x2d_adaptive.h

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#ifndef ALLOCATION_X2D_ADAPTIVE_H
#define ALLOCATION_X2D_ADAPTIVE_H
#include <labust/allocation/allocation_interface.h>
#include <labust/allocation/thruster_configuration.h>

#include <std_msgs/Float32.h>
#include <ros/ros.h>

#include <boost/array.hpp>
#include <Eigen/Dense>

#include <cmath>
#include <vector>

namespace labust
{
        namespace allocation
        {
                class X2dAdaptive : public virtual AllocationInterface
                {
                public:
                        X2dAdaptive();

                        bool configure(ros::NodeHandle& nh, ros::NodeHandle& ph);

                        const std::vector<double>& allocate(const Eigen::VectorXd& tau);

                        const Eigen::VectorXd& tauA() const {return tau_ach;};

                        const std::vector<bool>& windup(){return _windup;};

                private:
                        void recalcOpLimits(Eigen::Vector4d& used, Eigen::Vector4d& pmax,
                                        Eigen::Vector4d& pmin, Eigen::Vector4d* cmax,
                                        Eigen::Vector4d* cmin);

                        bool saturate(Eigen::Vector4d& t, const Eigen::Vector4d& pmin, const Eigen::Vector4d& pmax);
                        bool saturateN(Eigen::Vector4d& t, const Eigen::Vector4d& pmin, const Eigen::Vector4d& pmax);

                        bool secondRun(const Eigen::VectorXd& tau, const Eigen::VectorXd& tmax,
                                        const Eigen::VectorXd& tmin, Eigen::VectorXd* tauA,
                                        Eigen::VectorXd* tT);


                        ThrusterConfiguration thrusters;

                        std::vector<bool> _windup;

                        double minN;
                        bool daisy_chain;
                        bool multi_chain;
                        Eigen::Vector4d tnmax;
                        Eigen::Vector4d tnmin;
                        Eigen::VectorXd tau_ach;
                };
        }
}

/* ALLOCATION_X2D_ADAPTIVE_H */
#endif