Port prescribedRot1DOF module to C++ with coast profiler #597
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The prescribedMotion dynamic effector test must be updated to use the new profiler motion, not the depreciated |
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Feb 18, 2024
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@schaubh Thank you for your feedback, I just pushed your requested changes. |
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patkenneally
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This variable is required to be zero in order to use this module; therefore it is unneeded
The scalar theta, thetaDot, and thetaDDot local variables are changed to private module variables.
The documentation is updated to reference the new cpp rotational profiler module
The integrated unit test is updated to use the new cpp rotational profiler module
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Description
This PR ports the existing
prescribedRot1DOFC 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 #555 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 prescribedRot1DOF module has been added and updated.
Future work
The prescribedRot1DOF module is now deprecated. A general Basilisk module deprecation facility needs to be added so that we can mark an entire module as deprecated.