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[#1332] Add new facetedSRPEffector module
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‎src/simulation/dynamics/facetedSRPEffector/facetedSRPEffector.cpp‎

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/*
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ISC License
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Copyright (c) 2026, Autonomous Vehicle Systems Lab, University of Colorado at Boulder
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Permission to use, copy, modify, and/or distribute this software for any
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purpose with or without fee is hereby granted, provided that the above
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copyright notice and this permission notice appear in all copies.
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THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
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WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
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MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
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ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
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WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
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ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
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OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
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*/
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#include "facetedSRPEffector.h"
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#include "architecture/utilities/avsEigenSupport.h"
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const double speedLight = 299792458.0; // [m/s] Speed of light
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const double AstU = 149597870700.0; // [m] Astronomical unit
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const double solarRadFlux = 1368.0; // [W/m^2] Solar radiation flux at 1 AU
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/*! This method resets required module variables and checks the input messages to ensure they are linked.
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@param currentSimNanos [ns] Time the method is called
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*/
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void FacetedSRPEffector::Reset(uint64_t currentSimNanos) {
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// Check Sun state input message is linked
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if (!this->sunStateInMsg.isLinked()) {
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bskLogger.bskLog(BSK_ERROR, "FacetedSRPEffector.sunStateInMsg was not linked.");
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return;
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}
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// Check all facet input messages are linked
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for (uint64_t idx = 0; idx < this->facetElementBodyInMsgs.size(); idx++) {
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if (!this->facetElementBodyInMsgs[idx].isLinked()) {
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this->bskLogger.bskLog(BSK_ERROR,
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"FacetedSpacecraftProjectedArea: Input message error. facetElementBodyInMsgs is not linked.");
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return;
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}
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if (!this->facetProjectedAreaInMsgs[idx].isLinked()) {
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this->bskLogger.bskLog(BSK_ERROR,
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"FacetedSpacecraftProjectedArea: Input message error. facetProjectedAreaInMsgs is not linked.");
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return;
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}
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}
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// Clear, allocate and initialize data lists
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this->facetAreaList.clear();
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this->facetProjectedAreaList.clear();
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this->facetR_CopB_BList.clear();
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this->facetNHat_BList.clear();
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this->facetDiffuseCoeffList.clear();
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this->facetSpecularCoeffList.clear();
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this->facetAreaList.reserve(this->numFacets);
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this->facetProjectedAreaList.reserve(this->numFacets);
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this->facetR_CopB_BList.reserve(this->numFacets);
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this->facetNHat_BList.reserve(this->numFacets);
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this->facetDiffuseCoeffList.reserve(this->numFacets);
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this->facetSpecularCoeffList.reserve(this->numFacets);
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for (uint64_t idx = 0; idx < this->numFacets; idx++) {
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this->facetAreaList.push_back(0.0);
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this->facetProjectedAreaList.push_back(0.0);
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this->facetR_CopB_BList.push_back(Eigen::Vector3d::Zero());
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this->facetNHat_BList.push_back(Eigen::Vector3d::Zero());
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this->facetDiffuseCoeffList.push_back(0.0);
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this->facetSpecularCoeffList.push_back(0.0);
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}
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}
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/*! This method gives the module access to the hub inertial attitude and position.
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@param states Dynamic parameter states
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*/
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void FacetedSRPEffector::linkInStates(DynParamManager& states) {
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this->hubSigma = states.getStateObject(this->stateNameOfSigma);
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this->hubPosition = states.getStateObject(this->stateNameOfPosition);
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}
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/*! This method computes the srp force and torque acting about the hub point B in B frame components.
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@param callTime [s] Time the method is called
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@param timeStep [s] Simulation time step
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*/
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void FacetedSRPEffector::computeForceTorque(double callTime, double timeStep) {
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this->forceExternal_B.setZero();
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this->torqueExternalPntB_B.setZero();
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if (this->facetAreaList.size() != this->numFacets) {
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return;
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}
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// Read the sun state input message
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SpicePlanetStateMsgPayload sunStateIn{};
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Eigen::Vector3d r_SN_N = Eigen::Vector3d::Zero();
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if (this->sunStateInMsg.isWritten()) {
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sunStateIn = this->sunStateInMsg();
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r_SN_N = cArray2EigenVector3d(sunStateIn.PositionVector);
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}
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// Compute the sun direction unit vector in spacecraft body frame components
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Eigen::MRPd sigma_BN;
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sigma_BN = (Eigen::Vector3d)this->hubSigma->getState();
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Eigen::Matrix3d dcm_BN = sigma_BN.toRotationMatrix().transpose();
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Eigen::Vector3d r_BN_N = this->hubPosition->getState();
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Eigen::Vector3d r_SB_B = dcm_BN * (r_SN_N - r_BN_N);
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Eigen::Vector3d sunDirHat_B = r_SB_B.normalized();
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// Read the facet geometry and projected area input messages
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FacetElementBodyMsgPayload facetElementBodyIn{};
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ProjectedAreaMsgPayload facetProjectedAreaIn{};
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for (uint64_t idx = 0; idx < this->numFacets; idx++) {
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if (this->facetElementBodyInMsgs[idx].isWritten() && this->facetProjectedAreaInMsgs[idx].isWritten()) {
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facetElementBodyIn = this->facetElementBodyInMsgs[idx]();
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this->facetAreaList[idx] = facetElementBodyIn.area;
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this->facetR_CopB_BList[idx] = cArray2EigenVector3d(facetElementBodyIn.r_CopB_B);
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this->facetNHat_BList[idx] = cArray2EigenVector3d(facetElementBodyIn.nHat_B);
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this->facetDiffuseCoeffList[idx] = facetElementBodyIn.c_diffuse;
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this->facetSpecularCoeffList[idx] = facetElementBodyIn.c_specular;
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facetProjectedAreaIn = this->facetProjectedAreaInMsgs[idx]();
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this->facetProjectedAreaList[idx] = facetProjectedAreaIn.area;
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}
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}
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// Calculate the SRP pressure acting at the current spacecraft location
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double numAU = AstU / r_SB_B.norm();
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double SRPPressure = (solarRadFlux / speedLight) * numAU * numAU; // [Pa]
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// Compute the per-facet and total SRP force and torque
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Eigen::Vector3d facetSRPForcePntB_B = Eigen::Vector3d::Zero();
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Eigen::Vector3d facetSRPTorquePntB_B = Eigen::Vector3d::Zero();
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Eigen::Vector3d totalSRPForcePntB_B = Eigen::Vector3d::Zero();
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Eigen::Vector3d totalSRPTorquePntB_B = Eigen::Vector3d::Zero();
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for (uint64_t idx = 0; idx < this->numFacets; idx++) {
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if (this->facetProjectedAreaList[idx] > 0.0) {
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double cosTheta = facetProjectedAreaList[idx] / facetAreaList[idx];
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facetSRPForcePntB_B = -SRPPressure * this->facetProjectedAreaList[idx]
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* ((1 - this->facetSpecularCoeffList[idx])
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* sunDirHat_B + 2 * ((this->facetDiffuseCoeffList[idx] / 3)
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+ this->facetSpecularCoeffList[idx] * cosTheta)
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* this->facetNHat_BList[idx]); // [N]
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facetSRPTorquePntB_B = this->facetR_CopB_BList[idx].cross(facetSRPForcePntB_B); // [Nm]
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// Add the facet contribution to the total SRP force and torque acting on the spacecraft
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totalSRPForcePntB_B += facetSRPForcePntB_B;
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totalSRPTorquePntB_B += facetSRPTorquePntB_B;
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}
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}
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// Update the force and torque vectors in the dynamic effector base class
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this->forceExternal_B = totalSRPForcePntB_B;
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this->torqueExternalPntB_B = totalSRPTorquePntB_B;
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}
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/*! Setter method for the total number of spacecraft facets.
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@param numFacets [-]
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*/
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void FacetedSRPEffector::setNumFacets(const uint64_t numFacets) {
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this->numFacets = numFacets;
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this->facetElementBodyInMsgs.clear();
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this->facetProjectedAreaInMsgs.clear();
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this->facetElementBodyInMsgs.reserve(this->numFacets);
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this->facetProjectedAreaInMsgs.reserve(this->numFacets);
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// Push back facet message vectors
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for (uint64_t idx = 0; idx < this->numFacets; ++idx) {
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this->facetElementBodyInMsgs.push_back(ReadFunctor<FacetElementBodyMsgPayload>{});
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this->facetProjectedAreaInMsgs.push_back(ReadFunctor<ProjectedAreaMsgPayload>());
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}
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}
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/*! Getter method for the total number of spacecraft facets.
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@return const uint64_t
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*/
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const uint64_t FacetedSRPEffector::getNumFacets() const { return this->numFacets; }

‎src/simulation/dynamics/facetedSRPEffector/facetedSRPEffector.h‎

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/*
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ISC License
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Copyright (c) 2026, Autonomous Vehicle Systems Lab, University of Colorado at Boulder
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Permission to use, copy, modify, and/or distribute this software for any
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purpose with or without fee is hereby granted, provided that the above
8+
copyright notice and this permission notice appear in all copies.
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THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
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WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
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MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
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ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
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WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
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ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
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OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
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*/
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#ifndef FACETED_SRP_EFFECTOR_H
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#define FACETED_SRP_EFFECTOR_H
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#include <Eigen/Dense>
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#include <vector>
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#include "simulation/dynamics/_GeneralModuleFiles/dynamicEffector.h"
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#include "architecture/_GeneralModuleFiles/sys_model.h"
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#include "architecture/utilities/bskLogging.h"
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#include "architecture/messaging/messaging.h"
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#include "architecture/msgPayloadDefC/FacetElementBodyMsgPayload.h"
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#include "architecture/msgPayloadDefC/ProjectedAreaMsgPayload.h"
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#include "architecture/msgPayloadDefC/SpicePlanetStateMsgPayload.h"
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#include "simulation/dynamics/_GeneralModuleFiles/stateData.h"
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/*! @brief Faceted solar radiation pressure dynamic effector */
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class FacetedSRPEffector: public SysModel, public DynamicEffector {
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public:
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FacetedSRPEffector() = default; //!< Constructor
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~FacetedSRPEffector() = default; //!< Destructor
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void linkInStates(DynParamManager& states) override; //!< Method for giving the effector access to the hub states
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void computeForceTorque(double callTime, double timeStep) override; //!< Method for computing the total SRP force and torque about point B
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void Reset(uint64_t currentSimNanos) override; //!< Reset method
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void setNumFacets(const uint64_t numFacets); //!< Setter method for total number of spacecraft facets
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const uint64_t getNumFacets() const; //!< Getter method for total number of spacecraft facets
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std::vector<ReadFunctor<FacetElementBodyMsgPayload>> facetElementBodyInMsgs; //!< List of facet geometry input data (Expressed in hub B frame)
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std::vector<ReadFunctor<ProjectedAreaMsgPayload>> facetProjectedAreaInMsgs; //!< List of facet projected area input messages
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ReadFunctor<SpicePlanetStateMsgPayload> sunStateInMsg; //!< Sun spice ephemeris input message
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private:
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/* Facet input message data */
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std::vector<double> facetAreaList; //!< [m^2] List of facet areas
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std::vector<double> facetProjectedAreaList; //!< [m^2] List of facet projected areas
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std::vector<Eigen::Vector3d> facetR_CopB_BList; //!< [m] List of facet center of pressure locations wrt point B expressed in B frame components
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std::vector<Eigen::Vector3d> facetNHat_BList; //!< [-] List of facet normal vectors expressed in hub B frame components
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std::vector<double> facetDiffuseCoeffList; //!< [-] List of facet diffuse reflection optical coefficient list
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std::vector<double> facetSpecularCoeffList; //!< [-] List of facet specular reflection optical coefficient list
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uint64_t numFacets{}; //!< Number of spacecraft facets
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StateData *hubPosition = nullptr; //!< [m] Hub inertial position vector
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StateData *hubSigma = nullptr; //!< Hub MRP inertial attitude
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};
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#endif

‎src/simulation/dynamics/facetedSRPEffector/facetedSRPEffector.i‎

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/*
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ISC License
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Copyright (c) 2026, Autonomous Vehicle Systems Lab, University of Colorado at Boulder
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Permission to use, copy, modify, and/or distribute this software for any
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purpose with or without fee is hereby granted, provided that the above
8+
copyright notice and this permission notice appear in all copies.
9+
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THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
11+
WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
12+
MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
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ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
14+
WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
15+
ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
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OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
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*/
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%module facetedSRPEffector
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%include "architecture/utilities/bskException.swg"
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%default_bsk_exception();
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%{
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#include "facetedSRPEffector.h"
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%}
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%pythoncode %{
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from Basilisk.architecture.swig_common_model import *
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%}
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%include "std_string.i"
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%include "swig_eigen.i"
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%include "swig_conly_data.i"
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%include "sys_model.i"
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%include "simulation/dynamics/_GeneralModuleFiles/dynParamManager.i"
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%include "simulation/dynamics/_GeneralModuleFiles/dynamicEffector.h"
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%include "facetedSRPEffector.h"
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%include "architecture/msgPayloadDefC/FacetElementBodyMsgPayload.h"
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struct FacetElementBodyMsg_C;
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%include "architecture/msgPayloadDefC/ProjectedAreaMsgPayload.h"
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struct ProjectedAreaMsg_C;
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%include "architecture/msgPayloadDefC/SpicePlanetStateMsgPayload.h"
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struct SpicePlanetStateMsg_C;
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%pythoncode %{
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import sys
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protectAllClasses(sys.modules[__name__])
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%}

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