Removed the Propagator from the Rocket. It shouldn't really be there, now the Propagator belongs to QtRocket, and is paired with a particular Rocket model, but doesn't belong to that model

QtRocket.cpp

@@ -83,6 +83,9 @@ QtRocket::QtRocket()
    rocket.first =
       std::make_shared<Rocket>();
    
+   rocket.second =
+      std::make_shared<sim::Propagator>(rocket.first);
+
    motorDatabase = std::make_shared<utils::MotorModelDatabase>();
 
 }
@@ -101,6 +104,19 @@ int QtRocket::run(int argc, char* argv[])
    return 0;
 }
 
+void QtRocket::launchRocket()
+{
+   // initialize the propagator
+   rocket.second->clearStates();
+   rocket.second->setCurrentTime(0.0);
+
+   // start the rocket motor
+   rocket.first->launch();
+
+   // run the propagator until it terminates
+   rocket.second->runUntilTerminate();
+}
+
 void QtRocket::addMotorModels(std::vector<model::MotorModel>& m)
 {
    motorDatabase->addMotorModels(m);

QtRocket.h

@@ -54,6 +54,19 @@ public:
 
    void setEnvironment(std::shared_ptr<sim::Environment> e) { environment = e; }
 
+   void launchRocket();
+   /**
+    * @brief getStates returns a vector of time/state pairs generated during launch()
+    * @return vector of pairs of doubles, where the first value is a time and the second a state vector
+    */
+   const std::vector<std::pair<double, std::vector<double>>>& getStates() const { return rocket.second->getStates(); }
+
+   /**
+    * @brief setInitialState sets the initial state of the Rocket.
+    * @param initState initial state vector (x, y, z, xDot, yDot, zDot, pitch, yaw, roll, pitchDot, yawDot, rollDot)
+    */
+   void setInitialState(const std::vector<double>& initState) { rocket.second->setInitialState(initState); }
+
 private:
    QtRocket();
 

gui/AnalysisWindow.cpp

@@ -35,8 +35,8 @@ AnalysisWindow::~AnalysisWindow()
 
 void AnalysisWindow::onButton_plotAltitude_clicked()
 {
-   std::shared_ptr<Rocket> rocket = QtRocket::getInstance()->getRocket();
+   QtRocket* qtRocket = QtRocket::getInstance();
-   const std::vector<std::pair<double, std::vector<double>>>& res = rocket->getStates();
+   const std::vector<std::pair<double, std::vector<double>>>& res = qtRocket->getStates();
    auto& plot = ui->plotWidget;
    plot->clearGraphs();
    plot->setInteraction(QCP::iRangeDrag, true);
@@ -62,8 +62,8 @@ void AnalysisWindow::onButton_plotAltitude_clicked()
 
 void AnalysisWindow::onButton_plotVelocity_clicked()
 {
-   std::shared_ptr<Rocket> rocket = QtRocket::getInstance()->getRocket();
+   QtRocket* qtRocket = QtRocket::getInstance();
-   const std::vector<std::pair<double, std::vector<double>>>& res = rocket->getStates();
+   const std::vector<std::pair<double, std::vector<double>>>& res = qtRocket->getStates();
    auto& plot = ui->plotWidget;
    plot->clearGraphs();
    plot->setInteraction(QCP::iRangeDrag, true);

gui/MainWindow.cpp

@@ -125,10 +125,11 @@ void MainWindow::onButton_calculateTrajectory_clicked()
    double initialVelocityZ = initialVelocity * std::sin(initialAngle / 57.2958);
    std::vector<double> initialState = {0.0, 0.0, 0.0, initialVelocityX, 0.0, initialVelocityZ, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0};
    auto rocket = QtRocket::getInstance()->getRocket();
-   rocket->setInitialState(initialState);
    rocket->setMass(mass);
    rocket->setDragCoefficient(dragCoeff);
-   rocket->launch();
+
+   qtRocket->setInitialState(initialState);
+   qtRocket->launchRocket();
 
    AnalysisWindow aWindow;
    aWindow.setModal(false);

model/Rocket.cpp

@@ -1,17 +1,14 @@
 #include "Rocket.h"
 #include "QtRocket.h"
 
-Rocket::Rocket() : propagator(this)
+Rocket::Rocket()
 {
 
 }
 
 void Rocket::launch()
 {
-   propagator.clearStates();
-   propagator.setCurrentTime(0.0);
    mm.startMotor(0.0);
-   propagator.runUntilTerminate();
 }
 
 void Rocket::setMotorModel(const model::MotorModel& motor)

model/Rocket.h

@@ -34,18 +34,6 @@ public:
     */
    void launch();
 
-   /**
-    * @brief getStates returns a vector of time/state pairs generated during launch()
-    * @return vector of pairs of doubles, where the first value is a time and the second a state vector
-    */
-   const std::vector<std::pair<double, std::vector<double>>>& getStates() const { return propagator.getStates(); }
-
-   /**
-    * @brief setInitialState sets the initial state of the Rocket.
-    * @param initState initial state vector (x, y, z, xDot, yDot, zDot, pitch, yaw, roll, pitchDot, yawDot, rollDot)
-    */
-   void setInitialState(const std::vector<double>& initState) { propagator.setInitialState(initState); }
-
    /**
     * @brief getMass returns the current mass of the rocket. This is the sum of all components' masses
     * @return total current mass of the Rocket
@@ -105,12 +93,14 @@ public:
     * @param n name to set the Rocket
     */
    void setName(const std::string& n) { name = n; }
+
+
+
 private:
 
 
    std::vector<double> bodyFrameState{ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 };
    std::string name; /// Rocket name
-   sim::Propagator propagator; /// propagator
    double dragCoeff; /// @todo get rid of this, should be dynamically calculated
    double mass; /// @todo get rid of this, should be dynamically computed, but is the current rocket mass
 

sim/Propagator.cpp

@@ -22,7 +22,7 @@
 
 namespace sim {
 
-Propagator::Propagator(Rocket* r)
+Propagator::Propagator(std::shared_ptr<Rocket> r)
    : linearIntegrator(),
      //orientationIntegrator(),
      rocket(r)

sim/Propagator.h

@@ -24,7 +24,7 @@ namespace sim
 class Propagator
 {
 public:
-    Propagator(Rocket* r);
+    Propagator(std::shared_ptr<Rocket> r);
     ~Propagator();
 
     void setInitialState(const std::vector<double>& initialState)
@@ -77,7 +77,8 @@ private:
    std::unique_ptr<sim::DESolver> linearIntegrator;
    //std::unique_ptr<sim::DESolver> orientationIntegrator;
 
-   Rocket* rocket;
+   std::shared_ptr<Rocket> rocket;
+
 
    std::vector<double> currentState{0.0, 0.0, 0.0, 0.0, 0.0, 0.0};
    std::vector<double> tempRes{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0};

sim/StateData.h

@@ -25,6 +25,9 @@ public:
 
    Matrix3 dcm{{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
 
+   /// Euler angles are yaw-pitch-roll, and (3-2-1) order
+   Vector3 eulerAngles{0.0, 0.0, 0.0};
+
    // This is an array because the integrator expects it
    double data[6];