ThrusterAndRWACommand:

Path: SCPro/ProActuators

% Computes forces and torques for RWAs and thrusters using off-pulsing.

 Off-pulsing is used to produce delta-v and attitude control at the same
 time. 

 Inputs are a torque vector, the desired fraction of the time each
 thruster is on for delta-v, the set of thrusters to be used for
 attitude control and a data structure. If a feasible solution is not
 reached the control is not possible.

 Type ThrusterAndRWACommand

 for a demo that shows pure attitude control and also off-pulsing for
 delta-v and attitude control.

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   -------
   Inputs
   -------
   t       (3,1)	Desired torque vector
   pOn     (1,:)	Fraction of time thruster is on for delta-v
   kACS   	(1,n)	Set of ACS thrusters
   kRWA    (1,m)	Set of RWA to use
   d       (1,1)	Data structure
                 .uT     (3,n) Thruster unit force vectors
                	.rT     (3,n) Thruster locations
                	.thrust (1,:) Thrust magnitude
                 .uRWA   (3,m) RWA unit torque vectors
                	.tRWA   (1,m) Maximum RWA torque
                 .cM     (3,1) Spacecraft center of mass
                 .cT     (1,n) Thruster cost
                	.cRWA   (1,m) RWA cost

   -------
   Outputs
   -------
   force   (3,1)	Net force vector
   torque	(3,1)	Net torque vector (should = t)
   uT    	(1,n)	Fraction of time thruster is on
   uRWA   	(1,m)	Fraction of maximum RWA torque
   f       (1,1)	1 means a feasible solution was reached

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Children:

Common: General/DispWithTitle
Math: Analysis/Simplex
Math: Analysis/Simplex2
Math: Linear/Cross
Math: Linear/DupVect
Math: Linear/InvP
Math: Linear/Mag

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