Class in Zendir.Classes | Inherits from PhysicalObject
Declaration
class DockingAdapter;Description
A docking adapter is a component that allows a spacecraft to dock with another spacecraft. It checks the distance and angle between the two spacecraft and docks them if they are within the specified limits.
Properties
| Declared | Description |
|---|---|
| CaptureAngle | The maximum angle at which the docking adapter can capture a target spacecraft. |
| CaptureDistance | The distance at which the docking adapter can capture a target spacecraft. |
| CaptureEnabled | When false, proximity capture is suppressed until re-enabled.Used when no is wired. |
| CaptureRollAngle | Maximum clocking (roll about the mating axis) error permitted at capture.The default of 180 degrees is the largest achievable error, so any clockingcaptures and existing behaviour is unchanged. |
| ContactArea | The contact surface area of the docking adapter interface. |
| ImpactAttenuationDuration | Collision contact time used to compute impact force from the impulse-momentum theorem.Models shock absorber compliance; shorter duration = higher peak force for the sameapproach velocity. Set to 0 to disable impact force application. |
| In_DockCaptureCommandMsg | Optional capture gate command from external software (e.g. RPO executive). |
| IsDocked | Whether the docking adapter is currently docked with another spacecraft. |
| MaxImpactForce | Saturation limit for computed impact force. When non-zero, the impact force isclamped to this maximum value. Set to 0 to disable saturation. |
| Out_DockCommandForceMsg | Body/inertial force command written during dock/undock events; consumed by. |
| Out_DockCommandTorqueMsg | Body-frame torque command written during dock/undock events; consumed by. Currently zeroed but available for future extensions. |
| Out_DockingAdapterMsg | Docking adapter status telemetry. |
| SeparationDuration | Duration over which the separation force is applied during undocking.The resulting impulse (F × dt) determines the separation delta-v. |
| SeparationForce | Force magnitude applied along the docking axis during undocking to push thetwo spacecraft apart (spring-based separation mechanism). |
| Target | The target spacecraft that the docking adapter is attempting to dock with. |
| TargetDistance | [m] Face-to-face distance to . Zero when no target is set. |
| Inherited | Description |
|---|---|
| Behaviours | A collection of behaviours attached to this object. |
| CenterOfMassB_B | The center of mass of the component in respect to the body frame (B) of the component. This is isolated from anychildren and exists in isolation. |
| CenterOfMassDot_LB_B | The center of mass time-derivative of the component within its own local coordinates. This does not include anyof the sub-components and exists in isolation. |
| CenterOfMassDotB_B | The center of mass time-derivative of the component relative to the body frame (B). This does not include any ofthe sub-components and exists in isolation. |
| CenterOfMassL_L | The center of mass of the component within its own local coordinates. This does not include any of thesub-components and exists in isolation. |
| CenterOfMassPrime_LB_B | The center of mass general-derivative of the component within its own local coordinates. This does not includeany of the sub-components and exists in isolation. |
| CenterOfMassPrimeB_B | [m/s] The center of mass general-derivative of the component relative to the body frame (B). This does notinclude any of the sub-components and exists in isolation. |
| Children | A collection of children attached to this object. |
| DCM_BN | The rotational DCM matrix between the body frame (B) at the top of this component chain and the inertial frame (N). |
| DCM_LB | The rotational DCM matrix between the component frame of this object (L) relative to the body frame (B). |
| DCM_LN | The DCM rotational matrix of the component relative to the inertial origin (N) of the world. |
| DCM_LP | The DCM matrix of the component in the parent’s frame (P), taken from the Component Transform (PL). |
| IsEnabled | Is true if the object is currently enabled. |
| LocalForward | The direction of the transform frame’s forward vector, which is along the Y axis. |
| LocalRight | The direction of the transform frame’s right vector, which is along the X axis. |
| LocalUp | The direction of the transform frame’s up vector, which is along the Z axis. |
| Mass | The component mass defined in the object. This is independent of any parent or children objects and exists inisolation. |
| MassDot | The component mass time-derivative defined in the object. This is independent of any parent or children objectsand exists in isolation. |
| Models | A collection of models attached to this object. |
| MomentOfInertia_LB | The moment of inertia of the component, measured at the local center of mass, represented with its own localcoordinates. This does not include any of the sub-components and exists in isolation. |
| MomentOfInertiaB_B | The moment of inertia of this component, measured in the body frame relative to the parented body. This isindependent of any children and exists in isolation. |
| MomentOfInertiaPrime_LB | The derivative of the moment of inertia of the component, measured at the local center of mass, represented withits own local coordinates. This does not include any of the sub-components and exists in isolation. |
| MomentOfInertiaPrimeB_B | The derivative of the moment of inertia of the component, represented in the body frame (B). This is independentand exists in isolation. |
| Name | The display name or tag of this object. |
| Out_ComponentMassMsg | The component mass message defines the set of mass properties and states of the system within this componentlocally. This is independent of any parent or children properties or objects. |
| Out_TransformMsg | This defines the base transform message that stores the state of the transform of this object. |
| Parent | The currently attached parent object (if any). |
| Position | [m] The position of the object relative to the parent or to world origin, if no parent exists. |
| Position_BN_N | The position of the body (the root parent B) in the inertial frame relative to the inertial point (N). |
| Position_LB_B | The position of the component relative to the root object of this hierarchy. This is in the inertial frame and ifthe component is the root object, then there will be no position. |
| Position_LN_N | The position of the inertial world space. This position is derived from the world’s transform (N). |
| Position_LP_P | The position of the object relative to the parented object (P). If there is no parent object, then this will bein the inertial frame. |
| Root | The root object in the parent chain. |
| Rotation | [-] The rotation of the object relative to the parent or to the world origin, if no parent exists. |
| Thermal | [TEMPORARY] A reference to the thermal model that is attached to this object. This will allow the object to havethermal properties and be able to be used in thermal simulations. |
Methods
| Declared | Description |
|---|---|
| IsValid | Returns whether the docking adapter is valid. This checks if the root spacecraftexists and is not null. |
| SetDockingTarget | Sets the target spacecraft that this docking adapter will attempt to dock with. |
| Undock | Undocks the spacecraft from its current docked state. |
| UndockApplySeparation | Undocks the spacecraft and applies separation force for . |
| Inherited | Description |
|---|---|
| AddObject | Returns a new simulation object with the specified type. |
| Attach | Attempts to attach this object to a new parent. This will only work if the current object is no parented to anyother object. |
| ContainsModelWithID | Returns true if an attached model satisfies the specified ID. |
| ContainsModelWithType | Returns true if an attached model satisfies the specified type. |
| Detach | This is an action to detach the current object from its parent, if it exists and move it to another object or tojust exist within the simulation. |
| FindBehavioursWithType | Returns all attached behaviours that satisfies the specified type. |
| FindBehaviourWithID | Returns an attached behaviour that satisfies the specified ID. |
| FindBehaviourWithType | Returns an attached behaviour that satisfies the specified type. |
| FindChildrenWithType | Returns all attached children that satisfies the specified type. |
| FindChildWithID | Returns an attached child that satisfies the specified ID. |
| FindChildWithType | Returns an attached child that satisfies the specified type. |
| FindModelsWithType | Returns all attached models that satisfies the specified type. |
| FindModelWithID | Returns an attached model that satisfies the specified ID. |
| FindModelWithType | Returns an attached model that satisfies the specified type. |
| FindParentWithID | Returns an attached parent that satisfies the specified ID. |
| FindParentWithType | Returns an attached parent that satisfies the specified type. |
| FindRootWithID | Returns a root object that satisfies the specified ID. |
| FindRootWithType | Returns a root object that satisfies the specified type. |
| GetModel | Returns a valid assigned model with the specified type. |
| GetWorldForward | [DEPRECATED] THIS FUNCTION WILL BE REMOVED AND SHOULD NOT BE USED. |
| GetWorldRight | [DEPRECATED] THIS FUNCTION WILL BE REMOVED AND SHOULD NOT BE USED. |
| GetWorldTransform | Returns the world transform of the object which is relative to the parent. If no parent exists, this will be thetransform of the object in world space. |
| GetWorldUp | [DEPRECATED] THIS FUNCTION WILL BE REMOVED AND SHOULD NOT BE USED. |
| ReadBodyTransform | This method will reset the dirty flag on the mass so that it has been read successfully and is valid. |
| SetWorldTransform | [DEPRECATED] THIS FUNCTION WILL BE REMOVED AND SHOULD NOT BE USED. |
| UpdateMassProperties | Updates the mass properties of the current physical object at a particular time. |