Base class for all simulation components. More...

#include <Component.hpp>

Inheritance diagram for icarus::Component< Scalar >:

Public Member Functions
virtual	~Component ()=default
virtual void	Provision (Backplane< Scalar > &bp)=0
	Provision phase - called once at application launch.
virtual void	Stage (Backplane< Scalar > &bp)=0
	Stage phase - called at start of each run/episode.
virtual void	Step (Scalar t, Scalar dt)=0
	Step phase - called every time step (hot path!).
virtual void	PreStep (Scalar, Scalar)
	Called before any component Steps (for pre-processing).
virtual void	PostStep (Scalar, Scalar)
	Called after all component Steps (for post-processing).
virtual void	OnError (const SimulationError &)
	Called when simulation encounters an error.
virtual void	Shutdown ()
	Called during shutdown (cleanup, flush buffers).
virtual std::string	Name () const =0
	Component instance name (e.g., "MainEngine").
virtual std::string	Entity () const
	Entity namespace (e.g., "X15").
virtual std::string	TypeName () const
	Component type name for data dictionary (e.g., "JetEngine").
std::string	FullName () const
	Full qualified name: entity.component (or just component).
virtual std::vector< SignalDecl >	DeclareInputs () const
	Declared inputs (for documentation/dependency graph).
virtual std::vector< SignalDecl >	DeclareOutputs () const
	Declared outputs (for documentation/dependency graph).
std::vector< std::string >	GetOutputNames () const
	Get list of output signal names.
std::vector< std::string >	GetInputNames () const
	Get list of input signal names.
virtual bool	HasBodyAttachment () const
	Whether this component has a body attachment (position/orientation).
virtual Vec3< Scalar >	GetBodyPosition () const
	Get the component's mounting position in vehicle body frame.
virtual janus::Quaternion< Scalar >	GetBodyOrientation () const
	Get the component's mounting orientation (body-to-component rotation).
bool	IsProvisioned () const
	Check if Provision has been called.
bool	IsStaged () const
	Check if Stage has been called.
void	SetConfig (ComponentConfig config)
	Set component configuration (called by factory after construction).
const ComponentConfig &	GetConfig () const
	Get component configuration.
const vulcan::time::Epoch< Scalar > *	GetEpoch () const
	Get simulation epoch (read-only).

Protected Member Functions
template<typename T>
T	read_param (const std::string &key, const T &default_val) const
	Read a scalar config parameter with default.
template<typename T>
T	require_param (const std::string &key) const
	Read a required scalar config parameter (throws if missing).
Vec3< Scalar >	read_param_vec3 (const std::string &key, const Vec3< Scalar > &default_val) const
	Read a Vec3 config parameter with automatic double→Scalar conversion.
Vec3< Scalar >	require_param_vec3 (const std::string &key) const
	Read a required Vec3 config parameter (throws if missing).
Vec4< Scalar >	read_param_vec4 (const std::string &key, const Vec4< Scalar > &default_val) const
	Read a Vec4 config parameter with automatic double→Scalar conversion.
Vec4< Scalar >	require_param_vec4 (const std::string &key) const
	Read a required Vec4 config parameter (throws if missing).
void	MarkProvisioned ()
void	MarkStaged ()
void	ResetStaged ()
void	BindEpoch (const vulcan::time::Epoch< Scalar > *epoch)

Friends
template<typename S>
class	Simulator
template<typename S>
class	Backplane

Detailed Description

template<typename Scalar>
class icarus::Component< Scalar >

Base class for all simulation components.

Components are the fundamental unit of execution in Icarus. They own state and implement the Provision/Stage/Step lifecycle.

Lifecycle:

Provision (once) - Register outputs, allocate memory, load params
Stage (per run) - Wire inputs, apply ICs
Step (per dt) - Compute dynamics (hot path!)

Template Parameters

Scalar The numeric type (double or casadi::MX)

Constructor & Destructor Documentation

◆ ~Component()

template<typename Scalar>

virtual icarus::Component< Scalar >::~Component ( )

virtualdefault

Member Function Documentation

◆ BindEpoch()

template<typename Scalar>

void icarus::Component< Scalar >::BindEpoch ( const vulcan::time::Epoch< Scalar > * epoch )

inlineprotected

◆ DeclareInputs()

template<typename Scalar>

virtual std::vector< SignalDecl > icarus::Component< Scalar >::DeclareInputs ( ) const

inlinenodiscardvirtual

Declared inputs (for documentation/dependency graph).

Override to declare expected inputs for tooling.

◆ DeclareOutputs()

template<typename Scalar>

virtual std::vector< SignalDecl > icarus::Component< Scalar >::DeclareOutputs ( ) const

inlinenodiscardvirtual

Declared outputs (for documentation/dependency graph).

Override to declare outputs for tooling.

◆ Entity()

template<typename Scalar>

virtual std::string icarus::Component< Scalar >::Entity ( ) const

inlinenodiscardvirtual

Entity namespace (e.g., "X15").

Return empty string for singleton components (e.g., Environment).

◆ FullName()

template<typename Scalar>

std::string icarus::Component< Scalar >::FullName ( ) const

inlinenodiscard

Full qualified name: entity.component (or just component).

◆ GetBodyOrientation()

template<typename Scalar>

virtual janus::Quaternion< Scalar > icarus::Component< Scalar >::GetBodyOrientation ( ) const

inlinenodiscardvirtual

Get the component's mounting orientation (body-to-component rotation).

Convention: Transforms vectors FROM body frame TO component local frame. To transform component outputs TO body frame, use conjugate().

Returns: Identity quaternion for components without attachment

Reimplemented in icarus::PhysicalComponent< Scalar >.

◆ GetBodyPosition()

template<typename Scalar>

virtual Vec3< Scalar > icarus::Component< Scalar >::GetBodyPosition ( ) const

inlinenodiscardvirtual

Get the component's mounting position in vehicle body frame.

Returns: Zero vector for components without attachment

Reimplemented in icarus::PhysicalComponent< Scalar >.

◆ GetConfig()

template<typename Scalar>

const ComponentConfig & icarus::Component< Scalar >::GetConfig ( ) const

inlinenodiscard

Get component configuration.

Use in Stage() to read parameters, initial conditions, etc.

◆ GetEpoch()

template<typename Scalar>

const vulcan::time::Epoch< Scalar > * icarus::Component< Scalar >::GetEpoch ( ) const

inlinenodiscard

Get simulation epoch (read-only).

Provides access to the simulator's authoritative time. Available after Stage(). Use for time-dependent calculations (e.g., lunar ephemeris via jd_tt()).

Returns: Pointer to current epoch, or nullptr if not yet staged

◆ GetInputNames()

template<typename Scalar>

std::vector< std::string > icarus::Component< Scalar >::GetInputNames ( ) const

inlinenodiscard

Get list of input signal names.

◆ GetOutputNames()

template<typename Scalar>

std::vector< std::string > icarus::Component< Scalar >::GetOutputNames ( ) const

inlinenodiscard

Get list of output signal names.

◆ HasBodyAttachment()

template<typename Scalar>

virtual bool icarus::Component< Scalar >::HasBodyAttachment ( ) const

inlinenodiscardvirtual

Whether this component has a body attachment (position/orientation).

Returns: false for base Component; overridden in PhysicalComponent

Reimplemented in icarus::PhysicalComponent< Scalar >.

◆ IsProvisioned()

template<typename Scalar>

bool icarus::Component< Scalar >::IsProvisioned ( ) const

inlinenodiscard

Check if Provision has been called.

◆ IsStaged()

template<typename Scalar>

bool icarus::Component< Scalar >::IsStaged ( ) const

inlinenodiscard

Check if Stage has been called.

◆ MarkProvisioned()

template<typename Scalar>

void icarus::Component< Scalar >::MarkProvisioned ( )

inlineprotected

◆ MarkStaged()

template<typename Scalar>

void icarus::Component< Scalar >::MarkStaged ( )

inlineprotected

◆ Name()

template<typename Scalar>

virtual std::string icarus::Component< Scalar >::Name ( ) const

nodiscardpure virtual

Component instance name (e.g., "MainEngine").

◆ OnError()

template<typename Scalar>

virtual void icarus::Component< Scalar >::OnError ( const SimulationError & )

inlinevirtual

Called when simulation encounters an error.

◆ PostStep()

template<typename Scalar>

virtual void icarus::Component< Scalar >::PostStep	(	Scalar	,
		Scalar	)

inlinevirtual

Called after all component Steps (for post-processing).

◆ PreStep()

template<typename Scalar>

virtual void icarus::Component< Scalar >::PreStep	(	Scalar	,
		Scalar	)

inlinevirtual

Called before any component Steps (for pre-processing).

◆ Provision()

template<typename Scalar>

virtual void icarus::Component< Scalar >::Provision ( Backplane< Scalar > & bp )

pure virtual

Provision phase - called once at application launch.

Heavy lifting: allocate memory, register signals.

Parameters

bp	Backplane for registering outputs

◆ read_param()

template<typename Scalar>

template<typename T>

T icarus::Component< Scalar >::read_param	(	const std::string &	key,
		const T &	default_val ) const

inlineprotected

Read a scalar config parameter with default.

Usage: mass_ = read_param("mass", 100.0);

◆ read_param_vec3()

template<typename Scalar>

Vec3< Scalar > icarus::Component< Scalar >::read_param_vec3	(	const std::string &	key,
		const Vec3< Scalar > &	default_val ) const

inlineprotected

Read a Vec3 config parameter with automatic double→Scalar conversion.

Usage: position_ = read_param_vec3("initial_position", Vec3<Scalar>::Zero());

◆ read_param_vec4()

template<typename Scalar>

Vec4< Scalar > icarus::Component< Scalar >::read_param_vec4	(	const std::string &	key,
		const Vec4< Scalar > &	default_val ) const

inlineprotected

Read a Vec4 config parameter with automatic double→Scalar conversion.

Usage: attitude_ = read_param_vec4("initial_attitude", Vec4<Scalar>{1, 0, 0, 0});

◆ require_param()

template<typename Scalar>

template<typename T>

T icarus::Component< Scalar >::require_param ( const std::string & key ) const

inlineprotected

Read a required scalar config parameter (throws if missing).

Usage: mass_ = require_param<double>("mass");

◆ require_param_vec3()

template<typename Scalar>

Vec3< Scalar > icarus::Component< Scalar >::require_param_vec3 ( const std::string & key ) const

inlineprotected

Read a required Vec3 config parameter (throws if missing).

Usage: position_ = require_param_vec3("initial_position");

◆ require_param_vec4()

template<typename Scalar>

Vec4< Scalar > icarus::Component< Scalar >::require_param_vec4 ( const std::string & key ) const

inlineprotected

Read a required Vec4 config parameter (throws if missing).

Usage: attitude_ = require_param_vec4("initial_attitude");

◆ ResetStaged()

template<typename Scalar>

void icarus::Component< Scalar >::ResetStaged ( )

inlineprotected

◆ SetConfig()

template<typename Scalar>

void icarus::Component< Scalar >::SetConfig ( ComponentConfig config )

inline

Set component configuration (called by factory after construction).

◆ Shutdown()

template<typename Scalar>

virtual void icarus::Component< Scalar >::Shutdown ( )

inlinevirtual

Called during shutdown (cleanup, flush buffers).

◆ Stage()

template<typename Scalar>

virtual void icarus::Component< Scalar >::Stage ( Backplane< Scalar > & bp )

pure virtual

Stage phase - called at start of each run/episode.

Load parameters from config (via GetConfig()), apply initial conditions, prepare for t=0. This is where default values and config loading happens.

Parameters

bp	Backplane for resolving inputs

◆ Step()

template<typename Scalar>

virtual void icarus::Component< Scalar >::Step	(	Scalar	t,
		Scalar	dt )

pure virtual

Step phase - called every time step (hot path!).

Read inputs, compute derivatives, write outputs. NO allocation, NO string lookups.

Parameters

t	Current simulation time
dt	Time step size

◆ TypeName()

template<typename Scalar>

virtual std::string icarus::Component< Scalar >::TypeName ( ) const

inlinenodiscardvirtual

Component type name for data dictionary (e.g., "JetEngine").

◆ Backplane

template<typename Scalar>

template<typename S>

friend class Backplane

friend

◆ Simulator

template<typename Scalar>

template<typename S>

Simulator

friend

The documentation for this class was generated from the following file:

include/icarus/core/Component.hpp

Public Member Functions

Protected Member Functions

Friends

Detailed Description

Constructor & Destructor Documentation

◆ ~Component()

Member Function Documentation

◆ BindEpoch()

◆ DeclareInputs()

◆ DeclareOutputs()

◆ Entity()

◆ FullName()

◆ GetBodyOrientation()

◆ GetBodyPosition()

◆ GetConfig()

◆ GetEpoch()

◆ GetInputNames()

◆ GetOutputNames()

◆ HasBodyAttachment()

◆ IsProvisioned()

◆ IsStaged()

◆ MarkProvisioned()

◆ MarkStaged()

◆ Name()

◆ OnError()

◆ PostStep()

◆ PreStep()

◆ Provision()

◆ read_param()

◆ read_param_vec3()

◆ read_param_vec4()

◆ require_param()

◆ require_param_vec3()

◆ require_param_vec4()

◆ ResetStaged()

◆ SetConfig()

◆ Shutdown()

◆ Stage()

◆ Step()

◆ TypeName()

Friends And Related Symbol Documentation

◆ Backplane

◆ Simulator