Table of Contents

Class DynamicEffector

Namespace
NominalSystems.Universe
Assembly
NominalSystems.Universe.dll

[Nominal] The base class for all dynamic effectors. It is able to provide a force to change the position of a object.

public abstract class DynamicEffector : PhysicalComponent
Inheritance
DynamicEffector
Derived
Inherited Members

Constructors

DynamicEffector() 

protected DynamicEffector()

Fields

In_BodyMassPropsMsg

Message ID for incoming body mass state

public MassPropsMessage In_BodyMassPropsMsg

Field Value

MassPropsMessage

Properties

External dynamic states

public StateProperties Properties

Field Value

StateProperties

StateContribution

Stores a vector of states

public double[] StateContribution

Field Value

double[]

Properties

BodyFrameForce

[N] External body frame force on effector

[EditableVariable("N", true, "", "")]
public virtual Vector3 BodyFrameForce { get; set; }

Property Value

Vector3

BodyFrameTorque

[Nm] External body frame torque on effector

[EditableVariable("Nm", true, "", "")]
public virtual Vector3 BodyFrameTorque { get; set; }

Property Value

Vector3

InertialForce

[N] External inertial force on effector

[EditableVariable("N", true, "", "")]
public Vector3 InertialForce { get; set; }

Property Value

Vector3

Methods

AddConstantBodyFrameForce(Vector3)

Adds a constant body frame force to the Dynamic effector

public void AddConstantBodyFrameForce(Vector3 force)

Parameters

force Vector3

The new force vector

AddConstantBodyFrameTorque(Vector3)

Adds a constant body frame torque to the Dynamic effector

public void AddConstantBodyFrameTorque(Vector3 torque)

Parameters

torque Vector3

The new force vector

AddConstantInertialForce(Vector3)

Adds a constant inertial force to the Dynamic effector

public void AddConstantInertialForce(Vector3 force)

Parameters

force Vector3

The new force vector

ComputeForceTorque(double)

Method to computeForce and torque on the body

public virtual void ComputeForceTorque(double time)

Parameters

time double

integrator time

ComputeStateContribution(double)

Method to compute state contribution

public virtual void ComputeStateContribution(double time)

Parameters

time double

integrator time

LinkInStates(StateProperties)

Method to access other states or properties

public virtual void LinkInStates(StateProperties properties)

Parameters

properties StateProperties

OnBegin(double)

Called when the 'Component' is beginning

protected override void OnBegin(double time)

Parameters

time double

current time (seconds)

OnUpdate(double, double)

Called when the 'Component' should update

protected override void OnUpdate(double time, double step)

Parameters

time double

current time (seconds)

step double

the time step (seconds)

ReadInputs()

Reads inputs from messages and stores them in variables

protected virtual void ReadInputs()