ThrusterModels.hpp

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#ifndef THRUSTERMODELS_HPP_
#define THRUSTERMODELS_HPP_

#include <cmath>

namespace labust
{
        namespace allocation
        {
                struct AffineModel
                {
                        inline static double getRevs(double thrust, double Tnn = 1, double _Tnn = -1)
                        {
                                return (thrust >= 0) ? std::sqrt(thrust/Tnn) : -std::sqrt(thrust/_Tnn);
                        }
                        inline static double getTorque(double n, double Qnn = 1, double _Qnn = -1)
                        {
                                return (n >= 0) ? Qnn*fabs(n)*n : _Qnn*fabs(n)*n;
                        }
                };
        }
}

/* THRUSTERMODELS_HPP_*/
#endif