mav_forces_and_moments.h

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/*
 * Copyright (c) 2017 Daniel Koch, James Jackson and Gary Ellingson, BYU MAGICC Lab.
 * All rights reserved.
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 * modification, are permitted provided that the following conditions are met:
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 *   list of conditions and the following disclaimer.
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 *   this software without specific prior written permission.
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#ifndef ROSFLIGHT_SIM_MAV_FORCES_AND_MOMENTS_H
#define ROSFLIGHT_SIM_MAV_FORCES_AND_MOMENTS_H

#include <eigen3/Eigen/Core>

namespace rosflight_sim
{
class MAVForcesAndMoments
{
protected:
  double sat(double x, double max, double min)
  {
    if (x > max)
      return max;
    else if (x < min)
      return min;
    else
      return x;
  }

  double max(double x, double y) { return (x > y) ? x : y; }

public:
  struct Current_State
  {
    Eigen::Vector3d pos;   // Position of MAV in NED wrt initial position
    Eigen::Matrix3d rot;   // Rotation of MAV in NED wrt initial position
    Eigen::Vector3d vel;   // Body-fixed velocity of MAV wrt initial position (NED)
    Eigen::Vector3d omega; // Body-fixed angular velocity of MAV (NED)
    double t;              // current time
  };

  virtual Eigen::Matrix<double, 6, 1> updateForcesAndTorques(Current_State x, const int act_cmds[]) = 0;
  virtual void set_wind(Eigen::Vector3d wind) = 0;
};

} // namespace rosflight_sim

#endif // ROSFLIGHT_SIM_MAV_FORCES_AND_MOMENTS_H