00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, LABUST, UNIZG-FER 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the LABUST nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * Author: Dula Nad 00035 * Created: 06.03.2013. 00036 *********************************************************************/ 00037 #ifndef THRUSTALLOCATION_HPP_ 00038 #define THRUSTALLOCATION_HPP_ 00039 #include <Eigen/Dense> 00040 #include <labust/simulation/matrixfwd.hpp> 00041 00042 #include <boost/shared_ptr.hpp> 00043 #include <ros/ros.h> 00044 00045 namespace labust 00046 { 00047 namespace allocation 00048 { 00052 class ThrustAllocation 00053 { 00054 public: 00056 ThrustAllocation(); 00057 00059 void configure(ros::NodeHandle& nh); 00060 00062 Eigen::MatrixXd B; 00064 Eigen::MatrixXd Binv; 00066 Eigen::MatrixXd W; 00068 Eigen::VectorXi dofs; 00070 Eigen::VectorXd tmax; 00072 Eigen::VectorXd tmin; 00074 int pwmscaler; 00075 }; 00076 } 00077 } 00078 00079 /* THRUSTALLOCATION_HPP_ */ 00080 #endif