diff --git a/src/components/base/sensor.hpp b/src/components/base/sensor.hpp index 8562310de..f3ab2e22b 100644 --- a/src/components/base/sensor.hpp +++ b/src/components/base/sensor.hpp @@ -52,11 +52,11 @@ class Sensor { math::Vector Measure(const math::Vector true_value_c); private: - math::Matrix scale_factor_; //!< Scale factor matrix - math::Vector range_to_const_c_; //!< Output range limit to be constant output value at the component frame - math::Vector range_to_zero_c_; //!< Output range limit to be zero output value at the component frame + math::Matrix scale_factor_; //!< Scale factor matrix + math::Vector range_to_const_c_; //!< Output range limit to be constant output value at the component frame + math::Vector range_to_zero_c_; //!< Output range limit to be zero output value at the component frame randomization::NormalRand normal_random_noise_c_[N]; //!< Normal random - RandomWalk random_walk_noise_c_; //!< Random Walk + RandomWalk random_walk_noise_c_; //!< Random Walk /** * @fn Clip diff --git a/src/components/ideal/force_generator.hpp b/src/components/ideal/force_generator.hpp index c3a5eb6ef..d7cb07f49 100644 --- a/src/components/ideal/force_generator.hpp +++ b/src/components/ideal/force_generator.hpp @@ -100,8 +100,8 @@ class ForceGenerator : public Component, public ILoggable { math::Vector<3> generated_force_rtn_N_{0.0}; //!< Generated force in the RTN frame [N] // Noise - randomization::NormalRand magnitude_noise_; //!< Normal random for magnitude noise - randomization::NormalRand direction_noise_; //!< Normal random for direction noise + randomization::NormalRand magnitude_noise_; //!< Normal random for magnitude noise + randomization::NormalRand direction_noise_; //!< Normal random for direction noise double direction_error_standard_deviation_rad_; //!< Standard deviation of direction error [rad] /** diff --git a/src/components/ideal/torque_generator.hpp b/src/components/ideal/torque_generator.hpp index eb6c01b81..6ddaf1c5d 100644 --- a/src/components/ideal/torque_generator.hpp +++ b/src/components/ideal/torque_generator.hpp @@ -78,8 +78,8 @@ class TorqueGenerator : public Component, public ILoggable { math::Vector<3> generated_torque_b_Nm_{0.0}; //!< Generated torque in the body fixed frame [Nm] // Noise - randomization::NormalRand magnitude_noise_; //!< Normal random for magnitude noise - randomization::NormalRand direction_noise_; //!< Normal random for direction noise + randomization::NormalRand magnitude_noise_; //!< Normal random for magnitude noise + randomization::NormalRand direction_noise_; //!< Normal random for direction noise double direction_error_standard_deviation_rad_; //!< Standard deviation of direction error [rad] /** diff --git a/src/components/real/aocs/gnss_receiver.hpp b/src/components/real/aocs/gnss_receiver.hpp index 9bc48a411..8f1d867ac 100644 --- a/src/components/real/aocs/gnss_receiver.hpp +++ b/src/components/real/aocs/gnss_receiver.hpp @@ -139,9 +139,9 @@ class GnssReceiver : public Component, public ILoggable { // Simple position observation randomization::NormalRand position_random_noise_ecef_m_[3]; //!< Random noise for position at the ECEF frame [m] randomization::NormalRand velocity_random_noise_ecef_m_s_[3]; //!< Random noise for velocity at the ECEF frame [m] - math::Vector<3> position_ecef_m_{0.0}; //!< Observed position in the ECEF frame [m] - math::Vector<3> velocity_ecef_m_s_{0.0}; //!< Observed velocity in the ECEF frame [m/s] - GeodeticPosition geodetic_position_; //!< Observed position in the geodetic frame + math::Vector<3> position_ecef_m_{0.0}; //!< Observed position in the ECEF frame [m] + math::Vector<3> velocity_ecef_m_s_{0.0}; //!< Observed velocity in the ECEF frame [m/s] + GeodeticPosition geodetic_position_; //!< Observed position in the geodetic frame // Time observation UTC utc_ = {2000, 1, 1, 0, 0, 0.0}; //!< Observed time in UTC [year, month, day, hour, min, sec] diff --git a/src/components/real/propulsion/simple_thruster.hpp b/src/components/real/propulsion/simple_thruster.hpp index 948a9bdcd..f2466fcc9 100644 --- a/src/components/real/propulsion/simple_thruster.hpp +++ b/src/components/real/propulsion/simple_thruster.hpp @@ -114,8 +114,8 @@ class SimpleThruster : public Component, public ILoggable { double duty_ = 0.0; //!< PWM Duty [0.0 : 1.0] double thrust_magnitude_max_N_ = 0.0; //!< Maximum thrust magnitude [N] double direction_noise_standard_deviation_rad_ = 0.0; //!< Standard deviation of thrust direction error [rad] - randomization::NormalRand magnitude_random_noise_; //!< Normal random for thrust magnitude error - randomization::NormalRand direction_random_noise_; //!< Normal random for thrust direction error + randomization::NormalRand magnitude_random_noise_; //!< Normal random for thrust magnitude error + randomization::NormalRand direction_random_noise_; //!< Normal random for thrust direction error // outputs Vector<3> output_thrust_b_N_{0.0}; //!< Generated thrust on the body fixed frame [N] Vector<3> output_torque_b_Nm_{0.0}; //!< Generated torque on the body fixed frame [Nm] diff --git a/src/disturbances/magnetic_disturbance.cpp b/src/disturbances/magnetic_disturbance.cpp index 3b49be06c..901777c6a 100644 --- a/src/disturbances/magnetic_disturbance.cpp +++ b/src/disturbances/magnetic_disturbance.cpp @@ -34,7 +34,8 @@ void MagneticDisturbance::CalcRMM() { static math::Vector<3> random_walk_std_dev(residual_magnetic_moment_.GetRandomWalkStandardDeviation_Am2()); static math::Vector<3> random_walk_limit(residual_magnetic_moment_.GetRandomWalkLimit_Am2()); static RandomWalk<3> random_walk(0.1, random_walk_std_dev, random_walk_limit); // [FIXME] step width is constant - static randomization::NormalRand normal_random(0.0, residual_magnetic_moment_.GetRandomNoiseStandardDeviation_Am2(), global_randomization.MakeSeed()); + static randomization::NormalRand normal_random(0.0, residual_magnetic_moment_.GetRandomNoiseStandardDeviation_Am2(), + global_randomization.MakeSeed()); rmm_b_Am2_ = residual_magnetic_moment_.GetConstantValue_b_Am2(); for (int i = 0; i < 3; ++i) { diff --git a/src/math_physics/randomization/global_randomization.hpp b/src/math_physics/randomization/global_randomization.hpp index a55ae9e98..24c88ec2b 100644 --- a/src/math_physics/randomization/global_randomization.hpp +++ b/src/math_physics/randomization/global_randomization.hpp @@ -32,9 +32,9 @@ class GlobalRandomization { long MakeSeed(); private: - static const unsigned int kMaxSeed = 0xffffffff; //!< Maximum value of seed - randomization::MinimalStandardLcg base_randomizer_; //!< Base of global randomization - long seed_; //!< Seed of global randomization + static const unsigned int kMaxSeed = 0xffffffff; //!< Maximum value of seed + randomization::MinimalStandardLcg base_randomizer_; //!< Base of global randomization + long seed_; //!< Seed of global randomization }; extern GlobalRandomization global_randomization; //!< Global randomization diff --git a/src/math_physics/randomization/random_walk.hpp b/src/math_physics/randomization/random_walk.hpp index 5af240bf9..ecd269001 100644 --- a/src/math_physics/randomization/random_walk.hpp +++ b/src/math_physics/randomization/random_walk.hpp @@ -36,7 +36,7 @@ class RandomWalk : public math::OrdinaryDifferentialEquation { virtual void DerivativeFunction(double x, const math::Vector& state, math::Vector& rhs); private: - math::Vector limit_; //!< Limit of random walk + math::Vector limit_; //!< Limit of random walk randomization::NormalRand normal_randomizer_[N]; //!< Random walk excitation noise };