Expose individual bodies NDOF effector

docs/source/Support/bskReleaseNotes.rst

@@ -41,6 +41,9 @@ Version |release|
 - Add a desired relative attitude between spacecraft in :ref:`constraintDynamicEffector`.
 - Added a new stepper motor simulation module :ref:`stepperMotor`. This kinematic profiler module is useful to
   simulate the actuation of motor-driven prescribed spacecraft components.
+- Made individual structures for each degree of freedom in :ref:`spinningBodyNDOFStateEffector` and
+  :ref:`linearTranslationNDOFStateEffector`.
+- Capitalized all structures in :ref:`linearTranslationOneDOFStateEffector` and :ref:`linearTranslationNDOFStateEffector`.
 
 
 Version 2.8.0 (August 30, 2025)

examples/scenarioExtendingBoom.py

@@ -131,12 +131,12 @@ def run(show_plots):
     scObject.hub.sigma_BNInit = [[0.0], [0.0], [0.0]]
     scObject.hub.omega_BN_BInit = [[0.1], [0.1], [0.1]]
 
-    translatingBodyEffector = linearTranslationNDOFStateEffector.linearTranslationNDOFStateEffector()
+    translatingBodyEffector = linearTranslationNDOFStateEffector.LinearTranslationNDOFStateEffector()
     translatingBodyEffector.ModelTag = "translatingBodyEffector"
     scObject.addStateEffector(translatingBodyEffector)
     scSim.AddModelToTask(dynTaskName, translatingBodyEffector)
 
-    translatingBody1 = linearTranslationNDOFStateEffector.translatingBody()
+    translatingBody1 = linearTranslationNDOFStateEffector.TranslatingBody()
     translatingBody1.setMass(100)
     translatingBody1.setIPntFc_F([[translatingBody1.getMass() / 12 * (3 * (scGeometry.diameterArm / 2) ** 2 + scGeometry.heightArm ** 2), 0.0, 0.0],
                                [0.0, translatingBody1.getMass() / 12 * (scGeometry.diameterArm / 2) ** 2, 0.0],
@@ -151,7 +151,7 @@ def run(show_plots):
     translatingBody1.setK(100.0)
     translatingBodyEffector.addTranslatingBody(translatingBody1)
 
-    translatingBody2 = linearTranslationNDOFStateEffector.translatingBody()
+    translatingBody2 = linearTranslationNDOFStateEffector.TranslatingBody()
     translatingBody2.setMass(100)
     translatingBody2.setIPntFc_F([[translatingBody2.getMass() / 12 * (3 * (scGeometry.diameterArm / 2) ** 2 + scGeometry.heightArm ** 2), 0.0, 0.0],
                                   [0.0, translatingBody2.getMass() / 12 * (scGeometry.diameterArm / 2) ** 2, 0.0],
@@ -182,7 +182,7 @@ def run(show_plots):
     translatingRigidBodyMsg2 = messaging.LinearTranslationRigidBodyMsg().write(translatingRigidBodyMsgData)
     profiler2.linearTranslationRigidBodyInMsg.subscribeTo(translatingRigidBodyMsg2)
 
-    translatingBody3 = linearTranslationNDOFStateEffector.translatingBody()
+    translatingBody3 = linearTranslationNDOFStateEffector.TranslatingBody()
     translatingBody3.setMass(100)
     translatingBody3.setIPntFc_F([[translatingBody3.getMass() / 12 * (
                 3 * (scGeometry.diameterArm / 2) ** 2 + scGeometry.heightArm ** 2), 0.0, 0.0],
@@ -214,7 +214,7 @@ def run(show_plots):
     translatingRigidBodyMsg3 = messaging.LinearTranslationRigidBodyMsg().write(translatingRigidBodyMsgData)
     profiler3.linearTranslationRigidBodyInMsg.subscribeTo(translatingRigidBodyMsg3)
 
-    translatingBody4 = linearTranslationNDOFStateEffector.translatingBody()
+    translatingBody4 = linearTranslationNDOFStateEffector.TranslatingBody()
     translatingBody4.setMass(100)
     translatingBody4.setIPntFc_F([[translatingBody4.getMass() / 12 * (
                 3 * (scGeometry.diameterArm / 2) ** 2 + scGeometry.heightArm ** 2), 0.0, 0.0],

src/simulation/dynamics/linearTranslationalBodies/linearTranslationBodiesNDOF/_UnitTest/test_changeParameterslinearTranslatingBodyNDOF.py

@@ -0,0 +1,84 @@
+# ISC License
+#
+# Copyright (c) 2025, Autonomous Vehicle Systems Lab, University of Colorado at Boulder
+#
+# Permission to use, copy, modify, and/or distribute this software for any
+# purpose with or without fee is hereby granted, provided that the above
+# copyright notice and this permission notice appear in all copies.
+#
+# THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+# WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+# MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+# ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+# WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+# ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+# OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+
+
+#
+#   Unit Test Script
+#   Module Name:        linearTranslatingBodiesNDOF
+#   Author:             João Vaz Carneiro
+#   Creation Date:      October 10, 2025
+#
+
+import numpy as np
+from Basilisk.simulation import linearTranslationNDOFStateEffector
+
+
+def test_changeParametersTranslatingBody(show_plots):
+    r"""
+    **Validation Test Description**
+
+    This unit test checks that we can retrieve a body of the N-DOF module, change its parameters and retrieve them while
+    keeping all data in memory.
+
+    **Description of Variables Being Tested**
+
+    All setter and getter methods are exercised and compared to the truth values.
+    """
+    changeParameters()
+
+
+def changeParameters():
+    mass = 20
+    IPntFc_F = [[767, 0.0, 0.0],
+                 [0.0, 912, 0.0],
+                 [0.0, 0.0, 360]]
+    dcm_FP = [[-1.0, 0.0, 0.0], [0.0, -1.0, 0.0], [0.0, 0.0, 1.0]]
+    r_FcF_F = [[0.412],
+               [0.623],
+               [0.456]]
+    r_F0P_P = [[0.199],
+              [0.624],
+              [0.771]]
+    fHat_P = [[1], [0], [0]]
+    k = 152
+    c = 432
+
+    translatingBodyEffector = linearTranslationNDOFStateEffector.LinearTranslationNDOFStateEffector()
+    translatingBodyEffector.addTranslatingBody(linearTranslationNDOFStateEffector.TranslatingBody())
+
+    translatingBody = translatingBodyEffector.getTranslatingBody(0)
+    translatingBody.setMass(mass)
+    translatingBody.setIPntFc_F(IPntFc_F)
+    translatingBody.setDCM_FP(dcm_FP)
+    translatingBody.setR_FcF_F(r_FcF_F)
+    translatingBody.setR_F0P_P(r_F0P_P)
+    translatingBody.setFHat_P(fHat_P)
+    translatingBody.setK(k)
+    translatingBody.setC(c)
+
+    translatingBodyTest = translatingBodyEffector.getTranslatingBody(0)
+    np.testing.assert_equal(translatingBodyTest.getMass(), mass)
+    np.testing.assert_equal(translatingBodyTest.getIPntFc_F(), IPntFc_F)
+    np.testing.assert_equal(translatingBodyTest.getDCM_FP(), dcm_FP)
+    np.testing.assert_equal(translatingBodyTest.getR_FcF_F(), r_FcF_F)
+    np.testing.assert_equal(translatingBodyTest.getR_F0P_P(), r_F0P_P)
+    np.testing.assert_equal(translatingBodyTest.getFHat_P(), fHat_P)
+    np.testing.assert_equal(translatingBodyTest.getK(), k)
+    np.testing.assert_equal(translatingBodyTest.getC(), c)
+
+
+if __name__ == "__main__":
+    changeParameters()

src/simulation/dynamics/linearTranslationalBodies/linearTranslationBodiesNDOF/_UnitTest/test_linearTranslationNDOFStateEffector.py

@@ -97,11 +97,11 @@ def translatingBodyNoInput(show_plots):
     testProc.addTask(unitTestSim.CreateNewTask(unitTaskName, testProcessRate))
 
     # Create four translating rigid bodies
-    translatingBodyEffector = linearTranslationNDOFStateEffector.linearTranslationNDOFStateEffector()
+    translatingBodyEffector = linearTranslationNDOFStateEffector.LinearTranslationNDOFStateEffector()
     translatingBodyEffector.ModelTag = "translatingBodyEffector"
 
     # define properties
-    translatingBody1 = linearTranslationNDOFStateEffector.translatingBody()
+    translatingBody1 = linearTranslationNDOFStateEffector.TranslatingBody()
     translatingBody1.setMass(np.random.uniform(5.0, 50.0))
     translatingBody1.setIPntFc_F([[np.random.uniform(5.0, 100.0), 0.0, 0.0],
                                  [0.0, np.random.uniform(5.0, 100.0), 0.0],
@@ -119,7 +119,7 @@ def translatingBodyNoInput(show_plots):
     translatingBody1.setK(np.random.random())
     translatingBodyEffector.addTranslatingBody(translatingBody1)
 
-    translatingBody2 = linearTranslationNDOFStateEffector.translatingBody()
+    translatingBody2 = linearTranslationNDOFStateEffector.TranslatingBody()
     translatingBody2.setMass(np.random.uniform(5.0, 50.0))
     translatingBody2.setIPntFc_F([[np.random.uniform(5.0, 100.0), 0.0, 0.0],
                                   [0.0, np.random.uniform(5.0, 100.0), 0.0],
@@ -137,7 +137,7 @@ def translatingBodyNoInput(show_plots):
     translatingBody2.setK(np.random.random())
     translatingBodyEffector.addTranslatingBody(translatingBody2)
 
-    translatingBody3 = linearTranslationNDOFStateEffector.translatingBody()
+    translatingBody3 = linearTranslationNDOFStateEffector.TranslatingBody()
     translatingBody3.setMass(np.random.uniform(5.0, 50.0))
     translatingBody3.setIPntFc_F([[np.random.uniform(5.0, 100.0), 0.0, 0.0],
                                   [0.0, np.random.uniform(5.0, 100.0), 0.0],
@@ -155,7 +155,7 @@ def translatingBodyNoInput(show_plots):
     translatingBody3.setK(np.random.random())
     translatingBodyEffector.addTranslatingBody(translatingBody3)
 
-    translatingBody4 = linearTranslationNDOFStateEffector.translatingBody()
+    translatingBody4 = linearTranslationNDOFStateEffector.TranslatingBody()
     translatingBody4.setMass(np.random.uniform(5.0, 50.0))
     translatingBody4.setIPntFc_F([[np.random.uniform(5.0, 100.0), 0.0, 0.0],
                                   [0.0, np.random.uniform(5.0, 100.0), 0.0],
@@ -308,7 +308,7 @@ def translatingBodyNoInput(show_plots):
     plt.close("all")
 
     # Testing setup
-    accuracy = 1e-12
+    accuracy = 1e-13
 
     np.testing.assert_allclose(finalOrbEnergy, initialOrbEnergy, rtol=accuracy, err_msg="Orbital energy is not constant.")
     np.testing.assert_allclose(finalRotEnergy, initialRotEnergy, rtol=accuracy,
@@ -339,11 +339,11 @@ def translatingBodyLockAxis(show_plots):
     testProc.addTask(unitTestSim.CreateNewTask(unitTaskName, testProcessRate))
 
     # Create four translating rigid bodies
-    translatingBodyEffector = linearTranslationNDOFStateEffector.linearTranslationNDOFStateEffector()
+    translatingBodyEffector = linearTranslationNDOFStateEffector.LinearTranslationNDOFStateEffector()
     translatingBodyEffector.ModelTag = "translatingBodyEffector"
 
     # define properties
-    translatingBody1 = linearTranslationNDOFStateEffector.translatingBody()
+    translatingBody1 = linearTranslationNDOFStateEffector.TranslatingBody()
     translatingBody1.setMass(np.random.uniform(5.0, 50.0))
     translatingBody1.setIPntFc_F([[np.random.uniform(5.0, 100.0), 0.0, 0.0],
                                   [0.0, np.random.uniform(5.0, 100.0), 0.0],
@@ -361,7 +361,7 @@ def translatingBodyLockAxis(show_plots):
     translatingBody1.setK(np.random.random())
     translatingBodyEffector.addTranslatingBody(translatingBody1)
 
-    translatingBody2 = linearTranslationNDOFStateEffector.translatingBody()
+    translatingBody2 = linearTranslationNDOFStateEffector.TranslatingBody()
     translatingBody2.setMass(np.random.uniform(5.0, 50.0))
     translatingBody2.setIPntFc_F([[np.random.uniform(5.0, 100.0), 0.0, 0.0],
                                   [0.0, np.random.uniform(5.0, 100.0), 0.0],
@@ -379,7 +379,7 @@ def translatingBodyLockAxis(show_plots):
     translatingBody2.setK(np.random.random())
     translatingBodyEffector.addTranslatingBody(translatingBody2)
 
-    translatingBody3 = linearTranslationNDOFStateEffector.translatingBody()
+    translatingBody3 = linearTranslationNDOFStateEffector.TranslatingBody()
     translatingBody3.setMass(np.random.uniform(5.0, 50.0))
     translatingBody3.setIPntFc_F([[np.random.uniform(5.0, 100.0), 0.0, 0.0],
                                   [0.0, np.random.uniform(5.0, 100.0), 0.0],
@@ -397,7 +397,7 @@ def translatingBodyLockAxis(show_plots):
     translatingBody3.setK(np.random.random())
     translatingBodyEffector.addTranslatingBody(translatingBody3)
 
-    translatingBody4 = linearTranslationNDOFStateEffector.translatingBody()
+    translatingBody4 = linearTranslationNDOFStateEffector.TranslatingBody()
     translatingBody4.setMass(np.random.uniform(5.0, 50.0))
     translatingBody4.setIPntFc_F([[np.random.uniform(5.0, 100.0), 0.0, 0.0],
                                   [0.0, np.random.uniform(5.0, 100.0), 0.0],
@@ -556,7 +556,7 @@ def translatingBodyLockAxis(show_plots):
     plt.close("all")
 
     # Testing setup
-    accuracy = 1e-12
+    accuracy = 1e-13
 
     np.testing.assert_allclose(finalOrbEnergy, initialOrbEnergy, rtol=accuracy,
                                err_msg="Orbital energy is not constant.")
@@ -588,11 +588,11 @@ def translatingBodyCommandedForce(show_plots):
     testProc.addTask(unitTestSim.CreateNewTask(unitTaskName, testProcessRate))
 
     # Create four translating rigid bodies
-    translatingBodyEffector = linearTranslationNDOFStateEffector.linearTranslationNDOFStateEffector()
+    translatingBodyEffector = linearTranslationNDOFStateEffector.LinearTranslationNDOFStateEffector()
     translatingBodyEffector.ModelTag = "translatingBodyEffector"
 
     # define properties
-    translatingBody1 = linearTranslationNDOFStateEffector.translatingBody()
+    translatingBody1 = linearTranslationNDOFStateEffector.TranslatingBody()
     translatingBody1.setMass(np.random.uniform(5.0, 50.0))
     translatingBody1.setIPntFc_F([[np.random.uniform(5.0, 100.0), 0.0, 0.0],
                                   [0.0, np.random.uniform(5.0, 100.0), 0.0],
@@ -610,7 +610,7 @@ def translatingBodyCommandedForce(show_plots):
     translatingBody1.setK(np.random.random())
     translatingBodyEffector.addTranslatingBody(translatingBody1)
 
-    translatingBody2 = linearTranslationNDOFStateEffector.translatingBody()
+    translatingBody2 = linearTranslationNDOFStateEffector.TranslatingBody()
     translatingBody2.setMass(np.random.uniform(5.0, 50.0))
     translatingBody2.setIPntFc_F([[np.random.uniform(5.0, 100.0), 0.0, 0.0],
                                   [0.0, np.random.uniform(5.0, 100.0), 0.0],
@@ -628,7 +628,7 @@ def translatingBodyCommandedForce(show_plots):
     translatingBody2.setK(np.random.random())
     translatingBodyEffector.addTranslatingBody(translatingBody2)
 
-    translatingBody3 = linearTranslationNDOFStateEffector.translatingBody()
+    translatingBody3 = linearTranslationNDOFStateEffector.TranslatingBody()
     translatingBody3.setMass(np.random.uniform(5.0, 50.0))
     translatingBody3.setIPntFc_F([[np.random.uniform(5.0, 100.0), 0.0, 0.0],
                                   [0.0, np.random.uniform(5.0, 100.0), 0.0],
@@ -646,7 +646,7 @@ def translatingBodyCommandedForce(show_plots):
     translatingBody3.setK(np.random.random())
     translatingBodyEffector.addTranslatingBody(translatingBody3)
 
-    translatingBody4 = linearTranslationNDOFStateEffector.translatingBody()
+    translatingBody4 = linearTranslationNDOFStateEffector.TranslatingBody()
     translatingBody4.setMass(np.random.uniform(5.0, 50.0))
     translatingBody4.setIPntFc_F([[np.random.uniform(5.0, 100.0), 0.0, 0.0],
                                   [0.0, np.random.uniform(5.0, 100.0), 0.0],
@@ -797,7 +797,7 @@ def translatingBodyCommandedForce(show_plots):
     plt.close("all")
 
     # Testing setup
-    accuracy = 1e-12
+    accuracy = 1e-13
 
     np.testing.assert_allclose(finalOrbEnergy, initialOrbEnergy, rtol=accuracy,
                                err_msg="Orbital energy is not constant.")