Intermediate class for components with physical body attachment. More...

#include <PhysicalComponent.hpp>

Inheritance diagram for icarus::PhysicalComponent< Scalar >:

Collaboration diagram for icarus::PhysicalComponent< Scalar >:

Public Member Functions
bool	HasBodyAttachment () const override
	Whether this component has a body attachment (position/orientation).
Vec3< Scalar >	GetBodyPosition () const override
	Get the component's mounting position in vehicle body frame.
janus::Quaternion< Scalar >	GetBodyOrientation () const override
	Get the component's mounting orientation (body-to-component rotation).
janus::Quaternion< Scalar >	GetComponentToBodyRotation () const
	Get rotation from component frame to body frame.
Vec3< Scalar >	TransformToBodyFrame (const Vec3< Scalar > &v_local) const
	Transform a vector from component local frame to body frame.
Vec3< Scalar >	TransformToLocalFrame (const Vec3< Scalar > &v_body) const
	Transform a vector from body frame to component local frame.
Public Member Functions inherited from icarus::Component< Scalar >
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.
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
void	ReadAttachmentFromConfig ()
	Read body attachment from component config.
void	SetBodyAttachment (const Vec3< Scalar > &position, const janus::Quaternion< Scalar > &orientation)
	Set body attachment programmatically (for testing or dynamic mounting).
void	SetBodyPosition (const Vec3< Scalar > &position)
	Set body position only (orientation defaults to identity).
Protected Member Functions inherited from icarus::Component< Scalar >
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)

Protected Attributes
Vec3< Scalar >	body_position_ = Vec3<Scalar>::Zero()
	Mounting position in vehicle body frame [m].
janus::Quaternion< Scalar >	body_orientation_
	Rotation from body frame to component local frame (identity by default).
bool	has_body_attachment_ = false
	True after ReadAttachmentFromConfig() is called.

Detailed Description

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

Intermediate class for components with physical body attachment.

Components that have a physical presence on the vehicle (mass sources, force sources, sensors, actuators) should inherit from this class.

Provides:

Body position (mounting location in vehicle body frame)
Body orientation (rotation from body frame to component local frame)
Config parsing helper for both quaternion and Euler angle formats

Non-physical components (environment models, schedulers, etc.) should inherit directly from Component<Scalar>.

Configuration Format

Subclasses call ReadAttachmentFromConfig() in Stage() to parse:

body_position: [x, y, z]                    # meters, in body frame
 
# Option 1: Quaternion (w, x, y, z)
body_orientation: [1.0, 0.0, 0.0, 0.0]     # identity rotation
 
# Option 2: Euler angles (ZYX order, degrees)
body_orientation_euler_zyx: [yaw, pitch, roll]

Orientation Convention

body_orientation represents the rotation FROM body frame TO component local frame (body-to-component).

CAD Interpretation: The Euler angles describe "how I rotated this component starting from alignment with body axes."

Frame Transformation:

To transform component outputs TO body frame: F_body = body_orientation.conjugate().rotate(F_local)
To transform body vectors TO component frame (e.g., sensors): v_local = body_orientation.rotate(v_body)

Example

A rocket engine with thrust along its local +X axis, mounted at body position [0, 0, 10] pointing along body -Z:

- type: RocketEngine
  name: MainEngine
  body_position: [0.0, 0.0, 10.0]           # nozzle at z=10m
  body_orientation_euler_zyx: [0.0, -90.0, 0.0]  # pitch -90 deg -> +X -> -Z

The engine outputs force_local = [thrust, 0, 0]. Vehicle6DOF transforms: F_body = R.conjugate().rotate([thrust, 0, 0]) = [0, 0, -thrust]

Template Parameters

Scalar Numeric type (double or casadi::MX)

Member Function Documentation

◆ GetBodyOrientation()

template<typename Scalar>

janus::Quaternion< Scalar > icarus::PhysicalComponent< Scalar >::GetBodyOrientation ( ) const

inlinenodiscardoverridevirtual

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 from icarus::Component< Scalar >.

◆ GetBodyPosition()

template<typename Scalar>

Vec3< Scalar > icarus::PhysicalComponent< Scalar >::GetBodyPosition ( ) const

inlinenodiscardoverridevirtual

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

Returns: Zero vector for components without attachment

Reimplemented from icarus::Component< Scalar >.

◆ GetComponentToBodyRotation()

template<typename Scalar>

janus::Quaternion< Scalar > icarus::PhysicalComponent< Scalar >::GetComponentToBodyRotation ( ) const

inlinenodiscard

Get rotation from component frame to body frame.

This is the inverse of GetBodyOrientation() and is commonly needed to transform component outputs (forces, moments) to body frame.

Returns: Quaternion that transforms component vectors to body frame

◆ HasBodyAttachment()

template<typename Scalar>

bool icarus::PhysicalComponent< Scalar >::HasBodyAttachment ( ) const

inlinenodiscardoverridevirtual

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

Returns: false for base Component; overridden in PhysicalComponent

Reimplemented from icarus::Component< Scalar >.

◆ ReadAttachmentFromConfig()

template<typename Scalar>

void icarus::PhysicalComponent< Scalar >::ReadAttachmentFromConfig ( )

inlineprotected

Read body attachment from component config.

Call this in Stage() to parse body_position and body_orientation from the component's YAML configuration.

Supports two orientation formats:

body_orientation: [w, x, y, z] - quaternion
body_orientation_euler_zyx: [yaw, pitch, roll] - Euler angles (degrees)

If neither orientation is specified, defaults to identity (no rotation). If body_position is not specified, defaults to origin [0, 0, 0].

Convention Note: The YAML config uses body_orientation_euler_zyx: [yaw, pitch, roll] (degrees, aerospace order), but Janus from_euler() expects (roll, pitch, yaw) (radians). This method handles the conversion.

Precondition: GetConfig() returns valid ComponentConfig

Postcondition: has_body_attachment_ is true

◆ SetBodyAttachment()

template<typename Scalar>

void icarus::PhysicalComponent< Scalar >::SetBodyAttachment	(	const Vec3< Scalar > &	position,
		const janus::Quaternion< Scalar > &	orientation )

inlineprotected

Set body attachment programmatically (for testing or dynamic mounting).

Parameters

position	Position in vehicle body frame [m]
orientation	Rotation from body to component frame

◆ SetBodyPosition()

template<typename Scalar>

void icarus::PhysicalComponent< Scalar >::SetBodyPosition ( const Vec3< Scalar > & position )

inlineprotected

Set body position only (orientation defaults to identity).

Parameters

position Position in vehicle body frame [m]

◆ TransformToBodyFrame()

template<typename Scalar>

Vec3< Scalar > icarus::PhysicalComponent< Scalar >::TransformToBodyFrame ( const Vec3< Scalar > & v_local ) const

inlinenodiscard

Transform a vector from component local frame to body frame.

Parameters

v_local Vector in component local frame

Returns: Vector in body frame

◆ TransformToLocalFrame()

template<typename Scalar>

Vec3< Scalar > icarus::PhysicalComponent< Scalar >::TransformToLocalFrame ( const Vec3< Scalar > & v_body ) const

inlinenodiscard

Transform a vector from body frame to component local frame.

Parameters

v_body Vector in body frame

Returns: Vector in component local frame

Member Data Documentation

◆ body_orientation_

template<typename Scalar>

janus::Quaternion<Scalar> icarus::PhysicalComponent< Scalar >::body_orientation_

protected

Rotation from body frame to component local frame (identity by default).

◆ body_position_

template<typename Scalar>

Vec3<Scalar> icarus::PhysicalComponent< Scalar >::body_position_ = Vec3<Scalar>::Zero()

protected

Mounting position in vehicle body frame [m].

◆ has_body_attachment_

template<typename Scalar>

bool icarus::PhysicalComponent< Scalar >::has_body_attachment_ = false

protected

True after ReadAttachmentFromConfig() is called.

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

include/icarus/core/PhysicalComponent.hpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Configuration Format

Orientation Convention

Example

Member Function Documentation

◆ GetBodyOrientation()

◆ GetBodyPosition()

◆ GetComponentToBodyRotation()

◆ HasBodyAttachment()

◆ ReadAttachmentFromConfig()

◆ SetBodyAttachment()

◆ SetBodyPosition()

◆ TransformToBodyFrame()

◆ TransformToLocalFrame()

Member Data Documentation

◆ body_orientation_

◆ body_position_

◆ has_body_attachment_