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This commit is contained in:
Travis Hunter 2023-10-16 14:55:31 -06:00
parent d8e0341742
commit 505a66a1be
2 changed files with 12 additions and 3 deletions
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11
sim/Propagator.cpp
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@ -67,7 +67,7 @@ Propagator::Propagator(std::shared_ptr<Rocket> r)
}; };
linearIntegrator.reset(new RK4Solver<Vector6>(linearODE)); linearIntegrator.reset(new RK4Solver<Vector3>(linearODE));
linearIntegrator->setTimeStep(timeStep); linearIntegrator->setTimeStep(timeStep);
// This is pure quaternion // This is pure quaternion
@ -113,6 +113,15 @@ Propagator::Propagator(std::shared_ptr<Rocket> r)
// })); // }));
// orientationIntegrator->setTimeStep(timeStep); // orientationIntegrator->setTimeStep(timeStep);
std::function<std::pair<Quaternion, Quaternion>(Quaternion&, Quaternion&)> orientationODE =
[this](Quaternion& qOri, Quaternion& qRate) -> std::pair<Quaternion, Quaternion>
{
Quaternion dOri;
Quaternion dOriRate;
Matrix4
}
saveStates = true; saveStates = true;
} }

4
sim/Propagator.h
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@ -11,7 +11,7 @@
/// \endcond /// \endcond
// qtrocket headers // qtrocket headers
#include "sim/DESolver.h" #include "sim/RK4Solver.h"
#include "utils/math/MathTypes.h" #include "utils/math/MathTypes.h"
#include "sim/StateData.h" #include "sim/StateData.h"
@ -72,7 +72,7 @@ private:
double getIroll() { return 1.0; } double getIroll() { return 1.0; }
std::unique_ptr<sim::RK4Solver<Vector3>> linearIntegrator; std::unique_ptr<sim::RK4Solver<Vector3>> linearIntegrator;
std::unique_ptr<sim::RK4Solver<Quaternion>> orientationIntegrator; // std::unique_ptr<sim::RK4Solver<Quaternion>> orientationIntegrator;
std::shared_ptr<Rocket> rocket; std::shared_ptr<Rocket> rocket;