Update hingedJointArrayMotor for full joint tracking control#1379
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very minor comment to address, then good to push
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Description
This PR upgrades the
hingedJointArrayMotormodule to full tracking joint control.The main additions are:
JointArrayStateMsgPayloadis extended withstateDDotsto carry desired joint accelerations.hingedJointArrayMotornow uses reference joint acceleration feedforward in the commanded acceleration lawjointThrAllocationoutput payload population is updated to providestateDDotsdefaults (zero) so legacy/static-reference usage remains behaviorally consistent.hingedJointArrayMotorunit-test expected-torque helper was updated to match controller math (including wrapped angle error and acceleration feedforward).Verification
Changes were validated with an updated unit test and by ensuring a scenario that used the corresponding modules were was unaffected.
Validation included:
src/fswAlgorithms/effectorInterfaces/hingedJointArrayMotor/_UnitTest/test_hingedJointArrayMotor.pyscenarioThrArmControlDocumentation
This PR adds and updates documentation for the upgraded controller:
src/fswAlgorithms/effectorInterfaces/hingedJointArrayMotor/hingedJointArrayMotor.rstdocs/source/Support/bskReleaseNotesSnippets/1379-joint-array-tracking.rstFuture work
N/A