Add prescribed screw motion of a dynamic sub-component

src/simulation/deviceInterface/prescribedRotation1DOF/prescribedRotation1DOF.cpp

@@ -30,6 +30,7 @@
 void PrescribedRotation1DOF::SelfInit() {
     HingedRigidBodyMsg_C_init(&this->spinningBodyOutMsgC);
     PrescribedRotationMsg_C_init(&this->prescribedRotationOutMsgC);
+    PrescribedTranslationMsg_C_init(&this->prescribedTranslationOutMsgC);
 }
 
 /*! This method resets required module variables and checks the input messages to ensure they are linked.
@@ -663,6 +664,19 @@ void PrescribedRotation1DOF::writeOutputMessages(uint64_t callTime) {
     this->prescribedRotationOutMsg.write(&prescribedRotationOut, moduleID, callTime);
     HingedRigidBodyMsg_C_write(&spinningBodyOut, &spinningBodyOutMsgC, this->moduleID, callTime);
     PrescribedRotationMsg_C_write(&prescribedRotationOut, &prescribedRotationOutMsgC, this->moduleID, callTime);
+
+    if (this->c_screw != 0.0) {
+        // Write the prescribed translation output message if screw motion is configured
+        PrescribedTranslationMsgPayload prescribedTranslationOut;
+        prescribedTranslationOut = PrescribedTranslationMsgPayload();
+        Eigen::Vector3d r_PM_M = (this->rhoInit + this->c_screw * this->theta) * this->rotHat_M;
+        Eigen::Vector3d rPrime_PM_M = this->c_screw * this->thetaDot * this->rotHat_M;
+        Eigen::Vector3d rPrimePrime_PM_M = this->c_screw * this->thetaDDot * this->rotHat_M;
+        eigenVector3d2CArray(r_PM_M, prescribedTranslationOut.r_PM_M);
+        eigenVector3d2CArray(rPrime_PM_M, prescribedTranslationOut.rPrime_PM_M);
+        eigenVector3d2CArray(rPrimePrime_PM_M, prescribedTranslationOut.rPrimePrime_PM_M);
+        this->prescribedTranslationOutMsg.write(&prescribedTranslationOut, moduleID, callTime);
+    }
 }
 
 /*! This method computes the current spinning body MRP attitude relative to the mount frame: sigma_PM
@@ -768,3 +782,33 @@ double PrescribedRotation1DOF::getThetaDDotMax() const {
 double PrescribedRotation1DOF::getThetaInit() const {
     return this->thetaInit;
 }
+
+/*! Setter method for the initial linear displacement if screw motion is selected.
+
+ @param initDisplacement Initial linear displacement
+*/
+void PrescribedRotation1DOF::setInitDisplacement(const double initDisplacement) {
+    this->rhoInit = initDisplacement;
+}
+
+/*! Setter method for the screw constant for modeling prescribed screw motion.
+
+ @param screwConstant Screw slope constant
+*/
+void PrescribedRotation1DOF::setScrewConstant(const double screwConstant) {
+    this->c_screw = screwConstant;
+}
+
+/*! Getter method for the initial linear displacement if screw motion is selected.
+ @return double
+*/
+double PrescribedRotation1DOF::getInitDisplacement() const {
+    return this->rhoInit;
+}
+
+/*! Getter method for the screw constant.
+ @return double
+*/
+double PrescribedRotation1DOF::getScrewConstant() const {
+    return this->c_screw;
+}

src/simulation/deviceInterface/prescribedRotation1DOF/prescribedRotation1DOF.h

@@ -24,6 +24,7 @@
 #include "architecture/utilities/bskLogging.h"
 #include "cMsgCInterface/HingedRigidBodyMsg_C.h"
 #include "cMsgCInterface/PrescribedRotationMsg_C.h"
+#include "cMsgCInterface/PrescribedTranslationMsg_C.h"
 #include <Eigen/Dense>
 #include <cstdint>
 
@@ -47,11 +48,19 @@ class PrescribedRotation1DOF: public SysModel{
     double getThetaDDotMax() const;                                        //!< Getter for the bang segment scalar angular acceleration
     double getThetaInit() const;                                           //!< Getter for the initial spinning body angle
 
+    // Method for optional prescribed screw motion
+    void setInitDisplacement(const double initDisplacement);               //!< Setter for the initial linear displacement
+    void setScrewConstant(const double screwConstant);                     //!< Setter for the screw motion constant
+    double getScrewConstant() const;                                       //!< Getter for the screw motion constant
+    double getInitDisplacement() const;                                    //!< Getter for the initial linear displacement
+
     ReadFunctor<HingedRigidBodyMsgPayload> spinningBodyInMsg;              //!< Input msg for the spinning body reference angle and angle rate
     Message<HingedRigidBodyMsgPayload> spinningBodyOutMsg;                 //!< Output msg for the spinning body angle and angle rate
     Message<PrescribedRotationMsgPayload> prescribedRotationOutMsg;        //!< Output msg for the spinning body prescribed rotational states
+    Message<PrescribedTranslationMsgPayload> prescribedTranslationOutMsg;  //!< Output msg for the prescribed translational states if screw motion is configured
     HingedRigidBodyMsg_C spinningBodyOutMsgC = {};                         //!< C-wrapped output msg for the spinning body angle and angle rate
     PrescribedRotationMsg_C prescribedRotationOutMsgC = {};                //!< C-wrapped output msg for the spinning body prescribed rotational states
+    PrescribedTranslationMsg_C prescribedTranslationOutMsgC = {};          //!< C-wrapped output msg for the prescribed translational  states if screw motion is configured
 
     BSKLogger *bskLogger;                                                  //!< BSK Logging
 
@@ -85,10 +94,12 @@ class PrescribedRotation1DOF: public SysModel{
     Eigen::Vector3d computeSigma_PM();                                     //!< Method for computing the current spinning body MRP attitude relative to the mount frame: sigma_PM
 
     /* User-configurable variables */
+    double rhoInit{};                                                      //!< [m] Initial displacement from frame M to frame P along rotHat_M
     double coastOptionBangDuration;                                        //!< [s] Time used for the coast option bang segment
     double smoothingDuration;                                              //!< [s] Time the acceleration is smoothed to the given maximum acceleration value
     double thetaDDotMax;                                                   //!< [rad/s^2] Maximum angular acceleration of spinning body used in the bang segments
     Eigen::Vector3d rotHat_M;                                              //!< Spinning body rotation axis in M frame components
+    double c_screw{};                                                      //!< Screw slope constant for modeling prescribed screw motion (1-DOF rotation with coupled translation)
 
     /* Scalar rotational states */
     double thetaInit;                                                      //!< [rad] Initial spinning body angle from frame M to frame P about rotHat_M

src/simulation/deviceInterface/prescribedRotation1DOF/prescribedRotation1DOF.i

@@ -39,6 +39,8 @@ from Basilisk.architecture.swig_common_model import *
 struct HingedRigidBodyMsg_C;
 %include "architecture/msgPayloadDefC/PrescribedRotationMsgPayload.h"
 struct PrescribedRotationMsg_C;
+%include "architecture/msgPayloadDefC/PrescribedTranslationMsgPayload.h"
+struct PrescribedTranslationMsg_C;
 
 %pythoncode %{
 import sys