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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 * Redistribution and use in source and binary forms, with or without
 * 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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 * * Redistributions in binary form must reproduce the above copyright notice,
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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