move function CalcAngularVelocityMatrix

src/dynamics/attitude/attitude.cpp

@@ -56,3 +56,26 @@ void Attitude::CalcAngularMomentum(void) {
 
   kinetic_energy_J_ = 0.5 * libra::InnerProduct(angular_momentum_spacecraft_b_Nms_, angular_velocity_b_rad_s_);
 }
+
+libra::Matrix<4, 4> Attitude::CalcAngularVelocityMatrix(libra::Vector<3> angular_velocity_b_rad_s) {
+  libra::Matrix<4, 4> angular_velocity_matrix;
+
+  angular_velocity_matrix[0][0] = 0.0f;
+  angular_velocity_matrix[0][1] = angular_velocity_b_rad_s[2];
+  angular_velocity_matrix[0][2] = -angular_velocity_b_rad_s[1];
+  angular_velocity_matrix[0][3] = angular_velocity_b_rad_s[0];
+  angular_velocity_matrix[1][0] = -angular_velocity_b_rad_s[2];
+  angular_velocity_matrix[1][1] = 0.0f;
+  angular_velocity_matrix[1][2] = angular_velocity_b_rad_s[0];
+  angular_velocity_matrix[1][3] = angular_velocity_b_rad_s[1];
+  angular_velocity_matrix[2][0] = angular_velocity_b_rad_s[1];
+  angular_velocity_matrix[2][1] = -angular_velocity_b_rad_s[0];
+  angular_velocity_matrix[2][2] = 0.0f;
+  angular_velocity_matrix[2][3] = angular_velocity_b_rad_s[2];
+  angular_velocity_matrix[3][0] = -angular_velocity_b_rad_s[0];
+  angular_velocity_matrix[3][1] = -angular_velocity_b_rad_s[1];
+  angular_velocity_matrix[3][2] = -angular_velocity_b_rad_s[2];
+  angular_velocity_matrix[3][3] = 0.0f;
+
+  return angular_velocity_matrix;
+}

src/dynamics/attitude/attitude.hpp

@@ -114,11 +114,11 @@ class Attitude : public ILoggable, public SimulationObject {
   virtual void SetParameters(const MonteCarloSimulationExecutor& mc_simulator);
 
  protected:
-  bool is_calc_enabled_ = true;                //!< Calculation flag
-  double propagation_step_s_;                  //!< Propagation step [sec]
-  libra::Vector<3> angular_velocity_b_rad_s_;  //!< Angular velocity of spacecraft body fixed frame with respect to the inertial frame [rad/s]
-  libra::Quaternion quaternion_i2b_;           //!< Attitude quaternion from the inertial frame to the body fixed frame
-  libra::Vector<3> torque_b_Nm_;               //!< Torque in the body fixed frame [Nm]
+  bool is_calc_enabled_ = true;                     //!< Calculation flag
+  double propagation_step_s_;                       //!< Propagation step [sec]
+  libra::Vector<3> angular_velocity_b_rad_s_;       //!< Angular velocity of spacecraft body fixed frame with respect to the inertial frame [rad/s]
+  libra::Quaternion quaternion_i2b_;                //!< Attitude quaternion from the inertial frame to the body fixed frame
+  libra::Vector<3> torque_b_Nm_;                    //!< Torque in the body fixed frame [Nm]
 
   const libra::Matrix<3, 3>& inertia_tensor_kgm2_;  //!< Inertia tensor of the spacecraft [kg m^2]
 
@@ -134,6 +134,13 @@ class Attitude : public ILoggable, public SimulationObject {
    * @brief Calculate angular momentum
    */
   void CalcAngularMomentum(void);
+
+  /**
+   * @fn CalcAngularVelocityMatrix
+   * @brief Generate angular velocity matrix for kinematics calculation
+   * @param [in] angular_velocity_b_rad_s: Angular velocity [rad/s]
+   */
+  libra::Matrix<4, 4> CalcAngularVelocityMatrix(libra::Vector<3> angular_velocity_b_rad_s);
 };
 
 #endif  // S2E_DYNAMICS_ATTITUDE_ATTITUDE_HPP_

src/dynamics/attitude/attitude_rk4.cpp

@@ -56,29 +56,6 @@ void AttitudeRk4::Propagate(const double end_time_s) {
   CalcAngularMomentum();
 }
 
-libra::Matrix<4, 4> AttitudeRk4::CalcAngularVelocityMatrix(libra::Vector<3> angular_velocity_b_rad_s) {
-  libra::Matrix<4, 4> angular_velocity_matrix;
-
-  angular_velocity_matrix[0][0] = 0.0f;
-  angular_velocity_matrix[0][1] = angular_velocity_b_rad_s[2];
-  angular_velocity_matrix[0][2] = -angular_velocity_b_rad_s[1];
-  angular_velocity_matrix[0][3] = angular_velocity_b_rad_s[0];
-  angular_velocity_matrix[1][0] = -angular_velocity_b_rad_s[2];
-  angular_velocity_matrix[1][1] = 0.0f;
-  angular_velocity_matrix[1][2] = angular_velocity_b_rad_s[0];
-  angular_velocity_matrix[1][3] = angular_velocity_b_rad_s[1];
-  angular_velocity_matrix[2][0] = angular_velocity_b_rad_s[1];
-  angular_velocity_matrix[2][1] = -angular_velocity_b_rad_s[0];
-  angular_velocity_matrix[2][2] = 0.0f;
-  angular_velocity_matrix[2][3] = angular_velocity_b_rad_s[2];
-  angular_velocity_matrix[3][0] = -angular_velocity_b_rad_s[0];
-  angular_velocity_matrix[3][1] = -angular_velocity_b_rad_s[1];
-  angular_velocity_matrix[3][2] = -angular_velocity_b_rad_s[2];
-  angular_velocity_matrix[3][3] = 0.0f;
-
-  return angular_velocity_matrix;
-}
-
 libra::Vector<7> AttitudeRk4::AttitudeDynamicsAndKinematics(libra::Vector<7> x, double t) {
   UNUSED(t);
 

src/dynamics/attitude/attitude_rk4.hpp

@@ -53,12 +53,6 @@ class AttitudeRk4 : public Attitude {
   libra::Matrix<3, 3> previous_inertia_tensor_kgm2_;    //!< Previous inertia tensor [kgm2]
   libra::Vector<3> torque_inertia_tensor_change_b_Nm_;  //!< Torque generated by inertia tensor change [Nm]
 
-  /**
-   * @fn CalcAngularVelocityMatrix
-   * @brief Generate angular velocity matrix for kinematics calculation
-   * @param [in] angular_velocity_b_rad_s: Angular velocity [rad/s]
-   */
-  libra::Matrix<4, 4> CalcAngularVelocityMatrix(libra::Vector<3> angular_velocity_b_rad_s);
   /**
    * @fn AttitudeDynamicsAndKinematics
    * @brief Dynamics equation with kinematics

src/dynamics/attitude/attitude_with_cantilever_vibration.cpp

@@ -78,29 +78,6 @@ void AttitudeWithCantileverVibration::Propagate(const double end_time_s) {
   CalcAngularMomentum();
 }
 
-libra::Matrix<4, 4> AttitudeWithCantileverVibration::CalcAngularVelocityMatrix(libra::Vector<3> angular_velocity_b_rad_s) {
-  libra::Matrix<4, 4> angular_velocity_matrix;
-
-  angular_velocity_matrix[0][0] = 0.0f;
-  angular_velocity_matrix[0][1] = angular_velocity_b_rad_s[2];
-  angular_velocity_matrix[0][2] = -angular_velocity_b_rad_s[1];
-  angular_velocity_matrix[0][3] = angular_velocity_b_rad_s[0];
-  angular_velocity_matrix[1][0] = -angular_velocity_b_rad_s[2];
-  angular_velocity_matrix[1][1] = 0.0f;
-  angular_velocity_matrix[1][2] = angular_velocity_b_rad_s[0];
-  angular_velocity_matrix[1][3] = angular_velocity_b_rad_s[1];
-  angular_velocity_matrix[2][0] = angular_velocity_b_rad_s[1];
-  angular_velocity_matrix[2][1] = -angular_velocity_b_rad_s[0];
-  angular_velocity_matrix[2][2] = 0.0f;
-  angular_velocity_matrix[2][3] = angular_velocity_b_rad_s[2];
-  angular_velocity_matrix[3][0] = -angular_velocity_b_rad_s[0];
-  angular_velocity_matrix[3][1] = -angular_velocity_b_rad_s[1];
-  angular_velocity_matrix[3][2] = -angular_velocity_b_rad_s[2];
-  angular_velocity_matrix[3][3] = 0.0f;
-
-  return angular_velocity_matrix;
-}
-
 libra::Vector<13> AttitudeWithCantileverVibration::AttitudeDynamicsAndKinematics(libra::Vector<13> x, double t) {
   UNUSED(t);
 

src/dynamics/attitude/attitude_with_cantilever_vibration.hpp

@@ -76,12 +76,6 @@ class AttitudeWithCantileverVibration : public Attitude {
   libra::Vector<3> angular_velocity_cantilever_rad_s_;                //!< Angular velocity of the cantilever with respect to the body frame [rad/s]
   libra::Vector<3> euler_angular_cantilever_rad_;                     //!< Euler angle of the cantilever with respect to the body frame [rad/s]
 
-  /**
-   * @fn CalcAngularVelocityMatrix
-   * @brief Generate angular velocity matrix for kinematics calculation
-   * @param [in] angular_velocity_b_rad_s: Angular velocity [rad/s]
-   */
-  libra::Matrix<4, 4> CalcAngularVelocityMatrix(libra::Vector<3> angular_velocity_b_rad_s);
   /**
    * @fn AttitudeDynamicsAndKinematics
    * @brief Dynamics equation with kinematics