remove initialize_relative_attitude_sensors.hpp/cpp

s2e-ff/CMakeLists.txt

@@ -50,7 +50,6 @@ set(SOURCE_FILES
   src/components/aocs/relative_position_sensor.cpp
   src/components/aocs/initialize_relative_position_sensor.cpp
   src/components/aocs/relative_attitude_sensor.cpp
-  src/components/aocs/initialize_relative_attitude_sensor.cpp
   src/components/aocs/relative_velocity_sensor.cpp
   src/components/aocs/initialize_relative_velocity_sensor.cpp
   src/components/aocs/laser_distance_meter.cpp

s2e-ff/src/components/aocs/relative_attitude_sensor.cpp

@@ -5,6 +5,9 @@
 
 #include "relative_attitude_sensor.hpp"
 
+#include <components/base/initialize_sensor.hpp>
+#include <library/initialize/initialize_file_access.hpp>
+
 RelativeAttitudeSensor::RelativeAttitudeSensor(const int prescaler, ClockGenerator* clock_gen, Sensor& sensor_base, const int target_sat_id,
                                                const int reference_sat_id, const RelativeInformation& rel_info, const Dynamics& dynamics)
     : Component(prescaler, clock_gen),
@@ -20,10 +23,10 @@ void RelativeAttitudeSensor::MainRoutine(int count) {
   UNUSED(count);
 
   // Get true value
-  measured_target_attitude_b_quaternion_ = rel_info_.GetRelativeAttitudeQuaternion(target_sat_id_, reference_sat_id_);
-  measured_target_attitude_b_rad_ = measured_target_attitude_b_quaternion_.ConvertToEuler();
-  measured_target_attitude_b_rad_ = Measure(measured_target_attitude_b_rad_);
-  measured_target_attitude_b_quaternion_ = libra::Quaternion::ConvertFromEuler(measured_target_attitude_b_rad_);
+  measured_target_attitude_rb2tb_quaternion_ = rel_info_.GetRelativeAttitudeQuaternion(target_sat_id_, reference_sat_id_);
+  measured_target_attitude_rb2tb_rad_ = measured_target_attitude_rb2tb_quaternion_.ConvertToEuler();
+  measured_target_attitude_rb2tb_rad_ = Measure(measured_target_attitude_rb2tb_rad_);
+  measured_target_attitude_rb2tb_quaternion_ = libra::Quaternion::ConvertFromEuler(measured_target_attitude_rb2tb_rad_);
 }
 
 std::string RelativeAttitudeSensor::GetLogHeader() const {
@@ -40,8 +43,34 @@ std::string RelativeAttitudeSensor::GetLogHeader() const {
 std::string RelativeAttitudeSensor::GetLogValue() const {
   std::string str_tmp = "";
 
-  str_tmp += WriteQuaternion(measured_target_attitude_b_quaternion_);
-  str_tmp += WriteVector(measured_target_attitude_b_rad_);
+  str_tmp += WriteQuaternion(measured_target_attitude_rb2tb_quaternion_);
+  str_tmp += WriteVector(measured_target_attitude_rb2tb_rad_);
 
   return str_tmp;
 }
+
+RelativeAttitudeSensor InitializeRelativeAttitudeSensor(ClockGenerator* clock_gen, const std::string file_name, const double compo_step_time_s,
+                                                        const RelativeInformation& rel_info, const Dynamics& dynamics,
+                                                        const int reference_sat_id_input) {
+  // General
+  IniAccess ini_file(file_name);
+  char section[30] = "RELATIVE_ATTITUDE_SENSOR";
+
+  // CompoBase
+  int prescaler = ini_file.ReadInt(section, "prescaler");
+  if (prescaler <= 1) prescaler = 1;
+
+  // RelativeAttitudeSensor
+  int target_sat_id = ini_file.ReadInt(section, "target_sat_id");
+  int reference_sat_id = ini_file.ReadInt(section, "reference_sat_id");
+  if (reference_sat_id < 0) {
+    reference_sat_id = reference_sat_id_input;
+  }
+
+  // SensorBase
+  Sensor<3> sensor_base = ReadSensorInformation<3>(file_name, compo_step_time_s * (double)(prescaler), section, "rad");
+
+  RelativeAttitudeSensor relative_attitude_sensor(prescaler, clock_gen, sensor_base, target_sat_id, reference_sat_id, rel_info, dynamics);
+
+  return relative_attitude_sensor;
+}

s2e-ff/src/components/aocs/relative_attitude_sensor.hpp

@@ -49,8 +49,8 @@ class RelativeAttitudeSensor : public Component, public Sensor<3>, public ILogga
   virtual std::string GetLogValue() const;
 
   // Getter
-  inline libra::Quaternion GetMeasuredTargetQuaternion_b_m() const { return measured_target_attitude_b_quaternion_; }
-  inline libra::Vector<3> GetMeasuredTargetAttitude_b_m() const { return measured_target_attitude_b_rad_; }
+  inline libra::Quaternion GetMeasuredTargetQuaternion_rb2tb() const { return measured_target_attitude_rb2tb_quaternion_; }
+  inline libra::Vector<3> GetMeasuredTargetAttitude_rb2tb_rad() const { return measured_target_attitude_rb2tb_rad_; }
 
   // Setter
   void SetTargetSatId(const int target_sat_id) { target_sat_id_ = target_sat_id; }
@@ -60,12 +60,16 @@ class RelativeAttitudeSensor : public Component, public Sensor<3>, public ILogga
   const int reference_sat_id_;  //!< Reference satellite ID
 
   // Measured value
-  libra::Quaternion measured_target_attitude_b_quaternion_;
-  libra::Vector<3> measured_target_attitude_b_rad_{0.0};  //!< Measured attitude in BODY frame [m]
+  libra::Quaternion measured_target_attitude_rb2tb_quaternion_;  //!< Measured quaternion of target body from reference body
+  libra::Vector<3> measured_target_attitude_rb2tb_rad_{0.0};     //!< Measured attitude of target body in BODY frame [m]
 
   // References
   const RelativeInformation& rel_info_;  //!< Relative information
   const Dynamics& dynamics_;             //!< Dynamics
 };
 
+RelativeAttitudeSensor InitializeRelativeAttitudeSensor(ClockGenerator* clock_gen, const std::string file_name, const double compo_step_time_s,
+                                                        const RelativeInformation& rel_info, const Dynamics& dynamics,
+                                                        const int reference_sat_id_input = -1);
+
 #endif  // S2E_COMPONENTS_AOCS_RELATIVE_ATTITUDE_SENSOR_HPP_

s2e-ff/src/simulation/spacecraft/ff_components.hpp

@@ -16,11 +16,11 @@
 #include <components/ideal/force_generator.hpp>
 #include <components/real/cdh/on_board_computer.hpp>
 
-#include "../../components/aocs/initialize_relative_attitude_sensor.hpp"
 #include "../../components/aocs/initialize_relative_distance_sensor.hpp"
 #include "../../components/aocs/initialize_relative_position_sensor.hpp"
 #include "../../components/aocs/initialize_relative_velocity_sensor.hpp"
 #include "../../components/aocs/laser_distance_meter.hpp"
+#include "../../components/aocs/relative_attitude_sensor.hpp"
 #include "../../components/ideal/initialize_relative_attitude_controller.hpp"
 
 /**

s2e-ff/src/simulation/spacecraft/ff_components_2.hpp

@@ -17,9 +17,9 @@
 #include <components/real/cdh/on_board_computer.hpp>
 
 #include "../../components/aocs/corner_cube_reflector.hpp"
-#include "../../components/aocs/initialize_relative_attitude_sensor.hpp"
 #include "../../components/aocs/initialize_relative_distance_sensor.hpp"
 #include "../../components/aocs/initialize_relative_position_sensor.hpp"
+#include "../../components/aocs/relative_attitude_sensor.hpp"
 #include "../../components/ideal/initialize_relative_attitude_controller.hpp"
 
 /**