#include <x2d_adaptive.h>

Inheritance diagram for labust::allocation::X2dAdaptive:

Public Member Functions
const std::vector< double > &	allocate (const Eigen::VectorXd &tau)
bool	configure (ros::NodeHandle &nh, ros::NodeHandle &ph)
const Eigen::VectorXd &	tauA () const
const std::vector< bool > &	windup ()
	X2dAdaptive ()
	Main constructor.
Private Member Functions
void	recalcOpLimits (Eigen::Vector4d &used, Eigen::Vector4d &pmax, Eigen::Vector4d &pmin, Eigen::Vector4d cmax, Eigen::Vector4d cmin)
	Helper method for re-calculation of operational limits.
bool	saturate (Eigen::Vector4d &t, const Eigen::Vector4d &pmin, const Eigen::Vector4d &pmax)
	Helper function for coercing XY in-place.
bool	saturateN (Eigen::Vector4d &t, const Eigen::Vector4d &pmin, const Eigen::Vector4d &pmax)
	Helper function for coercing N in-place.
bool	secondRun (const Eigen::VectorXd &tau, const Eigen::VectorXd &tmax, const Eigen::VectorXd &tmin, Eigen::VectorXd tauA, Eigen::VectorXd tT)
	Helper function to calculate the daisy chain.
Private Attributes
std::vector< bool >	_windup
	The windup flags.
bool	daisy_chain
	Flag to control if the daisy chain step should be applied.
double	minN
	Minimum guaranteed yaw torque.
bool	multi_chain
	Flag to control multi-level daisy chain.
Eigen::VectorXd	tau_ach
	The final achieved tau.
ThrusterConfiguration	thrusters
	The thruster configuration.
Eigen::Vector4d	tnmax
	Maximum thrust reserved for torque.
Eigen::Vector4d	tnmin
	Minimum thrust reserved for torque.

Detailed Description

The class implements a adaptive scheme thruster allocation that ensures a minimal achievable yaw torque and allows for thruster scaling.

The thruster number is assumed to be 4; distributed in an X-configuration. The number of DoF is assumed to be 3; X,Y,N. No assumption is made on thruster symmetry.

Definition at line 60 of file x2d_adaptive.h.

Constructor & Destructor Documentation

X2dAdaptive::X2dAdaptive ( )

Main constructor.

Definition at line 49 of file x2d_adaptive.cpp.

Member Function Documentation

const std::vector< double > & X2dAdaptive::allocate ( const Eigen::VectorXd & tau ) [virtual]

The main allocation function that distributes desired forces and moments directly to the thrusters.

Returns:: Returns the vector of PWM values need to achieve the desired tau

Implements labust::allocation::AllocationInterface.

Definition at line 72 of file x2d_adaptive.cpp.

bool X2dAdaptive::configure	(	ros::NodeHandle &	nh,
		ros::NodeHandle &	ph
	)		`[virtual]`

The main configuration method. The method load parameters and initializes the subscribers and publishers of the allocation.

Implements labust::allocation::AllocationInterface.

Definition at line 56 of file x2d_adaptive.cpp.

void X2dAdaptive::recalcOpLimits	(	Eigen::Vector4d &	used,
		Eigen::Vector4d &	pmax,
		Eigen::Vector4d &	pmin,
		Eigen::Vector4d *	cmax,
		Eigen::Vector4d *	cmin
	)		`[private]`

Helper method for re-calculation of operational limits.

Definition at line 151 of file x2d_adaptive.cpp.

bool X2dAdaptive::saturate	(	Eigen::Vector4d &	t,
		const Eigen::Vector4d &	pmin,
		const Eigen::Vector4d &	pmax
	)		`[private]`

Helper function for coercing XY in-place.

Definition at line 184 of file x2d_adaptive.cpp.

bool X2dAdaptive::saturateN	(	Eigen::Vector4d &	t,
		const Eigen::Vector4d &	pmin,
		const Eigen::Vector4d &	pmax
	)		`[private]`

Helper function for coercing N in-place.

Definition at line 171 of file x2d_adaptive.cpp.

bool X2dAdaptive::secondRun	(	const Eigen::VectorXd &	tau,
		const Eigen::VectorXd &	tmax,
		const Eigen::VectorXd &	tmin,
		Eigen::VectorXd *	tauA,
		Eigen::VectorXd *	tT
	)		`[private]`