Port prescribedTrans module to C++ with coast profiler #588
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leahkiner
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I just finished adding my changes directly to this PR @patkenneally, it is ready for @schaubh and you to review!
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schaubh
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Please see my comments. The CI test builds did not happen on this branch? I'm unable to compile the branch when I pulled the full forked repo. See comments on *.I file. This means I can't check documentation, unit test execution, etc.
Also, please see my comments of not moving this to simulation/dynamics. We are keeping the profilers in other folders. Profiler modules are odd as they can simulation the physics of a component, or they can be used in FSW as well.
As this module can be used in FSW as well, we need to add a C-wrapped output message as well. Just takes a few lines. In the comment I outline how to do this.
...wAlgorithms/effectorInterfaces/prescribedTranslation/_UnitTest/test_prescribedTranslation.py
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...imulation/dynamics/prescribedLinearTranslation/_UnitTest/test_prescribedLinearTranslation.py
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src/simulation/dynamics/prescribedLinearTranslation/prescribedLinearTranslation.h
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src/simulation/dynamics/prescribedLinearTranslation/prescribedLinearTranslation.cpp
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src/simulation/dynamics/prescribedLinearTranslation/prescribedLinearTranslation.cpp
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src/simulation/dynamics/prescribedLinearTranslation/prescribedLinearTranslation.i
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src/simulation/dynamics/prescribedLinearTranslation/prescribedLinearTranslation.cpp
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schaubh
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To improve clarity the module name is changed from prescribedTranslation to prescribedLinearTranslation
The documentation is updated to reference the new cpp linear translation profiler module
The integrated unit test is updated to use the new cpp linear translation profiler module
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Description
This PR ports the existing
prescribedTransC module to a C++ module. The primary motivation for this migration is to provide a significantly simpler public api for the module. This simpler interface make the module easier to setup and use, and makes it much hard to use in an incorrect fashion.This PR is a refactor of a previously opened PR #565 which was later closed in favor of this migration to C++. As a result, this PR implements the features added in the previous PR (in their order) and then cleans up elements made redundant by the move to C++. As a first step the PR ports the existing module directly to a C++ class. Then a new coast feature is added where a period of zero acceleration is added between the two acceleration segments when the user sets the ramp duration via
setCoastRampDuration. The final significant change to the module is that all class variables are made private, with only the needed accessor methods provided.Verification
The same module test is employed here with only modifications to account for the simplified module interface.
Documentation
The documentation from prescribedTrans module has been added and updated.
Future work
The
prescribedTransmodule is now deprecated. A general Basilisk module deprecation facility needs to be added so that we can mark an entire module as deprecated. I have a branch that does this and will open a separate PR for that.