#include <allocation_interface.h>
Public Types | |
| enum | { X = 0, Y, Z, K, M, N } |
| The virtual thrust and torque enumerator. More... | |
| typedef boost::shared_ptr < AllocationInterface const > | ConstPtr |
| Const pointer typedef. | |
| typedef boost::shared_ptr < AllocationInterface > | Ptr |
| Pointer typedef. | |
Public Member Functions | |
| virtual const std::vector < double > & | allocate (const Eigen::VectorXd &tau)=0 |
| AllocationInterface () | |
| Main constructor. | |
| virtual bool | configure (ros::NodeHandle &nh, ros::NodeHandle &ph)=0 |
| virtual const Eigen::VectorXd & | tauA () const =0 |
| virtual const std::vector< bool > & | windup ()=0 |
| virtual | ~AllocationInterface () |
| Main destructor. | |
Detailed Description
Defines a generic allocation interface for all allocation classes to inherit in order to implement a plug-in based allocation.
Definition at line 50 of file allocation_interface.h.
Member Typedef Documentation
| typedef boost::shared_ptr<AllocationInterface const> labust::allocation::AllocationInterface::ConstPtr |
Const pointer typedef.
Definition at line 59 of file allocation_interface.h.
| typedef boost::shared_ptr<AllocationInterface> labust::allocation::AllocationInterface::Ptr |
Pointer typedef.
Definition at line 57 of file allocation_interface.h.
Member Enumeration Documentation
| anonymous enum |
The virtual thrust and torque enumerator.
Definition at line 54 of file allocation_interface.h.
Constructor & Destructor Documentation
Main constructor.
Definition at line 62 of file allocation_interface.h.
| virtual labust::allocation::AllocationInterface::~AllocationInterface | ( | ) | [inline, virtual] |
Main destructor.
Definition at line 64 of file allocation_interface.h.
Member Function Documentation
| virtual const std::vector<double>& labust::allocation::AllocationInterface::allocate | ( | const Eigen::VectorXd & | tau | ) | [pure virtual] |
The main allocation function that distributes desired forces and moments directly to the thrusters.
- Returns:
- Returns the vector of PWM values need to achieve the desired tau
Implemented in labust::allocation::X2dAdaptive.
| virtual bool labust::allocation::AllocationInterface::configure | ( | ros::NodeHandle & | nh, |
| ros::NodeHandle & | ph | ||
| ) | [pure virtual] |
The main configuration method. The method load parameters and initializes the subscribers and publishers of the allocation.
Implemented in labust::allocation::X2dAdaptive.
| virtual const Eigen::VectorXd& labust::allocation::AllocationInterface::tauA | ( | ) | const [pure virtual] |
The method returns the last achieved tau vector.
Implemented in labust::allocation::X2dAdaptive.
| virtual const std::vector<bool>& labust::allocation::AllocationInterface::windup | ( | ) | [pure virtual] |
The method returns the windup flags per degree of freedom.
Implemented in labust::allocation::X2dAdaptive.
The documentation for this class was generated from the following file: