rename sensor

s2e-ff/CMakeLists.txt

@@ -54,7 +54,7 @@ set(SOURCE_FILES
   src/components/aocs/initialize_relative_velocity_sensor.cpp
   src/components/aocs/laser_distance_meter.cpp
   src/components/aocs/laser_emitter.cpp
-  src/components/aocs/quadrant_photodiode_sensor.cpp
+  src/components/aocs/qpd_positioning_sensor.cpp
   src/components/ideal/relative_attitude_controller.cpp
   src/components/ideal/initialize_relative_attitude_controller.cpp
   src/library/math/dual_quaternion.cpp

s2e-ff/data/initialize_files/components/quadrant_photodiode_sensor.ini → s2e-ff/data/initialize_files/components/qpd_positioning_sensor.ini

@@ -1,4 +1,4 @@
-[QUADRANT_PHOTODIODE_SENSOR_0]
+[QPD_POSITIONING_SENSOR_0]
 // This quadrant photodiode sensor is a sensor that observes position displacement on 
 // the y-z plane in the component coordinate system. 
 // The x-axis is the direction normal to the plane of sensitivity of the quadrant photodiode sensor.
@@ -24,6 +24,6 @@ qpd_sensor_file_directory = ../../data/initialize_files/components/qpd_sensor_cs
 
 qpd_sensor_radius_m = 3.9e-3
 qpd_sensor_integral_step_m = 5.0e-5
-qpd_sensor_position_determination_threshold_m = 5.0e-3
+qpd_positioning_threshold_m = 5.0e-3
 qpd_laser_receivable_angle_rad = 0.785
 qpd_sensor_output_voltage_threshold_V = 0.4

s2e-ff/data/initialize_files/ff_satellite.ini

@@ -138,6 +138,6 @@ relative_position_sensor_file = ../../data/initialize_files/components/relative_
 relative_attitude_sensor_file = ../../data/initialize_files/components/relative_attitude_sensor.ini
 relative_velocity_sensor_file = ../../data/initialize_files/components/relative_velocity_sensor.ini
 laser_distance_meter_file = ../../data/initialize_files/components/laser_distance_meter.ini
-quadrant_photodiode_sensor_file = ../../data/initialize_files/components/quadrant_photodiode_sensor.ini
+qpd_positioning_sensor_file = ../../data/initialize_files/components/qpd_positioning_sensor.ini
 force_generator_file = ../../data/initialize_files/components/force_generator.ini
 relative_attitude_controller_file = ../../data/initialize_files/components/relative_attitude_controller.ini

s2e-ff/src/components/aocs/quadrant_photodiode_sensor.cpp → s2e-ff/src/components/aocs/qpd_positioning_sensor.cpp

@@ -1,18 +1,17 @@
 /**
- * @file quadrant_photodiode_sensor.cpp
+ * @file qpd_positioning_sensor.cpp
  * @brief Quadrant photodiode (QPD) sensor
  */
 
-#include "quadrant_photodiode_sensor.hpp"
+#include "./qpd_positioning_sensor.hpp"
 
-QuadrantPhotodiodeSensor::QuadrantPhotodiodeSensor(const int prescaler, ClockGenerator* clock_gen, const std::string file_name,
-                                                   const Dynamics& dynamics, const FfInterSpacecraftCommunication& inter_spacecraft_communication,
-                                                   const size_t id)
+QpdPositioningSensor::QpdPositioningSensor(const int prescaler, ClockGenerator* clock_gen, const std::string file_name, const Dynamics& dynamics,
+                                           const FfInterSpacecraftCommunication& inter_spacecraft_communication, const size_t id)
     : Component(prescaler, clock_gen), dynamics_(dynamics), inter_spacecraft_communication_(inter_spacecraft_communication) {
   Initialize(file_name, id);
 }
 
-void QuadrantPhotodiodeSensor::MainRoutine(int count) {
+void QpdPositioningSensor::MainRoutine(int count) {
   if (count < 10) return;
 
   // Body -> Inertial frame
@@ -93,9 +92,9 @@ void QuadrantPhotodiodeSensor::MainRoutine(int count) {
   }
 }
 
-std::string QuadrantPhotodiodeSensor::GetLogHeader() const {
+std::string QpdPositioningSensor::GetLogHeader() const {
   std::string str_tmp = "";
-  std::string head = "quadrant_photodiode_sensor_";
+  std::string head = "qpd_positioning_sensor_";
   str_tmp += WriteScalar(head + "is_received_laser");
   str_tmp += WriteScalar(head + "distance_true[m]");
   str_tmp += WriteScalar(head + "y_axis_displacement_true[m]");
@@ -109,7 +108,7 @@ std::string QuadrantPhotodiodeSensor::GetLogHeader() const {
   return str_tmp;
 }
 
-std::string QuadrantPhotodiodeSensor::GetLogValue() const {
+std::string QpdPositioningSensor::GetLogValue() const {
   std::string str_tmp = "";
 
   str_tmp += WriteScalar(is_received_laser_);
@@ -125,9 +124,9 @@ std::string QuadrantPhotodiodeSensor::GetLogValue() const {
   return str_tmp;
 }
 
-libra::Vector<3> QuadrantPhotodiodeSensor::CalcLaserReceivedPosition(const libra::Vector<3> point_position, const libra::Vector<3> origin_position,
-                                                                     const libra::Vector<3> plane_normal_direction,
-                                                                     const libra::Vector<3> point_line_direction) {
+libra::Vector<3> QpdPositioningSensor::CalcLaserReceivedPosition(const libra::Vector<3> point_position, const libra::Vector<3> origin_position,
+                                                                 const libra::Vector<3> plane_normal_direction,
+                                                                 const libra::Vector<3> point_line_direction) {
   libra::Vector<3> q_p = point_position - origin_position;
   double temp1 = libra::InnerProduct(q_p, plane_normal_direction) / pow(plane_normal_direction.CalcNorm(), 2.0);
   libra::Vector<3> position_temp1 = q_p - temp1 * plane_normal_direction;
@@ -137,15 +136,15 @@ libra::Vector<3> QuadrantPhotodiodeSensor::CalcLaserReceivedPosition(const libra
   return position;
 }
 
-double QuadrantPhotodiodeSensor::CalcDisplacement(const libra::Vector<3> point_position, const libra::Vector<3> origin_position,
-                                                  const libra::Vector<3> displacement_direction) {
+double QpdPositioningSensor::CalcDisplacement(const libra::Vector<3> point_position, const libra::Vector<3> origin_position,
+                                              const libra::Vector<3> displacement_direction) {
   libra::Vector<3> q_p = point_position - origin_position;
   double displacement_m = libra::InnerProduct(q_p, displacement_direction) / pow(displacement_direction.CalcNorm(), 2.0);
   return displacement_m;
 };
 
-void QuadrantPhotodiodeSensor::CalcSensorOutput(LaserEmitter* laser_emitter, const double distance_from_beam_waist_m,
-                                                const double qpd_y_axis_displacement_m, const double qpd_z_axis_displacement_m) {
+void QpdPositioningSensor::CalcSensorOutput(LaserEmitter* laser_emitter, const double distance_from_beam_waist_m,
+                                            const double qpd_y_axis_displacement_m, const double qpd_z_axis_displacement_m) {
   qpd_sensor_radius_m_ = (double)(((int32_t)(qpd_sensor_radius_m_ / qpd_sensor_integral_step_m_)) * qpd_sensor_integral_step_m_);
   for (size_t horizontal_step = 0; horizontal_step <= (size_t)(qpd_sensor_radius_m_ / qpd_sensor_integral_step_m_) * 2; horizontal_step++) {
     double horizontal_pos_m = qpd_sensor_integral_step_m_ * horizontal_step - qpd_sensor_radius_m_;
@@ -166,7 +165,7 @@ void QuadrantPhotodiodeSensor::CalcSensorOutput(LaserEmitter* laser_emitter, con
   }
 }
 
-double QuadrantPhotodiodeSensor::CalcSign(const double input_value, const double threshold) {
+double QpdPositioningSensor::CalcSign(const double input_value, const double threshold) {
   if (input_value < -threshold) {
     return -1;
   } else if (input_value > threshold) {
@@ -175,12 +174,10 @@ double QuadrantPhotodiodeSensor::CalcSign(const double input_value, const double
   return 0.0;
 }
 
-double QuadrantPhotodiodeSensor::ObservePositionDisplacement(const QpdPositionDeterminationDirection determination_direction,
-                                                             const double qpd_sensor_output_V, const double qpd_sensor_output_sum_V,
-                                                             const std::vector<double>& qpd_ratio_reference_list) {
-  double qpd_sensor_output_polarization = (determination_direction == kYAxisDirection) ? -1.0 : 1.0;
-  double observed_displacement_m =
-      qpd_sensor_output_polarization * CalcSign(qpd_sensor_output_y_axis_V_, 0.0) * qpd_sensor_position_determination_threshold_m_;
+double QpdPositioningSensor::ObservePositionDisplacement(const QpdObservedPositionDirection observation_direction, const double qpd_sensor_output_V,
+                                                         const double qpd_sensor_output_sum_V, const std::vector<double>& qpd_ratio_reference_list) {
+  double qpd_sensor_output_polarization = (observation_direction == kYAxisDirection) ? -1.0 : 1.0;
+  double observed_displacement_m = qpd_sensor_output_polarization * CalcSign(qpd_sensor_output_y_axis_V_, 0.0) * qpd_positioning_threshold_m_;
   double sensor_value_ratio = qpd_sensor_output_V / qpd_sensor_output_sum_V;
   for (size_t i = 0; i < qpd_ratio_reference_list.size() - 1; ++i) {
     if ((qpd_sensor_output_polarization * sensor_value_ratio >= qpd_sensor_output_polarization * qpd_ratio_reference_list[i]) &&
@@ -194,9 +191,9 @@ double QuadrantPhotodiodeSensor::ObservePositionDisplacement(const QpdPositionDe
 }
 
 // Functions
-void QuadrantPhotodiodeSensor::Initialize(const std::string file_name, const size_t id) {
+void QpdPositioningSensor::Initialize(const std::string file_name, const size_t id) {
   IniAccess ini_file(file_name);
-  std::string name = "QUADRANT_PHOTODIODE_SENSOR_";
+  std::string name = "QPD_POSITIONING_SENSOR_";
   const std::string section_name = name + std::to_string(static_cast<long long>(id));
 
   std::string file_path = ini_file.ReadString(section_name.c_str(), "qpd_sensor_file_directory");
@@ -219,7 +216,7 @@ void QuadrantPhotodiodeSensor::Initialize(const std::string file_name, const siz
 
   qpd_sensor_radius_m_ = ini_file.ReadDouble(section_name.c_str(), "qpd_sensor_radius_m");
   qpd_sensor_integral_step_m_ = ini_file.ReadDouble(section_name.c_str(), "qpd_sensor_integral_step_m");
-  qpd_sensor_position_determination_threshold_m_ = ini_file.ReadDouble(section_name.c_str(), "qpd_sensor_position_determination_threshold_m");
+  qpd_positioning_threshold_m_ = ini_file.ReadDouble(section_name.c_str(), "qpd_positioning_threshold_m");
   qpd_laser_receivable_angle_rad_ = ini_file.ReadDouble(section_name.c_str(), "qpd_laser_receivable_angle_rad");
   qpd_sensor_output_voltage_threshold_V_ = ini_file.ReadDouble(section_name.c_str(), "qpd_sensor_output_voltage_threshold_V");
 

s2e-ff/src/components/aocs/quadrant_photodiode_sensor.hpp → s2e-ff/src/components/aocs/qpd_positioning_sensor.hpp

@@ -1,10 +1,10 @@
 /**
- * @file quadrant_photodiode_sensor.hpp
- * @brief Quadrant photodiode (QPD) sensor
+ * @file qpd_positioning_sensor.hpp
+ * @brief Quadrant photodiode (QPD) positioning system
  */
 
-#ifndef S2E_COMPONENTS_QUADRANT_PHOTODIODE_SENSOR_HPP_
-#define S2E_COMPONENTS_QUADRANT_PHOTODIODE_SENSOR_HPP_
+#ifndef S2E_COMPONENTS_QPD_POSITIONING_SENSOR_HPP_
+#define S2E_COMPONENTS_QPD_POSITIONING_SENSOR_HPP_
 
 #include <components/base/component.hpp>
 #include <dynamics/dynamics.hpp>
@@ -15,23 +15,23 @@
 #include "../../simulation/case/ff_inter_spacecraft_communication.hpp"
 
 /**
- * @class QuadrantPhotodiodeSensor
+ * @class QpdPositioningSensor
  * @brief Quadrant photodiode sensor
  * @note  This component not only calculate the QPD sensor output values, but also calculate position displacements.
  */
-class QuadrantPhotodiodeSensor : public Component, public ILoggable {
+class QpdPositioningSensor : public Component, public ILoggable {
  public:
   /**
-   * @fn QuadrantPhotodiodeSensor
+   * @fn QpdPositioningSensor
    * @brief Constructor
    */
-  QuadrantPhotodiodeSensor(const int prescaler, ClockGenerator* clock_gen, const std::string file_name, const Dynamics& dynamics,
-                           const FfInterSpacecraftCommunication& inter_spacecraft_communication, const size_t id = 0);
+  QpdPositioningSensor(const int prescaler, ClockGenerator* clock_gen, const std::string file_name, const Dynamics& dynamics,
+                       const FfInterSpacecraftCommunication& inter_spacecraft_communication, const size_t id = 0);
   /**
-   * @fn ~QuadrantPhotodiodeSensor
+   * @fn ~QpdPositioningSensor
    * @brief Destructor
    */
-  ~QuadrantPhotodiodeSensor() {}
+  ~QpdPositioningSensor() {}
 
   // ComponentBase override function
   /**
@@ -59,20 +59,20 @@ class QuadrantPhotodiodeSensor : public Component, public ILoggable {
   inline bool GetIsReceivedLaser() const { return is_received_laser_; }
 
   /**
-   * @enum QpdPositionDeterminationDirection
+   * @enum QpdObservedPositionDirection
    * @brief Type of the quadrant photodiode sensor output value
    */
   typedef enum {
     kYAxisDirection = 0,  //!< y-axis direction
     kZAxisDirection,      //!< z-axis direction
-  } QpdPositionDeterminationDirection;
+  } QpdObservedPositionDirection;
 
  protected:
   double qpd_laser_receivable_angle_rad_;                      //!< laser receivable half angle from the normal direction [rad]
   double qpd_sensor_output_voltage_threshold_V_;               //!< Quadrant photodiode sensor output voltage threshold [V]
   double qpd_sensor_radius_m_;                                 //!< Quadrant photodiode sensor radius [m]
   double qpd_sensor_integral_step_m_;                          //!< Integral step to calculate the output value of the quadrant photodiode sensor [m]
-  double qpd_sensor_position_determination_threshold_m_;       //!< Position determination threshold using the quadrant photodiode sensor [m]
+  double qpd_positioning_threshold_m_;                         //!< Position determination threshold using the quadrant photodiode sensor [m]
   libra::TranslationFirstDualQuaternion dual_quaternion_c2b_;  //!< Dual quaternion from component to body frame
 
   bool is_received_laser_ = false;  //!< Flag to detect laser received
@@ -105,11 +105,11 @@ class QuadrantPhotodiodeSensor : public Component, public ILoggable {
 
   void CalcSensorOutput(LaserEmitter* laser_emitter, const double distance_from_beam_waist_m, const double qpd_horizontal_displacement_m,
                         const double qpd_vertical_displacement_m);
-  double ObservePositionDisplacement(const QpdPositionDeterminationDirection determination_direction, const double qpd_sensor_output_V,
+  double ObservePositionDisplacement(const QpdObservedPositionDirection observation_direction, const double qpd_sensor_output_V,
                                      const double qpd_sensor_output_sum_V, const std::vector<double>& qpd_ratio_reference_list);
   double CalcSign(const double input_value, const double threshold);
 
   void Initialize(const std::string file_name, const size_t id = 0);
 };
 
-#endif  // S2E_COMPONENTS_QUADRANT_PHOTODIODE_SENSOR_HPP_
+#endif  // S2E_COMPONENTS_QPD_POSITIONING_SENSOR_HPP_

s2e-ff/src/simulation/spacecraft/ff_components.cpp

@@ -41,8 +41,8 @@ FfComponents::FfComponents(const Dynamics* dynamics, const Structure* structure,
   const std::string ldm_file = sat_file.ReadString(section_name.c_str(), "Laser_distance_meter_file");
   laser_distance_meter_ = new LaserDistanceMeter(1, clock_gen, ldm_file, *dynamics_, inter_spacecraft_communication_);
 
-  const std::string qpd_file = sat_file.ReadString(section_name.c_str(), "quadrant_photodiode_sensor_file");
-  quadrant_photodiode_sensor_ = new QuadrantPhotodiodeSensor(1, clock_gen, qpd_file, *dynamics_, inter_spacecraft_communication_);
+  const std::string qpd_file = sat_file.ReadString(section_name.c_str(), "qpd_positioning_sensor_file");
+  qpd_positioning_sensor_ = new QpdPositioningSensor(1, clock_gen, qpd_file, *dynamics_, inter_spacecraft_communication_);
 
   const std::string force_generator_file = sat_file.ReadString(section_name.c_str(), "force_generator_file");
   force_generator_ = new ForceGenerator(InitializeForceGenerator(clock_gen, force_generator_file, dynamics_));
@@ -67,7 +67,7 @@ FfComponents::~FfComponents() {
   delete force_generator_;
   delete relative_attitude_controller_;
   delete laser_distance_meter_;
-  delete quadrant_photodiode_sensor_;
+  delete qpd_positioning_sensor_;
   // OBC must be deleted the last since it has com ports
   delete obc_;
 }
@@ -91,5 +91,5 @@ void FfComponents::LogSetup(Logger& logger) {
   logger.AddLogList(relative_velocity_sensor_);
   logger.AddLogList(force_generator_);
   logger.AddLogList(laser_distance_meter_);
-  logger.AddLogList(quadrant_photodiode_sensor_);
+  logger.AddLogList(qpd_positioning_sensor_);
 }

s2e-ff/src/simulation/spacecraft/ff_components.hpp

@@ -20,7 +20,7 @@
 #include "../../components/aocs/initialize_relative_position_sensor.hpp"
 #include "../../components/aocs/initialize_relative_velocity_sensor.hpp"
 #include "../../components/aocs/laser_distance_meter.hpp"
-#include "../../components/aocs/quadrant_photodiode_sensor.hpp"
+#include "../../components/aocs/qpd_positioning_sensor.hpp"
 #include "../../components/aocs/relative_attitude_sensor.hpp"
 #include "../../components/ideal/initialize_relative_attitude_controller.hpp"
 
@@ -70,7 +70,7 @@ class FfComponents : public InstalledComponents {
   RelativeAttitudeSensor* relative_attitude_sensor_;  //!< Example of Relative attitude sensor
   RelativeVelocitySensor* relative_velocity_sensor_;  //!< Example of Relative velocity sensor
   LaserDistanceMeter* laser_distance_meter_;
-  QuadrantPhotodiodeSensor* quadrant_photodiode_sensor_;
+  QpdPositioningSensor* qpd_positioning_sensor_;
   // Actuators
   ForceGenerator* force_generator_;                           //!< Example of force generator
   RelativeAttitudeController* relative_attitude_controller_;  //!< Example of attitude controller