Feature/hinged branching 1dof #1179
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andrewmorell
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Nov 20, 2025
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Found two small changes to fix, otherwise looks great!
...mulation/dynamics/_GeneralModuleFiles/_UnitTestDynamics/test_effectorBranching_integrated.py
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src/simulation/dynamics/HingedRigidBodies/hingedRigidBodyStateEffector.i
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schaubh
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@DavilaDawg , nice work. I'm good with this branch. When @andrewmorell approves as well feel free to close this PR and merge to develop.
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Description
That adds support for 1DOF Hinged Rigid Body State Effector to be the parent for Dynamic Effectors
Verification
Used hinged rigid body state effector properties to calculate the angular momentum and delta v and compared it to the modified equations of motion output angular momentum and delta v in test_effectorBranching_integrated.py and plots them against each other to verify dynamics. Additionally, a scenario with 5 different spacecraft was written and compared plotted dynamics variables to intuitive values and behaviors. One spacecraft exhibited natural dynamics. Two were enacted on by external force and an additional two were enacted on by external torque. The force and torque were located on the hub and on the hinged rigid body state effector for each.
Documentation
Added a note to
docs/source/Support/bskReleaseNotes.rst. Changed the yellow cells associated with 1DOF HRB to green inbskPrinciples-11.rst. Occasional lines of RST documentation embedded throughout certain scripts using //!< in header file variable definitions, or /*! */ just before method definitions in cpp files. These show up in pages like https://avslab.github.io/basilisk/Documentation/simulation/dynamics/HingedRigidBodies/hingedRigidBodyStateEffector.html at the end of the file after the documentation generated by the standalone .rst file.Future work
2DOF HRB and NDOF HRB augmented to support dynamic effectors.