.0, 0.0, 0.0]) # [rad/s^2]
array1ElementList[i].sigma_PM = sigma_PM1Init1
array2ElementList[i].sigma_PM = sigma_PM2Init1
array1ElementList[i].omega_MB_B = [0.0, 0.0, 0.0] # [rad/s]
array2ElementList[i].omega_MB_B = [0.0, 0.0, 0.0] # [rad/s]
array1ElementList[i].omegaPrime_MB_B = [0.0, 0.0, 0.0] # [rad/s^2]
array2ElementList[i].omegaPrime_MB_B = [0.0, 0.0, 0.0] # [rad/s^2]
array1ElementList[i].sigma_MB = [0.0, 0.0, 0.0]
array2ElementList[i].sigma_MB = [0.0, 0.0, 0.0]
(1/3) * radius_array * np.sin(72 * macros.D2R)]) # [m] For triangular wedge
array1ElementList[i].setR_PM_M(r_PM1_M1Init1) # [m]
array2ElementList[i].setR_PM_M(r_PM2_M2Init1) # [m]
array1ElementList[i].setRPrime_PM_M(np.array([0.0, 0.0, 0.0])) # [m/s]
array2ElementList[i].setRPrime_PM_M(np.array([0.0, 0.0, 0.0])) # [m/s]
array1ElementList[i].setRPrimePrime_PM_M(np.array([0.0, 0.0, 0.0])) # [m/s^2]
array2ElementList[i].setRPrimePrime_PM_M(np.array([0.0, 0.0, 0.0])) # [m/s^2]
array1ElementList[i].setOmega_PM_P(np.array([0.0, 0.0, 0.0])) # [rad/s]
array2ElementList[i].setOmega_PM_P(np.array([0.0, 0.0, 0.0])) # [rad/s]
array1ElementList[i].setOmegaPrime_PM_P(np.array([0.0, 0.0, 0.0])) # [rad/s^2]
array2ElementList[i].setOmegaPrime_PM_P(np.array([0.0, 0.0, 0.0])) # [rad/s^2]
array1ElementList[i].setSigma_PM(sigma_PM1Init1)
array2ElementList[i].setSigma_PM(sigma_PM2Init1)
array1ElementList[i].setSigma_MB([0.0, 0.0, 0.0])
array2ElementList[i].setSigma_MB([0.0, 0.0, 0.0])

scObject.addStateEffector(array1ElementList[i])
scObject.addStateEffector(array2ElementList[i])
Expand Down Expand Up @@ -463,9 +459,9 @@ def run(show_plots):
array1ElementRefMsgList2 = list()
for i in range(num_elements):
array1ElementList[i].prescribedTranslationInMsg.subscribeTo(array1ElementTranslationMessage)
array1ElementList[i].r_PcP_P = [0.0, 0.0, - (2/3) * radius_array * np.sin(72 * macros.D2R)]
array1ElementList[i].r_PM_M = r_PM1_M1Init2 # [m]
array1ElementList[i].sigma_PM = sigma_PM1Init2
array1ElementList[i].setR_PcP_P([0.0, 0.0, - (2/3) * radius_array * np.sin(72 * macros.D2R)])
array1ElementList[i].setR_PM_M(r_PM1_M1Init2) # [m]
array1ElementList[i].setSigma_PM(sigma_PM1Init2)

array1RotProfilerList[i].setThetaInit(array1ThetaInit2) # [rad]
array1RotProfilerList[i].setThetaDDotMax(array1MaxRotAccelList2[i]) # [rad/s^2]
Expand Down Expand Up @@ -527,9 +523,9 @@ def run(show_plots):
array2ElementRefMsgList3 = list()
for i in range(num_elements):
array2ElementList[i].prescribedTranslationInMsg.subscribeTo(array2ElementTranslationMessage)
array2ElementList[i].r_PcP_P = [0.0, 0.0, - (2/3) * radius_array * np.sin(72 * macros.D2R)]
array2ElementList[i].r_PM_M = r_PM2_M2Init2 # [m]
array2ElementList[i].sigma_PM = sigma_PM2Init2
array2ElementList[i].setR_PcP_P([0.0, 0.0, - (2/3) * radius_array * np.sin(72 * macros.D2R)])
array2ElementList[i].setR_PM_M(r_PM2_M2Init2) # [m]
array2ElementList[i].setSigma_PM(sigma_PM2Init2)

array2RotProfilerList[i].setThetaInit(array2ThetaInit2) # [rad]
array2RotProfilerList[i].setThetaDDotMax(array2MaxRotAccelList3[i]) # [rad/s^2]
Expand Down
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