ThrustAllocation.cpp

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 *  Author: Dula Nad
 *  Created: 06.03.2013.
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#include <labust/allocation/ThrustAllocation.hpp>
#include <labust/allocation/ThrusterModels.hpp>
#include <labust/tools/MatrixLoader.hpp>

#include <cmath>

using namespace labust::allocation;

ThrustAllocation::ThrustAllocation():
  dofs(2),
  B(2,2),
  W(Eigen::Matrix2d::Identity()),
  tmax(2),
  tmin(2),
  pwmscaler(255)
{
        dofs<<0,5;
        B<<1,1,1,-1;
        Binv = B.inverse();
        tmax<<1,1;
        tmin = -tmax;
};

void ThrustAllocation::configure(ros::NodeHandle& nh)
{
        //Populate allocation
  labust::tools::getMatrixParam(nh,"allocation_matrix",B);
  Binv = B.transpose()*(B*B.transpose()).inverse();
        labust::tools::getMatrixParam(nh,"allocation_dofs",dofs);

        assert((B.cols() == tmax.size()) &&
                                        "Allocation matrix must have number of columns equal to number of thrusters.");
        assert((B.rows() == dofs.size()) &&
                                        "Allocation matrix must have the same number of rows as controllable DOFs.");

        if (nh.hasParam("thrust_max"))
        {
                labust::tools::getMatrixParam(nh,"thrust_max",tmax);
        }
        else
        {
                tmax = Eigen::VectorXd::Ones(B.cols());
        }

        if (nh.hasParam("thrust_min"))
        {
                labust::tools::getMatrixParam(nh,"thrust_min",tmin);
        }
        else
        {
                tmin = -tmax;
        }

        nh.param("pwmscaler",pwmscaler,pwmscaler);
}