Merge pull request #81 from ut-issl/feature/add_qpd_sensor

Add quadrant photodiode sensor (without noises)

s2e-ff/CMakeLists.txt

@@ -53,6 +53,8 @@ set(SOURCE_FILES
   src/components/aocs/relative_velocity_sensor.cpp
   src/components/aocs/initialize_relative_velocity_sensor.cpp
   src/components/aocs/laser_distance_meter.cpp
+  src/components/aocs/laser_emitter.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/laser_emitter.ini

@@ -0,0 +1,44 @@
+[GENERAL]
+number_of_laser_emitters = 2
+
+[LASER_EMITTER_0]
+quaternion_b2c(0) = 0.0
+quaternion_b2c(1) = 0.7071
+quaternion_b2c(2) = 0.0
+quaternion_b2c(3) = 0.7071
+
+position_b_m(0) = 0.5
+position_b_m(1) = 0.0
+position_b_m(2) = 0.0
+
+emitting_direction_c(0) = 0
+emitting_direction_c(1) = 0
+emitting_direction_c(2) = 1.0
+
+emission_angle_rad = 0.1
+emission_power_W = 0.9e-3
+
+radius_beam_waist_m = 0.912e-3
+rayleigh_length_m = 3.62
+rayleigh_length_offset_m = 4.67
+
+[LASER_EMITTER_1]
+quaternion_b2c(0) = 0.0
+quaternion_b2c(1) = 0.7071
+quaternion_b2c(2) = 0.0
+quaternion_b2c(3) = 0.7071
+
+position_b_m(0) = 0.5
+position_b_m(1) = 0.5
+position_b_m(2) = 0.5
+
+emitting_direction_c(0) = 0
+emitting_direction_c(1) = 0
+emitting_direction_c(2) = 1.0
+
+emission_angle_rad = 0.1
+emission_power_W = 0.9e-3
+
+radius_beam_waist_m = 0.912e-3
+rayleigh_length_m = 3.62
+rayleigh_length_offset_m = 4.67

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

@@ -0,0 +1,37 @@
+[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.
+// Detailed information about the qpd positioning sensor is descrived in qpd_positioning_sensor.hpp file.
+////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+quaternion_b2c(0) = 0.0
+quaternion_b2c(1) = 0.0
+quaternion_b2c(2) = 1.0
+quaternion_b2c(3) = 0.0
+
+position_b_m(0) = -0.5
+position_b_m(1) = 0.0
+position_b_m(2) = 0.012
+
+qpd_sensor_file_directory = ../../data/initialize_files/components/qpd_sensor_csv_files/
+
+// Sensitivity coefficient [V/W]
+qpd_sensor_sensitivity_coefficient_V_W = 2.4e3
+
+// Radius of light-receiving area of quadrant photodiode sensor [m]
+qpd_sensor_radius_m = 3.9e-3
+
+// Integral interval to calculate the output values of the quadrant photodiode sensor [m]
+qpd_sensor_integral_step_m = 5.0e-5
+
+// Positioning threshold of the quadrant photodiode sensor [m]
+qpd_positioning_threshold_m = 5.0e-3
+
+// Laser receivable angle of the quadrant photodiode sensor [rad]
+qpd_laser_receivable_angle_rad = 0.785
+
+// Voltage threshold ot the quadrant photodiode sensor [V]
+// Less than this value, the QPD positioning sensor cannot determine the position displacement.
+qpd_sensor_output_voltage_threshold_V = 0.09